Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
params.c@2:90292f8bd179, 2011-04-26 (annotated)
- Committer:
- gke
- Date:
- Tue Apr 26 12:12:29 2011 +0000
- Revision:
- 2:90292f8bd179
- Parent:
- 1:1e3318a30ddd
Not flightworthy. Posted for others to make use of the I2C SW code.
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 | 2:90292f8bd179 | 5 | // = http://code.google.com/p/uavp-mods/ = |
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 | #include "UAVXArm.h" |
gke | 0:62a1c91a859a | 22 | |
gke | 0:62a1c91a859a | 23 | void ReadParameters(void); |
gke | 0:62a1c91a859a | 24 | void UseDefaultParameters(void); |
gke | 0:62a1c91a859a | 25 | void UpdateWhichParamSet(void); |
gke | 0:62a1c91a859a | 26 | boolean ParameterSanityCheck(void); |
gke | 0:62a1c91a859a | 27 | void InitParameters(void); |
gke | 0:62a1c91a859a | 28 | |
gke | 0:62a1c91a859a | 29 | const uint8 ESCLimits [] = { OUT_MAXIMUM, OUT_HOLGER_MAXIMUM, OUT_X3D_MAXIMUM, OUT_YGEI2C_MAXIMUM }; |
gke | 0:62a1c91a859a | 30 | |
gke | 0:62a1c91a859a | 31 | #ifdef MULTICOPTER |
gke | 0:62a1c91a859a | 32 | #include "uavx_multicopter.h" |
gke | 0:62a1c91a859a | 33 | #else |
gke | 0:62a1c91a859a | 34 | #ifdef HELICOPTER |
gke | 0:62a1c91a859a | 35 | #include "uavx_helicopter.h" |
gke | 0:62a1c91a859a | 36 | #else |
gke | 0:62a1c91a859a | 37 | #ifdef ELEVONS |
gke | 0:62a1c91a859a | 38 | #include "uavx_elevon.h" |
gke | 0:62a1c91a859a | 39 | #else |
gke | 0:62a1c91a859a | 40 | #include "uavx_aileron.h" |
gke | 0:62a1c91a859a | 41 | #endif |
gke | 0:62a1c91a859a | 42 | #endif |
gke | 0:62a1c91a859a | 43 | #endif |
gke | 0:62a1c91a859a | 44 | |
gke | 0:62a1c91a859a | 45 | uint8 ParamSet; |
gke | 0:62a1c91a859a | 46 | boolean ParametersChanged, SaveAllowTurnToWP; |
gke | 0:62a1c91a859a | 47 | |
gke | 0:62a1c91a859a | 48 | int8 P[MAX_PARAMETERS]; |
gke | 0:62a1c91a859a | 49 | real32 K[MAX_PARAMETERS]; // Arm rescaled legacy parameters as appropriate |
gke | 0:62a1c91a859a | 50 | |
gke | 0:62a1c91a859a | 51 | real32 OSin[48], OCos[48]; |
gke | 0:62a1c91a859a | 52 | |
gke | 0:62a1c91a859a | 53 | uint8 Orientation , PolarOrientation; |
gke | 0:62a1c91a859a | 54 | uint8 UAVXAirframe; |
gke | 0:62a1c91a859a | 55 | |
gke | 0:62a1c91a859a | 56 | void Legacy(void) { |
gke | 0:62a1c91a859a | 57 | static uint8 p; |
gke | 1:1e3318a30ddd | 58 | |
gke | 2:90292f8bd179 | 59 | for ( p = 0; p < MAX_PARAMETERS; p++ ) // brute force |
gke | 0:62a1c91a859a | 60 | K[p] = (float)P[p]; |
gke | 2:90292f8bd179 | 61 | |
gke | 2:90292f8bd179 | 62 | GRollKp = K[RollKp]; |
gke | 2:90292f8bd179 | 63 | GRollKi = K[RollKi]; |
gke | 2:90292f8bd179 | 64 | GRollKd = K[RollKd]; |
gke | 0:62a1c91a859a | 65 | |
gke | 2:90292f8bd179 | 66 | GPitchKp = K[PitchKp]; |
