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Revert "Remove GTUNE" 

This reverts commit a16ac7fbe7.
This commit is contained in:
borisbstyle 2016-02-21 14:06:10 +01:00
parent a1f30841c0
commit 4eb6456ea1
28 changed files with 350 additions and 3 deletions
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1
Makefile
View File

@ -326,6 +326,7 @@ COMMON_SRC = build_config.c \
$(DEVICE_STDPERIPH_SRC)
HIGHEND_SRC = \
flight/gtune.c \
flight/navigation.c \
flight/gps_conversion.c \
common/colorconversion.c \

5
src/main/blackbox/blackbox.c
View File

@ -1206,6 +1206,11 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
blackboxWriteSignedVB(data->inflightAdjustment.newValue);
}
break;
case FLIGHT_LOG_EVENT_GTUNE_RESULT:
blackboxWrite(data->gtuneCycleResult.gtuneAxis);
blackboxWriteSignedVB(data->gtuneCycleResult.gtuneGyroAVG);
blackboxWriteS16(data->gtuneCycleResult.gtuneNewP);
break;
case FLIGHT_LOG_EVENT_LOGGING_RESUME:
blackboxWriteUnsignedVB(data->loggingResume.logIteration);
blackboxWriteUnsignedVB(data->loggingResume.currentTime);

1
src/main/blackbox/blackbox_fielddefs.h
View File

@ -105,6 +105,7 @@ typedef enum FlightLogEvent {
FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
FLIGHT_LOG_EVENT_GTUNE_RESULT = 20,
FLIGHT_LOG_EVENT_LOG_END = 255
} FlightLogEvent;

11
src/main/config/config.c
View File

@ -194,6 +194,17 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->H_level = 4.0f;
pidProfile->H_sensitivity = 75;
#ifdef GTUNE
pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune.
pidProfile->gtune_lolimP[PITCH] = 10; // [0..200] Lower limit of PITCH P during G tune.
pidProfile->gtune_lolimP[YAW] = 10; // [0..200] Lower limit of YAW P during G tune.
pidProfile->gtune_hilimP[ROLL] = 100; // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_hilimP[PITCH] = 100; // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_hilimP[YAW] = 100; // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_pwr = 0; // [0..10] Strength of adjustment
pidProfile->gtune_settle_time = 450; // [200..1000] Settle time in ms
pidProfile->gtune_average_cycles = 16; // [8..128] Number of looptime cycles used for gyro average calculation
#endif
}
#ifdef GPS

1
src/main/config/runtime_config.h
View File

@ -42,6 +42,7 @@ typedef enum {
PASSTHRU_MODE = (1 << 8),
SONAR_MODE = (1 << 9),
FAILSAFE_MODE = (1 << 10),
GTUNE_MODE = (1 << 11),
} flightModeFlags_e;
extern uint16_t flightModeFlags;

