LanPlayer::LanPlayer(const MString &Name, const int PlayerID)
{
m_name = Name;
SetPlayerID(PlayerID);
ClearStats();
m_screenpos = 1; //we know stuff
}
void ValuesTable::RecalculateStats() {
ClearStats();
size_t s,e;
s = m_stats.Start();
e = m_stats.End();
for (size_t i = s; i <= e; ++i)
UpdateStats(i);
}
///////////////////////////////////////////////////////////////
//
// CClientModelCacheManagerImpl::DoPulse
//
///////////////////////////////////////////////////////////////
void CClientModelCacheManagerImpl::DoPulse(void)
{
m_TickCountNow = CTickCount::Now();
ClearStats();
if (!g_pClientGame->GetLocalPlayer())
return;
m_fGameFps = g_pGame->GetFPS();
// Assess which models will be needed in the next 2 seconds
// Update frame time
int iDeltaTimeMs = Clamp(10, (m_TickCountNow - m_LastTimeMs).ToInt(), 100);
m_LastTimeMs = m_TickCountNow;
// Get camera position
CVector vecOldCameraPos = m_vecCameraPos;
CClientCamera* pCamera = g_pClientGame->GetManager()->GetCamera();
if (pCamera->IsInFixedMode())
pCamera->GetPosition(m_vecCameraPos);
else
g_pClientGame->GetLocalPlayer()->GetPosition(m_vecCameraPos);
// Calculate camera velocity
CVector vecDif = m_vecCameraPos - vecOldCameraPos;
float fCameraSpeed = vecDif.Length() / (iDeltaTimeMs * 0.001f);
float a = m_fSmoothCameraSpeed;
m_fSmoothCameraSpeed = Lerp(m_fSmoothCameraSpeed, 0.25f, fCameraSpeed);
// Spread updating over 4 frames
m_iFrameCounter = (m_iFrameCounter + 1) % 4;
if (m_iFrameCounter == 1)
DoPulsePedModels();
else if (m_iFrameCounter == 3)
DoPulseVehicleModels();
// Handle regeneration of possibly replaced clothes textures
if (g_pGame->GetRenderWare()->HasClothesReplacementChanged())
{
g_pMultiplayer->FlushClothesCache();
CClientPlayerManager* pPlayerManager = g_pClientGame->GetPlayerManager();
for (std::vector<CClientPlayer*>::const_iterator iter = pPlayerManager->IterBegin(); iter != pPlayerManager->IterEnd(); ++iter)
(*iter)->RebuildModel(false);
CClientPedManager* pPedManager = g_pClientGame->GetPedManager();
for (std::vector<CClientPed*>::const_iterator iter = pPedManager->IterBegin(); iter != pPedManager->IterEnd(); ++iter)
(*iter)->RebuildModel(false);
}
}
void ValuesTable::SetNumberOfValues(size_t number_of_values) {
assert(m_draw->m_draws_controller->GetDoubleCursor() == false);
m_values.clear();
m_values.resize(number_of_values + 2 * m_draw->m_draws_controller->GetFilter());
m_view.m_start = m_draw->m_draws_controller->GetFilter();
m_view.m_end = number_of_values - 1 + m_draw->m_draws_controller->GetFilter();
m_stats.m_start = m_draw->m_draws_controller->GetFilter();
m_stats.m_end = number_of_values - 1 + m_draw->m_draws_controller->GetFilter();
m_number_of_values = number_of_values;
ClearStats();
}
void ValuesTable::SwitchFilter(int f, int t) {
int df = t - f;
m_view.m_start += df;
m_view.m_end += df;
m_stats.m_start += df;
m_stats.m_end += df;
for (size_t i = 0; i < m_values.size(); ++i)
m_values[i].n_count = 0;
if (df > 0)
while (df--) {
m_values.push_back(ValueInfo());
m_values.push_front(ValueInfo());
}
else
while (df++) {
m_values.pop_back();
m_values.pop_front();
}
if (m_draw->GetDrawInfo() == NULL)
return;
ClearStats();
bool stats_updated, view_updated;
for (size_t i = 0; i < m_values.size(); ++i) {
ValueInfo& v = m_values.at(i);
if (v.state != ValueInfo::EMPTY && v.state != ValueInfo::PENDING)
UpdateProbesValues(i, stats_updated, view_updated);
}
}
void EngineStatePlayerStats::OnNewGame()
{
// Blow away the previous stats for each player.
ClearStats();
}
// Default settings
static void resetConf(void)
{
uint8_t i;
const int8_t default_align[3][3] = { /* GYRO */ { 0, 0, 0 }, /* ACC */ { 0, 0, 0 }, /* MAG */ { 0, 0, 0 } };
memset(&cfg, 0, sizeof(config_t));
cfg.version = EEPROM_CONF_VERSION;
cfg.mixerConfiguration = MULTITYPE_QUADX;
featureClearAll();
// featureSet(FEATURE_VBAT);
featureSet(FEATURE_PPM);
// featureSet(FEATURE_FAILSAFE);
// featureSet(FEATURE_LCD);
// featureSet(FEATURE_GPS);
// featureSet(FEATURE_PASS); // Just pass Throttlechannel
// featureSet(FEATURE_SONAR);
cfg.P8[ROLL] = 35; // 40
cfg.I8[ROLL] = 30;
cfg.D8[ROLL] = 30;
cfg.P8[PITCH] = 35; // 40
cfg.I8[PITCH] = 30;
cfg.D8[PITCH] = 30;
cfg.P8[YAW] = 60; // 70
cfg.I8[YAW] = 45;
cfg.P8[PIDALT] = 100;
cfg.I8[PIDALT] = 30;
cfg.D8[PIDALT] = 80;
cfg.P8[PIDPOS] = 10; // FIND YOUR VALUE
cfg.I8[PIDPOS] = 40; // USED
cfg.P8[PIDPOSR] = 70; // FIND YOUR VALUE // Controls the speed part with my PH logic
cfg.D8[PIDPOSR] = 100; // FIND YOUR VALUE // Controls the speed part with my PH logic
cfg.P8[PIDNAVR] = 15; // 14 More ?
