WebSVN - FlightCtrl - Diff - Rev 1635 and 1646 - /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.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.                    
}

 
void setOtherDefaults(void) {
/* Channel assignments were changed to the normal:

  staticParams.GyroP = 80;
  staticParams.GyroI = 100;
  staticParams.LowVoltageWarning = 94;
  staticParams.EmergencyGas = 35;
  staticParams.EmergencyGasDuration = 30;
  staticParams.Unused0 = 0;
  staticParams.IFactor = 32;
  staticParams.ServoPitchControl = 100;
  staticParams.ServoPitchComp = 40;
  staticParams.ServoPitchCompInvert = 0;
  staticParams.ServoPitchMin = 50;

  staticParams.LoopHysteresis = 50;
  staticParams.BitConfig = 0;
  staticParams.AxisCoupling1 = 90;
  staticParams.AxisCoupling2 = 67;
  staticParams.AxisCouplingYawCorrection = 0;
 
  staticParams.DynamicStability = 50;
  staticParams.J16Bitmask = 95;
  staticParams.J17Bitmask = 243;
  staticParams.J16Timing = 15;
  staticParams.J17Timing = 15;

 
/***************************************************/
/*    Default Values for parameter set 1           */
/***************************************************/
void ParamSet_DefaultSet1(void) { // sport
  setOtherDefaults();
  gyro_setDefaults();
 
  setDefaultUserParams();
  memcpy(staticParams.Name, "Sport\0",6);

}
 
/***************************************************/
/*    Default Values for parameter set 2           */
/***************************************************/
void ParamSet_DefaultSet2(void) { // normal
  setOtherDefaults();
 
  gyro_setDefaults();
 
  setDefaultUserParams();
  staticParams.Height_Gain = 3;
  staticParams.J16Timing = 20;
  staticParams.J17Timing = 20;

  memcpy(staticParams.Name, "Normal\0", 7);
}
 
/***************************************************/
/*    Default Values for parameter set 3           */
/***************************************************/
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.Height_Gain = 3;
  staticParams.EmergencyGasDuration = 20;
  staticParams.AxisCouplingYawCorrection = 70;
  staticParams.J16Timing = 30;

