src/main/target/ALIENFLIGHTF4/config.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include <platform.h>
  22
  23 #include "common/axis.h"
  24
  25 #include "config/config_master.h"
  26 #include "config/feature.h"
  27
  28 #include "drivers/sensor.h"
  29 #include "drivers/pwm_esc_detect.h"
  30 #include "drivers/pwm_mapping.h"
  31 #include "drivers/pwm_output.h"
  32 #include "drivers/serial.h"
  33
  34 #include "fc/rc_controls.h"
  35
  36 #include "flight/failsafe.h"
  37 #include "flight/mixer.h"
  38 #include "flight/pid.h"
  39
  40 #include "hardware_revision.h"
  41
  42 #include "rx/rx.h"
  43
  44 #include "io/serial.h"
  45
  46 #include "sensors/battery.h"
  47 #include "sensors/sensors.h"
  48 #include "sensors/compass.h"
  49
  50 #include "telemetry/telemetry.h"
  51
  52 #define CURRENTOFFSET 2500                      // ACS712/714-30A - 0A = 2.5V
  53 #define CURRENTSCALE -667                       // ACS712/714-30A - 66.666 mV/A inverted mode
  54
  55 #define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
  56
  57 // alternative defaults settings for AlienFlight targets
  58 void targetConfiguration(void)
  59 {
  60     compassConfigMutable()->mag_align = CW90_DEG;
  61
  62     serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
  63     batteryMetersConfigMutable()->current.offset = CURRENTOFFSET;
  64     batteryMetersConfigMutable()->current.scale = CURRENTSCALE;
  65
  66     if (hardwareMotorType == MOTOR_BRUSHED) {
  67         motorConfigMutable()->motorPwmProtocol = PWM_TYPE_BRUSHED;
  68         motorConfigMutable()->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  69     }
  70     if (hardwareRevision == AFF4_REV_1) {
  71         rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
  72         rxConfigMutable()->spektrum_sat_bind = 5;
  73         rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
  74     } else {
  75         rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
  76         serialConfigMutable()->portConfigs[3].functionMask = FUNCTION_TELEMETRY_FRSKY;
  77         featureConfigMutable()->enabledFeatures |= (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY);
  78     }
  79
  80     pidProfileMutable()->bank_mc.pid[ROLL].P = 53;
  81     pidProfileMutable()->bank_mc.pid[ROLL].I = 45;
  82     pidProfileMutable()->bank_mc.pid[ROLL].D = 52;
  83     pidProfileMutable()->bank_mc.pid[PITCH].P = 53;
  84     pidProfileMutable()->bank_mc.pid[PITCH].I = 45;
  85     pidProfileMutable()->bank_mc.pid[PITCH].D = 52;
  86     pidProfileMutable()->bank_mc.pid[YAW].P = 64;
  87     pidProfileMutable()->bank_mc.pid[YAW].D = 18;
  88
  89     *primaryMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
  90     *primaryMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
  91     *primaryMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
  92     *primaryMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
  93     *primaryMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
  94     *primaryMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
  95     *primaryMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
  96     *primaryMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
  97 }