src/main/target/YUPIF4/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 #include <platform.h>
  21
  22 #include "config/feature.h"
  23 #include "drivers/pwm_output.h"
  24 #include "blackbox/blackbox.h"
  25 #include "fc/config.h"
  26 #include "fc/controlrate_profile.h"
  27 #include "fc/rc_controls.h"
  28 #include "fc/rc_modes.h"
  29 #include "io/serial.h"
  30 #include "rx/rx.h"
  31 #include "sensors/sensors.h"
  32 #include "sensors/gyro.h"
  33 #include "sensors/acceleration.h"
  34 #include "sensors/barometer.h"
  35 #include "sensors/compass.h"
  36 #include "sensors/boardalignment.h"
  37 #include "flight/pid.h"
  38 #include "flight/mixer.h"
  39 #include "flight/servos.h"
  40 #include "flight/imu.h"
  41 #include "flight/failsafe.h"
  42 #include "drivers/sound_beeper.h"
  43 #include "navigation/navigation.h"
  44
  45 void targetConfiguration(void)
  46 {
  47     /* Specific PID values for YupiF4 */
  48     setConfigProfile(0);
  49     pidProfileMutable()->bank_mc.pid[PID_ROLL].P = 30;
  50     pidProfileMutable()->bank_mc.pid[PID_ROLL].I = 45;
  51     pidProfileMutable()->bank_mc.pid[PID_ROLL].D = 20;
  52     pidProfileMutable()->bank_mc.pid[PID_PITCH].P = 30;
  53     pidProfileMutable()->bank_mc.pid[PID_PITCH].I = 50;
  54     pidProfileMutable()->bank_mc.pid[PID_PITCH].D = 20;
  55     pidProfileMutable()->bank_mc.pid[PID_YAW].P = 40;
  56     pidProfileMutable()->bank_mc.pid[PID_YAW].I = 50;
  57     pidProfileMutable()->bank_mc.pid[PID_YAW].D = 0;
  58     pidProfileMutable()->bank_mc.pid[PID_LEVEL].P = 20;
  59     pidProfileMutable()->bank_mc.pid[PID_LEVEL].I = 10;
  60     pidProfileMutable()->bank_mc.pid[PID_LEVEL].D = 75;
  61
  62     beeperConfigMutable()->pwmMode = true;
  63 }