Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-21 15:25:36 +03:00
Code Issues Wiki Activity

Merge remote-tracking branch 'upstream/master' into lowpass

Browse source
This commit is contained in:
Joel Fuster 2015-01-31 10:47:39 -05:00
commit 4f0af41e79
122 changed files with 5252 additions and 1649 deletions
Download patch file Download diff file Expand all files Collapse all files

43
src/main/config/config.c
View file

@ -25,6 +25,8 @@
#include "common/color.h"
#include "common/axis.h"
#include "common/maths.h"
#include "flight/flight.h"
#include "drivers/sensor.h"
@ -108,7 +110,7 @@ profile_t *currentProfile;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 88;
static const uint8_t EEPROM_CONF_VERSION = 91;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -119,6 +121,8 @@ static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
static void resetPidProfile(pidProfile_t *pidProfile)
{
pidProfile->pidController = 0;
pidProfile->P8[ROLL] = 40;
pidProfile->I8[ROLL] = 30;
pidProfile->D8[ROLL] = 23;
@ -159,6 +163,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D_f[YAW] = 0.05f;
pidProfile->A_level = 5.0f;
pidProfile->H_level = 3.0f;
pidProfile->H_sensitivity = 75;
}
#ifdef GPS
@ -194,6 +199,7 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
escAndServoConfig->minthrottle = 1150;
escAndServoConfig->maxthrottle = 1850;
escAndServoConfig->mincommand = 1000;
escAndServoConfig->servoCenterPulse = 1500;
}
void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
@ -224,7 +230,7 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
batteryConfig->currentMeterOffset = 0;
batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
batteryConfig->batteryCapacity = 0;
batteryConfig->currentMeterType = CURRENT_SENSOR_ADC;
}
void resetSerialConfig(serialConfig_t *serialConfig)
@ -382,7 +388,6 @@ static void resetConf(void)
masterConfig.looptime = 3500;
masterConfig.emf_avoidance = 0;
currentProfile->pidController = 0;
resetPidProfile(&currentProfile->pidProfile);
resetControlRateConfig(&masterConfig.controlRateProfiles[0]);
@ -452,20 +457,33 @@ static void resetConf(void)
masterConfig.blackbox_rate_denom = 1;
#endif
// alternative defaults AlienWii32 (activate via OPTIONS="ALIENWII32" during make for NAZE target)
// alternative defaults settings for ALIENWIIF1 and ALIENWIIF3 targets
#ifdef ALIENWII32
featureSet(FEATURE_RX_SERIAL);
featureSet(FEATURE_MOTOR_STOP);
featureSet(FEATURE_FAILSAFE);
featureClear(FEATURE_VBAT);
#ifdef ALIENWIIF3
masterConfig.serialConfig.serial_port_scenario[2] = lookupScenarioIndex(SCENARIO_SERIAL_RX_ONLY);
#else
masterConfig.serialConfig.serial_port_scenario[1] = lookupScenarioIndex(SCENARIO_SERIAL_RX_ONLY);
#endif
masterConfig.rxConfig.serialrx_provider = 1;
masterConfig.rxConfig.spektrum_sat_bind = 5;
masterConfig.escAndServoConfig.minthrottle = 1000;
masterConfig.escAndServoConfig.maxthrottle = 2000;
masterConfig.motor_pwm_rate = 32000;
masterConfig.looptime = 2000;
currentProfile->pidProfile.pidController = 3;
currentProfile->pidProfile.P8[ROLL] = 36;
currentProfile->pidProfile.P8[PITCH] = 36;
currentProfile->failsafeConfig.failsafe_delay = 2;
currentProfile->failsafeConfig.failsafe_off_delay = 0;
currentProfile->failsafeConfig.failsafe_throttle = 1000;
currentControlRateProfile->rcRate8 = 130;
currentControlRateProfile->rollPitchRate = 20;
currentControlRateProfile->yawRate = 60;
currentControlRateProfile->yawRate = 100;
parseRcChannels("TAER1234", &masterConfig.rxConfig);
// { 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R
@ -588,7 +606,7 @@ void activateConfig(void)
useTelemetryConfig(&masterConfig.telemetryConfig);
#endif
setPIDController(currentProfile->pidController);
setPIDController(currentProfile->pidProfile.pidController);
#ifdef GPS
gpsUseProfile(&currentProfile->gpsProfile);
@ -614,10 +632,12 @@ void activateConfig(void)
imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
imuRuntimeConfig.small_angle = masterConfig.small_angle;
configureImu(
configureIMU(
&imuRuntimeConfig,
&currentProfile->pidProfile,
&currentProfile->accDeadband
&currentProfile->accDeadband,
currentProfile->accz_lpf_cutoff,
currentProfile->throttle_correction_angle
);
configureAltitudeHold(
@ -627,9 +647,6 @@ void activateConfig(void)
&masterConfig.escAndServoConfig
);
calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);
#ifdef BARO
useBarometerConfig(&currentProfile->barometerConfig);
#endif
@ -705,6 +722,12 @@ void validateAndFixConfig(void)
}
#endif
#if defined(CC3D) && defined(DISPLAY) && defined(USE_USART3)
if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DISPLAY)) {
featureClear(FEATURE_DISPLAY);
}
#endif
useRxConfig(&masterConfig.rxConfig);
serialConfig_t *serialConfig = &masterConfig.serialConfig;