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merge upstream into sirinfpv branch

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This commit is contained in:
Evgeny Sychov 2016-06-06 21:05:49 -07:00
commit a1a71d68ac
82 changed files with 5241 additions and 1372 deletions
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69
src/main/config/config.c
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@ -135,7 +135,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 129;
static const uint8_t EEPROM_CONF_VERSION = 133;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -148,14 +148,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
{
pidProfile->pidController = 1;
pidProfile->P8[ROLL] = 42;
pidProfile->I8[ROLL] = 40;
pidProfile->P8[ROLL] = 45;
pidProfile->I8[ROLL] = 30;
pidProfile->D8[ROLL] = 18;
pidProfile->P8[PITCH] = 54;
pidProfile->I8[PITCH] = 40;
pidProfile->D8[PITCH] = 22;
pidProfile->P8[PITCH] = 45;
pidProfile->I8[PITCH] = 30;
pidProfile->D8[PITCH] = 18;
pidProfile->P8[YAW] = 90;
pidProfile->I8[YAW] = 50;
pidProfile->I8[YAW] = 40;
pidProfile->D8[YAW] = 0;
pidProfile->P8[PIDALT] = 50;
pidProfile->I8[PIDALT] = 0;
@ -169,31 +169,23 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
pidProfile->P8[PIDLEVEL] = 30;
pidProfile->I8[PIDLEVEL] = 30;
pidProfile->P8[PIDLEVEL] = 50;
pidProfile->I8[PIDLEVEL] = 50;
pidProfile->D8[PIDLEVEL] = 100;
pidProfile->P8[PIDMAG] = 40;
pidProfile->P8[PIDVEL] = 120;
pidProfile->I8[PIDVEL] = 45;
pidProfile->D8[PIDVEL] = 1;
pidProfile->P8[PIDVEL] = 55;
pidProfile->I8[PIDVEL] = 55;
pidProfile->D8[PIDVEL] = 75;
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->dterm_average_count = 4;
pidProfile->dterm_lpf_hz = 0; // filtering ON by default
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->yaw_lpf_hz = 70.0f;
pidProfile->dterm_differentiator = 1;
pidProfile->rollPitchItermResetRate = 200;
pidProfile->rollPitchItermResetAlways = 0;
pidProfile->yawItermResetRate = 50;
pidProfile->dterm_lpf_hz = 70.0f; // filtering ON by default
pidProfile->P_f[ROLL] = 1.1f;
pidProfile->I_f[ROLL] = 0.4f;
pidProfile->D_f[ROLL] = 0.01f;
pidProfile->P_f[PITCH] = 1.4f;
pidProfile->I_f[PITCH] = 0.4f;
pidProfile->D_f[PITCH] = 0.01f;
pidProfile->P_f[YAW] = 2.5f;
pidProfile->I_f[YAW] = 0.4f;
pidProfile->D_f[YAW] = 0.00f;
pidProfile->A_level = 4.0f;
pidProfile->H_level = 4.0f;
pidProfile->H_sensitivity = 75;
pidProfile->H_sensitivity = 75; // TODO - Cleanup during next EEPROM changes
#ifdef GTUNE
pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune.
@ -273,6 +265,7 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
batteryConfig->vbatmaxcellvoltage = 43;
batteryConfig->vbatmincellvoltage = 33;
batteryConfig->vbatwarningcellvoltage = 35;
batteryConfig->vbathysteresis = 1;
batteryConfig->vbatPidCompensation = 0;
batteryConfig->currentMeterOffset = 0;
batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
@ -313,7 +306,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcRate8 = 100;
controlRateConfig->rcExpo8 = 70;
controlRateConfig->rcExpo8 = 60;
controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0;
controlRateConfig->dynThrPID = 0;
@ -321,7 +314,7 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->tpa_breakpoint = 1500;
for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
controlRateConfig->rates[axis] = 0;
controlRateConfig->rates[axis] = 50;
}
}
@ -388,7 +381,7 @@ static void resetConf(void)
masterConfig.version = EEPROM_CONF_VERSION;
masterConfig.mixerMode = MIXER_QUADX;
featureClearAll();
#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE)
#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) || defined(DOGE)
featureSet(FEATURE_RX_PPM);
#endif
@ -434,7 +427,7 @@ static void resetConf(void)
masterConfig.dcm_ki = 0; // 0.003 * 10000
masterConfig.gyro_lpf = 0; // 256HZ default
masterConfig.gyro_sync_denom = 8;
masterConfig.gyro_soft_lpf_hz = 60;
masterConfig.gyro_soft_lpf_hz = 80.0f;
masterConfig.pid_process_denom = 1;
@ -466,7 +459,7 @@ static void resetConf(void)
masterConfig.rxConfig.spektrum_sat_bind = 0;
masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
masterConfig.rxConfig.midrc = 1500;
masterConfig.rxConfig.mincheck = 1040;
masterConfig.rxConfig.mincheck = 1080;
masterConfig.rxConfig.maxcheck = 1900;
masterConfig.rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection
masterConfig.rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
@ -483,8 +476,9 @@ static void resetConf(void)
masterConfig.rxConfig.rcSmoothing = 0;
masterConfig.rxConfig.fpvCamAngleDegrees = 0;
masterConfig.rxConfig.max_aux_channel = 6;
masterConfig.rxConfig.acroPlusFactor = 30;
masterConfig.rxConfig.acroPlusOffset = 40;
masterConfig.rxConfig.superExpoFactor = 30;
masterConfig.rxConfig.superExpoFactorYaw = 30;
masterConfig.rxConfig.superExpoYawMode = 0;
resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
@ -625,6 +619,13 @@ static void resetConf(void)
featureSet(FEATURE_FAILSAFE);
#endif
#ifdef SPRACINGF3EVO
featureSet(FEATURE_TRANSPONDER);
featureSet(FEATURE_RSSI_ADC);
featureSet(FEATURE_CURRENT_METER);
featureSet(FEATURE_TELEMETRY);
#endif
// alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
#ifdef ALIENFLIGHT
featureSet(FEATURE_RX_SERIAL);