MultiWii

Code: Select all

set gps_maxcorr = 15   // Degrees banking Allowed by GPS.
set gps_rudder = 15     // Maximum Rudder

set gps_maxclimb = 15    // Degrees climbing . Too much can stall the plane.
set gps_maxdive = 15     // Degrees Diving . Too much can overspeed the plane.

set climb_throttle = 1900    // Max allowed throttle in GPS modes.
set cruice_throttle = 1600   // Throttle to set for cruise speed.

set idle_throttle = 1300  // Lowest throttleValue during Descend
set scaler_throttle = 8    // Adjust to Match Power/Weight ratio of your model

Code: Select all

/*
 sbrk
 Increase program data space.
 Malloc and related functions depend on this
 */
caddr_t _sbrk(int incr)
{
    extern char _ebss; // Defined by the linker
    static char *heap_end;
    char *prev_heap_end;

    if (heap_end == 0) {
        heap_end = &_ebss;
    }
    prev_heap_end = heap_end;

    char * stack = (char*)__get_MSP();
    if (heap_end + incr > stack) {
        errno = ENOMEM;
        return (caddr_t)-1;
    }

    heap_end += incr;
    return (caddr_t)prev_heap_end;

}

Code: Select all

if ((failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay)) && !f.FAILSAFE_RTH_ENABLE)

Code: Select all

#define FAILSAFE_OFF_DELAY

Code: Select all

if ((failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay)) && !f.FAILSAFE_RTH_ENABLE)

Code: Select all

set climb_throttle = xxxx // Set to same as cruicethrottle value...
set gps_maxdive = 0
set gps_maxclimb = 0
set scaler_throttle = 1

Code: Select all

feature FAILSAFE
feature FAILSAFE_RTH

Code: Select all

#define GYRO_SMOOTHING

Code: Select all

set gyro_lpf = 10

Code: Select all

set gps_maxclimb = 10

Code: Select all

#define FREQ_TU_PR 3 

    #if defined(DIAL_TUNING)
      int ku;
      int kp;
      #if defined(POT_PR)  // aux channel for gyro PID
        ku = ((constrain(rcData[POT_PR],1000,2000) -1000) << 1) >> 6 ; // * 20/640;
        kp = ku * 3 ;
        conf.pid[PIDROLL].P8 = kp;
        conf.pid[PIDROLL].I8 = (kp << 1)/FREQ_TU_PR;
        conf.pid[PIDROLL].D8 = (kp * FREQ_TU_PR) >> 3;
        conf.pid[PIDPITCH].P8 = kp;
        conf.pid[PIDPITCH].I8 = (kp << 1)/FREQ_TU_PR;
        conf.pid[PIDPITCH].D8 = (kp * FREQ_TU_PR) >> 3;
      #endif
      #if defined(POT_L)  // aux channel for level PID
        ku = ((constrain(rcData[POT_L],1000,2000) -1000) << 1) >> 6 ; // * 20/640;
        kp = ku * 4 ;
        conf.pid[PIDLEVEL].P8 = kp;
        conf.pid[PIDLEVEL].I8 = (kp << 1)/FREQ_TU_PR;
      #endif
    #endif

Code: Select all

Finished building: ../lib/CMSIS/CM3/CoreSupport/core_cm3.c
 
Building target: Baseflight_rth_dev.elf
Invoking: ARM Sourcery Windows GCC C Linker
arm-none-eabi-gcc -T"C:\Users\Kevin\Documents\RC hobby\FPV\baseflight\workspace\Baseflight_rth_dev\stm32_flash.ld" -Xlinker --gc-sections -Wl,-Map,Baseflight_rth_dev.map -mcpu=cortex-m3 -mthumb -o "Baseflight_rth_dev.elf"  ./src/baseflight_startups/startup_stm32f10x_md_gcc.o  ./src/buzzer.o ./src/cli.o ./src/config.o ./src/drv_adc.o ./src/drv_adc_fy90q.o ./src/drv_adxl345.o ./src/drv_bma280.o ./src/drv_bmp085.o ./src/drv_gpio.o ./src/drv_hcsr04.o ./src/drv_hmc5883l.o ./src/drv_i2c.o ./src/drv_i2c_soft.o ./src/drv_l3g4200d.o ./src/drv_ledring.o ./src/drv_mma845x.o ./src/drv_mpu3050.o ./src/drv_mpu6050.o ./src/drv_ms5611.o ./src/drv_pwm.o ./src/drv_pwm_fy90q.o ./src/drv_serial.o ./src/drv_softserial.o ./src/drv_spi.o ./src/drv_system.o ./src/drv_timer.o ./src/drv_uart.o ./src/fw_nav.o ./src/gps.o ./src/imu.o ./src/main.o ./src/mixer.o ./src/mw.o ./src/printf.o ./src/sbus.o ./src/sensors.o ./src/serial.o ./src/spektrum.o ./src/sumd.o ./src/telemetry_common.o ./src/telemetry_frsky.o ./src/telemetry_hott.o ./src/utils.o  ./lib/STM32F10x_StdPeriph_Driver/src/misc.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.o ./lib/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.o  ./lib/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.o  ./lib/CMSIS/CM3/CoreSupport/core_cm3.o   -lm
c:/program files (x86)/codesourcery/sourcery_codebench_lite_for_arm_eabi/bin/../lib/gcc/arm-none-eabi/4.7.3/../../../../arm-none-eabi/lib/thumb2\libc.a(lib_a-sbrkr.o): In function `_sbrk_r':
sbrkr.c:(.text+0x12): undefined reference to `_sbrk'
collect2.exe: error: ld returned 1 exit status
cs-make: *** [Baseflight_rth_dev.elf] Error 1

Code: Select all

6 => Elevator
5 => Rudder
4 => Wing 2
3 => Wing 1
2 => -
1 => ESC