mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
57b289466d
switched nop to __NOP from cm3 headers got rid of __GNUC__ DMB stuff as well, since its all properly defined in cm3 headers added mpu lowpass filter config and defaulted to 42hz. seems to fly smoother. features are in eeprom, removed default setting from main.c git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@98 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
252 lines
9.9 KiB
C
Executable file
252 lines
9.9 KiB
C
Executable file
#pragma once
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#define MINCHECK 1100
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#define MAXCHECK 1900
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#define YAW_DIRECTION 1 // if you want to reverse the yaw correction direction
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//#define YAW_DIRECTION -1
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/* this is the value for the ESCs when they are not armed
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in some cases, this value must be lowered down to 900 for some specific ESCs */
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#define MINCOMMAND 1000
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/* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)
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This is the minimum value that allow motors to run at a idle speed */
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//#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
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//#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
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//#define MINTHROTTLE 1220
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#define MINTHROTTLE 1150
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/* this is the maximum value for the ESCs at full power this value can be increased up to 2000 */
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#define MAXTHROTTLE 1850
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/* some radios have not a neutral point centered on 1500. can be changed here */
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#define MIDRC 1500
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/* This option should be uncommented if ACC Z is accurate enough when motors are running*/
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/* should now be ok with BMA020 and BMA180 ACC */
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#define TRUSTED_ACCZ
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/* Failsave settings - added by MIS
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Failsafe check pulse on THROTTLE channel. If the pulse is OFF (on only THROTTLE or on all channels) the failsafe procedure is initiated.
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After FAILSAVE_DELAY time of pulse absence, the level mode is on (if ACC or nunchuk is avaliable), PITCH, ROLL and YAW is centered
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and THROTTLE is set to FAILSAVE_THR0TTLE value. You must set this value to descending about 1m/s or so for best results.
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This value is depended from your configuration, AUW and some other params.
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Next, afrer FAILSAVE_OFF_DELAY the copter is disarmed, and motors is stopped.
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If RC pulse coming back before reached FAILSAVE_OFF_DELAY time, after the small quard time the RC control is returned to normal.
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If you use serial sum PPM, the sum converter must completly turn off the PPM SUM pusles for this FailSafe functionality.*/
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// #define FAILSAFE // Alex: comment this line if you want to deactivate the failsafe function
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#define FAILSAVE_DELAY 10 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
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#define FAILSAVE_OFF_DELAY 200 // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
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#define FAILSAVE_THR0TTLE (MINTHROTTLE + 200) // Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
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/* you can change the tricopter servo travel here */
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#define TRI_YAW_CONSTRAINT_MIN 1020
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#define TRI_YAW_CONSTRAINT_MAX 2000
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#define TRI_YAW_MIDDLE 1500 // tail servo center pos. - use this for initial trim; later trim midpoint via LCD
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/* Flying Wing: you can change change servo orientation and servo min/max values here */
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/* valid for all flight modes, even passThrough mode */
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/* need to setup servo directions here; no need to swap servos amongst channels at rx */
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#define PITCH_DIRECTION_L 1 // left servo - pitch orientation
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#define PITCH_DIRECTION_R -1 // right servo - pitch orientation (opposite sign to PITCH_DIRECTION_L, if servos are mounted in mirrored orientation)
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#define ROLL_DIRECTION_L 1 // left servo - roll orientation
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#define ROLL_DIRECTION_R 1 // right servo - roll orientation (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
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#define WING_LEFT_MID 1500 // left servo center pos. - use this for initial trim; later trim midpoint via LCD
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#define WING_RIGHT_MID 1500 // right servo center pos. - use this for initial trim; later trim midpoint via LCD
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#define WING_LEFT_MIN 1020 // limit servo travel range must be inside [1020;2000]
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#define WING_LEFT_MAX 2000 // limit servo travel range must be inside [1020;2000]
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#define WING_RIGHT_MIN 1020 // limit servo travel range must be inside [1020;2000]
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#define WING_RIGHT_MAX 2000 // limit servo travel range must be inside [1020;2000]
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/* The following lines apply only for a pitch/roll tilt stabilization system
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On promini board, it is not compatible with config with 6 motors or more
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Uncomment the first line to activate it */
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//#define SERVO_TILT
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#define TILT_PITCH_MIN 1020 //servo travel min, don't set it below 1020
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#define TILT_PITCH_MAX 2000 //servo travel max, max value=2000
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#define TILT_PITCH_MIDDLE 1500 //servo neutral value
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#define TILT_PITCH_PROP 10 //servo proportional (tied to angle) ; can be negative to invert movement
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#define TILT_ROLL_MIN 1020
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#define TILT_ROLL_MAX 2000
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#define TILT_ROLL_MIDDLE 1500
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#define TILT_ROLL_PROP 10
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/* for V BAT monitoring
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after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
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with R1=33k and R2=51k
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vbat = [0;1023]*16/VBATSCALE */
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#define VBATFREQ 6 // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing
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#define VBATSCALE 131 // change this value if readed Battery voltage is different than real voltage
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#define VBATLEVEL1_3S 107 // 10,7V
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#define VBATLEVEL2_3S 103 // 10,3V
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#define VBATLEVEL3_3S 99 // 9.9V
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#define NO_VBAT 16 // Avoid beeping without any battery
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#define VERSION 19
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// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
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typedef enum MultiType
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{
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MULTITYPE_TRI = 1, // XA
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MULTITYPE_QUADP = 2, // XB
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MULTITYPE_QUADX = 3, // XC
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MULTITYPE_BI = 4, // XD
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MULTITYPE_GIMBAL = 5, // XE
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MULTITYPE_Y6 = 6, // XF
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MULTITYPE_HEX6 = 7, // XG
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MULTITYPE_FLYING_WING = 8, // XH
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MULTITYPE_Y4 = 9, // XI
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MULTITYPE_HEX6X = 10, // XJ
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MULTITYPE_OCTOX8 = 11, // XK
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MULTITYPE_OCTOFLATP = 12, // XL the GUI is the same for all 8 motor configs
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MULTITYPE_OCTOFLATX = 13, // XM the GUI is the same for all 8 motor configs
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// XN missing for some reason??
