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_lpf = GYRO_LPF_188HZ;
gyroConfigMutable()->gyro_soft_lpf_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 (int profileId = 0; profileId < 2; profileId++) {
pidProfilesMutable(0)->P8[ROLL] = 60;
pidProfilesMutable(0)->I8[ROLL] = 70;
pidProfilesMutable(0)->D8[ROLL] = 17;
pidProfilesMutable(0)->P8[PITCH] = 80;
pidProfilesMutable(0)->I8[PITCH] = 90;
pidProfilesMutable(0)->D8[PITCH] = 18;
pidProfilesMutable(0)->P8[YAW] = 200;
pidProfilesMutable(0)->I8[YAW] = 45;
pidProfilesMutable(0)->P8[PIDLEVEL] = 30;
pidProfilesMutable(0)->D8[PIDLEVEL] = 30;
for (int rateProfileId = 0; rateProfileId < CONTROL_RATE_PROFILE_COUNT; rateProfileId++) {
controlRateProfilesMutable(rateProfileId)->rcRate8 = 100;
controlRateProfilesMutable(rateProfileId)->rcYawRate8 = 110;
controlRateProfilesMutable(rateProfileId)->rcExpo8 = 0;
controlRateProfilesMutable(rateProfileId)->rates[FD_ROLL] = 77;
controlRateProfilesMutable(rateProfileId)->rates[FD_PITCH] = 77;
controlRateProfilesMutable(rateProfileId)->rates[FD_YAW] = 80;
pidProfilesMutable(0)->dtermSetpointWeight = 200;
pidProfilesMutable(0)->setpointRelaxRatio = 50;
}
}
#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
}
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
}
