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5 | #include <avr/io.h> |
5 | #include <avr/io.h> |
Line 6... | Line 6... | ||
6 | 6 | ||
7 | #define MAX_CHANNELS 10 |
7 | #define MAX_CHANNELS 10 |
Line -... | Line 8... | ||
- | 8 | #define MAX_MOTORS 12 |
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- | 9 | ||
- | 10 | // bitmask for VersionInfo_t.HardwareError[0] |
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- | 11 | #define FC_ERROR0_GYRO_PITCH 0x01 |
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- | 12 | #define FC_ERROR0_GYRO_ROLL 0x02 |
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- | 13 | #define FC_ERROR0_GYRO_YAW 0x04 |
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- | 14 | #define FC_ERROR0_ACC_X 0x08 |
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- | 15 | #define FC_ERROR0_ACC_Y 0x10 |
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- | 16 | #define FC_ERROR0_ACC_Z 0x20 |
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- | 17 | #define FC_ERROR0_PRESSURE 0x40 |
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- | 18 | #define FC_ERROR1_RES0 0x80 |
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- | 19 | // bitmask for VersionInfo_t.HardwareError[1] |
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- | 20 | #define FC_ERROR1_I2C 0x01 |
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- | 21 | #define FC_ERROR1_BL_MISSING 0x02 |
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- | 22 | #define FC_ERROR1_SPI_RX 0x04 |
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- | 23 | #define FC_ERROR1_PPM 0x08 |
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- | 24 | #define FC_ERROR1_MIXER 0x10 |
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- | 25 | #define FC_ERROR1_RES1 0x20 |
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- | 26 | #define FC_ERROR1_RES2 0x40 |
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- | 27 | #define FC_ERROR1_RES3 0x80 |
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- | 28 | ||
- | 29 | typedef struct { |
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- | 30 | uint8_t SWMajor; |
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- | 31 | uint8_t SWMinor; |
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- | 32 | uint8_t protoMajor; |
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- | 33 | uint8_t protoMinor; |
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- | 34 | uint8_t SWPatch; |
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- | 35 | uint8_t hardwareErrors[5]; |
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- | 36 | }__attribute__((packed)) VersionInfo_t; |
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- | 37 | ||
8 | #define MAX_MOTORS 12 |
38 | extern VersionInfo_t versionInfo; |
9 | 39 | ||
10 | typedef struct { |
40 | typedef struct { |
11 | // IMU |
41 | // IMU |
12 | /*PMM*/uint8_t gyroP; |
42 | /*PMM*/uint8_t gyroP; |
Line 89... | Line 119... | ||
89 | typedef struct { |
119 | typedef struct { |
90 | // Global bitflags |
120 | // Global bitflags |
91 | uint8_t bitConfig; // see upper defines for bitcoding |
121 | uint8_t bitConfig; // see upper defines for bitcoding |
Line 92... | Line 122... | ||
92 | 122 | ||
- | 123 | // Height Control |
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93 | // Height Control |
124 | uint8_t airpressureFilter; |
94 | uint8_t heightP; // Value : 0-32 |
125 | uint8_t heightP; |
95 | uint8_t heightD; // Value : 0-250 |
126 | uint8_t heightD; |
96 | uint8_t heightSetting; // Value : 0-32 |
127 | uint8_t heightSetting; |
97 | uint8_t heightControlMaxThrottleChange; // Value : 0-100 |
128 | uint8_t heightControlMaxThrottleChange; |
Line 98... | Line 129... | ||
98 | uint8_t heightSlewRate; // Value : 0-50 |
129 | uint8_t heightSlewRate; |
99 | 130 | ||
Line 100... | Line 131... | ||
100 | // Attitude Control |
131 | // Attitude Control |
101 | uint8_t attitudeControl; |
132 | uint8_t attitudeControl; |
102 | 133 | ||
103 | // Control |
134 | // Control |
104 | uint8_t stickP; // Value : 1-6 |
135 | uint8_t stickP; |
105 | uint8_t stickD; // Value : 0-64 |
136 | uint8_t stickD; |
106 | uint8_t stickYawP; // Value : 1-20 |
137 | uint8_t stickYawP; |
107 | uint8_t stickThrottleD; |
138 | uint8_t stickThrottleD; |
108 | uint8_t minThrottle; // Value : 0-32 |
139 | uint8_t minThrottle; |
109 | uint8_t maxThrottle; // Value : 33-250 |
140 | uint8_t maxThrottle; |
110 | uint8_t externalControl; // for serial Control |
141 | uint8_t externalControl; // for serial Control |
Line 120... | Line 151... | ||
120 | uint8_t gyroPIDFilterConstant; |
151 | uint8_t gyroPIDFilterConstant; |
121 | uint8_t gyroATTFilterConstant; |
152 | uint8_t gyroATTFilterConstant; |
122 | uint8_t gyroDFilterConstant; |
153 | uint8_t gyroDFilterConstant; |
123 | uint8_t accFilterConstant; |
154 | uint8_t accFilterConstant; |
Line 124... | Line 155... | ||
124 | 155 | ||
125 | uint8_t gyroP; // Value : 10-250 |
156 | uint8_t gyroP; |
126 | uint8_t gyroI; // Value : 0-250 |
157 | uint8_t gyroI; |
Line 127... | Line 158... | ||
127 | uint8_t gyroD; // Value : 0-250 |
158 | uint8_t gyroD; |
128 | 159 | ||
129 | uint8_t zerothOrderCorrection; // Value : 1-64 |
160 | uint8_t zerothOrderCorrection; |
Line 130... | Line 161... | ||
130 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
161 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
131 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
162 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
132 | 163 | ||
Line 133... | Line 164... | ||
133 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
164 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
134 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
165 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
135 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
166 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
136 | 167 | ||
137 | uint8_t dynamicStability; // PID limit for Attitude controller |
168 | uint8_t dynamicStability; // PID limit for Attitude controller |
Line 138... | Line 169... | ||
138 | uint8_t IFactor; // Value : 0-250 |
169 | uint8_t IFactor; |
139 | uint8_t yawIFactor; |
170 | uint8_t yawIFactor; |
140 | uint8_t compassYawEffect; // Value : 0-32 |
171 | uint8_t compassYawEffect; |
141 | uint8_t levelCorrection[2]; |
172 | uint8_t levelCorrection[2]; |
Line 142... | Line 173... | ||
142 | 173 | ||
143 | // Servos |
174 | // Servos |
144 | uint8_t servoCount; |
175 | uint8_t servoCount; |
145 | uint8_t servoManualMaxSpeed; |
176 | uint8_t servoManualMaxSpeed; |
Line 146... | Line 177... | ||
146 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
177 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
147 | 178 | ||
148 | // Battery warning and emergency flight |
179 | // Battery warning and emergency flight |
149 | uint8_t batteryVoltageWarning; // Value : 0-250 |
180 | uint8_t batteryVoltageWarning; |
Line 150... | Line 181... | ||
150 | uint8_t emergencyThrottle; // Value : 0-250 |
181 | uint8_t emergencyThrottle; |
151 | uint8_t emergencyFlightDuration; // Value : 0-250 |
182 | uint8_t emergencyFlightDuration; |
Line 152... | Line 183... | ||
152 | 183 | ||
153 | // Outputs |
184 | // Outputs |
154 | output_flash_t outputFlash[2]; |
185 | output_flash_t outputFlash[2]; |
155 | uint8_t outputDebugMask; |
186 | uint8_t outputDebugMask; |