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Merge pull request #1868 from iNavFlight/de_falcore_default_config
FALCORE default config update
This commit is contained in:
Konstantin Sharlaimov
GitHub
commit
7e0184c439
4 changed files with 219 additions and 0 deletions
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@ -435,3 +435,11 @@ void updateUsedModeActivationConditionFlags(void)
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isModeActivationConditionPresent(BOXNAVWP);
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#endif
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}
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void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm)
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{
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modeActivationConditionsMutable(macIndex)->modeId = modeId;
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modeActivationConditionsMutable(macIndex)->auxChannelIndex = auxChannelIndex;
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modeActivationConditionsMutable(macIndex)->range.startStep = CHANNEL_VALUE_TO_STEP(startPwm);
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modeActivationConditionsMutable(macIndex)->range.endStep = CHANNEL_VALUE_TO_STEP(endPwm);
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}
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@ -181,3 +181,5 @@ bool isUsingNavigationModes(void);
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int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
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bool isModeActivationConditionPresent(boxId_e modeId);
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void updateUsedModeActivationConditionFlags(void);
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void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm);
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207
src/main/target/FALCORE/config.c
Executable file
207
src/main/target/FALCORE/config.c
Executable file
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@ -0,0 +1,207 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include "platform.h"
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#include "config/feature.h"
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#include "drivers/pwm_output.h"
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#include "blackbox/blackbox.h"
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "fc/rc_controls.h"
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#include "io/serial.h"
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#include "rx/rx.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/compass.h"
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#include "sensors/boardalignment.h"
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#include "flight/pid.h"
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#include "flight/mixer.h"
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#include "flight/servos.h"
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#include "flight/imu.h"
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#include "flight/failsafe.h"
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#include "navigation/navigation.h"
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void targetConfiguration(void)
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{
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systemConfigMutable()->asyncMode = ASYNC_MODE_NONE;
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mixerConfigMutable()->mixerMode = MIXER_QUADX;
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featureSet(FEATURE_VBAT);
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featureSet(FEATURE_RX_SERIAL);
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featureSet(FEATURE_GPS);
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featureSet(FEATURE_TELEMETRY);
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featureSet(FEATURE_LED_STRIP);
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featureSet(FEATURE_BLACKBOX);
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serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP; // VCP
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serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_GPS; // UART1
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serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; // UART2
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serialConfigMutable()->portConfigs[3].functionMask = FUNCTION_NONE; // UART4
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serialConfigMutable()->portConfigs[4].functionMask = FUNCTION_TELEMETRY_MAVLINK; // UART5
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gyroConfigMutable()->looptime = 1000;
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gyroConfigMutable()->gyroSync = 1;
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gyroConfigMutable()->gyroSyncDenominator = 8;
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gyroConfigMutable()->gyro_lpf = 0; // 256 Hz
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gyroConfigMutable()->gyro_soft_lpf_hz = 90;
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gyroConfigMutable()->gyro_soft_notch_hz_1 = 150;
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gyroConfigMutable()->gyro_soft_notch_cutoff_1 = 80;
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accelerometerConfigMutable()->acc_hardware = ACC_MPU6500;
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accelerometerConfigMutable()->acc_lpf_hz = 15;
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compassConfigMutable()->mag_hardware = MAG_HMC5883;
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compassConfigMutable()->mag_align = CW270_DEG_FLIP;
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barometerConfigMutable()->baro_hardware = BARO_MS5607;
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barometerConfigMutable()->use_median_filtering = 1;
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rxConfigMutable()->mincheck = 1100;
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rxConfigMutable()->maxcheck = 1900;
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rxConfigMutable()->serialrx_provider = SERIALRX_IBUS;
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blackboxConfigMutable()->rate_num = 1;
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blackboxConfigMutable()->rate_denom = 4;
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motorConfigMutable()->minthrottle = 1015;
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motorConfigMutable()->maxthrottle = 2000;
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motorConfigMutable()->mincommand = 980;
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motorConfigMutable()->motorPwmRate = 2000;
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motorConfigMutable()->motorPwmProtocol = PWM_TYPE_ONESHOT125;
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failsafeConfigMutable()->failsafe_delay = 5;
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failsafeConfigMutable()->failsafe_recovery_delay = 5;
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failsafeConfigMutable()->failsafe_off_delay = 200;
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failsafeConfigMutable()->failsafe_throttle = 1200;
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failsafeConfigMutable()->failsafe_throttle_low_delay = 100;
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failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_RTH;
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boardAlignmentMutable()->rollDeciDegrees = 0;
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boardAlignmentMutable()->pitchDeciDegrees = 165;
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boardAlignmentMutable()->yawDeciDegrees = 0;
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mixerConfigMutable()->yaw_jump_prevention_limit = 200;
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imuConfigMutable()->small_angle = 30;
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gpsConfigMutable()->provider = GPS_UBLOX;
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gpsConfigMutable()->sbasMode = SBAS_NONE;
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gpsConfigMutable()->dynModel = GPS_DYNMODEL_AIR_1G;
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gpsConfigMutable()->autoConfig = 1;
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gpsConfigMutable()->autoBaud = 1;
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gpsConfigMutable()->gpsMinSats = 7;
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rcControlsConfigMutable()->deadband = 10;
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rcControlsConfigMutable()->yaw_deadband = 15;
