src/main/target/FF_PIKOBLX/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 <stdint.h>
  22 #include <stdbool.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef USE_TARGET_CONFIG
  27 #include "common/axis.h"
  28
  29 #include "config/feature.h"
  30
  31 #include "drivers/pwm_esc_detect.h"
  32
  33 #include "config/config.h"
  34 #include "fc/controlrate_profile.h"
  35
  36 #include "flight/pid.h"
  37
  38 #include "pg/rx.h"
  39 #include "pg/motor.h"
  40
  41 #include "rx/rx.h"
  42
  43 #include "io/serial.h"
  44
  45 #include "telemetry/telemetry.h"
  46
  47 #include "sensors/battery.h"
  48
  49 #ifdef BRUSHED_MOTORS_PWM_RATE
  50 #undef BRUSHED_MOTORS_PWM_RATE
  51 #endif
  52
  53 #define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
  54
  55 void targetConfiguration(void)
  56 {
  57     if (getDetectedMotorType() == MOTOR_BRUSHED) {
  58         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  59         motorConfigMutable()->minthrottle = 1049;
  60
  61 #if defined(FF_ACROWHOOPSP)
  62         rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
  63         rxConfigMutable()->spektrum_sat_bind = 5;
  64         rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
  65 #else
  66         serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB;
  67         rxConfigMutable()->serialrx_inverted = true;
  68         featureConfigSet(FEATURE_TELEMETRY);
  69 #endif
  70         parseRcChannels("TAER1234", rxConfigMutable());
  71
  72         for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
  73             pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  74
  75             pidProfile->pid[PID_ROLL].P = 80;
  76             pidProfile->pid[PID_ROLL].I = 37;
  77             pidProfile->pid[PID_ROLL].D = 35;
  78             pidProfile->pid[PID_PITCH].P = 100;
  79             pidProfile->pid[PID_PITCH].I = 37;
  80             pidProfile->pid[PID_PITCH].D = 35;
  81             pidProfile->pid[PID_YAW].P = 180;
  82             pidProfile->pid[PID_YAW].D = 45;
  83         }
  84
  85         for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
  86             controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
  87
  88             controlRateConfig->rcRates[FD_ROLL] = 100;
  89             controlRateConfig->rcRates[FD_PITCH] = 100;
  90             controlRateConfig->rcRates[FD_YAW] = 100;
  91             controlRateConfig->rcExpo[FD_ROLL] = 15;
  92             controlRateConfig->rcExpo[FD_PITCH] = 15;
  93             controlRateConfig->rcExpo[FD_YAW] = 15;
  94             controlRateConfig->rates[PID_ROLL] = 80;
  95             controlRateConfig->rates[PID_PITCH] = 80;
  96             controlRateConfig->rates[PID_YAW] = 80;
  97         }
  98     }
  99 }
 100 #endif