// alternative defaults settings for AlienFlight targets void targetConfiguration(void) { if (getDetectedMotorType() == MOTOR_BRUSHED) { motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE; pidConfigMutable()->pid_process_denom = 1; } if (hardwareRevision == AFF4_REV_1) { rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048; rxConfigMutable()->spektrum_sat_bind = 5; rxConfigMutable()->spektrum_sat_bind_autoreset = 1; } else { rxConfigMutable()->serialrx_provider = SERIALRX_SBUS; rxConfigMutable()->serialrx_inverted = true; serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_RX_SERIAL; telemetryConfigMutable()->telemetry_inverted = false; batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_ADC; batteryConfigMutable()->currentMeterSource = CURRENT_METER_ADC; featureEnable(FEATURE_TELEMETRY); } for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) { pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex); pidProfile->pid[PID_ROLL].P = 53; pidProfile->pid[PID_ROLL].I = 45; pidProfile->pid[PID_ROLL].D = 52; pidProfile->pid[PID_PITCH].P = 53; pidProfile->pid[PID_PITCH].I = 45; pidProfile->pid[PID_PITCH].D = 52; pidProfile->pid[PID_YAW].P = 64; pidProfile->pid[PID_YAW].D = 18; } *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L }
static long cmsx_menuMiscOnExit(const OSD_Entry *self) { UNUSED(self); motorConfigMutable()->minthrottle = motorConfig_minthrottle; motorConfigMutable()->digitalIdleOffsetValue = 10 * motorConfig_digitalIdleOffsetValue; voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = voltageSensorADCConfig_vbatscale; batteryConfigMutable()->vbatmaxcellvoltage = batteryConfig_vbatmaxcellvoltage; return 0; }
static long cmsx_Power_onExit(const OSD_Entry *self) { UNUSED(self); batteryConfigMutable()->voltageMeterSource = batteryConfig_voltageMeterSource; batteryConfigMutable()->currentMeterSource = batteryConfig_currentMeterSource; batteryConfigMutable()->vbatmaxcellvoltage = batteryConfig_vbatmaxcellvoltage; voltageSensorADCConfigMutable(0)->vbatscale = voltageSensorADCConfig_vbatscale; currentSensorADCConfigMutable()->scale = currentSensorADCConfig_scale; currentSensorADCConfigMutable()->offset = currentSensorADCConfig_offset; #ifdef USE_VIRTUAL_CURRENT_METER currentSensorVirtualConfigMutable()->scale = currentSensorVirtualConfig_scale; currentSensorVirtualConfigMutable()->offset = currentSensorVirtualConfig_offset; #endif return 0; }
static void validateAndFixConfig(void) { #if !defined(USE_QUAD_MIXER_ONLY) && !defined(USE_OSD_SLAVE) // Reset unsupported mixer mode to default. // This check will be gone when motor/servo mixers are loaded dynamically // by configurator as a part of configuration procedure. mixerMode_e mixerMode = mixerConfigMutable()->mixerMode; if (!(mixerMode == MIXER_CUSTOM || mixerMode == MIXER_CUSTOM_AIRPLANE || mixerMode == MIXER_CUSTOM_TRI)) { if (mixers[mixerMode].motorCount && mixers[mixerMode].motor == NULL) mixerConfigMutable()->mixerMode = MIXER_CUSTOM; #ifdef USE_SERVOS if (mixers[mixerMode].useServo && servoMixers[mixerMode].servoRuleCount == 0) mixerConfigMutable()->mixerMode = MIXER_CUSTOM_AIRPLANE; #endif } #endif #ifndef USE_OSD_SLAVE if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) { systemConfigMutable()->activeRateProfile = 0; } setControlRateProfile(systemConfig()->activeRateProfile); if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) { systemConfigMutable()->pidProfileIndex = 0; } setPidProfile(systemConfig()->pidProfileIndex); // Prevent invalid notch cutoff if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) { currentPidProfile->dterm_notch_hz = 0; } if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)) { motorConfigMutable()->mincommand = 1000; } if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) { motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE; } validateAndFixGyroConfig(); if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP) || featureConfigured(FEATURE_RX_SPI))) { featureSet(DEFAULT_RX_FEATURE); } if (featureConfigured(FEATURE_RX_PPM)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI); } if (featureConfigured(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI); } if (featureConfigured(FEATURE_RX_SERIAL)) { featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI); } #ifdef USE_RX_SPI if (featureConfigured(FEATURE_RX_SPI)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP); } #endif // USE_RX_SPI if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI); #if defined(STM32F10X) // rssi adc needs the same ports featureClear(FEATURE_RSSI_ADC); // current meter needs the same ports if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) { batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE; } #endif // STM32F10X // software serial needs free PWM ports featureClear(FEATURE_SOFTSERIAL); } #ifdef USE_SOFTSPI if (featureConfigured(FEATURE_SOFTSPI)) { featureClear(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM | FEATURE_SOFTSERIAL); batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_NONE; #if defined(STM32F10X) featureClear(FEATURE_LED_STRIP); // rssi adc needs the same ports featureClear(FEATURE_RSSI_ADC); // current meter needs the same ports if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) { batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE; } #endif // STM32F10X } #endif // USE_SOFTSPI #endif // USE_OSD_SLAVE if (!isSerialConfigValid(serialConfig())) { pgResetFn_serialConfig(serialConfigMutable()); } // clear features that are not supported. // I have kept them all here in one place, some could be moved to sections of code above. #ifndef USE_PPM featureClear(FEATURE_RX_PPM); #endif #ifndef USE_SERIAL_RX featureClear(FEATURE_RX_SERIAL); #endif #if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2) featureClear(FEATURE_SOFTSERIAL); #endif #ifndef USE_GPS featureClear(FEATURE_GPS); #endif #ifndef USE_RANGEFINDER featureClear(FEATURE_RANGEFINDER); #endif #ifndef USE_TELEMETRY featureClear(FEATURE_TELEMETRY); #endif #ifndef USE_PWM featureClear(FEATURE_RX_PARALLEL_PWM); #endif #ifndef USE_RX_MSP featureClear(FEATURE_RX_MSP); #endif #ifndef USE_LED_STRIP featureClear(FEATURE_LED_STRIP); #endif #ifndef USE_DASHBOARD featureClear(FEATURE_DASHBOARD); #endif #ifndef USE_OSD featureClear(FEATURE_OSD); #endif #ifndef USE_SERVOS featureClear(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING); #endif #ifndef USE_TRANSPONDER featureClear(FEATURE_TRANSPONDER); #endif #ifndef USE_RX_SPI featureClear(FEATURE_RX_SPI); #endif #ifndef USE_SOFTSPI featureClear(FEATURE_SOFTSPI); #endif #ifndef USE_ESC_SENSOR featureClear(FEATURE_ESC_SENSOR); #endif #ifndef USE_GYRO_DATA_ANALYSE featureClear(FEATURE_DYNAMIC_FILTER); #endif #if defined(TARGET_VALIDATECONFIG) targetValidateConfiguration(); #endif }
