Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
Diff: uavx_elevon.h
- Revision:
- 0:62a1c91a859a
- Child:
- 2:90292f8bd179
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/uavx_elevon.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} + };