报名FlexBot开发大赛了

skypup · 发表于 2014-12-24 10:16

如题。

重在参与，不知最后有没有机会被选上。

skypup · 发表于 2014-12-26 13:33

本帖最后由 skypup 于 2014-12-26 13:41 编辑

用 7dbm 的 nrf24l01+, 实测 60-100m.

2字节长度的遥控协议:

通道4位，1-16通道。
数据8位，0-255。

第1字节
1.0 0 恒为 0
1.1 校验码 = 2.7
1.2 数据1
1.3 数据2
1.4 通道1
1.5 通道2
1.6 通道3
1.7 通道4

第2字节
2.0 1 恒为 1
2.1 校验码 = 1.7
2.2 数据3
2.3 数据4
2.4 数据5
2.5 数据6
2.6 数据7
2.7 数据8

对 RX.cpp 的改造：

#include "MWC.h"

/**************************************************************************************/
/***************       Global RX related variables 全局变量    ********************/
/**************************************************************************************/
//RAW RC values will be store here
volatile uint16_t rcValue[RC_CHANS] = {1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502}; // interval [1000;2000]

static uint8_t rcChannel[RC_CHANS]  = {ROLLPIN, PITCHPIN, YAWPIN, THROTTLEPIN, AUX1PIN,AUX2PIN,AUX3PIN,AUX4PIN};
static uint8_t PCInt_RX_Pins[PCINT_PIN_COUNT] = {PCINT_RX_BITS}; // if this slowes the PCINT readings we can switch to a define for each pcint bit

void rxInt(void);

// 失控保护
volatile int nFailSafe = 0;

#define MIRF_PAYLOAD  1
byte data[MIRF_PAYLOAD];

void CheckFailSafe()
{
  nFailSafe ++;
  if (nFailSafe > FAIL_SAFE_TIMES)
  {
rcValue[2] = 1000;
rcValue[5] = 1500;
rcValue[4] = 1500;
rcValue[6] = 1500;
rcValue[7] = 1500;
  }
}

// 初始化 NRF24L01 高频头
void configureReceiver() {
  Mirf.cePin = 7;
  Mirf.csnPin = 6;
  Mirf.spi = &MirfHardwareSpi;
  Mirf.init();
  Mirf.setRADDR((byte *)"clie1");
  Mirf.payload = MIRF_PAYLOAD;
  Mirf.config();
  Mirf.configRegister(EN_AA, 0x00);       // 禁止自动应答
  Mirf.configRegister(SETUP_RETR, 0x00); // 禁止自动重发
  attachInterrupt(0, NRF24L01, LOW);
}

// #define OLD_PROTOCOL                      // 旧版协议，不带校验功能。
#define SECOND_EDITION_PROTOCOL

// 解析 NRF24L01 数据
void CheckNRF24L01(byte tnData)
{
static int nChannel = 0;

#ifdef OLD_PROTOCOL
  // 旧版协议，不带校验功能。
  if (tnData > 250 && tnData <= 255)
  {
if (tnData == 251)
   nChannel = 2;
else if (tnData == 252)
   nChannel = 5;
else if (tnData == 253)
   nChannel = 4;
else if (tnData == 254)
   nChannel = 6;
else if (tnData == 255)
   nChannel = 7;
  }
  else
  {
rcValue[nChannel] = 1000 + tnData * 4;

nFailSafe = 0;  // 失控保护清零
  }
#endif

#ifdef SECOND_EDITION_PROTOCOL
// // Test!
//  SerialWrite(0, tnData);

  static byte nTemp, nState;

  if ((tnData & 0x80) == 0x00)
  {
// 通道字节
nState = 1; // 允许接受数据字节。
nTemp = tnData;
  }
  else
  {
// // Test!
// SerialSerialize(0, 0x88);
// SerialSerialize(0, nTemp);
// SerialSerialize(0, tnData);
// SerialSerialize(0, 0x88);

// 数据字节
if (nState == 1)
{
   nState = 0; // 等待通道字节，不接受数据字节。
   if ((((nTemp & 0x40) >> 6) == (tnData & 0x01)) && (((tnData & 0x40) >> 6) == (nTemp & 0x01)))  // 1.1 = 2.7 && 2.1 = 1.7
   {
      tnData = ((nTemp & 0x30) << 2) | (tnData & 0x3F);
      nTemp = (nTemp & 0x0F);
      if (nTemp == 0)
      nChannel = 2;
      else if (nTemp == 1)
      nChannel = 5;
      else if (nTemp == 2)
      nChannel = 4;
      else if (nTemp == 3)
      nChannel = 6;
      else if (nTemp == 4)
      nChannel = 7;

//       // Test!
//       SerialSerialize(0, 0x00);
//       SerialSerialize(0, 0x00);
//       SerialSerialize(0, 0x00);
//       SerialSerialize(0, nTemp);
//       SerialSerialize(0, tnData);
//       SerialSerialize(0, 0x00);
//       SerialSerialize(0, 0x00);
//       SerialWrite(0, 0x00);

      rcValue[nChannel] = 1000 + tnData * 4;
      nFailSafe = 0;  // 失控保护清零
   }
}
  }
#endif
}

// NRF24L01 中断处理函数
void NRF24L01(){
  detachInterrupt(0);
  sei();
  if (Mirf.dataReady())
  {
Mirf.getData(data);
Mirf.rxFifoEmpty();
CheckNRF24L01(data[0]);
  }
  attachInterrupt(0, NRF24L01, LOW);
}

///**************************************************************************************/
///***************       combine and sort the RX Datas          ********************/
///**************************************************************************************/
uint16_t readRawRC(uint8_t chan) {
  uint16_t data;

  if (chan < RC_CHANS)
  {
data = rcValue[rcChannel[chan]];
  }
  else
  {
data = 1500;
  }
  return data; // We return the value correctly copied when the IRQ's where disabled
}

/**************************************************************************************/
/***************       compute and Filter the RX data          ********************/
/**************************************************************************************/
void computeRC() {
  static uint16_t rcData4Values[RC_CHANS][4], rcDataMean[RC_CHANS];
  static uint8_t rc4ValuesIndex = 0;
  uint8_t chan,a;

  rc4ValuesIndex++;
  if (rc4ValuesIndex == 4) rc4ValuesIndex = 0;
  for (chan = 0; chan < RC_CHANS; chan++) {
   rcData4Values[chan][rc4ValuesIndex] = readRawRC(chan);
   rcData[chan] = rcData4Values[chan][rc4ValuesIndex];
if (chan<8 && rcSerialCount > 0) { // rcData comes from MSP and overrides RX Data until rcSerialCount reaches 0
   rcSerialCount --;
   if (rcSerial[chan] >900) {rcData[chan] = rcSerial[chan];} // only relevant channels are overridden
}
  }
}

发射端：

/*
* MWC Joystick
* NRF24L01
*
*/

#include <SPI.h>
#include <Mirf.h>
#include <nRF24L01.h>
#include <MirfHardwareSpiDriver.h>

// #define TEST
// #define OLD_PROTOCOL
#define SECOND_EDITION_PROTOCOL

void setup(){
  Serial.begin(9600);

  Serial.println("MWC Joystick");

