Prof Greg Egan
UAVX Multicopter Flight Controller.
Diff: UAVXArm.h
- Revision:
- 2:90292f8bd179
- Parent:
- 1:1e3318a30ddd
--- a/UAVXArm.h Fri Feb 25 01:35:24 2011 +0000
+++ b/UAVXArm.h Tue Apr 26 12:12:29 2011 +0000
@@ -1,27 +1,74 @@
// Commissioning defines
-#define SW_I2C // define for software I2C - TRAGICALLY SLOW
+//#define SERIAL_TELEMETRY GPSSerial // Select the one you want Steve
+#define SERIAL_TELEMETRY TelemetrySerial
+
+#define MAX_PID_CYCLE_HZ 200 // PID cycle rate do not exceed
+#define PID_CYCLE_US (1000000/MAX_PID_CYCLE_HZ)
+
+#define PWM_UPDATE_HZ 200 // reduced for Turnigys - I2C runs at PID loop rate always
+ // MUST BE LESS THAN OR EQUAL TO 450HZ
+// LP filter cutoffs for sensors
-#define MAGIC 1.0 // rescales the sensitivity of all PID loop params
+//#define SUPPRESS_ROLL_PITCH_GYRO_FILTERS
+#define ROLL_PITCH_FREQ (0.5*PWM_UPDATE_HZ) // must be <= ITG3200 LP filter
+#define ATTITUDE_ANGLE_LIMIT QUARTERPI // set to PI for aerobatics
+#define GYRO_PROP_NOISE 0.1 // largely prop coupled
+
+//#define SUPPRESS_ACC_FILTERS
+#define ACC_FREQ 5 // could be lower again?
+
+//#define SUPPRESS_YAW_GYRO_FILTERS
+//#define USE_FIXED_YAW_FILTER // does not rescale LP cutoff with yaw stick
+#define MAX_YAW_FREQ 10.0 // <= 10Hz
+#define COMPASS_SANITY_CHECK_RAD_S TWOPI // changes greater than this rate ignored
+
+// DCM Attitude Estimation
+
+//#define DCM_YAW_COMP
+//#define USE_ANGLE_DERIVED_RATE // Gyros have periodic prop noise - define to use rate derived from angle
-#define I2C_MAX_RATE_HZ 400000
+// The pitch/roll angle should track CLOSELY with the noise "mostly" tuned out.
+// Jitter in the artificial horizon gives part of the story but better to use the UAVXFC logs.
+
+// Assumes normalised gravity vector
+#define TAU_S 5.0 // 1-10
+#define Kp_RollPitch 5.0 //(2.0/TAU_S) //1.0 // 5.0
+#define Ki_RollPitch 0.005//((1.0/TAU_S)*(1.0/TAU_S)) //0.001 // 0.005
+//#define Ki_RollPitch (1.0/(TAU_S*TAU_S)) ?
+#define Kp_Yaw 1.2
+#define Ki_Yaw 0.00002
-#define PWM_UPDATE_HZ 200 // MUST BE LESS THAN OR EQUAL TO 450HZ
+/*
+ Kp Ki KpYaw KiYaw
+Arducopter 0.0014 0.00002 1.0 0.00002 (200Hz)
+Arducopter 5.0 0.005 1.2 0.00002
+Ihlein 0.2 0.01 0.02 0.01 (50Hz)
+Premerlani 0.0755 0.00943 (50Hz)
+Bascom 0.02 0.00002 1.2 0.00002
+Matrixpilot 0.04 0.008 0.016 0.0005
+Superstable 0.0014 0.00000015 1.2 0.00005 (200Hz)
-#define DISABLE_EXTRAS // suppress altitude hold, position hold and inertial compensation
-#define SUPPRESS_SDCARD // no logging to check if buffering backup is an issue
+*/
+
+//#define DISABLE_LED_DRIVER // disables the PCA driver and also the BUZZER
+
+#define DISABLE_EXTRAS // suppress altitude hold, position hold and inertial compensation
+#define SUPPRESS_SDCARD //DO NOT RE-ENABLE - MOTOR INTERMITTENTS WILL OCCUR
//BMP occasional returns bad results - changes outside this rate are deemed sensor/buss errors
#define BARO_SANITY_CHECK_MPS 10.0 // dm/S 20,40,60,80 or 100
#define SIX_DOF // effects acc and gyro addresses
-#define SOFTWARE_CAM_PWM
-
#define BATTERY_VOLTS_SCALE 57.85 // 51.8144 // Volts scaling for internal divider
-//#define DCM_YAW_COMP
+#define SW_I2C // define for software I2C 400KHz
+
+//#define INC_ALL_SCHEMES // runs all attitude control schemes - use "custom" telemetry
+
+#define I2C_MAX_RATE_HZ 400000
#define USING_MBED
@@ -29,7 +76,7 @@
// = UAVXArm Quadrocopter Controller =
// = Copyright (c) 2008 by Prof. Greg Egan =
// = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
-// = http://code.google.com/p/uavp-mods/ http://uavp.ch =
+// = http://code.google.com/p/uavp-mods/ =
// ===============================================================================================
// This is part of UAVXArm.
