void targetConfiguration(void)
{
if (getDetectedMotorType() == MOTOR_BRUSHED) {
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfigMutable()->minthrottle = 1050; // for 6mm and 7mm brushed
}
/* Default to Spektrum */
rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048; // all DSM* except DSM2 22ms
rxConfigMutable()->spektrum_sat_bind = 5; // DSM2 11ms
rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
rxConfigMutable()->mincheck = 1025;
rxConfigMutable()->rcInterpolation = RC_SMOOTHING_MANUAL;
rxConfigMutable()->rcInterpolationInterval = 14;
parseRcChannels("TAER1234", rxConfigMutable());
mixerConfigMutable()->yaw_motors_reversed = true;
imuConfigMutable()->small_angle = 180;
blackboxConfigMutable()->p_ratio = 128;
/* Breadboard-specific settings for development purposes only
*/
#if defined(BREADBOARD)
boardAlignmentMutable()->pitchDegrees = 90; // vertical breakout board
barometerConfigMutable()->baro_hardware = BARO_DEFAULT; // still testing not on V1 or V2 pcb
#else
barometerConfigMutable()->baro_hardware = BARO_NONE;
#endif
compassConfigMutable()->mag_hardware = MAG_NONE;
systemConfigMutable()->cpu_overclock = 2; //216MHZ
pidConfigMutable()->runaway_takeoff_prevention = false;
featureEnable((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->pidSumLimit = 1000;
pidProfile->pidSumLimitYaw = 1000;
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
pidProfile->pid[PID_PITCH].P = 115;
pidProfile->pid[PID_PITCH].I = 75;
pidProfile->pid[PID_PITCH].D = 95;
pidProfile->pid[PID_ROLL].P = 110;
pidProfile->pid[PID_ROLL].I = 75;
pidProfile->pid[PID_ROLL].D = 85;
pidProfile->pid[PID_YAW].P = 220;
pidProfile->pid[PID_YAW].I = 75;
pidProfile->pid[PID_YAW].D = 20;
pidProfile->pid[PID_LEVEL].P = 65;
pidProfile->pid[PID_LEVEL].I = 65;
pidProfile->pid[PID_LEVEL].D = 55;
/* Setpoints */
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->dterm_notch_hz = 0;
pidProfile->pid[PID_PITCH].F = 100;
pidProfile->pid[PID_ROLL].F = 100;
pidProfile->feedForwardTransition = 0;
/* Anti-Gravity */
pidProfile->itermThrottleThreshold = 500;
pidProfile->itermAcceleratorGain = 5000;
pidProfile->levelAngleLimit = 65;
}
for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
/* RC Rates */
controlRateConfig->rcRates[FD_ROLL] = 218;
controlRateConfig->rcRates[FD_PITCH] = 218;
controlRateConfig->rcRates[FD_YAW] = 218;
/* Classic Expo */
controlRateConfig->rcExpo[FD_ROLL] = 45;
controlRateConfig->rcExpo[FD_PITCH] = 45;
controlRateConfig->rcExpo[FD_YAW] = 45;
/* Super Expo Rates */
controlRateConfig->rates[FD_ROLL] = 0;
controlRateConfig->rates[FD_PITCH] = 0;
controlRateConfig->rates[FD_YAW] = 0;
/* Throttle PID Attenuation (TPA) */
controlRateConfig->dynThrPID = 0; // tpa_rate off
controlRateConfig->tpa_breakpoint = 1600;
/* Force the clipping mixer at 100% seems better for brushed than default (off) and scaling)? */
controlRateConfig->throttle_limit_type = THROTTLE_LIMIT_TYPE_CLIP;
//controlRateConfig->throttle_limit_percent = 100;
controlRateConfig->thrExpo8 = 20; // 20% throttle expo
}
}
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
{
if (delta > 0) {
beeperConfirmationBeeps(2);
} else {
beeperConfirmationBeeps(1);
}
switch (adjustmentFunction) {
case ADJUSTMENT_RC_EXPO:
applyAdjustmentExpo(ADJUSTMENT_RC_EXPO, &controlRateConfig->stabilized.rcExpo8, delta);
break;
case ADJUSTMENT_RC_YAW_EXPO:
applyAdjustmentExpo(ADJUSTMENT_RC_YAW_EXPO, &controlRateConfig->stabilized.rcYawExpo8, delta);
break;
case ADJUSTMENT_MANUAL_RC_EXPO:
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_EXPO, &controlRateConfig->manual.rcExpo8, delta);
break;
case ADJUSTMENT_MANUAL_RC_YAW_EXPO:
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_YAW_EXPO, &controlRateConfig->manual.rcYawExpo8, delta);
break;
case ADJUSTMENT_THROTTLE_EXPO:
applyAdjustmentExpo(ADJUSTMENT_THROTTLE_EXPO, &controlRateConfig->throttle.rcExpo8, delta);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
applyAdjustmentU8(ADJUSTMENT_PITCH_RATE, &controlRateConfig->stabilized.rates[FD_PITCH], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
FALLTHROUGH;
case ADJUSTMENT_ROLL_RATE:
applyAdjustmentU8(ADJUSTMENT_ROLL_RATE, &controlRateConfig->stabilized.rates[FD_ROLL], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_PITCH_ROLL_RATE:
case ADJUSTMENT_MANUAL_ROLL_RATE:
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_ROLL_RATE, &controlRateConfig->manual.rates[FD_ROLL], delta);
if (adjustmentFunction == ADJUSTMENT_MANUAL_ROLL_RATE)
break;
// follow though for combined ADJUSTMENT_MANUAL_PITCH_ROLL_RATE
FALLTHROUGH;
case ADJUSTMENT_MANUAL_PITCH_RATE:
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_PITCH_RATE, &controlRateConfig->manual.rates[FD_PITCH], delta);
break;
case ADJUSTMENT_YAW_RATE:
