Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
uavx_aileron.h
- Committer:
- gke
- Date:
- 2011-04-26
- Revision:
- 2:90292f8bd179
- Parent:
- 0:62a1c91a859a
File content as of revision 2:90292f8bd179:
// =============================================================================================== // = 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/ = // =============================================================================================== // 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} };