void targetValidateConfiguration(void)
{
/* make sure the SDCARD cannot be turned on */
if (hardwareRevision == BJF4_MINI_REV3A || hardwareRevision == BJF4_REV1) {
if (blackboxConfig()->device == BLACKBOX_DEVICE_SDCARD) {
blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
}
}
}
static long cmsx_Blackbox_FeatureWriteback(void)
{
if (cmsx_FeatureBlackbox)
featureSet(FEATURE_BLACKBOX);
else
featureClear(FEATURE_BLACKBOX);
blackboxConfigMutable()->rate_denom = blackboxConfig_rate_denom;
return 0;
}
// alternative defaults settings for BlueJayF4 targets
void targetConfiguration(void)
{
if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
gyroDeviceConfigMutable(0)->align = CW180_DEG;
beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
}
if (hardwareRevision == BJF4_MINI_REV3A || hardwareRevision == BJF4_REV1) {
blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
}
if (hardwareRevision == BJF4_MINI_REV3A) {
adcConfigMutable()->vbat.ioTag = IO_TAG(PA4);
}
}
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
}
}
void targetConfiguration(void)
{
#ifdef BEEBRAIN
// alternative defaults settings for Beebrain target
motorConfigMutable()->dev.motorPwmRate = 4000;
failsafeConfigMutable()->failsafe_delay = 2;
failsafeConfigMutable()->failsafe_off_delay = 0;
motorConfigMutable()->minthrottle = 1049;
gyroConfigMutable()->gyro_hardware_lpf = GYRO_HARDWARE_LPF_1KHZ_SAMPLE;
gyroConfigMutable()->gyro_lowpass_hz = 100;
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
/*for (int channel = 0; channel < NON_AUX_CHANNEL_COUNT; channel++) {
rxChannelRangeConfigsMutable(channel)->min = 1180;
rxChannelRangeConfigsMutable(channel)->max = 1860;
}*/
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->pid[PID_ROLL].P = 60;
pidProfile->pid[PID_ROLL].I = 70;
pidProfile->pid[PID_ROLL].D = 17;
pidProfile->pid[PID_PITCH].P = 80;
pidProfile->pid[PID_PITCH].I = 90;
pidProfile->pid[PID_PITCH].D = 18;
pidProfile->pid[PID_YAW].P = 200;
pidProfile->pid[PID_YAW].I = 45;
pidProfile->pid[PID_LEVEL].P = 30;
pidProfile->pid[PID_LEVEL].D = 30;
pidProfile->pid[PID_PITCH].F = 200;
pidProfile->pid[PID_ROLL].F = 200;
pidProfile->feedForwardTransition = 50;
}
for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
controlRateConfig->rcRates[FD_ROLL] = 100;
controlRateConfig->rcRates[FD_PITCH] = 100;
controlRateConfig->rcRates[FD_YAW] = 110;
controlRateConfig->rcExpo[FD_ROLL] = 0;
controlRateConfig->rcExpo[FD_PITCH] = 0;
controlRateConfig->rates[FD_ROLL] = 77;
controlRateConfig->rates[FD_PITCH] = 77;
controlRateConfig->rates[FD_YAW] = 80;
}
#endif
#if !defined(AFROMINI) && !defined(BEEBRAIN)
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
beeperDevConfigMutable()->isOpenDrain = false;
beeperDevConfigMutable()->isInverted = true;
} else {
beeperDevConfigMutable()->isOpenDrain = true;
beeperDevConfigMutable()->isInverted = false;
flashConfigMutable()->csTag = IO_TAG_NONE;
}
#endif
#ifdef MAG_INT_EXTI
if (hardwareRevision < NAZE32_REV5) {
compassConfigMutable()->interruptTag = IO_TAG(PB12);
}
#endif
#ifdef BLACKBOX
if (hardwareRevision >= NAZE32_REV5)
blackboxConfigMutable()->device = BLACKBOX_DEVICE_FLASH;
#endif
}
