Merge branch 'master' of https://github.com/borisbstyle/betaflight into PikoBLX_target_bf
This commit is contained in:
NightHawk32
commit
3a97061a94
|
|
@ -4,7 +4,7 @@ REVISION=$(git rev-parse --short HEAD)
|
|||
BRANCH=$(git rev-parse --abbrev-ref HEAD)
|
||||
REVISION=$(git rev-parse --short HEAD)
|
||||
LAST_COMMIT_DATE=$(git log -1 --date=short --format="%cd")
|
||||
TARGET_FILE=obj/cleanflight_${TARGET}
|
||||
TARGET_FILE=obj/betaflight_${TARGET}
|
||||
TRAVIS_REPO_SLUG=${TRAVIS_REPO_SLUG:=$USER/undefined}
|
||||
BUILDNAME=${BUILDNAME:=travis}
|
||||
TRAVIS_BUILD_NUMBER=${TRAVIS_BUILD_NUMBER:=undefined}
|
||||
|
|
|
|||
69
.travis.yml
69
.travis.yml
|
|
@ -1,27 +1,52 @@
|
|||
env:
|
||||
- RUNTESTS=True
|
||||
- PUBLISHMETA=True
|
||||
- PUBLISHDOCS=True
|
||||
# - RUNTESTS=True
|
||||
# - PUBLISHMETA=True
|
||||
# - PUBLISHDOCS=True
|
||||
# - TARGET=AFROMINI
|
||||
# - TARGET=AIORACERF3
|
||||
# - TARGET=AIR32
|
||||
# - TARGET=ALIENFLIGHTF1
|
||||
- TARGET=ALIENFLIGHTF3
|
||||
- TARGET=ALIENFLIGHTF4
|
||||
- TARGET=BLUEJAYF4
|
||||
- TARGET=CC3D
|
||||
- TARGET=CC3D_OPBL
|
||||
- TARGET=CC3D_BP6
|
||||
- TARGET=CC3D_OPBL_BP6
|
||||
- TARGET=COLIBRI_RACE
|
||||
- TARGET=LUX_RACE
|
||||
- TARGET=CHEBUZZF3
|
||||
- TARGET=CJMCU
|
||||
- TARGET=EUSTM32F103RC
|
||||
- TARGET=SPRACINGF3
|
||||
# - TARGET=CHEBUZZF3
|
||||
# - TARGET=CJMCU
|
||||
# - TARGET=COLIBRI
|
||||
# - TARGET=COLIBRI_RACE
|
||||
# - TARGET=DOGE
|
||||
# - TARGET=EUSTM32F103RC
|
||||
# - TARGET=F4BY
|
||||
# - TARGET=FURYF3
|
||||
- TARGET=FURYF4
|
||||
# - TARGET=IRCFUSIONF3
|
||||
# - TARGET=KISSFC
|
||||
# - TARGET=LUX_RACE
|
||||
# - TARGET=MICROSCISKY
|
||||
# - TARGET=MOTOLAB
|
||||
- TARGET=NAZE
|
||||
- TARGET=NAZE32PRO
|
||||
- TARGET=OLIMEXINO
|
||||
- TARGET=RMDO
|
||||
- TARGET=PORT103R
|
||||
# - TARGET=OLIMEXINO
|
||||
# - TARGET=OMNIBUS
|
||||
# - TARGET=OMNIBUSF4
|
||||
# - TARGET=PIKOBLX
|
||||
# - TARGET=PORT103R
|
||||
- TARGET=REVO
|
||||
# - TARGET=REVONANO
|
||||
# - TARGET=REVO_OPBL
|
||||
# - TARGET=RMDO
|
||||
# - TARGET=SINGULARITY
|
||||
# - TARGET=SIRINFPV
|
||||
- TARGET=SPARKY
|
||||
# - TARGET=SPARKY2
|
||||
# - TARGET=SPARKY_OPBL
|
||||
- TARGET=SPRACINGF3
|
||||
- TARGET=SPRACINGF3EVO
|
||||
# - TARGET=SPRACINGF3MINI
|
||||
- TARGET=STM32F3DISCOVERY
|
||||
- TARGET=ALIENFLIGHTF1
|
||||
- TARGET=ALIENFLIGHTF3
|
||||
|
||||
# - TARGET=VRRACE
|
||||
# - TARGET=X_RACERSPI
|
||||
# - TARGET=ZCOREF3
|
||||
# use new docker environment
|
||||
sudo: false
|
||||
|
||||
|
|
@ -52,7 +77,7 @@ script: ./.travis.sh
|
|||
|
||||
cache: apt
|
||||
|
||||
notifications:
|
||||
irc: "chat.freenode.net#cleanflight"
|
||||
use_notice: true
|
||||
skip_join: true
|
||||
#notifications:
|
||||
# irc: "chat.freenode.net#cleanflight"
|
||||
# use_notice: true
|
||||
# skip_join: true
|
||||
|
|
|
|||
5
Makefile
5
Makefile
|
|
@ -179,7 +179,6 @@ LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
|
|||
|
||||
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
|
||||
DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
|
||||
TARGET_FLAGS = -D$(TARGET)
|
||||
# End F3 targets
|
||||
#
|
||||
# Start F4 targets
|
||||
|
|
@ -273,7 +272,6 @@ $(error Unknown MCU for F4 target)
|
|||
endif
|
||||
DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE)
|
||||
|
||||
TARGET_FLAGS = -D$(TARGET)
|
||||
# End F4 targets
|
||||
#
|
||||
# Start F1 targets
|
||||
|
|
@ -313,7 +311,6 @@ endif
|
|||
|
||||
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
|
||||
ARCH_FLAGS = -mthumb -mcpu=cortex-m3
|
||||
TARGET_FLAGS := -D$(TARGET) -pedantic $(TARGET_FLAGS)
|
||||
|
||||
ifeq ($(DEVICE_FLAGS),)
|
||||
DEVICE_FLAGS = -DSTM32F10X_MD
|
||||
|
|
@ -581,8 +578,10 @@ CFLAGS += $(ARCH_FLAGS) \
|
|||
-Wall -Wextra -Wunsafe-loop-optimizations -Wdouble-promotion \
|
||||
-ffunction-sections \
|
||||
-fdata-sections \
|
||||
-pedantic \
|
||||
$(DEVICE_FLAGS) \
|
||||
-DUSE_STDPERIPH_DRIVER \
|
||||
-D$(TARGET) \
|
||||
$(TARGET_FLAGS) \
|
||||
-D'__FORKNAME__="$(FORKNAME)"' \
|
||||
-D'__TARGET__="$(TARGET)"' \
|
||||
|
|
|
|||
26
README.md
26
README.md
|
|
@ -61,11 +61,9 @@ If what you need is not covered then refer to the baseflight documentation. If y
|
|||
|
||||
## IRC Support and Developers Channel
|
||||
|
||||
There's a dedicated IRC channel here:
|
||||
There's a dedicated IRCgitter chat channel here:
|
||||
|
||||
irc://irc.freenode.net/#cleanflight
|
||||
|
||||
If you are using windows and don't have an IRC client installed then take a look at HydraIRC - here: http://hydrairc.com/
|
||||
https://gitter.im/betaflight/betaflight
|
||||
|
||||
Etiquette: Don't ask to ask and please wait around long enough for a reply - sometimes people are out flying, asleep or at work and can't answer immediately.
|
||||
|
||||
|
|
@ -79,13 +77,13 @@ Please subscribe and '+1' the videos if you find them useful.
