uavx_multicopter.h

00001 // ===============================================================================================
00002 // =                              UAVXArm Quadrocopter Controller                                =
00003 // =                           Copyright (c) 2008 by Prof. Greg Egan                             =
00004 // =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
00005 // =                           http://code.google.com/p/uavp-mods/                               =
00006 // ===============================================================================================
00007 
00008 //    This is part of UAVXArm.
00009 
00010 //    UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
00011 //    General Public License as published by the Free Software Foundation, either version 3 of the
00012 //    License, or (at your option) any later version.
00013 
00014 //    UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
00015 //    even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00016 //    See the GNU General Public License for more details.
00017 
00018 //    You should have received a copy of the GNU General Public License along with this program.
00019 //    If not, see http://www.gnu.org/licenses/
00020 
00021    const int8 DefaultParams[MAX_PARAMETERS][2] = {
00022     {15,0},            // RollKp,             01
00023     {80,0},             // RollKi,            02
00024     {0, 0},            // RollKd,            03
00025     {0,true},            // was HorizDampKp,        04c //-1
00026     {5,0},                 // RollIntLimit,    05
00027     {15,0},             // PitchKp,            06
00028     {80,0},             // PitchKi,            07
00029     {0,0},                 // PitchKd,            08
00030     {12,0},                 // AltKp,            09
00031     {5,0},                 // PitchIntLimit,    10
00032     
00033     {20,0},             // YawKp,             11
00034     {10,0},             // was YawKi,            12
00035     {0,0},                 // YawKd,            13
00036     {25,0},                 // YawLimit,        14
00037     {2,0},                 // YawIntLimit,        15
00038     {8,true},             // ConfigBits,        16c
00039     {0,true},            // was TimeSlots,   17c
00040     {48,true},             // LowVoltThres,    18c
00041     {20,true},             // CamRollKp,        19c
00042     {45,true},             // PercentCruiseThr,20c 
00043     
00044     {5,true},             // VertDamp,        21c //-1
00045     {0,true},             // MiddleDU,        22c
00046     {20,true},             // PercentIdleThr,    23c
00047     {0,true},             // MiddleLR,        24c
00048     {0,true},             // MiddleFB,        25c
00049     {20,true},             // CamPitchKp,        26c
00050     {10,0},             // CompassKp,        27
00051     {8,0},                // AltKi,            28
00052     {0,0},                 // was NavRadius,    29
00053     {8,0},                 // NavKi,            30 
00054 
00055     {0,0},                 // GSThrottle,        31
00056     {0,0},                // Acro,              32
00057     {10,0},                 // NavRTHAlt,        33
00058     {0,true},            // NavMagVar,        34c
00059     {ITG3200Gyro,true},     // DesGyroType,         35c
00060     {ESCPPM,true},         // ESCType,            36c
00061     {UnknownTxRx,true},         // TxRxType            37c
00062     {2,true},                // NeutralRadius    38
00063     {30,true},                // PercentNavSens6Ch    39
00064     {1,true},            // CamRollTrim,        40c
00065 
00066     {16,0},            // NavKd            41
00067     {1,true},            // was VertDampDecay    42c
00068     {1,true},            // was HorizDampDecay    43c
00069     {56,true},            // BaroScale        44c
00070     {UAVXTelemetry,true}, // TelemetryType    45c
00071     {8,0},                // MaxDescentRateDmpS     46
00072     {30,true},            // DescentDelayS    47c
00073     {1,0},                // NavIntLimit        48
00074     {2,0},                // AltIntLimit        49
00075     {11,true},            // was GravComp        50c
00076 
00077     {0,true},            // was CompSteps    51c
00078     {0,true},            // ServoSense        52c    
00079     {3,true},            // CompassOffsetQtr 53c
00080     {49,true},            // BatteryCapacity    54c    
00081     {ITG3200Gyro,true},    // was GyroYawType    55c        
00082     {4,0},                // AltKd            56
00083     #if (defined  TRICOPTER) | (defined VTCOPTER )
00084     {24,true},                // Orient            57
00085     #else    
00086     {0,true},                // Orient            57
00087     #endif // TRICOPTER | VTCOPTER                
00088     
00089     {12,true},                // NavYawLimit        58
00090     {0,0},                // Balance            59
00091     {0,0},                // 60 - 64 unused currently    
00092     {0,0},    
00093 
00094     {0,0},    
00095     {0,0},    
00096     {0,0}                        
00097     };