void LoadDefaults() {
uint8_t i;
// PID CONTROLLER 1
conf.pid[ROLL].P8 = 06; conf.pid[ROLL].I8 = 05; conf.pid[ROLL].D8 = 04;
conf.pid[PITCH].P8 = 06; conf.pid[PITCH].I8 = 05; conf.pid[PITCH].D8 = 04;
conf.pid[PIDLEVEL].P8 = 02; conf.pid[PIDLEVEL].I8 = 02; conf.pid[PIDLEVEL].D8 = 02;
conf.pid[YAW].P8 = 10; conf.pid[YAW].I8 = 05; conf.pid[YAW].D8 = 0;
conf.pid[PIDALT].P8 = 64; conf.pid[PIDALT].I8 = 25; conf.pid[PIDALT].D8 = 24;
conf.pid[PIDPOS].P8 = POSHOLD_P * 100; conf.pid[PIDPOS].I8 = POSHOLD_I * 100; conf.pid[PIDPOS].D8 = 0;
conf.pid[PIDPOSR].P8 = POSHOLD_RATE_P * 10; conf.pid[PIDPOSR].I8 = POSHOLD_RATE_I * 100; conf.pid[PIDPOSR].D8 = POSHOLD_RATE_D * 1000;
conf.pid[PIDNAVR].P8 = NAV_P * 10; conf.pid[PIDNAVR].I8 = NAV_I * 100; conf.pid[PIDNAVR].D8 = NAV_D * 1000;
conf.pid[PIDMAG].P8 = 40;
conf.pid[PIDVEL].P8 = 0; conf.pid[PIDVEL].I8 = 0; conf.pid[PIDVEL].D8 = 0;
conf.rcRate8 = 80; conf.rcExpo8 = 50;
conf.rollPitchRate = 40;
conf.yawRate = 40;
conf.dynThrPID = 0;
conf.thrMid8 = 50; conf.thrExpo8 = 0;
for(i=0;i<CHECKBOXITEMS;i++) {conf.activate[i] = 0;}
conf.angleTrim[0] = 0; conf.angleTrim[1] = 0;
conf.powerTrigger1 = 0;
update_constants(); // this will also write to eeprom
}
void LoadDefaults() {
uint8_t i;
#ifdef SUPPRESS_DEFAULTS_FROM_GUI
// do nothing
#elif defined(MY_PRIVATE_DEFAULTS)
// #include MY_PRIVATE_DEFAULTS
// do that at the last possible moment, so we can override virtually all defaults and constants
#else
#if PID_CONTROLLER == 1
conf.pid[ROLL].P8 = 33; conf.pid[ROLL].I8 = 30; conf.pid[ROLL].D8 = 23;
conf.pid[PITCH].P8 = 33; conf.pid[PITCH].I8 = 30; conf.pid[PITCH].D8 = 23;
conf.pid[PIDLEVEL].P8 = 90; conf.pid[PIDLEVEL].I8 = 10; conf.pid[PIDLEVEL].D8 = 100;
#elif PID_CONTROLLER == 2
conf.pid[ROLL].P8 = 28; conf.pid[ROLL].I8 = 10; conf.pid[ROLL].D8 = 7;
conf.pid[PITCH].P8 = 28; conf.pid[PITCH].I8 = 10; conf.pid[PITCH].D8 = 7;
conf.pid[PIDLEVEL].P8 = 30; conf.pid[PIDLEVEL].I8 = 32; conf.pid[PIDLEVEL].D8 = 0;
#endif
conf.pid[YAW].P8 = 68; conf.pid[YAW].I8 = 45; conf.pid[YAW].D8 = 0;
conf.pid[PIDALT].P8 = 64; conf.pid[PIDALT].I8 = 25; conf.pid[PIDALT].D8 = 24;
conf.pid[PIDPOS].P8 = POSHOLD_P * 100; conf.pid[PIDPOS].I8 = POSHOLD_I * 100; conf.pid[PIDPOS].D8 = 0;
conf.pid[PIDPOSR].P8 = POSHOLD_RATE_P * 10; conf.pid[PIDPOSR].I8 = POSHOLD_RATE_I * 100; conf.pid[PIDPOSR].D8 = POSHOLD_RATE_D * 1000;
conf.pid[PIDNAVR].P8 = NAV_P * 10; conf.pid[PIDNAVR].I8 = NAV_I * 100; conf.pid[PIDNAVR].D8 = NAV_D * 1000;
conf.pid[PIDMAG].P8 = 40;
//conf.pid[PIDVEL].P8 = 0; conf.pid[PIDVEL].I8 = 0; conf.pid[PIDVEL].D8 = 0;
conf.pid[PIDVEL].P8 = 32; conf.pid[PIDVEL].I8 = 20; conf.pid[PIDVEL].D8 = 0; //for optflow max P=5, I = 0,020, D is unused
conf.rcRate8 = 90; conf.rcExpo8 = 65;
conf.rollPitchRate = 0;
conf.yawRate = 0;
conf.dynThrPID = 0;
conf.thrMid8 = 50; conf.thrExpo8 = 0;
for(i=0;i<CHECKBOXITEMS;i++) {conf.activate[i] = 0;}
conf.angleTrim[0] = 0; conf.angleTrim[1] = 0;
conf.powerTrigger1 = 0;
#endif // SUPPRESS_DEFAULTS_FROM_GUI
#if defined(SERVO)
static int8_t sr[8] = SERVO_RATES;
#ifdef SERVO_MIN
static int16_t smin[8] = SERVO_MIN;
static int16_t smax[8] = SERVO_MAX;
static int16_t smid[8] = SERVO_MID;
#endif
for(i=0;i<8;i++) {
#ifdef SERVO_MIN
conf.servoConf[i].min = smin[i];
conf.servoConf[i].max = smax[i];
conf.servoConf[i].middle = smid[i];
#else
conf.servoConf[i].min = 1020;
conf.servoConf[i].max = 2000;
conf.servoConf[i].middle = 1500;
#endif
conf.servoConf[i].rate = sr[i];
}
#else //if no servo defined then zero out the config variables to prevent passing false data to the gui.
