From 989e532e0c0ccdf453eb1df64a85398a877c39bf Mon Sep 17 00:00:00 2001 From: Date: Wed, 13 Jun 2018 03:23:56 -0400 Subject: [PATCH] Fixed up ALIENWHOOP target default PR as requested --- src/main/target/ALIENWHOOP/config.c | 20 +++++--------------- 1 file changed, 5 insertions(+), 15 deletions(-) diff --git a/src/main/target/ALIENWHOOP/config.c b/src/main/target/ALIENWHOOP/config.c index b3030f0e9e..58dab5aa69 100644 --- a/src/main/target/ALIENWHOOP/config.c +++ b/src/main/target/ALIENWHOOP/config.c @@ -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 }