cfg.I8[PIDNAVR] = 0; // NAV_I * 100; // Scaling/Purpose unchanged
cfg.D8[PIDNAVR] = 0; // NAV_D * 1000; // Scaling/Purpose unchanged
// cfg.P8[PIDPOS] = 11; // APM PH Stock values
// cfg.I8[PIDPOS] = 0;
// cfg.D8[PIDPOS] = 0;
// cfg.P8[PIDPOSR] = 20; // POSHOLD_RATE_P * 10;
// cfg.I8[PIDPOSR] = 8; // POSHOLD_RATE_I * 100;
// cfg.D8[PIDPOSR] = 45; // POSHOLD_RATE_D * 1000;
// cfg.P8[PIDNAVR] = 14; // NAV_P * 10;
// cfg.I8[PIDNAVR] = 20; // NAV_I * 100;
// cfg.D8[PIDNAVR] = 80; // NAV_D * 1000;
cfg.P8[PIDLEVEL] = 70; // 70
cfg.I8[PIDLEVEL] = 10;
cfg.D8[PIDLEVEL] = 50;
cfg.P8[PIDMAG] = 80; // cfg.P8[PIDVEL] = 0;// cfg.I8[PIDVEL] = 0;// cfg.D8[PIDVEL] = 0;
cfg.rcRate8 = 100;
cfg.rcExpo8 = 80; // cfg.rollPitchRate = 0;// cfg.yawRate = 0;// cfg.dynThrPID = 0;
cfg.thrMid8 = 50;
memcpy(&cfg.align, default_align, sizeof(cfg.align));
cfg.mag_dec = 113; // Crashpilot //cfg.acc_hdw = ACC_DEFAULT;// default/autodetect
cfg.mag_time = 1; // (1-6) Calibration time in minutes
cfg.mag_gain = 0; // 0(default) = 1.9 GAUSS ; 1 = 2.5 GAUSS (problematic copters, will reduce 20% resolution)
cfg.acc_hdw = 2; // Crashpilot MPU6050
cfg.acc_lpfhz = 10.0f; // [0.x-100Hz] LPF for angle/horizon 0.536f resembles somehow the orig mwii factor
cfg.acc_altlpfhz = 15; // [1-100Hz] LPF for althold
cfg.acc_gpslpfhz = 30; // [1-100Hz] LPF for GPS ins stuff
cfg.looptime = 3000;
cfg.mainpidctrl = 0; // 0 = OriginalMwiiPid pimped by me, 1 = New mwii controller (experimental, float pimped + pt1)
cfg.maincuthz = 12; // [1-100Hz] Cuf Off Frequency for D term of main Pid controller
cfg.gpscuthz = 45; // [1-100Hz] Cuf Off Frequency for D term of GPS Pid controller
cfg.gy_gcmpf = 700; // (10-1000) 400 default. Now 1000. The higher, the more weight gets the gyro and the lower is the correction with Acc data.
cfg.gy_mcmpf = 200; // (10-2000) 200 default for 10Hz. Now higher. Gyro/Magnetometer Complement.
cfg.gy_smrll = 0;
cfg.gy_smptc = 0;
cfg.gy_smyw = 0; // In Tricopter mode a "1" will enable a moving average filter, anything higher will also enable a lowpassfilter
cfg.gy_lpf = 42; // Values for MPU 6050/3050: 256, 188, 98, 42, 20, 10, (HZ) For L3G4200D: 93, 78, 54, 32
cfg.gy_stdev = 5;
// Baro
cfg.accz_vcf = 0.985f; // Crashpilot: Value for complementary filter accz and barovelocity
cfg.accz_acf = 0.960f; // Crashpilot: Value for complementary filter accz and altitude
cfg.bar_lag = 0.3f; // Lag of Baro/Althold stuff in general, makes stop in hightchange snappier
cfg.bar_dscl = 0.7f; // Scale downmovement down (because copter drops faster than rising)
cfg.bar_dbg = 0; // Crashpilot: 1 = Debug Barovalues //cfg.baro_noise_lpf = 0.6f;// Crashpilot: Not used anymore//cfg.baro_cf = 0.985f;// Crashpilot: Not used anymore
// Autoland
cfg.al_barolr = 50; // [10 - 200cm/s] Baro Landingrate
cfg.al_snrlr = 50; // [10 - 200cm/s] Sonar Landingrate - You can specify different landingfactor here on sonar contact, because sonar land maybe too fast when snr_cf is high
cfg.al_debounce = 5; // (0-20%) 0 Disables. Defines a Throttlelimiter on Autoland. Percentage defines the maximum deviation of assumed hoverthrottle during Autoland
cfg.al_tobaro = 2000; // Timeout in ms (100 - 5000) before shutoff on autoland. "esc_nfly" must be undershot for that timeperiod
cfg.al_tosnr = 1000; // Timeout in ms (100 - 5000) If sonar aided land is wanted (snr_land = 1) you can choose a different timeout here
// Autostart
cfg.as_lnchr = 200; // [50 - 250 no dimension DEFAULT:200] Autostart initial launchrate to get off the ground. When as_stdev is exceeded, as_clmbr takes over
cfg.as_clmbr = 100; // [50 - 250cm/s DEFAULT:100] Autostart climbrate in cm/s after liftoff! Autostart Rate in cm/s will be lowered when approaching targethight.
cfg.as_trgt = 0; // [0 - 255m DEFAULT:0 (0 = Disable)] Autostart Targethight in m Note: use 2m or more
cfg.as_stdev = 10; // [5 - 20 no dimension DEFAULT:10] This is the std. deviation of the variometer when a liftoff is assumed. The higher the more unsensitive.
cfg.vbatscale = 110;
cfg.vbatmaxcellvoltage = 43;
cfg.vbatmincellvoltage = 33;
cfg.power_adc_channel = 0;
// Radio
parseRcChannels("AETR1234");
cfg.rc_db = 20; // Crashpilot: A little deadband will not harm our crappy RC
cfg.rc_dbyw = 20; // Crashpilot: A little deadband will not harm our crappy RC
cfg.rc_dbah = 50; // Crashpilot: A little deadband will not harm our crappy RC
cfg.rc_dbgps = 5; // Additional Deadband for all GPS functions;
cfg.devorssi = 0; // Will take the last channel for RSSI value, so add one to rc_auxch, don't use that auxchannel unless you want it to trigger something
// Note Spektrum or Graupner will override that setting to 0.
cfg.rssicut = 0; // [0-80%][0 Disables] Below that percentage rssi will show zero.
// cfg.spektrum_hires = 0;
cfg.rc_minchk = 1100;
cfg.rc_mid = 1500;
cfg.rc_maxchk = 1900;
cfg.rc_lowlat = 1; // [0 - 1] Default 1. 1 = lower latency, 0 = normal latency/more filtering.
cfg.rc_rllrm = 0; // disable arm/disarm on roll left/right
cfg.rc_auxch = 4; // [4 - 6] cGiesen: Default = 4, then like the standard! Crashpilot: Limited to 6 aux for safety
cfg.rc_killt = 0; // Time in ms when your arm switch becomes a Killswitch, 0 disables the Killswitch, can not be used together with FEATURE_INFLIGHT_ACC_CAL
cfg.rc_flpsp = 0; // [0-3] When enabled(1) and upside down in acro or horizon mode throttle is reduced (see readme)
cfg.rc_motor = 0; // [0-2] Behaviour when thr < rc_minchk: 0= minthrottle no regulation, 1= minthrottle®ulation, 2= Motorstop
// Motor/ESC/Servo
cfg.esc_gain = 0; // [0Disables - 32] Gain for esc to reduce delay 16 = Gain of 1 that would double the initial response(limited to +500) Only helps unflashed ESC.