  InitJoystick();
  InitTx();
}

void OldProtocol(int tnThr, int tnEle, int tnAil, int tnRud, int tnAux1)
{
  // 旧版协议，不带校验功能。
  SendPackage(251);
  SendPackage(250 - tnThr);
  SendPackage(252);
  SendPackage(tnEle);
  SendPackage(253);
  SendPackage(250 - tnAil);
  SendPackage(254);
  SendPackage(250 - tnRud);
  SendPackage(255);
  SendPackage(tnAux1);
}

void SecondEditionPackage(int tnChannel, int tnData)
{
  int nTemp;
  char i, cRepeat = 3;

  nTemp = 0x0000;                               // 1.0    0-通道
  if (tnData & 0x0001 != 0) nTemp |= 0x0040;    // 1.1    = 2.7 数据位7
  nTemp |= ((tnData >> 2) & 0x0030);             // 1.2    数据位 0; 1.3 数据位 1
  nTemp |= (tnChannel & 0x000F);                // 1.4 ~ 1.7 通道位

  for (i = 0; i < cRepeat; i++)
SendPackage(nTemp);

  nTemp = 0x0080;                               // 2.0    1-数据
  if (tnChannel & 0x0001 != 0) nTemp |= 0x0040; // 2.1    = 1.7 通道位3
  nTemp |= (tnData & 0x003F);                   // 2.2 ~ 2.7 数据位

  for (i = 0; i < cRepeat; i++)
SendPackage(nTemp);
}

void SecondEditionProtocol(int tnThr, int tnEle, int tnAil, int tnRud, int tnAux1)
{
  SecondEditionPackage(0x0000, 250 - tnThr);
  SecondEditionPackage(0x0001, tnEle);
  SecondEditionPackage(0x0002, 250 - tnAil);
  SecondEditionPackage(0x0003, 250 - tnRud);
  SecondEditionPackage(0x0004, tnAux1);
}

void loop(){
  int nAil, nEle, nThr, nRud, nLeftTop, nLeftDown, nRightTop, nRightDown;          // 各通道读数
  int nAux1;

  GetJoystick(&nAil, &nEle, &nThr, &nRud, &nLeftTop, &nLeftDown, &nRightTop, &nRightDown);

  // 第5通道 Aux1
  nAux1 = (nLeftTop == 1 ? 250 : 0);

  // 大小舵
  if (nLeftDown == 0)
  {
nEle = (nEle - (250 / 2)) * 4 / 10 + (250 / 2);
nRud = (nRud - (250 / 2)) * 6 / 10 + (250 / 2);
  }
  if (nRightDown == 0)
  {
nAil = (nAil - (250 / 2)) * 4 / 10 + (250 / 2);
  }

#ifdef OLD_PROTOCOL
  OldProtocol(nThr, nEle, nAil, nRud, nAux1);
#endif

#ifdef SECOND_EDITION_PROTOCOL
  SecondEditionProtocol(nThr, nEle, nAil, nRud, nAux1);
#endif
}

skypup · 发表于 2014-12-24 10:23

本帖最后由 skypup 于 2014-12-24 13:17 编辑

学习对 LED 灯的控制.

我用的是 Mega328P 的板子。
根据 Arduino 的 AnalogWriteMega 例程，改了一下, 对比了有淡入淡出与直接通断的区别。
个人感觉还是喜欢前者的效果：

const int pin = 10;
const int nStep = 5;
const int nFrom = 64, nTo = 255;
int nMode = 2; // 1 - Digital 2 - Analog

int nCount = 0;

void setup() {
  pinMode(pin, OUTPUT);
}

void loop() {
  nCount ++;

  if (nCount >= 10)
  {
nCount = 0;
if (nMode ==1) nMode = 2;
else nMode = 1;
  }

  if (nMode == 1)
  {
digitalWrite(pin, 1);
delay(300);
digitalWrite(pin, 0);
  }
  else if (nMode == 2)
  {
for (int brightness = 0; brightness < nTo; brightness+=nStep) {
   analogWrite(pin, brightness);
   delay(nStep);
}
// delay(100);
// fade the LED on thisPin from brithstest to off:
for (int brightness = nTo; brightness >= nFrom; brightness-=nStep) {
   analogWrite(pin, brightness);
   delay(nStep);
}
  }
  digitalWrite(pin, 0);
  // pause between LEDs:
  delay(1500);
}

LED 拆了一个亮度比普通大点儿的。焊了个 100R 的限流电阻。
在5V下，电流约 20mA。
Datasheet上 DC Current per I/O Pin = 40.0mA; DC Current Vcc And Gnd Pin = 200.0mA
所以测试时，直接连在了管脚上。

skypup · 发表于 2014-12-24 20:33

测试了一款国产的串口转 wifi，这个模块非常贵，希望能找到便宜的模块。

1 需要安装模块厂家提供的虚拟串口驱动。在一台 Win7 的电脑上不成功，在一台 XP 的电脑上成功了。

2 用厂家提供的软件进行设置。涉嫌广告的地方打码。

3 在地面站软件中正常连接虚拟出来的串口。有丢包。

skypup · 发表于 2015-1-8 13:01

PCB 上留出了连接 3.3V 电台的接口。wifi串口、数传电台、蓝牙串口都可以。
官方资料的 TX 可能标错了。

skypup · 发表于 2015-1-8 23:29

本帖最后由 skypup 于 2015-1-8 23:32 编辑

config.h 似乎主要改了3处：

1 修改：
#define MINCOMMAND  -1056 // 可能与 EXT_MOTOR_RANGE 相关

2 在 IMU 下增加：
#define HEX_NANO          // Flexbot 使用Mega32U4 MPU6050, HMC5883L, BMP085

3 在 SECTION  3 - RC SYSTEM SETUP 下增加：
#define RCSERIAL

#ifndef CONFIG_H_
#define CONFIG_H_

/*************************************************************************************************/
/****          参数配置                                                                   ****/
/*************************************************************************************************/

/* 以下第1组配置为必选项
* 1 - BASIC SETUP - 基本设置，必选项。
* 2 - COPTER TYPE SPECIFIC OPTIONS - 飞行器类型
* 3 - RC SYSTEM SETUP - 遥控器
* 4 - ALTERNATE CPUs & BOARDS - 非典型MCU, IMU
* 5 - ALTERNATE SETUP - 非典型接口，如 S.BUS 接收器, 特殊的电调，等等。
* 6 - OPTIONAL FEATURES - 扩展设置，如电压、报警，等等。
* 7 - TUNING & DEVELOPER - 开发人员选项，仅针高级用户
* 8 - DEPRECATED - these features will be removed in some future release
*/

/* PS:
* 1. 有 (*) 标记的项目, 保存在 EEPROM. 可以通过串口调试助手修改。
* 2. 有 (**) 标记的项目，保存在 EEPROM，可以在 WinGUI 软件界面设置。
*/

/*************************************************************************************************/
/*****************                                                                ***************/
/****************  SECTION  1 - BASIC SETUP - 基本设置，必选项。                         *******/
/*****************                                                                ***************/
/*************************************************************************************************/

  /************************** 飞行器类型    ****************************/
//#define GIMBAL
//#define BI
//#define TRI
//#define QUADP
//#define QUADX  // 修改过混控
//#define Y4
//#define Y6
//#define HEX6
//#define HEX6X  // 修改过混控，适合系留平台
//#define HEX6H
//#define OCTOX8
//#define OCTOFLATP
//#define OCTOFLATX
//#define FLYING_WING
//#define VTAIL4
#define AIRPLANE
//#define SINGLECOPTER
//#define DUALCOPTER
//#define HELI_120_CCPM
//#define HELI_90_DEG

  /**************************** 油门 *******************************/
// 怠速油门
#define MINTHROTTLE 1000 // (*) (**)
// 全油门
#define MAXTHROTTLE 2000
// 熄火油门
#define MINCOMMAND  950

  /********************************** I2C speed ************************************/
//#define I2C_SPEED 100000L    //100kHz normal mode, this value must be used for a genuine WMP
#define I2C_SPEED 400000L //400kHz fast mode, it works only with some WMP clones

  /*************************** I2C 内部上拉  (建议在电路板上使用外部上拉电阻) ********************************/
//#define INTERNAL_I2C_PULLUPS

  /**************************************************************************************/
  /*****************       IMU                                     ******************/
  /**************************************************************************************/