gke | 2:90292f8bd179 | 67 | GPitchKi = K[PitchKi]; |
gke | 2:90292f8bd179 | 68 | GPitchKd = K[PitchKd]; |
gke | 0:62a1c91a859a | 69 | |
gke | 2:90292f8bd179 | 70 | K[RollIntLimit] *= (DEGRAD * 10.0); |
gke | 2:90292f8bd179 | 71 | K[PitchIntLimit] *= (DEGRAD * 10.0); |
gke | 0:62a1c91a859a | 72 | |
gke | 0:62a1c91a859a | 73 | // Altitude Hold |
gke | 0:62a1c91a859a | 74 | K[AltKp] *= 0.625; |
gke | 0:62a1c91a859a | 75 | K[AltKi] *= 25.0; |
gke | 0:62a1c91a859a | 76 | K[AltKd] *= 0.125; |
gke | 0:62a1c91a859a | 77 | |
gke | 0:62a1c91a859a | 78 | // Navigation |
gke | 0:62a1c91a859a | 79 | K[NavKi] *= 0.08; |
gke | 0:62a1c91a859a | 80 | K[NavKd] *= 0.0008; |
gke | 0:62a1c91a859a | 81 | |
gke | 0:62a1c91a859a | 82 | K[Balance] = ( 128.0 + (float)P[Balance])/128.0; |
gke | 0:62a1c91a859a | 83 | |
gke | 2:90292f8bd179 | 84 | K[CompassKp] = P[CompassKp] * 0.01; |
gke | 2:90292f8bd179 | 85 | |
gke | 2:90292f8bd179 | 86 | K[YawKp] *= 2.6; |
gke | 2:90292f8bd179 | 87 | K[YawKi] *= 4.14; // was 41.4 |
gke | 2:90292f8bd179 | 88 | |
gke | 0:62a1c91a859a | 89 | K[YawIntLimit] = P[YawIntLimit] * 256.0 /1000.0; |
gke | 0:62a1c91a859a | 90 | |
gke | 0:62a1c91a859a | 91 | // Camera |
gke | 0:62a1c91a859a | 92 | K[CamRollKp] *= 5.0; |
gke | 0:62a1c91a859a | 93 | K[CamPitchKp] *= 5.0; |
gke | 0:62a1c91a859a | 94 | |
gke | 0:62a1c91a859a | 95 | // Acceleration Neutrals |
gke | 0:62a1c91a859a | 96 | K[MiddleBF] = P[MiddleBF] * 0.001; // mG |
gke | 0:62a1c91a859a | 97 | K[MiddleLR] = P[MiddleLR] * 0.001; |
gke | 0:62a1c91a859a | 98 | K[MiddleUD] = P[MiddleUD] * 0.001; |
gke | 0:62a1c91a859a | 99 | |
gke | 0:62a1c91a859a | 100 | K[LowVoltThres] *= 0.2; |
gke | 0:62a1c91a859a | 101 | |
gke | 0:62a1c91a859a | 102 | } // Legacy |
gke | 0:62a1c91a859a | 103 | |
gke | 0:62a1c91a859a | 104 | void ReadParameters(void) { |
gke | 0:62a1c91a859a | 105 | static int8 i, b, a; |
gke | 0:62a1c91a859a | 106 | |
gke | 0:62a1c91a859a | 107 | if ( ParametersChanged ) { // overkill if only a single parameter has changed but is not in flight loop |
gke | 0:62a1c91a859a | 108 | a = (ParamSet - 1)* MAX_PARAMETERS; |
gke | 0:62a1c91a859a | 109 | for ( i = 0; i < MAX_PARAMETERS; i++) |
gke | 0:62a1c91a859a | 110 | P[i] = ReadPX(a + i); |
gke | 0:62a1c91a859a | 111 | |
gke | 0:62a1c91a859a | 112 | Legacy(); |
gke | 0:62a1c91a859a | 113 | |
gke | 0:62a1c91a859a | 114 | ESCMax = ESCLimits[P[ESCType]]; |
gke | 0:62a1c91a859a | 115 | if ( P[ESCType] == ESCPPM ) |
gke | 0:62a1c91a859a | 116 | ESCMin = 1; |
gke | 0:62a1c91a859a | 117 | else { |
gke | 0:62a1c91a859a | 118 | ESCMin = 0; |
gke | 0:62a1c91a859a | 119 | for ( i = 0; i < NoOfI2CESCOutputs; i++ ) |
gke | 0:62a1c91a859a | 120 | ESCI2CFail[i] = 0; |
gke | 0:62a1c91a859a | 121 | InitI2CESCs(); |
