Example #1
0
void targetConfiguration(void)
{
	voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = VBAT_SCALE;
    barometerConfigMutable()->baro_hardware = 0;
    compassConfigMutable()->mag_hardware = 0;
    osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 1) | VISIBLE_FLAG;
}
Example #2
0
void targetConfiguration(void)
{
    barometerConfigMutable()->baro_hardware = BARO_DEFAULT;
    compassConfigMutable()->mag_hardware = MAG_DEFAULT;
    targetSerialPortFunctionConfig(targetSerialPortFunction, ARRAYLEN(targetSerialPortFunction));
    telemetryConfigMutable()->halfDuplex = true;
}
Example #3
0
void targetConfiguration(void)
{
    barometerConfigMutable()->baro_hardware = BARO_DEFAULT;
    serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_MSP; // So SPRacingF3OSD users don't have to change anything.
    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
    telemetryConfigMutable()->halfDuplex = 0;
    telemetryConfigMutable()->telemetry_inverted = true;
}
Example #4
0
void targetConfiguration(void)
{
    pinioConfigMutable()->ioTag[0] = IO_TAG(OSD_CH_SWITCH);
    pinioConfigMutable()->config[0] = PINIO_CONFIG_MODE_OUT_PP; // Default state is LOW

    voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = VBAT_SCALE;
    barometerConfigMutable()->baro_hardware = 0;
    compassConfigMutable()->mag_hardware = 0;
    osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 1) | OSD_PROFILE_1_FLAG;
}
Example #5
0
void targetConfiguration(void)
{
    barometerConfigMutable()->baro_hardware = BARO_DEFAULT;

#ifdef USE_TELEMETRY
    targetSerialPortFunctionConfig(targetSerialPortFunction, ARRAYLEN(targetSerialPortFunction));
    // change telemetry settings
    telemetryConfigMutable()->telemetry_inverted = 1;
    telemetryConfigMutable()->halfDuplex = 1;
#endif
}
Example #6
0
void targetConfiguration(void)
{
    if (getDetectedMotorType() == MOTOR_BRUSHED) {
        motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
        motorConfigMutable()->minthrottle = 1050; // for 6mm and 7mm brushed
    }

    /* Default to Spektrum */
    rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048; // all DSM* except DSM2 22ms
    rxConfigMutable()->spektrum_sat_bind = 5; // DSM2 11ms
    rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
    rxConfigMutable()->mincheck = 1025;
    rxConfigMutable()->rcInterpolation = RC_SMOOTHING_MANUAL;
    rxConfigMutable()->rcInterpolationInterval = 14;
    parseRcChannels("TAER1234", rxConfigMutable());

    mixerConfigMutable()->yaw_motors_reversed = true;
    imuConfigMutable()->small_angle = 180;

    blackboxConfigMutable()->p_ratio = 128;

    /* Breadboard-specific settings for development purposes only
     */
#if defined(BREADBOARD)
    boardAlignmentMutable()->pitchDegrees = 90; // vertical breakout board
    barometerConfigMutable()->baro_hardware = BARO_DEFAULT; // still testing not on V1 or V2 pcb
#else
    barometerConfigMutable()->baro_hardware = BARO_NONE;
#endif

    compassConfigMutable()->mag_hardware =  MAG_NONE;

    systemConfigMutable()->cpu_overclock = 2; //216MHZ

    pidConfigMutable()->runaway_takeoff_prevention = false;

    featureEnable((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);

    /* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
        pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);

	pidProfile->pidSumLimit = 1000;
	pidProfile->pidSumLimitYaw = 1000;

        /* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
        pidProfile->pid[PID_PITCH].P = 115;
        pidProfile->pid[PID_PITCH].I = 75;
        pidProfile->pid[PID_PITCH].D = 95;
        pidProfile->pid[PID_ROLL].P = 110;
        pidProfile->pid[PID_ROLL].I = 75;
        pidProfile->pid[PID_ROLL].D = 85;
        pidProfile->pid[PID_YAW].P = 220;
        pidProfile->pid[PID_YAW].I = 75;
        pidProfile->pid[PID_YAW].D = 20;
        pidProfile->pid[PID_LEVEL].P = 65;
        pidProfile->pid[PID_LEVEL].I = 65;
        pidProfile->pid[PID_LEVEL].D = 55;

        /* Setpoints */
        pidProfile->dterm_filter_type = FILTER_BIQUAD;
        pidProfile->dterm_notch_hz = 0;
        pidProfile->pid[PID_PITCH].F = 100;
        pidProfile->pid[PID_ROLL].F = 100;
        pidProfile->feedForwardTransition = 0;

	/* Anti-Gravity */
	pidProfile->itermThrottleThreshold = 500;
	pidProfile->itermAcceleratorGain = 5000;

	pidProfile->levelAngleLimit = 65;
    }

    for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
        controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);

        /* RC Rates */
        controlRateConfig->rcRates[FD_ROLL] = 218;
        controlRateConfig->rcRates[FD_PITCH] = 218;
        controlRateConfig->rcRates[FD_YAW] = 218;

	/* Classic Expo */
        controlRateConfig->rcExpo[FD_ROLL] = 45;
        controlRateConfig->rcExpo[FD_PITCH] = 45;
        controlRateConfig->rcExpo[FD_YAW] = 45;

        /* Super Expo Rates */
        controlRateConfig->rates[FD_ROLL] = 0;
        controlRateConfig->rates[FD_PITCH] = 0;
        controlRateConfig->rates[FD_YAW] = 0;

        /* Throttle PID Attenuation (TPA) */
        controlRateConfig->dynThrPID = 0; // tpa_rate off
        controlRateConfig->tpa_breakpoint = 1600;

	/* Force the clipping mixer at 100% seems better for brushed than default (off) and scaling)? */
        controlRateConfig->throttle_limit_type = THROTTLE_LIMIT_TYPE_CLIP;
        //controlRateConfig->throttle_limit_percent = 100;

        controlRateConfig->thrExpo8 = 20; // 20% throttle expo
    }
}