Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 06:15:16 +03:00
Code Issues Wiki Activity

Merge pull request #4035 from brucesdad13/alienwhoop-target-config-cleanup

Browse source 
Use variable to access pid and rate profile defaults in loop
This commit is contained in:
Martin Budden 2017-09-01 09:38:17 +01:00 • committed by GitHub
commit dc11071f7f
1 changed files with 28 additions and 24 deletions
Download patch file Download diff file Expand all files Collapse all files

52
src/main/target/ALIENWHOOP/config.c
View file

@ -104,42 +104,46 @@ void targetConfiguration(void)
/* AlienWhoop PIDs based on Ole Gravy Leg (aka Matt Williamson's) PIDs
*/
for (int profileId = 0; profileId < MAX_PROFILE_COUNT; profileId++) {
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
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;
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfilesMutable(profileId)->pid[PID_LEVEL].P = 30;
pidProfilesMutable(profileId)->pid[PID_LEVEL].D = 30;
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
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 */
pidProfilesMutable(profileId)->dtermSetpointWeight = 100;
pidProfilesMutable(profileId)->setpointRelaxRatio = 100; // default to snappy for racers
pidProfile->dtermSetpointWeight = 100;
pidProfile->setpointRelaxRatio = 100; // default to snappy for racers
/* 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 */
controlRateProfilesMutable(rateProfileId)->rcRate8 = 100;
controlRateProfilesMutable(rateProfileId)->rcYawRate8 = 100;
controlRateProfilesMutable(rateProfileId)->rcExpo8 = 0;
controlRateConfig->rcRate8 = 100;
controlRateConfig->rcYawRate8 = 100;
controlRateConfig->rcExpo8 = 0;
/* Super Expo Rates */
controlRateProfilesMutable(rateProfileId)->rates[FD_ROLL] = 80;
controlRateProfilesMutable(rateProfileId)->rates[FD_PITCH] = 80;
controlRateProfilesMutable(rateProfileId)->rates[FD_YAW] = 85;
controlRateConfig->rates[FD_ROLL] = 80;
controlRateConfig->rates[FD_PITCH] = 80;
controlRateConfig->rates[FD_YAW] = 85;
/* Throttle PID Attenuation (TPA) */
controlRateProfilesMutable(rateProfileId)->dynThrPID = 0; // tpa_rate off
controlRateProfilesMutable(rateProfileId)->tpa_breakpoint = 1600;
controlRateConfig->dynThrPID = 0; // tpa_rate off
controlRateConfig->tpa_breakpoint = 1600;
}
}
#endif