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Konstantin Sharlaimov (DigitalEntity) 2017-07-05 22:16:03 +10:00
parent 8f1ea0a08e
commit 9b090b88b0
3 changed files with 104 additions and 7 deletions
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8
src/main/fc/rc_controls.c
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@ -435,3 +435,11 @@ void updateUsedModeActivationConditionFlags(void)
isModeActivationConditionPresent(BOXNAVWP); isModeActivationConditionPresent(BOXNAVWP);
#endif #endif
} }
void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm)
{
modeActivationConditionsMutable(macIndex)->modeId = modeId;
modeActivationConditionsMutable(macIndex)->auxChannelIndex = auxChannelIndex;
modeActivationConditionsMutable(macIndex)->range.startStep = CHANNEL_VALUE_TO_STEP(startPwm);
modeActivationConditionsMutable(macIndex)->range.endStep = CHANNEL_VALUE_TO_STEP(endPwm);
}

2
src/main/fc/rc_controls.h
View file

@ -181,3 +181,5 @@ bool isUsingNavigationModes(void);
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc); int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
bool isModeActivationConditionPresent(boxId_e modeId); bool isModeActivationConditionPresent(boxId_e modeId);
void updateUsedModeActivationConditionFlags(void); void updateUsedModeActivationConditionFlags(void);
void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm);

