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Line 85... | Line 85... | ||
85 | 85 | ||
86 | // values above 250 representing poti1 to poti4 |
86 | // values above 250 representing poti1 to poti4 |
87 | typedef struct { |
87 | typedef struct { |
88 | // Global bitflags |
88 | // Global bitflags |
89 | uint8_t bitConfig; // see upper defines for bitcoding |
- | |
Line 90... | Line 89... | ||
90 | uint8_t bitConfig2; // see upper defines for bitcoding |
89 | uint8_t bitConfig; // see upper defines for bitcoding |
91 | 90 | ||
92 | // Height Control |
91 | // Height Control |
93 | uint8_t heightP; // Value : 0-32 |
92 | uint8_t heightP; // Value : 0-32 |
94 | uint8_t heightD; // Value : 0-250 |
93 | uint8_t heightD; // Value : 0-250 |
95 | uint8_t heightSetting; // Value : 0-32 |
94 | uint8_t heightSetting; // Value : 0-32 |
96 | uint8_t heightMaxThrottleChange; // Value : 0-100 |
95 | uint8_t heightControlMaxThrottleChange; // Value : 0-100 |
Line 97... | Line 96... | ||
97 | uint8_t heightSlewRate; // Value : 0-50 |
96 | uint8_t heightSlewRate; // Value : 0-50 |
98 | uint8_t heightACCEffect; // Value : 0-250 |
97 | uint8_t heightACCEffect; // Value : 0-250 |
Line 167... | Line 166... | ||
167 | #define MKFLAG_RESERVE1 (1<<5) |
166 | #define MKFLAG_RESERVE1 (1<<5) |
168 | #define MKFLAG_RESERVE2 (1<<6) |
167 | #define MKFLAG_RESERVE2 (1<<6) |
169 | #define MKFLAG_RESERVE3 (1<<7) |
168 | #define MKFLAG_RESERVE3 (1<<7) |
Line 170... | Line 169... | ||
170 | 169 | ||
171 | // bit mask for staticParams.bitConfig |
170 | // bit mask for staticParams.bitConfig |
172 | #define CFG_HEIGHT_CONTROL (1<<0) |
171 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
173 | #define CFG_HEIGHT_SWITCH (1<<1) |
172 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
174 | #define CFG_HEADING_HOLD (1<<2) |
173 | #define CFG_HEADING_HOLD (1<<2) |
175 | #define CFG_COMPASS_ACTIVE (1<<3) |
174 | #define CFG_COMPASS_ACTIVE (1<<3) |
176 | #define CFG_COMPASS_FIX (1<<4) |
175 | #define CFG_COMPASS_FIX (1<<4) |
177 | #define CFG_GPS_ACTIVE (1<<5) |
176 | #define CFG_GPS_ACTIVE (1<<5) |
178 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
177 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
Line 179... | Line -... | ||
179 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
- | |
180 | - | ||
181 | // bit mask for staticParams.bitConfig2 |
- | |
182 | #define CFG_LOOP_UP (1<<0) |
- | |
183 | #define CFG_LOOP_DOWN (1<<1) |
- | |
184 | #define CFG_LOOP_LEFT (1<<2) |
- | |
185 | #define CFG_LOOP_RIGHT (1<<3) |
- | |
186 | #define CFG_HEIGHT_3SWITCH (1<<4) |
178 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
187 | 179 | ||
188 | #define ATMEGA644 0 |
180 | #define ATMEGA644 0 |
Line 189... | Line 181... | ||
189 | #define ATMEGA644P 1 |
181 | #define ATMEGA644P 1 |
Line 201... | Line 193... | ||
201 | #define MIX_THROTTLE 0 |
193 | #define MIX_THROTTLE 0 |
202 | #define MIX_PITCH 1 |
194 | #define MIX_PITCH 1 |
203 | #define MIX_ROLL 2 |
195 | #define MIX_ROLL 2 |
204 | #define MIX_YAW 3 |
196 | #define MIX_YAW 3 |
Line -... | Line 197... | ||
- | 197 | ||
- | 198 | #define VARIABLE_COUNT 8 |
|
205 | 199 | ||
206 | extern volatile uint8_t MKFlags; |
200 | extern volatile uint8_t MKFlags; |
207 | extern uint8_t requiredMotors; |
201 | extern uint8_t requiredMotors; |
208 | extern int16_t variables[8]; // The "Poti"s. |
202 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
209 | extern uint8_t boardRelease; |
203 | extern uint8_t boardRelease; |
Line 210... | Line 204... | ||
210 | extern uint8_t CPUType; |
204 | extern uint8_t CPUType; |
211 | 205 |