src/main/target/FALCORE/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 <stdint.h>
  19 #include "platform.h"
  20 #include "config/feature.h"
  21 #include "drivers/pwm_output.h"
  22 #include "drivers/pwm_mapping.h"
  23 #include "blackbox/blackbox.h"
  24 #include "fc/config.h"
  25 #include "fc/controlrate_profile.h"
  26 #include "fc/rc_controls.h"
  27 #include "fc/rc_modes.h"
  28 #include "io/serial.h"
  29 #include "rx/rx.h"
  30 #include "sensors/sensors.h"
  31 #include "sensors/gyro.h"
  32 #include "sensors/acceleration.h"
  33 #include "sensors/barometer.h"
  34 #include "sensors/compass.h"
  35 #include "sensors/boardalignment.h"
  36 #include "flight/pid.h"
  37 #include "flight/mixer.h"
  38 #include "flight/servos.h"
  39 #include "flight/imu.h"
  40 #include "flight/failsafe.h"
  41 #include "navigation/navigation.h"
  42
  43
  44 void targetConfiguration(void)
  45 {
  46     mixerConfigMutable()->platformType = PLATFORM_MULTIROTOR;
  47
  48     featureSet(FEATURE_VBAT);
  49     featureSet(FEATURE_GPS);
  50     featureSet(FEATURE_TELEMETRY);
  51     featureSet(FEATURE_LED_STRIP);
  52     featureSet(FEATURE_BLACKBOX);
  53
  54     serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP;          // VCP
  55     serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_GPS;          // UART1
  56     serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;    // UART2
  57     serialConfigMutable()->portConfigs[3].functionMask = FUNCTION_NONE;         // UART4
  58     serialConfigMutable()->portConfigs[4].functionMask = FUNCTION_TELEMETRY_MAVLINK;    // UART5
  59
  60
  61     gyroConfigMutable()->looptime = 1000;
  62     gyroConfigMutable()->gyro_lpf = 0;              // 256 Hz
  63     gyroConfigMutable()->gyro_main_lpf_hz = 90;
  64
  65     accelerometerConfigMutable()->acc_hardware = ACC_MPU6500;
  66     accelerometerConfigMutable()->acc_lpf_hz = 15;
  67
  68     compassConfigMutable()->mag_hardware = MAG_HMC5883;
  69     compassConfigMutable()->mag_align = CW270_DEG_FLIP;
  70
  71     barometerConfigMutable()->baro_hardware = BARO_MS5607;
  72     barometerConfigMutable()->use_median_filtering = 1;
  73
  74     rxConfigMutable()->receiverType = RX_TYPE_SERIAL;
  75     rxConfigMutable()->serialrx_provider = SERIALRX_IBUS;
  76     rxConfigMutable()->mincheck = 1100;
  77     rxConfigMutable()->maxcheck = 1900;
  78
  79     blackboxConfigMutable()->rate_num = 1;
  80     blackboxConfigMutable()->rate_denom = 4;
  81
  82     motorConfigMutable()->maxthrottle = 2000;
  83     motorConfigMutable()->mincommand = 980;
  84     motorConfigMutable()->motorPwmRate = 2000;
  85     motorConfigMutable()->motorPwmProtocol = PWM_TYPE_ONESHOT125;
  86
  87     failsafeConfigMutable()->failsafe_delay = 5;
  88     failsafeConfigMutable()->failsafe_recovery_delay = 5;
  89     failsafeConfigMutable()->failsafe_off_delay = 200;
  90     currentBatteryProfile->failsafe_throttle = 1200;
  91     failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_RTH;
  92
  93     boardAlignmentMutable()->rollDeciDegrees = 0;
  94     boardAlignmentMutable()->pitchDeciDegrees = 165;
  95     boardAlignmentMutable()->yawDeciDegrees = 0;
  96
  97     imuConfigMutable()->small_angle = 30;
  98
  99     gpsConfigMutable()->provider = GPS_UBLOX;
 100     gpsConfigMutable()->sbasMode = SBAS_NONE;
 101     gpsConfigMutable()->dynModel = GPS_DYNMODEL_AIR_1G;
 102     gpsConfigMutable()->autoConfig = 1;
 103     gpsConfigMutable()->autoBaud = 1;
 104     gpsConfigMutable()->gpsMinSats = 7;
 105
 106     rcControlsConfigMutable()->deadband = 10;
 107     rcControlsConfigMutable()->yaw_deadband = 15;
 108
 109     navConfigMutable()->general.flags.disarm_on_landing = 1;
 110     navConfigMutable()->general.flags.use_thr_mid_for_althold = 1;
 111     navConfigMutable()->general.flags.extra_arming_safety = 1;
 112     navConfigMutable()->general.flags.rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS;
 113
 114     navConfigMutable()->general.max_auto_speed = 500;
 115     navConfigMutable()->general.max_auto_climb_rate = 200;
