Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
uavx_helicopter.h@0:62a1c91a859a, 2011-02-18 (annotated)
- Committer:
- gke
- Date:
- Fri Feb 18 22:28:05 2011 +0000
- Revision:
- 0:62a1c91a859a
- Child:
- 2:90292f8bd179
First release
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gke | 0:62a1c91a859a | 1 | // =============================================================================================== |
gke | 0:62a1c91a859a | 2 | // = UAVXArm Quadrocopter Controller = |
gke | 0:62a1c91a859a | 3 | // = Copyright (c) 2008 by Prof. Greg Egan = |
gke | 0:62a1c91a859a | 4 | // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer = |
gke | 0:62a1c91a859a | 5 | // = http://code.google.com/p/uavp-mods/ http://uavp.ch = |
gke | 0:62a1c91a859a | 6 | // =============================================================================================== |
gke | 0:62a1c91a859a | 7 | |
gke | 0:62a1c91a859a | 8 | // This is part of UAVXArm. |
gke | 0:62a1c91a859a | 9 | |
gke | 0:62a1c91a859a | 10 | // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU |
gke | 0:62a1c91a859a | 11 | // General Public License as published by the Free Software Foundation, either version 3 of the |
gke | 0:62a1c91a859a | 12 | // License, or (at your option) any later version. |
gke | 0:62a1c91a859a | 13 | |
gke | 0:62a1c91a859a | 14 | // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without |
gke | 0:62a1c91a859a | 15 | // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
gke | 0:62a1c91a859a | 16 | // See the GNU General Public License for more details. |
gke | 0:62a1c91a859a | 17 | |
gke | 0:62a1c91a859a | 18 | // You should have received a copy of the GNU General Public License along with this program. |
gke | 0:62a1c91a859a | 19 | // If not, see http://www.gnu.org/licenses/ |
gke | 0:62a1c91a859a | 20 | |
gke | 0:62a1c91a859a | 21 | const int8 DefaultParams[MAX_PARAMETERS][2] = { |
gke | 0:62a1c91a859a | 22 | {20,0}, // RollKp, 01 |
gke | 0:62a1c91a859a | 23 | {12,0}, // RollKi, 02 |
gke | 0:62a1c91a859a | 24 | {50, 0}, // RollKd, 03 |
gke | 0:62a1c91a859a | 25 | {0,true}, // HorizDampKp, 04c //-1 |
gke | 0:62a1c91a859a | 26 | {5,0}, // RollIntLimit, 05 |
gke | 0:62a1c91a859a | 27 | {20,0}, // PitchKp, 06 |
gke | 0:62a1c91a859a | 28 | {12,0}, // PitchKi, 07 |
gke | 0:62a1c91a859a | 29 | {50,0}, // PitchKd, 08 |
gke | 0:62a1c91a859a | 30 | {8,0}, // AltKp, 09 |
gke | 0:62a1c91a859a | 31 | {5,0}, // PitchIntLimit, 10 |
gke | 0:62a1c91a859a | 32 | |
gke | 0:62a1c91a859a | 33 | {30,0}, // YawKp, 11 |
gke | 0:62a1c91a859a | 34 | {25,0}, // YawKi, 12 |
gke | 0:62a1c91a859a | 35 | {0,0}, // YawKd, 13 |
gke | 0:62a1c91a859a | 36 | {25,0}, // YawLimit, 14 |
gke | 0:62a1c91a859a | 37 | {2,0}, // YawIntLimit, 15 |
gke | 0:62a1c91a859a | 38 | {8,true}, // ConfigBits, 16c |
gke | 0:62a1c91a859a | 39 | {0,true}, // was TimeSlots, 17c |
gke | 0:62a1c91a859a | 40 | {48,true}, // LowVoltThres, 18c |
gke | 0:62a1c91a859a | 41 | {20,true}, // CamRollKp, 19c |
