syouichi imamori
/
MulticopterQuadX
Quad X Type Multicopter
config.h@2:59ac9df97701, 2013-11-15 (annotated)
- Committer:
- komaida424
- Date:
- Fri Nov 15 20:53:36 2013 +0000
- Revision:
- 2:59ac9df97701
- Parent:
- 0:cca1c4e84da4
- Child:
- 3:27407c4984cf
ver.1.25
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
komaida424 | 0:cca1c4e84da4 | 1 | #ifndef CONFIG_H |
komaida424 | 0:cca1c4e84da4 | 2 | #define CONFIG_H |
komaida424 | 0:cca1c4e84da4 | 3 | |
komaida424 | 2:59ac9df97701 | 4 | //#define SERIAL_LCD |
komaida424 | 2:59ac9df97701 | 5 | //#define SOFT_PWM |
komaida424 | 0:cca1c4e84da4 | 6 | //#define LPCXpresso |
komaida424 | 0:cca1c4e84da4 | 7 | //#define LocalFileOut |
komaida424 | 0:cca1c4e84da4 | 8 | |
komaida424 | 0:cca1c4e84da4 | 9 | #define TX_TYPE 0 // 0:FM 1:IR |
komaida424 | 2:59ac9df97701 | 10 | #define Thro_Zero 30 |
komaida424 | 0:cca1c4e84da4 | 11 | #define Thro_Lo 75 |
komaida424 | 0:cca1c4e84da4 | 12 | #define Thro_Hi 950 |
komaida424 | 0:cca1c4e84da4 | 13 | #define Pulse_Min 1000 |
komaida424 | 0:cca1c4e84da4 | 14 | #define Pulse_Max 2000 |
komaida424 | 2:59ac9df97701 | 15 | #define Stick_Limit 350 |
komaida424 | 0:cca1c4e84da4 | 16 | #define M1 M[0] |
komaida424 | 0:cca1c4e84da4 | 17 | #define M2 M[1] |
komaida424 | 0:cca1c4e84da4 | 18 | #define M3 M[2] |
komaida424 | 0:cca1c4e84da4 | 19 | #define M4 M[3] |
komaida424 | 0:cca1c4e84da4 | 20 | #define M5 M[4] |
komaida424 | 0:cca1c4e84da4 | 21 | #define M6 M[5] |
komaida424 | 0:cca1c4e84da4 | 22 | #define THR CH[0] |
komaida424 | 0:cca1c4e84da4 | 23 | #define AIL CH[1] |
komaida424 | 0:cca1c4e84da4 | 24 | #define ELE CH[2] |
komaida424 | 0:cca1c4e84da4 | 25 | #define RUD CH[3] |
komaida424 | 0:cca1c4e84da4 | 26 | #define AUX CH[4] |
komaida424 | 0:cca1c4e84da4 | 27 | #define _ITG3200 0x00 |
komaida424 | 0:cca1c4e84da4 | 28 | #define _L3GD20 0x01 |
komaida424 | 2:59ac9df97701 | 29 | #define TICK_TIME 0.05 |
komaida424 | 2:59ac9df97701 | 30 | #define GYRO_ADJUST 3 |
komaida424 | 0:cca1c4e84da4 | 31 | |
komaida424 | 0:cca1c4e84da4 | 32 | //enum PortNum{Port_THR=1,Port_AIL=3,Port_ELE=5,Port_RUD=7,Port_AUX=6}; |
komaida424 | 0:cca1c4e84da4 | 33 | enum IRNum{IR_THR=1,IR_AIL,IR_ELE,IR_RUD,IR_AUX}; //Input Pulse Sequence |
komaida424 | 0:cca1c4e84da4 | 34 | enum channel{ROL=0,PIT,YAW,COL,GAIN}; |
komaida424 | 0:cca1c4e84da4 | 35 | |
komaida424 | 0:cca1c4e84da4 | 36 | struct config { |
komaida424 | 0:cca1c4e84da4 | 37 | float Revision; |
