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40 | typedef struct { |
40 | typedef struct { |
41 | // IMU |
41 | // IMU |
42 | /*PMM*/uint8_t gyroP; |
42 | /*PMM*/uint8_t gyroP; |
43 | /* P */uint8_t gyroI; |
43 | /* P */uint8_t gyroI; |
44 | /* P */uint8_t gyroD; |
44 | /* P */uint8_t gyroD; |
45 | /* P */uint8_t compassYawEffect; |
45 | /* P */uint8_t compassFixedHeading; |
Line 46... | Line 46... | ||
46 | 46 | ||
47 | // Control |
47 | // Control |
48 | /* P */uint8_t externalControl; |
48 | /* P */uint8_t externalControl; |
49 | /* P */uint8_t dynamicStability; |
49 | /* P */uint8_t dynamicStability; |
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132 | uint8_t maxControlActivity; |
132 | uint8_t maxControlActivity; |
133 | uint8_t zerothOrderCorrection; |
133 | uint8_t zerothOrderCorrection; |
134 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
134 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
135 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
135 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
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136 | 136 | ||
137 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
137 | // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
138 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
138 | // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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139 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
139 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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140 | 140 | ||
141 | uint8_t levelCorrection[2]; |
141 | uint8_t levelCorrection[2]; |
142 | 142 | ||
143 | // Control |
143 | // Control |
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144 | uint8_t gyroP; |
144 | uint8_t gyroP; |
- | 145 | uint8_t gyroI; |
|
145 | uint8_t gyroI; |
146 | uint8_t gyroD; |
146 | uint8_t gyroD; |
147 | |
147 | 148 | uint8_t attitudeControl; |
|
148 | uint8_t attitudeControl; |
149 | |
- | 150 | uint8_t stickP; |
|
149 | uint8_t stickP; |
151 | uint8_t stickD; |
150 | uint8_t stickD; |
152 | uint8_t stickYawP; |
- | 153 | uint8_t stickThrottleD; |
|
151 | uint8_t stickYawP; |
154 | |
152 | uint8_t stickThrottleD; |
155 | uint8_t minThrottle; |
153 | uint8_t minThrottle; |
156 | uint8_t maxThrottle; |
- | 157 | ||
154 | uint8_t maxThrottle; |
158 | uint8_t externalControl; // for serial Control |
155 | uint8_t externalControl; // for serial Control |
159 | uint8_t motorSmoothing; |
- | 160 | uint8_t dynamicStability; // PID limit for Attitude controller |
|
156 | uint8_t motorSmoothing; |
161 | |
- | 162 | uint8_t IFactor; |
|
- | 163 | uint8_t yawIFactor; |
|
157 | uint8_t dynamicStability; // PID limit for Attitude controller |
164 | |
158 | uint8_t IFactor; |
165 | uint8_t compassYawCorrection; |
159 | uint8_t yawIFactor; |
166 | uint8_t compassFixedHeading; |
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160 | uint8_t compassYawEffect; |
167 | |
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215 | // bit mask for staticParams.bitConfig |
222 | // bit mask for staticParams.bitConfig |
216 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
223 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
217 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
224 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
218 | #define CFG_HEADING_HOLD (1<<2) |
225 | #define CFG_HEADING_HOLD (1<<2) |
219 | #define CFG_COMPASS_ACTIVE (1<<3) |
226 | #define CFG_COMPASS_ACTIVE (1<<3) |
220 | #define CFG_COMPASS_FIX (1<<4) |
227 | #define CFG_UNUSED (1<<4) |
221 | #define CFG_GPS_ACTIVE (1<<5) |
228 | #define CFG_GPS_ACTIVE (1<<5) |
222 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
229 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
223 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
230 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
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224 | 231 |