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Merge pull request #6097 from brucesdad13/alienwhoop-target-update 

Updated ALIENWHOOP defaults for Betaflight 3.4 Release
This commit is contained in:
Michael Keller 2018-06-13 22:59:21 +12:00 committed by GitHub
parent d6622eb0fb aa07a820ba
commit a0b4ce799d
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 62 additions and 35 deletions
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97
src/main/target/ALIENWHOOP/config.c
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@ -41,13 +41,17 @@
#ifdef USE_TARGET_CONFIG
#include "blackbox/blackbox.h"
#include "fc/rc_modes.h"
#include "common/axis.h"
#include "common/filter.h"
#include "config/feature.h"
#include "drivers/pwm_esc_detect.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "io/beeper.h"
@ -63,28 +67,29 @@
#undef BRUSHED_MOTORS_PWM_RATE
#endif
#define BRUSHED_MOTORS_PWM_RATE 666 // 666Hz };-)>~ low PWM rate seems to give better power and cooler motors...
#define BRUSHED_MOTORS_PWM_RATE 32000
void targetConfiguration(void)
{
if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfigMutable()->minthrottle = 1020;
motorConfigMutable()->maxthrottle = 2000;
motorConfigMutable()->minthrottle = 1050; // for 6mm and 7mm brushed
}
/* Default to Spektrum */
rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
rxConfigMutable()->spektrum_sat_bind = 5;
rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048; // all DSM* except DSM2 22ms
rxConfigMutable()->spektrum_sat_bind = 5; // DSM2 11ms
rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
rxConfigMutable()->mincheck = 1025;
rxConfigMutable()->rcInterpolation = RC_SMOOTHING_MANUAL;
rxConfigMutable()->rcInterpolationInterval = 14;
parseRcChannels("TAER1234", rxConfigMutable());
#if defined(ALIENWHOOPF7)
rxConfigMutable()->serialrx_inverted = true;
#endif
// Don't know what this is meant to do, but it's broken because enum values can't be directly set
// beeperOffSet((BEEPER_BAT_CRIT_LOW | BEEPER_BAT_LOW | BEEPER_RX_SET) ^ BEEPER_GYRO_CALIBRATED);
mixerConfigMutable()->yaw_motors_reversed = true;
imuConfigMutable()->small_angle = 180;
blackboxConfigMutable()->p_ratio = 128;
/* Breadboard-specific settings for development purposes only
*/
@ -97,58 +102,80 @@ void targetConfiguration(void)
compassConfigMutable()->mag_hardware = MAG_NONE;
systemConfigMutable()->cpu_overclock = 2; //216MHZ
/* Default to 32kHz enabled at 16/16 */
gyroConfigMutable()->gyro_use_32khz = 1; // enable 32kHz sampling
gyroConfigMutable()->gyroMovementCalibrationThreshold = 200; // aka moron_threshold
gyroConfigMutable()->gyro_sync_denom = 2; // 16kHz gyro
pidConfigMutable()->pid_process_denom = 1; // 16kHz PID
gyroConfigMutable()->gyro_lowpass2_hz = 751;
pidConfigMutable()->runaway_takeoff_prevention = false;
featureSet((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
/* AlienWhoop PIDs based on Ole Gravy Leg (aka Matt Williamson's) PIDs
*/
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
pidProfile->pid[PID_PITCH].P = 75;
pidProfile->pid[PID_PITCH].I = 36;
pidProfile->pid[PID_PITCH].D = 25;
pidProfile->pid[PID_ROLL].P = 75;
pidProfile->pid[PID_ROLL].I = 36;
pidProfile->pid[PID_ROLL].D = 25;
pidProfile->pid[PID_YAW].P = 70;
pidProfile->pid[PID_YAW].I = 36;
pidProfile->pidSumLimit = 1000;
pidProfile->pidSumLimitYaw = 1000;
pidProfile->pid[PID_LEVEL].P = 30;
pidProfile->pid[PID_LEVEL].D = 30;
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
pidProfile->pid[PID_PITCH].P = 115;
pidProfile->pid[PID_PITCH].I = 75;
pidProfile->pid[PID_PITCH].D = 95;
pidProfile->pid[PID_ROLL].P = 110;
pidProfile->pid[PID_ROLL].I = 75;
pidProfile->pid[PID_ROLL].D = 85;
pidProfile->pid[PID_YAW].P = 220;
pidProfile->pid[PID_YAW].I = 75;
pidProfile->pid[PID_YAW].D = 20;
pidProfile->pid[PID_LEVEL].P = 65;
pidProfile->pid[PID_LEVEL].I = 65;
pidProfile->pid[PID_LEVEL].D = 55;
/* Setpoints */
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->dterm_notch_hz = 0;
pidProfile->dtermSetpointWeight = 100;
pidProfile->setpointRelaxRatio = 100;
pidProfile->setpointRelaxRatio = 0;
/* Throttle PID Attenuation (TPA) */
pidProfile->itermThrottleThreshold = 400;
/* Anti-Gravity */
pidProfile->itermThrottleThreshold = 500;
pidProfile->itermAcceleratorGain = 5000;
pidProfile->levelAngleLimit = 65;
}
for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
/* RC Rates */
controlRateConfig->rcRates[FD_ROLL] = 100;
controlRateConfig->rcRates[FD_PITCH] = 100;
controlRateConfig->rcRates[FD_YAW] = 100;
controlRateConfig->rcExpo[FD_ROLL] = 0;
controlRateConfig->rcExpo[FD_PITCH] = 0;
controlRateConfig->rcRates[FD_ROLL] = 218;
controlRateConfig->rcRates[FD_PITCH] = 218;
controlRateConfig->rcRates[FD_YAW] = 218;
/* Classic Expo */
controlRateConfig->rcExpo[FD_ROLL] = 45;
controlRateConfig->rcExpo[FD_PITCH] = 45;
controlRateConfig->rcExpo[FD_YAW] = 45;
/* Super Expo Rates */
controlRateConfig->rates[FD_ROLL] = 80;
controlRateConfig->rates[FD_PITCH] = 80;
controlRateConfig->rates[FD_YAW] = 85;
controlRateConfig->rates[FD_ROLL] = 0;
controlRateConfig->rates[FD_PITCH] = 0;
controlRateConfig->rates[FD_YAW] = 0;
/* Throttle PID Attenuation (TPA) */
controlRateConfig->dynThrPID = 0; // tpa_rate off
controlRateConfig->tpa_breakpoint = 1650;
controlRateConfig->tpa_breakpoint = 1600;
/* Force the clipping mixer at 100% seems better for brushed than default (off) and scaling)? */
controlRateConfig->throttle_limit_type = THROTTLE_LIMIT_TYPE_CLIP;
//controlRateConfig->throttle_limit_percent = 100;
controlRateConfig->thrExpo8 = 20; // 20% throttle expo
}
}
#endif