gke | 0:62a1c91a859a | 122 | } |
gke | 0:62a1c91a859a | 123 | |
gke | 0:62a1c91a859a | 124 | b = P[ServoSense]; |
gke | 0:62a1c91a859a | 125 | for ( i = 0; i < 8; i++ ) { |
gke | 0:62a1c91a859a | 126 | if ( b & 1 ) |
gke | 0:62a1c91a859a | 127 | PWMSense[i] = -1; |
gke | 0:62a1c91a859a | 128 | else |
gke | 0:62a1c91a859a | 129 | PWMSense[i] = 1; |
gke | 0:62a1c91a859a | 130 | b >>=1; |
gke | 0:62a1c91a859a | 131 | } |
gke | 0:62a1c91a859a | 132 | |
gke | 0:62a1c91a859a | 133 | F.UsingPositionHoldLock = ( (P[ConfigBits] & UsePositionHoldLockMask ) != 0); |
gke | 0:62a1c91a859a | 134 | F.UsingPolarCoordinates = ( (P[ConfigBits] & UsePolarMask ) != 0); |
gke | 0:62a1c91a859a | 135 | |
gke | 0:62a1c91a859a | 136 | for ( i = 0; i < CONTROLS; i++) // make reverse map |
gke | 0:62a1c91a859a | 137 | RMap[Map[P[TxRxType]][i]] = i; |
gke | 0:62a1c91a859a | 138 | |
gke | 0:62a1c91a859a | 139 | IdleThrottle = Limit((int16)P[PercentIdleThr], 10, 30); // 10-30% |
gke | 0:62a1c91a859a | 140 | IdleThrottle = (IdleThrottle * OUT_MAXIMUM )/100L; |
gke | 0:62a1c91a859a | 141 | CruiseThrottle = ((int16)P[PercentCruiseThr] * OUT_MAXIMUM )/100L; |
gke | 0:62a1c91a859a | 142 | MaxCruiseThrottle = (RC_MAXIMUM * 60L * OUT_MAXIMUM)/100L; // 60% |
gke | 0:62a1c91a859a | 143 | |
gke | 0:62a1c91a859a | 144 | NavNeutralRadius = Limit((int16)P[NeutralRadius], 0, NAV_MAX_NEUTRAL_RADIUS); |
gke | 0:62a1c91a859a | 145 | NavNeutralRadius = ConvertMToGPS(NavNeutralRadius); |
gke | 0:62a1c91a859a | 146 | |
gke | 0:62a1c91a859a | 147 | NavYCorrLimit = Limit((int16)P[NavYawLimit], 5, 50); |
gke | 0:62a1c91a859a | 148 | |
gke | 0:62a1c91a859a | 149 | MagDeviation = (real32)P[NavMagVar] * DEGRAD; |
gke | 0:62a1c91a859a | 150 | CompassOffset = ((real32)((int16)P[CompassOffsetQtr] * 90L) * DEGRAD ); |
gke | 0:62a1c91a859a | 151 | InitCompass(); |
gke | 0:62a1c91a859a | 152 | |
gke | 0:62a1c91a859a | 153 | #ifdef MULTICOPTER |
gke | 0:62a1c91a859a | 154 | Orientation = P[Orient]; |
gke | 0:62a1c91a859a | 155 | if (Orientation == 0xff ) // uninitialised |
gke | 0:62a1c91a859a | 156 | Orientation = 0; |
gke | 0:62a1c91a859a | 157 | #else |
gke | 0:62a1c91a859a | 158 | Orientation = 0; |
gke | 0:62a1c91a859a | 159 | #endif // MULTICOPTER |
gke | 0:62a1c91a859a | 160 | |
gke | 0:62a1c91a859a | 161 | F.UsingSerialPPM = ( P[TxRxType] == FrSkyDJT_D8R ) || ( P[TxRxType] == ExternalDecoder ) || ( (P[ConfigBits] & RxSerialPPMMask ) != 0); |
gke | 0:62a1c91a859a | 162 | DoRxPolarity(); |
gke | 0:62a1c91a859a | 163 | PPM_Index = PrevEdge = 0; |
gke | 0:62a1c91a859a | 164 | |
gke | 0:62a1c91a859a | 165 | F.UsingPolar = ((P[ConfigBits] & UsePolarMask) != 0); |
gke | 0:62a1c91a859a | 166 | F.RFInInches = ((P[ConfigBits] & RFInchesMask) != 0); |