/*************************** 组合 IMU 板********************************/
   //#define FFIMUv1       // first 9DOF+baro board from Jussi, with HMC5843                <- confirmed by Alex
   //#define FFIMUv2       // second version of 9DOF+baro board from Jussi, with HMC5883    <- confirmed by Alex
   //#define FREEIMUv1    // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
   //#define FREEIMUv03    // FreeIMU v0.3 and v0.3.1
   //#define FREEIMUv035    // FreeIMU v0.3.5 no baro
   //#define FREEIMUv035_MS  // FreeIMU v0.3.5_MS                                              <- confirmed by Alex
   //#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
   //#define FREEIMUv04    // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA                <- confirmed by Alex
   //#define FREEIMUv043    // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
   //#define NANOWII       // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
   //#define PIPO          // 9DOF board from erazz
   //#define QUADRINO       // full FC board 9DOF+baro board from witespy  with BMP085 baro    <- confirmed by Alex
   //#define QUADRINO_ZOOM // full FC board 9DOF+baro board from witespy  second edition
   //#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy  second edition    <- confirmed by Alex
   //#define ALLINONE       // full FC board or standalone 9DOF+baro board from CSG_EU
   //#define AEROQUADSHIELDv2
   //#define ATAVRSBIN1    // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
   //#define SIRIUS       // Sirius Navigator IMU                                           <- confirmed by Alex
   //#define SIRIUSGPS    // Sirius Navigator IMU  using external MAG on GPS board          <- confirmed by Alex
   //#define SIRIUS600    // Sirius Navigator IMU  using the WMP for the gyro
   //#define SIRIUS_MEGAv5_OSD //  Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox  http://www.Multiwiicopter.com <- confirmed by Alex
   //#define MINIWII       // Jussi's MiniWii Flight Controller                               <- confirmed by Alex
   //#define CITRUSv2_1    // CITRUS from qcrc.ca
   //#define CHERRY6DOFv1_0
   //#define DROTEK_10DOF // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
   //#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
   //#define DROTEK_6DOFv2 // Drotek 6DOF v2
   //#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
   //#define DROTEK_10DOF_MPU//
   //#define MONGOOSE1_0    // mongoose 1.0 http://store.ckdevices.com/
   //#define CRIUS_LITE    // Crius MultiWii Lite
   //#define CRIUS_SE       // Crius MultiWii SE
   //#define CRIUS_SE_v2_0 // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085
   //#define OPENLRSv2MULTI  // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
   //#define BOARD_PROTO_1 // with MPU6050 + HMC5883L + MS baro
   //#define BOARD_PROTO_2 // with MPU6050 + slave  MAG3110 + MS baro
   //#define GY_80          // Chinese 10 DOF with  L3G4200D ADXL345 HMC5883L BMP085, LLC
   //#define GY_85          // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC
   //#define GY_86          // Chinese 10 DOF with  MPU6050 HMC5883L MS5611, LLC
   #define GY_521       // Chinese 6  DOF with  MPU6050, LLC
   //#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
   //#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
   //#define MultiWiiMega // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com
   //#define PROTO_DIY    // 10DOF mega board
   //#define IOI_MINI_MULTIWII// www.bambucopter.com
   //#define Bobs_6DOF_V1    // BobsQuads 6DOF V1 with ITG3200 & BMA180
   //#define Bobs_9DOF_V1    // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
   //#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
   //#define FLYDUINO_MPU    // MPU6050 Break Out onboard 3.3V reg
   //#define CRIUS_AIO_PRO_V1
   //#define DESQUARED6DOFV2GO  // DEsquared V2 with ITG3200 only
   //#define DESQUARED6DOFV4 // DEsquared V4 with MPU6050
   //#define LADYBIRD
   //#define MEGAWAP_V2_STD    // available here: http://www.multircshop.com                   <- confirmed by Alex
   //#define MEGAWAP_V2_ADV
   //#define HK_MultiWii_SE_V2  // Hobbyking board with MPU6050 + HMC5883L + BMP085
   //#define HK_MultiWii_328P // Also labeled "Hobbybro" on the back.  ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite)
   //#define RCNet_FC          // RCNet FC with MPU6050 and MS561101BA  http://www.rcnet.com
   //#define RCNet_FC_GPS    // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com
   //#define FLYDU_ULTRA       // MEGA+10DOF+MT3339 FC
   //#define DIYFLYING_MAGE_V1  // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk
   //#define Flyduino9DOF    // Flyduino 9DOF IMU MPU6050+HMC5883l
   //#define Nano_Plane       // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html
   //#define HEX_NANO          // Flexbot 使用Mega32U4 MPU6050, HMC5883L, BMP085

/*************************** 独立传感器 ********************************/
   /* 如果已经定义了组合 IMU 以下保持为注释状态即可, 在 def.h 中会做处理 */
   /* I2C gyroscope 陀螺仪 */
   //#define WMP
   //#define ITG3200
   //#define MPU3050
   //#define L3G4200D
   //#define MPU6050    //combo + ACC
   //#define LSM330       //combo + ACC

   /* I2C accelerometer 加速度计 */
   //#define NUNCHUCK  // if you want to use the nunckuk connected to a WMP
   //#define MMA7455
   //#define ADXL345
   //#define BMA020
   //#define BMA180
   //#define BMA280
   //#define NUNCHACK  // if you want to use the nunckuk as a standalone I2C ACC without WMP
   //#define LIS3LV02
   //#define LSM303DLx_ACC
   //#define MMA8451Q

   /* I2C barometer 气压传感器 */
   //#define BMP085
   //#define MS561101BA

   /* I2C magnetometer 地磁传感器 */
   //#define HMC5843
   //#define HMC5883
   //#define AK8975
   //#define MAG3110

   /* Sonar 声纳 */ // for visualization purpose currently - no control code behind
   //#define SRF02 // use the Devantech SRF i2c sensors
   //#define SRF08
   //#define SRF10
   //#define SRF23

   /* enforce your individual sensor orientation - even overrides board specific defaults 传感器安装方向定义 */
   //#define FORCE_ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  =  Y; imu.accADC[PITCH]  = -X; imu.accADC[YAW]  = Z;}
   //#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] =  X; imu.gyroADC[YAW] = Z;}
   //#define FORCE_MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = Z;}

   /* Board orientation shift */
   /* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)
   * you can use one of of this options for virtual sensors rotation by 45 deegres, then set type of multicopter according to flight mode.
   * Check motors order and directions of motors rotation for matching with new front point!  Uncomment only one option! */
   //#define SENSORS_TILT_45DEG_RIGHT       // rotate the FRONT 45 degres clockwise
   //#define SENSORS_TILT_45DEG_LEFT       // rotate the FRONT 45 degres counterclockwise

/*************************************************************************************************/
/*****************                                                                ***************/
/****************  SECTION  2 - 2 - COPTER TYPE SPECIFIC OPTIONS - 飞行器类型             *******/
/*****************                                                                ***************/
/*************************************************************************************************/
  /********************************  PID Controller *********************************/
/* PID 算法选择
   * 1 = 经典 PID 算法 (与 V2.2 一致)
   * 2 = new experimental algorithm from Alex Khoroshko - unsupported - http://www.multiwii.com/forum/vi ... amp;start=10#p37387
   * */
#define PID_CONTROLLER 1

/* NEW: not used anymore for servo coptertypes  <== NEEDS FIXING - MOVE TO WIKI */
#define YAW_DIRECTION 1
//#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction

#define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted - 飞机倾斜时不允许加锁

/******************************** 解锁/加锁 *********************************/
/* 可选，使用遥控手柄组合操作方式解锁/加锁.
   * 一般的，选用以下方式之一即可. */
//#define ALLOW_ARM_DISARM_VIA_TX_YAW
//#define ALLOW_ARM_DISARM_VIA_TX_ROLL

/******************************** 舵机    *********************************/
/* info on which servos connect where and how to setup can be found here
   * http://www.multiwii.com/wiki/ind ... ervos_configuration
   * 设置舵机 End Point, 中立点, 正反向 */
   //#define SERVO_MIN  {1020, 1020, 1020, 1020, 1020, 1020, 1020, 1020}
   //#define  SERVO_MAX {2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000}
   //#define  SERVO_MID {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500} // (*)
   //#define FORCE_SERVO_RATES    {30,30,100,100,100,100,100,100} // 0 = normal, 1= reverse

  /***********************       Cam Stabilisation 云台          ***********************/
/* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it */
/* 开启俯仰/横滚方向的两轴云台，反注释其中一项来激活它 */
//#define SERVO_MIX_TILT
//#define SERVO_TILT

/* camera trigger function 相机拍照功能: activated via Rc Options in the GUI, servo output=A2 on promini */
// trigger interval can be changed via (*GUI*) or via AUX channel
//#define CAMTRIG
#define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms

  /***********************       Airplane 固定翼                ***********************/
#define USE_THROTTLESERVO // 油门使用 50Hz PWM 信号

//#define FLAPPERONS AUX4       // Mix Flaps with Aileroins.
#define FLAPPERON_EP { 1500, 1700 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
#define FLAPPERON_INVERT { -1, 1 } // Change direction om flapperons { Wing1, Wing2 }

//#define FLAPS                      // Traditional Flaps on SERVO3.
//#define FLAPSPEED    3          // Make flaps move slowm Higher value is Higher Speed.

