// 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);
}
}
// alternative defaults settings for AlienFlight targets
void targetConfiguration(void)
{
/* depending on revision ... depends on the LEDs to be utilised. */
if (hardwareRevision == AFF3_REV_2) {
statusLedConfigMutable()->inversion = 0
#ifdef LED0_A_INVERTED
| BIT(0)
#endif
#ifdef LED1_A_INVERTED
| BIT(1)
#endif
#ifdef LED2_A_INVERTED
| BIT(2)
#endif
;
for (int i = 0; i < STATUS_LED_NUMBER; i++) {
statusLedConfigMutable()->ioTags[i] = IO_TAG_NONE;
}
#ifdef LED0_A
statusLedConfigMutable()->ioTags[0] = IO_TAG(LED0_A);
#endif
#ifdef LED1_A
statusLedConfigMutable()->ioTags[1] = IO_TAG(LED1_A);
#endif
#ifdef LED2_A
statusLedConfigMutable()->ioTags[2] = IO_TAG(LED2_A);
#endif
} else {
gyroConfigMutable()->gyro_sync_denom = 2;
pidConfigMutable()->pid_process_denom = 2;
}
if (!haveFrSkyRX) {
rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
rxConfigMutable()->spektrum_sat_bind = 5;
rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
parseRcChannels("TAER1234", rxConfigMutable());
} 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;
featureSet(FEATURE_TELEMETRY);
beeperDevConfigMutable()->isOpenDrain = false;
beeperDevConfigMutable()->isInverted = true;
parseRcChannels("AETR1234", rxConfigMutable());
}
if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
pidConfigMutable()->pid_process_denom = 1;
}
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->pid[PID_ROLL].P = 90;
pidProfile->pid[PID_ROLL].I = 44;
pidProfile->pid[PID_ROLL].D = 60;
pidProfile->pid[PID_PITCH].P = 90;
pidProfile->pid[PID_PITCH].I = 44;
pidProfile->pid[PID_PITCH].D = 60;
}
*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
}
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
}