 116     navConfigMutable()->general.max_manual_speed = 500;
 117     navConfigMutable()->general.max_manual_climb_rate = 200;
 118     navConfigMutable()->general.rth_altitude = 1000;
 119
 120     navConfigMutable()->mc.max_bank_angle = 30;
 121     currentBatteryProfile->nav.mc.hover_throttle = 1500;
 122     navConfigMutable()->mc.auto_disarm_delay = 2000;
 123
 124     /*
 125     aux 0 0 0 1150 2100
 126     aux 1 2 0 1300 1700
 127     aux 2 20 0 1150 2100
 128     aux 3 3 3 1300 1700
 129     aux 4 9 3 1300 1700
 130     aux 5 8 3 1700 2100
 131     aux 6 19 1 1375 2100
 132     */
 133
 134     for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
 135         modeActivationConditionsMutable(index)->modeId = 0;
 136         modeActivationConditionsMutable(index)->auxChannelIndex = 0;
 137         modeActivationConditionsMutable(index)->range.startStep = 0;
 138         modeActivationConditionsMutable(index)->range.endStep = 0;
 139     }
 140
 141     configureModeActivationCondition(0, BOXARM,         0, 1150, 2100);
 142     configureModeActivationCondition(1, BOXANGLE,       0, 1300, 1700);
 143     configureModeActivationCondition(2, BOXNAVALTHOLD,  3, 1300, 1700);
 144     configureModeActivationCondition(3, BOXNAVPOSHOLD,  3, 1300, 1700);
 145     configureModeActivationCondition(4, BOXNAVRTH,      3, 1700, 2100);
 146     configureModeActivationCondition(5, BOXANGLE,       3, 1700, 2100);
 147
 148     // Rates and PIDs
 149     setConfigProfile(0);
 150     pidProfileMutable()->bank_mc.pid[PID_PITCH].P = 65;
 151     pidProfileMutable()->bank_mc.pid[PID_PITCH].I = 50;
 152     pidProfileMutable()->bank_mc.pid[PID_PITCH].D = 28;
 153     pidProfileMutable()->bank_mc.pid[PID_ROLL].P = 45;
 154     pidProfileMutable()->bank_mc.pid[PID_ROLL].I = 40;
 155     pidProfileMutable()->bank_mc.pid[PID_ROLL].D = 25;
 156     pidProfileMutable()->bank_mc.pid[PID_YAW].P = 90;
 157     pidProfileMutable()->bank_mc.pid[PID_YAW].I = 45;
 158     pidProfileMutable()->bank_mc.pid[PID_YAW].D = 0;
 159     pidProfileMutable()->bank_mc.pid[PID_LEVEL].P = 20;
 160     pidProfileMutable()->bank_mc.pid[PID_LEVEL].I = 10;
 161     pidProfileMutable()->bank_mc.pid[PID_LEVEL].D = 75;
 162
 163     pidProfileMutable()->max_angle_inclination[FD_ROLL] = 300;
 164     pidProfileMutable()->max_angle_inclination[FD_PITCH] = 300;
 165     pidProfileMutable()->dterm_lpf_hz = 70;
 166     pidProfileMutable()->yaw_lpf_hz = 35;
 167     pidProfileMutable()->pidSumLimit = 500;
 168     pidProfileMutable()->axisAccelerationLimitRollPitch = 0;
 169     pidProfileMutable()->axisAccelerationLimitYaw = 10000;
 170
 171     pidProfileMutable()->bank_mc.pid[PID_POS_Z].P = 50;
 172     pidProfileMutable()->bank_mc.pid[PID_POS_Z].I = 0;
 173     pidProfileMutable()->bank_mc.pid[PID_POS_Z].D = 0;
 174     pidProfileMutable()->bank_mc.pid[PID_VEL_Z].P = 100;
 175     pidProfileMutable()->bank_mc.pid[PID_VEL_Z].I = 50;
 176     pidProfileMutable()->bank_mc.pid[PID_VEL_Z].D = 10;
 177     pidProfileMutable()->bank_mc.pid[PID_POS_XY].P = 50;
 178     pidProfileMutable()->bank_mc.pid[PID_POS_XY].I = 100;
 179     pidProfileMutable()->bank_mc.pid[PID_POS_XY].D = 10;
 180     pidProfileMutable()->bank_mc.pid[PID_VEL_XY].P = 150;
 181     pidProfileMutable()->bank_mc.pid[PID_VEL_XY].I = 20;
 182     pidProfileMutable()->bank_mc.pid[PID_VEL_XY].D = 70;
 183
 184     ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcExpo8 = 60;
 185     ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = 35;
 186     ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[FD_ROLL] = 54;
 187     ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[FD_PITCH] = 54;
 188     ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[FD_YAW] = 36;
 189     ((controlRateConfig_t*)currentControlRateProfile)->throttle.rcMid8 = 50;
 190     ((controlRateConfig_t*)currentControlRateProfile)->throttle.rcExpo8 = 0;
 191     ((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = 10;
 192     ((controlRateConfig_t*)currentControlRateProfile)->throttle.pa_breakpoint = 1600;
 193
 194     beeperConfigMutable()->pwmMode = true;
 195 }