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navConfigMutable()->general.flags.disarm_on_landing = 1;
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navConfigMutable()->general.flags.use_thr_mid_for_althold = 1;
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navConfigMutable()->general.flags.extra_arming_safety = 1;
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navConfigMutable()->general.flags.rth_allow_landing = 1;
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navConfigMutable()->general.max_auto_speed = 500;
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navConfigMutable()->general.max_auto_climb_rate = 200;
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navConfigMutable()->general.max_manual_speed = 500;
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navConfigMutable()->general.max_manual_climb_rate = 200;
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navConfigMutable()->general.rth_altitude = 1000;
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navConfigMutable()->mc.max_bank_angle = 30;
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navConfigMutable()->mc.hover_throttle = 1500;
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navConfigMutable()->mc.auto_disarm_delay = 2000;
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/*
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aux 0 0 0 1150 2100
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aux 1 2 0 1300 1700
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aux 2 20 0 1150 2100
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aux 3 3 3 1300 1700
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aux 4 9 3 1300 1700
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aux 5 8 3 1700 2100
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aux 6 19 1 1375 2100
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*/
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for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
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modeActivationConditionsMutable(index)->modeId = 0;
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modeActivationConditionsMutable(index)->auxChannelIndex = 0;
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modeActivationConditionsMutable(index)->range.startStep = 0;
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modeActivationConditionsMutable(index)->range.endStep = 0;
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}
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configureModeActivationCondition(0, BOXARM, 0, 1150, 2100);
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configureModeActivationCondition(1, BOXANGLE, 0, 1300, 1700);
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configureModeActivationCondition(2, BOXAIRMODE, 0, 1150, 2100);
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configureModeActivationCondition(3, BOXNAVALTHOLD, 3, 1300, 1700);
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configureModeActivationCondition(4, BOXNAVPOSHOLD, 3, 1300, 1700);
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configureModeActivationCondition(5, BOXNAVRTH, 3, 1700, 2100);
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configureModeActivationCondition(6, BOXANGLE, 3, 1700, 2100);
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// Rates and PIDs
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setConfigProfile(0);
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pidProfileMutable()->bank_mc.pid[PID_PITCH].P = 65;
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pidProfileMutable()->bank_mc.pid[PID_PITCH].I = 50;
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pidProfileMutable()->bank_mc.pid[PID_PITCH].D = 28;
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pidProfileMutable()->bank_mc.pid[PID_ROLL].P = 45;
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pidProfileMutable()->bank_mc.pid[PID_ROLL].I = 40;
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pidProfileMutable()->bank_mc.pid[PID_ROLL].D = 25;
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pidProfileMutable()->bank_mc.pid[PID_YAW].P = 90;
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pidProfileMutable()->bank_mc.pid[PID_YAW].I = 45;
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pidProfileMutable()->bank_mc.pid[PID_YAW].D = 0;
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pidProfileMutable()->bank_mc.pid[PID_LEVEL].P = 20;
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pidProfileMutable()->bank_mc.pid[PID_LEVEL].I = 10;
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pidProfileMutable()->bank_mc.pid[PID_LEVEL].D = 75;
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pidProfileMutable()->max_angle_inclination[FD_ROLL] = 300;
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pidProfileMutable()->max_angle_inclination[FD_PITCH] = 300;
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pidProfileMutable()->dterm_lpf_hz = 70;
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pidProfileMutable()->yaw_lpf_hz = 35;
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pidProfileMutable()->dterm_setpoint_weight = 0;
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pidProfileMutable()->dterm_soft_notch_hz = 0;
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pidProfileMutable()->dterm_soft_notch_cutoff = 1;
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pidProfileMutable()->pidSumLimit = 500;
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pidProfileMutable()->yaw_p_limit = 300;
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pidProfileMutable()->rollPitchItermIgnoreRate = 200;
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pidProfileMutable()->yawItermIgnoreRate = 200;
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pidProfileMutable()->axisAccelerationLimitRollPitch = 0;
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pidProfileMutable()->axisAccelerationLimitYaw = 10000;
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pidProfileMutable()->bank_mc.pid[PID_POS_Z].P = 50;
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pidProfileMutable()->bank_mc.pid[PID_POS_Z].I = 0;
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pidProfileMutable()->bank_mc.pid[PID_POS_Z].D = 0;
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pidProfileMutable()->bank_mc.pid[PID_VEL_Z].P = 100;
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pidProfileMutable()->bank_mc.pid[PID_VEL_Z].I = 50;
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pidProfileMutable()->bank_mc.pid[PID_VEL_Z].D = 10;
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pidProfileMutable()->bank_mc.pid[PID_POS_XY].P = 50;
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pidProfileMutable()->bank_mc.pid[PID_POS_XY].I = 100;
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pidProfileMutable()->bank_mc.pid[PID_POS_XY].D = 10;
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pidProfileMutable()->bank_mc.pid[PID_VEL_XY].P = 150;
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pidProfileMutable()->bank_mc.pid[PID_VEL_XY].I = 20;
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pidProfileMutable()->bank_mc.pid[PID_VEL_XY].D = 70;
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((controlRateConfig_t*)currentControlRateProfile)->rcExpo8 = 60;
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((controlRateConfig_t*)currentControlRateProfile)->rcYawExpo8 = 35;
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((controlRateConfig_t*)currentControlRateProfile)->rates[FD_ROLL] = 54;
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((controlRateConfig_t*)currentControlRateProfile)->rates[FD_PITCH] = 54;
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((controlRateConfig_t*)currentControlRateProfile)->rates[FD_YAW] = 36;
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((controlRateConfig_t*)currentControlRateProfile)->thrMid8 = 50;
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((controlRateConfig_t*)currentControlRateProfile)->thrExpo8 = 0;
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((controlRateConfig_t*)currentControlRateProfile)->dynThrPID = 10;
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((controlRateConfig_t*)currentControlRateProfile)->tpa_breakpoint = 1600;
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}
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@ -19,6 +19,8 @@
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#define TARGET_BOARD_IDENTIFIER "FLCR" // FaLCoRre
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#define TARGET_CONFIG
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#define LED0 PC2
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#define LED1 PB11
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