gke | 0:62a1c91a859a | 167 | |
gke | 0:62a1c91a859a | 168 | F.UsingTxMode2 = ((P[ConfigBits] & TxMode2Mask) != 0); |
gke | 0:62a1c91a859a | 169 | |
gke | 0:62a1c91a859a | 170 | if ( P[GyroRollPitchType] == IRSensors ) |
gke | 0:62a1c91a859a | 171 | F.UsingAngleControl = true; |
gke | 0:62a1c91a859a | 172 | else |
gke | 0:62a1c91a859a | 173 | F.UsingAngleControl = ((P[ConfigBits] & UseAngleControlMask) != 0); |
gke | 0:62a1c91a859a | 174 | |
gke | 0:62a1c91a859a | 175 | F.UsingRTHAutoDescend = ((P[ConfigBits] & UseRTHDescendMask) != 0); |
gke | 0:62a1c91a859a | 176 | NavRTHTimeoutmS = (uint24)P[DescentDelayS]*1000L; |
gke | 0:62a1c91a859a | 177 | |
gke | 0:62a1c91a859a | 178 | BatteryVolts = K[LowVoltThres]; |
gke | 0:62a1c91a859a | 179 | BatteryCurrent = 0; |
gke | 0:62a1c91a859a | 180 | |
gke | 0:62a1c91a859a | 181 | F.ParametersValid = ParameterSanityCheck(); |
gke | 0:62a1c91a859a | 182 | |
gke | 0:62a1c91a859a | 183 | ParametersChanged = false; |
gke | 0:62a1c91a859a | 184 | |
gke | 0:62a1c91a859a | 185 | } |
gke | 0:62a1c91a859a | 186 | } // ReadParameters |
gke | 0:62a1c91a859a | 187 | |
gke | 0:62a1c91a859a | 188 | void UseDefaultParameters(void) { // loads a representative set of initial parameters as a base for tuning |
gke | 0:62a1c91a859a | 189 | int8 p, d; |
gke | 0:62a1c91a859a | 190 | static int16 a; |
gke | 0:62a1c91a859a | 191 | |
gke | 0:62a1c91a859a | 192 | for ( a = 0; a < PX_LENGTH; a++ ) |
gke | 0:62a1c91a859a | 193 | PX[a] = 0xff; |
gke | 0:62a1c91a859a | 194 | |
gke | 0:62a1c91a859a | 195 | for ( p = 0; p < MAX_PARAMETERS; p++ ) { |
gke | 0:62a1c91a859a | 196 | d = DefaultParams[p][0]; |
gke | 0:62a1c91a859a | 197 | WritePX(p, d); |
gke | 0:62a1c91a859a | 198 | WritePX(p+MAX_PARAMETERS, d); |
gke | 0:62a1c91a859a | 199 | } |
gke | 0:62a1c91a859a | 200 | |
gke | 0:62a1c91a859a | 201 | WritePX(NAV_NO_WP, 0); // set NoOfWaypoints to zero |
gke | 0:62a1c91a859a | 202 | |
gke | 0:62a1c91a859a | 203 | WritePXImagefile(); |
gke | 0:62a1c91a859a | 204 | |
gke | 0:62a1c91a859a | 205 | TxString("\r\nDefault Parameters Loaded\r\n"); |
gke | 0:62a1c91a859a | 206 | TxString("Do a READ CONFIG to refresh the UAVPSet parameter display\r\n"); |
gke | 0:62a1c91a859a | 207 | } // UseDefaultParameters |
gke | 0:62a1c91a859a | 208 | |
gke | 0:62a1c91a859a | 209 | void UpdateParamSetChoice(void) { |
gke | 0:62a1c91a859a | 210 | #define STICK_WINDOW 30 |
gke | 0:62a1c91a859a | 211 | |
gke | 0:62a1c91a859a | 212 | uint8 NewParamSet, NewAllowNavAltitudeHold, NewAllowTurnToWP; |
gke | 0:62a1c91a859a | 213 | int8 Selector; |
gke | 0:62a1c91a859a | 214 | |
gke | 0:62a1c91a859a | 215 | NewParamSet = ParamSet; |
gke | 0:62a1c91a859a | 216 | NewAllowNavAltitudeHold = F.AllowNavAltitudeHold; |
