WebSVN - FlightCtrl - Diff - Rev 1646 and 1775 - /branches/dongfang_FC

+  }
   /*
    * While we are still using userparams for flight parameters, do set
    * some safe & meaningful default values.
    */
-  staticParams.UserParams1[3] = 10;                     // Throttle stick D=10
+  staticParams.UserParams1[3] = 8;                      // Throttle stick D=8
   staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4
   staticParams.UserParams2[1] = 2;                      // H&I motor smoothing.
   staticParams.UserParams2[2] = 120;            // Yaw I factor
-  staticParams.UserParams2[3] = 100;            // Max Z acceleration for acc. correction of angles.
+  staticParams.UserParams2[3] = 10;             // Max Z acceleration for acc. correction of angles.
+}
 void setOtherDefaults(void) {
 /* Channel assignments were changed to the normal:
   staticParams.ChannelAssignment[CH_YAW]      = 4;
   staticParams.ChannelAssignment[CH_POTS+0]   = 5;
   staticParams.ChannelAssignment[CH_POTS+1]   = 6;
   staticParams.ChannelAssignment[CH_POTS+2]   = 7;
   staticParams.ChannelAssignment[CH_POTS+3]   = 8;
-  staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
+  staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
   staticParams.HeightMinGas = 30;
   staticParams.MaxHeight     = 251;
   staticParams.HeightP      = 10;
   staticParams.HeightD  = 30;
   staticParams.Height_ACC_Effect = 30;
   staticParams.Height_Gain = 4;
-  staticParams.StickP = 12;
+  staticParams.StickP = 8;
-  staticParams.StickD = 16;
+  staticParams.StickD = 12;
   staticParams.StickYawP = 12;
   staticParams.MinThrottle = 8;
   staticParams.MaxThrottle = 230;
   staticParams.CompassYawEffect = 128;
   staticParams.GyroP = 80;
   staticParams.GyroI = 100;
-  staticParams.LowVoltageWarning = 94;
+  staticParams.LowVoltageWarning = 95;
   staticParams.EmergencyGas = 35;
   staticParams.EmergencyGasDuration = 30;
   staticParams.Unused0 = 0;
   staticParams.IFactor = 32;
   staticParams.ServoPitchControl = 100;
 /***************************************************/
 void ParamSet_DefaultSet1(void) { // sport
   setOtherDefaults();
   gyro_setDefaults();
   setDefaultUserParams();
+  staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE;
   memcpy(staticParams.Name, "Sport\0",6);
+}
 /***************************************************/
 /*    Default Values for parameter set 2           */
 /***************************************************/
 void ParamSet_DefaultSet2(void) { // normal
   setOtherDefaults();
   gyro_setDefaults();
+  setDefaultUserParams();
-  setDefaultUserParams();
+  staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE;
   staticParams.Height_Gain = 3;
   staticParams.J16Timing = 20;
   staticParams.J17Timing = 20;
   memcpy(staticParams.Name, "Normal\0", 7);
 /***************************************************/
 void ParamSet_DefaultSet3(void) { // beginner
   setOtherDefaults();
   gyro_setDefaults();
   setDefaultUserParams();
-  staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
+  staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE;
   staticParams.Height_Gain = 3;
   staticParams.EmergencyGasDuration = 20;
   staticParams.AxisCouplingYawCorrection = 70;
   staticParams.J16Timing = 30;
   staticParams.J17Timing = 30;
   // set this parameter set to active set
   setActiveParamSet(setnumber);
   output_init();
+}
 /***************************************************/
 /*       Get active parameter set                  */
 /***************************************************/
 uint8_t getActiveParamSet(void) {
 /***************************************************/
 /*       Initialize EEPROM Parameter Sets          */
 /***************************************************/
 void ParamSet_Init(void) {
-  uint8_t Channel_Backup  = 0, i;
+  uint8_t Channel_Backup=1, i, j;
   // parameter version  check
   if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) {
     // if version check faild
     printf("\n\rInit Parameter in EEPROM");
     eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table
     // check if channel mapping backup is valid
-    if(         (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12)
-                &&  (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12)
+    for (j=0; j<4 && Channel_Backup; j++) {
-                &&  (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12)
-                &&  (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)
-                )
-      {
+      if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) >= 12)
-        Channel_Backup = 1;
+        Channel_Backup = 0;
+    }
     // fill all 5 parameter settings
     for (i=1; i<6; i++) {
       switch(i) {
       case 1:
         ParamSet_DefaultSet2(); // Kamera
         break;
+      }
       if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom
         // restore it
-        staticParams.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
-        staticParams.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
-        staticParams.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
-        staticParams.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
+        for (j=0; j<8; j++) {
-        staticParams.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
+          staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+j]);
-        staticParams.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
-        staticParams.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
-        staticParams.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
+        }
+      }
       ParamSet_WriteToEEProm(i);
+    }
     // default-Setting is parameter set 3
     setActiveParamSet(1);

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/eeprom.c @ 1867 - Rev 1646 → 1775