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mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 00:35:39 +03:00
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synced with mwc 2.1. it's suprising how many "new" things in 2.1 didn't actually matter on a real platform.

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removed camtrig stuff since it wasnt possible. somewhat replaced with aux forwarding (see below)
2.1 buzzer code changed, untested.
removed flying wing mixer. nobody used that. 
added alt_hold_throttle_neutral, nav_slew_rate and looptime configuration to cli. default looptime set to 3000. changed default gyro_cmpf to 400 to sync with 2.1.
increased bmp085 oversampling
added gimbal_flags (bit 4 set) flag which, in PPM mode, forwards AUX1..4 to the lower 4 PWM outputs instead of using them as motors. set gimbal_flags=8 to test it out. output is fixed to 50Hz.
merged 2.1 gps changes (not many)
casting in gyro smoothing (nobody uses that anyway)
calibrate accel in gimbal mode, set smallangle in gyro-only mode
vtail4 mixer fix
flight tested on quadx w/ppm.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@182 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-07-20 14:53:15 +00:00
parent e70d7b5d16
commit c98113b82c
19 changed files with 5363 additions and 5696 deletions
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50
src/mw.h
View file

@ -1,28 +1,9 @@
#pragma once
/* Flying Wing: you can change change servo orientation and servo min/max values here */
/* valid for all flight modes, even passThrough mode */
/* need to setup servo directions here; no need to swap servos amongst channels at rx */
#define PITCH_DIRECTION_L 1 // left servo - pitch orientation
#define PITCH_DIRECTION_R -1 // right servo - pitch orientation (opposite sign to PITCH_DIRECTION_L, if servos are mounted in mirrored orientation)
#define ROLL_DIRECTION_L 1 // left servo - roll orientation
#define ROLL_DIRECTION_R 1 // right servo - roll orientation (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
#define WING_LEFT_MIN 1020 // limit servo travel range must be inside [1020;2000]
#define WING_LEFT_MAX 2000 // limit servo travel range must be inside [1020;2000]
#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]
/* 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
#define CAM_SERVO_LOW 1020 // the position of LOW state servo
#define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms
#define CAM_TIME_LOW 1000 // the duration of LOW state servo expressed in ms
/* for VBAT monitoring frequency */
#define VBATFREQ 6 // to read battery voltage - nth number of loop iterations
#define VERSION 200
#define VERSION 210
#define LAT 0
#define LON 1
@ -31,7 +12,7 @@
// navigation mode
typedef enum NavigationMode
{
NAV_MODE_NONE = 1,
NAV_MODE_NONE = 0,
NAV_MODE_POSHOLD,
NAV_MODE_WP
} NavigationMode;
@ -46,7 +27,7 @@ typedef enum MultiType
MULTITYPE_GIMBAL = 5,
MULTITYPE_Y6 = 6,
MULTITYPE_HEX6 = 7,
MULTITYPE_FLYING_WING = 8,
MULTITYPE_FLYING_WING = 8, // UNSUPPORTED, do not select!
MULTITYPE_Y4 = 9,
MULTITYPE_HEX6X = 10,
MULTITYPE_OCTOX8 = 11,
@ -63,6 +44,7 @@ typedef enum GimbalFlags {
GIMBAL_NORMAL = 1 << 0,
GIMBAL_TILTONLY = 1 << 1,
GIMBAL_DISABLEAUX34 = 1 << 2,
GIMBAL_FORWARDAUX = 1 << 3,
} GimbalFlags;
/*********** RC alias *****************/
@ -94,12 +76,9 @@ typedef enum GimbalFlags {
#define BOXPASSTHRU 8
#define BOXHEADFREE 9
#define BOXBEEPERON 10
/* we want maximum illumination */
#define BOXLEDMAX 11
/* enable landing lights at any altitude */
#define BOXLLIGHTS 12
/* acquire heading for HEADFREE mode */
#define BOXHEADADJ 13
#define BOXLEDMAX 11 // we want maximum illumination
#define BOXLLIGHTS 12 // enable landing lights at any altitude
#define BOXHEADADJ 13 // acquire heading for HEADFREE mode
#define PIDITEMS 10
#define CHECKBOXITEMS 14
@ -114,6 +93,8 @@ typedef struct config_t {
uint8_t mixerConfiguration;
uint32_t enabledFeatures;
uint16_t looptime; // imu loop time in us
uint8_t P8[PIDITEMS];
uint8_t I8[PIDITEMS];
uint8_t D8[PIDITEMS];
@ -130,7 +111,7 @@ typedef struct config_t {
int16_t accZero[3];
int16_t magZero[3];
int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
int16_t accTrim[2];
int16_t angleTrim[2]; // accelerometer trim
// sensor-related stuff
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
@ -148,6 +129,7 @@ typedef struct config_t {
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.
uint8_t yawdeadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
uint8_t alt_hold_throttle_neutral; // defines the neutral zone of throttle stick during altitude hold, default setting is +/-20
uint8_t spektrum_hires; // spektrum high-resolution y/n (1024/2048bit)
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
uint16_t mincheck; // minimum rc end
@ -168,8 +150,6 @@ typedef struct config_t {
// mixer-related configuration
int8_t yaw_direction;
uint16_t wing_left_mid; // left servo center pos. - use this for initial trim
uint16_t wing_right_mid; // right servo center pos. - use this for initial trim
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
@ -189,6 +169,7 @@ typedef struct config_t {
uint32_t gps_baudrate;
uint16_t gps_wp_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
uint8_t gps_lpf; // Low pass filter cut frequency for derivative calculation (default 20Hz)
uint8_t nav_slew_rate; // Adds a rate control to nav output, will smoothen out nav angle spikes
uint8_t nav_controls_heading; // copter faces toward the navigation point, maghold must be enabled for it
uint16_t nav_speed_min; // cm/sec
uint16_t nav_speed_max; // cm/sec
@ -257,15 +238,17 @@ extern int32_t GPS_coord[2];
extern int32_t GPS_home[2];
extern int32_t GPS_hold[2];
extern uint8_t GPS_numSat;
extern uint16_t GPS_distanceToHome,GPS_distanceToHold; // distance to home or hold point in meters
extern int16_t GPS_directionToHome,GPS_directionToHold; // direction to home or hol point in degrees
extern uint16_t GPS_distanceToHome; // distance to home or hold point in meters
extern int16_t GPS_directionToHome; // direction to home or hol point in degrees
extern uint16_t GPS_altitude,GPS_speed; // altitude in 0.1m and speed in 0.1m/s
extern uint8_t GPS_update; // it's a binary toogle to distinct a GPS position update
extern int16_t GPS_angle[2]; // it's the angles that must be applied for GPS correction
extern uint16_t GPS_ground_course; // degrees*10
extern uint8_t GPS_Present; // Checksum from Gps serial
extern uint8_t GPS_Enable;
extern int16_t nav[2];
extern int8_t nav_mode; // Navigation mode
extern int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
extern config_t cfg;
extern flags_t f;
@ -335,6 +318,7 @@ void gpsInit(uint32_t baudrate);
void GPS_reset_home_position(void);
void GPS_reset_nav(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);
int32_t wrap_18000(int32_t error);
// telemetry
void initTelemetry(bool State);