  /***********************    Common for Heli & Airplane       ***********************/

/* Governor: attempts to maintain rpm through pitch and voltage changes
   * predictive approach: observe input signals and voltage and guess appropriate corrections.
   * (the throttle curve must leave room for the governor, so 0-50-75-80-80 is ok, 0-50-95-100-100 is _not_ ok.
   * Can be toggled via aux switch.
   */
//#define GOVERNOR_P 7    // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
//#define GOVERNOR_D 4    // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;

//#define VOLTAGEDROP_COMPENSATION // voltage impact correction

  /***********************       Heli                         ***********************/
/* Channel to control CollectivePitch */
#define COLLECTIVE_PITCH    THROTTLE

/* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
#define COLLECTIVE_RANGE { 80, 0, 80 }// {Min%, ZeroPitch offset from 1500, Max%}.
#define YAWMOTOR                0    // If a motor is used as YAW Set to 1 else set to 0.

/* Servo mixing for heli 120
                     {Coll,Nick,Roll} */
#define SERVO_NICK { +10, -10,  0 }
#define SERVO_LEFT { +10, +5, +10 }
#define SERVO_RIGHT  { +10, +5, -10 }

/* Limit Maximum controll for Roll & Nick  in 0-100% */
#define CONTROL_RANGE { 100, 100 }    //  { ROLL,PITCH }

/* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.
   if inactive, throttle output will be treated as a motor output, so it can drive an ESC */
//#define HELI_USE_SERVO_FOR_THROTTLE

  /***********************    your individual mixing    ***********************/
/* if you want to override an existing entry in the mixing table, you may want to avoid editing the
   * mixTable() function for every version again and again.
   * howto: http://www.multiwii.com/wiki/ind ... h#Individual_Mixing
   */
//#define MY_PRIVATE_MIXING "filename.h"

  /***********************    your individual defaults    ***********************/
/* if you want to replace the hardcoded default values with your own (e.g. from a previous save to an .mwi file),
   * you may want to avoid editing the LoadDefaults() function for every version again and again.
   * http://www.multiwii.com/wiki/ind ... Individual_defaults
   */
//#define MY_PRIVATE_DEFAULTS "filename.h"

/*************************************************************************************************/
/*****************                                                                ***************/
/****************  SECTION  3 - RC SYSTEM SETUP - 遥控器                                  *******/
/*****************                                                                ***************/
/*************************************************************************************************/

/**************************** PPM Sum Reciver ***********************************/
   /* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2
      Select the right line depending on your radio brand. Feel free to modify the order in your PPM order is different */
   //#define SERIAL_SUM_PPM       PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Graupner/Spektrum
   //#define SERIAL_SUM_PPM       ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba
   //#define SERIAL_SUM_PPM       ROLL,PITCH,YAW,THROTTLE,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Multiplex
   #define SERIAL_SUM_PPM       PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For some Hitec/Sanwa/Others

   // Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)
   #define PPM_ON_THROTTLE

/********************** Spektrum Satellite Reciver *******************************/
   /* The following lines apply only for Spektrum Satellite Receiver
      Spektrum Satellites are 3V devices.  DO NOT connect to 5V!
      For MEGA boards, attach sat grey wire to RX1, pin 19. Sat black wire to ground. Sat orange wire to Mega board's 3.3V (or any other 3V to 3.3V source).
      For PROMINI, attach sat grey to RX0.  Attach sat black to ground. */
   //#define SPEKTRUM 1024
   //#define SPEKTRUM 2048
   //#define SPEK_SERIAL_PORT 1 // Forced to 0 on Pro Mini and single serial boards; Set to your choice of 0, 1, or 2 on any Mega based board (defaults to 1 on Mega).
   //**************************
   // Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
   // Bind mode will be same as declared above, if your TX is capable.
   // Ground, Power, and Signal must come from three adjacent pins.
   // By default, these are Ground=4, Power=5, Signal=6.  These pins are in a row on most MultiWii shield boards. Pins can be overriden below.
   // Normally use 3.3V regulator is needed on the power pin!!  If your satellite hangs during bind (blinks, but won't complete bind with a solid light), go direct 5V on all pins.
   //**************************
   // For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins.
   //#define SPEK_BIND          //Un-Comment for Spektrum Satellie Bind Support.  Code is ~420 bytes smaller without it.
   //#define SPEK_BIND_GROUND 4
   //#define SPEK_BIND_POWER  5
   //#define SPEK_BIND_DATA 6

/******************************* Futaba S.BUS 接收器 ************************************/
   /* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1).
      You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
   //#define SBUS
   #define SBUS_SERIAL_PORT 1
   #define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500

/******************************* 使用串口数据遥控    ************************************/
#define RCSERIAL

/*************************************************************************************************/
/*****************                                                                ***************/
/****************  SECTION  4 - ALTERNATE CPUs & BOARDS - 非典型MCU, IMU                *******/
/*****************                                                                ***************/
/*************************************************************************************************/

  /**************************************************************************************/
  /********                   Promini Specifig Settings          ********************/
  /**************************************************************************************/

/************************** Hexa Motor 5 & 6 Pins *******************************/
   /* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config
      This mod allow the use of a standard receiver on a pro mini */
   //#define A0_A1_PIN_HEX

/********************************* Aux 2 Pin    ***********************************/
   /* possibility to use PIN8 or PIN12 as the AUX2 RC input (only one, not both)
      it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 8) */
   //#define RCAUXPIN8
   //#define RCAUXPIN12

  /**************************************************************************************/
  /*****************          Teensy 2.0 Support                   ******************/
  /**************************************************************************************/
/* uncomment this if you use a teensy 2.0 with teensyduino
   it needs to run at 16MHz */
//#define TEENSY20

  /**************************************************************************************/
  /******** Settings for ProMicro, Leonardo and other Atmega32u4 Boards    ***********/
  /**************************************************************************************/

/********************************* pin Layout    **********************************/
   /* activate this for a better pinlayout if all pins can be used => not possible on ProMicro */
   #define A32U4ALLPINS

/********************************** PWM Setup    **********************************/
   /* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13.
      note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there)
      if activated:
      Motor 1-6 = 10-bit hardware PWM
      Motor 7-8 = 8-bit Software PWM
      Servos = 8-bit Software PWM
      if deactivated:
      Motor 1-4 = 10-bit hardware PWM
      Motor 5-8 = 10-bit Software PWM
      Servos = 10-bit Software PWM */
   #define HWPWM6

/********************************** Aux 2 Pin    **********************************/
   /* AUX2 pin on pin RXO */
   //#define RCAUX2PINRXO

   /* aux2 pin on pin D17 (RXLED) */
   //#define RCAUX2PIND17

/********************************** Buzzer Pin **********************************/
   /* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */
   //#define D8BUZZER

/***********************    Promicro version related    ****************************/
   /* Inverted status LED for Promicro ver 10 */
   //#define PROMICRO10

  /**************************************************************************************/
  /********                   修改管脚定义                      ********************/
  /**************************************************************************************/
  /* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
  /* you may need to change PINx and PORTx plus #shift according to the desired pin! */
  //#define OVERRIDE_V_BATPIN                A0 // instead of A3 // Analog PIN 3

  //#define OVERRIDE_PSENSORPIN                A1 // instead of A2 // Analog PIN 2

  //#define OVERRIDE_LEDPIN_PINMODE          pinMode (A1, OUTPUT); // use A1 instead of d13
  //#define OVERRIDE_LEDPIN_TOGGLE             PINC |= 1<<1; // PINB |= 1<<5;    //switch LEDPIN state (digital PIN 13)
  //#define OVERRIDE_LEDPIN_OFF                PORTC &= ~(1<<1); // PORTB &= ~(1<<5);
  //#define OVERRIDE_LEDPIN_ON                PORTC |= 1<<1; // was PORTB |= (1<<5);

