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3 | 3 | ||
4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
Line 5... | Line 5... | ||
5 | #include <avr/io.h> |
5 | #include <avr/io.h> |
6 | 6 | ||
7 | typedef struct { |
7 | typedef struct { |
8 | /*PMM*/uint8_t HeightD; |
8 | /*PMM*/uint8_t HeightD; |
9 | /* P */uint8_t MaxHeight; |
9 | /* P */uint8_t MaxHeight; |
10 | /*PMM*/uint8_t HeightP; |
10 | /*PMM*/uint8_t HeightP; |
11 | /* P */uint8_t Height_ACC_Effect; |
11 | /* P */uint8_t Height_ACC_Effect; |
12 | /* P */uint8_t CompassYawEffect; |
12 | /* P */uint8_t CompassYawEffect; |
13 | /* P */uint8_t GyroD; |
13 | /* P */uint8_t GyroD; |
14 | /*PMM*/uint8_t GyroP; |
14 | /*PMM*/uint8_t GyroP; |
15 | /* P */uint8_t GyroI; |
15 | /* P */uint8_t GyroI; |
16 | /* Never used */uint8_t StickYawP; |
16 | /* Never used */uint8_t StickYawP; |
17 | /* P */uint8_t IFactor; |
17 | /* P */uint8_t IFactor; |
18 | /* P */uint8_t UserParams[8]; |
18 | /* P */uint8_t UserParams[8]; |
19 | /* P */uint8_t ServoPitchControl; |
19 | /* P */uint8_t ServoPitchControl; |
20 | /* P */uint8_t LoopGasLimit; |
20 | /* P */uint8_t LoopGasLimit; |
21 | /* P */uint8_t AxisCoupling1; |
21 | /* P */uint8_t AxisCoupling1; |
22 | /* P */uint8_t AxisCoupling2; |
22 | /* P */uint8_t AxisCoupling2; |
23 | /* P */uint8_t AxisCouplingYawCorrection; |
23 | /* P */uint8_t AxisCouplingYawCorrection; |
24 | /* P */uint8_t DynamicStability; |
24 | /* P */uint8_t DynamicStability; |
25 | /* P */uint8_t ExternalControl; |
25 | /* P */uint8_t ExternalControl; |
26 | /*PMM*/uint8_t J16Timing; |
26 | /*PMM*/uint8_t J16Timing; |
27 | /*PMM*/uint8_t J17Timing; |
27 | /*PMM*/uint8_t J17Timing; |
28 | /* P */uint8_t NaviGpsModeControl; |
28 | /* P */uint8_t NaviGpsModeControl; |
29 | /* P */uint8_t NaviGpsGain; |
29 | /* P */uint8_t NaviGpsGain; |
30 | /* P */uint8_t NaviGpsP; |
30 | /* P */uint8_t NaviGpsP; |
31 | /* P */uint8_t NaviGpsI; |
31 | /* P */uint8_t NaviGpsI; |
32 | /* P */uint8_t NaviGpsD; |
32 | /* P */uint8_t NaviGpsD; |
33 | /* P */uint8_t NaviGpsACC; |
33 | /* P */uint8_t NaviGpsACC; |
34 | /*PMM*/uint8_t NaviOperatingRadius; |
34 | /*PMM*/uint8_t NaviOperatingRadius; |
35 | /* P */uint8_t NaviWindCorrection; |
35 | /* P */uint8_t NaviWindCorrection; |
36 | /* P */uint8_t NaviSpeedCompensation; |
36 | /* P */uint8_t NaviSpeedCompensation; |
37 | int8_t KalmanK; |
37 | int8_t KalmanK; |
38 | int8_t KalmanMaxDrift; |
38 | int8_t KalmanMaxDrift; |
39 | int8_t KalmanMaxFusion; |
39 | int8_t KalmanMaxFusion; |
Line 40... | Line 40... | ||
40 | } dynamicParam_t; |
40 | } dynamicParam_t; |
41 | extern dynamicParam_t dynamicParams; |
41 | extern dynamicParam_t dynamicParams; |
42 | 42 | ||
43 | typedef struct { |
43 | typedef struct { |
Line 44... | Line 44... | ||
44 | uint8_t sourceIdx, targetIdx; |
44 | uint8_t sourceIdx, targetIdx; |
45 | uint8_t min, max; |
45 | uint8_t min, max; |
46 | } MMXLATION; |
46 | } MMXLATION; |
Line 47... | Line 47... | ||
47 | 47 | ||
48 | typedef struct { |
48 | typedef struct { |
49 | uint8_t sourceIdx, targetIdx; |
49 | uint8_t sourceIdx, targetIdx; |
50 | } XLATION; |
50 | } XLATION; |
51 | 51 | ||
52 | // values above 250 representing poti1 to poti4 |