211
src/main/flight/gtune.c Normal file
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@ -0,0 +1,211 @@
/*
* 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 <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#ifdef GTUNE
#include "common/axis.h"
#include "common/maths.h"
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "sensors/acceleration.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "config/config.h"
#include "blackbox/blackbox.h"
#include "io/rc_controls.h"
#include "config/runtime_config.h"
extern uint16_t cycleTime;
extern uint8_t motorCount;
/*
****************************************************************************
*** G_Tune ***
****************************************************************************
G_Tune Mode
This is the multiwii implementation of ZERO-PID Algorithm
http://technicaladventure.blogspot.com/2014/06/zero-pids-tuner-for-multirotors.html
The algorithm has been originally developed by Mohammad Hefny (mohammad.hefny@gmail.com)
You may use/modify this algorithm on your own risk, kindly refer to above link in any future distribution.
*/
/*
version 1.0.0: MIN & Maxis & Tuned Band
version 1.0.1:
a. error is gyro reading not rc - gyro.
b. OldError = Error no averaging.
c. No Min Maxis BOUNDRY
version 1.0.2:
a. no boundaries
b. I - Factor tune.
c. time_skip
Crashpilot: Reduced to just P tuning in a predefined range - so it is not "zero pid" anymore.
Tuning is limited to just work when stick is centered besides that YAW is tuned in non Acro as well.
See also:
http://diydrones.com/profiles/blogs/zero-pid-tunes-for-multirotors-part-2
http://www.multiwii.com/forum/viewtopic.php?f=8&t=5190
Gyrosetting 2000DPS
GyroScale = (1 / 16,4 ) * RADX(see board.h) = 0,001064225154 digit per rad/s
pidProfile->gtune_lolimP[ROLL] = 10; [0..200] Lower limit of ROLL P during G tune.
pidProfile->gtune_lolimP[PITCH] = 10; [0..200] Lower limit of PITCH P during G tune.
pidProfile->gtune_lolimP[YAW] = 10; [0..200] Lower limit of YAW P during G tune.
pidProfile->gtune_hilimP[ROLL] = 100; [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axisis.
pidProfile->gtune_hilimP[PITCH] = 100; [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axisis.
pidProfile->gtune_hilimP[YAW] = 100; [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axisis.
pidProfile->gtune_pwr = 0; [0..10] Strength of adjustment
pidProfile->gtune_settle_time = 450; [200..1000] Settle time in ms
pidProfile->gtune_average_cycles = 16; [8..128] Number of looptime cycles used for gyro average calculation
*/
static pidProfile_t *pidProfile;
static int16_t delay_cycles;
static int16_t time_skip[3];
static int16_t OldError[3], result_P64[3];
static int32_t AvgGyro[3];
static bool floatPID;
void updateDelayCycles(void)
{
delay_cycles = -(((int32_t)pidProfile->gtune_settle_time * 1000) / cycleTime);
}
void init_Gtune(pidProfile_t *pidProfileToTune)
{
uint8_t i;
pidProfile = pidProfileToTune;
if (pidProfile->pidController == 2) {
floatPID = true; // LuxFloat is using float values for PID settings
} else {
floatPID = false;
}
updateDelayCycles();
for (i = 0; i < 3; i++) {
if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || (motorCount < 4 && i == FD_YAW)) { // User config error disable axisis for tuning
pidProfile->gtune_hilimP[i] = 0; // Disable YAW tuning for everything below a quadcopter
}
if (floatPID) {
if((pidProfile->P_f[i] * 10.0f) < pidProfile->gtune_lolimP[i]) {
pidProfile->P_f[i] = (float)(pidProfile->gtune_lolimP[i] / 10.0f);
}
result_P64[i] = (int16_t)pidProfile->P_f[i] << 6; // 6 bit extra resolution for P.
} else {
if(pidProfile->P8[i] < pidProfile->gtune_lolimP[i]) {
pidProfile->P8[i] = pidProfile->gtune_lolimP[i];
}
result_P64[i] = (int16_t)pidProfile->P8[i] << 6; // 6 bit extra resolution for P.
}
OldError[i] = 0;
time_skip[i] = delay_cycles;
}
}
void calculate_Gtune(uint8_t axis)
{
int16_t error, diff_G, threshP;
if(rcCommand[axis] || (axis != FD_YAW && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)))) { // Block tuning on stick input. Always allow G-Tune on YAW, Roll & Pitch only in acromode
OldError[axis] = 0;
time_skip[axis] = delay_cycles; // Some settle time after stick center. default 450ms
} else {
if (!time_skip[axis]) AvgGyro[axis] = 0;
time_skip[axis]++;
if (time_skip[axis] > 0) {
if (axis == FD_YAW) {
AvgGyro[axis] += 32 * ((int16_t)gyroADC[axis] / 32); // Chop some jitter and average
} else {
AvgGyro[axis] += 128 * ((int16_t)gyroADC[axis] / 128); // Chop some jitter and average
}
}
if (time_skip[axis] == pidProfile->gtune_average_cycles) { // Looptime cycles for gyro average calculation. default 16.
AvgGyro[axis] /= time_skip[axis]; // AvgGyro[axis] has now very clean gyrodata
time_skip[axis] = 0;
if (axis == FD_YAW) {
threshP = 20;
error = -AvgGyro[axis];
} else {
threshP = 10;
error = AvgGyro[axis];
}
if (pidProfile->gtune_hilimP[axis] && error && OldError[axis] && error != OldError[axis]) { // Don't run when not needed or pointless to do so
diff_G = ABS(error) - ABS(OldError[axis]);
if ((error > 0 && OldError[axis] > 0) || (error < 0 && OldError[axis] < 0)) {
if (diff_G > threshP) {
if (axis == FD_YAW) {
result_P64[axis] += 256 + pidProfile->gtune_pwr; // YAW ends up at low limit on float PID, give it some more to work with.
} else {
result_P64[axis] += 64 + pidProfile->gtune_pwr; // Shift balance a little on the plus side.
}
} else {
if (diff_G < -threshP) {
if (axis == FD_YAW) {
result_P64[axis] -= 64 + pidProfile->gtune_pwr;
} else {
result_P64[axis] -= 32;
}
}
}
} else {
if (ABS(diff_G) > threshP && axis != FD_YAW) {
result_P64[axis] -= 32; // Don't use antiwobble for YAW
}
}
int16_t newP = constrain((result_P64[axis] >> 6), (int16_t)pidProfile->gtune_lolimP[axis], (int16_t)pidProfile->gtune_hilimP[axis]);
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_gtuneCycleResult_t eventData;
eventData.gtuneAxis = axis;
eventData.gtuneGyroAVG = AvgGyro[axis];
eventData.gtuneNewP = newP; // for float PID the logged P value is still mutiplyed by 10
blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData);
}
#endif
if (floatPID) {
pidProfile->P_f[axis] = (float)newP / 10.0f; // new P value for float PID
} else {
pidProfile->P8[axis] = newP; // new P value
}
}
OldError[axis] = error;
}
}
}
#endif

