src/main/target/YUPIF4/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 #include "blackbox/blackbox.h"
  28
  29 #include "flight/pid.h"
  30
  31 #include "pg/adc.h"
  32 #include "pg/beeper_dev.h"
  33
  34 #include "telemetry/telemetry.h"
  35
  36 #include "hardware_revision.h"
  37
  38 // BEEPER_OPT will be handled by post-flash configuration
  39 #define BEEPER_OPT              PB14
  40
  41 // alternative defaults settings for YuPiF4 targets
  42 void targetConfiguration(void)
  43 {
  44     /* Changes depending on versions */
  45     if (hardwareRevision == YUPIF4_RACE3) {
  46             beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
  47             telemetryConfigMutable()->halfDuplex = false;
  48
  49     } else if (hardwareRevision == YUPIF4_RACE2) {
  50         beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
  51
  52     } else if (hardwareRevision == YUPIF4_MINI) {
  53         beeperDevConfigMutable()->frequency = 0;
  54         blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
  55         adcConfigMutable()->current.enabled = 0;
  56
  57     } else if (hardwareRevision == YUPIF4_NAV) {
  58         beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
  59
  60     } else {
  61         adcConfigMutable()->current.enabled = 0;
  62     }
  63
  64     /* Specific PID values for YupiF4 */
  65     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
  66         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  67
  68         pidProfile->pid[PID_ROLL].P = 30;
  69         pidProfile->pid[PID_ROLL].I = 45;
  70         pidProfile->pid[PID_ROLL].D = 20;
  71         pidProfile->pid[PID_PITCH].P = 30;
  72         pidProfile->pid[PID_PITCH].I = 50;
  73         pidProfile->pid[PID_PITCH].D = 20;
  74         pidProfile->pid[PID_YAW].P = 40;
  75         pidProfile->pid[PID_YAW].I = 50;
  76     }
  77 }
  78 #endif