// cfg.esc_min = 1150; // ORIG
cfg.esc_min = 1100;
cfg.esc_max = 1950;
cfg.esc_moff = 1000;
cfg.esc_nfly = 1300; // This is the absolute throttle that kicks off the "has landed timer" if it is too low cfg.rc_minchk + 5% is taken. Also baselinethr for Autostart, also plausibility check for initial Failsafethrottle
// cfg.esc_nfly = 0; // This is the absolute throttle that kicks off the "has landed timer" if it is too low cfg.rc_minchk + 5% is taken.
cfg.esc_pwm = 400;
cfg.srv_pwm = 50;
cfg.pass_mot = 0; // Crashpilot: Only used with feature pass. If 0 = all Motors, otherwise specific Motor
// servos
cfg.tri_ydir = 1;
cfg.tri_ymid = 1500;
cfg.tri_ymin = 1020;
cfg.tri_ymax = 2000;
cfg.tri_ydel = 0; // [0-1000ms] Tri Yaw Arm delay: Time in ms after wich the yaw servo after arming will engage (useful with "yaw arm"). 0 disables Yawservo always active.
// flying wing
cfg.wing_left_min = 1020;
cfg.wing_left_mid = 1500;
cfg.wing_left_max = 2000;
cfg.wing_right_min = 1020;
cfg.wing_right_mid = 1500;
cfg.wing_right_max = 2000;
cfg.pitch_direction_l = 1;
cfg.pitch_direction_r = -1;
cfg.roll_direction_l = 1;
cfg.roll_direction_r = 1;
// gimbal
cfg.gbl_pgn = 10;
cfg.gbl_rgn = 10;
cfg.gbl_flg = GIMBAL_NORMAL;
cfg.gbl_pmn = 1020;
cfg.gbl_pmx = 2000;
cfg.gbl_pmd = 1500;
cfg.gbl_rmn = 1020;
cfg.gbl_rmx = 2000;
cfg.gbl_rmd = 1500;
// gps/nav
cfg.gps_type = 1; // GPS_NMEA = 0, GPS_UBLOX = 1, GPS_MTK16 = 2, GPS_MTK19 = 3, GPS_UBLOX_DUMB = 4
cfg.gps_baudrate = 115200; //38400; // Changed 8/6/13 to 115200;
cfg.gps_ins_vel = 0.6f; // Crashpilot GPS INS The LOWER the value the closer to gps speed // Dont go to high here
cfg.gps_lag = 2000; // GPS Lag in ms
cfg.gps_ph_minsat = 6; // Minimal Satcount for PH, PH on RTL is still done with 5Sats or more
cfg.gps_expo = 20; // 1 - 99 % defines the actual Expo applied for GPS
cfg.gps_ph_settlespeed = 10; // 1 - 200 cm/s PH settlespeed in cm/s
cfg.gps_ph_brakemaxangle = 15; // 1 - 45 Degree Maximal Overspeedbrake
cfg.gps_ph_minbrakepercent = 50; // 1 - 99% minimal percent of "brakemaxangle" left over for braking. Example brakemaxangle = 6 so 50 Percent is 3..
cfg.gps_ph_brkacc = 40; // [1 - 500] Is the assumed negative braking acceleration in cm/(s*s) of copter. Value is positive though. It will be a timeout. The lower the Value the longe the Timeout
cfg.gps_maxangle = 35; // 10 - 45 Degree Maximal over all GPS bank angle
cfg.gps_wp_radius = 200;
// cfg.rtl_mnh = 20; // (0 - 200m) Minimal RTL hight in m, 0 disables feature
cfg.rtl_mnh = 0; // (0 - 200m) Minimal RTL hight in m, 0 disables feature
cfg.rtl_cr = 80; // [10 - 200cm/s] When rtl_mnh is defined this is the climbrate in cm/s
cfg.rtl_mnd = 0; // 0 Disables. Minimal distance for RTL in m, otherwise it will just autoland, prevent Failsafe jump in your face, when arming copter and turning off TX
cfg.gps_rtl_flyaway = 0; // [0 - 100m] 0 Disables. If during RTL the distance increases beyond this value (in meters relative to RTL activation point), something is wrong, autoland
cfg.gps_yaw = 30; // Thats the MAG P during GPS functions, substitute for "cfg.P8[PIDMAG]"
cfg.nav_rtl_lastturn = 1; // 1 = when copter gets to home position it rotates it's head to takeoff direction independend of nav_controls_heading
cfg.nav_tail_first = 0; // 1 = Copter comes back with ass first (only works with nav_controls_heading = 1)
cfg.nav_controls_heading = 0; // 1 = Nav controls YAW during WP ONLY
// cfg.nav_controls_heading = 1; // 1 = Nav controls YAW during WP ONLY
cfg.nav_speed_min = 100; // 10 - 200 cm/s don't set higher than nav_speed_max! That dumbness is not covered.
cfg.nav_speed_max = 350; // 50 - 2000 cm/s don't set lower than nav_speed_min! That dumbness is not covered.
cfg.nav_approachdiv = 3; // 2 - 10 This is the divisor for approach speed for wp_distance. Example: 400cm / 3 = 133cm/s if below nav_speed_min it will be adjusted
cfg.nav_tiltcomp = 30; // 0 - 100 (20 TestDefault) Only arducopter really knows. Dfault was 54. This is some kind of a hack of them to reach actual nav_speed_max. 54 was Dfault, 0 disables
cfg.nav_ctrkgain = 0.5f; // 0 - 10.0 (0.5 TestDefault) (Floatvariable) That is the "Crosstrackgain" APM Dfault is "1". "0" disables
// Failsafe Variables
cfg.fs_delay = 10; // in 0.1s (10 = 1sec)
cfg.fs_ofdel = 200; // in 0.1s (200 = 20sec)
cfg.fs_rcthr = 1200; // decent Dfault which should always be below hover throttle for people.
