bool sensorsAutodetect(void)
{
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
UNUSED(mpuDetectionResult);
#endif
if (!detectGyro()) {
return false;
}
detectAcc(sensorSelectionConfig()->acc_hardware);
detectBaro(sensorSelectionConfig()->baro_hardware);
// Now time to init things, acc first
if (sensors(SENSOR_ACC))
acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init(gyroConfig()->gyro_lpf);
#ifdef MAG
detectMag(sensorSelectionConfig()->mag_hardware);
#endif
reconfigureAlignment(sensorAlignmentConfig());
return true;
}
bool sensorsAutodetect(void)
{
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
UNUSED(mpuDetectionResult);
#endif
if (!detectGyro()) {
return false;
}
gyro.sampleFrequencyHz = gyroConfig()->gyro_sample_hz;
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init(&gyro, gyroConfig()->gyro_lpf);
gyroInit();
// the combination of LPF and GYRO_SAMPLE_HZ may be invalid for the gyro, update the configuration to use the sample frequency that was determined for the desired LPF.
gyroConfig()->gyro_sample_hz = gyro.sampleFrequencyHz;
if (detectAcc(sensorSelectionConfig()->acc_hardware)) {
acc.acc_1G = 256; // set default
acc.init(&acc);
}
#ifdef BARO
detectBaro(sensorSelectionConfig()->baro_hardware);
#endif
#ifdef MAG
if (detectMag(sensorSelectionConfig()->mag_hardware)) {
if (!compassInit()) {
sensorsClear(SENSOR_MAG);
}
}
#endif
reconfigureAlignment(sensorAlignmentConfig());
return true;
}
bool sensorsAutodetect(void)
{
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
UNUSED(mpuDetectionResult);
#endif
if (!detectGyro()) {
return false;
}
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init(gyroConfig()->gyro_lpf);
if (detectAcc(sensorSelectionConfig()->acc_hardware)) {
acc.acc_1G = 256; // set default
acc.init(&acc);
}
#ifdef BARO
detectBaro(sensorSelectionConfig()->baro_hardware);
#endif
#ifdef MAG
if (detectMag(sensorSelectionConfig()->mag_hardware)) {
if (!compassInit()) {
sensorsClear(SENSOR_MAG);
}
}
#endif
reconfigureAlignment(sensorAlignmentConfig());
return true;
}
// Default settings
STATIC_UNIT_TESTED void resetConf(void)
{
pgResetAll(MAX_PROFILE_COUNT);
setProfile(0);
pgActivateProfile(0);
setControlRateProfile(0);
parseRcChannels("AETR1234", rxConfig());
featureClearAll();
featureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_BLACKBOX);
#ifdef DEFAULT_FEATURES
featureSet(DEFAULT_FEATURES);
#endif
#ifdef BOARD_HAS_VOLTAGE_DIVIDER
// only enable the feature by default if the board has supporting hardware
featureSet(FEATURE_VBAT);
#endif
#ifdef BOARD_HAS_AMPERAGE_METER
// only enable the feature by default if the board has supporting hardware
featureSet(FEATURE_AMPERAGE_METER);
batteryConfig()->amperageMeterSource = AMPERAGE_METER_ADC;
#endif
// alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
#ifdef ALIENFLIGHT
#ifdef ALIENFLIGHTF3
serialConfig()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
getVoltageMeterConfig(ADC_BATTERY)->vbatscale = 20;
sensorSelectionConfig()->mag_hardware = MAG_NONE; // disabled by default
# else
serialConfig()->portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
# endif
rxConfig()->serialrx_provider = SERIALRX_SPEKTRUM2048;
rxConfig()->spektrum_sat_bind = 5;
motorConfig()->minthrottle = 1000;
motorConfig()->maxthrottle = 2000;
motorConfig()->motor_pwm_rate = 32000;
failsafeConfig()->failsafe_delay = 2;
failsafeConfig()->failsafe_off_delay = 0;
mixerConfig()->yaw_jump_prevention_limit = YAW_JUMP_PREVENTION_LIMIT_HIGH;
currentControlRateProfile->rcRate8 = 100;
currentControlRateProfile->rates[PITCH] = 20;
currentControlRateProfile->rates[ROLL] = 20;
currentControlRateProfile->rates[YAW] = 20;
parseRcChannels("TAER1234", rxConfig());
*customMotorMixer(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
*customMotorMixer(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
*customMotorMixer(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
*customMotorMixer(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
*customMotorMixer(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
*customMotorMixer(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
*customMotorMixer(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
*customMotorMixer(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
#endif
// copy first profile into remaining profile
PG_FOREACH_PROFILE(reg) {
for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
memcpy(reg->address + i * pgSize(reg), reg->address, pgSize(reg));
}
}
for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
configureRateProfileSelection(i, i % MAX_CONTROL_RATE_PROFILE_COUNT);
}
}
