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21 | 21 | ||
22 | /* P */uint8_t axisCoupling1; |
22 | /* P */uint8_t axisCoupling1; |
23 | /* P */uint8_t axisCoupling2; |
23 | /* P */uint8_t axisCoupling2; |
24 | /* P */uint8_t axisCouplingYawCorrection; |
24 | /* P */uint8_t axisCouplingYawCorrection; |
25 | /* P */uint8_t dynamicStability; |
25 | /* P */uint8_t dynamicStability; |
Line 26... | Line 26... | ||
26 | uint8_t maxControlActivityForAcc; |
26 | uint8_t maxAccVector; |
27 | 27 | ||
28 | // Height control |
28 | // Height control |
29 | /*PMM*/uint8_t heightP; |
29 | /*PMM*/uint8_t heightP; |
Line 69... | Line 69... | ||
69 | int16_t offsets[3]; |
69 | int16_t offsets[3]; |
70 | } sensorOffset_t; |
70 | } sensorOffset_t; |
Line 71... | Line 71... | ||
71 | 71 | ||
72 | typedef struct { |
72 | typedef struct { |
73 | uint8_t manualControl; |
- | |
74 | uint8_t manualMaxSpeed; |
73 | uint8_t manualControl; |
75 | uint8_t compensationFactor; |
74 | uint8_t stabilizationFactor; |
76 | uint8_t minValue; |
75 | uint8_t minValue; |
77 | uint8_t maxValue; |
76 | uint8_t maxValue; |
78 | uint8_t flags; |
77 | uint8_t flags; |
Line 79... | Line 78... | ||
79 | } servo_t; |
78 | } servo_t; |
Line 80... | Line 79... | ||
80 | 79 | ||
81 | #define SERVO_COMPENSATION_REVERSE 1 |
80 | #define SERVO_STABILIZATION_REVERSE 1 |
82 | 81 | ||
83 | typedef struct { |
82 | typedef struct { |
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106 | uint8_t stickYawP; // Value : 1-20 |
105 | uint8_t stickYawP; // Value : 1-20 |
107 | uint8_t stickThrottleD; |
106 | uint8_t stickThrottleD; |
108 | uint8_t minThrottle; // Value : 0-32 |
107 | uint8_t minThrottle; // Value : 0-32 |
109 | uint8_t maxThrottle; // Value : 33-250 |
108 | uint8_t maxThrottle; // Value : 33-250 |
110 | uint8_t externalControl; // for serial Control |
109 | uint8_t externalControl; // for serial Control |
111 | uint8_t maxControlActivityForAcc; |
110 | uint8_t maxAccVector; |
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112 | 111 | ||
113 | // IMU |
112 | // IMU |
114 | uint8_t gyroPIDFilterConstant; |
113 | uint8_t gyroPIDFilterConstant; |
115 | uint8_t gyroATTFilterConstant; |
114 | uint8_t gyroATTFilterConstant; |
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132 | uint8_t IFactor; // Value : 0-250 |
131 | uint8_t IFactor; // Value : 0-250 |
133 | uint8_t yawIFactor; |
132 | uint8_t yawIFactor; |
134 | uint8_t compassYawEffect; // Value : 0-32 |
133 | uint8_t compassYawEffect; // Value : 0-32 |
Line 135... | Line 134... | ||
135 | 134 | ||
136 | // Servos |
- | |
137 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
135 | // Servos |
- | 136 | uint8_t servoCount; |
|
- | 137 | uint8_t servoManualMaxSpeed; |
|
Line 138... | Line 138... | ||
138 | uint8_t servoCount; |
138 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
139 | 139 | ||
140 | // Battery warning and emergency flight |
140 | // Battery warning and emergency flight |
141 | uint8_t batteryVoltageWarning; // Value : 0-250 |
141 | uint8_t batteryVoltageWarning; // Value : 0-250 |
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164 | #define MKFLAG_RESERVE1 (1<<5) |
164 | #define MKFLAG_RESERVE1 (1<<5) |
165 | #define MKFLAG_RESERVE2 (1<<6) |
165 | #define MKFLAG_RESERVE2 (1<<6) |
166 | #define MKFLAG_RESERVE3 (1<<7) |
166 | #define MKFLAG_RESERVE3 (1<<7) |
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167 | 167 | ||
168 | // bit mask for staticParams.bitConfig |
168 | // bit mask for staticParams.bitConfig |
169 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
169 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
170 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
170 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
171 | #define CFG_HEADING_HOLD (1<<2) |
171 | #define CFG_HEADING_HOLD (1<<2) |
172 | #define CFG_COMPASS_ACTIVE (1<<3) |
172 | #define CFG_COMPASS_ACTIVE (1<<3) |
173 | #define CFG_COMPASS_FIX (1<<4) |
173 | #define CFG_COMPASS_FIX (1<<4) |
174 | #define CFG_GPS_ACTIVE (1<<5) |
174 | #define CFG_GPS_ACTIVE (1<<5) |
175 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
175 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
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176 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
176 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
177 | 177 |