applyAdjustmentU8(ADJUSTMENT_YAW_RATE, &controlRateConfig->stabilized.rates[FD_YAW], delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_YAW_RATE:
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_YAW_RATE, &controlRateConfig->manual.rates[FD_YAW], delta);
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
applyAdjustmentPID(ADJUSTMENT_PITCH_P, &pidBankMutable()->pid[PID_PITCH].P, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
FALLTHROUGH;
case ADJUSTMENT_ROLL_P:
applyAdjustmentPID(ADJUSTMENT_ROLL_P, &pidBankMutable()->pid[PID_ROLL].P, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
applyAdjustmentPID(ADJUSTMENT_PITCH_I, &pidBankMutable()->pid[PID_PITCH].I, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
FALLTHROUGH;
case ADJUSTMENT_ROLL_I:
applyAdjustmentPID(ADJUSTMENT_ROLL_I, &pidBankMutable()->pid[PID_ROLL].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
applyAdjustmentPID(ADJUSTMENT_PITCH_D, &pidBankMutable()->pid[PID_PITCH].D, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
FALLTHROUGH;
case ADJUSTMENT_ROLL_D:
applyAdjustmentPID(ADJUSTMENT_ROLL_D, &pidBankMutable()->pid[PID_ROLL].D, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_P:
applyAdjustmentPID(ADJUSTMENT_YAW_P, &pidBankMutable()->pid[PID_YAW].P, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_I:
applyAdjustmentPID(ADJUSTMENT_YAW_I, &pidBankMutable()->pid[PID_YAW].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_D:
applyAdjustmentPID(ADJUSTMENT_YAW_D, &pidBankMutable()->pid[PID_YAW].D, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_NAV_FW_CRUISE_THR:
applyAdjustmentU16(ADJUSTMENT_NAV_FW_CRUISE_THR, &navConfigMutable()->fw.cruise_throttle, delta, 1000, 2000);
break;
case ADJUSTMENT_NAV_FW_PITCH2THR:
applyAdjustmentU8(ADJUSTMENT_NAV_FW_PITCH2THR, &navConfigMutable()->fw.pitch_to_throttle, delta, 0, 100);
break;
case ADJUSTMENT_ROLL_BOARD_ALIGNMENT:
updateBoardAlignment(delta, 0);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_BOARD_ALIGNMENT, boardAlignment()->rollDeciDegrees);
break;
case ADJUSTMENT_PITCH_BOARD_ALIGNMENT:
updateBoardAlignment(0, delta);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_BOARD_ALIGNMENT, boardAlignment()->pitchDeciDegrees);
break;
case ADJUSTMENT_LEVEL_P:
applyAdjustmentPID(ADJUSTMENT_LEVEL_P, &pidBankMutable()->pid[PID_LEVEL].P, delta);
// TODO: Need to call something to take it into account?
break;
case ADJUSTMENT_LEVEL_I:
applyAdjustmentPID(ADJUSTMENT_LEVEL_I, &pidBankMutable()->pid[PID_LEVEL].I, delta);
// TODO: Need to call something to take it into account?
break;
case ADJUSTMENT_LEVEL_D:
applyAdjustmentPID(ADJUSTMENT_LEVEL_D, &pidBankMutable()->pid[PID_LEVEL].D, delta);
// TODO: Need to call something to take it into account?
break;
case ADJUSTMENT_POS_XY_P:
applyAdjustmentPID(ADJUSTMENT_POS_XY_P, &pidBankMutable()->pid[PID_POS_XY].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_XY_I:
applyAdjustmentPID(ADJUSTMENT_POS_XY_I, &pidBankMutable()->pid[PID_POS_XY].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_XY_D:
applyAdjustmentPID(ADJUSTMENT_POS_XY_D, &pidBankMutable()->pid[PID_POS_XY].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_Z_P:
applyAdjustmentPID(ADJUSTMENT_POS_Z_P, &pidBankMutable()->pid[PID_POS_Z].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_Z_I:
applyAdjustmentPID(ADJUSTMENT_POS_Z_I, &pidBankMutable()->pid[PID_POS_Z].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_Z_D:
applyAdjustmentPID(ADJUSTMENT_POS_Z_D, &pidBankMutable()->pid[PID_POS_Z].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_HEADING_P:
applyAdjustmentPID(ADJUSTMENT_HEADING_P, &pidBankMutable()->pid[PID_HEADING].P, delta);
// TODO: navigationUsePIDs()?
break;
case ADJUSTMENT_VEL_XY_P:
applyAdjustmentPID(ADJUSTMENT_VEL_XY_P, &pidBankMutable()->pid[PID_VEL_XY].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_XY_I:
applyAdjustmentPID(ADJUSTMENT_VEL_XY_I, &pidBankMutable()->pid[PID_VEL_XY].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_XY_D:
applyAdjustmentPID(ADJUSTMENT_VEL_XY_D, &pidBankMutable()->pid[PID_VEL_XY].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_Z_P:
applyAdjustmentPID(ADJUSTMENT_VEL_Z_P, &pidBankMutable()->pid[PID_VEL_Z].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_Z_I:
applyAdjustmentPID(ADJUSTMENT_VEL_Z_I, &pidBankMutable()->pid[PID_VEL_Z].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_Z_D:
applyAdjustmentPID(ADJUSTMENT_VEL_Z_D, &pidBankMutable()->pid[PID_VEL_Z].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE:
applyAdjustmentU16(ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE, &mixerConfigMutable()->fwMinThrottleDownPitchAngle, delta, 0, FW_MIN_THROTTLE_DOWN_PITCH_ANGLE_MAX);
break;
default:
break;
};
}
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
}