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Rev 2141 Rev 2142
Line 83... Line 83...
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  // Control
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  // Control
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  staticParams.externalControl = 0;
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  staticParams.externalControl = 0;
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  staticParams.IFactor = 52;
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  staticParams.IFactor = 52;
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  staticParams.airspeedCorrection = 1;
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  staticParams.airspeedCorrection = 1;
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  staticParams.isFlyingThreshold = 100;
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  staticParams.isFlyingThreshold = 10;
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  // Servos
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  // Servos
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  staticParams.servoCount = 7;
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  staticParams.servoCount = 6;
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  staticParams.servos[CONTROL_ELEVATOR].reverse = 0;
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  staticParams.servos[CONTROL_ELEVATOR].reverse = 0;
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  staticParams.servos[CONTROL_AILERONS].reverse = 0; // 1 for extra.
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  staticParams.servos[CONTROL_RUDDER].reverse = 0;
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  for (uint8_t i=0; i<4; i++) {
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      staticParams.servos[i].minValue = 80;
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  staticParams.servos[CONTROL_AILERONS].reverse = 1;
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      staticParams.servos[i].maxValue = 80;
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  staticParams.servos[CONTROL_RUDDER].reverse = 0;
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  }
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  // Battery warning and emergency flight
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  // Battery warning and emergency flight
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  staticParams.batteryWarningVoltage = 101;  // 3.7 each for 3S
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  staticParams.batteryWarningVoltage = 101;  // 3.7 each for 3S
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  for (uint8_t i=0; i<3; i++) {
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  for (uint8_t i=0; i<3; i++) {
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          staticParams.gyroPID[i].P = 40;
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          staticParams.gyroPID[i].P = 40;
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          staticParams.gyroPID[i].I = 40;
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          staticParams.gyroPID[i].I = 20;
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          staticParams.gyroPID[i].D = 40;
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          staticParams.gyroPID[i].D = 20;
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          staticParams.gyroPID[i].iMax = 60;
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          staticParams.gyroPID[i].iMax = 30; // 60 for extra.
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  staticParams.outputFlash[0].bitmask = 1; //0b01011111;
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  staticParams.outputFlash[0].bitmask = 1; //0b01011111;
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  staticParams.outputFlash[0].timing = 15;
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  staticParams.outputFlash[0].timing = 15;
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  staticParams.outputFlash[1].bitmask = 3; //0b11110011;
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  staticParams.outputFlash[1].bitmask = 3; //0b11110011;
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  staticParams.outputFlash[1].timing = 15;
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  staticParams.outputFlash[1].timing = 15;
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  staticParams.outputDebugMask = 8;
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  staticParams.outputDebugMask = 0;
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  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;
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  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;
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}
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}
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  IMUConfig.gyroPIDFilterConstant = 10;
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  IMUConfig.gyroPIDFilterConstant = 10;
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  IMUConfig.gyroDFilterConstant = 1;
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  IMUConfig.gyroDFilterConstant = 1;
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  IMUConfig.rateTolerance = 120;
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  IMUConfig.rateTolerance = 120;
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  IMUConfig.gyroDWindowLength = 8;
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  IMUConfig.gyroDWindowLength = 8;
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  IMUConfig.gyroQuadrant = 4;
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  IMUConfig.gyroQuadrant = 4;
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  IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_PR;
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  IMUConfig.imuReversedFlags = 0;
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}
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}
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/***************************************************/
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/***************************************************/
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/*    Default Values for R/C Channels              */
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/*    Default Values for R/C Channels              */