gke | 0:62a1c91a859a | 217 | NewAllowTurnToWP = F.AllowTurnToWP; |
gke | 0:62a1c91a859a | 218 | |
gke | 0:62a1c91a859a | 219 | if ( F.UsingTxMode2 ) |
gke | 0:62a1c91a859a | 220 | Selector = DesiredRoll; |
gke | 0:62a1c91a859a | 221 | else |
gke | 0:62a1c91a859a | 222 | Selector = -DesiredYaw; |
gke | 0:62a1c91a859a | 223 | |
gke | 0:62a1c91a859a | 224 | if ( (abs(DesiredPitch) > STICK_WINDOW) && (abs(Selector) > STICK_WINDOW) ) { |
gke | 0:62a1c91a859a | 225 | if ( DesiredPitch > STICK_WINDOW ) { // bottom |
gke | 0:62a1c91a859a | 226 | if ( Selector < -STICK_WINDOW ) // left |
gke | 0:62a1c91a859a | 227 | { // bottom left |
gke | 0:62a1c91a859a | 228 | NewParamSet = 1; |
gke | 0:62a1c91a859a | 229 | NewAllowNavAltitudeHold = true; |
gke | 0:62a1c91a859a | 230 | } else |
gke | 0:62a1c91a859a | 231 | if ( Selector > STICK_WINDOW ) // right |
gke | 0:62a1c91a859a | 232 | { // bottom right |
gke | 0:62a1c91a859a | 233 | NewParamSet = 2; |
gke | 0:62a1c91a859a | 234 | NewAllowNavAltitudeHold = true; |
gke | 0:62a1c91a859a | 235 | } |
gke | 0:62a1c91a859a | 236 | } else |
gke | 0:62a1c91a859a | 237 | if ( DesiredPitch < -STICK_WINDOW ) { // top |
gke | 0:62a1c91a859a | 238 | if ( Selector < -STICK_WINDOW ) { // left |
gke | 0:62a1c91a859a | 239 | NewAllowNavAltitudeHold = false; |
gke | 0:62a1c91a859a | 240 | NewParamSet = 1; |
gke | 0:62a1c91a859a | 241 | } else |
gke | 0:62a1c91a859a | 242 | if ( Selector > STICK_WINDOW ) { // right |
gke | 0:62a1c91a859a | 243 | NewAllowNavAltitudeHold = false; |
gke | 0:62a1c91a859a | 244 | NewParamSet = 2; |
gke | 0:62a1c91a859a | 245 | } |
gke | 0:62a1c91a859a | 246 | } |
gke | 0:62a1c91a859a | 247 | |
gke | 0:62a1c91a859a | 248 | if ( ( NewParamSet != ParamSet ) || ( NewAllowNavAltitudeHold != F.AllowNavAltitudeHold ) ) { |
gke | 0:62a1c91a859a | 249 | ParamSet = NewParamSet; |
gke | 0:62a1c91a859a | 250 | F.AllowNavAltitudeHold = NewAllowNavAltitudeHold; |
gke | 0:62a1c91a859a | 251 | LEDBlue_ON; |
gke | 0:62a1c91a859a | 252 | DoBeep100mS(2, 2); |
gke | 0:62a1c91a859a | 253 | if ( ParamSet == (uint8)2 ) |
gke | 0:62a1c91a859a | 254 | DoBeep100mS(2, 2); |
gke | 0:62a1c91a859a | 255 | if ( F.AllowNavAltitudeHold ) |
gke | 0:62a1c91a859a | 256 | DoBeep100mS(4, 4); |
gke | 0:62a1c91a859a | 257 | ParametersChanged |= true; |
gke | 2:90292f8bd179 | 258 | //zzz Beeper_OFF; |
gke | 0:62a1c91a859a | 259 | LEDBlue_OFF; |
gke | 0:62a1c91a859a | 260 | } |
gke | 0:62a1c91a859a | 261 | } |
gke | 0:62a1c91a859a | 262 | |
gke | 0:62a1c91a859a | 263 | if ( F.UsingTxMode2 ) |
gke | 0:62a1c91a859a | 264 | Selector = -DesiredYaw; |
gke | 0:62a1c91a859a | 265 | else |
gke | 0:62a1c91a859a | 266 | Selector = DesiredRoll; |
gke | 0:62a1c91a859a | 267 | |
