mirror of https://github.com/ArduPilot/ardupilot
178 lines
5.3 KiB
C
178 lines
5.3 KiB
C
/*
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ArduCopter v1.2
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www.ArduCopter.com
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Copyright (c) 2010. All rights reserved.
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An Open Source Arduino based multicopter.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "WProgram.h"
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// Following variables stored in EEPROM
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float KP_QUAD_ROLL;
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float KD_QUAD_ROLL;
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float KI_QUAD_ROLL;
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float KP_QUAD_PITCH;
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float KD_QUAD_PITCH;
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float KI_QUAD_PITCH;
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float KP_QUAD_YAW;
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float KD_QUAD_YAW;
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float KI_QUAD_YAW;
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float STABLE_MODE_KP_RATE;
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float KP_GPS_ROLL;
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float KD_GPS_ROLL;
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float KI_GPS_ROLL;
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float KP_GPS_PITCH;
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float KD_GPS_PITCH;
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float KI_GPS_PITCH;
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float GPS_MAX_ANGLE;
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float KP_ALTITUDE;
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float KD_ALTITUDE;
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float KI_ALTITUDE;
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int acc_offset_x;
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int acc_offset_y;
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int acc_offset_z;
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int gyro_offset_roll;
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int gyro_offset_pitch;
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int gyro_offset_yaw;
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float Kp_ROLLPITCH;
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float Ki_ROLLPITCH;
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float Kp_YAW;
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float Ki_YAW;
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float GEOG_CORRECTION_FACTOR;
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int MAGNETOMETER;
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float Kp_RateRoll;
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float Ki_RateRoll;
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float Kd_RateRoll;
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float Kp_RatePitch;
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float Ki_RatePitch;
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float Kd_RatePitch;
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float Kp_RateYaw;
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float Ki_RateYaw;
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float Kd_RateYaw;
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float xmitFactor;
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// EEPROM storage addresses
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#define KP_QUAD_ROLL_ADR 0
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#define KD_QUAD_ROLL_ADR 4
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#define KI_QUAD_ROLL_ADR 8
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#define KP_QUAD_PITCH_ADR 12
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#define KD_QUAD_PITCH_ADR 16
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#define KI_QUAD_PITCH_ADR 20
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#define KP_QUAD_YAW_ADR 24
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#define KD_QUAD_YAW_ADR 28
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#define KI_QUAD_YAW_ADR 32
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#define STABLE_MODE_KP_RATE_ADR 36
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#define KP_GPS_ROLL_ADR 40
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#define KD_GPS_ROLL_ADR 44
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#define KI_GPS_ROLL_ADR 48
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#define KP_GPS_PITCH_ADR 52
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#define KD_GPS_PITCH_ADR 56
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#define KI_GPS_PITCH_ADR 60
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#define GPS_MAX_ANGLE_ADR 64
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#define KP_ALTITUDE_ADR 68
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#define KD_ALTITUDE_ADR 72
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#define KI_ALTITUDE_ADR 76
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#define acc_offset_x_ADR 80
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#define acc_offset_y_ADR 84
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#define acc_offset_z_ADR 88
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#define gyro_offset_roll_ADR 92
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#define gyro_offset_pitch_ADR 96
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#define gyro_offset_yaw_ADR 100
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#define Kp_ROLLPITCH_ADR 104
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#define Ki_ROLLPITCH_ADR 108
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#define Kp_YAW_ADR 112
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#define Ki_YAW_ADR 116
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#define GEOG_CORRECTION_FACTOR_ADR 120
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#define MAGNETOMETER_ADR 124
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#define XMITFACTOR_ADR 128
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#define KP_RATEROLL_ADR 132