@@ -80,7 +127,9 @@
#define false 0
#define PI 3.141592654
+#define THIRDPI (PI/3.0)
#define HALFPI (PI*0.5)
+#define ONEANDHALFPI (PI * 1.5)
#define QUARTERPI (PI*0.25)
#define SIXTHPI (PI/6.0)
#define TWOPI (PI*2.0)
@@ -171,8 +220,9 @@
#define UAVX_TEL_INTERVAL_MS 125L // mS. emit an interleaved telemetry packet
#define ARDU_TEL_INTERVAL_MS 200L // mS. Ardustation
-#define UAVX_CONTROL_TEL_INTERVAL_MS 10L // mS. flight control only
-#define CUSTOM_TEL_INTERVAL_MS 250L // mS.
+#define UAVX_CONTROL_TEL_INTERVAL_MS 100L // mS. flight control only
+#define CUSTOM_TEL_INTERVAL_MS 125L // mS.
+#define FAST_CUSTOM_TEL_INTERVAL_MS 5L // mS.
#define UAVX_MIN_TEL_INTERVAL_MS 1000L // mS. emit minimum FPV telemetry packet slow rate for example to FrSky
#define GPS_TIMEOUT_MS 2000L // mS.
@@ -199,16 +249,15 @@
// unfortunately there seems to be a leak which cause the roll/pitch
// to increase without the decay.
-#define ATTITUDE_SCALE 0.5 // scaling of stick units for attitude angle control
+#define ATTITUDE_SCALE 0.008 // scaling of stick units for attitude angle control
// Enable "Dynamic mass" compensation Roll and/or Pitch
// Normally disabled for pitch only
-//#define DISABLE_DYNAMIC_MASS_COMP_ROLL
-//#define DISABLE_DYNAMIC_MASS_COMP_PITCH
+//#define ENABLE_DYNAMIC_MASS_COMP_ROLL
+//#define ENABLE_DYNAMIC_MASS_COMP_PITCH
// Altitude Hold
-
#define ALT_HOLD_MAX_ROC_MPS 0.5 // Must be changing altitude at less than this for alt. hold to be detected
// the range within which throttle adjustment is proportional to altitude error
@@ -279,15 +328,6 @@
#define THROTTLE_MIDDLE 10 // throttle stick dead zone for baro
#define THROTTLE_MIN_ALT_HOLD 75 // min throttle stick for altitude lock
-// RC
-
-#define RC_INIT_FRAMES 32 // number of initial RC frames to allow filters to settle
-
-#define RC_MIN_WIDTH_US 900
-#define RC_MAX_WIDTH_US 2100
-
-#define RC_NO_CHANGE_TIMEOUT_MS 20000L // mS.