komaida424 | 0:cca1c4e84da4 | 38 | int Struct_Size; |
komaida424 | 2:59ac9df97701 | 39 | char StartMode; //'c':config mode 'f':flight mode |
komaida424 | 0:cca1c4e84da4 | 40 | int Stick_Ref[5]; //Stick Neutral Position |
komaida424 | 0:cca1c4e84da4 | 41 | float Stick_Mix[3]; //Mixing ratio of stick operation |
komaida424 | 0:cca1c4e84da4 | 42 | signed char Gyro_Dir[4]; |
komaida424 | 0:cca1c4e84da4 | 43 | float Gyro_Gain[6]; |
komaida424 | 0:cca1c4e84da4 | 44 | signed char Accel_Dir[4]; |
komaida424 | 2:59ac9df97701 | 45 | float Accel_Ref[3]; |
komaida424 | 0:cca1c4e84da4 | 46 | float Accel_Gain[3]; |
komaida424 | 0:cca1c4e84da4 | 47 | int Gyro_Gain_Setting; |
komaida424 | 2:59ac9df97701 | 48 | float Control_Exchange_Angle; |
komaida424 | 2:59ac9df97701 | 49 | float Cutoff_Freq; |
komaida424 | 2:59ac9df97701 | 50 | int Flight_Time; |
komaida424 | 0:cca1c4e84da4 | 51 | int LCD_Contrast; |
komaida424 | 0:cca1c4e84da4 | 52 | int PWM_Mode; |
komaida424 | 2:59ac9df97701 | 53 | int ESC_Low; |
komaida424 | 0:cca1c4e84da4 | 54 | int PWM_Interval; |
komaida424 | 0:cca1c4e84da4 | 55 | // int Accel_Rang; |
komaida424 | 0:cca1c4e84da4 | 56 | // int Accel_Rate; |
komaida424 | 0:cca1c4e84da4 | 57 | // int PWM_Resolution; |
komaida424 | 2:59ac9df97701 | 58 | char Angle_Control; |
komaida424 | 2:59ac9df97701 | 59 | float kp[3]; |
komaida424 | 2:59ac9df97701 | 60 | float ki[3]; |
komaida424 | 2:59ac9df97701 | 61 | float kd[3]; |
komaida424 | 2:59ac9df97701 | 62 | float PID_Limit; |
komaida424 | 2:59ac9df97701 | 63 | float Integral_Limit; |
komaida424 | 0:cca1c4e84da4 | 64 | public: |
komaida424 | 0:cca1c4e84da4 | 65 | config() { |
komaida424 | 2:59ac9df97701 | 66 | Revision = 1.25; |
komaida424 | 0:cca1c4e84da4 | 67 | Struct_Size = sizeof(config); |
komaida424 | 0:cca1c4e84da4 | 68 | Stick_Ref[0] = 1500; |
komaida424 | 0:cca1c4e84da4 | 69 | Stick_Ref[1] = 1500; |
komaida424 | 0:cca1c4e84da4 | 70 | Stick_Ref[2] = 1500; |
komaida424 | 0:cca1c4e84da4 | 71 | Stick_Ref[3] = 1100; |
komaida424 | 0:cca1c4e84da4 | 72 | Stick_Ref[4] = 1500; |
komaida424 | 2:59ac9df97701 | 73 | Stick_Mix[0] = 0.3; |
komaida424 | 2:59ac9df97701 | 74 | Stick_Mix[1] = 0.3; |
komaida424 | 2:59ac9df97701 | 75 | Stick_Mix[2] = 0.65; |
komaida424 | 0:cca1c4e84da4 | 76 | Gyro_Dir[0] = 1; |
komaida424 | 0:cca1c4e84da4 | 77 | Gyro_Dir[1] = 1; |
komaida424 | 0:cca1c4e84da4 | 78 | Gyro_Dir[2] = 1; |
komaida424 | 0:cca1c4e84da4 | 79 | Gyro_Dir[3] = -1; |
