From 1eee37221802ff6aa850b74e5d45f5965cd03440 Mon Sep 17 00:00:00 2001
From: "brucesdad13@gmail.com" <brucesdad13@gmail.com>
Date: Wed, 30 Aug 2017 04:03:39 -0400
Subject: [PATCH] * Created ALIENWHOOP (ALIENWHOOPF4 and ALIENWHOOPF7) target
 specific PIDs, rates, and other settings for optimal performance in config.c

---
 src/main/target/ALIENWHOOP/config.c | 77 ++++++++++++++++++++++++++---
 1 file changed, 70 insertions(+), 7 deletions(-)

diff --git a/src/main/target/ALIENWHOOP/config.c b/src/main/target/ALIENWHOOP/config.c
index 905b61c268..c52de76d88 100644
--- a/src/main/target/ALIENWHOOP/config.c
+++ b/src/main/target/ALIENWHOOP/config.c
@@ -39,16 +39,22 @@
 
 #ifdef TARGET_CONFIG
 
+#include "fc/rc_modes.h"
 #include "common/axis.h"
 #include "config/feature.h"
 #include "drivers/pwm_esc_detect.h"
+#include "fc/config.h"
+#include "fc/controlrate_profile.h"
+#include "fc/rc_controls.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
+#include "io/beeper.h"
 #include "io/serial.h"
 #include "rx/rx.h"
 #include "sensors/barometer.h"
 #include "sensors/boardalignment.h"
 #include "sensors/compass.h"
+#include "sensors/gyro.h"
 
 #ifdef BRUSHED_MOTORS_PWM_RATE
 #undef BRUSHED_MOTORS_PWM_RATE
@@ -59,27 +65,84 @@
 
 void targetConfiguration(void)
 {
-    if (hardwareMotorType == MOTOR_BRUSHED) {
+    if (hardwareMotorType == MOTOR_BRUSHED) 
+    {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
-    motorConfigMutable()->minthrottle = 1080;
-    motorConfigMutable()->maxthrottle = 2000;
-        pidConfigMutable()->pid_process_denom = 1;
+        motorConfigMutable()->minthrottle = 1080;
+        motorConfigMutable()->maxthrottle = 2000;
     }
 
-    rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
+    /* Default to Spektrum */
+    rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
+    rxConfigMutable()->spektrum_sat_bind = 5;
+    rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
+    parseRcChannels("TAER1234", rxConfigMutable());
 #if defined(ALIENWHOOPF4)
     rxConfigMutable()->sbus_inversion = 0; // TODO: what to do about F4 inversion?
 #else
     rxConfigMutable()->sbus_inversion = 1; // invert on F7
 #endif
 
-/* Breadboard-specific settings for development purposes only
- */
+    beeperOffSet((BEEPER_BAT_CRIT_LOW | BEEPER_BAT_LOW | BEEPER_RX_SET) ^ BEEPER_GYRO_CALIBRATED);
+
+    /* Breadboard-specific settings for development purposes only
+     */
 #if defined(BREADBOARD)
     boardAlignmentMutable()->pitchDegrees = 90; // vertical breakout board
     barometerConfigMutable()->baro_hardware = BARO_DEFAULT; // still testing not on V1 or V2 pcb
+#else
+    barometerConfigMutable()->baro_hardware = BARO_NONE;
 #endif
 
     compassConfigMutable()->mag_hardware =  MAG_DEFAULT;
+
+    /* F4 (especially overclocked) and F7 ALIENWHOOP perform splendidly with 32kHz gyro enabled */
+    gyroConfigMutable()->gyro_use_32khz = 1;
+    gyroConfigMutable()->gyro_sync_denom = 2;  // 16kHz gyro
+    pidConfigMutable()->pid_process_denom = 1; // 16kHz PID
+
+    featureSet((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
+
+    /* AlienWhoop PIDs based on Ole Gravy Leg (aka Matt Williamson's) PIDs 
+     */
+    for (int profileId = 0; profileId < MAX_PROFILE_COUNT; profileId++) 
+    {
+        /* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
+        pidProfilesMutable(profileId)->pid[PID_PITCH].P = 75;
+        pidProfilesMutable(profileId)->pid[PID_PITCH].I = 36;
+        pidProfilesMutable(profileId)->pid[PID_PITCH].D = 25;
+        pidProfilesMutable(profileId)->pid[PID_ROLL].P = 75;
+        pidProfilesMutable(profileId)->pid[PID_ROLL].I = 36;
+        pidProfilesMutable(profileId)->pid[PID_ROLL].D = 25;
+        pidProfilesMutable(profileId)->pid[PID_YAW].P = 70;
+        pidProfilesMutable(profileId)->pid[PID_YAW].I = 36;
+
+        pidProfilesMutable(profileId)->pid[PID_LEVEL].P = 30;
+        pidProfilesMutable(profileId)->pid[PID_LEVEL].D = 30;
+
+        /* Setpoints */
+        pidProfilesMutable(profileId)->dtermSetpointWeight = 100;
+        pidProfilesMutable(profileId)->setpointRelaxRatio = 100; // default to snappy for racers
+
+        /* Throttle PID Attenuation (TPA) */
+        pidProfilesMutable(profileId)->itermThrottleThreshold = 400;
+    }
+
+    for (int rateProfileId = 0; rateProfileId < CONTROL_RATE_PROFILE_COUNT; rateProfileId++) 
+    {
+        /* RC Rates */
+        controlRateProfilesMutable(rateProfileId)->rcRate8 = 100;
+        controlRateProfilesMutable(rateProfileId)->rcYawRate8 = 100;
+        controlRateProfilesMutable(rateProfileId)->rcExpo8 = 0;
+
+        /* Super Expo Rates */
+        controlRateProfilesMutable(rateProfileId)->rates[FD_ROLL] = 80;
+        controlRateProfilesMutable(rateProfileId)->rates[FD_PITCH] = 80;
+        controlRateProfilesMutable(rateProfileId)->rates[FD_YAW] = 85;
+
+        /* Throttle PID Attenuation (TPA) */
+        controlRateProfilesMutable(rateProfileId)->dynThrPID = 0; // tpa_rate off
+        controlRateProfilesMutable(rateProfileId)->tpa_breakpoint = 1600;
+    }
 }
 #endif