  //#define OVERRIDE_BUZZERPIN_PINMODE       pinMode (A2, OUTPUT); // use A2 instead of d8
  //#define OVERRIDE_BUZZERPIN_ON             PORTC |= 1<<2 //PORTB |= 1;
  //#define OVERRIDE_BUZZERPIN_OFF             PORTC &= ~(1<<2); //PORTB &= ~1;

/*************************************************************************************************/
/*****************                                                                ***************/
/****************  SECTION  5 - 非典型接口，如 S.BUS 接收器, 特殊的电调，等等。          *******/
/*****************                                                                ***************/
/*************************************************************************************************/
  /******             串口波特率       *********************************/
#define SERIAL0_COM_SPEED 38400
#define SERIAL1_COM_SPEED 38400
#define SERIAL2_COM_SPEED 57600
#define SERIAL3_COM_SPEED 38400

/* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
   if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
   it is relevent only for a conf with NK */
#define INTERLEAVING_DELAY 3000

/* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
   it is relevent only for a conf with at least a WMP */
#define NEUTRALIZE_DELAY 100000

  /**************************************************************************************/
  /********                            Gyro filters             ********************/
  /**************************************************************************************/

/********************* Lowpass filter for some gyros  ****************************/
   /* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
      to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
      It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
      balancing options ran out. Uncomment only one option!
      IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
   //#define ITG3200_LPF_256HZ    // This is the default setting, no need to uncomment, just for reference
   //#define ITG3200_LPF_188HZ
   //#define ITG3200_LPF_98HZ
   //#define ITG3200_LPF_42HZ
   //#define ITG3200_LPF_20HZ
   //#define ITG3200_LPF_10HZ    // Use this only in extreme cases, rather change motors and/or props

   /* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
      to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
      It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
      balancing options ran out. Uncomment only one option!
      IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
   //#define MPU6050_LPF_256HZ    // This is the default setting, no need to uncomment, just for reference
   //#define MPU6050_LPF_188HZ
   //#define MPU6050_LPF_98HZ
   #define MPU6050_LPF_42HZ
   //#define MPU6050_LPF_20HZ
   //#define MPU6050_LPF_10HZ
   //#define MPU6050_LPF_5HZ    // Use this only in extreme cases, rather change motors and/or props

/******             Gyro smoothing **********************************/
   /* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
      may try this gyro smoothing via averaging. Not suitable for multicopters!
      Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
   //#define GYRO_SMOOTHING {20, 20, 3} // (*) separate averaging ranges for roll, pitch, yaw

/************************ Moving Average Gyros **********************************/
   #define MMGYRO 10                   // (*) Active Moving Average Function for Gyros
   #define MMGYROVECTORLENGTH 15       // Length of Moving Average Vector (maximum value for tunable MMGYRO
   /* Moving Average ServoGimbal Signal Output */
   //#define MMSERVOGIMBAL                // Active Output Moving Average Function for Servos Gimbal
   //#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector

  /************************ Analog Reads             **********************************/
/* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */
//#define FASTER_ANALOG_READS

skypup · 发表于 2015-1-8 23:33

本帖最后由 skypup 于 2015-1-8 23:35 编辑

受字数限制，继续发上面未发完的 config.h 文件：

/*************************************************************************************************/
/*****************                                                                ***************/
/****************  SECTION  6 - 扩展设置，如电压、报警，等等。                            *******/
/*****************                                                                ***************/
/*************************************************************************************************/

  /************************       自动推油门       ********************/
  /* 当飞机倾斜角度过大时，自动推油门 */
  #define THROTTLE_ANGLE_CORRECTION 40

/*************************       Advanced Headfree Mode          ********************/
/* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then
the  bearing between home and copter position will become the control direction
      IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the
      bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance
      first implementation by HAdrian, mods by EOSBandi
*/
  //#define ADVANCED_HEADFREE                                                                   //Advanced headfree mode is enabled when this is uncommented
  //#define ADV_HEADFREE_RANGE 15                                                       //Range where advanced headfree mode activated

  /************************       continuous gyro calibration       ********************/
  /* Gyrocalibration will be repeated if copter is moving during calibration. */
//#define GYROCALIBRATIONFAILSAFE

  /************************       AP FlightMode       **********************************/
  /*** FUNCTIONALITY TEMPORARY REMOVED
/* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/
//#define AP_MODE 40  // Create a deadspan for GPS.

  /************************ Assisted AcroTrainer ************************************/
/* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
   Remember to activate ANGLE_MODE first!...
   A Value on 200 will give a very distinct transfer */
//#define ACROTRAINER_MODE 200 // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437

  /********                         Failsafe settings                ********************/
/* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
   the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
   PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAFE_THROTTLE value. You must set this value to descending about 1m/s or so
   for best results. This value is depended from your configuration, AUW and some other params.  Next, after FAILSAFE_OFF_DELAY the copter is disarmed,
   and motors is stopped. If RC pulse coming back before reached FAILSAFE_OFF_DELAY time, after the small quard time the RC control is returned to normal. */
//#define FAILSAFE                               // uncomment  to activate the failsafe function
#define FAILSAFE_DELAY    10                   // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
#define FAILSAFE_OFF_DELAY 200                   // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
#define FAILSAFE_THROTTLE  (MINTHROTTLE + 200) // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case

#define FAILSAFE_DETECT_TRESHOLD  985

  /*****************             DFRobot LED RING *********************************/
/* I2C DFRobot LED RING communication - I2C LED 灯*/
//#define LED_RING

  /******************************** LED FLASHER ***********************************/
//#define LED_FLASHER
//#define LED_FLASHER_DDR DDRB
//#define LED_FLASHER_PORT PORTB
//#define LED_FLASHER_BIT PORTB4
//#define LED_FLASHER_INVERT
//#define LED_FLASHER_SEQUENCE       0b00000000    // leds OFF
//#define LED_FLASHER_SEQUENCE_ARMED  0b00000101    // create double flashes
//#define LED_FLASHER_SEQUENCE_MAX 0b11111111    // full illumination
//#define LED_FLASHER_SEQUENCE_LOW 0b00000000    // no illumination

  /******************************* Landing lights *********************************/
  /* Landing lights
   Use an output pin to control landing lights.
   They can be switched automatically when used in conjunction
   with altitude data from a sonar unit. */
//#define LANDING_LIGHTS_DDR DDRC
//#define LANDING_LIGHTS_PORT PORTC
//#define LANDING_LIGHTS_BIT PORTC0
//#define LANDING_LIGHTS_INVERT

/* altitude above ground (in cm) as reported by sonar */
//#define LANDING_LIGHTS_AUTO_ALTITUDE 50

/* adopt the flasher pattern for landing light LEDs */
//#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN

  /************************* INFLIGHT ACC Calibration *****************************/
/* This will activate the ACC-Inflight calibration if unchecked */
//#define INFLIGHT_ACC_CALIBRATION

  /******************************* OSD Switch *************************************/
// This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
  //#define OSD_SWITCH

  /**************************************************************************************/
  /***********************                TX-related       **************************/
  /**************************************************************************************/
/* 遥控器死区设置，针对：副翼, 升降, 方向 */
#define DEADBAND 6

  /**************************************************************************************/
  /***********************                GPS             **************************/
  /**************************************************************************************/
//#define GPS_SIMULATOR

/* GPS using a SERIAL port
   if enabled, define here the Arduino Serial port number and the UART speed
   note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
   in NMEA mode the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
   at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */

//#define GPS_SERIAL 2       // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
//#define GPS_PROMINI_SERIAL // Will Autosense if GPS is connected when ardu boots.