cfg.fs_ddplt = 0; // EXPERIMENTAL Time in sec when FS is engaged after idle on THR/YAW/ROLL/PITCH, 0 disables max 250
cfg.fs_jstph = 0; // Does just PH&Autoland an not RTL, use this in difficult areas with many obstacles to avoid RTL crash into something
cfg.fs_nosnr = 1; // When snr_land is set to 1, it is possible to ignore that on Failsafe, because FS over a tree could turn off copter
// serial (USART1) baudrate
cfg.serial_baudrate = 115200;
cfg.tele_prot = 0; // Protocol ONLY used when Armed including Baudchange if necessary. 0 (Dfault)=Keep Multiwii @CurrentUSB Baud, 1=Frsky @9600Baud, 2=Mavlink @CurrentUSB Baud, 3=Mavlink @57KBaud (like stock minimOSD wants it)
// LED Stuff
cfg.LED_invert = 0; // Crashpilot: Inversion of LED 0&1 Partly implemented because Bootup is not affected
cfg.LED_Type = 1; // 1=MWCRGB / 2=MONO_LED / 3=LEDRing
cfg.LED_Pinout = 1; // rc6
cfg.LED_ControlChannel = 8; // AUX4 (Channel 8)
cfg.LED_Armed = 0; // 0 = Show LED only if armed, 1 = always show LED
cfg.LED_Pattern1 = 1300; // 32bit bit pattern to have flickering led patterns / the pattern for MWCRGB 1000-2000
cfg.LED_Pattern2 = 1800; // 32bit bit pattern to have flickering led patterns / the pattern for MWCRGB 1000-2000
cfg.LED_Pattern3 = 1900; // 32bit bit pattern to have flickering led patterns / the pattern for MWCRGB 1000-2000
cfg.LED_Toggle_Delay1 = 0x08; // slow down LED_Pattern
cfg.LED_Toggle_Delay2 = 0x08; // slow down LED_Pattern
cfg.LED_Toggle_Delay3 = 0x08; // slow down LED_Pattern
// SONAR
// SOME INFO ON SONAR:
// PWM56 are 5V resistant, RC78 only tolerate 3.3V(!!) so add a 1K Ohms resistor!!!
// Note: You will never see the maximum possible sonar range in a copter, so go for the half of it (or less?)
//
// Connection possibilities depending on Receivertype:
// PPSUM: RC78 possible, PWM56 possible (on max. quadcopters, see below)
// Normal RX: Just Connection on Motorchannel 5&6 (PWM56) is possible.
// The PWM56 sonar connection option is only available in setups with max motors 4, otherwise sonar is not initialized.
//
// HC-SR04:
// Operation Voltage: 5V (!! Use PWM56 or 1K resistor !!)
// Range: 2cm - 400cm
// Angle: 15 Degrees (Test out for yourself: cfg.snr_tilt = X)
//
// Maxbotix in general
// Operation Voltage: (some 2.5V)3.3V - 5V ((!! Use PWM56 or resistor with 5V !!)
// Only wire the Maxbotics for PWM output (more precise anyway), not the analog etc. modes, just wire echopin (normally pin 2)
// Range: 20cm(!) - 765cm (some >1000cm), MaxTiltAngle is not specified, depending on Model
// Tested on MB1200 XL-MaxSonar-EZ0
//
// I2C sonar in general (by mj666)
// If operation voltage of the sonar sensor is 5 Volt (NAZE I2C is 3.3 Volt), take care they do not have pull up resistors connected to 5 Volt.
// Outputs are always open drain so there is no risk kill something only signals may be critical so keep wires short as possible.
// Maxbotix I2CXL series operates with 3.3 and 5 Volt but 5Volt are preferred for best performance and stability.
//
// Devantech Ltd. (SRF02, SRF235, SRF08, SRF10):
// Type; Range; Cycletime; Angle; Comment
// SRF02; 16 to 600cm; 65ms; 55 degree; automatic calibration, minimum rage can be read from sensor (not implemented)
// SRF235; 10 - 1200cm; 10ms; 15 degree; angle is may be to small for the use case
// SRF08; 3 - 600cm; 65ms; 55 degree; range, gain an cycletime can be adjusted, multiple echos are measured (both not implemented)
// SRF10; 6 - 600cm; 65ms; 72 degree; range, gain an cycletime can be adjusted (not implemented)
// be sure to adjust settings accordingly, no additional test are done.
// more details at: http://www.robot-electronics.co.uk/index.html
//
// Maxbotix I2CXL (MB1202, MB1212, MB1222, MB1232, MB1242)
// I"CXL Series of sensors only differentiated by the beam pattern and sensibility. Maxbotix is recommending the MX1242 for quadcopter applications. The interface is always the same
// NOTE: Maxbotix Sonars only operate with lower I2C speed, so the speed is changed on the fly during Maxbotix readout.
// Thanks must go to mj666 for implementing that!
// GENERAL WARNING: DON'T SET snr_min TOO LOW, OTHERWISE THE WRONG SONARVALUE WILL BE TAKEN AS REAL MEASUREMENT!!
// I implemented some checks to prevent that user error, but still keep that in mind.
// Min/Max are checked and changed if they are too stupid for your sonar. So if you suddenly see other values, thats not an eeprom error or so.
// MAXBOTICS: SET snr_min to at least 30! I check this in sensors and change the value, if needed.
// NOTE: I limited Maxbotics to 7 meters in the code, knowing that some types will do >10m, if you have one of them 7m is still the limit for you.
// HC-SR04: SET snr_min to at least 10 ! I check this in sensors and change the value, if needed.
// DaddyWalross Sonar: I DON'T KNOW! But it uses HC-SR04 so i apply the same limits (10cm-400cm) to its output
// Sonar minimal hight must be higher (including temperature difference) than the physical lower limit of the sensor to do a proximity alert
// NOTE: Sonar is def. not a must - have. But nice to have.
cfg.snr_type = 3; // 0=PWM56 HC-SR04, 1=RC78 HC-SR04, 2=I2C(DaddyWalross), 3=MBPWM56, 4=MBRC78, 5=I2C(SRFxx), 6=I2C (MX12x2)
cfg.snr_min = 30; // Valid Sonar minimal range in cm (10 - 200) see warning above
cfg.snr_max = 200; // Valid Sonar maximal range in cm (50 - 700)
cfg.snr_dbg = 0; // 1 Sends Sonardata (within defined range and tilt) to debug[0] and tiltvalue to debug[1], debug[0] will be -1 if out of range/tilt. debug[2] contains raw sonaralt, like before
cfg.snr_tilt = 18; // Somehow copter tiltrange in degrees (Not exactly but good enough. Value * 0.9 = realtilt) in wich Sonar is possible
cfg.snr_cf = 0.5f; // The bigger, the more Sonarinfluence, makes switch between Baro/Sonar smoother and defines baroinfluence when sonarcontact. 1.0f just takes Sonar, if contact (otherwise baro)
cfg.snr_diff = 0; // 0 disables that check. Range (0-200) Maximal allowed difference in cm between sonar readouts (100ms rate and snr_diff = 50 means max 5m/s)
cfg.snr_land = 1; // Aided Sonar - landing, by setting upper throttle limit to current throttle. - Beware of Trees!! Can be disabled for Failsafe with fs_nosnr = 1
cfg.FDUsedDatasets = 0; // Default no Datasets stored
cfg.stat_clear = 1; // This will clear the stats between flights, or you can set to 0 and treasue overallstats, but you have to write manually eeprom or have logging enabled
cfg.sens_1G = 1; // Just feed a dummy "1" to avoid div by zero
ClearStats();
for (i = 0; i < MAX_MOTORS; i++) cfg.customMixer[i].throttle = 0.0f;// custom mixer. clear by Dfaults.