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#define KI_RATEROLL_ADR 136
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#define KD_RATEROLL_ADR 140
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#define KP_RATEPITCH_ADR 144
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#define KI_RATEPITCH_ADR 148
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#define KD_RATEPITCH_ADR 152
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#define KP_RATEYAW_ADR 156
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#define KI_RATEYAW_ADR 160
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#define KD_RATEYAW_ADR 164
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// Utilities for writing and reading from the EEPROM
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float readEEPROM(int address) {
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union floatStore {
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byte floatByte[4];
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float floatVal;
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} floatOut;
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for (int i = 0; i < 4; i++)
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floatOut.floatByte[i] = EEPROM.read(address + i);
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return floatOut.floatVal;
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}
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void writeEEPROM(float value, int address) {
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union floatStore {
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byte floatByte[4];
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float floatVal;
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} floatIn;
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floatIn.floatVal = value;
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for (int i = 0; i < 4; i++)
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EEPROM.write(address + i, floatIn.floatByte[i]);
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}
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void readUserConfig() {
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KP_QUAD_ROLL = readEEPROM(KP_QUAD_ROLL_ADR);
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KD_QUAD_ROLL = readEEPROM(KD_QUAD_ROLL_ADR);
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KI_QUAD_ROLL = readEEPROM(KI_QUAD_ROLL_ADR);
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KP_QUAD_PITCH = readEEPROM(KP_QUAD_PITCH_ADR);
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KD_QUAD_PITCH = readEEPROM(KD_QUAD_PITCH_ADR);
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KI_QUAD_PITCH = readEEPROM(KI_QUAD_PITCH_ADR);
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KP_QUAD_YAW = readEEPROM(KP_QUAD_YAW_ADR);
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KD_QUAD_YAW = readEEPROM(KD_QUAD_YAW_ADR);
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KI_QUAD_YAW = readEEPROM(KI_QUAD_YAW_ADR);
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STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR);
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KP_GPS_ROLL = readEEPROM(KP_GPS_ROLL_ADR);
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KD_GPS_ROLL = readEEPROM(KD_GPS_ROLL_ADR);
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KI_GPS_ROLL = readEEPROM(KI_GPS_ROLL_ADR);
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KP_GPS_PITCH = readEEPROM(KP_GPS_PITCH_ADR);
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KD_GPS_PITCH = readEEPROM(KD_GPS_PITCH_ADR);
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KI_GPS_PITCH = readEEPROM(KI_GPS_PITCH_ADR);
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GPS_MAX_ANGLE = readEEPROM(GPS_MAX_ANGLE_ADR);
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KP_ALTITUDE = readEEPROM(KP_ALTITUDE_ADR);
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KD_ALTITUDE = readEEPROM(KD_ALTITUDE_ADR);
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KI_ALTITUDE = readEEPROM(KI_ALTITUDE_ADR);
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acc_offset_x = readEEPROM(acc_offset_x_ADR);
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acc_offset_y = readEEPROM(acc_offset_y_ADR);
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acc_offset_z = readEEPROM(acc_offset_z_ADR);
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gyro_offset_roll = readEEPROM(gyro_offset_roll_ADR);
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gyro_offset_pitch = readEEPROM(gyro_offset_pitch_ADR);
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gyro_offset_yaw = readEEPROM(gyro_offset_yaw_ADR);
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Kp_ROLLPITCH = readEEPROM(Kp_ROLLPITCH_ADR);
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Ki_ROLLPITCH = readEEPROM(Ki_ROLLPITCH_ADR);
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Kp_YAW = readEEPROM(Kp_YAW_ADR);
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Ki_YAW = readEEPROM(Ki_YAW_ADR);
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GEOG_CORRECTION_FACTOR = readEEPROM(GEOG_CORRECTION_FACTOR_ADR);
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MAGNETOMETER = readEEPROM(MAGNETOMETER_ADR);
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Kp_RateRoll = readEEPROM(KP_RATEROLL_ADR);
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Ki_RateRoll = readEEPROM(KI_RATEROLL_ADR);
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Kd_RateRoll = readEEPROM(KD_RATEROLL_ADR);
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Kp_RatePitch = readEEPROM(KP_RATEPITCH_ADR);
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Ki_RatePitch = readEEPROM(KI_RATEPITCH_ADR);
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Kd_RatePitch = readEEPROM(KD_RATEPITCH_ADR);
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Kp_RateYaw = readEEPROM(KP_RATEYAW_ADR);
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Ki_RateYaw = readEEPROM(KI_RATEYAW_ADR);
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Kd_RateYaw = readEEPROM(KD_RATEYAW_ADR);
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xmitFactor = readEEPROM(XMITFACTOR_ADR);
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}
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