/*
 * This file is part of Cleanflight and Betaflight.
 *
 * Cleanflight and Betaflight are free software. You can redistribute
 * this software and/or modify this software under the terms of the
 * GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option)
 * any later version.
 *
 * Cleanflight and Betaflight are distributed in the hope that they
 * will be useful, but WITHOUT ANY WARRANTY; without even the implied
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this software.
 *
 * If not, see <http://www.gnu.org/licenses/>.
 */

#include <stdbool.h>
#include <stdint.h>

#include "platform.h"

#ifdef USE_TARGET_CONFIG

#include "common/axis.h"

#include "drivers/pwm_esc_detect.h"

#include "config/config.h"

#include "flight/pid.h"

#include "pg/rx.h"
#include "pg/motor.h"

#include "rx/rx.h"

#ifdef BRUSHED_MOTORS_PWM_RATE
#undef BRUSHED_MOTORS_PWM_RATE
#endif

#define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz

// alternative defaults settings for AlienFlight targets
void targetConfiguration(void)
{
    rxConfigMutable()->spektrum_sat_bind = 5;
    rxConfigMutable()->spektrum_sat_bind_autoreset = 1;

    if (getDetectedMotorType() == MOTOR_BRUSHED) {
        motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
    }

    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
        pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);

        pidProfile->pid[PID_ROLL].P = 90;
        pidProfile->pid[PID_ROLL].I = 44;
        pidProfile->pid[PID_ROLL].D = 60;
        pidProfile->pid[PID_PITCH].P = 90;
        pidProfile->pid[PID_PITCH].I = 44;
        pidProfile->pid[PID_PITCH].D = 60;
    }

    *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
    *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
    *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
    *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
    *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
    *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
    *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
    *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
}
#endif
