Diff: defines.h

Revision:

0:05cb0f94324f

diff -r 000000000000 -r 05cb0f94324f defines.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/defines.h	Mon May 30 08:11:32 2016 +0000
@@ -0,0 +1,94 @@
+// modes
+#define MODE_ON 1
+#define MODE_MANUAL 2
+#define MODE_READY 4
+#define MODE_TAKEOFF 8
+#define MODE_STAB_ALT 16
+#define MODE_STAB_PRY 32
+
+#define ALT_METER 0.1202 //hPa per meter, t=15C
+//#define ALT_METER 0.1268 //hPa per meter, t=0C
+#define ALT_TRUST_ACC 40
+#define ALT_P (1.0f/ALT_TRUST_ACC) // estimated altitude correction (default 0.05), 100 - due to m->cm conversion
+#define ALT_ACC_I 0.0001f // ACC zero calibration (default 0.0001)
+#define ALT_VEL_P 0.1f // velocity correction (default 0.1)
+
+#define CMD_I2C_OFF 0xA0
+#define CMD_I2C_ON 0xA1
+#define CMD_I2C_MANUAL 0xA2
+#define CMD_I2C_AUTO 0xA3
+#define CMD_I2C_CTRL 0xA4
+
+#define BAUD_RATE 19200
+
+// nu
+#define THRUST_THRESH 0.05
+
+// delays
+#define INCL_DELAY 0.002
+#define CTRL_DELAY 0.02
+#define MAG_DELAY 0.015
+#define BAR_DELAY 0.02
+
+#define TAKEOFF_SPEED 0.05*CTRL_DELAY // 12.5% per sec
+#define TAKEOFF_LEV_ALT 0.05 // in meters 
+#define TAKEOFF_CLIMB_ALT 1.0 // in meters 
+
+// PID scales
+#define ROLL_SCALE 0.01
+#define PITCH_SCALE 0.01
+#define YAW_SCALE 0.01
+#define ALT_SCALE 0.01
+
+// CTRL constraints
+#define CTRL_DIA 511.0
+#define ROLL_MAX 45.0
+#define PITCH_MAX 45.0
+#define YAW_MAX 90.0
+#define THR_MAX 45.0
+#define ALT_MAX 0.500
+
+// altitude control blind diap
+#define ALT_SPD_PE 0.005
+#define ALT_SPD_NE -0.005
+
+// sensors
+#define ACC_G 9.806
+#define ACC_SENS 256.0
+#define ACC_SENS_INV 0.00390625
+#define ACC_GS 0.0383046875
+#define ACC_DEADBAND 0.3
+
+#define GYR_SENS 0.0175
+
+#define MAG_DECL 14.28
+
+#define BAR_TABLE_SIZE 21
+
+//hs battop
+#define MAG_OFF {346.769036, -181.590063, -125.126453}
+#define MAG_CAL {{1.924164, 0.076278, 0.027597},{0.076278, 1.997178, -0.001175},{0.027597,-0.001175,1.753297}}
+
+// filters
+#define LPFC_BAR 0.4
+#define LPFC_ACC 0.02
+#define LPFC_ALT 0.02
+
+// pid roll, pitch, yaw, alt
+#define PIDK {{0,0,0},{0,0,0},{0,0,0},{0,0,0}}
+
+#define X 0
+#define Y 1
+#define Z 2
+
+// roll, pitch, yaw
+#define ROLL 0
+#define PITCH 1
+#define YAW 2
+#define ALT 3
+
+// yaw compensation direction
+#define YAW_PID_DIR -1
+
+//median filter
+//#define M_FILTER