src/main/target/ALIENWHOOP/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 /*
  22
  23
  24
  25
  26          \   |   _ _| __|  \ |\ \      /|  |  _ \  _ \ _ \
  27         _ \  |     |  _|  .  | \ \ \  / __ | (   |(   |__/
  28       _/  _\____|___|___|_|\_|  \_/\_/ _| _|\___/\___/_|
  29
  30
  31               Take me to your leader-board...
  32
  33
  34
  35 */
  36
  37 #include <stdbool.h>
  38 #include <stdint.h>
  39
  40 #include <platform.h>
  41
  42 #ifdef USE_TARGET_CONFIG
  43
  44 #include "fc/rc_modes.h"
  45 #include "common/axis.h"
  46 #include "config/feature.h"
  47 #include "drivers/pwm_esc_detect.h"
  48 #include "fc/config.h"
  49 #include "fc/controlrate_profile.h"
  50 #include "fc/rc_controls.h"
  51 #include "flight/mixer.h"
  52 #include "flight/pid.h"
  53 #include "io/beeper.h"
  54 #include "io/serial.h"
  55 #include "rx/rx.h"
  56 #include "sensors/barometer.h"
  57 #include "sensors/boardalignment.h"
  58 #include "sensors/compass.h"
  59 #include "sensors/gyro.h"
  60
  61 #ifdef BRUSHED_MOTORS_PWM_RATE
  62 #undef BRUSHED_MOTORS_PWM_RATE
  63 #endif
  64
  65 #define BRUSHED_MOTORS_PWM_RATE 666           // 666Hz };-)>~ low PWM rate seems to give better power and cooler motors...
  66
  67
  68 void targetConfiguration(void)
  69 {
  70     if (hardwareMotorType == MOTOR_BRUSHED) {
  71         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  72         motorConfigMutable()->minthrottle = 1020;
  73         motorConfigMutable()->maxthrottle = 2000;
  74     }
  75
  76     /* Default to Spektrum */
  77     rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
  78     rxConfigMutable()->spektrum_sat_bind = 5;
  79     rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
  80     parseRcChannels("TAER1234", rxConfigMutable());
  81 #if defined(ALIENWHOOPF7)
  82     rxConfigMutable()->serialrx_inverted = true;
  83 #endif
  84
  85     beeperOffSet((BEEPER_BAT_CRIT_LOW | BEEPER_BAT_LOW | BEEPER_RX_SET) ^ BEEPER_GYRO_CALIBRATED);
  86
  87     /* Breadboard-specific settings for development purposes only
  88      */
  89 #if defined(BREADBOARD)
  90     boardAlignmentMutable()->pitchDegrees = 90; // vertical breakout board
  91     barometerConfigMutable()->baro_hardware = BARO_DEFAULT; // still testing not on V1 or V2 pcb
  92 #else
  93     barometerConfigMutable()->baro_hardware = BARO_NONE;
  94 #endif
  95
  96     compassConfigMutable()->mag_hardware =  MAG_NONE;
  97
  98     /* Default to 32kHz enabled at 16/16 */
  99     gyroConfigMutable()->gyro_use_32khz = 1; // enable 32kHz sampling
 100     gyroConfigMutable()->gyroMovementCalibrationThreshold = 200; // aka moron_threshold
 101     gyroConfigMutable()->gyro_sync_denom = 2;  // 16kHz gyro
 102     pidConfigMutable()->pid_process_denom = 1; // 16kHz PID
 103
 104     featureSet((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
 105
 106     /* AlienWhoop PIDs based on Ole Gravy Leg (aka Matt Williamson's) PIDs
 107      */
 108     for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
 109         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 110
 111         /* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
 112         pidProfile->pid[PID_PITCH].P = 75;
 113         pidProfile->pid[PID_PITCH].I = 36;
 114         pidProfile->pid[PID_PITCH].D = 25;
 115         pidProfile->pid[PID_ROLL].P = 75;
 116         pidProfile->pid[PID_ROLL].I = 36;
 117         pidProfile->pid[PID_ROLL].D = 25;
 118         pidProfile->pid[PID_YAW].P = 70;
 119         pidProfile->pid[PID_YAW].I = 36;
 120
 121         pidProfile->pid[PID_LEVEL].P = 30;
 122         pidProfile->pid[PID_LEVEL].D = 30;
 123
 124         /* Setpoints */
 125         pidProfile->dtermSetpointWeight = 100;
 126         pidProfile->setpointRelaxRatio = 100;
 127
 128         /* Throttle PID Attenuation (TPA) */
 129         pidProfile->itermThrottleThreshold = 400;
 130     }
 131
 132     for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
 133         controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
 134
 135         /* RC Rates */
 136         controlRateConfig->rcRates[FD_ROLL] = 100;
 137         controlRateConfig->rcRates[FD_PITCH] = 100;
 138         controlRateConfig->rcRates[FD_YAW] = 100;
 139         controlRateConfig->rcExpo[FD_ROLL] = 0;
 140         controlRateConfig->rcExpo[FD_PITCH] = 0;
 141
 142         /* Super Expo Rates */
 143         controlRateConfig->rates[FD_ROLL] = 80;
 144         controlRateConfig->rates[FD_PITCH] = 80;
 145         controlRateConfig->rates[FD_YAW] = 85;
 146
 147         /* Throttle PID Attenuation (TPA) */
 148         controlRateConfig->dynThrPID = 0; // tpa_rate off
 149         controlRateConfig->tpa_breakpoint = 1650;
 150     }
 151 }
 152 #endif