writeParams(0);
}
void DictionaryStats::OutputStats()
{
if (!dictionaryTypes)
return;
EnterCriticalSection(&DictionaryStats::dictionaryTypesCriticalSection);
DictionaryType* current = dictionaryTypes;
Output::Print(L"PROFILE DICTIONARY\n");
Output::Print(L"%8s %13s %13s %13s %13s %13s %13s %13s %14s %14s %13s %13s %13s %s\n", L"Metric",L"StartSize", L"EndSize", L"Resizes", L"Items", L"MaxDepth", L"EmptyBuckets", L"Lookups", L"Collisions", L"AvgLookupDepth", L"AvgCollDepth", L"MaxLookupDepth", L"Instances", L"Type");
while(current)
{
DictionaryType *type = current;
DictionaryStats *instance = type->instances;
double size = 0, max_size = 0;
double endSize = 0, max_endSize = 0;
double resizes = 0, max_resizes = 0;
double items = 0, max_items = 0;
double depth = 0, max_depth = 0;
double empty = 0, max_empty = 0;
double lookups = 0, max_lookups = 0;
double collisions = 0, max_collisions = 0;
double avglookupdepth = 0, max_avglookupdepth = 0;
double avgcollisiondepth = 0, max_avgcollisiondepth = 0;
double maxlookupdepth = 0, max_maxlookupdepth = 0;
bool dumpInstances = false;
//if(strstr(type->name, "SimpleDictionaryPropertyDescriptor") != nullptr)
//{
// dumpInstances = true;
//}
while(instance)
{
ComputeStats(instance->initialSize, size, max_size);
ComputeStats(instance->finalSize, endSize, max_endSize);
ComputeStats(instance->countOfResize, resizes, max_resizes);
ComputeStats(instance->itemCount, items, max_items);
ComputeStats(instance->maxDepth, depth, max_depth);
ComputeStats(instance->countOfEmptyBuckets, empty, max_empty);
ComputeStats(instance->lookupCount, lookups, max_lookups);
ComputeStats(instance->collisionCount, collisions, max_collisions);
if (instance->lookupCount > 0)
{
ComputeStats((double)instance->lookupDepthTotal / (double)instance->lookupCount, avglookupdepth, max_avglookupdepth);
}
if (instance->collisionCount > 0)
{
ComputeStats((double)instance->lookupDepthTotal / (double)instance->collisionCount, avgcollisiondepth, max_avgcollisiondepth);
}
ComputeStats(instance->maxLookupDepth, maxlookupdepth, max_maxlookupdepth);
if(dumpInstances)
{
double avgld = 0.0;
double avgcd = 0.0;
if (instance->lookupCount > 0)
{
avgld = (double)instance->lookupDepthTotal / (double)instance->lookupCount;
avgcd = (double)instance->lookupDepthTotal / (double)instance->collisionCount;
}
Output::Print(L"%8s %13d %13d %13d %13d %13d %13d %13d %14d %14.2f %13.2f %13d \n",
L"INS:",
instance->initialSize, instance->finalSize, instance->countOfResize,
instance->itemCount, instance->maxDepth, instance->countOfEmptyBuckets,
instance->lookupCount, instance->collisionCount, avgld, avgcd,
instance->maxLookupDepth);
}
instance = instance->pNext;
}
if (max_depth >= Js::Configuration::Global.flags.ProfileDictionary)
{
Output::Print(L"%8s %13.0f %13.0f %13.2f %13.0f %13.2f %13.0f %13.0f %14.0f %14.2f %13.2f %13.2f %13d %S\n", L"AVG:",
size/type->instancesCount, endSize/type->instancesCount, resizes/type->instancesCount, items/type->instancesCount,
depth/type->instancesCount, empty/type->instancesCount, lookups/type->instancesCount, collisions/type->instancesCount,
avglookupdepth/type->instancesCount, avgcollisiondepth/type->instancesCount, maxlookupdepth/type->instancesCount, type->instancesCount, type->name);
Output::Print(L"%8s %13.0f %13.0f %13.2f %13.0f %13.2f %13.0f %13.0f %14.0f %14.2f %13.2f %13.2f %13d %S\n\n", L"MAX:",
max_size, max_endSize, max_resizes, max_items, max_depth, max_empty, max_lookups, max_collisions, max_avglookupdepth,
max_avgcollisiondepth, max_maxlookupdepth, type->instancesCount, type->name);
}
current = current->pNext;
}
Output::Print(L"====================================================================================\n");
ClearStats();
LeaveCriticalSection(&DictionaryStats::dictionaryTypesCriticalSection);
DeleteCriticalSection(&DictionaryStats::dictionaryTypesCriticalSection);
}
/******************************************************************************
** Main Function main()
******************************************************************************/
int main (void)
{
#if !(BURST_MODE || SINGLE_BURST_MODE)
uint32_t i;
#endif
SystemCoreClockUpdate();
#if ADC_DEBUG
/* NVIC is installed inside UARTInit file. */
UARTInit(9600);
#endif
ClearStats();
/* Initialize ADC */
ADCInit( ADC_CLK );
while ( 1 )
{
#if (BURST_MODE || SINGLE_BURST_MODE) /* Interrupt driven only */
/* Burst mode */
ADCBurstRead();
while ( !ADCIntDone );
ADCIntDone = 0;
if ( OverRunCounter != 0 )
{
while ( 1 );
}
ADCConversionBurstCounter++;
UpdateStats();
#else
/* uncomment this block to read from all ADC channels*/
// Non burst mode, get ADC from all channels.
