src/main/target/BEEBRAIN_V2F/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 #include <string.h>
  24
  25 #include <platform.h>
  26
  27 #ifdef USE_TARGET_CONFIG
  28
  29 #include "common/axis.h"
  30 #include "common/maths.h"
  31
  32 #include "config/feature.h"
  33
  34 #include "drivers/light_led.h"
  35 #include "drivers/pwm_esc_detect.h"
  36
  37 #include "fc/config.h"
  38 #include "fc/controlrate_profile.h"
  39 #include "fc/rc_modes.h"
  40 #include "fc/rc_controls.h"
  41
  42 #include "flight/mixer.h"
  43 #include "flight/pid.h"
  44
  45 #include "pg/vcd.h"
  46
  47 #include "rx/rx.h"
  48
  49 #include "io/serial.h"
  50 #include "io/osd.h"
  51
  52 #include "sensors/battery.h"
  53 #include "sensors/gyro.h"
  54
  55 #include "telemetry/telemetry.h"
  56
  57 #if !defined(BEEBRAIN_V2D)
  58 #define BBV2_FRSKY_RSSI_CH_IDX     9
  59 #endif
  60
  61 #ifdef BRUSHED_MOTORS_PWM_RATE
  62 #undef BRUSHED_MOTORS_PWM_RATE
  63 #endif
  64
  65 #define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
  66
  67 void targetConfiguration(void)
  68 {
  69     if (hardwareMotorType == MOTOR_BRUSHED) {
  70         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  71         motorConfigMutable()->minthrottle = 1030;
  72         pidConfigMutable()->pid_process_denom = 1;
  73     }
  74
  75     for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
  76         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  77
  78         pidProfile->pid[PID_ROLL].P  = 86;
  79         pidProfile->pid[PID_ROLL].I  = 50;
  80         pidProfile->pid[PID_ROLL].D  = 60;
  81         pidProfile->pid[PID_PITCH].P = 90;
  82         pidProfile->pid[PID_PITCH].I = 55;
  83         pidProfile->pid[PID_PITCH].D = 60;
  84         pidProfile->pid[PID_YAW].P   = 123;
  85         pidProfile->pid[PID_YAW].I   = 75;
  86     }
  87
  88     for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
  89         controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
  90
  91         controlRateConfig->rcRates[FD_YAW] = 120;
  92         controlRateConfig->rcExpo[FD_ROLL] = 15;
  93         controlRateConfig->rcExpo[FD_PITCH] = 15;
  94         controlRateConfig->rcExpo[FD_YAW]  = 15;
  95         controlRateConfig->rates[FD_ROLL]  = 85;
  96         controlRateConfig->rates[FD_PITCH] = 85;
  97     }
  98
  99     batteryConfigMutable()->batteryCapacity = 250;
 100     batteryConfigMutable()->vbatmincellvoltage = 28;
 101     batteryConfigMutable()->vbatwarningcellvoltage = 33;
 102
 103     *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
 104     *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
 105     *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
 106     *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
 107
 108     vcdProfileMutable()->video_system = VIDEO_SYSTEM_NTSC;
 109 #if defined(BEESTORM)
 110     strcpy(pilotConfigMutable()->name, "BeeStorm");
 111 #else
 112     strcpy(pilotConfigMutable()->name, "BeeBrain V2");
 113 #endif
 114     osdConfigMutable()->cap_alarm  = 250;
 115     osdConfigMutable()->item_pos[OSD_CRAFT_NAME]        = OSD_POS(9, 11)  | VISIBLE_FLAG;
 116     osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(23, 10) | VISIBLE_FLAG;
 117     osdConfigMutable()->item_pos[OSD_ITEM_TIMER_2]      = OSD_POS(2, 10)  | VISIBLE_FLAG;
 118     osdConfigMutable()->item_pos[OSD_FLYMODE]           = OSD_POS(17, 10) | VISIBLE_FLAG;
 119     osdConfigMutable()->item_pos[OSD_VTX_CHANNEL]       = OSD_POS(10, 10) | VISIBLE_FLAG;
 120     osdConfigMutable()->item_pos[OSD_RSSI_VALUE]         &= ~VISIBLE_FLAG;
 121     osdConfigMutable()->item_pos[OSD_ITEM_TIMER_1]       &= ~VISIBLE_FLAG;
