コード例 #1
0
ファイル: config.c プロジェクト: LupinIII/cleanflight
// 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);
    }
}
コード例 #2
0
ファイル: config.c プロジェクト: jeyong/cleanflight
// Default settings
STATIC_UNIT_TESTED void resetConf(void)
{
    pgResetAll(MAX_PROFILE_COUNT);

    setProfile(0);
    pgActivateProfile(0);

    setControlRateProfile(0);

    featureClearAll();

    featureSet(DEFAULT_RX_FEATURE);

#ifdef BOARD_HAS_VOLTAGE_DIVIDER
    // only enable the VBAT feature by default if the board has a voltage divider otherwise
    // the user may see incorrect readings and unexpected issues with pin mappings may occur.
    featureSet(FEATURE_VBAT);
#endif

    featureSet(FEATURE_FAILSAFE);

    parseRcChannels("AETR1234", rxConfig());

    featureSet(FEATURE_BLACKBOX);

#if defined(COLIBRI_RACE)
    // alternative defaults settings for COLIBRI RACE targets
    imuConfig()->looptime = 1000;
    featureSet(FEATURE_ONESHOT125);
    featureSet(FEATURE_LED_STRIP);
#endif

#ifdef SPRACINGF3EVO
    featureSet(FEATURE_TRANSPONDER);
    featureSet(FEATURE_RSSI_ADC);
    featureSet(FEATURE_CURRENT_METER);
    featureSet(FEATURE_TELEMETRY);
#endif

    // alternative defaults settings for ALIENWIIF1 and ALIENWIIF3 targets
#ifdef ALIENWII32
    featureSet(FEATURE_RX_SERIAL);
    featureSet(FEATURE_MOTOR_STOP);
# ifdef ALIENWIIF3
    serialConfig()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
    batteryConfig()->vbatscale = 20;
# else
    serialConfig()->portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
# endif
    rxConfig()->serialrx_provider = SERIALRX_SPEKTRUM2048;
    rxConfig()->spektrum_sat_bind = 5;
    motorAndServoConfig()->minthrottle = 1000;
    motorAndServoConfig()->maxthrottle = 2000;
    motorAndServoConfig()->motor_pwm_rate = 32000;
    imuConfig()->looptime = 2000;
    pidProfile()->pidController = 3;
    pidProfile()->P8[PIDROLL] = 36;
    pidProfile()->P8[PIDPITCH] = 36;
    failsafeConfig()->failsafe_delay = 2;
    failsafeConfig()->failsafe_off_delay = 0;
    currentControlRateProfile->rcRate8 = 130;
    currentControlRateProfile->rates[ROLL] = 20;
    currentControlRateProfile->rates[PITCH] = 20;
    currentControlRateProfile->rates[YAW] = 100;
    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);
    }
}