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Code Issues Wiki Activity

Fix Mercury G4 and fix TODO for PID_PROCESS_DENOM for all targets (#12611)

Browse source 
* Fix Mercury G4

* Changes after #12632

* Fix TODO for PID_PROCESS_DENOM
This commit is contained in:
Mark Haslinghuis 2023-04-10 20:52:00 +02:00 • committed by GitHub
parent 79d9b05827
commit 567d3dd2e5
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GPG key ID: 4AEE18F83AFDEB23
33 changed files with 73 additions and 178 deletions
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2
src/config/CLRACINGF4/config.h
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@ -101,7 +101,7 @@
#define SYSTEM_HSE_MHZ 8
#define MAX7456_SPI_INSTANCE SPI3
#define FLASH_SPI_INSTANCE SPI3
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define USE_SPI_GYRO
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW0_DEG

2
src/config/CLRACINGF7/config.h
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@ -117,7 +117,7 @@
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 250
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SDCARD_DETECT_INVERTED
#define USE_SDCARD_SPI
#define SDCARD_SPI_INSTANCE SPI2

2
src/config/ELINF405/config.h
View file

@ -97,7 +97,7 @@
//TODO #define MOTOR_PWM_PROTOCOL DSHOT600
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
//TODO #define OSD_WARN_CORE_TEMP OFF
//TODO #define OSD_WARN_RC_SMOOTHING OFF
//TODO #define OSD_WARN_FAIL_SAFE OFF

2
src/config/ELINF722/config.h
View file

@ -94,7 +94,7 @@
//TODO #define MOTOR_PWM_PROTOCOL DSHOT600
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
//TODO #define OSD_WARN_CORE_TEMP OFF
//TODO #define OSD_WARN_RC_SMOOTHING OFF
//TODO #define OSD_WARN_FAIL_SAFE OFF

2
src/config/FLYCOLORF7/config.h
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@ -110,7 +110,7 @@
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 170
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 4
#define DEFAULT_PID_PROCESS_DENOM 4
#define MAX7456_SPI_INSTANCE SPI2
#define PINIO1_BOX 40
#define PINIO2_BOX 41

2
src/config/HYBRIDG4/config.h
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@ -85,7 +85,7 @@
#define MAX7456_SPI_INSTANCE SPI2
//TODO #define LED_INVERSION 1
#define FLASH_SPI_INSTANCE SPI3
//TODO #define PID_PROCESS_DENOM 2
#define DEFAULT_PID_PROCESS_DENOM 2
#define USE_SPI_GYRO
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN_YAW 2700

2
src/config/IFLIGHT_F405_AIO/config.h
View file

@ -91,7 +91,7 @@
//TODO #define MOTOR_PWM_PROTOCOL DSHOT600
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SYSTEM_HSE_MHZ 8
#define MAX7456_SPI_INSTANCE SPI2
#define DASHBOARD_I2C_INSTANCE (I2CDEV_1)

2
src/config/IFLIGHT_F405_TWING/config.h
View file

@ -103,7 +103,7 @@
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 100
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SYSTEM_HSE_MHZ 8
#define MAX7456_SPI_INSTANCE SPI2
#define DASHBOARD_I2C_INSTANCE (I2CDEV_1)

2
src/config/IFLIGHT_SUCCEX_E_F4/config.h
View file

@ -93,7 +93,7 @@
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 100
#define DEFAULT_CURRENT_METER_OFFSET -700
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SYSTEM_HSE_MHZ 8
#define MAX7456_SPI_INSTANCE SPI2
#define DASHBOARD_I2C_INSTANCE (I2CDEV_1)

2
src/config/MAMBAG4/config.h
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@ -88,7 +88,7 @@
#define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
//TODO #define PID_PROCESS_DENOM 2
#define DEFAULT_PID_PROCESS_DENOM 2
#define MAX7456_SPI_INSTANCE SPI2
#define FLASH_SPI_INSTANCE SPI2
#define USE_SPI_GYRO

