void targetConfiguration(void) { gyroConfigMutable()->looptime = 1000; rxConfigMutable()->rcmap[0] = 1; rxConfigMutable()->rcmap[1] = 2; rxConfigMutable()->rcmap[2] = 3; rxConfigMutable()->rcmap[3] = 0; featureSet(FEATURE_VBAT); featureSet(FEATURE_LED_STRIP); serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP; if (rxConfig()->receiverType == RX_TYPE_SERIAL) { serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; } }
void targetConfiguration(void) { if (hardwareMotorType == MOTOR_BRUSHED) { motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE; motorConfigMutable()->minthrottle = 1049; #if defined(FF_ACROWHOOPSP) rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048; rxConfigMutable()->spektrum_sat_bind = 5; rxConfigMutable()->spektrum_sat_bind_autoreset = 1; #else serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB; rxConfigMutable()->serialrx_inverted = true; featureSet(FEATURE_TELEMETRY); #endif parseRcChannels("TAER1234", rxConfigMutable()); for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) { pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex); pidProfile->pid[PID_ROLL].P = 80; pidProfile->pid[PID_ROLL].I = 37; pidProfile->pid[PID_ROLL].D = 35; pidProfile->pid[PID_PITCH].P = 100; pidProfile->pid[PID_PITCH].I = 37; pidProfile->pid[PID_PITCH].D = 35; pidProfile->pid[PID_YAW].P = 180; pidProfile->pid[PID_YAW].D = 45; } 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] = 100; controlRateConfig->rcExpo[FD_ROLL] = 15; controlRateConfig->rcExpo[FD_PITCH] = 15; controlRateConfig->rcExpo[FD_YAW] = 15; controlRateConfig->rates[PID_ROLL] = 80; controlRateConfig->rates[PID_PITCH] = 80; controlRateConfig->rates[PID_YAW] = 80; } } }
// 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 }
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 } }
// 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) { 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 }