103
src/main/target/FALCORE/config.c
View file

@ -18,10 +18,25 @@
#include <stdint.h> #include <stdint.h>
#include "platform.h" #include "platform.h"
#include "config/feature.h" #include "config/feature.h"
#include "drivers/pwm_output.h"
#include "blackbox/blackbox.h"
#include "fc/config.h" #include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "io/serial.h" #include "io/serial.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h" #include "sensors/gyro.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/compass.h"
#include "sensors/boardalignment.h"
#include "flight/pid.h"
#include "flight/mixer.h"
#include "flight/servos.h"
#include "flight/imu.h"
#include "flight/failsafe.h"
#include "navigation/navigation.h"
void targetConfiguration(void) void targetConfiguration(void)
@ -39,8 +54,8 @@ void targetConfiguration(void)
serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP; // VCP serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP; // VCP
serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_GPS; // UART1 serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_GPS; // UART1
serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; // UART2 serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; // UART2
serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_NONE; // UART4 serialConfigMutable()->portConfigs[3].functionMask = FUNCTION_NONE; // UART4
serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_TELEMETRY_MAVLINK; // UART5 serialConfigMutable()->portConfigs[4].functionMask = FUNCTION_TELEMETRY_MAVLINK; // UART5
gyroConfigMutable()->looptime = 1000; gyroConfigMutable()->looptime = 1000;
@ -109,12 +124,84 @@ void targetConfiguration(void)
navConfigMutable()->general.max_manual_climb_rate = 200; navConfigMutable()->general.max_manual_climb_rate = 200;
navConfigMutable()->general.rth_altitude = 1000; navConfigMutable()->general.rth_altitude = 1000;
navConfigMutable()->general.mc.max_bank_angle = 30; navConfigMutable()->mc.max_bank_angle = 30;
navConfigMutable()->general.mc.hover_throttle = 1500; navConfigMutable()->mc.hover_throttle = 1500;
navConfigMutable()->general.mc.auto_disarm_delay = 2000; navConfigMutable()->mc.auto_disarm_delay = 2000;
/*
aux 0 0 0 1150 2100
aux 1 2 0 1300 1700
aux 2 20 0 1150 2100
aux 3 3 3 1300 1700
aux 4 9 3 1300 1700
aux 5 8 3 1700 2100
aux 6 19 1 1375 2100
*/
for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationConditionsMutable(index)->modeId = 0;
modeActivationConditionsMutable(index)->auxChannelIndex = 0;
modeActivationConditionsMutable(index)->range.startStep = 0;
modeActivationConditionsMutable(index)->range.endStep = 0;
}
configureModeActivationCondition(0, BOXARM, 0, 1150, 2100);
configureModeActivationCondition(1, BOXANGLE, 0, 1300, 1700);
configureModeActivationCondition(2, BOXAIRMODE, 0, 1150, 2100);
configureModeActivationCondition(3, BOXNAVALTHOLD, 3, 1300, 1700);
configureModeActivationCondition(4, BOXNAVPOSHOLD, 3, 1300, 1700);
configureModeActivationCondition(5, BOXNAVRTH, 3, 1700, 2100);
configureModeActivationCondition(6, BOXANGLE, 3, 1700, 2100);
// Rates and PIDs
setConfigProfile(0);
pidProfileMutable()->bank_mc.pid[PID_PITCH].P = 65;
pidProfileMutable()->bank_mc.pid[PID_PITCH].I = 50;
pidProfileMutable()->bank_mc.pid[PID_PITCH].D = 28;
pidProfileMutable()->bank_mc.pid[PID_ROLL].P = 45;
pidProfileMutable()->bank_mc.pid[PID_ROLL].I = 40;
pidProfileMutable()->bank_mc.pid[PID_ROLL].D = 25;
pidProfileMutable()->bank_mc.pid[PID_YAW].P = 90;
pidProfileMutable()->bank_mc.pid[PID_YAW].I = 45;
pidProfileMutable()->bank_mc.pid[PID_YAW].D = 0;
pidProfileMutable()->bank_mc.pid[PID_LEVEL].P = 20;
pidProfileMutable()->bank_mc.pid[PID_LEVEL].I = 10;
pidProfileMutable()->bank_mc.pid[PID_LEVEL].D = 75;
pidProfileMutable()->max_angle_inclination[FD_ROLL] = 300;
pidProfileMutable()->max_angle_inclination[FD_PITCH] = 300;
pidProfileMutable()->dterm_lpf_hz = 70;
pidProfileMutable()->yaw_lpf_hz = 35;
pidProfileMutable()->dterm_setpoint_weight = 0;
pidProfileMutable()->dterm_soft_notch_hz = 0;
pidProfileMutable()->dterm_soft_notch_cutoff = 1;
pidProfileMutable()->pidSumLimit = 500;
pidProfileMutable()->yaw_p_limit = 300;
pidProfileMutable()->rollPitchItermIgnoreRate = 200;
pidProfileMutable()->yawItermIgnoreRate = 200;
pidProfileMutable()->axisAccelerationLimitRollPitch = 0;
pidProfileMutable()->axisAccelerationLimitYaw = 10000;
pidProfileMutable()->bank_mc.pid[PID_POS_Z].P = 50;
pidProfileMutable()->bank_mc.pid[PID_POS_Z].I = 0;
pidProfileMutable()->bank_mc.pid[PID_POS_Z].D = 0;
pidProfileMutable()->bank_mc.pid[PID_VEL_Z].P = 100;
pidProfileMutable()->bank_mc.pid[PID_VEL_Z].I = 50;
pidProfileMutable()->bank_mc.pid[PID_VEL_Z].D = 10;
pidProfileMutable()->bank_mc.pid[PID_POS_XY].P = 50;
pidProfileMutable()->bank_mc.pid[PID_POS_XY].I = 100;
pidProfileMutable()->bank_mc.pid[PID_POS_XY].D = 10;
pidProfileMutable()->bank_mc.pid[PID_VEL_XY].P = 150;
pidProfileMutable()->bank_mc.pid[PID_VEL_XY].I = 20;
pidProfileMutable()->bank_mc.pid[PID_VEL_XY].D = 70;
((controlRateConfig_t*)currentControlRateProfile)->rcExpo8 = 60;
((controlRateConfig_t*)currentControlRateProfile)->rcYawExpo8 = 35;
((controlRateConfig_t*)currentControlRateProfile)->rates[FD_ROLL] = 54;
((controlRateConfig_t*)currentControlRateProfile)->rates[FD_PITCH] = 54;
((controlRateConfig_t*)currentControlRateProfile)->rates[FD_YAW] = 36;
((controlRateConfig_t*)currentControlRateProfile)->thrMid8 = 50;
((controlRateConfig_t*)currentControlRateProfile)->thrExpo8 = 0;
((controlRateConfig_t*)currentControlRateProfile)->dynThrPID = 10;
((controlRateConfig_t*)currentControlRateProfile)->tpa_breakpoint = 1600;
} }