mirror of
https://github.com/betaflight/betaflight.git
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d262c6e66c
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@86 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
232 lines
8.6 KiB
C
Executable file
232 lines
8.6 KiB
C
Executable file
#pragma once
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#define QUADX
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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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/* 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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#if defined(TRI)
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#define MULTITYPE 1
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#elif defined(QUADP)
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#define MULTITYPE 2
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#elif defined(QUADX)
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#define MULTITYPE 3
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#elif defined(BI)
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#define MULTITYPE 4
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#elif defined(GIMBAL)
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#define MULTITYPE 5
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#elif defined(Y6)
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#define MULTITYPE 6
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#elif defined(HEX6)
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#define MULTITYPE 7
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#elif defined(FLYING_WING)
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#define MULTITYPE 8
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#elif defined(Y4)
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#define MULTITYPE 9
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#elif defined(HEX6X)
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#define MULTITYPE 10
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#elif defined(OCTOX8)
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#define MULTITYPE 11
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#elif defined(OCTOFLATP)
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#define MULTITYPE 11 //the GUI is the same for all 8 motor configs
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#elif defined(OCTOFLATX)
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#define MULTITYPE 11 //the GUI is the same for all 8 motor configs
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#endif
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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 EstAlt;
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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 int16_t i2c_errors_count;
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extern int32_t pressure;
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extern int16_t BaroAlt;
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extern uint8_t headFreeMode;
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extern int16_t headFreeModeHold;
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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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// 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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// 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 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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