- taken off config.h in COLIBRI RACE
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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 <stdbool.h>
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#include <string.h>
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#include <platform.h>
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#ifdef TARGET_CONFIG
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#include "blackbox/blackbox.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "config/feature.h"
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#include "io/ledstrip.h"
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#include "io/serial.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 "flight/failsafe.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "flight/servos.h"
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#include "rx/rx.h"
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#include "sensors/battery.h"
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#include "sensors/gyro.h"
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#include "telemetry/telemetry.h"
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void targetApplyDefaultLedStripConfig(ledConfig_t *ledConfigs)
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{
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const ledConfig_t defaultLedStripConfig[] = {
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DEFINE_LED( 0, 0, 6, LD(WEST), LF(COLOR), LO(WARNING), 0 ),
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DEFINE_LED( 0, 1, 6, LD(WEST), LF(COLOR), LO(WARNING), 0 ),
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DEFINE_LED( 0, 8, 6, LD(WEST), LF(COLOR), LO(WARNING), 0 ),
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DEFINE_LED( 7, 15, 6, 0, LF(COLOR), 0, 0 ),
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DEFINE_LED( 8, 15, 6, 0, LF(COLOR), 0, 0 ),
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DEFINE_LED( 7, 14, 6, 0, LF(COLOR), 0, 0 ),
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DEFINE_LED( 8, 14, 6, 0, LF(COLOR), 0, 0 ),
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DEFINE_LED( 15, 8, 6, LD(EAST), LF(COLOR), LO(WARNING), 0 ),
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DEFINE_LED( 15, 1, 6, LD(EAST), LF(COLOR), LO(WARNING), 0 ),
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DEFINE_LED( 15, 0, 6, LD(EAST), LF(COLOR), LO(WARNING), 0 ),
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};
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memcpy(ledConfigs, &defaultLedStripConfig, MIN(LED_MAX_STRIP_LENGTH, sizeof(defaultLedStripConfig)));
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}
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// alternative defaults settings for COLIBRI RACE targets
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void targetConfiguration(void)
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{
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motorConfigMutable()->minthrottle = 1025;
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motorConfigMutable()->maxthrottle = 1980;
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motorConfigMutable()->mincommand = 1000;
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servoConfigMutable()->dev.servoCenterPulse = 1500;
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batteryConfigMutable()->vbatmaxcellvoltage = 45;
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batteryConfigMutable()->vbatmincellvoltage = 30;
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batteryConfigMutable()->vbatwarningcellvoltage = 35;
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flight3DConfigMutable()->deadband3d_low = 1406;
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flight3DConfigMutable()->deadband3d_high = 1514;
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flight3DConfigMutable()->neutral3d = 1460;
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flight3DConfigMutable()->deadband3d_throttle = 0;
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failsafeConfigMutable()->failsafe_procedure = 1;
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failsafeConfigMutable()->failsafe_throttle_low_delay = 10;
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gyroConfigMutable()->gyro_sync_denom = 1;
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pidConfigMutable()->pid_process_denom = 3;
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blackboxConfigMutable()->rate_num = 1;
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blackboxConfigMutable()->rate_denom = 1;
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rcControlsConfigMutable()->deadband = 5;
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rcControlsConfigMutable()->yaw_deadband = 5;
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failsafeConfigMutable()->failsafe_delay = 10;
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telemetryConfigMutable()->telemetry_inversion = 1;
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pidProfilesMutable(0)->vbatPidCompensation = 1;
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pidProfilesMutable(0)->P8[ROLL] = 46; // new PID with preliminary defaults test carefully
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pidProfilesMutable(0)->I8[ROLL] = 48;
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pidProfilesMutable(0)->D8[ROLL] = 23;
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pidProfilesMutable(0)->P8[PITCH] = 89;
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pidProfilesMutable(0)->I8[PITCH] = 59;
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pidProfilesMutable(0)->D8[PITCH] = 25;
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pidProfilesMutable(0)->P8[YAW] = 129;
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pidProfilesMutable(0)->I8[YAW] = 50;
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pidProfilesMutable(0)->D8[YAW] = 20;
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controlRateProfilesMutable(0)->rates[FD_ROLL] = 86;
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controlRateProfilesMutable(0)->rates[FD_PITCH] = 86;
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controlRateProfilesMutable(0)->rates[FD_YAW] = 80;
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targetApplyDefaultLedStripConfig(ledStripConfigMutable()->ledConfigs);
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}
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void targetValidateConfiguration()
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{
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serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP;
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if (featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
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featureClear(FEATURE_RX_PARALLEL_PWM);
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featureClear(FEATURE_RX_MSP);
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featureSet(FEATURE_RX_PPM);
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}
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}
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#endif
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