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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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27
src/mw.h
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@ -1,9 +1,5 @@
#pragma once
/* This option should be uncommented if ACC Z is accurate enough when motors are running*/
/* should now be ok with BMA020 and BMA180 ACC */
#define TRUSTED_ACCZ
/* Failsave settings - added by MIS
Failsafe check pulse on THROTTLE channel. If the pulse is OFF (on only THROTTLE or on all channels) the failsafe procedure is initiated.
After FAILSAVE_DELAY time of pulse absence, the level mode is on (if ACC or nunchuk is avaliable), PITCH, ROLL and YAW is centered
@ -43,14 +39,7 @@
/* for VBAT monitoring frequency */
#define VBATFREQ 6 // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing
// Moving Average Gyros by Magnetron1 (Michele Ardito) ########## beta
//#define MMGYRO // Active Moving Average Function for Gyros
//#define MMGYROVECTORLENGHT 10 // Lenght of Moving Average Vector
// Moving Average ServoGimbal Signal Output
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector
#define VERSION 20
#define VERSION 200
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
typedef enum MultiType
@ -128,6 +117,9 @@ typedef struct config_t {
uint8_t rcRate8;
uint8_t rcExpo8;
uint8_t thrMid8;
uint8_t thrExpo8;
uint8_t rollPitchRate;
uint8_t yawRate;
@ -141,8 +133,7 @@ typedef struct config_t {
uint16_t gyro_lpf; // mpuX050 LPF setting
uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
uint8_t activate1[CHECKBOXITEMS];
uint8_t activate2[CHECKBOXITEMS];
uint16_t activate[CHECKBOXITEMS]; // activate switches
uint8_t vbatscale; // adjust this to match battery voltage to reported value
uint8_t vbatmaxcellvoltage; // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
@ -211,6 +202,7 @@ extern int16_t heading;
extern int16_t annex650_overrun_count;
extern int32_t pressure;
extern int32_t BaroAlt;
extern int16_t sonarAlt;
extern int32_t EstAlt;
extern int32_t AltHold;
extern int16_t errorAltitudeI;
@ -240,7 +232,9 @@ extern uint8_t GPSModeHold;
extern uint16_t GPS_altitude;
extern uint16_t GPS_speed; // altitude in 0.1m and speed in 0.1m/s - Added by Mis
extern uint8_t vbat;
extern int16_t lookupRX[7]; // lookup table for expo & RC rate
extern int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
extern uint8_t toggleBeep;
extern config_t cfg;
extern sensor_t acc;
@ -280,7 +274,7 @@ void serialCom(void);
// Config
void parseRcChannels(const char *input);
void readEEPROM(void);
void writeParams(void);
void writeParams(uint8_t b);
void checkFirstTime(bool reset);
bool sensors(uint32_t mask);
void sensorsSet(uint32_t mask);
@ -301,3 +295,4 @@ void cliProcess(void);
// gps
void gpsInit(uint32_t baudrate);
void GPS_reset_home_position(void);