-
typedef union {
int16 i16;
uint16 u16;
@@ -365,6 +405,7 @@
#define Min(i,j) ((i<j) ? i : j )
#define Decay1(i) (((i) < 0) ? (i+1) : (((i) > 0) ? (i-1) : 0))
#define Limit(i,l,u) (((i) < l) ? l : (((i) > u) ? u : (i)))
+#define Limit1(i,l) (((i) < -(l)) ? -(l) : (((i) > (l)) ? (l) : (i)))
#define Sqr(v) ( v * v )
// To speed up NMEA sentence processing
@@ -398,7 +439,7 @@
#define MAX_PARAMETERS 64 // parameters in PXPROM start at zero
#define STATS_ADDR_PX ( PARAMS_ADDR_PX + (MAX_PARAMETERS *2) )
-#define MAX_STATS 64
+#define MAX_STATS 32 // 64 bytes
// uses second Page of PXPROM
#define NAV_ADDR_PX 256L
@@ -421,7 +462,7 @@
// main.c
enum Directions {BF, LR, UD, Alt }; // x forward, y left and z down
-enum Angles { Pitch, Roll, Yaw }; // X, Y, Z
+enum Angles { Roll, Pitch, Yaw }; // X, Y, Z
#define FLAG_BYTES 10
#define TELEMETRY_FLAG_BYTES 6
@@ -469,7 +510,7 @@
1,
WayPointCentred:
1,
-Unused2: // was UsingGPSAlt:
+UnusedGPSAlt: // was UsingGPSAlt:
1,
UsingRTHAutoDescend:
1,
@@ -563,6 +604,8 @@
Using9DOF:
1,
HaveBatterySensor:
+ 1,
+AccMagnitudeOK:
1;
};
} Flags;
@@ -570,14 +613,12 @@
enum FlightStates { Starting, Landing, Landed, Shutdown, InFlight};
extern volatile Flags F;
extern int8 State;
+extern int8 r;
//______________________________________________________________________________________________
// accel.c
-#define ACC_FREQ 50 // Hz must be less than 100Hz
-const real32 OneOnTwoPiAccF = ( 1.0 / ( TWOPI * ACC_FREQ ));
-
enum AccelerometerTypes { LISLAcc, ADXL345Acc, AccUnknown };
extern void ShowAccType(void);
@@ -598,16 +639,12 @@
#define ADXL345_WR ADXL345_ID
#define ADXL345_RD (ADXL345_ID+1)
-extern const float GRAVITY_ADXL345;
-
extern void ReadADXL345Acc(void);
extern void InitADXL345Acc(void);
extern boolean ADXL345AccActive(void);
// LIS3LV02DG 3-Axis Accelerometer 400KHz
-extern const float GRAVITY_LISL;
-
#define LISL_WHOAMI 0x0f
#define LISL_OFFSET_X 0x16
#define LISL_OFFSET_Y 0x17
@@ -636,15 +673,20 @@
#define LISL_READ 0x80
#define LISL_ID 0x3a
-extern void WriteLISL(uint8, uint8);
+#define LISL_WR LISL_ID
+#define LISL_RD (LISL_ID+1)
+
+extern boolean WriteLISL(uint8, uint8);
extern void ReadLISLAcc(void);
+extern void InitLISLAcc(void);
extern boolean LISLAccActive(void);
// other accelerometers
-extern real32 Vel[3], Acc[3], AccNeutral[3];
+extern real32 Vel[3], AccADC[3], AccNoise[3], Acc[3], AccNeutral[3], Accp[3];
extern int16 NewAccNeutral[3];
extern uint8 AccelerometerType;
+extern real32 GravityR; // recip gravity scaling
//______________________________________________________________________________________________
@@ -668,17 +710,36 @@
// attitude.c
-enum AttitudeMethods { PremerlaniDCM, MadgwickIMU, MadgwickAHRS};
+enum AttitudeMethods { Integrator, Wolferl, Complementary, Kalman, PremerlaniDCM, MadgwickIMU,
+ MadgwickIMU2, MadgwickAHRS, MultiWii, MaxAttitudeScheme};
+extern void AdaptiveYawLPFreq(void);
extern void GetAttitude(void);
-extern void DoLegacyYawComp(void);
+extern void DoLegacyYawComp(uint8);
