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added ability to swap sensor axises dynamically. still needs a sane way to configire in CLI, though.

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adjusted all drivers for the new align stuff.
commented out default config setting values to zero - memset already did that.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@227 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2012-10-07 18:03:42 +00:00
parent 193902079c
commit 021b486916
8 changed files with 3184 additions and 3144 deletions
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51
src/config.c
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@ -12,7 +12,7 @@
config_t cfg;
const char rcChannelLetters[] = "AERT1234";
static uint8_t EEPROM_CONF_VERSION = 32;
static uint8_t EEPROM_CONF_VERSION = 33;
static uint32_t enabledSensors = 0;
static void resetConf(void);
@ -123,6 +123,8 @@ void checkFirstTime(bool reset)
static void resetConf(void)
{
int i;
const int8_t default_align[3][3] = { /* GYRO */ { 0, 0, 0 }, /* ACC */ { 0, 0, 0 }, /* MAG */ { -2, -3, 1 } };
memset(&cfg, 0, sizeof(config_t));
cfg.version = EEPROM_CONF_VERSION;
@ -130,7 +132,7 @@ static void resetConf(void)
featureClearAll();
featureSet(FEATURE_VBAT);
cfg.looptime = 0;
// cfg.looptime = 0;
cfg.P8[ROLL] = 40;
cfg.I8[ROLL] = 30;
cfg.D8[ROLL] = 23;
@ -139,13 +141,13 @@ static void resetConf(void)
cfg.D8[PITCH] = 23;
cfg.P8[YAW] = 85;
cfg.I8[YAW] = 45;
cfg.D8[YAW] = 0;
// cfg.D8[YAW] = 0;
cfg.P8[PIDALT] = 16;
cfg.I8[PIDALT] = 15;
cfg.D8[PIDALT] = 7;
cfg.P8[PIDPOS] = 11; // POSHOLD_P * 100;
cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100;
cfg.D8[PIDPOS] = 0;
// cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100;
// cfg.D8[PIDPOS] = 0;
cfg.P8[PIDPOSR] = 20; // POSHOLD_RATE_P * 10;
cfg.I8[PIDPOSR] = 8; // POSHOLD_RATE_I * 100;
cfg.D8[PIDPOSR] = 45; // POSHOLD_RATE_D * 1000;
@ -156,24 +158,25 @@ static void resetConf(void)
cfg.I8[PIDLEVEL] = 10;
cfg.D8[PIDLEVEL] = 20;
cfg.P8[PIDMAG] = 40;
cfg.P8[PIDVEL] = 0;
cfg.I8[PIDVEL] = 0;
cfg.D8[PIDVEL] = 0;
// cfg.P8[PIDVEL] = 0;
// cfg.I8[PIDVEL] = 0;
// cfg.D8[PIDVEL] = 0;
cfg.rcRate8 = 90;
cfg.rcExpo8 = 65;
cfg.rollPitchRate = 0;
cfg.yawRate = 0;
cfg.dynThrPID = 0;
// cfg.rollPitchRate = 0;
// cfg.yawRate = 0;
// cfg.dynThrPID = 0;
cfg.thrMid8 = 50;
cfg.thrExpo8 = 0;
for (i = 0; i < CHECKBOXITEMS; i++)
cfg.activate[i] = 0;
cfg.angleTrim[0] = 0;
cfg.angleTrim[1] = 0;
cfg.accZero[0] = 0;
cfg.accZero[1] = 0;
cfg.accZero[2] = 0;
cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
// cfg.thrExpo8 = 0;
// for (i = 0; i < CHECKBOXITEMS; i++)
// cfg.activate[i] = 0;
// cfg.angleTrim[0] = 0;
// cfg.angleTrim[1] = 0;
// cfg.accZero[0] = 0;
// cfg.accZero[1] = 0;
// cfg.accZero[2] = 0;
// cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
memcpy(&cfg.align, default_align, sizeof(cfg.align));
cfg.acc_hardware = ACC_DEFAULT; // default/autodetect
cfg.acc_lpf_factor = 4;
cfg.acc_lpf_for_velocity = 10;
@ -191,14 +194,14 @@ static void resetConf(void)
// Radio
parseRcChannels("AETR1234");
cfg.deadband = 0;
cfg.yawdeadband = 0;
// cfg.deadband = 0;
// cfg.yawdeadband = 0;
cfg.alt_hold_throttle_neutral = 20;
cfg.spektrum_hires = 0;
// cfg.spektrum_hires = 0;
cfg.midrc = 1500;
cfg.mincheck = 1100;
cfg.maxcheck = 1900;
cfg.retarded_arm = 0; // disable arm/disarm on roll left/right
// cfg.retarded_arm = 0; // disable arm/disarm on roll left/right
// Failsafe Variables
cfg.failsafe_delay = 10; // 1sec