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Use variable to access pid and rate profile defaults in loop

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brucesdad13@gmail.com 2017-09-01 02:11:33 -04:00
parent e3a921b762
commit 8030a57d90
1 changed files with 28 additions and 24 deletions
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52
src/main/target/ALIENWHOOP/config.c
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@ -104,42 +104,46 @@ void targetConfiguration(void)
/* AlienWhoop PIDs based on Ole Gravy Leg (aka Matt Williamson's) PIDs /* AlienWhoop PIDs based on Ole Gravy Leg (aka Matt Williamson's) PIDs
*/ */
for (int profileId = 0; profileId < MAX_PROFILE_COUNT; profileId++) { for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */ pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
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; /* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
pidProfilesMutable(profileId)->pid[PID_LEVEL].D = 30; pidProfile->pid[PID_PITCH].P = 75;
pidProfile->pid[PID_PITCH].I = 36;
pidProfile->pid[PID_PITCH].D = 25;
pidProfile->pid[PID_ROLL].P = 75;
pidProfile->pid[PID_ROLL].I = 36;
pidProfile->pid[PID_ROLL].D = 25;
pidProfile->pid[PID_YAW].P = 70;
pidProfile->pid[PID_YAW].I = 36;
pidProfile->pid[PID_LEVEL].P = 30;
pidProfile->pid[PID_LEVEL].D = 30;
/* Setpoints */ /* Setpoints */
pidProfilesMutable(profileId)->dtermSetpointWeight = 100; pidProfile->dtermSetpointWeight = 100;
pidProfilesMutable(profileId)->setpointRelaxRatio = 100; // default to snappy for racers pidProfile->setpointRelaxRatio = 100; // default to snappy for racers
/* Throttle PID Attenuation (TPA) */ /* Throttle PID Attenuation (TPA) */
pidProfilesMutable(profileId)->itermThrottleThreshold = 400; pidProfile->itermThrottleThreshold = 400;
} }
for (int rateProfileId = 0; rateProfileId < CONTROL_RATE_PROFILE_COUNT; rateProfileId++) { for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
/* RC Rates */ /* RC Rates */
controlRateProfilesMutable(rateProfileId)->rcRate8 = 100; controlRateConfig->rcRate8 = 100;
controlRateProfilesMutable(rateProfileId)->rcYawRate8 = 100; controlRateConfig->rcYawRate8 = 100;
controlRateProfilesMutable(rateProfileId)->rcExpo8 = 0; controlRateConfig->rcExpo8 = 0;
/* Super Expo Rates */ /* Super Expo Rates */
controlRateProfilesMutable(rateProfileId)->rates[FD_ROLL] = 80; controlRateConfig->rates[FD_ROLL] = 80;
controlRateProfilesMutable(rateProfileId)->rates[FD_PITCH] = 80; controlRateConfig->rates[FD_PITCH] = 80;
controlRateProfilesMutable(rateProfileId)->rates[FD_YAW] = 85; controlRateConfig->rates[FD_YAW] = 85;
/* Throttle PID Attenuation (TPA) */ /* Throttle PID Attenuation (TPA) */
controlRateProfilesMutable(rateProfileId)->dynThrPID = 0; // tpa_rate off controlRateConfig->dynThrPID = 0; // tpa_rate off
controlRateProfilesMutable(rateProfileId)->tpa_breakpoint = 1600; controlRateConfig->tpa_breakpoint = 1600;
} }
} }
#endif #endif