+extern void NormaliseAccelerations(void);
extern void AttitudeTest(void);
extern void InitAttitude(void);
-extern real32 dT, dTR;
+extern real32 dT, dTOn2, dTR, dTmS;
+extern real32 YawFilterLPFreq;
extern uint32 PrevDCMUpdate;
extern uint8 AttitudeMethod;
+extern real32 EstAngle[3][MaxAttitudeScheme];
+extern real32 EstRate[3][MaxAttitudeScheme];
+
+extern real32 HE;
+
+// SimpleIntegrator
+
+extern void DoIntegrator(void);
+
+// Wolferl
+
+extern real32 Correction[2];
+
+extern void DoWolferl(void);
+
// DCM Premerlani
extern void DCMNormalise(void);
@@ -687,6 +748,7 @@
extern void DCMMotionCompensation(void);
extern void DCMUpdate(void);
extern void DCMEulerAngles(void);
+extern void DoDCM(void);
extern real32 RollPitchError[3];
extern real32 AccV[3];
@@ -701,12 +763,22 @@
// IMU & AHRS S.O.H. Madgwick
-extern void IMUupdate(real32, real32, real32, real32, real32, real32);
-extern void AHRSupdate(real32, real32, real32, real32, real32, real32, real32, real32, real32);
-extern void EulerAngles(void);
+extern void DoMadgwickIMU(real32, real32, real32, real32, real32, real32);
+extern void DoMadgwickIMU2(real32, real32, real32, real32, real32, real32);
+extern void DoMadgwickAHRS(real32, real32, real32, real32, real32, real32, real32, real32, real32);
+extern void MadgwickEulerAngles(uint8);
extern real32 q0, q1, q2, q3; // quaternion elements representing the estimated orientation
+// Kalman
+extern void DoKalman(void);
+
+// Complementary
+extern void DoCF(void);
+
+// MultiWii
+extern void DoMultiWii();
+
//______________________________________________________________________________________________
// autonomous.c
@@ -718,7 +790,6 @@
extern void SetDesiredAltitude(int16);
extern void DoFailsafeLanding(void);
extern void AcquireHoldPosition(void);
-extern void NavGainSchedule(int16);
extern void DoNavigation(void);
extern void FakeFlight(void);
extern void DoPPMFailsafe(void);
@@ -834,17 +905,12 @@
enum CompassTypes { HMC5843, HMC6352, NoCompass };
-#define COMPASS_UPDATE_MS 50
-#define COMPASS_UPDATE_S (real32)(COMPASS_UPDATE_MS * 0.001)
-#define COMPASS_FREQ 10 // Hz must be less than 10Hz
+//#define SUPPRESS_COMPASS_FILTER
-#define COMPASS_MAXDEV 30 // maximum yaw compensation of compass heading
-#define COMPASS_MIDDLE 10 // yaw stick neutral dead zone
-
-const real32 OneOnTwoPiCompassF = ( 1.0 / ( TWOPI * COMPASS_FREQ ));
-
+extern real32 AdaptiveCompassFreq(void);
extern void ReadCompass(void);
extern void GetHeading(void);
+extern real32 MinimumTurn(real32);
extern void ShowCompassType(void);
extern void DoCompassTest(void);
extern void CalibrateCompass(void);
@@ -852,6 +918,12 @@
// HMC5843 Compass
+#define HMC5843_DR 6 // 50Hz
+#define HMC5843_UPDATE_S 0.02
+
+//#define HMC5843_DR 5 // 20Hz
+//#define HMC5843_UPDATE_S 0.05
+
#define HMC5843_ID 0x3C // 0x1E 9DOF
#define HMC5843_WR HMC5843_ID
#define HMC5843_RD (HMC5843_ID+1)
@@ -865,6 +937,8 @@
// HMC6352
+#define HMC6352_UPDATE_S 0.05 // 20Hz
+
#define HMC6352_ID 0x42
#define HMC6352_WR HMC6352_ID
