src/main/pg/gimbal.c

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software. You can redistribute this software
   5  * and/or modify this software under the terms of the GNU General
   6  * Public License as published by the Free Software Foundation,
   7  * either version 3 of the License, or (at your option) any later
   8  * version.
   9  *
  10  * Betaflight is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  *
  14  * See the GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public
  17  * License along with this software.
  18  *
  19  * If not, see <http://www.gnu.org/licenses/>.
  20  */
  21
  22 #include "platform.h"
  23
  24 #ifdef USE_GIMBAL
  25
  26 #include "pg/pg.h"
  27 #include "pg/pg_ids.h"
  28
  29 #include "gimbal.h"
  30
  31 PG_REGISTER_WITH_RESET_TEMPLATE(gimbalTrackConfig_t, gimbalTrackConfig, PG_GIMBAL_TRACK_CONFIG, 0);
  32
  33 PG_RESET_TEMPLATE(gimbalTrackConfig_t, gimbalTrackConfig,
  34     // Default to full gain and no offset
  35     .gimbal_roll_rc_gain        = 40,
  36     .gimbal_pitch_rc_thr_gain   = 10,
  37     .gimbal_pitch_rc_low_gain   = 10,
  38     .gimbal_pitch_rc_high_gain  = -20,
  39     .gimbal_yaw_rc_gain         = 20,
  40     .gimbal_roll_gain           = 100,
  41     .gimbal_roll_offset         = 0,
  42     .gimbal_roll_limit          = 100,
  43     .gimbal_pitch_gain          = 50,
  44     .gimbal_pitch_offset        = -10,
  45     .gimbal_pitch_low_limit     = 100,
  46     .gimbal_pitch_high_limit    = 100,
  47     .gimbal_yaw_gain            = 50,
  48     .gimbal_yaw_offset          = 0,
  49     .gimbal_yaw_limit           = 100,
  50     .gimbal_stabilisation       = 0,
  51     .gimbal_sensitivity         = 15
  52 );
  53 #endif