52 | // values above 250 representing poti1 to poti4 |
53 | typedef struct { |
53 | typedef struct { |
54 | uint8_t ChannelAssignment[8]; // see upper defines for details |
54 | uint8_t ChannelAssignment[8]; // see upper defines for details |
55 | uint8_t GlobalConfig; // see upper defines for bitcoding |
55 | uint8_t GlobalConfig; // see upper defines for bitcoding |
56 | uint8_t HeightMinGas; // Value : 0-100 |
56 | uint8_t HeightMinGas; // Value : 0-100 |
57 | uint8_t HeightD; // Value : 0-250 |
57 | uint8_t HeightD; // Value : 0-250 |
58 | uint8_t MaxHeight; // Value : 0-32 |
58 | uint8_t MaxHeight; // Value : 0-32 |
59 | uint8_t HeightP; // Value : 0-32 |
59 | uint8_t HeightP; // Value : 0-32 |
60 | uint8_t Height_Gain; // Value : 0-50 |
60 | uint8_t Height_Gain; // Value : 0-50 |
61 | uint8_t Height_ACC_Effect; // Value : 0-250 |
61 | uint8_t Height_ACC_Effect; // Value : 0-250 |
62 | uint8_t StickP; // Value : 1-6 |
62 | uint8_t StickP; // Value : 1-6 |
63 | uint8_t StickD; // Value : 0-64 |
63 | uint8_t StickD; // Value : 0-64 |
64 | uint8_t StickYawP; // Value : 1-20 |
64 | uint8_t StickYawP; // Value : 1-20 |
65 | uint8_t MinThrottle; // Value : 0-32 |
65 | uint8_t MinThrottle; // Value : 0-32 |
66 | uint8_t MaxThrottle; // Value : 33-250 |
66 | uint8_t MaxThrottle; // Value : 33-250 |
67 | uint8_t GyroAccFactor; // Value : 1-64 |
67 | uint8_t GyroAccFactor; // Value : 1-64 |
68 | uint8_t CompassYawEffect; // Value : 0-32 |
68 | uint8_t CompassYawEffect; // Value : 0-32 |
69 | uint8_t GyroP; // Value : 10-250 |
69 | uint8_t GyroP; // Value : 10-250 |
70 | uint8_t GyroI; // Value : 0-250 |
70 | uint8_t GyroI; // Value : 0-250 |
71 | uint8_t GyroD; // Value : 0-250 |
71 | uint8_t GyroD; // Value : 0-250 |
72 | uint8_t LowVoltageWarning; // Value : 0-250 |
72 | uint8_t LowVoltageWarning; // Value : 0-250 |
73 | uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Emp�ngsverlust |
73 | uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Emp�ngsverlust |
74 | uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
74 | uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
75 | uint8_t Unused0; // |
75 | uint8_t Unused0; // |
76 | uint8_t IFactor; // Value : 0-250 |
76 | uint8_t IFactor; // Value : 0-250 |
77 | uint8_t UserParams1[4]; // Value : 0-250 |
77 | uint8_t UserParams1[4]; // Value : 0-250 |
78 | /* |
78 | /* |
79 | uint8_t UserParam2; // Value : 0-250 |
79 | uint8_t UserParam2; // Value : 0-250 |
80 | uint8_t UserParam3; // Value : 0-250 |
80 | uint8_t UserParam3; // Value : 0-250 |
81 | uint8_t UserParam4; // Value : 0-250 |
81 | uint8_t UserParam4; // Value : 0-250 |
82 | */ |
82 | */ |
83 | uint8_t ServoPitchControl; // Value : 0-250 // Stellung des Servos |
83 | uint8_t ServoPitchControl; // Value : 0-250 // Stellung des Servos |
84 | uint8_t ServoPitchComp; // Value : 0-250 // Einfluss Gyro/Servo |
84 | uint8_t ServoPitchComp; // Value : 0-250 // Einfluss Gyro/Servo |
85 | uint8_t ServoPitchMin; // Value : 0-250 // Anschlag |
85 | uint8_t ServoPitchMin; // Value : 0-250 // Anschlag |
86 | uint8_t ServoPitchMax; // Value : 0-250 // Anschlag |
86 | uint8_t ServoPitchMax; // Value : 0-250 // Anschlag |
87 | uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
87 | uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