|
|||
|
||||
## Configuration Tool
|
||||
|
||||
To configure Cleanflight you should use the Cleanflight-configurator GUI tool (Windows/OSX/Linux) that can be found here:
|
||||
To configure Betaflight you should use the Betaflight-configurator GUI tool (Windows/OSX/Linux) that can be found here:
|
||||
|
||||
https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb
|
||||
https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao
|
||||
|
||||
The source for it is here:
|
||||
|
||||
https://github.com/cleanflight/cleanflight-configurator
|
||||
https://github.com/betaflight/betaflight-configurator
|
||||
|
||||
## Contributing
|
||||
|
||||
|
|
@ -97,10 +95,10 @@ Contributions are welcome and encouraged. You can contribute in many ways:
|
|||
* New features.
|
||||
* Telling us your ideas and suggestions.
|
||||
|
||||
The best place to start is the IRC channel on freenode (see above), drop in, say hi. Next place is the github issue tracker:
|
||||
The best place to start is the IRC channel on gitter (see above), drop in, say hi. Next place is the github issue tracker:
|
||||
|
||||
https://github.com/cleanflight/cleanflight/issues
|
||||
https://github.com/cleanflight/cleanflight-configurator/issues
|
||||
https://github.com/betaflight/betaflight/issues
|
||||
https://github.com/betaflight/betaflight-configurator/issues
|
||||
|
||||
Before creating new issues please check to see if there is an existing one, search first otherwise you waste peoples time when they could be coding instead!
|
||||
|
||||
|
|
@ -110,11 +108,11 @@ Please refer to the development section in the `docs/development` folder.
|
|||
|
||||
TravisCI is used to run automatic builds
|
||||
|
||||
https://travis-ci.org/cleanflight/cleanflight
|
||||
https://travis-ci.org/betaflight/betaflight
|
||||
|
||||
[](https://travis-ci.org/cleanflight/cleanflight)
|
||||
[](https://travis-ci.org/betaflight/betaflight)
|
||||
|
||||
## Cleanflight Releases
|
||||
https://github.com/cleanflight/cleanflight/releases
|
||||
## Betaflight Releases
|
||||
https://github.com/betaflight/betaflight/releases
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1210,18 +1210,34 @@ static bool blackboxWriteSysinfo()
|
|||
BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
|
||||
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
|
||||
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
|
||||
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
|
||||
BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
|
||||
BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_filter_type);
|
||||
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz * 100.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff * 100.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("deltaMethod:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
|
||||
BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
|
||||
BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
|
||||
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
|
||||
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidAtMinThrottle);
|
||||
|
||||
// Betaflight PID controller parameters
|
||||
BLACKBOX_PRINT_HEADER_LINE("toleranceBand:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBand);
|
||||
BLACKBOX_PRINT_HEADER_LINE("toleranceBandReduction:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBandReduction);
|
||||
BLACKBOX_PRINT_HEADER_LINE("zeroCrossAllowanceCount:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.zeroCrossAllowanceCount);
|
||||
BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain);
|
||||
BLACKBOX_PRINT_HEADER_LINE("ptermSetpointWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.ptermSetpointWeight);
|
||||
BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawRateAccelLimit);
|
||||
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit);
|
||||
// End of Betaflight controller parameters
|
||||
|
||||
BLACKBOX_PRINT_HEADER_LINE("deadband:%d", masterConfig.rcControlsConfig.deadband);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", masterConfig.gyro_lpf);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d", masterConfig.gyro_soft_type);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d", (int)(masterConfig.gyro_soft_notch_hz * 100.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d", (int)(masterConfig.gyro_soft_notch_cutoff * 100.0f));
|
||||
|
|
@ -1237,6 +1253,7 @@ static bool blackboxWriteSysinfo()
|
|||
BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", masterConfig.use_unsyncedPwm);
|
||||
BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", masterConfig.motor_pwm_protocol);
|
||||
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", masterConfig.motor_pwm_rate);
|
||||
BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode);
|
||||
BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);
|
||||
|
||||
default:
|
||||
|
|
|
|||
|
|
@ -206,7 +206,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
|
|||
pidProfile->D8[ROLL] = 20;
|
||||
pidProfile->P8[PITCH] = 60;
|
||||
pidProfile->I8[PITCH] = 60;
|
||||
pidProfile->D8[PITCH] = 25;
|
||||
pidProfile->D8[PITCH] = 22;
|
||||
pidProfile->P8[YAW] = 80;
|
||||
pidProfile->I8[YAW] = 45;
|
||||
pidProfile->D8[YAW] = 20;
|
||||
|
|
@ -232,22 +232,22 @@ static void resetPidProfile(pidProfile_t *pidProfile)
|
|||
|
||||
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
|
||||
pidProfile->yaw_lpf_hz = 80;
|
||||
pidProfile->rollPitchItermIgnoreRate = 200;
|
||||
pidProfile->yawItermIgnoreRate = 50;
|
||||
pidProfile->rollPitchItermIgnoreRate = 130;
|
||||
pidProfile->yawItermIgnoreRate = 32;
|
||||
pidProfile->dterm_filter_type = FILTER_BIQUAD;
|
||||
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
|
||||
pidProfile->dterm_notch_hz = 0;
|
||||
pidProfile->dterm_notch_cutoff = 150;
|
||||
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
|
||||
pidProfile->vbatPidCompensation = 0;
|
||||
pidProfile->zeroThrottleStabilisation = PID_STABILISATION_OFF;
|
||||
pidProfile->pidAtMinThrottle = PID_STABILISATION_OFF;
|
||||
|
||||
// Betaflight PID controller parameters
|
||||
pidProfile->ptermSetpointWeight = 75;
|
||||
pidProfile->dtermSetpointWeight = 120;
|
||||
pidProfile->yawRateAccelLimit = 220;
|
||||
pidProfile->rateAccelLimit = 0;
|
||||
pidProfile->toleranceBand = 15;
|
||||
pidProfile->toleranceBand = 0;
|
||||
pidProfile->toleranceBandReduction = 40;
|
||||
pidProfile->zeroCrossAllowanceCount = 2;
|
||||
pidProfile->itermThrottleGain = 0;
|
||||
|
|
@ -273,7 +273,7 @@ void resetProfile(profile_t *profile)
|
|||
resetControlRateConfig(&profile->controlRateProfile[rI]);
|
||||
}
|
||||
|
||||
profile->activeRateProfile = 0;
|
||||
profile->activeRateProfile = 0;
|
||||
}
|
||||
|
||||
#ifdef GPS
|
||||
|
|
@ -310,11 +310,10 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
|
|||
{
|
||||
#ifdef BRUSHED_MOTORS
|
||||
escAndServoConfig->minthrottle = 1000;
|
||||
escAndServoConfig->maxthrottle = 2000;
|
||||
#else
|
||||
escAndServoConfig->minthrottle = 1150;
|
||||
escAndServoConfig->maxthrottle = 1850;
|
||||
escAndServoConfig->minthrottle = 1070;
|
||||
#endif
|
||||
escAndServoConfig->maxthrottle = 2000;
|
||||
escAndServoConfig->mincommand = 1000;
|
||||
escAndServoConfig->servoCenterPulse = 1500;
|
||||
}
|
||||
|
|
@ -440,263 +439,280 @@ uint16_t getCurrentMinthrottle(void)
|
|||
return masterConfig.escAndServoConfig.minthrottle;
|
||||
}
|
||||
|
||||
static void intFeatureClearAll(master_t *config);
|
||||
static void intFeatureSet(uint32_t mask, master_t *config);
|
||||
static void intFeatureClear(uint32_t mask, master_t *config);
|
||||
|
||||
// Default settings
|
||||
static void resetConf(void)
|
||||
void createDefaultConfig(master_t *config)
|
||||
{
|
||||
// Clear all configuration
|
||||
memset(&masterConfig, 0, sizeof(master_t));
|
||||
setProfile(0);
|
||||
memset(config, 0, sizeof(master_t));
|
||||
|
||||
featureClearAll();
|
||||
featureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_SUPEREXPO_RATES);
|
||||
intFeatureClearAll(config);
|
||||
intFeatureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_SUPEREXPO_RATES, config);
|
||||
#ifdef DEFAULT_FEATURES
|
||||
featureSet(DEFAULT_FEATURES);
|
||||
intFeatureSet(DEFAULT_FEATURES, config);
|
||||
#endif
|
||||
|
||||
#ifdef OSD
|
||||
resetOsdConfig();
|
||||
intFeatureSet(FEATURE_OSD, config);
|
||||
resetOsdConfig(&config->osdProfile);
|
||||
#endif
|
||||
|
||||
#ifdef BOARD_HAS_VOLTAGE_DIVIDER
|
||||
// only enable the VBAT feature by default if the board has a voltage divider otherwise
|
||||
// the user may see incorrect readings and unexpected issues with pin mappings may occur.
