ardupilot/Arducopter/UserSettings.h

178 lines
5.3 KiB
C

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