88 | uint8_t LoopGasLimit; // Value: 0-250 max. Gas w�hrend Looping |
88 | uint8_t LoopGasLimit; // Value: 0-250 max. Gas w�hrend Looping |
89 | uint8_t LoopThreshold; // Value: 0-250 Schwelle f�r Stickausschlag |
89 | uint8_t LoopThreshold; // Value: 0-250 Schwelle f�r Stickausschlag |
90 | uint8_t LoopHysteresis; // Value: 0-250 Hysterese f�r Stickausschlag |
90 | uint8_t LoopHysteresis; // Value: 0-250 Hysterese f�r Stickausschlag |
91 | uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
91 | uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
92 | uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
92 | uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
93 | uint8_t AxisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
93 | uint8_t AxisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
94 | uint8_t AngleTurnOverPitch; // Value: 0-250 180�-Punkt |
94 | uint8_t AngleTurnOverPitch; // Value: 0-250 180�-Punkt |
95 | uint8_t AngleTurnOverRoll; // Value: 0-250 180�-Punkt |
95 | uint8_t AngleTurnOverRoll; // Value: 0-250 180�-Punkt |
96 | uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
96 | uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
97 | uint8_t DriftComp; // limit for gyrodrift compensation |
97 | uint8_t DriftComp; // limit for gyrodrift compensation |
98 | uint8_t DynamicStability; // PID limit for Attitude controller |
98 | uint8_t DynamicStability; // PID limit for Attitude controller |
99 | uint8_t UserParams2[4]; // Value : 0-250 |
99 | uint8_t UserParams2[4]; // Value : 0-250 |
100 | /* |
100 | /* |
101 | uint8_t UserParam6; // Value : 0-250 |
101 | uint8_t UserParam6; // Value : 0-250 |
102 | uint8_t UserParam7; // Value : 0-250 |
102 | uint8_t UserParam7; // Value : 0-250 |
103 | uint8_t UserParam8; // Value : 0-250 |
103 | uint8_t UserParam8; // Value : 0-250 |
104 | */ |
104 | */ |
105 | uint8_t J16Bitmask; // for the J16 Output |
105 | uint8_t J16Bitmask; // for the J16 Output |
106 | uint8_t J16Timing; // for the J16 Output |
106 | uint8_t J16Timing; // for the J16 Output |
107 | uint8_t J17Bitmask; // for the J17 Output |
107 | uint8_t J17Bitmask; // for the J17 Output |
108 | uint8_t J17Timing; // for the J17 Output |
108 | uint8_t J17Timing; // for the J17 Output |
109 | uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
109 | uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
110 | uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
110 | uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
111 | uint8_t NaviGpsP; // P gain for GPS-PID controller |
111 | uint8_t NaviGpsP; // P gain for GPS-PID controller |
112 | uint8_t NaviGpsI; // I gain for GPS-PID controller |
112 | uint8_t NaviGpsI; // I gain for GPS-PID controller |
113 | uint8_t NaviGpsD; // D gain for GPS-PID controller |
113 | uint8_t NaviGpsD; // D gain for GPS-PID controller |
114 | uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
114 | uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
115 | uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
115 | uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
116 | uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
116 | uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