gke | 0:62a1c91a859a | 42 | {45,true}, // PercentCruiseThr,20c |
gke | 0:62a1c91a859a | 43 | |
gke | 0:62a1c91a859a | 44 | {0,true}, // VertDampKp, 21c //-1 |
gke | 0:62a1c91a859a | 45 | {0,true}, // MiddleDU, 22c |
gke | 0:62a1c91a859a | 46 | {20,true}, // PercentIdleThr, 23c |
gke | 0:62a1c91a859a | 47 | {0,true}, // MiddleLR, 24c |
gke | 0:62a1c91a859a | 48 | {0,true}, // MiddleFB, 25c |
gke | 0:62a1c91a859a | 49 | {20,true}, // CamPitchKp, 26c |
gke | 0:62a1c91a859a | 50 | {10,0}, // CompassKp, 27 |
gke | 0:62a1c91a859a | 51 | {8,0}, // AltKi, 28 |
gke | 0:62a1c91a859a | 52 | {0,0}, // was NavRadius, 29 |
gke | 0:62a1c91a859a | 53 | {8,0}, // NavKi, 30 |
gke | 0:62a1c91a859a | 54 | |
gke | 0:62a1c91a859a | 55 | {0,0}, // GSThrottle, 31 |
gke | 0:62a1c91a859a | 56 | {0,0}, // Acro, 32 |
gke | 0:62a1c91a859a | 57 | {10,0}, // NavRTHAlt, 33 |
gke | 0:62a1c91a859a | 58 | {0,true}, // NavMagVar, 34c |
gke | 0:62a1c91a859a | 59 | {ITG3200Gyro,true}, // GyroType, 35c |
gke | 0:62a1c91a859a | 60 | {ESCPPM,true}, // ESCType, 36c |
gke | 0:62a1c91a859a | 61 | {UnknownTxRx,true}, // TxRxType 37c |
gke | 0:62a1c91a859a | 62 | {2,true}, // NeutralRadius 38 |
gke | 0:62a1c91a859a | 63 | {30,true}, // PercentNavSens6Ch 39 |
gke | 0:62a1c91a859a | 64 | {1,true}, // CamRollTrim, 40c |
gke | 0:62a1c91a859a | 65 | |
gke | 0:62a1c91a859a | 66 | {16,0}, // NavKd 41 |
gke | 0:62a1c91a859a | 67 | {1,true}, // VertDampDecay 42c |
gke | 0:62a1c91a859a | 68 | {1,true}, // HorizDampDecay 43c |
gke | 0:62a1c91a859a | 69 | {56,true}, // BaroScale 44c |
gke | 0:62a1c91a859a | 70 | {UAVXTelemetry,true}, // TelemetryType 45c |
gke | 0:62a1c91a859a | 71 | {8,0}, // MaxDescentRateDmpS 46 |
gke | 0:62a1c91a859a | 72 | {30,true}, // DescentDelayS 47c |
gke | 0:62a1c91a859a | 73 | {1,0}, // NavIntLimit 48 |
gke | 0:62a1c91a859a | 74 | {2,0}, // AltIntLimit 49 |
gke | 0:62a1c91a859a | 75 | {11,true}, // was GravComp 50c |
gke | 0:62a1c91a859a | 76 | |
gke | 0:62a1c91a859a | 77 | {0,true}, // was CompSteps 51c |
gke | 0:62a1c91a859a | 78 | {0,true}, // ServoSense 52c |
gke | 0:62a1c91a859a | 79 | {3,true}, // CompassOffsetQtr 53c |
gke | 0:62a1c91a859a | 80 | {49,true}, // BatteryCapacity 54c |
gke | 0:62a1c91a859a | 81 | {LY530Gyro,true}, // was GyroYawType 55c |
gke | 0:62a1c91a859a | 82 | {4,0}, // AltKd 56 |
gke | 0:62a1c91a859a | 83 | #if (defined TRICOPTER) | (defined VTCOPTER ) |
gke | 0:62a1c91a859a | 84 | {24,true}, // Orient 57 |
gke | 0:62a1c91a859a | 85 | #else |
gke | 0:62a1c91a859a | 86 | {0,true}, // Orient 57 |
gke | 0:62a1c91a859a | 87 | #endif // TRICOPTER | VTCOPTER |
gke | 0:62a1c91a859a | 88 | |
gke | 0:62a1c91a859a | 89 | {12,true}, // NavYawLimit 58 |
gke | 0:62a1c91a859a | 90 | {0,0}, // Balance 59 |
gke | 0:62a1c91a859a | 91 | {0,0}, // 60 - 64 unused currently |
gke | 0:62a1c91a859a | 92 | {0,0}, |
gke | 0:62a1c91a859a | 93 | |
gke | 0:62a1c91a859a | 94 | {0,0}, |
gke | 0:62a1c91a859a | 95 | {0,0}, |
gke | 0:62a1c91a859a | 96 | {0,0} |
gke | 0:62a1c91a859a | 97 | }; |