21
src/main/flight/gtune.h Normal file
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@ -0,0 +1,21 @@
/*
* 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/>.
*/
#pragma once
void init_Gtune(pidProfile_t *pidProfileToTune);
void calculate_Gtune(uint8_t axis);

24
src/main/flight/pid.c
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@ -44,7 +44,7 @@
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/navigation.h"
#include "flight/gtune.h"
#include "config/runtime_config.h"
@ -255,6 +255,12 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if (lowThrottlePidReduction) axisPID[axis] /= 4;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
@ -364,6 +370,11 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
if (lowThrottlePidReduction) axisPID[axis] /= 4;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
@ -396,6 +407,12 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
if (lowThrottlePidReduction) axisPID[FD_YAW] /= 4;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(FD_YAW);
}
#endif
#ifdef BLACKBOX
axisPID_P[FD_YAW] = PTerm;
axisPID_I[FD_YAW] = ITerm;
@ -528,6 +545,11 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
if (lowThrottlePidReduction) axisPID[axis] /= 4;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;

7
src/main/flight/pid.h
View File

@ -75,6 +75,13 @@ typedef struct pidProfile_s {
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
uint8_t gtune_hilimP[3]; // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
uint8_t gtune_pwr; // [0..10] Strength of adjustment
uint16_t gtune_settle_time; // [200..1000] Settle time in ms
uint8_t gtune_average_cycles; // [8..128] Number of looptime cycles used for gyro average calculation
#endif
} pidProfile_t;
extern int16_t axisPID[XYZ_AXIS_COUNT];

4
src/main/io/i2c_bst.c
View File

@ -322,7 +322,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXGOV, "GOVERNOR;", 18 },
{ BOXOSD, "OSD SW;", 19 },
{ BOXTELEMETRY, "TELEMETRY;", 20 },
// { BOXGTUNE, "GTUNE;", 21 },
{ BOXGTUNE, "GTUNE;", 21 },
{ BOXSONAR, "SONAR;", 22 },
{ BOXSERVO1, "SERVO1;", 23 },
{ BOXSERVO2, "SERVO2;", 24 },
@ -584,6 +584,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGOV)) << BOXGOV |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
@ -1688,6 +1689,7 @@ bool writeFCModeToBST(void)
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGOV)) << BOXGOV |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |

11
src/main/io/serial_cli.c
View File

@ -564,6 +564,17 @@ const clivalue_t valueTable[] = {
{ "nav_speed_max", VAR_UINT16 | MASTER_VALUE, &masterConfig.gpsProfile.nav_speed_max, .config.minmax = { 10, 2000 } },
{ "nav_slew_rate", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsProfile.nav_slew_rate, .config.minmax = { 0, 100 } },
#endif
#ifdef GTUNE
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 } },
{ "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10, 200 } },
{ "gtune_loP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], .config.minmax = { 10, 200 } },
{ "gtune_hiP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], .config.minmax = { 0, 200 } },
{ "gtune_hiP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], .config.minmax = { 0, 200 } },
{ "gtune_hiP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], .config.minmax = { 0, 200 } },
{ "gtune_pwr", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_pwr, .config.minmax = { 0, 10 } },
{ "gtune_settle_time", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_settle_time, .config.minmax = { 200, 1000 } },
{ "gtune_average_cycles", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8, 128 } },
#endif
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX} },

7
src/main/io/serial_msp.c
View File

@ -167,7 +167,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXGOV, "GOVERNOR;", 18 },
{ BOXOSD, "OSD SW;", 19 },
{ BOXTELEMETRY, "TELEMETRY;", 20 },
// { BOXGTUNE, "GTUNE;", 21 },
{ BOXGTUNE, "GTUNE;", 21 },
{ BOXSONAR, "SONAR;", 22 },
{ BOXSERVO1, "SERVO1;", 23 },
{ BOXSERVO2, "SERVO2;", 24 },
@ -566,6 +566,10 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
}
#ifdef GTUNE
activeBoxIds[activeBoxIdCount++] = BOXGTUNE;
#endif
memset(mspPorts, 0x00, sizeof(mspPorts));
mspAllocateSerialPorts(serialConfig);
}
@ -599,6 +603,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGOV)) << BOXGOV |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |

