src/main/target/ALIENFLIGHTF4/config.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef USE_TARGET_CONFIG
  27
  28 #include "common/axis.h"
  29
  30 #include "config/feature.h"
  31
  32 #include "drivers/pwm_esc_detect.h"
  33
  34 #include "config/config.h"
  35
  36 #include "flight/mixer.h"
  37 #include "flight/pid.h"
  38
  39 #include "pg/rx.h"
  40 #include "pg/motor.h"
  41
  42 #include "rx/rx.h"
  43
  44 #include "io/serial.h"
  45
  46 #include "telemetry/telemetry.h"
  47
  48 #include "sensors/battery.h"
  49
  50 #include "hardware_revision.h"
  51
  52 #ifdef BRUSHED_MOTORS_PWM_RATE
  53 #undef BRUSHED_MOTORS_PWM_RATE
  54 #endif
  55
  56 #define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
  57
  58 // alternative defaults settings for AlienFlight targets
  59 void targetConfiguration(void)
  60 {
  61     if (getDetectedMotorType() == MOTOR_BRUSHED) {
  62         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  63         pidConfigMutable()->pid_process_denom = 1;
  64     }
  65
  66     if (hardwareRevision == AFF4_REV_1) {
  67         rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
  68         rxConfigMutable()->spektrum_sat_bind = 5;
  69         rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
  70     } else {
  71         rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
  72         rxConfigMutable()->serialrx_inverted = true;
  73         serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_RX_SERIAL;
  74         telemetryConfigMutable()->telemetry_inverted = false;
  75         batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_ADC;
  76         batteryConfigMutable()->currentMeterSource = CURRENT_METER_ADC;
  77         featureConfigSet(FEATURE_TELEMETRY);
  78     }
  79
  80     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
  81         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  82
  83         pidProfile->pid[PID_ROLL].P = 53;
  84         pidProfile->pid[PID_ROLL].I = 45;
  85         pidProfile->pid[PID_ROLL].D = 52;
  86         pidProfile->pid[PID_PITCH].P = 53;
  87         pidProfile->pid[PID_PITCH].I = 45;
  88         pidProfile->pid[PID_PITCH].D = 52;
  89         pidProfile->pid[PID_YAW].P = 64;
  90         pidProfile->pid[PID_YAW].D = 18;
  91     }
  92
  93     *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
  94     *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
  95     *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
  96     *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
  97     *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
  98     *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
  99     *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
 100     *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
 101 }
 102 #endif