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Fixed up ALIENWHOOP target default PR as requested

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This commit is contained in:
2018-06-13 03:23:56 -04:00
parent e35810347d
commit 989e532e0c
1 changed files with 5 additions and 15 deletions
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20
src/main/target/ALIENWHOOP/config.c
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@ -74,8 +74,7 @@ void targetConfiguration(void)
{
if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfigMutable()->minthrottle = 1050;
motorConfigMutable()->maxthrottle = 2000;
motorConfigMutable()->minthrottle = 1050; // for 6mm and 7mm brushed
}
/* Default to Spektrum */
@ -83,13 +82,9 @@ void targetConfiguration(void)
rxConfigMutable()->spektrum_sat_bind = 5; // DSM2 11ms
rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
rxConfigMutable()->mincheck = 1025;
rxConfigMutable()->maxcheck = 2000;
rxConfigMutable()->rcInterpolation = RC_SMOOTHING_MANUAL;
rxConfigMutable()->rcInterpolationInterval = 14;
parseRcChannels("TAER1234", rxConfigMutable());
#if defined(ALIENWHOOPF7)
rxConfigMutable()->serialrx_inverted = false; // don't invert signal for target default DSM*
#endif
mixerConfigMutable()->yaw_motors_reversed = true;
imuConfigMutable()->small_angle = 180;
@ -114,14 +109,7 @@ void targetConfiguration(void)
gyroConfigMutable()->gyroMovementCalibrationThreshold = 200; // aka moron_threshold
gyroConfigMutable()->gyro_sync_denom = 2; // 16kHz gyro
pidConfigMutable()->pid_process_denom = 1; // 16kHz PID
gyroConfigMutable()->gyro_lowpass_type = FILTER_PT1;
gyroConfigMutable()->gyro_lowpass2_type = FILTER_PT1;
gyroConfigMutable()->gyro_lowpass_hz = 100;
gyroConfigMutable()->gyro_lowpass2_hz = 751;
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
gyroConfigMutable()->gyro_soft_notch_cutoff_1 = 0;
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = 0;
pidConfigMutable()->runaway_takeoff_prevention = false;
@ -157,6 +145,8 @@ void targetConfiguration(void)
/* Anti-Gravity */
pidProfile->itermThrottleThreshold = 500;
pidProfile->itermAcceleratorGain = 5000;
pidProfile->levelAngleLimit = 65;
}
for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
@ -181,9 +171,9 @@ void targetConfiguration(void)
controlRateConfig->dynThrPID = 0; // tpa_rate off
controlRateConfig->tpa_breakpoint = 1600;
/* Force the clipping mixer at 100% seems better for brushed than default (off) and scaling) */
/* Force the clipping mixer at 100% seems better for brushed than default (off) and scaling)? */
controlRateConfig->throttle_limit_type = THROTTLE_LIMIT_TYPE_CLIP;
controlRateConfig->throttle_limit_percent = 100;
//controlRateConfig->throttle_limit_percent = 100;
controlRateConfig->thrExpo8 = 20; // 20% throttle expo
}