void targetConfiguration(void) { if (hardwareMotorType == MOTOR_BRUSHED) { motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE; motorConfigMutable()->minthrottle = 1030; pidConfigMutable()->pid_process_denom = 1; } for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) { pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex); pidProfile->pid[PID_ROLL].P = 86; pidProfile->pid[PID_ROLL].I = 50; pidProfile->pid[PID_ROLL].D = 60; pidProfile->pid[PID_PITCH].P = 90; pidProfile->pid[PID_PITCH].I = 55; pidProfile->pid[PID_PITCH].D = 60; pidProfile->pid[PID_YAW].P = 123; pidProfile->pid[PID_YAW].I = 75; } for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) { controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex); controlRateConfig->rcRates[FD_YAW] = 120; controlRateConfig->rcExpo[FD_ROLL] = 15; controlRateConfig->rcExpo[FD_PITCH] = 15; controlRateConfig->rcExpo[FD_YAW] = 15; controlRateConfig->rates[FD_ROLL] = 85; controlRateConfig->rates[FD_PITCH] = 85; } batteryConfigMutable()->batteryCapacity = 250; batteryConfigMutable()->vbatmincellvoltage = 280; batteryConfigMutable()->vbatwarningcellvoltage = 330; *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L vcdProfileMutable()->video_system = VIDEO_SYSTEM_NTSC; #if defined(BEESTORM) strcpy(pilotConfigMutable()->name, "BeeStorm"); #else strcpy(pilotConfigMutable()->name, "BeeBrain V2"); #endif osdConfigMutable()->cap_alarm = 250; osdConfigMutable()->item_pos[OSD_CRAFT_NAME] = OSD_POS(9, 11) | OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(23, 10) | OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_ITEM_TIMER_2] = OSD_POS(2, 10) | OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_FLYMODE] = OSD_POS(17, 10) | OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_VTX_CHANNEL] = OSD_POS(10, 10) | OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_RSSI_VALUE] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_ITEM_TIMER_1] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_THROTTLE_POS] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_CROSSHAIRS] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_HORIZON_SIDEBARS] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_ARTIFICIAL_HORIZON] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_CURRENT_DRAW] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_MAH_DRAWN] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_GPS_SPEED] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_GPS_LON] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_GPS_LAT] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_GPS_SATS] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_HOME_DIR] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_HOME_DIST] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_COMPASS_BAR] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_ALTITUDE] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_ROLL_PIDS] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_PITCH_PIDS] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_YAW_PIDS] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_DEBUG] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_POWER] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_PIDRATE_PROFILE] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_WARNINGS] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_AVG_CELL_VOLTAGE] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_PITCH_ANGLE] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_ROLL_ANGLE] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_MAIN_BATT_USAGE] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_DISARMED] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_NUMERICAL_HEADING] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_NUMERICAL_VARIO] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_ESC_TMP] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_ESC_RPM] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_G_FORCE] &= ~OSD_PROFILE_1_FLAG; osdConfigMutable()->item_pos[OSD_FLIP_ARROW] &= ~OSD_PROFILE_1_FLAG; modeActivationConditionsMutable(0)->modeId = BOXANGLE; modeActivationConditionsMutable(0)->auxChannelIndex = AUX2 - NON_AUX_CHANNEL_COUNT; modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(900); modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(2100); analyzeModeActivationConditions(); #if defined(BEEBRAIN_V2D) // DSM version for (uint8_t rxRangeIndex = 0; rxRangeIndex < NON_AUX_CHANNEL_COUNT; rxRangeIndex++) { rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigsMutable(rxRangeIndex); channelRangeConfig->min = 1160; channelRangeConfig->max = 1840; } #else // Frsky version serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_RX_SERIAL; rxConfigMutable()->rssi_channel = BBV2_FRSKY_RSSI_CH_IDX; rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigsMutable(BBV2_FRSKY_RSSI_CH_IDX - 1); channelFailsafeConfig->mode = RX_FAILSAFE_MODE_SET; channelFailsafeConfig->step = CHANNEL_VALUE_TO_RXFAIL_STEP(1000); osdConfigMutable()->item_pos[OSD_RSSI_VALUE] = OSD_POS(2, 11) | OSD_PROFILE_1_FLAG; #endif }