// 避免使用 115200 的波特率，在 16MHz 下 115200 有 2% 的误码率, 57600 只有 0.8%
#define GPS_BAUD 57600

/* GPS protocol
   NMEA  - Standard NMEA protocol GGA, GSA and RMC  sentences are needed
   UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
   MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
   With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */

//#define NMEA
#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
//#define INIT_MTK_GPS       // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings

//**!*!*!*!*!*!*!*!*!*!* I2C GPS code is NOT finished in this version, please DON'T USE !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
/* I2C GPS device made with an independant arduino + GPS device
   including some navigation functions
   contribution from EOSBandi http://code.google.com/p/i2c-gps-nav/
   You have to use at least I2CGpsNav code r33 */
//#define I2C_GPS
// If your I2C GPS board has Sonar support enabled
//#define I2C_GPS_SONAR

/* indicate a valid GPS fix with at least 5 satellites by flashing the LED  - Modified by MIS - Using stable LED (YELLOW on CRIUS AIO) led work as sat number indicator
   - No GPS FIX -> LED blink at speed of incoming GPS frames
   - Fix and sat no. bellow 5 -> LED off
   - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
#define GPS_LED_INDICATOR

//Enables the MSP_WP command set , which is used by WinGUI for displaying an setting up navigation
#define USE_MSP_WP

      // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)
      //#define DONT_RESET_HOME_AT_ARM

/* GPS navigation can control the heading */

// copter faces toward the navigation point, maghold must be enabled for it
#define NAV_CONTROLS_HEADING    1 //(**)
      // true - copter comes in with tail first
#define NAV_TAIL_FIRST          0 //(**)
      // true - when copter arrives to home position it rotates it's head to takeoff direction
#define NAV_SET_TAKEOFF_HEADING 1 //(**)

/* Get your magnetic declination from here : http://magnetic-declination.com/
   Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
   Note the sign on declination it could be negative or positive (WEST or EAST)
         Also note, that maqgnetic declination changes with time, so recheck your value every 3-6 months */
#define MAG_DECLINATION  0.00f //(**)

// Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
#define GPS_LEAD_FILTER             //(**)

// add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
      // use it with NMEA gps only
      #define GPS_FILTERING                //(**)

// if we are within this distance to a waypoint then we consider it reached (distance is in cm)
#define GPS_WP_RADIUS             100    //(**)

      // Safe WP distance, do not start mission if the first wp distance is larger than this number (in meters)
      // Also aborts mission if the next waypoint distance is more than this number
      #define SAFE_WP_DISTANCE             500    //(**)

      //Maximu allowable navigation altitude (in meters) automatic altitude control will not go above this height
      #define MAX_NAV_ALTITUDE                100    //(**)

// minimum speed when approach waypoint
      #define NAV_SPEED_MIN             100 // cm/sec                      //(**)
      // maximum speed to reach between waypoints
      #define NAV_SPEED_MAX             500 // cm/sec                      //(**)
      // Slow down to zero when reaching waypoint (same as NAV_SPEED_MIN = 0)
      #define NAV_SLOW_NAV             0                                              //(**)
      // Weight factor of the crosstrack error in navigation calculations (do not touch)
#define CROSSTRACK_GAIN          .4                                              //(**)
// Maximum allowable banking than navigation outputs
      #define NAV_BANK_MAX 3000                                                       //(**)

//Defines the RTH altitude. 0 means keep current alt during RTH (in meters)
      #define RTH_ALTITUDE             30                                              //(**)
//Wait       to reach RTH alt before start moving to home (0-no, 1-yes)
      #define WAIT_FOR_RTH_ALT       0                                              //(**)

//Navigation engine will takeover BARO mode control
#define NAV_TAKEOVER_BARO 1                                                       //(**)

//Throttle stick input will be ignored  (only in BARO)
#define IGNORE_THROTTLE    1                                                    //(**)

//If FENCE DISTANCE is larger than 0 then copter will switch to RTH when it farther from home
      //than the defined number in meters
#define FENCE_DISTANCE    600

//This governs the descent speed during landing. 100 is equals approc 50cm/sec
#define LAND_SPEED       100

  /**************************************************************************************/
  /***********************       LCD/OLED - display settings    *********************/
  /**************************************************************************************/

/* http://www.multiwii.com/wiki/ind ... atures#LCD_.2F_OLED */

/***************************** The type of LCD    **********************************/
   /* choice of LCD attached for configuration and telemetry, see notes below */
   //#define LCD_DUMMY    // No Physical LCD attached.  With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink.
   //#define LCD_SERIAL3W // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
   //#define LCD_TEXTSTAR // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
   //#define LCD_VT100    // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
   //#define LCD_TTY       // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
   //#define LCD_ETPP       // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
   //#define LCD_LCD03    // I2C LCD: LCD03, which is i2c
   //#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
   //#define OLED_DIGOLE    // I2C OLED from http://www.digole.com/index.php?productID=550

/****************************** Display settings ***********************************/
   #define LCD_SERIAL_PORT 0 // must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board

   //#define SUPPRESS_OLED_I2C_128x64LOGO  // suppress display of OLED logo to save memory

/* double font height for better readability. Reduces visible #lines by half.
   * The lower part of each page is accessible under the name of shifted keyboard letter :
   * 1 - ! , 2 - @ , 3 - # , 4 - $ , 5 - % , 6 - ^ , 7 - & , 8 - * , 9 - (
   * You must add both to your lcd.telemetry.* sequences
   */
   //#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64 and OLED_DIGOLE

/* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */
   //#define DISPLAY_2LINES
   //#define DISPLAY_MULTILINE
   //#define MULTILINE_PRE 2  // multiline configMenu # pref lines
   //#define MULTILINE_POST 6 // multiline configMenu # post lines
   //#define DISPLAY_COLUMNS 16
/******************************** Navigation    ***********************************/
/* keys to navigate the LCD menu */
   #define LCD_MENU_PREV 'p'
   #define LCD_MENU_NEXT 'n'
   #define LCD_VALUE_UP 'u'
   #define LCD_VALUE_DOWN 'd'

   #define LCD_MENU_SAVE_EXIT 's'
   #define LCD_MENU_ABORT 'x'

  /**************************************************************************************/
  /***********************    LCD configuration menu       **************************/
  /**************************************************************************************/

/* uncomment this line if you plan to use a LCD or OLED for tweaking parameters
   * http://www.multiwii.com/wiki/ind ... #Configuration_Menu */
   //#define LCD_CONF

/* to include setting the aux switches for AUX1 -> AUX4 via LCD */
   //#define LCD_CONF_AUX

/* optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options */
   //#define SUPPRESS_LCD_CONF_AUX2
   //#define SUPPRESS_LCD_CONF_AUX34

  /**************************************************************************************/
  /***********************    LCD    telemetry          **************************/
  /**************************************************************************************/

/* to monitor system values (battery level, loop time etc. with LCD
   * http://www.multiwii.com/wiki/index.php?title=LCD_Telemetry */

/******************************** Activation    ***********************************/
//#define LCD_TELEMETRY

/* to enable automatic hopping between a choice of telemetry pages uncomment this. */
//#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order
//#define LCD_TELEMETRY_AUTO  "212232425262729" // strong emphasis on page 2

/* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */
//#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.

/* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
//#define SUPPRESS_TELEMETRY_PAGE_1
//#define SUPPRESS_TELEMETRY_PAGE_2
//#define SUPPRESS_TELEMETRY_PAGE_3
//#define SUPPRESS_TELEMETRY_PAGE_4
//#define SUPPRESS_TELEMETRY_PAGE_5
//#define SUPPRESS_TELEMETRY_PAGE_6
//#define SUPPRESS_TELEMETRY_PAGE_7
//#define SUPPRESS_TELEMETRY_PAGE_8
//#define SUPPRESS_TELEMETRY_PAGE_9
//#define SUPPRESS_TELEMETRY_PAGE_R

  /********************************************************************/
  /****                            RSSI                         ****/
  /********************************************************************/
//#define RX_RSSI
//#define RX_RSSI_PIN A3