|
||||
featureSet(FEATURE_VBAT);
|
||||
intFeatureSet(FEATURE_VBAT, config);
|
||||
#endif
|
||||
|
||||
|
||||
masterConfig.version = EEPROM_CONF_VERSION;
|
||||
masterConfig.mixerMode = MIXER_QUADX;
|
||||
config->version = EEPROM_CONF_VERSION;
|
||||
config->mixerMode = MIXER_QUADX;
|
||||
|
||||
// global settings
|
||||
masterConfig.current_profile_index = 0; // default profile
|
||||
masterConfig.dcm_kp = 2500; // 1.0 * 10000
|
||||
masterConfig.dcm_ki = 0; // 0.003 * 10000
|
||||
masterConfig.gyro_lpf = 0; // 256HZ default
|
||||
config->current_profile_index = 0; // default profile
|
||||
config->dcm_kp = 2500; // 1.0 * 10000
|
||||
config->dcm_ki = 0; // 0.003 * 10000
|
||||
config->gyro_lpf = 0; // 256HZ default
|
||||
#ifdef STM32F10X
|
||||
masterConfig.gyro_sync_denom = 8;
|
||||
masterConfig.pid_process_denom = 1;
|
||||
config->gyro_sync_denom = 8;
|
||||
config->pid_process_denom = 1;
|
||||
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)
|
||||
masterConfig.gyro_sync_denom = 1;
|
||||
masterConfig.pid_process_denom = 4;
|
||||
config->gyro_sync_denom = 1;
|
||||
config->pid_process_denom = 4;
|
||||
#else
|
||||
masterConfig.gyro_sync_denom = 4;
|
||||
masterConfig.pid_process_denom = 2;
|
||||
config->gyro_sync_denom = 4;
|
||||
config->pid_process_denom = 2;
|
||||
#endif
|
||||
masterConfig.gyro_soft_type = FILTER_PT1;
|
||||
masterConfig.gyro_soft_lpf_hz = 90;
|
||||
masterConfig.gyro_soft_notch_hz = 0;
|
||||
masterConfig.gyro_soft_notch_cutoff = 150;
|
||||
config->gyro_soft_type = FILTER_PT1;
|
||||
config->gyro_soft_lpf_hz = 90;
|
||||
config->gyro_soft_notch_hz = 0;
|
||||
config->gyro_soft_notch_cutoff = 150;
|
||||
|
||||
masterConfig.debug_mode = DEBUG_NONE;
|
||||
config->debug_mode = DEBUG_NONE;
|
||||
|
||||
resetAccelerometerTrims(&masterConfig.accZero);
|
||||
resetAccelerometerTrims(&config->accZero);
|
||||
|
||||
resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
|
||||
resetSensorAlignment(&config->sensorAlignmentConfig);
|
||||
|
||||
masterConfig.boardAlignment.rollDegrees = 0;
|
||||
masterConfig.boardAlignment.pitchDegrees = 0;
|
||||
masterConfig.boardAlignment.yawDegrees = 0;
|
||||
masterConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
|
||||
masterConfig.max_angle_inclination = 700; // 70 degrees
|
||||
masterConfig.yaw_control_direction = 1;
|
||||
masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
|
||||
config->boardAlignment.rollDegrees = 0;
|
||||
config->boardAlignment.pitchDegrees = 0;
|
||||
config->boardAlignment.yawDegrees = 0;
|
||||
config->acc_hardware = ACC_DEFAULT; // default/autodetect
|
||||
config->max_angle_inclination = 700; // 70 degrees
|
||||
config->yaw_control_direction = 1;
|
||||
config->gyroConfig.gyroMovementCalibrationThreshold = 32;
|
||||
|
||||
// xxx_hardware: 0:default/autodetect, 1: disable
|
||||
masterConfig.mag_hardware = 0;
|
||||
config->mag_hardware = 0;
|
||||
|
||||
masterConfig.baro_hardware = 0;
|
||||
config->baro_hardware = 0;
|
||||
|
||||
resetBatteryConfig(&masterConfig.batteryConfig);
|
||||
resetBatteryConfig(&config->batteryConfig);
|
||||
|
||||
#ifdef TELEMETRY
|
||||
resetTelemetryConfig(&masterConfig.telemetryConfig);
|
||||
resetTelemetryConfig(&config->telemetryConfig);
|
||||
#endif
|
||||
|
||||
#ifdef SERIALRX_PROVIDER
|
||||
masterConfig.rxConfig.serialrx_provider = SERIALRX_PROVIDER;
|
||||
config->rxConfig.serialrx_provider = SERIALRX_PROVIDER;
|
||||
#else
|
||||
masterConfig.rxConfig.serialrx_provider = 0;
|
||||
config->rxConfig.serialrx_provider = 0;
|
||||
#endif
|
||||
masterConfig.rxConfig.sbus_inversion = 1;
|
||||
masterConfig.rxConfig.spektrum_sat_bind = 0;
|
||||
masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
|
||||
masterConfig.rxConfig.midrc = 1500;
|
||||
masterConfig.rxConfig.mincheck = 1100;
|
||||
masterConfig.rxConfig.maxcheck = 1900;
|
||||
masterConfig.rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection
|
||||
masterConfig.rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
|
||||
config->rxConfig.sbus_inversion = 1;
|
||||
config->rxConfig.spektrum_sat_bind = 0;
|
||||
config->rxConfig.spektrum_sat_bind_autoreset = 1;
|
||||
config->rxConfig.midrc = 1500;
|
||||
config->rxConfig.mincheck = 1100;
|
||||
config->rxConfig.maxcheck = 1900;
|
||||
config->rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection
|
||||
config->rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
|
||||
|
||||
for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
|
||||
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
|
||||
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &config->rxConfig.failsafe_channel_configurations[i];
|
||||
channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
|
||||
channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
|
||||
channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(config->rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(config->rxConfig.midrc);
|
||||
}
|
||||
|
||||
masterConfig.rxConfig.rssi_channel = 0;
|
||||
masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
|
||||
masterConfig.rxConfig.rssi_ppm_invert = 0;
|
||||
masterConfig.rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
|
||||
masterConfig.rxConfig.rcInterpolationInterval = 19;
|
||||
masterConfig.rxConfig.fpvCamAngleDegrees = 0;
|
||||
masterConfig.rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
|
||||
masterConfig.rxConfig.airModeActivateThreshold = 1350;
|
||||
config->rxConfig.rssi_channel = 0;
|
||||
config->rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
|
||||
config->rxConfig.rssi_ppm_invert = 0;
|
||||
config->rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
|
||||
config->rxConfig.rcInterpolationInterval = 19;
|
||||
config->rxConfig.fpvCamAngleDegrees = 0;
|
||||
config->rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
|
||||
config->rxConfig.airModeActivateThreshold = 1350;
|
||||
|
||||
resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
|
||||
resetAllRxChannelRangeConfigurations(config->rxConfig.channelRanges);
|
||||
|
||||
masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
|
||||
config->inputFilteringMode = INPUT_FILTERING_DISABLED;
|
||||
|
||||
masterConfig.gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