// for(i=0;i<8;i++) {
// conf.servoConf[i].min = 0;
// conf.servoConf[i].max = 0;
// conf.servoConf[i].middle = 0;
// conf.servoConf[i].rate = 0;
// }
#endif
#ifdef FIXEDWING
conf.dynThrPID = 50;
conf.rcExpo8 = 0;
#endif
update_constants(); // this will also write to eeprom
}
void LoadDefaults() {
uint8_t i;
#ifdef SUPPRESS_DEFAULTS_FROM_GUI
// do nothing
#elif defined(MY_PRIVATE_DEFAULTS)
// #include MY_PRIVATE_DEFAULTS
// do that at the last possible moment, so we can override virtually all defaults and constants
#else
conf.pidset[0][PID_ROLL].P8 = 33; conf.pidset[0][PID_ROLL].I8 = 30; conf.pidset[0][PID_ROLL].D8 = 23;
conf.pidset[0][PID_PITCH].P8 = 33; conf.pidset[0][PID_PITCH].I8 = 30; conf.pidset[0][PID_PITCH].D8 = 23;
conf.pidset[0][PID_LEVEL].P8 = 90; conf.pidset[0][PID_LEVEL].I8 = 10; conf.pidset[0][PID_LEVEL].D8 = 100;
conf.pidset[1][PID_ROLL].P8 = 40; conf.pidset[1][PID_ROLL].I8 = 26; conf.pidset[1][PID_ROLL].D8 = 15;
conf.pidset[1][PID_PITCH].P8 = 40; conf.pidset[1][PID_PITCH].I8 = 26; conf.pidset[1][PID_PITCH].D8 = 15;
conf.pidset[1][PID_LEVEL].P8 = 50; conf.pidset[1][PID_LEVEL].I8 = 50; conf.pidset[1][PID_LEVEL].D8 = 0;
// load oldskool values
conf.pid[PIDROLL].P8 = conf.pidset[0][PID_ROLL].P8; conf.pid[PIDROLL].I8 = conf.pidset[0][PID_ROLL].I8; conf.pid[PIDROLL].D8 = conf.pidset[0][PID_ROLL].D8;
conf.pid[PIDPITCH].P8 = conf.pidset[0][PID_PITCH].P8; conf.pid[PIDPITCH].I8 = conf.pidset[0][PID_PITCH].I8; conf.pid[PIDPITCH].D8 = conf.pidset[0][PID_PITCH].D8;
conf.pid[PIDLEVEL].P8 = conf.pidset[0][PID_LEVEL].P8; conf.pid[PIDLEVEL].I8 = conf.pidset[0][PID_LEVEL].I8; conf.pid[PIDLEVEL].D8 = conf.pidset[0][PID_LEVEL].D8;
// common
conf.pid[PIDYAW].P8 = 68; conf.pid[PIDYAW].I8 = 45; conf.pid[PIDYAW].D8 = 0;
conf.pid[PIDALT].P8 = 64; conf.pid[PIDALT].I8 = 25; conf.pid[PIDALT].D8 = 24;
conf.pid[PIDPOS].P8 = POSHOLD_P * 100; conf.pid[PIDPOS].I8 = POSHOLD_I * 100; conf.pid[PIDPOS].D8 = 0;
conf.pid[PIDPOSR].P8 = POSHOLD_RATE_P * 10; conf.pid[PIDPOSR].I8 = POSHOLD_RATE_I * 100; conf.pid[PIDPOSR].D8 = POSHOLD_RATE_D * 1000;
conf.pid[PIDNAVR].P8 = NAV_P * 10; conf.pid[PIDNAVR].I8 = NAV_I * 100; conf.pid[PIDNAVR].D8 = NAV_D * 1000;
conf.pid[PIDMAG].P8 = 40;
conf.pid[PIDVEL].P8 = 0; conf.pid[PIDVEL].I8 = 0; conf.pid[PIDVEL].D8 = 0;
conf.rcRate8 = 100; conf.rcExpo8 = 35;
conf.rollPitchRate = 50;
conf.yawRate = 40;
conf.dynThrPID = 0;
conf.thrMid8 = 50; conf.thrExpo8 = 20;
for(i=0;i<CHECKBOXITEMS;i++) {conf.activate[i] = 0;}
conf.angleTrim[0] = 0; conf.angleTrim[1] = 0;
conf.powerTrigger1 = 0;
#endif // SUPPRESS_DEFAULTS_FROM_GUI
#if defined(SERVO)
static int8_t sr[8] = SERVO_RATES;
#ifdef SERVO_MIN
static int16_t smin[8] = SERVO_MIN;
static int16_t smax[8] = SERVO_MAX;
static int16_t smid[8] = SERVO_MID;
#endif
for(i=0;i<8;i++) {
#ifdef SERVO_MIN
conf.servoConf[i].min = smin[i];
conf.servoConf[i].max = smax[i];
conf.servoConf[i].middle = smid[i];
#else
conf.servoConf[i].min = 1020;
conf.servoConf[i].max = 2000;
conf.servoConf[i].middle = 1500;
#endif
conf.servoConf[i].rate = sr[i];
}
#endif
#ifdef FIXEDWING
conf.dynThrPID = 50;
conf.rcExpo8 = 0;
#endif
update_constants(); // this will also write to eeprom
}