117 | uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
117 | uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
118 | uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
118 | uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
119 | uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
119 | uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
120 | uint8_t NaviWindCorrection; // streng of wind course correction |
120 | uint8_t NaviWindCorrection; // streng of wind course correction |
121 | uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
121 | uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
122 | uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
122 | uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
123 | uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
123 | uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
124 | uint8_t NaviPHLoginTime; // position hold logintimeout |
124 | uint8_t NaviPHLoginTime; // position hold logintimeout |
125 | uint8_t ExternalControl; // for serial Control |
125 | uint8_t ExternalControl; // for serial Control |
Line 126... | Line 126... | ||
126 | uint8_t BitConfig; // see upper defines for bitcoding |
126 | uint8_t BitConfig; // see upper defines for bitcoding |
Line 127... | Line 127... | ||
127 | uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
127 | uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
Line 128... | Line 128... | ||
128 | uint8_t Reserved[4]; |
128 | uint8_t Reserved[4]; |
129 | int8_t Name[12]; |
129 | int8_t Name[12]; |
130 | } paramset_t; |
130 | } paramset_t; |
131 | 131 | ||
132 | #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
132 | #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
Line 133... | Line 133... | ||
133 | 133 | ||
Line 134... | Line 134... | ||
134 | extern paramset_t staticParams; |
134 | extern paramset_t staticParams; |
Line 160... | Line 160... | ||
160 | #define CFG_GPS_ACTIVE (1<<5) |
160 | #define CFG_GPS_ACTIVE (1<<5) |
161 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
161 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
162 | #define CFG_ROTARY_RATE_LIMITER (1<<7) |
162 | #define CFG_ROTARY_RATE_LIMITER (1<<7) |
Line 163... | Line 163... | ||
163 | 163 | ||
164 | // bit mask for staticParams.BitConfig |
164 | // bit mask for staticParams.BitConfig |
165 | #define CFG_LOOP_UP (1<<0) |
165 | #define CFG_LOOP_UP (1<<0) |
166 | #define CFG_LOOP_DOWN (1<<1) |
166 | #define CFG_LOOP_DOWN (1<<1) |
167 | #define CFG_LOOP_LEFT (1<<2) |
167 | #define CFG_LOOP_LEFT (1<<2) |
168 | #define CFG_LOOP_RIGHT (1<<3) |
168 | #define CFG_LOOP_RIGHT (1<<3) |
Line 185... | Line 185... | ||
185 | #define MIX_PITCH 1 |
185 | #define MIX_PITCH 1 |
186 | #define MIX_ROLL 2 |
186 | #define MIX_ROLL 2 |
187 | #define MIX_YAW 3 |
187 | #define MIX_YAW 3 |
Line 188... | Line 188... | ||
188 | 188 | ||
189 | extern volatile uint8_t MKFlags; |
189 | extern volatile uint8_t MKFlags; |
190 | extern int16_t variables[8]; |
190 | extern int16_t variables[8]; // The "Poti"s. |
191 | extern uint8_t BoardRelease; |
191 | extern uint8_t BoardRelease; |
Line 192... | Line 192... | ||
192 | extern uint8_t CPUType; |
192 | extern uint8_t CPUType; |
193 | 193 |