|
||||
masterConfig.disarm_kill_switch = 1;
|
||||
masterConfig.auto_disarm_delay = 5;
|
||||
masterConfig.small_angle = 25;
|
||||
config->gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
|
||||
config->disarm_kill_switch = 1;
|
||||
config->auto_disarm_delay = 5;
|
||||
config->small_angle = 25;
|
||||
|
||||
resetMixerConfig(&masterConfig.mixerConfig);
|
||||
resetMixerConfig(&config->mixerConfig);
|
||||
|
||||
masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
|
||||
config->airplaneConfig.fixedwing_althold_dir = 1;
|
||||
|
||||
// Motor/ESC/Servo
|
||||
resetEscAndServoConfig(&masterConfig.escAndServoConfig);
|
||||
resetFlight3DConfig(&masterConfig.flight3DConfig);
|
||||
resetEscAndServoConfig(&config->escAndServoConfig);
|
||||
resetFlight3DConfig(&config->flight3DConfig);
|
||||
|
||||
#ifdef BRUSHED_MOTORS
|
||||
masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
|
||||
masterConfig.motor_pwm_protocol = PWM_TYPE_BRUSHED;
|
||||
masterConfig.use_unsyncedPwm = true;
|
||||
config->motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
|
||||
config->motor_pwm_protocol = PWM_TYPE_BRUSHED;
|
||||
config->use_unsyncedPwm = true;
|
||||
#else
|
||||
masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
|
||||
masterConfig.motor_pwm_protocol = PWM_TYPE_ONESHOT125;
|
||||
config->motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
|
||||
config->motor_pwm_protocol = PWM_TYPE_ONESHOT125;
|
||||
#endif
|
||||
masterConfig.servo_pwm_rate = 50;
|
||||
|
||||
config->servo_pwm_rate = 50;
|
||||
|
||||
#ifdef CC3D
|
||||
masterConfig.use_buzzer_p6 = 0;
|
||||
config->use_buzzer_p6 = 0;
|
||||
#endif
|
||||
|
||||
#ifdef GPS
|
||||
// gps/nav stuff
|
||||
masterConfig.gpsConfig.provider = GPS_NMEA;
|
||||
masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
|
||||
masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
|
||||
masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
|
||||
config->gpsConfig.provider = GPS_NMEA;
|
||||
config->gpsConfig.sbasMode = SBAS_AUTO;
|
||||
config->gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
|
||||
config->gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
|
||||
#endif
|
||||
|
||||
resetSerialConfig(&masterConfig.serialConfig);
|
||||
resetSerialConfig(&config->serialConfig);
|
||||
|
||||
masterConfig.emf_avoidance = 0; // TODO - needs removal
|
||||
config->emf_avoidance = 0; // TODO - needs removal
|
||||
|
||||
resetProfile(currentProfile);
|
||||
resetProfile(&config->profile[0]);
|
||||
|
||||
resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
|
||||
resetRollAndPitchTrims(&config->accelerometerTrims);
|
||||
|
||||
masterConfig.mag_declination = 0;
|
||||
masterConfig.acc_lpf_hz = 10.0f;
|
||||
masterConfig.accDeadband.xy = 40;
|
||||
masterConfig.accDeadband.z = 40;
|
||||
masterConfig.acc_unarmedcal = 1;
|
||||
config->mag_declination = 0;
|
||||
config->acc_lpf_hz = 10.0f;
|
||||
config->accDeadband.xy = 40;
|
||||
config->accDeadband.z = 40;
|
||||
config->acc_unarmedcal = 1;
|
||||
|
||||
#ifdef BARO
|
||||
resetBarometerConfig(&masterConfig.barometerConfig);
|
||||
resetBarometerConfig(&config->barometerConfig);
|
||||
#endif
|
||||
|
||||
// Radio
|
||||
#ifdef RX_CHANNELS_TAER
|
||||
parseRcChannels("TAER1234", &masterConfig.rxConfig);
|
||||
parseRcChannels("TAER1234", &config->rxConfig);
|
||||
#else
|
||||
parseRcChannels("AETR1234", &masterConfig.rxConfig);
|
||||
parseRcChannels("AETR1234", &config->rxConfig);
|
||||
#endif
|
||||
|
||||
resetRcControlsConfig(&masterConfig.rcControlsConfig);
|
||||
resetRcControlsConfig(&config->rcControlsConfig);
|
||||
|
||||
masterConfig.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
|
||||
masterConfig.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
|
||||
config->throttle_correction_value = 0; // could 10 with althold or 40 for fpv
|
||||
config->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
|
||||
|
||||
// Failsafe Variables
|
||||
masterConfig.failsafeConfig.failsafe_delay = 10; // 1sec
|
||||
masterConfig.failsafeConfig.failsafe_off_delay = 10; // 1sec
|
||||
masterConfig.failsafeConfig.failsafe_throttle = 1000; // default throttle off.
|
||||
masterConfig.failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss
|
||||
masterConfig.failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
|
||||
masterConfig.failsafeConfig.failsafe_procedure = 0; // default full failsafe procedure is 0: auto-landing
|
||||
config->failsafeConfig.failsafe_delay = 10; // 1sec
|
||||
config->failsafeConfig.failsafe_off_delay = 10; // 1sec
|
||||
config->failsafeConfig.failsafe_throttle = 1000; // default throttle off.
|
||||
config->failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss
|
||||
config->failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
|
||||
config->failsafeConfig.failsafe_procedure = 0; // default full failsafe procedure is 0: auto-landing
|
||||
|
||||
#ifdef USE_SERVOS
|
||||
// servos
|
||||
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
|
||||
masterConfig.servoConf[i].min = DEFAULT_SERVO_MIN;
|
||||
masterConfig.servoConf[i].max = DEFAULT_SERVO_MAX;
|
||||
masterConfig.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
|
||||
masterConfig.servoConf[i].rate = 100;
|
||||
masterConfig.servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
|
||||
masterConfig.servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
|
||||
masterConfig.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
|
||||
config->servoConf[i].min = DEFAULT_SERVO_MIN;
|
||||
config->servoConf[i].max = DEFAULT_SERVO_MAX;
|
||||
config->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
|
||||
config->servoConf[i].rate = 100;
|
||||
config->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
|
||||
config->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
|
||||
config->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
|
||||
}
|
||||
|
||||
// gimbal
|
||||
masterConfig.gimbalConfig.mode = GIMBAL_MODE_NORMAL;
|
||||
config->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
|
||||
#endif
|
||||
|
||||
#ifdef GPS
|
||||
resetGpsProfile(&masterConfig.gpsProfile);
|
||||
resetGpsProfile(&config->gpsProfile);
|
||||
#endif
|
||||
|
||||
// custom mixer. clear by defaults.