  /********************************************************************/
  /****                            Buzzer                      ****/
  /********************************************************************/
#define BUZZER
#define RCOPTIONSBEEP       // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
#define ARMEDTIMEWARNING 900  // (*) Trigger an alarm after a certain time of being armed
to save you lipo (if your TX does not have a countdown)
//#define PILOTLAMP          //Uncomment if you are using a X-Arcraft Pilot Lamp
  /********************************************************************/
  /****          battery voltage monitoring                      ****/
  /********************************************************************/
/* for V BAT monitoring
   after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
   with R1=33k and R2=51k
   vbat = [0;1023]*16/VBATSCALE
   must be associated with #define BUZZER ! */
#define VBAT             // uncomment this line to activate the vbat code
#define VBATSCALE    108 // (*) (**) change this value if readed Battery voltage is different than real voltage
#define VBATNOMINAL    126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
#define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
#define VBATLEVEL_WARN2  99 // (*) (**) 9.9V
#define VBATLEVEL_CRIT 93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
#define NO_VBAT       60 // Avoid beeping without any battery
  /********************************************************************/
  /****          powermeter (battery capacity monitoring)       ****/
  /********************************************************************/
/* enable monitoring of the power consumption from battery (think of mAh)
   allows to set alarm value in GUI or via LCD
   Full description and howto here http://www.multiwii.com/wiki/index.php?title=Powermeter
   Two options:
   1 - hard: - (uses hardware sensor, after configuration gives very good results)
   2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC) */
//#define POWERMETER_SOFT
//#define POWERMETER_HARD
#define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
                                 gives 1/2 Vss; that is approx 2.49Volt; */
#define PINT2mA 132    /* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
                                 soft: use fictional value, start with 100.
                                 for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */
  /********************************************************************/
  /****          altitude hold                                  ****/
  /********************************************************************/
/* defines the neutral zone of throttle stick during altitude hold, default setting is
   +/-50 uncommend and change the value below if you want to change it. */
#define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 100
#define ALT_HOLD_THROTTLE_MIDPOINT       1600  // in us - if uncommented, this value is used in ALT_HOLD for throttle stick middle point instead of initialThrottleHold parameter.
/* uncomment to disable the altitude hold feature.
   * This is useful if all of the following apply
   * + you have a baro
   * + want altitude readout and/or variometer
   * + do not use altitude hold feature
   * + want to save memory space */
//#define SUPPRESS_BARO_ALTHOLD
  /********************************************************************/
  /****          altitude variometer                            ****/
  /********************************************************************/
/* enable to get audio feedback upon rising/falling copter/plane.
   * Requires a working baro.
   * For now, Output gets sent to an enabled vt100 terminal program over the serial line.
   * choice of two methods (enable either one or both)
   * method 1 : use short term movement from baro ( bigger code size)
   * method 2 : use long term observation of altitude from baro (smaller code size)
   */
//#define VARIOMETER 12          // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2
//#define SUPPRESS_VARIOMETER_UP // if no signaling for up movement is desired
//#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired
//#define VARIOMETER_SINGLE_TONE // use only one tone (BEL); neccessary for non-patched vt100 terminals
  /********************************************************************/
  /****          baord naming                                  ****/
  /********************************************************************/
/*
   * this name is displayed together with the MultiWii version number
   * upon powerup on the LCD.
   * If you are without a DISPLAYD then You may enable LCD_TTY and
   * use arduino IDE's serial monitor to view the info.
   *
   * You must preserve the format of this string!
   * It must be 16 characters total,
   * The last 4 characters will be overwritten with the version number.
   */
#define BOARD_NAME "MultiWii V-.--"
//                123456789.123456
  /*************    Support multiple configuration profiles in EEPROM    ************/
//#define MULTIPLE_CONFIGURATION_PROFILES
  /*************    do no reset constants when change of flashed program is detected ***********/
// #define NO_FLASH_CHECK
/*************************************************************************************************/
/*****************                                                                ***************/
/****************  SECTION  7 - 开发人员选项，仅针高级用户                         **************/
/*****************                                                                ***************/
/*************************************************************************************************/
  /**************************************************************************************/
  /******** special ESC with extended range [0-2000] microseconds  ********************/
  /**************************************************************************************/
//#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega
  /**************************************************************************************/
  /********  brushed ESC ****************************************************************/
  /**************************************************************************************/
// for 328p proc
//#define EXT_MOTOR_32KHZ
//#define EXT_MOTOR_4KHZ
//#define EXT_MOTOR_1KHZ
// for 32u4 proc
//#define EXT_MOTOR_64KHZ
//#define EXT_MOTOR_32KHZ
//#define EXT_MOTOR_16KHZ
//#define EXT_MOTOR_8KHZ
  /**************************************************************************************/
  /***********************    motor, servo and other presets    ***********************/
  /**************************************************************************************/
/* motors will not spin when the throttle command is in low position
   this is an alternative method to stop immediately the motors */
//#define MOTOR_STOP
/* some radios have not a neutral point centered on 1500. can be changed here */
#define MIDRC 1500
  /***********************       Servo Refreshrates          ***********************/
/* Default 50Hz Servo refresh rate*/
#define SERVO_RFR_50HZ
/* up to 160Hz servo refreshrate .. works with the most analog servos*/
//#define SERVO_RFR_160HZ
/* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
   for use with digital servos
   dont use it with analog servos! thay may get damage. (some will work but be careful) */
//#define SERVO_RFR_300HZ
  /***********************          HW PWM Servos          ***********************/
/* HW PWM Servo outputs for Arduino Mega.. moves:
   Pitch = pin 44
   Roll = pin 45
   CamTrig = pin 46
   SERVO4  = pin 11  (固定翼左副翼 or TRI YAW SERVO)
   SERVO5  = pin 12  (固定翼右副翼)
   SERVO6  = pin 6 (固定翼方向舵)
   SERVO7  = pin 7 (固定翼升降舵)
   SERVO8  = pin 8 (固定翼油门)    */
   #define MEGA_HW_PWM_SERVOS
/* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
   * one of the 3 fixed servo.refresh.rates *
   * Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
   * motor[0] = motor    = pin  6
   * servo[3] = nick  servo = pin 11
   * servo[4] = left  servo = pin 10
   * servo[5] = yaw servo = pin  5
   * servo[6]  = right servo= pin  9
   */
//#define A32U4_4_HW_PWM_SERVOS
   #define SERVO_RFR_RATE  50 // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega
//#define SERVO_PIN5_RFR_RATE  200 // separate yaw pwm rate.
                                       // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4
  /********************************************************************/
  /****          Memory savings                                  ****/
  /********************************************************************/
/**** suppress handling of serial commands.***
   * This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
   * Enable either one or both of the following options  */
   //#define SUPPRESS_ALL_SERIAL_MSP // 取消 MSP 协议通讯机制, 不使用地面站软件, 可节省 2700 字节. saves approx 2700 bytes
   /* Remove handling of other serial commands.
   * This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
   * Navigating via stick inputs on tx is not affected and will work the same.  */
   //#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves  approx 0 to 100 bytes, depending on features enabled
/**** suppress keeping the defaults for initial setup and reset in the code.
   * This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;
   * reset in GUI will not work on PIDs
   */
//#define SUPPRESS_DEFAULTS_FROM_GUI
//#define DISABLE_SETTINGS_TAB  // Saves ~400bytes on ProMini
  /********************************************************************/
  /****          diagnostics                                     ****/
  /********************************************************************/
/* to log values like max loop time and others to come
   logging values are visible via LCD config
   set to 1, enable 'R' option to reset values, max current, max altitude
   set to 2, adds min/max cycleTimes
   set to 3, adds additional powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER <> PM_SOFT) */
//#define LOG_VALUES 1
/* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
   * used to track number of flights etc. over lifetime of controller board.
   * Writes to end of eeprom - should not conflict with stored parameters yet.
   * Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
   *             #failsafe@disarm, #i2c_errs@disarm
   * Enable one or more options to show the log
   */
//#define LOG_PERMANENT
//#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
//#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
//#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
//#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time
/* to add debugging code
   not needed and not recommended for normal operation
   will add extra code that may slow down the main loop or make copter non-flyable */
//#define DEBUG
//#define DEBUG_FREE // will add 'F' command to show free memory
/* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
//#define LCD_CONF_DEBUG
/* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
//#define LCD_TELEMETRY_DEBUG //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
//#define LCD_TELEMETRY_DEBUG 6  //This form stays on the screen specified.
/* Enable string transmissions from copter to GUI */
//#define DEBUGMSG
  /********************************************************************/
  /****          ESCs calibration                               ****/
  /********************************************************************/
/* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
   Warning: this creates a special version of MultiWii Code
   You cannot fly with this special version. It is only to be used for calibrating ESCs
   Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */
#define ESC_CALIB_LOW  MINCOMMAND
#define ESC_CALIB_HIGH 2000
//#define ESC_CALIB_CANNOT_FLY  // uncomment to activate
  /****          internal frequencies                            ****/
/* frequenies for rare cyclic actions in the main loop, depend on cycle time
   time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
   example: with cycle time of approx 3ms, do action every 6*3ms=18ms
   value must be [1; 65535] */
// #define LCD_TELEMETRY_FREQ 23    // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
// #define LCD_TELEMETRY_AUTO_FREQ  967// to step to next telemetry page 967 <=> 3s
#define PSENSOR_SMOOTH 16          // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
#define VBAT_SMOOTH 16             // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
#define RSSI_SMOOTH 16             // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable
  /********************************************************************/
  /****          Dynamic Motor/Prop Balancing                   ****/
  /********************************************************************/
  /*                !!! No Fly Mode !!!                         */
  //#define DYNBALANCE // (**) Dynamic balancing controlled from Gui
  /********************************************************************/
  /****          Regression testing                            ****/
  /********************************************************************/
/* for development only:
   to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
   together. This is meant to help detecting compile time errors for various features in a coordinated way.
   It is not meant to produce your flying firmware
   To use:
   - do not set any options in config.h,
   - enable with #define COPTERTEST 1, then compile
   - if possible, check for the size
   - repeat with other values of 2, 3, 4 etc.
      */
//#define COPTERTEST 1
/*************************************************************************************************/
/*****************                                                                ***************/
/****************  SECTION  8 - DEPRECATED                                              *******/
/*****************                                                                ***************/
/*************************************************************************************************/
  /* these features will be removed in the unforseeable future. Do not build new products or
* functionality based on such features. The default for all such features is OFF.
*/
  /************************** WMP power pin    *******************************/
  //#define D12_POWER    // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
  /* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
  #define DISABLE_POWER_PIN
/*************************************************************************************************/
/****          END OF CONFIGURABLE PARAMETERS                                              ****/
/*************************************************************************************************/
#endif /* CONFIG_H_ */

