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renamed 'tilt_*_prop' stuff into gimbal_[axis]_gain and added more dynamically-configurable gimbal/camstab stuff into cli.

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whitespace fixes in mw.h and trashed the old XA-XB based mixer setting leftovers.
settings are cleared again due to updated config struct.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@138 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-31 03:52:16 +00:00
parent 58eb2b966f
commit 703234b608
5 changed files with 2473 additions and 2448 deletions
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60
src/mw.h
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@ -33,16 +33,6 @@
#define WING_RIGHT_MIN 1020 // limit servo travel range must be inside [1020;2000]
#define WING_RIGHT_MAX 2000 // limit servo travel range must be inside [1020;2000]
/* The following lines apply only for a pitch/roll tilt stabilization system
On promini board, it is not compatible with config with 6 motors or more
Uncomment the first line to activate it */
#define TILT_PITCH_MIN 1020 //servo travel min, don't set it below 1020
#define TILT_PITCH_MAX 2000 //servo travel max, max value=2000
#define TILT_PITCH_MIDDLE 1500 //servo neutral value
#define TILT_ROLL_MIN 1020
#define TILT_ROLL_MAX 2000
#define TILT_ROLL_MIDDLE 1500
/* experimental
camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
#define CAM_SERVO_HIGH 2000 // the position of HIGH state servo
@ -65,23 +55,23 @@
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
typedef enum MultiType
{
MULTITYPE_TRI = 1, // XA
MULTITYPE_QUADP = 2, // XB
MULTITYPE_QUADX = 3, // XC
MULTITYPE_BI = 4, // XD
MULTITYPE_GIMBAL = 5, // XE
MULTITYPE_Y6 = 6, // XF
MULTITYPE_HEX6 = 7, // XG
MULTITYPE_FLYING_WING = 8, // XH
MULTITYPE_Y4 = 9, // XI
MULTITYPE_HEX6X = 10, // XJ
MULTITYPE_OCTOX8 = 11, // XK
MULTITYPE_OCTOFLATP = 12, // XL the GUI is the same for all 8 motor configs
MULTITYPE_OCTOFLATX = 13, // XM the GUI is the same for all 8 motor configs
MULTITYPE_AIRPLANE = 14, // XN
MULTITYPE_HELI_120_CCPM = 15, // XO simple model
MULTITYPE_HELI_90_DEG = 16, // XP simple model
MULTITYPE_VTAIL4 = 17, // XO
MULTITYPE_TRI = 1,
MULTITYPE_QUADP = 2,
MULTITYPE_QUADX = 3,
MULTITYPE_BI = 4,
MULTITYPE_GIMBAL = 5,
MULTITYPE_Y6 = 6,
MULTITYPE_HEX6 = 7,
MULTITYPE_FLYING_WING = 8,
MULTITYPE_Y4 = 9,
MULTITYPE_HEX6X = 10,
MULTITYPE_OCTOX8 = 11,
MULTITYPE_OCTOFLATP = 12, // the GUI is the same for all 8 motor configs
MULTITYPE_OCTOFLATX = 13, // the GUI is the same for all 8 motor configs
MULTITYPE_AIRPLANE = 14,
MULTITYPE_HELI_120_CCPM = 15, // simple model
MULTITYPE_HELI_90_DEG = 16, // simple model
MULTITYPE_VTAIL4 = 17,
MULTITYPE_LAST = 18
} MultiType;
@ -142,7 +132,7 @@ typedef struct config_t {
int16_t accZero[3];
int16_t magZero[3];
int16_t accTrim[2];
// sensor-related stuff
uint8_t acc_lpf_factor; // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
uint16_t gyro_lpf; // mpuX050 LPF setting
@ -154,7 +144,7 @@ typedef struct config_t {
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)
// Radio/ESC-related configuration
uint8_t rcmap[8]; // mapping of radio channels to internal RPYTA+ order
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
@ -178,10 +168,16 @@ typedef struct config_t {
uint16_t tri_yaw_middle; // tail servo center pos. - use this for initial trim
uint16_t tri_yaw_min; // tail servo min
uint16_t tri_yaw_max; // tail servo max
// gimbal-related configuration
int8_t tilt_pitch_prop; // servo proportional (tied to angle) ; can be negative to invert movement
int8_t tilt_roll_prop; // servo proportional (tied to angle) ; can be negative to invert movement
int8_t gimbal_pitch_gain; // gimbal pitch servo gain (tied to angle) can be negative to invert movement
int8_t gimbal_roll_gain; // gimbal roll servo gain (tied to angle) can be negative to invert movement
uint16_t gimbal_pitch_min; // gimbal pitch servo min travel
uint16_t gimbal_pitch_max; // gimbal pitch servo max travel
uint16_t gimbal_pitch_mid; // gimbal pitch servo neutral value
uint16_t gimbal_roll_min; // gimbal roll servo min travel
uint16_t gimbal_roll_max; // gimbal roll servo max travel
uint16_t gimbal_roll_mid; // gimbal roll servo neutral value
// gps baud-rate
uint32_t gps_baudrate;