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* Created ALIENWHOOP (ALIENWHOOPF4 and ALIENWHOOPF7) target specific PIDs, rates, and other settings for optimal performance in config.c

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brucesdad13@gmail.com 2017-08-30 04:03:39 -04:00
parent e4e16af5ef
commit 1eee372218
1 changed files with 70 additions and 7 deletions
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69
src/main/target/ALIENWHOOP/config.c
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@ -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;
}
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
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