Prof Greg Egan
UAVX Multicopter Flight Controller.
Diff: uavx_aileron.h
- Revision:
- 0:62a1c91a859a
- Child:
- 2:90292f8bd179
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/uavx_aileron.h Fri Feb 18 22:28:05 2011 +0000
@@ -0,0 +1,97 @@
+// ===============================================================================================
+// = UAVXArm Quadrocopter Controller =
+// = Copyright (c) 2008 by Prof. Greg Egan =
+// = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
+// = http://code.google.com/p/uavp-mods/ http://uavp.ch =
+// ===============================================================================================
+
+// This is part of UAVXArm.
+
+// UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
+// General Public License as published by the Free Software Foundation, either version 3 of the
+// License, or (at your option) any later version.
+
+// UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
+// even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+// See the GNU General Public License for more details.
+
+// You should have received a copy of the GNU General Public License along with this program.
+// If not, see http://www.gnu.org/licenses/
+
+ const int8 DefaultParams[MAX_PARAMETERS][2] = {
+ {20,0}, // RollKp, 01
+ {12,0}, // RollKi, 02
+ {50, 0}, // RollKd, 03
+ {0,true}, // HorizDampKp, 04c //-1
+ {5,0}, // RollIntLimit, 05
+ {20,0}, // PitchKp, 06
+ {12,0}, // PitchKi, 07
+ {50,0}, // PitchKd, 08
+ {8,0}, // AltKp, 09
+ {5,0}, // PitchIntLimit, 10
+
+ {30,0}, // YawKp, 11
+ {25,0}, // YawKi, 12
+ {0,0}, // YawKd, 13
+ {25,0}, // YawLimit, 14
+ {2,0}, // YawIntLimit, 15
+ {8,true}, // ConfigBits, 16c
+ {0,true}, // was TimeSlots, 17c
+ {48,true}, // LowVoltThres, 18c
+ {20,true}, // CamRollKp, 19c
+ {45,true}, // PercentCruiseThr,20c
+
+ {0,true}, // VertDampKp, 21c //-1
+ {0,true}, // MiddleDU, 22c
+ {20,true}, // PercentIdleThr, 23c
+ {0,true}, // MiddleLR, 24c
+ {0,true}, // MiddleFB, 25c
+ {20,true}, // CamPitchKp, 26c
+ {10,0}, // CompassKp, 27
+ {8,0}, // AltKi, 28
+ {0,0}, // was NavRadius, 29
+ {8,0}, // NavKi, 30
+
+ {0,0}, // GSThrottle, 31
+ {0,0}, // Acro, 32
+ {10,0}, // NavRTHAlt, 33
+ {0,true}, // NavMagVar, 34c
+ {ITG3200Gyro,true}, // GyroType, 35c
+ {ESCPPM,true}, // ESCType, 36c
+ {UnknownTxRx,true}, // TxRxType 37c
+ {2,true}, // NeutralRadius 38
+ {30,true}, // PercentNavSens6Ch 39
+ {1,true}, // CamRollTrim, 40c
+
+ {-16,0}, // NavKd 41
+ {1,true}, // VertDampDecay 42c
+ {1,true}, // HorizDampDecay 43c
+ {56,true}, // BaroScale 44c
+ {UAVXTelemetry,true}, // TelemetryType 45c
+ {-8,0}, // MaxDescentRateDmpS 46
+ {30,true}, // DescentDelayS 47c
+ {1,0}, // NavIntLimit 48
+ {2,0}, // AltIntLimit 49
+ {11,true}, // was GravComp 50c
+
+ {0,true}, // was CompSteps 51c
+ {0,true}, // ServoSense 52c
+ {3,true}, // CompassOffsetQtr 53c
+ {49,true}, // BatteryCapacity 54c
+ {LY530Gyro,true}, // was GyroYawType 55c
+ {4,0}, // AltKd 56
+ #if (defined TRICOPTER) | (defined VTCOPTER )
+ {24,true}, // Orient 57
+ #else
+ {0,true}, // Orient 57
+ #endif // TRICOPTER | VTCOPTER
+
+ {12,true}, // NavYawLimit 58
+ {0,0}, // Balance 59
+ {0,0}, // 60 - 64 unused currently
+ {0,0},
+
+ {0,0},
+ {0,0},
+ {0,0}
+ };