|
||||
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
|
||||
masterConfig.customMotorMixer[i].throttle = 0.0f;
|
||||
config->customMotorMixer[i].throttle = 0.0f;
|
||||
}
|
||||
|
||||
#ifdef LED_STRIP
|
||||
applyDefaultColors(masterConfig.colors);
|
||||
applyDefaultLedStripConfig(masterConfig.ledConfigs);
|
||||
applyDefaultModeColors(masterConfig.modeColors);
|
||||
applyDefaultSpecialColors(&(masterConfig.specialColors));
|
||||
masterConfig.ledstrip_visual_beeper = 0;
|
||||
applyDefaultColors(config->colors);
|
||||
applyDefaultLedStripConfig(config->ledConfigs);
|
||||
applyDefaultModeColors(config->modeColors);
|
||||
applyDefaultSpecialColors(&(config->specialColors));
|
||||
config->ledstrip_visual_beeper = 0;
|
||||
#endif
|
||||
|
||||
#ifdef VTX
|
||||
masterConfig.vtx_band = 4; //Fatshark/Airwaves
|
||||
masterConfig.vtx_channel = 1; //CH1
|
||||
masterConfig.vtx_mode = 0; //CH+BAND mode
|
||||
masterConfig.vtx_mhz = 5740; //F0
|
||||
config->vtx_band = 4; //Fatshark/Airwaves
|
||||
config->vtx_channel = 1; //CH1
|
||||
config->vtx_mode = 0; //CH+BAND mode
|
||||
config->vtx_mhz = 5740; //F0
|
||||
#endif
|
||||
|
||||
#ifdef TRANSPONDER
|
||||
static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware
|
||||
|
||||
memcpy(masterConfig.transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
|
||||
memcpy(config->transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
|
||||
#endif
|
||||
|
||||
#ifdef BLACKBOX
|
||||
|
||||
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
|
||||
featureSet(FEATURE_BLACKBOX);
|
||||
masterConfig.blackbox_device = BLACKBOX_DEVICE_FLASH;
|
||||
intFeatureSet(FEATURE_BLACKBOX, config);
|
||||
config->blackbox_device = BLACKBOX_DEVICE_FLASH;
|
||||
#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
|
||||
featureSet(FEATURE_BLACKBOX);
|
||||
masterConfig.blackbox_device = BLACKBOX_DEVICE_SDCARD;
|
||||
intFeatureSet(FEATURE_BLACKBOX, config);
|
||||
config->blackbox_device = BLACKBOX_DEVICE_SDCARD;
|
||||
#else
|
||||
masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL;
|
||||
config->blackbox_device = BLACKBOX_DEVICE_SERIAL;
|
||||
#endif
|
||||
|
||||
masterConfig.blackbox_rate_num = 1;
|
||||
masterConfig.blackbox_rate_denom = 1;
|
||||
|
||||
config->blackbox_rate_num = 1;
|
||||
config->blackbox_rate_denom = 1;
|
||||
#endif // BLACKBOX
|
||||
|
||||
#ifdef SERIALRX_UART
|
||||
if (featureConfigured(FEATURE_RX_SERIAL)) {
|
||||
masterConfig.serialConfig.portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
|
||||
config->serialConfig.portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(TARGET_CONFIG)
|
||||
targetConfiguration();
|
||||
// Don't look at target specific config settings when getting default
|
||||
// values for a CLI diff. This is suboptimal, but it doesn't break the
|
||||
// public API
|
||||
if (config == &masterConfig) {
|
||||
targetConfiguration();
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
// copy first profile into remaining profile
|
||||
for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
|
||||
memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
|
||||
memcpy(&config->profile[i], &config->profile[0], sizeof(profile_t));
|
||||
}
|
||||
}
|
||||
|
||||
static void resetConf(void)
|
||||
{
|
||||
createDefaultConfig(&masterConfig);
|
||||
|
||||
setProfile(0);
|
||||
|
||||
#ifdef LED_STRIP
|
||||
reevaluateLedConfig();
|
||||
#endif
|
||||
}
|
||||
|
||||
static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
|
||||
|
|
@ -1067,17 +1083,32 @@ bool feature(uint32_t mask)
|
|||
|
||||
void featureSet(uint32_t mask)
|
||||
{
|
||||
masterConfig.enabledFeatures |= mask;
|
||||
intFeatureSet(mask, &masterConfig);
|
||||
}
|
||||
|
||||
static void intFeatureSet(uint32_t mask, master_t *config)
|
||||
{
|
||||
config->enabledFeatures |= mask;
|
||||
}
|
||||
|
||||
void featureClear(uint32_t mask)
|
||||
{
|
||||
masterConfig.enabledFeatures &= ~(mask);
|
||||
intFeatureClear(mask, &masterConfig);
|
||||
}
|
||||
|
||||
static void intFeatureClear(uint32_t mask, master_t *config)
|
||||
{
|
||||
config->enabledFeatures &= ~(mask);
|
||||
}
|
||||
|
||||
void featureClearAll()
|
||||
{
|
||||
masterConfig.enabledFeatures = 0;
|
||||
intFeatureClearAll(&masterConfig);
|
||||
}
|
||||
|
||||
static void intFeatureClearAll(master_t *config)
|
||||
{
|
||||
config->enabledFeatures = 0;
|
||||
}
|
||||
|
||||
uint32_t featureMask(void)
|
||||
|
|
|
|||
|
|
@ -26,7 +26,6 @@
|
|||
#define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
|
||||
#define MAX_NAME_LENGTH 16
|
||||
|
||||
|
||||
typedef enum {
|
||||
FEATURE_RX_PPM = 1 << 0,
|
||||
FEATURE_VBAT = 1 << 1,
|
||||
|
|
|
|||
|
|
@ -174,3 +174,5 @@ typedef struct master_t {
|
|||
extern master_t masterConfig;
|
||||
extern profile_t *currentProfile;
|
||||
extern controlRateConfig_t *currentControlRateProfile;
|
||||
|
||||
void createDefaultConfig(master_t *config);
|
||||
|
|
|
|||
|
|
@ -115,12 +115,14 @@ void initFilters(const pidProfile_t *pidProfile) {
|
|||
|
||||
if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
|
||||
float notchQ = filterGetNotchQ(pidProfile->dterm_notch_hz, pidProfile->dterm_notch_cutoff);
|
||||
for (axis = 0; axis < 3; axis++) biquadFilterInit(&dtermFilterNotch[axis], pidProfile->dterm_notch_hz, gyro.targetLooptime, notchQ, FILTER_NOTCH);
|
||||
for (axis = 0; axis < 3; axis++) biquadFilterInit(&dtermFilterNotch[axis], pidProfile->dterm_notch_hz, targetPidLooptime, notchQ, FILTER_NOTCH);
|
||||
dtermNotchInitialised = true;
|
||||
}
|
||||
|
||||
if (pidProfile->dterm_filter_type == FILTER_BIQUAD) {
|
||||
if (pidProfile->dterm_lpf_hz && !dtermBiquadLpfInitialised) {
|
||||
for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, gyro.targetLooptime);
|
||||
for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime);
|
||||
dtermBiquadLpfInitialised = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -272,7 +274,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
|
|||
// -----calculate I component.
|
||||
// Reduce strong Iterm accumulation during higher stick inputs
|
||||
float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
|
||||
float setpointRateScaler = constrainf(1.0f - (1.5f * (ABS(setpointRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
|
||||
float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
|
||||
|
||||
// Handle All windup Scenarios
|
||||
// limit maximum integrator value to prevent WindUp
|
||||
|
|
|
|||
|
|
@ -91,7 +91,7 @@ typedef struct pidProfile_s {
|
|||
uint16_t yaw_p_limit;
|
||||
uint8_t dterm_average_count; // Configurable delta count for dterm
|
||||
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
|
||||
uint8_t zeroThrottleStabilisation; // Disable/Enable zero throttle stabilisation. Normally even without airmode P and D would be active.