gke | 0:62a1c91a859a | 268 | if ( (abs(RC[ThrottleC]) < STICK_WINDOW) && (abs(Selector) > STICK_WINDOW ) ) { |
gke | 0:62a1c91a859a | 269 | if ( Selector < -STICK_WINDOW ) // left |
gke | 0:62a1c91a859a | 270 | NewAllowTurnToWP = false; |
gke | 0:62a1c91a859a | 271 | else |
gke | 0:62a1c91a859a | 272 | if ( Selector > STICK_WINDOW ) // left |
gke | 0:62a1c91a859a | 273 | NewAllowTurnToWP = true; // right |
gke | 0:62a1c91a859a | 274 | |
gke | 0:62a1c91a859a | 275 | if ( NewAllowTurnToWP != F.AllowTurnToWP ) { |
gke | 0:62a1c91a859a | 276 | F.AllowTurnToWP = NewAllowTurnToWP; |
gke | 0:62a1c91a859a | 277 | LEDBlue_ON; |
gke | 0:62a1c91a859a | 278 | // if ( F.AllowTurnToWP ) |
gke | 0:62a1c91a859a | 279 | DoBeep100mS(4, 2); |
gke | 0:62a1c91a859a | 280 | |
gke | 0:62a1c91a859a | 281 | LEDBlue_OFF; |
gke | 0:62a1c91a859a | 282 | } |
gke | 0:62a1c91a859a | 283 | } |
gke | 0:62a1c91a859a | 284 | |
gke | 0:62a1c91a859a | 285 | SaveAllowTurnToWP = F.AllowTurnToWP; |
gke | 0:62a1c91a859a | 286 | |
gke | 0:62a1c91a859a | 287 | } // UpdateParamSetChoice |
gke | 0:62a1c91a859a | 288 | |
gke | 0:62a1c91a859a | 289 | boolean ParameterSanityCheck(void) { |
gke | 0:62a1c91a859a | 290 | static boolean Fail; |
gke | 0:62a1c91a859a | 291 | |
gke | 0:62a1c91a859a | 292 | Fail = (P[RollKp] == 0) || |
gke | 0:62a1c91a859a | 293 | (P[PitchKp] == 0) || |
gke | 0:62a1c91a859a | 294 | (P[YawKp] == 0); |
gke | 0:62a1c91a859a | 295 | |
gke | 0:62a1c91a859a | 296 | return ( !Fail ); |
gke | 0:62a1c91a859a | 297 | } // ParameterSanityCheck |
gke | 0:62a1c91a859a | 298 | |
gke | 0:62a1c91a859a | 299 | void InitParameters(void) { |
gke | 0:62a1c91a859a | 300 | static int8 i; |
gke | 0:62a1c91a859a | 301 | static real32 A; |
gke | 0:62a1c91a859a | 302 | |
gke | 0:62a1c91a859a | 303 | F.ParametersValid = false; |
gke | 0:62a1c91a859a | 304 | if ( !ReadPXImagefile() ) |
gke | 0:62a1c91a859a | 305 | UseDefaultParameters(); |
gke | 0:62a1c91a859a | 306 | |
gke | 0:62a1c91a859a | 307 | UAVXAirframe = AF_TYPE; |
gke | 0:62a1c91a859a | 308 | |
gke | 0:62a1c91a859a | 309 | for (i = 0; i < 48; i++) { |
gke | 0:62a1c91a859a | 310 | A = ((real32)i * PI)/24.0; |
gke | 0:62a1c91a859a | 311 | OSin[i] = sin(A); |
gke | 0:62a1c91a859a | 312 | OCos[i] = cos(A); |
gke | 0:62a1c91a859a | 313 | } |
gke | 0:62a1c91a859a | 314 | Orientation = 0; |
gke | 0:62a1c91a859a | 315 | |
gke | 0:62a1c91a859a | 316 | ALL_LEDS_ON; |
gke | 0:62a1c91a859a | 317 | |
gke | 0:62a1c91a859a | 318 | ParametersChanged = true; |
gke | 0:62a1c91a859a | 319 | ParamSet = 1; |
gke | 0:62a1c91a859a | 320 | ReadParameters(); |
gke | 0:62a1c91a859a | 321 | |
gke | 0:62a1c91a859a | 322 | ALL_LEDS_OFF; |
gke | 0:62a1c91a859a | 323 | } // InitParameters |
gke | 0:62a1c91a859a | 324 | |
gke | 0:62a1c91a859a | 325 |