178
src/config/MERCURYG4/config.h
View file

@ -36,125 +36,66 @@
#define USE_FLASH_M25P16
#define BEEPER_PIN PA10
#define MOTOR1_PIN PC6
#define MOTOR2_PIN PA4
#define MOTOR3_PIN PB0
#define MOTOR4_PIN PB1
#define UART1_TX_PIN PB6
#define UART1_RX_PIN PB7
// UART 2: ELRS receiver
#define UART2_TX_PIN PB3
#define UART2_RX_PIN PB4
#define UART3_TX_PIN PB10
#define UART3_RX_PIN PB11
// UART 4: OSD
#define UART4_TX_PIN PC10
#define UART4_RX_PIN PC11
// LPUART 1:
#define UART9_TX_PIN PA2
#define UART1_RX_PIN PB7
#define UART2_RX_PIN PB4
#define UART3_RX_PIN PB11
#define UART4_RX_PIN PC11
#define UART9_RX_PIN PA3
// I2C
#define I2C1_SCL_PIN PA15
#define I2C1_SDA_PIN PB9
// I2C2: Barometer
#define I2C2_SCL_PIN PA9
#define I2C2_SDA_PIN PA8
#define BARO_I2C_INSTANCE (I2CDEV_2)
// TODO #define LED0_PIN
// TODO #define LED1_PIN
#define ADC_VBAT_PIN PA1 // ADC2 in 2
#define ADC_CURR_PIN PB2 // ADC2 in 12
#define SPI1_SCK_PIN PA5
#define SPI2_SCK_PIN PB13
#define SPI1_SDI_PIN PA6
#define SPI2_SDI_PIN PB14
#define SPI1_SDO_PIN PA7
#define SPI2_SDO_PIN PB15
#define ADC_VBAT_PIN PA1
#define ADC_CURR_PIN PB2
#define FLASH_CS_PIN PA0
#define FLASH_SPI_INSTANCE SPI2
#define GYRO_1_EXTI_PIN PC13
#define GYRO_1_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW90_DEG
#define GYRO_1_ALIGN_YAW 1800
// SPI 1: IMU
#define SPI_SCK1_PIN PA5
#define SPI_MISO1_PIN PA6
#define SPI_MOSI1_PIN PA7
// SPI 2: Blackbox flash
#define SPI_SCK2_PIN PB13
#define SPI_MISO2_PIN PB14
#define SPI_MOSI2_PIN PB15
/*
# We don't use ADC 1 directly, but it is mandatory to assign it, since
# the MCU's temperature sensor, and VDDA measurement are on ADC1.
dma ADC 1 6
dma ADC 2 7
dma SPI_MOSI 1 8
dma SPI_MISO 1 9
dma SPI_MOSI 2 10
dma SPI_MISO 2 11
# Motors and timer pins for burst DMA DSHOT
timer C06 AF2 # Tim3 ch1
timer A04 AF2 # Tim3 ch2
timer B00 AF2 # Tim3 ch3
timer B01 AF2 # Tim3 ch4
resource MOTOR 1 C06
resource MOTOR 2 A04
resource MOTOR 3 B00
resource MOTOR 4 B01
timer A10 AF10 # Beeper: Tim2 ch4
resource BEEPER 1 A10
*/
#define TIMER_PIN_MAPPING TIMER_PIN_MAP( 0, BEEPER_PIN , 2, -1) \
TIMER_PIN_MAP( 1, MOTOR1_PIN , 1, -1) \
#define TIMER_PIN_MAPPING TIMER_PIN_MAP( 1, MOTOR1_PIN , 1, -1) \
TIMER_PIN_MAP( 2, MOTOR2_PIN , 1, -1) \
TIMER_PIN_MAP( 3, MOTOR3_PIN , 1, -1) \
TIMER_PIN_MAP( 4, MOTOR4_PIN , 1, -1)
TIMER_PIN_MAP( 4, MOTOR4_PIN , 1, -1) \
TIMER_PIN_MAP( 0, BEEPER_PIN , 2, -1)
#define ADC_INSTANCE ADC1
#define ADC1_DMA_OPT 0
#define ADC2_DMA_OPT 0
#define ADC_INSTANCE ADC2
#define SPI1_TX_DMA_OPT 0
#define SPI1_RX_DMA_OPT 0