|
||||
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
|
||||
|
||||
// Betaflight PID controller parameters
|
||||
uint8_t toleranceBand; // Error tolerance area where toleranceBandReduction is applied under certain circumstances
|
||||
|
|
|
|||
|
|
@ -238,85 +238,6 @@ static const specialColorIndexes_t defaultSpecialColors[] = {
|
|||
|
||||
static int scaledThrottle;
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
#ifdef USE_LED_RING_DEFAULT_CONFIG
|
||||
const ledConfig_t defaultLedStripConfig[] = {
|
||||
{ CALCULATE_LED_XY( 2, 2), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 2, 1), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 2, 0), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 1, 0), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 0, 0), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 0, 1), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 0, 2), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 1, 2), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 1, 1), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 1, 1), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 1, 1), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 1, 1), 3, LED_FUNCTION_THRUST_RING},
|
||||
};
|
||||
#elif defined(USE_COLIBTI_RACE_LED_DEFAULT_CONFIG)
|
||||
const ledConfig_t defaultLedStripConfig[] = {
|
||||
{ CALCULATE_LED_XY( 0, 0), 6, LED_DIRECTION_WEST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
|
||||
{ CALCULATE_LED_XY( 0, 1), 6, LED_DIRECTION_WEST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
|
||||
{ CALCULATE_LED_XY( 0, 8), 6, LED_DIRECTION_WEST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
|
||||
{ CALCULATE_LED_XY( 7, 15), 6, LED_FUNCTION_COLOR },
|
||||
{ CALCULATE_LED_XY( 8, 15), 6, LED_FUNCTION_COLOR },
|
||||
{ CALCULATE_LED_XY( 7, 14), 6, LED_FUNCTION_COLOR },
|
||||
{ CALCULATE_LED_XY( 8, 14), 6, LED_FUNCTION_COLOR },
|
||||
{ CALCULATE_LED_XY( 15, 8), 6, LED_DIRECTION_EAST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
|
||||
{ CALCULATE_LED_XY( 15, 1), 6, LED_DIRECTION_EAST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
|
||||
{ CALCULATE_LED_XY( 15, 0), 6, LED_DIRECTION_EAST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
|
||||
};
|
||||
#else
|
||||
const ledConfig_t defaultLedStripConfig[] = {
|
||||
{ CALCULATE_LED_XY(15, 15), 0, LED_DIRECTION_SOUTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||
|
||||
{ CALCULATE_LED_XY(15, 8), 0, LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
{ CALCULATE_LED_XY(15, 7), 0, LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
|
||||
{ CALCULATE_LED_XY(15, 0), 0, LED_DIRECTION_NORTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||
|
||||
{ CALCULATE_LED_XY( 8, 0), 0, LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
|
||||
{ CALCULATE_LED_XY( 7, 0), 0, LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
|
||||
|
||||
{ CALCULATE_LED_XY( 0, 0), 0, LED_DIRECTION_NORTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||
|
||||
{ CALCULATE_LED_XY( 0, 7), 0, LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
{ CALCULATE_LED_XY( 0, 8), 0, LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
|
||||
{ CALCULATE_LED_XY( 0, 15), 0, LED_DIRECTION_SOUTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||
|
||||
{ CALCULATE_LED_XY( 7, 15), 0, LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
{ CALCULATE_LED_XY( 8, 15), 0, LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
|
||||
{ CALCULATE_LED_XY( 7, 7), 0, LED_DIRECTION_UP | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
{ CALCULATE_LED_XY( 8, 7), 0, LED_DIRECTION_UP | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
{ CALCULATE_LED_XY( 7, 8), 0, LED_DIRECTION_DOWN | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
{ CALCULATE_LED_XY( 8, 8), 0, LED_DIRECTION_DOWN | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
|
||||
|
||||
{ CALCULATE_LED_XY( 8, 9), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 9, 10), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY(10, 11), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY(10, 12), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 9, 13), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 8, 14), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 7, 14), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 6, 13), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 5, 12), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 5, 11), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 6, 10), 3, LED_FUNCTION_THRUST_RING},
|
||||
{ CALCULATE_LED_XY( 7, 9), 3, LED_FUNCTION_THRUST_RING},
|
||||
|
||||
};
|
||||
#endif
|
||||
*/
|
||||
|
||||
|
||||
|
||||
|
||||
static void updateLedRingCounts(void);
|
||||
|
||||
STATIC_UNIT_TESTED void determineLedStripDimensions(void)
|
||||
|
|
@ -1223,9 +1144,6 @@ void pgResetFn_specialColors(specialColorIndexes_t *instance)
|
|||
void applyDefaultLedStripConfig(ledConfig_t *ledConfigs)
|
||||
{
|
||||
memset(ledConfigs, 0, LED_MAX_STRIP_LENGTH * sizeof(ledConfig_t));
|
||||
memcpy(ledConfigs, &defaultLedStripConfig, sizeof(defaultLedStripConfig));
|
||||
|
||||
reevaluateLedConfig();
|
||||
}
|
||||
|
||||
void applyDefaultColors(hsvColor_t *colors)
|
||||
|
|
|
|||
|
|
@ -831,24 +831,22 @@ void osdInit(void)
|
|||
max7456_draw_screen();
|
||||
}
|
||||
|
||||
void resetOsdConfig(void)
|
||||
void resetOsdConfig(osd_profile *osdProfile)
|
||||
{
|
||||
featureSet(FEATURE_OSD);
|
||||
masterConfig.osdProfile.video_system = AUTO;
|
||||
masterConfig.osdProfile.item_pos[OSD_MAIN_BATT_VOLTAGE] = -29;
|
||||
masterConfig.osdProfile.item_pos[OSD_RSSI_VALUE] = -59;
|
||||
masterConfig.osdProfile.item_pos[OSD_TIMER] = -39;
|
||||
masterConfig.osdProfile.item_pos[OSD_THROTTLE_POS] = -9;
|
||||
masterConfig.osdProfile.item_pos[OSD_CPU_LOAD] = 26;
|
||||
masterConfig.osdProfile.item_pos[OSD_VTX_CHANNEL] = 1;
|
||||
masterConfig.osdProfile.item_pos[OSD_VOLTAGE_WARNING] = -80;
|
||||
masterConfig.osdProfile.item_pos[OSD_ARMED] = -107;
|
||||
masterConfig.osdProfile.item_pos[OSD_DISARMED] = -109;
|
||||
masterConfig.osdProfile.item_pos[OSD_ARTIFICIAL_HORIZON] = -1;
|
||||
masterConfig.osdProfile.item_pos[OSD_HORIZON_SIDEBARS] = -1;
|
||||
masterConfig.osdProfile.item_pos[OSD_CURRENT_DRAW] = -23;
|
||||
masterConfig.osdProfile.item_pos[OSD_MAH_DRAWN] = -18;
|
||||