#define HMC6352_RD (HMC6352_ID+1)
@@ -883,7 +957,8 @@
} MagStruct;
extern MagStruct Mag[3];
extern real32 MagDeviation, CompassOffset;
-extern real32 MagHeading, Heading, FakeHeading;
+extern real32 MagHeading, Heading, HeadingP, FakeHeading;
+extern real32 CompassMaxSlew;
extern real32 HeadingSin, HeadingCos;
extern uint8 CompassType;
@@ -891,10 +966,9 @@
// control.c
-extern real32 PTerm, ITerm, DTerm; //zzz
-
extern void DoAltitudeHold(void);
extern void UpdateAltitudeSource(void);
+extern real32 AltitudeCF( real32, real32);
extern void AltitudeHold(void);
extern void LimitYawSum(void);
@@ -905,18 +979,22 @@
extern void LightsAndSirens(void);
extern void InitControl(void);
-extern real32 Angle[3], Anglep[3], Rate[3], Ratep[3];
-extern real32 Comp[4];
+extern real32 Angle[3], Anglep[3], Rate[3], Ratep[3], YawRateEp;
+extern real32 AccAltComp, AltComp;
extern real32 DescentComp;
extern real32 Rl, Pl, Yl, Ylp;
extern real32 GS;
extern int16 HoldYaw, YawSlewLimit;
extern int16 CruiseThrottle, MaxCruiseThrottle, DesiredThrottle, IdleThrottle, InitialThrottle, StickThrottle;
-extern int16 DesiredRoll, DesiredPitch, DesiredYaw, DesiredHeading, DesiredCamPitchTrim;
+extern int16 DesiredRoll, DesiredPitch, DesiredYaw, DesiredCamPitchTrim;
+extern real32 DesiredHeading;
extern real32 ControlRoll, ControlPitch, ControlRollP, ControlPitchP;
extern real32 CameraRollAngle, CameraPitchAngle;
extern int16 CurrMaxRollPitch;
+extern int16 Trim[3];
+
+extern real32 GRollKp, GRollKi, GRollKd, GPitchKp, GPitchKi, GPitchKd;
extern int16 AttitudeHoldResetCount;
extern real32 AltDiffSum, AltD, AltDSum;
@@ -925,6 +1003,7 @@
extern boolean FirstPass;
extern uint32 AltuSp;
+extern uint32 ControlUpdateTimeuS;
extern int16 DescentLimiter;
extern int16 FakeDesiredPitch, FakeDesiredRoll, FakeDesiredYaw;
@@ -1037,13 +1116,13 @@
extern void ReadITG3200Gyro(void);
extern uint8 ReadByteITG3200(uint8);
-extern void WriteByteITG3200(uint8, uint8);
+extern boolean WriteByteITG3200(uint8, uint8);
extern void InitITG3200Gyro(void);
extern void ITG3200Test(void);
extern boolean ITG3200GyroActive(void);
extern const real32 GyroToRadian[];
-extern real32 GyroADC[3], GyroNeutral[3], Gyro[3]; // Radians
+extern real32 GyroADC[3], GyroADCp[3], GyroNoise[3], GyroNeutral[3], Gyrop[3], Gyro[3]; // Radians
extern uint8 GyroType;
//______________________________________________________________________________________________
@@ -1055,6 +1134,8 @@
extern LocalFileSystem Flash;
+extern uint8 I2C0SDAPin, I2C0SCLPin;
+
// 1 GND
// 2 4.5-9V
// 3 VBat
@@ -1104,13 +1185,13 @@
void stop(void);
uint8 blockread(uint8 r, char* b, uint8);
uint8 read(uint8 r);
- void blockwrite(uint8 a, const char* b, uint8 l);
+ boolean blockwrite(uint8 a, const char* b, uint8 l);
uint8 write(uint8 d);
};
extern MyI2C I2C0; // 27, 28
-extern DigitalInOut I2C0SCL;
-extern DigitalInOut I2C0SDA;
+extern PortInOut I2C0SCL;
+extern PortInOut I2C0SDA;
#else
extern I2C I2C0; // 27, 28
@@ -1120,6 +1201,8 @@
#endif // SW_I2C
extern DigitalIn RCIn; // 29 CAN
