src/main/target/ALIENWHOOP/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 /*
  22
  23
  24
  25
  26          \   |   _ _| __|  \ |\ \      /|  |  _ \  _ \ _ \
  27         _ \  |     |  _|  .  | \ \ \  / __ | (   |(   |__/
  28       _/  _\____|___|___|_|\_|  \_/\_/ _| _|\___/\___/_|
  29
  30
  31               Take me to your leader-board...
  32
  33
  34
  35 */
  36
  37 #include <stdbool.h>
  38 #include <stdint.h>
  39
  40 #include "platform.h"
  41
  42 #ifdef USE_TARGET_CONFIG
  43
  44 #include "blackbox/blackbox.h"
  45 #include "fc/rc_modes.h"
  46 #include "common/axis.h"
  47 #include "common/filter.h"
  48 #include "config/feature.h"
  49 #include "drivers/pwm_esc_detect.h"
  50 #include "config/config.h"
  51 #include "fc/controlrate_profile.h"
  52 #include "fc/rc_controls.h"
  53 #include "fc/rc_modes.h"
  54 #include "flight/imu.h"
  55 #include "flight/mixer.h"
  56 #include "flight/pid.h"
  57 #include "io/beeper.h"
  58 #include "io/serial.h"
  59 #include "pg/rx.h"
  60 #include "pg/motor.h"
  61 #include "rx/rx.h"
  62 #include "sensors/barometer.h"
  63 #include "sensors/boardalignment.h"
  64 #include "sensors/compass.h"
  65 #include "sensors/gyro.h"
  66
  67 #ifdef BRUSHED_MOTORS_PWM_RATE
  68 #undef BRUSHED_MOTORS_PWM_RATE
  69 #endif
  70
  71 #define BRUSHED_MOTORS_PWM_RATE 32000
  72
  73
  74 void targetConfiguration(void)
  75 {
  76     if (getDetectedMotorType() == MOTOR_BRUSHED) {
  77         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  78         motorConfigMutable()->minthrottle = 1050; // for 6mm and 7mm brushed
  79     }
  80
  81     /* Default to Spektrum */
  82     rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048; // all DSM* except DSM2 22ms
  83     rxConfigMutable()->spektrum_sat_bind = 5; // DSM2 11ms
  84     rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
  85     rxConfigMutable()->mincheck = 1025;
  86     parseRcChannels("TAER1234", rxConfigMutable());
  87
  88     mixerConfigMutable()->yaw_motors_reversed = true;
  89     imuConfigMutable()->small_angle = 180;
  90
  91     blackboxConfigMutable()->sample_rate = 1; // sample_rate is half of PID loop frequency
  92
  93     /* Breadboard-specific settings for development purposes only
  94      */
  95 #if defined(BREADBOARD)
  96     boardAlignmentMutable()->pitchDegrees = 90; // vertical breakout board
  97     barometerConfigMutable()->baro_hardware = BARO_DEFAULT; // still testing not on V1 or V2 pcb
  98 #endif
  99
 100     compassConfigMutable()->mag_hardware =  MAG_NONE;
 101
 102     systemConfigMutable()->cpu_overclock = 2; //216MHZ
 103
 104     pidConfigMutable()->runaway_takeoff_prevention = false;
 105
 106     featureConfigSet((FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
 107
 108     /* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
 109     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
 110         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 111
 112     pidProfile->pidSumLimit = 1000;
 113     pidProfile->pidSumLimitYaw = 1000;
 114
 115         /* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
 116         pidProfile->pid[PID_PITCH].P = 115;
 117         pidProfile->pid[PID_PITCH].I = 75;
 118         pidProfile->pid[PID_PITCH].D = 95;
 119         pidProfile->pid[PID_ROLL].P = 110;
 120         pidProfile->pid[PID_ROLL].I = 75;
 121         pidProfile->pid[PID_ROLL].D = 85;
 122         pidProfile->pid[PID_YAW].P = 220;
 123         pidProfile->pid[PID_YAW].I = 75;
 124         pidProfile->pid[PID_YAW].D = 20;
 125         pidProfile->pid[PID_LEVEL].P = 65;
 126         pidProfile->pid[PID_LEVEL].I = 65;
 127         pidProfile->pid[PID_LEVEL].D = 55;
 128
 129         /* Setpoints */
 130         pidProfile->dterm_lpf1_type = FILTER_BIQUAD;
 131         pidProfile->dterm_notch_hz = 0;
 132         pidProfile->pid[PID_PITCH].F = 100;
 133         pidProfile->pid[PID_ROLL].F = 100;
 134         pidProfile->feedforward_transition = 0;
 135
 136     /* Anti-Gravity */
 137     pidProfile->itermThrottleThreshold = 500;
 138     pidProfile->itermAcceleratorGain = 5000;
 139
 140     pidProfile->levelAngleLimit = 65;
 141     }
 142
 143     for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
 144         controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
 145
 146         /* RC Rates */
 147         controlRateConfig->rcRates[FD_ROLL] = 218;
 148         controlRateConfig->rcRates[FD_PITCH] = 218;
 149         controlRateConfig->rcRates[FD_YAW] = 218;
 150
 151     /* Classic Expo */
 152         controlRateConfig->rcExpo[FD_ROLL] = 45;
 153         controlRateConfig->rcExpo[FD_PITCH] = 45;
 154         controlRateConfig->rcExpo[FD_YAW] = 45;
 155
 156         /* Super Expo Rates */
 157         controlRateConfig->rates[FD_ROLL] = 0;
 158         controlRateConfig->rates[FD_PITCH] = 0;
 159         controlRateConfig->rates[FD_YAW] = 0;
 160
 161         /* Throttle PID Attenuation (TPA) */
 162         controlRateConfig->dynThrPID = 0; // tpa_rate off
 163         controlRateConfig->tpa_breakpoint = 1600;
 164
 165     /* Force the clipping mixer at 100% seems better for brushed than default (off) and scaling)? */
 166         controlRateConfig->throttle_limit_type = THROTTLE_LIMIT_TYPE_CLIP;
 167         //controlRateConfig->throttle_limit_percent = 100;
 168
 169         controlRateConfig->thrExpo8 = 20; // 20% throttle expo
 170     }
 171 }
 172 #endif