masterConfig.osdProfile.item_pos[OSD_CRAFT_NAME] = 1;
|
||||
osdProfile->video_system = AUTO;
|
||||
osdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] = -29;
|
||||
osdProfile->item_pos[OSD_RSSI_VALUE] = -59;
|
||||
osdProfile->item_pos[OSD_TIMER] = -39;
|
||||
osdProfile->item_pos[OSD_THROTTLE_POS] = -9;
|
||||
osdProfile->item_pos[OSD_CPU_LOAD] = 26;
|
||||
osdProfile->item_pos[OSD_VTX_CHANNEL] = 1;
|
||||
osdProfile->item_pos[OSD_VOLTAGE_WARNING] = -80;
|
||||
osdProfile->item_pos[OSD_ARMED] = -107;
|
||||
osdProfile->item_pos[OSD_DISARMED] = -109;
|
||||
osdProfile->item_pos[OSD_ARTIFICIAL_HORIZON] = -1;
|
||||
osdProfile->item_pos[OSD_HORIZON_SIDEBARS] = -1;
|
||||
osdProfile->item_pos[OSD_CURRENT_DRAW] = -23;
|
||||
osdProfile->item_pos[OSD_MAH_DRAWN] = -18;
|
||||
osdProfile->item_pos[OSD_CRAFT_NAME] = 1;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -65,4 +65,4 @@ typedef struct {
|
|||
|
||||
void updateOsd(void);
|
||||
void osdInit(void);
|
||||
void resetOsdConfig(void);
|
||||
void resetOsdConfig(osd_profile *osdProfile);
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -536,7 +536,7 @@ void processRx(void)
|
|||
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
|
||||
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
|
||||
pidResetErrorGyroState();
|
||||
if (currentProfile->pidProfile.zeroThrottleStabilisation)
|
||||
if (currentProfile->pidProfile.pidAtMinThrottle)
|
||||
pidStabilisationState(PID_STABILISATION_ON);
|
||||
else
|
||||
pidStabilisationState(PID_STABILISATION_OFF);
|
||||
|
|
|
|||
|
|
@ -20,15 +20,16 @@
|
|||
// Type of accelerometer used/detected
|
||||
typedef enum {
|
||||
ACC_DEFAULT = 0,
|
||||
ACC_NONE = 1,
|
||||
ACC_ADXL345 = 2,
|
||||
ACC_MPU6050 = 3,
|
||||
ACC_MMA8452 = 4,
|
||||
ACC_BMA280 = 5,
|
||||
ACC_LSM303DLHC = 6,
|
||||
ACC_MPU6000 = 7,
|
||||
ACC_MPU6500 = 8,
|
||||
ACC_FAKE = 9,
|
||||
ACC_NONE,
|
||||
ACC_ADXL345,
|
||||
ACC_MPU6050,
|
||||
ACC_MMA8452,
|
||||
ACC_BMA280,
|
||||
ACC_LSM303DLHC,
|
||||
ACC_MPU6000,
|
||||
ACC_MPU6500,
|
||||
ACC_MPU9250,
|
||||
ACC_FAKE,
|
||||
ACC_MAX = ACC_FAKE
|
||||
} accelerationSensor_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -384,6 +384,20 @@ retry:
|
|||
}
|
||||
#endif
|
||||
; // fallthrough
|
||||
case ACC_MPU9250:
|
||||
#ifdef USE_ACC_SPI_MPU9250
|
||||
|
||||
if (mpu9250SpiAccDetect(&acc))
|
||||
{
|
||||
accHardware = ACC_MPU9250;
|
||||
#ifdef ACC_MPU9250_ALIGN
|
||||
accAlign = ACC_MPU9250_ALIGN;
|
||||
#endif
|
||||
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
; // fallthrough
|
||||
case ACC_FAKE:
|
||||
#ifdef USE_FAKE_ACC
|
||||
if (fakeAccDetect(&acc)) {
|
||||
|
|
|
|||
|
|
@ -77,12 +77,12 @@ void targetConfiguration(void)
|
|||
masterConfig.motor_pwm_rate = 32000;
|
||||
masterConfig.failsafeConfig.failsafe_delay = 2;
|
||||
masterConfig.failsafeConfig.failsafe_off_delay = 0;
|
||||
currentProfile->pidProfile.P8[ROLL] = 90;
|
||||
currentProfile->pidProfile.I8[ROLL] = 44;
|
||||
currentProfile->pidProfile.D8[ROLL] = 60;
|
||||
currentProfile->pidProfile.P8[PITCH] = 90;
|
||||
currentProfile->pidProfile.I8[PITCH] = 44;
|
||||
currentProfile->pidProfile.D8[PITCH] = 60;
|
||||
masterConfig.profile[0].pidProfile.P8[ROLL] = 90;
|
||||
masterConfig.profile[0].pidProfile.I8[ROLL] = 44;
|
||||
masterConfig.profile[0].pidProfile.D8[ROLL] = 60;
|
||||
masterConfig.profile[0].pidProfile.P8[PITCH] = 90;
|
||||
masterConfig.profile[0].pidProfile.I8[PITCH] = 44;
|
||||
masterConfig.profile[0].pidProfile.D8[PITCH] = 60;
|
||||
|
||||
masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
|
||||
masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
|
||||
|
|
|
|||
|
|
@ -85,12 +85,12 @@ void targetConfiguration(void) {
|
|||
masterConfig.failsafeConfig.failsafe_off_delay = 0;
|
||||
masterConfig.gyro_sync_denom = 2;
|
||||
masterConfig.pid_process_denom = 1;
|
||||
currentProfile->pidProfile.P8[ROLL] = 90;
|
||||
currentProfile->pidProfile.I8[ROLL] = 44;
|
||||
currentProfile->pidProfile.D8[ROLL] = 60;
|
||||
currentProfile->pidProfile.P8[PITCH] = 90;
|
||||
currentProfile->pidProfile.I8[PITCH] = 44;
|
||||
currentProfile->pidProfile.D8[PITCH] = 60;
|
||||
masterConfig.profile[0].pidProfile.P8[ROLL] = 90;
|
||||
masterConfig.profile[0].pidProfile.I8[ROLL] = 44;
|
||||
masterConfig.profile[0].pidProfile.D8[ROLL] = 60;
|
||||
masterConfig.profile[0].pidProfile.P8[PITCH] = 90;
|
||||
masterConfig.profile[0].pidProfile.I8[PITCH] = 44;
|
||||
masterConfig.profile[0].pidProfile.D8[PITCH] = 60;
|
||||
|
||||
masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
|
||||
masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
|
||||
|
|
|
|||
|
|
@ -85,12 +85,12 @@ void targetConfiguration(void) {
|
|||
masterConfig.failsafeConfig.failsafe_off_delay = 0;
|
||||
masterConfig.gyro_sync_denom = 1;
|
||||
masterConfig.pid_process_denom = 1;
|
||||
currentProfile->pidProfile.P8[ROLL] = 90;
|
||||
currentProfile->pidProfile.I8[ROLL] = 44;
|
||||
currentProfile->pidProfile.D8[ROLL] = 60;
|
||||
currentProfile->pidProfile.P8[PITCH] = 90;
|
||||
currentProfile->pidProfile.I8[PITCH] = 44;
|
||||
currentProfile->pidProfile.D8[PITCH] = 60;
|
||||
masterConfig.profile[0].pidProfile.P8[ROLL] = 90;
|
||||
masterConfig.profile[0].pidProfile.I8[ROLL] = 44;
|
||||
masterConfig.profile[0].pidProfile.D8[ROLL] = 60;
|
||||
masterConfig.profile[0].pidProfile.P8[PITCH] = 90;
|
||||
masterConfig.profile[0].pidProfile.I8[PITCH] = 44;
|
||||
masterConfig.profile[0].pidProfile.D8[PITCH] = 60;
|
||||
|
||||
masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
|
||||
masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
|
||||
|
|
|
|||
|
|
@ -91,7 +91,7 @@
|
|||
#define VBAT_ADC_PIN PA0
|
||||
#define RSSI_ADC_PIN PB0
|
||||
|
||||
#define LED_STRIP
|
||||
//#define LED_STRIP
|
||||
#define WS2811_PIN PB4
|
||||
#define WS2811_TIMER TIM3
|
||||
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
|
||||
|
|
@ -103,20 +103,20 @@
|
|||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
#define SONAR
|
||||
#define SONAR_ECHO_PIN PB0
|
||||
#define SONAR_TRIGGER_PIN PB5
|
||||
//#define SONAR
|
||||
//#define SONAR_ECHO_PIN PB0
|
||||
//#define SONAR_TRIGGER_PIN PB5
|
||||
|
||||
#undef GPS
|
||||
|
||||
#ifdef CC3D_OPBL
|
||||
//#undef LED_STRIP
|
||||
#undef LED_STRIP
|
||||
#define SKIP_CLI_COMMAND_HELP
|
||||
#define SKIP_PID_FLOAT
|
||||
#undef BARO
|
||||
#undef MAG
|
||||
#undef SONAR
|
||||