#define SPI2_TX_DMA_OPT 0
#define SPI2_RX_DMA_OPT 0
#define ADC1_DMA_OPT 6
#define ADC2_DMA_OPT 7
#define UART1_TX_DMA_OPT 0
#define UART1_RX_DMA_OPT 0
#define UART2_TX_DMA_OPT 0
#define UART2_RX_DMA_OPT 0
#define UART3_TX_DMA_OPT 0
#define UART3_RX_DMA_OPT 0
#define UART4_TX_DMA_OPT 0
#define UART4_RX_DMA_OPT 0
#define UART5_TX_DMA_OPT 0
#define UART5_RX_DMA_OPT 0
#define SPI1_TX_DMA_OPT 8
#define SPI1_RX_DMA_OPT 9
#define SPI2_TX_DMA_OPT 10
#define SPI2_RX_DMA_OPT 11
#define BARO_I2C_INSTANCE (I2CDEV_2)
#define FLASH_SPI_INSTANCE SPI2
#define GYRO_1_SPI_INSTANCE SPI1
#define BEEPER_INVERTED
#define SYSTEM_HSE_MHZ 16
#define PID_PROCESS_DENOM 2
#define DEFAULT_PID_PROCESS_DENOM 2
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_CRSF
#define SERIALRX_UART SERIAL_PORT_USART2
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
@ -162,60 +103,13 @@ resource BEEPER 1 A10
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 118
/*
#define DEFAULT_BARO_I2C_ADDRESS 119
#define USE_I2C_PULLUP
# Barometer
set baro_hardware = DPS310
set baro_i2c_address = 119 # 0x77
set i2c2_clockspeed_khz = 400
set i2c2_pullup = ON # No hardware PUs are present.
set mco_on_pa8 = OFF
#define GYRO_1_ALIGN CW90_DEG
#define GYRO_1_ALIGN_YAW 1800
# ADC
set adc_device = 2
set vbat_divider = 5
set vbat_multiplier = 2
# Control Rx
set serialrx_provider = CRSF
# For RSSI on the OSD, use AUX11/ch15 for Link Quality Indictaor, or AUX12/ch16 for RSSI dBm
set rssi_channel = 15
# Motors and timer pins for burst DMA DSHOT
timer PC6 AF2 # Tim3 ch1
timer PA4 AF2 # Tim3 ch2
timer PB0 AF2 # Tim3 ch3
timer PB1 AF2 # Tim3 ch4
timer PA10 AF10 # Beeper: Tim2 ch4
# DMA
# Assign DMA channels explicitly. Leaving the default assignments triggers
# system failures indicated by the attitude indication responding strangely
# on the `Setup` page.
# We don't use ADC 1 directly, but it is mandatory to assign it, since
# the MCU's temperature sensor, and VDDA measurement are on ADC1.
dma ADC 1 6
dma ADC 2 7
dma SPI_MOSI 1 8
dma SPI_MISO 1 9
dma SPI_MOSI 2 10
dma SPI_MISO 2 11
# Features
feature TELEMETRY
feature OSD
feature RX_SERIAL # For the built-en ELRS receiver, via CRSF.
# Configure UART4 for digital (MSP Displayport) OSD.
serial 3 1 115200 57600 0 115200
# Configure UART2 for the built-in ELRS receiver, via CRSF.
serial 1 64 115200 57600 0 115200
# Master
set system_hse_mhz = 16
# 4kHz PID loop frequency.
set pid_process_denom = 2
*/
//TODO set rssi_channel = 15
//TODO set dshot_bitbang = ON
//TODO set vbat_divider = 5
//TODO set vbat_multiplier = 2

