![](/media/cache/profiles/8158fa3e4de806e614f7ff02e7b22fde.jpg.50x50_q85.png)
New version of quadcopter software written to OO principles
Dependencies: mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS
Diff: Global/Global.h
- Revision:
- 3:4823d6750629
- Parent:
- 2:969dfa4f2436
--- a/Global/Global.h Wed Apr 01 11:19:21 2015 +0000 +++ b/Global/Global.h Fri Apr 24 16:50:20 2015 +0000 @@ -3,15 +3,14 @@ #ifndef GLOBAL_H #define GLOBAL_H -#if 1 - #define DEBUG(...) printf(__VA_ARGS__) -#else - #define DEBUG(a) (void)0 -#endif +#define DEBUG(...) printf(__VA_ARGS__) +//#define DEBUG(a) (void)0 + #define MOTORS_ENABLED #define MOD(a) ((a > 180.0) ? (a - 360.0) : ((a < -180.0) ? (a + 360.0) : a)) +#define PI 3.14159265 #define IMU_YAW_ANGLE_MAX 180 #define IMU_YAW_ANGLE_MIN -180 @@ -45,6 +44,7 @@ #define RC_THRUST_MAX 1 #define RC_THRUST_MIN 0 #define RC_DEAD_ZONE 0.1 +#define RC_HOVER 0.6 #define MOTORS_OFF 0 #define MOTORS_ARMED 1060 @@ -56,8 +56,8 @@ #define ALTITUDE_MIN 0 #define ALTITUDE_MAX 1000 -#define MAX_CLIMB_RATE 25 -#define MIN_CLIMB_RATE -25 +#define MAX_CLIMB_RATE 2.5 +#define MIN_CLIMB_RATE -2.5 #define FLIGHT_CONTROLLER_FREQUENCY 500