for ( i = 0; i < ADC_NUM; i++ )
{
#if ADC_INTERRUPT_FLAG /* Interrupt driven */
ADCRead( i );
while ( !ADCIntDone );
ADCIntDone = 0;
if ( OverRunCounter != 0 )
while ( 1 );
#else
ADCValue[i] = ADCRead( i ); /* Polling */
#endif
ADCConversionCounter++;
}
UpdateStats();
#endif
#if ADC_DEBUG
if (DebugUpdateCounter++ >= ADC_DEBUG_UPDATE_CNT)
{
if (ClearCounter-- < 0)
{
ClearStats();
ClearCounter = ADC_DEBUG_CLEAR_CNT;
}
PrintoutADCValue();
DebugUpdateCounter = 0;
}
#endif
}
}
// Default settings
static void resetConf(void)
{
uint8_t i;
const int8_t default_align[3][3] = { /* GYRO */ { 0, 0, 0 }, /* ACC */ { 0, 0, 0 }, /* MAG */ { -2, -3, 1 } };
memset(&cfg, 0, sizeof(config_t));
cfg.version = EEPROM_CONF_VERSION;
cfg.mixerConfiguration = MULTITYPE_QUADX;
featureClearAll();
// featureSet(FEATURE_VBAT);
featureSet(FEATURE_PPM);
// featureSet(FEATURE_FAILSAFE);
// featureSet(FEATURE_LCD);
// featureSet(FEATURE_GPS);
// featureSet(FEATURE_PASS); // Just pass Throttlechannel
// featureSet(FEATURE_SONAR);
cfg.P8[ROLL] = 35; // 40
cfg.I8[ROLL] = 20;
cfg.D8[ROLL] = 30;
cfg.P8[PITCH] = 35; // 40
cfg.I8[PITCH] = 20;
cfg.D8[PITCH] = 30;
cfg.P8[YAW] = 60; // 70
cfg.I8[YAW] = 45;
cfg.P8[PIDALT] = 100;
cfg.I8[PIDALT] = 30;
cfg.D8[PIDALT] = 80;
cfg.P8[PIDPOS] = 10; // FIND YOUR VALUE
cfg.I8[PIDPOS] = 0; // NOT USED
cfg.D8[PIDPOS] = 0; // NOT USED
cfg.P8[PIDPOSR] = 50; // FIND YOUR VALUE // Controls the speed part with my PH logic
cfg.I8[PIDPOSR] = 0; // 25; // DANGER "I" may lead to circeling // Controls the speed part with my PH logic
cfg.D8[PIDPOSR] = 40; // FIND YOUR VALUE // Controls the speed part with my PH logic
cfg.P8[PIDNAVR] = 15; // 14 More ?
cfg.I8[PIDNAVR] = 0; // NAV_I * 100; // Scaling/Purpose unchanged
cfg.D8[PIDNAVR] = 0; // NAV_D * 1000; // Scaling/Purpose unchanged
// cfg.P8[PIDPOS] = 11; // APM PH Stock values
// cfg.I8[PIDPOS] = 0;
// cfg.D8[PIDPOS] = 0;
// cfg.P8[PIDPOSR] = 20; // POSHOLD_RATE_P * 10;
// cfg.I8[PIDPOSR] = 8; // POSHOLD_RATE_I * 100;
// cfg.D8[PIDPOSR] = 45; // POSHOLD_RATE_D * 1000;
// cfg.P8[PIDNAVR] = 14; // NAV_P * 10;
// cfg.I8[PIDNAVR] = 20; // NAV_I * 100;
// cfg.D8[PIDNAVR] = 80; // NAV_D * 1000;
cfg.P8[PIDLEVEL] = 60; // 70
cfg.I8[PIDLEVEL] = 10;
cfg.D8[PIDLEVEL] = 50;
cfg.P8[PIDMAG] = 80; // cfg.P8[PIDVEL] = 0;// cfg.I8[PIDVEL] = 0;// cfg.D8[PIDVEL] = 0;
cfg.rcRate8 = 100;
cfg.rcExpo8 = 80; // cfg.rollPitchRate = 0;// cfg.yawRate = 0;// cfg.dynThrPID = 0;
cfg.thrMid8 = 50;
// cfg.thrExpo8 = 0;//for (i = 0; i < CHECKBOXITEMS; i++)//cfg.activate[i] = 0;
// cfg.angleTrim[0] = 0;// cfg.angleTrim[1] = 0;// cfg.accZero[0] = 0;// cfg.accZero[1] = 0;
// cfg.accZero[2] = 0;// cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
memcpy(&cfg.align, default_align, sizeof(cfg.align));
// cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
cfg.mag_declination = 107; // Crashpilot //cfg.acc_hardware = ACC_DEFAULT;// default/autodetect
cfg.mag_oldcalib = 0; // 1 = old hard iron calibration // 0 = extended calibration (better)
cfg.mag_oldctime = 1; // 1 - 5 Time in MINUTES for old calibration. Use this together with mag_oldcalib = 1 if you have a monster of a copter
cfg.acc_hardware = 2; // Crashpilot MPU6050
cfg.acc_lpf_factor = 100; // changed 27.11.2012
cfg.acc_ins_lpf = 10; // General LPF for all INS stuff
cfg.looptime = 3000; // changed 27.11.2012 // cfg.acc_lpf_factor = 4;
cfg.mainpidctrl = 1; // 1 = OriginalMwiiPid pimped by me, 2 = New mwii controller (experimental, float pimped + pt1)
cfg.mainpt1cut = 15; // (0-50Hz) 0 Disables pt1element. Cuf Off Frequency for pt1 element D term in Hz of main Pid controller
cfg.newpidimax = 256; // [10-65000) 256 Default. Imax of new Pidcontroller
cfg.gpspt1cut = 10; // (1-50Hz) Cuf Off Frequency for D term in Hz of GPS Pid controller
cfg.gyro_cmpf_factor = 1000; // (10-1000) 400 default. Now 1000. The higher, the more weight gets the gyro and the lower is the correction with Acc data.
cfg.gyro_cmpfm_factor = 1000; // (10-2000) 200 default for 10Hz. Now 1000 for 70Hz seems ok. Gyro/Magnetometer Complement. Greater Value means more filter on mag/delay
cfg.gyro_lpf = 42; // Possible values 256 188 98 42 20 10 (HZ)
// Baro
cfg.accz_vel_cf = 0.985f; // Crashpilot: Value for complementary filter accz and barovelocity
cfg.accz_alt_cf = 0.940f; // Crashpilot: Value for complementary filter accz and altitude
cfg.baro_lag = 0.3f; // Lag of Baro/Althold stuff in general, makes stop in hightchange snappier
cfg.barodownscale = 0.7f; // Scale downmovement down (because copter drops faster than rising)
// Autoland
cfg.al_barolr = 75; // Temporary value "64" increase to increase Landingspeed
cfg.al_snrlr = 75; // You can specify different landingfactor here on sonar contact, because sonar land maybe too fast when snr_cf is high
cfg.al_lndthr = 0; // This is the absolute throttle that kicks off the "has landed timer" if it is too low cfg.minthrottle is taken.