komaida424 | 0:cca1c4e84da4 | 80 | Gyro_Gain[0] = 0.40; |
komaida424 | 0:cca1c4e84da4 | 81 | Gyro_Gain[1] = 0.40; |
komaida424 | 0:cca1c4e84da4 | 82 | Gyro_Gain[2] = 0.40; |
komaida424 | 0:cca1c4e84da4 | 83 | Gyro_Gain[3] = 0.00; |
komaida424 | 0:cca1c4e84da4 | 84 | Gyro_Gain[4] = 0.00; |
komaida424 | 0:cca1c4e84da4 | 85 | Gyro_Gain[5] = 0.00; |
komaida424 | 0:cca1c4e84da4 | 86 | Accel_Dir[0] = 1; |
komaida424 | 0:cca1c4e84da4 | 87 | Accel_Dir[1] = 1; |
komaida424 | 0:cca1c4e84da4 | 88 | Accel_Dir[2] = 1; |
komaida424 | 0:cca1c4e84da4 | 89 | Accel_Dir[3] = 1; |
komaida424 | 2:59ac9df97701 | 90 | Accel_Ref[0] = 0; |
komaida424 | 2:59ac9df97701 | 91 | Accel_Ref[1] = 0; |
komaida424 | 2:59ac9df97701 | 92 | Accel_Ref[2] = 0; |
komaida424 | 0:cca1c4e84da4 | 93 | Accel_Gain[0] = 0.50; |
komaida424 | 0:cca1c4e84da4 | 94 | Accel_Gain[1] = 0.50; |
komaida424 | 0:cca1c4e84da4 | 95 | Accel_Gain[2] = 0.50; |
komaida424 | 0:cca1c4e84da4 | 96 | Gyro_Gain_Setting = -1; |
komaida424 | 2:59ac9df97701 | 97 | Cutoff_Freq=0.15; |
komaida424 | 2:59ac9df97701 | 98 | Flight_Time=360; |
komaida424 | 0:cca1c4e84da4 | 99 | LCD_Contrast = 60; |
komaida424 | 0:cca1c4e84da4 | 100 | PWM_Mode = 1; |
komaida424 | 2:59ac9df97701 | 101 | ESC_Low= 1025; |
komaida424 | 0:cca1c4e84da4 | 102 | PWM_Interval = 3000; |
komaida424 | 0:cca1c4e84da4 | 103 | // Accel_Rang = 2; |
komaida424 | 0:cca1c4e84da4 | 104 | // Accel_Rate = 14; |
komaida424 | 0:cca1c4e84da4 | 105 | // PWM_Resolution = 0; |
komaida424 | 0:cca1c4e84da4 | 106 | StartMode = 'C'; |
komaida424 | 2:59ac9df97701 | 107 | Angle_Control = 'H'; // H:horizn A:angle |
komaida424 | 2:59ac9df97701 | 108 | kp[0] = 1.5; |
komaida424 | 2:59ac9df97701 | 109 | kp[1] = 1.5; |
komaida424 | 2:59ac9df97701 | 110 | kp[2] = 1.5; |
komaida424 | 2:59ac9df97701 | 111 | ki[0] = 0.7; |
komaida424 | 2:59ac9df97701 | 112 | ki[1] = 0.7; |
komaida424 | 2:59ac9df97701 | 113 | ki[2] = 0.7; |
komaida424 | 2:59ac9df97701 | 114 | kd[0] = 1.2; |
komaida424 | 2:59ac9df97701 | 115 | kd[1] = 1.2; |
komaida424 | 2:59ac9df97701 | 116 | kd[2] = 1.2; |
komaida424 | 2:59ac9df97701 | 117 | PID_Limit = 300; |
komaida424 | 2:59ac9df97701 | 118 | Integral_Limit = 30; |
komaida424 | 2:59ac9df97701 | 119 | Control_Exchange_Angle = 15; |
komaida424 | 0:cca1c4e84da4 | 120 | } |
komaida424 | 0:cca1c4e84da4 | 121 | }; |
komaida424 | 0:cca1c4e84da4 | 122 | #endif |
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