示例#1
0
void targetConfiguration(void)
{
    barometerConfigMutable()->baro_hardware = BARO_DEFAULT;
    serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_MSP; // So SPRacingF3OSD users don't have to change anything.
    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
    telemetryConfigMutable()->halfDuplex = 0;
    telemetryConfigMutable()->telemetry_inverted = true;
}
示例#2
0
void targetConfiguration(void)
{
    barometerConfigMutable()->baro_hardware = BARO_DEFAULT;

#ifdef USE_TELEMETRY
    targetSerialPortFunctionConfig(targetSerialPortFunction, ARRAYLEN(targetSerialPortFunction));
    // change telemetry settings
    telemetryConfigMutable()->telemetry_inverted = 1;
    telemetryConfigMutable()->halfDuplex = 1;
#endif
}
示例#3
0
文件: config.c 项目: 4712/cleanflight
void targetConfiguration(void)
{
    barometerConfigMutable()->baro_hardware = BARO_DEFAULT;
    compassConfigMutable()->mag_hardware = MAG_DEFAULT;
    targetSerialPortFunctionConfig(targetSerialPortFunction, ARRAYLEN(targetSerialPortFunction));
    telemetryConfigMutable()->halfDuplex = true;
}
示例#4
0
// 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
}
示例#5
0
void targetConfiguration(void)
{
    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(GPS_UART)].functionMask = FUNCTION_GPS;
    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = TELEMETRY_PROVIDER_DEFAULT;
    telemetryConfigMutable()->halfDuplex = false;
}
示例#6
0
文件: config.c 项目: 4712/cleanflight
// 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
}
示例#7
0
bool telemetryIsSensorEnabled(sensor_e sensor)
{
    return ~(telemetryConfigMutable()->disabledSensors) & sensor;
}