 122     osdConfigMutable()->item_pos[OSD_THROTTLE_POS]       &= ~VISIBLE_FLAG;
 123     osdConfigMutable()->item_pos[OSD_CROSSHAIRS]         &= ~VISIBLE_FLAG;
 124     osdConfigMutable()->item_pos[OSD_HORIZON_SIDEBARS]   &= ~VISIBLE_FLAG;
 125     osdConfigMutable()->item_pos[OSD_ARTIFICIAL_HORIZON] &= ~VISIBLE_FLAG;
 126     osdConfigMutable()->item_pos[OSD_CURRENT_DRAW]       &= ~VISIBLE_FLAG;
 127     osdConfigMutable()->item_pos[OSD_MAH_DRAWN]          &= ~VISIBLE_FLAG;
 128     osdConfigMutable()->item_pos[OSD_GPS_SPEED]          &= ~VISIBLE_FLAG;
 129     osdConfigMutable()->item_pos[OSD_GPS_LON]            &= ~VISIBLE_FLAG;
 130     osdConfigMutable()->item_pos[OSD_GPS_LAT]            &= ~VISIBLE_FLAG;
 131     osdConfigMutable()->item_pos[OSD_GPS_SATS]           &= ~VISIBLE_FLAG;
 132     osdConfigMutable()->item_pos[OSD_HOME_DIR]           &= ~VISIBLE_FLAG;
 133     osdConfigMutable()->item_pos[OSD_HOME_DIST]          &= ~VISIBLE_FLAG;
 134     osdConfigMutable()->item_pos[OSD_COMPASS_BAR]        &= ~VISIBLE_FLAG;
 135     osdConfigMutable()->item_pos[OSD_ALTITUDE]           &= ~VISIBLE_FLAG;
 136     osdConfigMutable()->item_pos[OSD_ROLL_PIDS]          &= ~VISIBLE_FLAG;
 137     osdConfigMutable()->item_pos[OSD_PITCH_PIDS]         &= ~VISIBLE_FLAG;
 138     osdConfigMutable()->item_pos[OSD_YAW_PIDS]           &= ~VISIBLE_FLAG;
 139     osdConfigMutable()->item_pos[OSD_DEBUG]              &= ~VISIBLE_FLAG;
 140     osdConfigMutable()->item_pos[OSD_POWER]              &= ~VISIBLE_FLAG;
 141     osdConfigMutable()->item_pos[OSD_PIDRATE_PROFILE]    &= ~VISIBLE_FLAG;
 142     osdConfigMutable()->item_pos[OSD_WARNINGS]           &= ~VISIBLE_FLAG;
 143     osdConfigMutable()->item_pos[OSD_AVG_CELL_VOLTAGE]   &= ~VISIBLE_FLAG;
 144     osdConfigMutable()->item_pos[OSD_PITCH_ANGLE]        &= ~VISIBLE_FLAG;
 145     osdConfigMutable()->item_pos[OSD_ROLL_ANGLE]         &= ~VISIBLE_FLAG;
 146     osdConfigMutable()->item_pos[OSD_MAIN_BATT_USAGE]    &= ~VISIBLE_FLAG;
 147     osdConfigMutable()->item_pos[OSD_DISARMED]           &= ~VISIBLE_FLAG;
 148     osdConfigMutable()->item_pos[OSD_NUMERICAL_HEADING]  &= ~VISIBLE_FLAG;
 149     osdConfigMutable()->item_pos[OSD_NUMERICAL_VARIO]    &= ~VISIBLE_FLAG;
 150     osdConfigMutable()->item_pos[OSD_ESC_TMP]            &= ~VISIBLE_FLAG;
 151     osdConfigMutable()->item_pos[OSD_ESC_RPM]            &= ~VISIBLE_FLAG;
 152
 153     modeActivationConditionsMutable(0)->modeId           = BOXANGLE;
 154     modeActivationConditionsMutable(0)->auxChannelIndex  = AUX2 - NON_AUX_CHANNEL_COUNT;
 155     modeActivationConditionsMutable(0)->range.startStep  = CHANNEL_VALUE_TO_STEP(900);
 156     modeActivationConditionsMutable(0)->range.endStep    = CHANNEL_VALUE_TO_STEP(2100);
 157
 158 #if defined(BEEBRAIN_V2D)
 159     // DSM version
 160     for (uint8_t rxRangeIndex = 0; rxRangeIndex < NON_AUX_CHANNEL_COUNT; rxRangeIndex++) {
 161         rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigsMutable(rxRangeIndex);
 162
 163         channelRangeConfig->min = 1160;
 164         channelRangeConfig->max = 1840;
 165     }
 166 #else
 167     // Frsky version
 168     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_RX_SERIAL;
 169     rxConfigMutable()->rssi_channel = BBV2_FRSKY_RSSI_CH_IDX;
 170     rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigsMutable(BBV2_FRSKY_RSSI_CH_IDX - 1);
 171     channelFailsafeConfig->mode = RX_FAILSAFE_MODE_SET;
 172     channelFailsafeConfig->step = CHANNEL_VALUE_TO_RXFAIL_STEP(1000);
 173     osdConfigMutable()->item_pos[OSD_RSSI_VALUE]        = OSD_POS(2, 11)  | VISIBLE_FLAG;
 174 #endif
 175 }
 176 #endif