src/main/target/ALIENFLIGHTNGF7/config.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef USE_TARGET_CONFIG
  27 #include "common/axis.h"
  28
  29 #include "config/feature.h"
  30
  31 #include "drivers/pwm_esc_detect.h"
  32
  33 #include "config/config.h"
  34
  35 #include "flight/mixer.h"
  36 #include "flight/pid.h"
  37
  38 #include "pg/rx.h"
  39 #include "pg/motor.h"
  40
  41 #include "rx/rx.h"
  42
  43 #include "io/serial.h"
  44
  45 #include "telemetry/telemetry.h"
  46
  47 #include "sensors/battery.h"
  48
  49 #include "hardware_revision.h"
  50
  51 #ifdef BRUSHED_MOTORS_PWM_RATE
  52 #undef BRUSHED_MOTORS_PWM_RATE
  53 #endif
  54
  55 #define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
  56
  57 // alternative defaults settings for AlienFlight targets
  58 void targetConfiguration(void)
  59 {
  60     if (getDetectedMotorType() == MOTOR_BRUSHED) {
  61         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  62         pidConfigMutable()->pid_process_denom = 1;
  63     }
  64
  65     if (hardwareRevision == AFF7_REV_1) {
  66         rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
  67         rxConfigMutable()->spektrum_sat_bind = 5;
  68         rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
  69     } else {
  70         rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
  71         rxConfigMutable()->serialrx_inverted = true;
  72         serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_RX_SERIAL;
  73         telemetryConfigMutable()->telemetry_inverted = false;
  74         batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_ADC;
  75         batteryConfigMutable()->currentMeterSource = CURRENT_METER_ADC;
  76         featureEnable(FEATURE_TELEMETRY);
  77     }
  78
  79     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
  80         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  81
  82         pidProfile->pid[FD_ROLL].P = 53;
  83         pidProfile->pid[FD_ROLL].I = 45;
  84         pidProfile->pid[FD_ROLL].D = 52;
  85         pidProfile->pid[FD_PITCH].P = 53;
  86         pidProfile->pid[FD_PITCH].I = 45;
  87         pidProfile->pid[FD_PITCH].D = 52;
  88         pidProfile->pid[FD_YAW].P = 64;
  89         pidProfile->pid[FD_YAW].D = 18;
  90     }
  91
  92     *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
  93     *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
  94     *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
  95     *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
  96     *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
  97     *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
  98     *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
  99     *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
 100 }
 101 #endif