cfg.al_debounce = 5; // (0-20%) 0 Disables. Defines a Throttlelimiter on Autoland. Percentage defines the maximum deviation of assumed hoverthrottle during Autoland
cfg.al_tobaro = 2000; // Timeout in ms (100 - 5000) before shutoff on autoland. "al_lndthr" must be undershot for that timeperiod
cfg.al_tosnr = 1000; // Timeout in ms (100 - 5000) If sonar aided land is wanted (snr_land = 1) you can choose a different timeout here
cfg.baro_debug = 0; // Crashpilot: 1 = Debug Barovalues //cfg.baro_noise_lpf = 0.6f;// Crashpilot: Not used anymore//cfg.baro_cf = 0.985f;// Crashpilot: Not used anymore
cfg.moron_threshold = 32;
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.vbatscale = 110;
cfg.vbatmaxcellvoltage = 43;
cfg.vbatmincellvoltage = 33;
cfg.power_adc_channel = 0;
// Radio
parseRcChannels("AETR1234");
cfg.deadband = 15; // Crashpilot: A little deadband will not harm our crappy RC
cfg.yawdeadband = 15; // Crashpilot: A little deadband will not harm our crappy RC
cfg.alt_hold_throttle_neutral = 50; // Crashpilot: A little deadband will not harm our crappy RC
cfg.gps_adddb = 5; // Additional Deadband for all GPS functions;
// cfg.spektrum_hires = 0;
cfg.midrc = 1500;
cfg.mincheck = 1100;
cfg.maxcheck = 1900;
cfg.retarded_arm = 0; // disable arm/disarm on roll left/right
cfg.auxChannels = 4; // [4 - 10] cGiesen: Default = 4, then like the standard!
cfg.killswitchtime = 0; // Time in ms when your arm switch becomes a Killswitch, 0 disables the Killswitch, can not be used together with FEATURE_INFLIGHT_ACC_CAL
// Motor/ESC/Servo
cfg.minthrottle = 1150; // ORIG
// cfg.minthrottle = 1100;
cfg.maxthrottle = 1950;
cfg.passmotor = 0; // Crashpilot: Only used with feature pass. If 0 = all Motors, otherwise specific Motor
cfg.mincommand = 1000;
cfg.motor_pwm_rate = 400;
cfg.servo_pwm_rate = 50;
// servos
cfg.yaw_direction = 1;
cfg.tri_yaw_middle = 1500;
cfg.tri_yaw_min = 1020;
cfg.tri_yaw_max = 2000;
// flying wing
cfg.wing_left_min = 1020;
cfg.wing_left_mid = 1500;
cfg.wing_left_max = 2000;
cfg.wing_right_min = 1020;
cfg.wing_right_mid = 1500;
cfg.wing_right_max = 2000;
cfg.pitch_direction_l = 1;
cfg.pitch_direction_r = -1;
cfg.roll_direction_l = 1;
cfg.roll_direction_r = 1;
// gimbal
cfg.gimbal_pitch_gain = 10;
cfg.gimbal_roll_gain = 10;
cfg.gimbal_flags = GIMBAL_NORMAL;
cfg.gimbal_pitch_min = 1020;
cfg.gimbal_pitch_max = 2000;
cfg.gimbal_pitch_mid = 1500;
cfg.gimbal_roll_min = 1020;
cfg.gimbal_roll_max = 2000;
cfg.gimbal_roll_mid = 1500;
// gps/nav
cfg.gps_type = 1; // GPS_NMEA = 0, GPS_UBLOX = 1, GPS_MTK16 = 2, GPS_MTK19 = 3, GPS_UBLOX_DUMB = 4
cfg.gps_baudrate = 115200; //38400; // Changed 8/6/13 to 115200;
// cfg.gps_baudrate = 38400; //38400; // Changed 8/6/13 to 115200;
// cfg.gps_ins_vel = 0.72f; // Crashpilot GPS INS The LOWER the value the closer to gps speed // Dont go to high here
cfg.gps_ins_vel = 0.6f; // Crashpilot GPS INS The LOWER the value the closer to gps speed // Dont go to high here
cfg.gps_ins_mdl = 1; // NOTE: KEEP THIS TO "1" FOR NOW because other models work like shit currently. GPS ins model. 1 = Based on lat/lon, 2 = based on Groundcourse & speed,(3 = based on ublx velned deleted)
cfg.gps_lag = 2000; // GPS Lag in ms
cfg.gps_phase = 0; // +- 30 Degree Make a phaseshift of GPS output for whatever reason you might want that (frametype etc)
cfg.gps_ph_minsat = 6; // Minimal Satcount for PH, PH on RTL is still done with 5Sats or more
cfg.gps_ph_settlespeed = 10; // 1 - 200 cm/s PH settlespeed in cm/s
cfg.gps_ph_brakemaxangle = 10; // 1 - 45 Degree Maximal 5 Degree Overspeedbrake
cfg.gps_ph_minbrakepercent = 50; // 1 - 99% minimal percent of "brakemaxangle" left over for braking. Example brakemaxangle = 6 so 50 Percent is 3..
cfg.gps_ph_brkacc = 40; // [1 - 500] Is the assumed negative braking acceleration in cm/(s*s) of copter. Value is positive though. It will be a timeout. The lower the Value the longe the Timeout
cfg.gps_ph_abstub = 100; // 0 - 1000cm (300 Dfault, 0 disables) Defines the "bath tub" around current absolute PH Position, where PosP is diminished, reaction gets harder on tubs edge and then goes on linear
cfg.gps_maxangle = 25; // 10 - 45 Degree Maximal over all GPS bank angle
cfg.gps_wp_radius = 150;
// cfg.gps_rtl_minhight = 20; // (0 - 200) Minimal RTL hight in m, 0 disables feature
cfg.gps_rtl_minhight = 0; // (0 - 200) Minimal RTL hight in m, 0 disables feature
cfg.gps_rtl_mindist = 0; // 0 Disables. Minimal distance for RTL in m, otherwise it will just autoland, prevent Failsafe jump in your face, when arming copter and turning off TX
cfg.gps_rtl_flyaway = 0; // 0 Disables. If during RTL the distance increases beyond this value (in meters relative to RTL activation point), something is wrong, autoland
cfg.gps_yaw = 30; // Thats the MAG P during GPS functions, substitute for "cfg.P8[PIDMAG]"
cfg.nav_rtl_lastturn = 1; // 1 = when copter gets to home position it rotates it's head to takeoff direction independend of nav_controls_heading
// cfg.nav_slew_rate = 30; // was 30 and 50 before
cfg.nav_slew_rate = 20; // was 30 and 50 before
cfg.nav_tail_first = 0; // 1 = Copter comes back with ass first (only works with nav_controls_heading = 1)
cfg.nav_controls_heading = 0; // 1 = Nav controls YAW during WP ONLY
// cfg.nav_controls_heading = 1; // 1 = Nav controls YAW during WP ONLY
cfg.nav_speed_min = 100; // 10 - 200 cm/s don't set higher than nav_speed_max! That dumbness is not covered.
cfg.nav_speed_max = 350; // 50 - 2000 cm/s don't set lower than nav_speed_min! That dumbness is not covered.
