src/main/target/ALIENFLIGHTF1/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 "drivers/pwm_esc_detect.h"
  31
  32 #include "config/config.h"
  33
  34 #include "flight/pid.h"
  35
  36 #include "pg/rx.h"
  37 #include "pg/motor.h"
  38
  39 #include "rx/rx.h"
  40
  41 #ifdef BRUSHED_MOTORS_PWM_RATE
  42 #undef BRUSHED_MOTORS_PWM_RATE
  43 #endif
  44
  45 #define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
  46
  47 // alternative defaults settings for AlienFlight targets
  48 void targetConfiguration(void)
  49 {
  50     rxConfigMutable()->spektrum_sat_bind = 5;
  51     rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
  52
  53     if (getDetectedMotorType() == MOTOR_BRUSHED) {
  54         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  55     }
  56
  57     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
  58         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  59
  60         pidProfile->pid[PID_ROLL].P = 90;
  61         pidProfile->pid[PID_ROLL].I = 44;
  62         pidProfile->pid[PID_ROLL].D = 60;
  63         pidProfile->pid[PID_PITCH].P = 90;
  64         pidProfile->pid[PID_PITCH].I = 44;
  65         pidProfile->pid[PID_PITCH].D = 60;
  66     }
  67
  68     *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
  69     *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
  70     *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
  71     *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
  72     *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
  73     *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
  74     *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
  75     *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
  76 }
  77 #endif