#undef LED_STRIP
|
||||
#undef USE_SOFTSERIAL1
|
||||
#endif
|
||||
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
|
|
|
|||
|
|
@ -113,7 +113,6 @@
|
|||
#define EXTERNAL1_ADC_PIN PC3
|
||||
|
||||
#define LED_STRIP
|
||||
#define USE_COLIBTI_RACE_LED_DEFAULT_CONFIG
|
||||
|
||||
#define WS2811_PIN PA6 // TIM16_CH1
|
||||
#define WS2811_TIMER TIM16
|
||||
|
|
|
|||
|
|
@ -0,0 +1,86 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it 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 is distributed in the hope that it 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <platform.h>
|
||||
|
||||
#include "build_config.h"
|
||||
|
||||
#include "blackbox/blackbox_io.h"
|
||||
|
||||
#include "common/color.h"
|
||||
#include "common/axis.h"
|
||||
#include "common/filter.h"
|
||||
|
||||
#include "drivers/sensor.h"
|
||||
#include "drivers/accgyro.h"
|
||||
#include "drivers/compass.h"
|
||||
#include "drivers/system.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/pwm_rx.h"
|
||||
#include "drivers/serial.h"
|
||||
#include "drivers/pwm_output.h"
|
||||
#include "drivers/max7456.h"
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/gyro.h"
|
||||
#include "sensors/compass.h"
|
||||
#include "sensors/acceleration.h"
|
||||
#include "sensors/barometer.h"
|
||||
#include "sensors/boardalignment.h"
|
||||
#include "sensors/battery.h"
|
||||
|
||||
#include "io/beeper.h"
|
||||
#include "io/serial.h"
|
||||
#include "io/gimbal.h"
|
||||
#include "io/escservo.h"
|
||||
#include "io/rc_controls.h"
|
||||
#include "io/rc_curves.h"
|
||||
#include "io/ledstrip.h"
|
||||
#include "io/gps.h"
|
||||
#include "io/osd.h"
|
||||
#include "io/vtx.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
|
||||
#include "flight/mixer.h"
|
||||
#include "flight/pid.h"
|
||||
#include "flight/imu.h"
|
||||
#include "flight/failsafe.h"
|
||||
#include "flight/altitudehold.h"
|
||||
#include "flight/navigation.h"
|
||||
|
||||
#include "config/runtime_config.h"
|
||||
#include "config/config.h"
|
||||
|
||||
#include "config/config_profile.h"
|
||||
#include "config/config_master.h"
|
||||
|
||||
// alternative defaults settings for FURYF4 targets
|
||||
void targetConfiguration(void) {
|
||||
masterConfig.mag_hardware = MAG_NONE; // disabled by default
|
||||
masterConfig.motor_pwm_rate = 32000;
|
||||
masterConfig.failsafeConfig.failsafe_delay = 2;
|
||||
masterConfig.failsafeConfig.failsafe_off_delay = 0;
|
||||
masterConfig.gyro_sync_denom = 1;
|
||||
masterConfig.pid_process_denom = 1;
|
||||
}
|
||||
|
|
@ -18,6 +18,8 @@
|
|||
#pragma once
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "FYF4"
|
||||
#define TARGET_CONFIG
|
||||
|
||||
#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
|
||||
|
||||
#define USBD_PRODUCT_STRING "FuryF4"
|
||||
|
|
@ -36,6 +38,7 @@
|
|||
#define MPU_INT_EXTI PC4
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready (mag disabled)
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
|
|
@ -43,15 +46,18 @@
|
|||
#define MPU6500_CS_PIN PA4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_SPI_MPU6000
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW180_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||
|
||||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW180_DEG
|
||||
|
|
@ -68,17 +74,6 @@
|
|||
#define SDCARD_SPI_INSTANCE SPI2
|
||||
#define SDCARD_SPI_CS_PIN PB12
|
||||
|
||||
/*
|
||||
#define SDCARD_DETECT_PIN PD2
|
||||
#define SDCARD_DETECT_EXTI_LINE EXTI_Line2
|
||||
#define SDCARD_DETECT_EXTI_PIN_SOURCE EXTI_PinSource2
|
||||
#define SDCARD_DETECT_EXTI_PORT_SOURCE EXTI_PortSourceGPIOD
|
||||
#define SDCARD_DETECT_EXTI_IRQn EXTI2_IRQn
|
||||
|
||||
#define SDCARD_SPI_INSTANCE SPI3
|
||||
#define SDCARD_SPI_CS_PIN PB3
|
||||
*/
|
||||
|
||||
// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
|
||||
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
|
||||
// Divide to under 25MHz for normal operation:
|
||||
|
|
@ -95,7 +90,6 @@
|
|||
#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
|
||||
#define SDCARD_DMA_CHANNEL DMA_Channel_0
|
||||
|
||||
|
||||
#define USE_FLASHFS
|
||||
#define USE_FLASH_M25P16
|
||||
#define M25P16_CS_PIN PB3
|
||||
|
|
@ -110,7 +104,6 @@
|
|||
#define USE_UART1
|
||||
#define UART1_RX_PIN PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
|
||||
#define USE_UART3
|
||||
#define UART3_RX_PIN PB11
|
||||
|
|
|
|||
|
|
@ -21,6 +21,7 @@
|
|||
#define USE_CLI
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
#define TARGET_CONFIG
|
||||
|
||||
#define LED0 PB5 // Blue LEDs - PB5
|
||||
//#define LED1 PB9 // Green LEDs - PB9
|
||||
|
|
|
|||
|
|
@ -110,7 +110,7 @@
|
|||
#define SONAR_TRIGGER_PIN_PWM PB8
|
||||
#define SONAR_ECHO_PIN_PWM PB9
|
||||
|
||||
#define DISPLAY
|
||||
//#define DISPLAY
|
||||
|
||||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
|
|
|
|||
|
|
@ -81,13 +81,13 @@
|
|||
#define USE_FLASHTOOLS
|
||||
#define USE_FLASH_M25P16
|
||||
|
||||
#define SONAR
|
||||
//#define SONAR
|
||||
#define SONAR_TRIGGER_PIN PB0
|
||||
#define SONAR_ECHO_PIN PB1
|
||||
#define SONAR_TRIGGER_PIN_PWM PB8
|
||||
#define SONAR_ECHO_PIN_PWM PB9
|
||||
|
||||
#define DISPLAY
|
||||
//#define DISPLAY
|
||||
|
||||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
|
|
@ -115,6 +115,12 @@
|
|||
#define RSSI_ADC_PIN PA1
|
||||
#define EXTERNAL1_ADC_PIN PA5
|
||||
|
||||
//#define LED_STRIP
|
||||
//#define LED_STRIP_TIMER TIM3
|
||||
|
||||
#define SKIP_CLI_COMMAND_HELP
|
||||
#define SKIP_PID_LUXFLOAT
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
// IO - stm32f103RCT6 in 64pin package
|
||||
|
|
|
|||
|
|
@ -77,18 +77,18 @@
|
|||
#define USE_VCP
|
||||
#define VBUS_SENSING_PIN PA8
|
||||
|
||||
#define USE_USART1
|
||||
#define USART1_RX_PIN PA10
|
||||
#define USART1_TX_PIN PA9
|
||||
#define USART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
#define USE_UART1
|
||||
#define UART1_RX_PIN PA10
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
|
||||
#define USE_USART3
|
||||
#define USART3_RX_PIN PB11
|
||||
#define USART3_TX_PIN PB10
|
||||
#define USE_UART3
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
|
||||
#define USE_USART6
|
||||
#define USART6_RX_PIN PC7
|
||||
#define USART6_TX_PIN PC6 //inverter
|
||||
#define USE_UART6
|
||||
#define UART6_RX_PIN PC7
|
||||
#define UART6_TX_PIN PC6 //inverter
|
||||
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue