117 lines
3.5 KiB
C
117 lines
3.5 KiB
C
/* This file has been generated from conf/airframes/twinstar3.xml */
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/* Please DO NOT EDIT */
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#ifndef AIRFRAME_H
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#define AIRFRAME_H
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#define AIRFRAME_NAME "Twinstar trois"
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#define CTL_BRD_V1_2_1 1
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#define ADC_CHANNEL_IR1 1
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#define ADC_CHANNEL_IR2 2
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#define NB_SERVO 6
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#define SERVO_MOTOR_LEFT 3
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#define SERVO_MOTOR_LEFT_TRAVEL 0.833333333333
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#define SERVOS_NEUTRALS_3 1000
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#define SERVO_MOTOR_RIGHT 9
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#define SERVO_MOTOR_RIGHT_TRAVEL 0.833333333333
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#define SERVOS_NEUTRALS_9 1000
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#define SERVO_AILERON_LEFT 0
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#define SERVO_AILERON_LEFT_TRAVEL -0.55
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#define SERVOS_NEUTRALS_0 1600
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#define SERVO_AILERON_RIGHT 2
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#define SERVO_AILERON_RIGHT_TRAVEL -0.520833333333
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#define SERVOS_NEUTRALS_2 1650
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#define SERVO_ELEVATOR 6
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#define SERVO_ELEVATOR_TRAVEL 0.496666666667
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#define SERVOS_NEUTRALS_6 1530
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#define SERVO_RUDDER 7
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#define SERVO_RUDDER_TRAVEL -0.483333333333
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#define SERVOS_NEUTRALS_7 1450
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#define SERVOS_MINS {1850,1000,2000,1000,1000,1000,1220,1850,1000,1000}
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#define SERVOS_NEUTRALS {1600,1500,1650,1000,1500,1500,1530,1450,1500,1000}
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#define SERVOS_MAXS {1190,2000,1375,2000,2000,2000,1816,1270,2000,2000}
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#define SERVO_MIN_US 1000ul
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#define SERVO_MAX_US 2000ul
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#define ServoSet(values) { \
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uint16_t servo_value;\
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int16_t _var_roll;\
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servo_value = SERVO_NEUTRAL(SERVO_MOTOR_LEFT) + (int16_t)((2 * values[ RADIO_GAIN1 ])*SERVO_MOTOR_LEFT_TRAVEL);\
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servo_widths[ SERVO_MOTOR_LEFT ] = ChopServo(servo_value);\
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\
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servo_value = SERVO_NEUTRAL(SERVO_MOTOR_RIGHT) + (int16_t)((2 * values[ RADIO_THROTTLE ])*SERVO_MOTOR_RIGHT_TRAVEL);\
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servo_widths[ SERVO_MOTOR_RIGHT ] = ChopServo(servo_value);\
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\
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servo_value = SERVO_NEUTRAL(SERVO_ELEVATOR) + (int16_t)((values[ RADIO_PITCH ])*SERVO_ELEVATOR_TRAVEL);\
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servo_widths[ SERVO_ELEVATOR ] = ChopServo(servo_value);\
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\
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_var_roll = values[ RADIO_ROLL ];\
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servo_value = SERVO_NEUTRAL(SERVO_AILERON_LEFT) + (int16_t)(((_var_roll > 0 ? 1 : AILERON_DIFF) * _var_roll)*SERVO_AILERON_LEFT_TRAVEL);\
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servo_widths[ SERVO_AILERON_LEFT ] = ChopServo(servo_value);\
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\
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servo_value = SERVO_NEUTRAL(SERVO_AILERON_RIGHT) + (int16_t)(((_var_roll > 0 ? AILERON_DIFF : 1) * _var_roll)*SERVO_AILERON_RIGHT_TRAVEL);\
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servo_widths[ SERVO_AILERON_RIGHT ] = ChopServo(servo_value);\
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\
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servo_value = SERVO_NEUTRAL(SERVO_RUDDER) + (int16_t)((values[ RADIO_YAW ] + values[ RADIO_ROLL ]*COMBI_SWITCH)*SERVO_RUDDER_TRAVEL);\
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servo_widths[ SERVO_RUDDER ] = ChopServo(servo_value);\
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\
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}
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#define AILERON_DIFF 0.66
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#define COMBI_SWITCH 1.0
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#define IR_ROLL_NEUTRAL_DEFAULT -915
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#define IR_PITCH_NEUTRAL_DEFAULT 110
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#define IR_DEFAULT_CONTRAST 200
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#define IR_RAD_OF_IR_CONTRAST 0.75
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#define IR_RollOfIrs(x1,x2) (-1*(x1)+ -1*(x2))
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#define IR_PitchOfIrs(x1,x2) (-1*(x1)+ 1*(x2))
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#define IR_RAD_OF_IR_MAX_VAL 0.0045
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#define IR_RAD_OF_IR_MIN_VAL 0.00075
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#define ROLL_PGAIN 10000.
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#define PITCH_OF_ROLL 0.0
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#define PITCH_PGAIN 15000.
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#define MAX_ROLL 0.35
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#define MAX_PITCH 0.35
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#define MIN_PITCH -0.35
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#define CLIMB_PITCH_PGAIN -0.1
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#define CLIMB_PITCH_IGAIN 0.025
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#define CLIMB_PGAIN -0.03
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#define CLIMB_IGAIN 0.1
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#define CLIMB_MAX 1.
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#define CLIMB_LEVEL_GAZ 0.31
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#define CLIMB_PITCH_OF_VZ_PGAIN 0.05
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#define CLIMB_GAZ_OF_CLIMB 0.2
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#define COURSE_PGAIN -0.2
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#define ALTITUDE_PGAIN -0.025
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#define NAV_PITCH 0.
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#define VOLTAGE_ADC_A 0.0175
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#define VOLTAGE_ADC_B 0.088
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#define VoltageOfAdc(adc) (VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)
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#define LOW_BATTERY 93
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#define NOMINAL_AIRSPEED 10.
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#define CARROT 5.
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#define ROLL_RESPONSE_FACTOR 4.
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#define YAW_RESPONSE_FACTOR 4.
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#define WEIGHT 1.3
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#endif // AIRFRAME_H
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