2
src/config/NBD_INFINITYF4/config.h
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@ -85,7 +85,7 @@
#define DEFAULT_CURRENT_METER_SCALE 245
#define BEEPER_PWM_HZ 1000
//TODO #define YAW_MOTORS_REVERSED ON
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
//TODO #define OSD_VBAT_POS 2388
//TODO #define OSD_TIM_2_POS 2370
//TODO #define OSD_VTX_CHANNEL_POS 2403

2
src/config/NEUTRONRCG4AIO/config.h
View file

@ -99,7 +99,7 @@
#define MAX7456_SPI_INSTANCE SPI2
//TODO #define LED_INVERSION 1
#define FLASH_SPI_INSTANCE SPI3
//TODO #define PID_PROCESS_DENOM 2
#define DEFAULT_PID_PROCESS_DENOM 2
#define USE_SPI_GYRO
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW270_DEG

2
src/config/OMNIBUSF4NANOV7/config.h
View file

@ -88,7 +88,7 @@
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 179
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define MAX7456_SPI_INSTANCE SPI2
#define FLASH_SPI_INSTANCE SPI1
#define USE_SPI_GYRO

2
src/config/OMNIBUSF7NANOV7/config.h
View file

@ -85,7 +85,7 @@
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 179
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define MAX7456_SPI_INSTANCE SPI2
#define FLASH_SPI_INSTANCE SPI1
#define USE_SPI_GYRO

2
src/config/PYRODRONEF4/config.h
View file

@ -83,7 +83,7 @@
#define DEFAULT_VOLTAGE_METER_SCALE 160
#define DEFAULT_CURRENT_METER_SCALE 150
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SYSTEM_HSE_MHZ 8
#define MAX7456_SPI_INSTANCE SPI2
#define PINIO1_BOX 40

2
src/config/PYRODRONEF4PDB/config.h
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@ -96,7 +96,7 @@
#define DEFAULT_VOLTAGE_METER_SCALE 160
#define DEFAULT_CURRENT_METER_SCALE 250
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SYSTEM_HSE_MHZ 8
#define PINIO1_BOX 40
#define PINIO2_BOX 41

2
src/config/PYRODRONEF7/config.h
View file

@ -107,7 +107,7 @@
#define DEFAULT_CURRENT_METER_SCALE 250
#define DEFAULT_VOLTAGE_METER_SCALE 160
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define MAX7456_SPI_INSTANCE SPI3
#define FLASH_SPI_INSTANCE SPI2
#define USE_SPI_GYRO

2
src/config/SIRMIXALOT/config.h
View file

@ -92,7 +92,7 @@
#define DEFAULT_VOLTAGE_METER_SCALE 80
#define DEFAULT_CURRENT_METER_SCALE 210
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
//TODO #define LEDSTRIP_VISUAL_BEEPER ON
//TODO #define OSD_VBAT_POS 2403
//TODO #define OSD_RSSI_POS 2436

2
src/config/SKYSTARSF7HDPRO/config.h
View file

@ -106,7 +106,7 @@
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 290
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
//TODO #define OSD_RSSI_POS 2445
//TODO #define OSD_TIM_2_POS 2133
//TODO #define OSD_CROSSHAIRS_POS 2285

2
src/config/SPEEDYBEEF7/config.h
View file

@ -112,7 +112,7 @@
#define DEFAULT_CURRENT_METER_SCALE 102
#define BEEPER_INVERTED
//TODO #define BEEPER_DSHOT_BEACON_TONE 5
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
//TODO #define OSD_VBAT_POS 2337
//TODO #define OSD_ALTITUDE_POS 2305
#define MAX7456_SPI_INSTANCE SPI2

2
src/config/SUB250F411/config.h
View file

@ -93,7 +93,7 @@
#define DEFAULT_CURRENT_METER_SCALE 500
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SYSTEM_HSE_MHZ 8
#define MAX7456_SPI_INSTANCE SPI2

2
src/config/SYNERGYF4/config.h
View file

@ -101,7 +101,7 @@
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SYSTEM_HSE_MHZ 8
#define MAX7456_SPI_INSTANCE SPI3
#define DASHBOARD_I2C_INSTANCE (I2CDEV_2)