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MULTITYPE_VTAIL4 = 15, // XO
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MULTITYPE_LAST = 16
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} MultiType;
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/*********** RC alias *****************/
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#define ROLL 0
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#define PITCH 1
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#define YAW 2
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#define THROTTLE 3
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#define AUX1 4
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#define AUX2 5
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#define AUX3 6
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#define AUX4 7
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#define PIDALT 3
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#define PIDVEL 4
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#define PIDGPS 5
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#define PIDLEVEL 6
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#define PIDMAG 7
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#define BOXACC 0
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#define BOXBARO 1
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#define BOXMAG 2
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#define BOXCAMSTAB 3
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#define BOXCAMTRIG 4
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#define BOXARM 5
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#define BOXGPSHOME 6
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#define BOXGPSHOLD 7
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#define BOXPASSTHRU 8
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#define BOXHEADFREE 9
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#define BOXBEEPERON 10
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#define CHECKBOXITEMS 11
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#define PIDITEMS 8
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#define ACC_ORIENTATION(X, Y, Z) { accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z; }
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#define GYRO_ORIENTATION(X, Y, Z) { gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z; }
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#define MAG_ORIENTATION(X, Y, Z) { magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = Z; }
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#define min(a,b) ((a)<(b)?(a):(b))
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#define max(a,b) ((a)>(b)?(a):(b))
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#define abs(x) ((x)>0?(x):-(x))
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#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
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extern int16_t accZero[3];
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extern int16_t accTrim[2];
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extern int16_t gyroZero[3];
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extern int16_t magZero[3];
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extern int16_t gyroData[3];
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extern int16_t angle[2];
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extern int16_t axisPID[3];
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extern int16_t rcCommand[4];
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extern int16_t debug1, debug2, debug3, debug4;
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extern uint8_t armed;
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extern int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
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extern uint16_t acc_1G;
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extern uint32_t currentTime;
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extern uint32_t previousTime;
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extern uint16_t cycleTime;
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extern uint8_t calibratedACC;
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extern uint16_t calibratingA;
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extern uint8_t calibratingM;
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extern uint16_t calibratingG;
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extern int16_t heading;
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extern int16_t annex650_overrun_count;
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extern int32_t pressure;
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extern int32_t BaroAlt;
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extern int32_t EstAlt;
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extern int32_t AltHold;
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extern int16_t errorAltitudeI;
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extern int32_t EstVelocity;
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extern int16_t BaroPID;
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extern uint8_t headFreeMode;
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extern int16_t headFreeModeHold;
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extern uint8_t passThruMode;
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extern int8_t smallAngle25;
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extern int16_t zVelocity;
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extern int16_t heading, magHold;
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extern int16_t motor[8];
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extern int16_t servo[8];
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extern int16_t rcData[8];
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extern uint8_t accMode;
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extern uint8_t magMode;
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extern uint8_t baroMode;
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extern uint8_t P8[8], I8[8], D8[8];
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extern uint8_t dynThrPID;
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extern uint8_t activate1[CHECKBOXITEMS];
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extern uint8_t activate2[CHECKBOXITEMS];
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extern uint16_t intPowerMeterSum, intPowerTrigger1;
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extern uint8_t rollPitchRate;
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extern uint8_t yawRate;
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extern uint8_t dynThrPID;
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extern uint8_t rcRate8;
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extern uint8_t rcExpo8;
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extern int32_t GPS_latitude, GPS_longitude;
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extern int32_t GPS_latitude_home, GPS_longitude_home;
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extern uint8_t GPS_fix, GPS_fix_home;
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extern uint8_t GPS_numSat;
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extern uint16_t GPS_distanceToHome;
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extern int16_t GPS_directionToHome;
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extern uint8_t GPS_update;
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extern uint8_t GPSModeHome;
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extern uint8_t GPSModeHold;
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extern uint8_t vbat;
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extern uint8_t powerTrigger1;
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extern int16_t lookupRX[7]; // lookup table for expo & RC rate
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extern uint8_t mixerConfiguration;
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extern uint16_t wing_left_mid;
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extern uint16_t wing_right_mid;
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extern uint16_t tri_yaw_middle;
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// main
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void loop(void);
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// IMU
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void imuInit(void);
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void annexCode(void);
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void computeIMU(void);
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void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat);
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void getEstimatedAltitude(void);
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// Sensors
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void sensorsAutodetect(void);
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void ACC_getADC(void);
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void Baro_update(void);
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void Gyro_getADC(void);
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void Mag_init(void);
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void Mag_getADC(void);
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// Output
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void mixerInit(void);
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void writeServos(void);
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void writeMotors(void);
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void mixTable(void);
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// Serial
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void serialCom(void);
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// Config
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void readEEPROM(void);
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void writeParams(void);
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void checkFirstTime(void);
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bool sensors(uint32_t mask);
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void sensorsSet(uint32_t mask);
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void sensorsClear(uint32_t mask);
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bool feature(uint32_t mask);
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void featureSet(uint32_t mask);
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void featureClear(uint32_t mask);
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void featureClearAll(void);
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