Rev 1635	Rev 1646
Line 93...	Line 93...
93	}	93	}
94	/*	94	/*
95	* While we are still using userparams for flight parameters, do set	95	* While we are still using userparams for flight parameters, do set
96	* some safe & meaningful default values.	96	* some safe & meaningful default values.
97	*/	97	*/
98	staticParams.UserParams1[4] = 0b01010101;	98	staticParams.UserParams1[3] = 10; // Throttle stick D=10
-		99	staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4
99	staticParams.UserParams1[5] = 2; // H&I motor smoothing.	100	staticParams.UserParams2[1] = 2; // H&I motor smoothing.
100	staticParams.UserParams1[6] = 120;	101	staticParams.UserParams2[2] = 120; // Yaw I factor
101	staticParams.UserParams1[7] = 5;	102	staticParams.UserParams2[3] = 100; // Max Z acceleration for acc. correction of angles.
102	}	103	}
Line 103...	Line 104...
103		104
104	void setOtherDefaults(void) {	105	void setOtherDefaults(void) {
105	/* Channel assignments were changed to the normal:	106	/* Channel assignments were changed to the normal:
Line 129...	Line 130...
129	staticParams.GyroP = 80;	130	staticParams.GyroP = 80;
130	staticParams.GyroI = 100;	131	staticParams.GyroI = 100;
131	staticParams.LowVoltageWarning = 94;	132	staticParams.LowVoltageWarning = 94;
132	staticParams.EmergencyGas = 35;	133	staticParams.EmergencyGas = 35;
133	staticParams.EmergencyGasDuration = 30;	134	staticParams.EmergencyGasDuration = 30;
134	staticParams.UfoArrangement = 0;	135	staticParams.Unused0 = 0;
135	staticParams.IFactor = 32;	136	staticParams.IFactor = 32;
136	staticParams.ServoPitchControl = 100;	137	staticParams.ServoPitchControl = 100;
137	staticParams.ServoPitchComp = 40;	138	staticParams.ServoPitchComp = 40;
138	staticParams.ServoPitchCompInvert = 0;	139	staticParams.ServoPitchCompInvert = 0;
139	staticParams.ServoPitchMin = 50;	140	staticParams.ServoPitchMin = 50;
Line 144...	Line 145...
144	staticParams.LoopHysteresis = 50;	145	staticParams.LoopHysteresis = 50;
145	staticParams.BitConfig = 0;	146	staticParams.BitConfig = 0;
146	staticParams.AxisCoupling1 = 90;	147	staticParams.AxisCoupling1 = 90;
147	staticParams.AxisCoupling2 = 67;	148	staticParams.AxisCoupling2 = 67;
148	staticParams.AxisCouplingYawCorrection = 0;	149	staticParams.AxisCouplingYawCorrection = 0;
149	staticParams.GyroAccTrim = 2;	-
150	staticParams.DynamicStability = 50;	150	staticParams.DynamicStability = 50;
151	staticParams.J16Bitmask = 95;	151	staticParams.J16Bitmask = 95;
152	staticParams.J17Bitmask = 243;	152	staticParams.J17Bitmask = 243;
153	staticParams.J16Timing = 15;	153	staticParams.J16Timing = 15;
154	staticParams.J17Timing = 15;	154	staticParams.J17Timing = 15;
Line 172...	Line 172...
172		172
173	/***************************************************/	173	/***************************************************/
174	/* Default Values for parameter set 1 */	174	/* Default Values for parameter set 1 */
175	/***************************************************/	175	/***************************************************/
-		176	void ParamSet_DefaultSet1(void) { // sport
176	void ParamSet_DefaultSet1(void) { // sport	177	setOtherDefaults();
177	gyro_setDefaults();	178	gyro_setDefaults();
178	setDefaultUserParams();	-
179	setOtherDefaults();	179	setDefaultUserParams();
180	memcpy(staticParams.Name, "Sport\0",6);	180	memcpy(staticParams.Name, "Sport\0",6);
Line 181...	Line 181...
181	}	181	}
182		182
183	/***************************************************/	183	/***************************************************/
184	/* Default Values for parameter set 2 */	184	/* Default Values for parameter set 2 */
-		185	/***************************************************/
185	/***************************************************/	186	void ParamSet_DefaultSet2(void) { // normal
186	void ParamSet_DefaultSet2(void) { // normal	187	setOtherDefaults();
187	gyro_setDefaults();	-
188	setDefaultUserParams();	188	gyro_setDefaults();
189	setOtherDefaults();	-
190	staticParams.Height_Gain = 3;	189	setDefaultUserParams();
191	staticParams.GyroAccTrim = 32;	190	staticParams.Height_Gain = 3;
192	staticParams.J16Timing = 20;	191	staticParams.J16Timing = 20;
193	staticParams.J17Timing = 20;	192	staticParams.J17Timing = 20;
Line 194...	Line 193...
194	memcpy(staticParams.Name, "Normal\0", 7);	193	memcpy(staticParams.Name, "Normal\0", 7);
195	}	194	}
196		195
197	/***************************************************/	196	/***************************************************/
-		197	/* Default Values for parameter set 3 */
198	/* Default Values for parameter set 3 */	198	/***************************************************/
199	/***************************************************/	199	void ParamSet_DefaultSet3(void) { // beginner
200	void ParamSet_DefaultSet3(void) { // beginner	-
201	gyro_setDefaults();	200	setOtherDefaults();
202	setDefaultUserParams();	201	gyro_setDefaults();
203	setOtherDefaults();	202	setDefaultUserParams();
204	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;	203	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;
205	staticParams.Height_Gain = 3;	-
206	staticParams.EmergencyGasDuration = 20;	204	staticParams.Height_Gain = 3;
207	staticParams.AxisCouplingYawCorrection = 70;	205	staticParams.EmergencyGasDuration = 20;
208	staticParams.GyroAccTrim = 32;	206	staticParams.AxisCouplingYawCorrection = 70;
209	staticParams.J16Timing = 30;	207	staticParams.J16Timing = 30;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/eeprom.c - Rev 1635 → 1646