cfg.nav_approachdiv = 3; // 2 - 10 This is the divisor for approach speed for wp_distance. Example: 400cm / 3 = 133cm/s if below nav_speed_min it will be adjusted
cfg.nav_tiltcomp = 20; // 0 - 100 (20 TestDefault) Only arducopter really knows. Dfault was 54. This is some kind of a hack of them to reach actual nav_speed_max. 54 was Dfault, 0 disables
cfg.nav_ctrkgain = 0.5f; // 0 - 10.0 (0.5 TestDefault) (Floatvariable) That is the "Crosstrackgain" APM Dfault is "1". "0" disables
// Failsafe Variables
cfg.failsafe_delay = 10; // in 0.1s (10 = 1sec)
cfg.failsafe_off_delay = 200; // in 0.1s (200 = 20sec)
cfg.failsafe_throttle = 1200; // decent Dfault which should always be below hover throttle for people.
cfg.failsafe_deadpilot = 0; // DONT USE, EXPERIMENTAL Time in sec when FS is engaged after idle on THR/YAW/ROLL/PITCH, 0 disables max 250
cfg.failsafe_justph = 0; // Does just PH&Autoland an not RTL, use this in difficult areas with many obstacles to avoid RTL crash into something
cfg.failsafe_ignoreSNR = 1; // When snr_land is set to 1, it is possible to ignore that on Failsafe, because FS over a tree could turn off copter
// serial (USART1) baudrate
cfg.serial_baudrate = 115200;
cfg.tele_prot = 0; // Protocol ONLY used when Armed including Baudchange if necessary. 0 (Dfault)=Keep Multiwii @CurrentUSB Baud, 1=Frsky @9600Baud, 2=Mavlink @CurrentUSB Baud, 3=Mavlink @57KBaud (like stock minimOSD wants it)
// LED Stuff
cfg.LED_invert = 0; // Crashpilot: Inversion of LED 0&1 Partly implemented because Bootup is not affected
cfg.LED_Type = 1; // 1=MWCRGB / 2=MONO_LED / 3=LEDRing
cfg.LED_Pinout = 1; // rc6
cfg.LED_ControlChannel = 8; // AUX4 (Channel 8)
cfg.LED_Armed = 0; // 0 = Show LED only if armed, 1 = always show LED
cfg.LED_Pattern1 = 1300; // 32bit bit pattern to have flickering led patterns / the pattern for MWCRGB 1000-2000
cfg.LED_Pattern2 = 1800; // 32bit bit pattern to have flickering led patterns / the pattern for MWCRGB 1000-2000
cfg.LED_Pattern3 = 1900; // 32bit bit pattern to have flickering led patterns / the pattern for MWCRGB 1000-2000
cfg.LED_Toggle_Delay1 = 0x08; // slow down LED_Pattern
cfg.LED_Toggle_Delay2 = 0x08; // slow down LED_Pattern
cfg.LED_Toggle_Delay3 = 0x08; // slow down LED_Pattern
// SONAR
// SOME INFO ON SONAR:
// PWM56 are 5V resistant, RC78 only tolerate 3.3V(!!) so add a 1K Ohms resistor!!!
// Note: You will never see the maximum possible sonar range in a copter, so go for the half of it (or less?)
//
// Connection possibilities depending on Receivertype:
// PPSUM: RC78 possible, PWM56 possible (on max. quadcopters, see below)
// Normal RX: Just Connection on Motorchannel 5&6 (PWM56) is possible.
// The PWM56 sonar connection option is only available in setups with max motors 4, otherwise sonar is not initialized.
//
// HC-SR04:
// Operation Voltage: 5V (!! Use PWM56 or 1K resistor !!)
// Range: 2cm - 400cm
// Angle: 15 Degrees (Test out for yourself: cfg.snr_tilt = X)
//
// Maxbotics in general
// Operation Voltage: (some 2.5V)3.3V - 5V ((!! Use PWM56 or resistor with 5V !!)
// Only wire the Maxbotics for PWM output (more precise anyway), not the analog etc. modes, just wire echopin (normally pin 2)
// Range: 20cm(!) - 765cm (some >1000cm), MaxTiltAngle is not specified, depending on Model
// Tested on MB1200 XL-MaxSonar-EZ0
//
// GENERAL WARNING: DON'T SET snr_min TOO LOW, OTHERWISE THE WRONG SONARVALUE WILL BE TAKEN AS REAL MEASUREMENT!!
// I implemented some checks to prevent that user error, but still keep that in mind.
// Min/Max are checked and changed if they are too stupid for your sonar. So if you suddenly see other values, thats not an eeprom error or so.
// MAXBOTICS: SET snr_min to at least 25! I check this in sensors and change the value, if needed.
// NOTE: I limited Maxbotics to 7 meters in the code, knowing that some types will do >10m, if you have one of them 7m is still the limit for you.
// HC-SR04: SET snr_min to at least 5 ! I check this in sensors and change the value, if needed.
// DaddyWalross Sonar: I DON'T KNOW! But it uses HC-SR04 so i apply the same limits (5cm-400cm) to its output
// NOTE: Sonar is def. not a must - have. But nice to have.
cfg.snr_type = 3; // 0 = PWM56 HC-SR04, 1 = RC78 HC-SR04, 2 = I2C (DaddyWalross), 3 = MBPWM56, 4 = MBRC78
cfg.snr_min = 25; // Valid Sonar minimal range in cm (5-200) see warning above
cfg.snr_max = 200; // Valid Sonar maximal range in cm (50-700)
cfg.snr_debug = 0; // 1 Sends Sonardata (within defined range and tilt) to debug[0] and tiltvalue to debug[1], debug[0] will be -1 if out of range/tilt. debug[2] contains raw sonaralt, like before
cfg.snr_tilt = 18; // Somehow copter tiltrange in degrees (Not exactly but good enough. Value * 0.9 = realtilt) in wich Sonar is possible
cfg.snr_cf = 0.7f; // The bigger, the more Sonarinfluence, makes switch between Baro/Sonar smoother and defines baroinfluence when sonarcontact. 1.0f just takes Sonar, if contact (otherwise baro)
cfg.snr_diff = 0; // 0 disables that check. Range (0-200) Maximal allowed difference in cm between sonar readouts (100ms rate and snr_diff = 50 means max 5m/s)
cfg.snr_land = 1; // Aided Sonar - landing, by setting upper throttle limit to current throttle. - Beware of Trees!! Can be disabled for Failsafe with failsafe_ignoreSNR = 1
// LOGGING
cfg.floppy_mode = FD_MODE_GPSLOGGER; // Usagemode of free Space. 1 = GPS Logger
cfg.FDUsedDatasets = 0; // Default no Datasets stored
cfg.stat_clear = 1; // This will clear the stats between flights, or you can set to 0 and treasue overallstats, but you have to write manually eeprom or have logging enabled
cfg.sens_1G = 1; // Just feed a dummy "1" to avoid div by zero
ClearStats();
// custom mixer. clear by Dfaults.
for (i = 0; i < MAX_MOTORS; i++) cfg.customMixer[i].throttle = 0.0f;
writeParams(0);
}