+extern InterruptIn RCInterrupt;
+
extern DigitalOut PWMCamRoll; // 30 CAN
//extern Serial TelemetrySerial;
@@ -1134,8 +1217,6 @@
extern DigitalOut RedLED;
extern DigitalOut YellowLED;
-extern InterruptIn RCInterrupt;
-
extern char RTCString[], RTCLogfile[];
extern struct tm* RTCTime;
@@ -1210,6 +1291,9 @@
extern void RazorInISR(void);
extern void RazorOutISR(void);
+extern void TurnBeeperOff(void);
+extern void DoBeeperPulse1mS(int16);
+
enum { Clock, GeneralCountdown, UpdateTimeout, RCSignalTimeout, BeeperTimeout, ThrottleIdleTimeout,
FailsafeTimeout, AbortTimeout, RxFailsafeTimeout, DescentUpdate, StickChangeUpdate, NavStateTimeout, LastValidRx,
LastGPS, StartTime, GPSTimeout, LEDChaserUpdate, LastBattery, TelemetryUpdate, NavActiveTime, BeeperUpdate,
@@ -1230,6 +1314,11 @@
extern int8 SignalCount;
extern uint16 RCGlitches;
+extern Timer timer;
+extern Timeout CamRollTimeout, CamPitchTimeout;
+extern Ticker CameraTicker;
+extern Timeout RCTimeout;
+
//______________________________________________________________________________________________
// ir.c
@@ -1244,13 +1333,8 @@
// i2c.c
-#ifdef SW_I2C
-#define I2C_ACK 0
-#define I2C_NACK 1
-#else
-#define I2C_ACK 1
-#define I2C_NACK 0
-#endif // SW_I2C
+#define I2C_ACK true
+#define I2C_NACK false
extern boolean I2C0AddressResponds(uint8);
#ifdef HAVE_I2C1
@@ -1262,8 +1346,10 @@
extern boolean ESCWaitClkHi(void);
extern void ProgramSlaveAddress(uint8);
extern void ConfigureESCs(void);
+extern void InitI2C(void);
extern uint32 MinI2CRate;
+extern uint16 I2CError[256];
//______________________________________________________________________________________________
@@ -1399,6 +1485,16 @@
//______________________________________________________________________________________________
+// NXP1768pins.c
+
+extern boolean PinRead(uint8);
+extern void PinWrite(uint8, boolean);
+extern void PinSetOutput(uint8, boolean);
+
+extern const uint8 mbed1768Pins[];
+
+//______________________________________________________________________________________________
+
// outputs.c
#define OUT_MINIMUM 1.0 // Required for PPM timing loops
@@ -1467,7 +1563,7 @@
RollKp, // 01
RollKi, // 02
RollKd, // 03
- HorizDampKp, // 04c
+ Unused04, // 04c HorizDampKp
RollIntLimit, // 05
PitchKp, // 06
PitchKi, // 07
@@ -1477,16 +1573,16 @@
YawKp, // 11
YawKi, // 12
- YawKd, // 13
+ Unused13, // 13 YawKd
YawLimit, // 14
YawIntLimit, // 15
ConfigBits, // 16c
- unused17 , // 17 TimeSlots
+ Unused17 , // 17 TimeSlots
LowVoltThres, // 18c
CamRollKp, // 19
PercentCruiseThr, // 20c
- VertDampKp, // 21c
+ VertDamp, // 21c
MiddleUD, // 22c
PercentIdleThr, // 23c
MiddleLR, // 24c
@@ -1494,7 +1590,7 @@
CamPitchKp, // 26
CompassKp, // 27
AltKi, // 28c
- unused29 , // 29 NavRadius
+ Unused29 , // 29 NavRadius
NavKi, // 30
GSThrottle, // 31
@@ -1508,20 +1604,20 @@
PercentNavSens6Ch, // 39
CamRollTrim, // 40
NavKd, // 41
- VertDampDecay, // 42
- HorizDampDecay, // 43
+ Unused42 , // 42 VertDampDecay
+ Unused43, // 43 HorizDampDecay
BaroScale, // 44