2
src/config/TALONF7DJIHD/config.h
View file

@ -110,7 +110,7 @@
#define DEFAULT_VOLTAGE_METER_SCALE 110
#define DEFAULT_CURRENT_METER_SCALE 250
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define MAX7456_SPI_INSTANCE SPI3
#define PINIO1_BOX 40
#define FLASH_SPI_INSTANCE SPI2

2
src/config/TALONF7FUSION/config.h
View file

@ -102,7 +102,7 @@
#define DEFAULT_VOLTAGE_METER_SCALE 160
#define DEFAULT_CURRENT_METER_SCALE 150
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define MAX7456_SPI_INSTANCE SPI3
#define FLASH_SPI_INSTANCE SPI2
#define USE_SPI_GYRO

2
src/config/TALONF7V2/config.h
View file

@ -98,7 +98,7 @@
#define DEFAULT_VOLTAGE_METER_SCALE 160
#define DEFAULT_CURRENT_METER_SCALE 150
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
//TODO #define OSD_VBAT_POS 2447
//TODO #define OSD_RSSI_POS 2074
//TODO #define OSD_TIM_2_POS 2456

2
src/config/TMVELOXF7/config.h
View file

@ -106,7 +106,7 @@
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 170
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 4
#define DEFAULT_PID_PROCESS_DENOM 4
#define MAX7456_SPI_INSTANCE SPI2
#define PINIO1_BOX 40
#define PINIO2_BOX 41

2
src/config/TRANSTECF411/config.h
View file

@ -76,7 +76,7 @@
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 2
#define DEFAULT_PID_PROCESS_DENOM 2
#define SYSTEM_HSE_MHZ 8
#define MAX7456_SPI_INSTANCE SPI2
#define USE_SPI_GYRO

2
src/config/TRANSTECF411HD/config.h
View file

@ -76,7 +76,7 @@
#define BEEPER_INVERTED
//TODO #define YAW_MOTORS_REVERSED ON
//TODO #define SMALL_ANGLE 90
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SYSTEM_HSE_MHZ 8
#define USE_SPI_GYRO
#define GYRO_1_SPI_INSTANCE SPI1

2
src/config/TRANSTECF7HD/config.h
View file

@ -85,7 +85,7 @@
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define MAX7456_SPI_INSTANCE SPI0
#define GYRO_1_SPI_INSTANCE SPI1
#define FLASH_SPI_INSTANCE SPI2

2
src/config/WIZZF7HD/config.h
View file

@ -99,7 +99,7 @@
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SCALE 250
#define BEEPER_INVERTED
//TODO #define PID_PROCESS_DENOM 1
#define DEFAULT_PID_PROCESS_DENOM 1
#define SDCARD_DETECT_INVERTED
#define USE_SDCARD_SPI
#define SDCARD_SPI_INSTANCE SPI2

12
src/main/flight/pid.c
View file

@ -91,22 +91,24 @@ pt1Filter_t throttleLpf;
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
#if defined(STM32F411xE)
#define PID_PROCESS_DENOM_DEFAULT 2
#if !defined(DEFAULT_PID_PROCESS_DENOM)
#if defined(STM32F411xE)
#define DEFAULT_PID_PROCESS_DENOM 2
#else
#define PID_PROCESS_DENOM_DEFAULT 1
#define DEFAULT_PID_PROCESS_DENOM 1
#endif
#endif
#ifdef USE_RUNAWAY_TAKEOFF
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
.pid_process_denom = DEFAULT_PID_PROCESS_DENOM,
.runaway_takeoff_prevention = true,
.runaway_takeoff_deactivate_throttle = 20, // throttle level % needed to accumulate deactivation time
.runaway_takeoff_deactivate_delay = 500, // Accumulated time (in milliseconds) before deactivation in successful takeoff
);
#else
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
.pid_process_denom = DEFAULT_PID_PROCESS_DENOM,
);
#endif

1
src/main/target/STM32G47X/target.h
View file

@ -75,4 +75,3 @@
#define USE_ADC
#define USE_EXTI
#define USE_TIMER_UP_CONFIG