src/main/target/MULTIFLITEPICO/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 #include "common/maths.h"
  30
  31 #include "config/config.h"
  32 #include "fc/controlrate_profile.h"
  33 #include "fc/rc_modes.h"
  34 #include "fc/rc_controls.h"
  35
  36 #include "flight/failsafe.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 "sensors/battery.h"
  45 #include "sensors/compass.h"
  46 #include "sensors/gyro.h"
  47
  48 #define VBAT_SCALE 100
  49
  50 // alternative defaults settings for MULTIFLITEPICO targets
  51 void targetConfiguration(void)
  52 {
  53     compassConfigMutable()->mag_hardware = MAG_NONE;            // disabled by default
  54
  55     voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = VBAT_SCALE;
  56     voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatresdivval = 15;
  57     voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatresdivmultiplier = 4;
  58     batteryConfigMutable()->vbatmaxcellvoltage = 440;
  59     batteryConfigMutable()->vbatmincellvoltage = 320;
  60     batteryConfigMutable()->vbatwarningcellvoltage = 330;
  61
  62     rxConfigMutable()->spektrum_sat_bind = 5;
  63     rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
  64
  65     rcControlsConfigMutable()->yaw_deadband = 2;
  66     rcControlsConfigMutable()->deadband = 2;
  67
  68     modeActivationConditionsMutable(0)->modeId          = BOXANGLE;
  69     modeActivationConditionsMutable(0)->auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
  70     modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(900);
  71     modeActivationConditionsMutable(0)->range.endStep   = CHANNEL_VALUE_TO_STEP(1400);
  72     modeActivationConditionsMutable(1)->modeId          = BOXHORIZON;
  73     modeActivationConditionsMutable(1)->auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
  74     modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1425);
  75     modeActivationConditionsMutable(1)->range.endStep   = CHANNEL_VALUE_TO_STEP(1575);
  76
  77     analyzeModeActivationConditions();
  78
  79     failsafeConfigMutable()->failsafe_delay = 2;
  80     failsafeConfigMutable()->failsafe_off_delay = 0;
  81
  82     motorConfigMutable()->dev.motorPwmRate = 17000;
  83
  84     pidConfigMutable()->pid_process_denom = 4;
  85
  86     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
  87         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  88
  89         pidProfile->pid[PID_ROLL].P = 70;
  90         pidProfile->pid[PID_ROLL].I = 62;
  91         pidProfile->pid[PID_ROLL].D = 19;
  92         pidProfile->pid[PID_PITCH].P = 70;
  93         pidProfile->pid[PID_PITCH].I = 62;
  94         pidProfile->pid[PID_PITCH].D = 19;
  95         pidProfile->pid[PID_LEVEL].I = 40;
  96     }
  97
  98     for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
  99         controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
 100
 101         controlRateConfig->rcRates[FD_ROLL] = 70;
 102         controlRateConfig->rcRates[FD_PITCH] = 70;
 103     }
 104 }
 105 #endif