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merged changes from multiwii_dev 20120504. this means new serial protocol, new buzzer code

Browse source 
fixed spacing in ledring.c
defaulted acc_lpf to 100
correction in vtail4 mix (from multiwii_dev)
trashed more unused LOG_VALUES crap
no binary build since this is untested / non-flight-tested.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@152 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-05-05 12:47:52 +00:00
parent 910df63a7f
commit 0d7460960e
13 changed files with 694 additions and 172 deletions
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42
src/config.c
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@ -13,7 +13,7 @@ config_t cfg;
const char rcChannelLetters[] = "AERT1234";
static uint32_t enabledSensors = 0;
static uint8_t checkNewConf = 13;
uint8_t checkNewConf = 14;
void parseRcChannels(const char *input)
{
@ -33,15 +33,26 @@ void readEEPROM(void)
// Read flash
memcpy(&cfg, (char *)FLASH_WRITE_ADDR, sizeof(config_t));
for (i = 0; i < 7; i++)
lookupRX[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 1250;
for(i = 0; i < 6; i++)
lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t)cfg.rcRate8 / 2500;
for(i = 0; i < 11; i++) {
int16_t tmp = 10 * i - cfg.thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - cfg.thrMid8;
if (tmp < 0)
y = cfg.thrMid8;
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t)cfg.thrExpo8 * (tmp * tmp) / (y * y) ) / 10; // [0;1000]
lookupThrottleRC[i] = cfg.minthrottle + (int32_t)(cfg.maxthrottle - cfg.minthrottle)* lookupThrottleRC[i] / 1000; // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE]
}
cfg.wing_left_mid = constrain(cfg.wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT
cfg.wing_right_mid = constrain(cfg.wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
}
void writeParams(void)
void writeParams(uint8_t b)
{
FLASH_Status status;
uint32_t i;
@ -61,7 +72,8 @@ void writeParams(void)
FLASH_Lock();
readEEPROM();
blinkLED(15, 20, 1);
if (b)
blinkLED(15, 20, 1);
}
void checkFirstTime(bool reset)
@ -86,7 +98,7 @@ void checkFirstTime(bool reset)
cfg.I8[PITCH] = 30;
cfg.D8[PITCH] = 23;
cfg.P8[YAW] = 85;
cfg.I8[YAW] = 0;
cfg.I8[YAW] = 45;
cfg.D8[YAW] = 0;
cfg.P8[PIDALT] = 16;
cfg.I8[PIDALT] = 15;
@ -97,25 +109,25 @@ void checkFirstTime(bool reset)
cfg.P8[PIDVEL] = 0;
cfg.I8[PIDVEL] = 0;
cfg.D8[PIDVEL] = 0;
cfg.P8[PIDLEVEL] = 90;
cfg.I8[PIDLEVEL] = 45;
cfg.P8[PIDLEVEL] = 70;
cfg.I8[PIDLEVEL] = 10;
cfg.D8[PIDLEVEL] = 100;
cfg.P8[PIDMAG] = 40;
cfg.rcRate8 = 45; // = 0.9 in GUI
cfg.rcRate8 = 90;
cfg.rcExpo8 = 65;
cfg.rollPitchRate = 0;
cfg.yawRate = 0;
cfg.dynThrPID = 0;
for (i = 0; i < CHECKBOXITEMS; i++) {
cfg.activate1[i] = 0;
cfg.activate2[i] = 0;
}
cfg.thrMid8 = 50;
cfg.thrExpo8 = 0;
for (i = 0; i < CHECKBOXITEMS; i++)
cfg.activate[i] = 0;
cfg.accTrim[0] = 0;
cfg.accTrim[1] = 0;
cfg.accZero[0] = 0;
cfg.accZero[1] = 0;
cfg.accZero[2] = 0;
cfg.acc_lpf_factor = 4;
cfg.acc_lpf_factor = 100;
cfg.gyro_lpf = 42;
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.vbatscale = 110;
@ -163,7 +175,7 @@ void checkFirstTime(bool reset)
// serial(uart1) baudrate
cfg.serial_baudrate = 115200;
writeParams();
writeParams(0);
}
bool sensors(uint32_t mask)