29
src/main/mw.c
View File

@ -78,6 +78,7 @@
#include "flight/imu.h"
#include "flight/altitudehold.h"
#include "flight/failsafe.h"
#include "flight/gtune.h"
#include "flight/navigation.h"
#include "config/runtime_config.h"
@ -134,6 +135,30 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
saveConfigAndNotify();
}
#ifdef GTUNE
void updateGtuneState(void)
{
static bool GTuneWasUsed = false;
if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
ENABLE_FLIGHT_MODE(GTUNE_MODE);
init_Gtune(&currentProfile->pidProfile);
GTuneWasUsed = true;
}
if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
saveConfigAndNotify();
GTuneWasUsed = false;
}
} else {
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
DISABLE_FLIGHT_MODE(GTUNE_MODE);
}
}
}
#endif
bool isCalibrating()
{
#ifdef BARO
@ -633,6 +658,10 @@ void taskMainPidLoop(void)
}
#endif
#ifdef GTUNE
updateGtuneState();
#endif
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {

3
src/main/target/ALIENFLIGHTF3/target.h
View File

@ -152,6 +152,9 @@
//#define BLACKBOX
#define SERIAL_RX
//#define GPS
#define GTUNE
//#define DISPLAY
#define USE_SERVOS
#define USE_CLI

1
src/main/target/CHEBUZZF3/target.h
View File

@ -162,6 +162,7 @@
#endif
#define BLACKBOX
#define GTUNE
#define TELEMETRY
#define SERIAL_RX
#define USE_SERVOS

3
src/main/target/CJMCU/target.h
View File

@ -77,3 +77,6 @@
#define SKIP_CLI_COMMAND_HELP
#endif
//#undef USE_CLI
#define GTUNE
//#define BLACKBOX

1
src/main/target/COLIBRI_RACE/target.h
View File

@ -153,6 +153,7 @@
#define BLACKBOX
#define GPS
#define GTUNE
#define LED_STRIP
#define LED_STRIP_TIMER TIM16

1
src/main/target/EUSTM32F103RC/target.h
View File

@ -123,6 +123,7 @@
#define LED_STRIP_TIMER TIM3
#define BLACKBOX
#define GTUNE
#define TELEMETRY
#define SERIAL_RX
#define USE_SERVOS

1
src/main/target/IRCFUSIONF3/target.h
View File

@ -151,6 +151,7 @@
#define BLACKBOX
#define DISPLAY
#define GPS
#define GTUNE
#define SERIAL_RX
#define TELEMETRY
#define USE_SERVOS

1
src/main/target/LUX_RACE/target.h
View File

@ -129,6 +129,7 @@
#define BLACKBOX
#define GPS
#define GTUNE
#define LED_STRIP
#define LED_STRIP_TIMER TIM16

1
src/main/target/MOTOLAB/target.h
View File

@ -122,6 +122,7 @@
#define BLACKBOX
#define SERIAL_RX
//#define GPS
#define GTUNE
#define DISPLAY
#define USE_SERVOS
#define USE_FLASHFS

2
src/main/target/NAZE/target.h
View File

@ -175,6 +175,8 @@
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
//#define GPS
#define GTUNE
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX

1
src/main/target/NAZE32PRO/target.h
View File

@ -42,6 +42,7 @@
#define BLACKBOX
#define GPS
#define GTUNE
#define SERIAL_RX
#define TELEMETRY
#define USE_SERVOS

1
src/main/target/PORT103R/target.h
View File

@ -151,6 +151,7 @@
#define BLACKBOX
#define GPS
#define GTUNE
#define SERIAL_RX
#define TELEMETRY
#define USE_SERVOS

1
src/main/target/RMDO/target.h
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@ -143,6 +143,7 @@
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
#define BLACKBOX
#define GTUNE
#define TELEMETRY
#define SERIAL_RX
#define USE_SERVOS

1
src/main/target/SPARKY/target.h
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@ -120,6 +120,7 @@
#define BLACKBOX
#define GPS
#define GTUNE
#define DISPLAY
#define SERIAL_RX
#define TELEMETRY

1
src/main/target/SPRACINGF3/target.h
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@ -152,6 +152,7 @@
#define BLACKBOX
#define DISPLAY
#define GPS
#define GTUNE
#define SERIAL_RX
#define TELEMETRY
#define USE_SERVOS

1
src/main/target/STM32F3DISCOVERY/target.h
View File

@ -154,6 +154,7 @@
#define BLACKBOX
#define GPS
#define GTUNE
#define LED_STRIP
#define LED_STRIP_TIMER TIM16
#define TELEMETRY