src/main/target/SPRACINGF3EVO/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 "platform.h"
  22
  23 #ifdef USE_TARGET_CONFIG
  24
  25 #include "common/axis.h"
  26
  27 #include "flight/pid.h"
  28
  29 #include "pg/sdcard.h"
  30 #include "pg/motor.h"
  31
  32
  33 #if defined(SPRACINGF3MQ)
  34 #ifdef BRUSHED_MOTORS_PWM_RATE
  35 #undef BRUSHED_MOTORS_PWM_RATE
  36 #endif
  37
  38 #define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
  39 #endif
  40
  41 void targetConfiguration(void)
  42 {
  43     // Temporary workaround: Disable SDCard DMA by default since it causes errors on this target
  44
  45 #if defined(SPRACINGF3MQ)
  46
  47     motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  48
  49     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
  50         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  51
  52         pidProfile->pid[FD_ROLL].P = 90;
  53         pidProfile->pid[FD_ROLL].I = 44;
  54         pidProfile->pid[FD_ROLL].D = 60;
  55         pidProfile->pid[FD_PITCH].P = 90;
  56         pidProfile->pid[FD_PITCH].I = 44;
  57         pidProfile->pid[FD_PITCH].D = 60;
  58     }
  59 #endif
  60 }
  61 #endif