skypup · 发表于 2015-1-10 01:45

本帖最后由 skypup 于 2015-1-10 02:07 编辑

原生的程序，在平板上摇杆显示的太小了。

尝试小改了一下：

大了：

最终这样解决，摇杆大了行程也就大了，操控特别是油门杆更细腻，满意了。

skypup · 发表于 2015-1-13 12:21

小改了松下 FX33 相机。
引出电源开关、对焦、拍照3个功能。

// give it a name:
int nPower = 12;
int nShut = 10;
int nAdj = 9;

void setup() {
  // initialize the digital pin as an output.
  pinMode(nPower, OUTPUT);
  pinMode(nShut, OUTPUT);
  pinMode(nAdj, OUTPUT);
}

// the loop routine runs over and over again forever:
void loop() {
  digitalWrite(nPower, HIGH);
  delay(5000);
  //  for (int i = 1; i <= 20; i++)
  //  {
  // digitalWrite(nShut, HIGH);
  // delay(20);
  // digitalWrite(nShut, LOW);
  // delay(3000);
  //  }

  for (int i = 1; i <= 20; i++)
  {
digitalWrite(nAdj, HIGH);
delay(2000);
digitalWrite(nShut, HIGH);
delay(1000);
digitalWrite(nShut, LOW);
digitalWrite(nAdj, LOW);
delay(3000);
  }

  digitalWrite(nPower, LOW);
  delay(30000);
}

skypup · 发表于 2015-2-9 15:21

本帖最后由 skypup 于 2015-2-9 15:23 编辑

MultiWii Serial Protocol
MWC 飞控使用的 MSP 协议

updated 04 July

Multiwii serial protocol was redesigned:
MSG协议已经重新设计:
•       to be light, as before
•       轻量级
•       to be generic: it can be used transparenlty by a GUI, OSD, telemetry or home made config tool.
ie no more specific OSD code should be coded in multiwii
•       通用, 有OSD兼容。
•       to be bit wire efficient: only requested data are transmitted in a binary format
•       高效，以二进制格式发送。
•       to be quite secure: data are sent with a checksum, preventing corrupted configuration to be injected.
•       安全，数据校验码。
•       to be header sensitive: as it is designed with a specific header, it can be mixed with other frame, like GPS frame
ie, it will be possible to connect either a GUI or a GPS on the same serial port without changing the conf
•       支持头部跟踪。
•       to be less sensitive to evolutions:
ie in case of parameter evolution, the main protocol will remain compatible and the GUI will be much less version dependent.
variable data length allows to consider only the beginning of a message, leaving the other octets at the end to extend transparently the message (for instance to add a new PID)

I thought first about an implementation of Mavlink, but I think it's not what I was looking for.
Even with a partial implementation, the predefined structures are not light enough for what I have in mind.
Some messages are however inspired from mavlink structure.
Mavlink 不够轻量级，但是部分结构参考了它。

The main rule remains: Multiwii never sends something on its own.
A request must be done in each case to retrieve or set data.
Each messages received are acknowledged even if there is no data inside.
原则：
在没有数据请求时，飞控不发送任何数据。

There are 2 main messages to consider:
•       request message to multiwii
•       请求飞控数据
•       multiwii output message
•       飞控返回数据

request message to multiwii
To request simple data without parameters / send a specific command / inject new parameters in multiwii
messages are formated like this:
$M>[data length][code][data][checksum]
1 octet '$'
1 octet 'M'
1 octet '>'
1 octet [data length]
1 octet [code]
several octets [data]
1 octet [checksum]

[data length] can be 0 in case of no param command

multiwii output message
messages are formated like this:
$M>[data length][code][data][checksum]
1 octet '$'
1 octet 'M'
1 octet '>'
1 octet [data length]
1 octet [code]
several octets [data]
1 octet [checksum]

if the message is unknown:
$M|[0][code][checksum]
1 octet '$'
1 octet 'M'
1 octet '|'
1 octet 0
1 octet [unknown code]
1 octet [checksum]

list of message codes
multiwii output message
MSP_IDENT
multitype + version
硬件版本
MSP_STATUS
cycletime & errors_count & sensor present & box activation
周期、错误数、传感器状态、激活状态
MSP_RAW_IMU
9 DOF output
9自由度输出
MSP_SERVO
8 servos
8个舵机
MSP_MOTOR
8 motors
8个舵机
MSP_RC
8 rc chan
8个Futaba遥控通道
MSP_RAW_GPS
fix, numsat, lat, lon, alt, speed
GPS数据
MSP_COMP_GPS
distance to home, direction to home
离家距离，离家方向
MSP_ATTITUDE
angles and heading
航向
MSP_ALTITUDE
altitude
高度
MSP_BAT
vbat, powermetersum
电池、功
MSP_RC_TUNING
rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
遥控参数
MSP_PID
table of P I D
PID表
MSP_BOX
tabl of checkbox
CheckBox
MSP_MISC
powermeter trig
其它
MSP_MOTOR_PINS
which pins are in use for motors & servos, for GUI
电机、舵机对应引脚
MSP_BOXNAMES
the textual aux switch names (it's a way to build a more generic GUI, allowing an easier extension for future checkbox)
MSP_PIDNAMES
the textual PID names
PID名称
MSP_WP
get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
MSP_DEBUG
debug1,debug2,debug3,debug4 variable

multiwii input message
MSP_SET_RAW_RC
8 rc chan: it's a way to command multiwii via a "serial RC transmitter"
MSP_SET_RAW_GPS
fix, numsat, lat, lon, alt, speed: it's a way to inject in multiwii GPS data coming for instance from an OSD with an integrated GPS
MSP_SET_PID
8 P I D
设置8个PID
MSP_SET_BOX
11 checkbox
设置11个选项
MSP_SET_RC_TUNING
rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
设置遥控选项
MSP_ACC_CALIBRATION
to calibrate ACC
校准ACC
MSP_MAG_CALIBRATION
to calibrate MAG
校准MAG
MSP_SET_MISC
powermeter trig
设置其它
MSP_RESET_CONF
to reset all params to default (new feature)
重置全部参数
MSP_EEPROM_WRITE
to write current params to EEPROM
当前参数保存到EEPROM

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