TelemetryType, // 45
MaxDescentRateDmpS, // 46
DescentDelayS, // 47
NavIntLimit, // 48
AltIntLimit, // 49
- unused50, // 50 GravComp
- unused51 , // 51 CompSteps
+ Unused50, // 50 GravComp
+ Unused51 , // 51 CompSteps
ServoSense, // 52
CompassOffsetQtr, // 53
BatteryCapacity, // 54
- unused55, // 55 GyroYawType
+ Unused55, // 55 GyroYawType
AltKd, // 56
Orient, // 57
NavYawLimit, // 58
@@ -1576,6 +1672,13 @@
// rc.c
+#define RC_INIT_FRAMES 32 // number of initial RC frames to allow filters to settle
+
+#define RC_MIN_WIDTH_US 1000 // temporarily to prevent wraparound 900
+#define RC_MAX_WIDTH_US 2100
+
+#define RC_NO_CHANGE_TIMEOUT_MS 20000L
+
extern void DoRxPolarity(void);
extern void InitRC(void);
extern void MapRC(void);
@@ -1594,7 +1697,6 @@
extern int16x8x4Q PPMQ;
extern boolean RCPositiveEdge;
extern int16 RC[], RCp[];
-extern int16 Trim[3];
extern int16 ThrLow, ThrNeutral, ThrHigh;
//__________________________________________________________________________________________
@@ -1635,8 +1737,7 @@
enum Statistics {
GPSAltitudeS, BaroRelAltitudeS, ESCI2CFailS, GPSMinSatsS, MinROCS, MaxROCS, GPSVelS,
AccFailS, CompassFailS, BaroFailS, GPSInvalidS, GPSMaxSatsS, NavValidS,
- MinHDiluteS, MaxHDiluteS, RCGlitchesS, GPSBaroScaleS, GyroFailS, RCFailsafesS, I2CFailS, MinTempS, MaxTempS, BadS, BadNumS
-}; // NO MORE THAN 32 or 64 bytes
+ MinHDiluteS, MaxHDiluteS, RCGlitchesS, GPSBaroScaleS, GyroFailS, RCFailsafesS, I2CFailS, MinTempS, MaxTempS, BadS, BadNumS }; // NO MORE THAN 32 or 64 bytes
extern int16 Stats[];
@@ -1662,6 +1763,7 @@
extern void SendParameters(uint8);
extern void SendMinPacket(void);
extern void SendArduStation(void);
+extern void SendPIDTuning(void);
extern void SendCustom(void);
extern void SensorTrace(void);
extern void CheckTelemetry(void);
@@ -1672,8 +1774,8 @@
enum PacketTags {UnknownPacketTag = 0, LevPacketTag, NavPacketTag, MicropilotPacketTag, WayPacketTag,
AirframePacketTag, NavUpdatePacketTag, BasicPacketTag, RestartPacketTag, TrimblePacketTag,
MessagePacketTag, EnvironmentPacketTag, BeaconPacketTag, UAVXFlightPacketTag,
- UAVXNavPacketTag, UAVXStatsPacketTag, UAVXControlPacketTag, UAVXParamPacketTag, UAVXMinPacketTag,
- UAVXArmParamPacketTag, UAVXStickPacketTag, FrSkyPacketTag = 99
+ UAVXNavPacketTag, UAVXStatsPacketTag, UAVXControlPacketTag, UAVXParamPacketTag, UAVXMinPacketTag,
+ UAVXArmParamPacketTag, UAVXStickPacketTag, UAVXCustomPacketTag, FrSkyPacketTag = 99
};
enum TelemetryTypes { NoTelemetry, GPSTelemetry, UAVXTelemetry, UAVXControlTelemetry, UAVXMinTelemetry,
@@ -1725,7 +1827,7 @@
extern void DoStartingBeeps(uint8);
extern real32 SlewLimit(real32, real32, real32);
extern real32 DecayX(real32, real32);
-extern void LPFilter(real32*, real32*, real32, real32);
+extern real32 LPFilter(real32, real32, real32);
extern void CheckAlarms(void);
extern void Timing(uint8, uint32);
@@ -1734,6 +1836,8 @@
uint32 Count;
} TimingRec;
+extern uint32 BeeperOnTime, BeeperOffTime;
+
enum Timed { GetAttitudeT , UnknownT };
extern TimingRec Times[];