Initial BeeBrain Support

.travis.yml

@@ -3,6 +3,7 @@ env:
 #  - PUBLISHMETA=True
 #  - PUBLISHDOCS=True
 #  - TARGET=AFROMINI
+#  - TARGET=BEEBRAIN
 #  - TARGET=AIORACERF3
 #  - TARGET=AIR32
 #  - TARGET=ALIENFLIGHTF1

fake_travis_build.sh

@@ -11,6 +11,7 @@ targets=("PUBLISHMETA=True" \
     "TARGET=OMNIBUS" \
     "TARGET=NAZE" \
     "TARGET=AFROMINI" \
+    "TARGET=BEEBRAIN" \
     "TARGET=RMDO" \
     "TARGET=SPARKY" \
     "TARGET=MOTOLAB" \

out.asm

@@ -1,3 +0,0 @@
-
-obj/main/betaflight_NAZE.elf:     file format elf32-little
-

src/main/config/config.c

@@ -253,6 +253,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->yawRateAccelLimit = 220;
     pidProfile->rateAccelLimit = 0;
     pidProfile->itermThrottleGain = 0;
+    pidProfile->levelSensitivity = 2.0f;
 
 #ifdef GTUNE
     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.

src/main/flight/pid.c

@@ -217,10 +217,10 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
         if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
             // calculate error angle and limit the angle to the max inclination
 #ifdef GPS
-                const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+                const float errorAngle = (constrainf(pidProfile->levelSensitivity * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
                     +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
 #else
-                const float errorAngle = (constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+                const float errorAngle = (constrainf(pidProfile->levelSensitivity * rcCommand[axis], -((int) max_angle_inclination),
                     +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
 #endif
             if (FLIGHT_MODE(ANGLE_MODE)) {

src/main/flight/pid.h

@@ -96,6 +96,7 @@ typedef struct pidProfile_s {
     uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
     uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
     uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
+    float levelSensitivity;
 
 #ifdef GTUNE
     uint8_t  gtune_lolimP[3];               // [0..200] Lower limit of P during G tune

src/main/io/serial_cli.c

@@ -890,6 +890,8 @@ const clivalue_t valueTable[] = {
     { "i_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0,  200 } },
     { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0,  200 } },
 
+    { "level_sensitivity",          VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 0.1,  3.0 } },
+
 #ifdef BLACKBOX
     { "blackbox_rate_num",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_num, .config.minmax = { 1,  32 } },
     { "blackbox_rate_denom",        VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_denom, .config.minmax = { 1,  32 } },

src/main/target/NAZE/config.c

@@ -0,0 +1,115 @@
+/*
+ * 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/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.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 "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"
+
+#ifdef BEEBRAIN
+// alternative defaults settings for Beebrain target
+void targetConfiguration(master_t *config)
+{
+    config->motor_pwm_rate = 4000;
+    config->failsafeConfig.failsafe_delay = 2;
+    config->failsafeConfig.failsafe_off_delay = 0;
+
+    config->escAndServoConfig.minthrottle = 1049;
+
+    config->gyro_lpf = 1;
+    config->gyro_soft_lpf_hz = 100;
+    config->gyro_soft_notch_hz_1 = 0;
+
+    for (int channel = 0; channel < NON_AUX_CHANNEL_COUNT; channel++) {
+        config->rxConfig.channelRanges[channel].min = 1180;
+        config->rxConfig.channelRanges[channel].max = 1860;
+    }
+
+    for (int profileId = 0; profileId < 2; profileId++) {
+        config->profile[profileId].pidProfile.P8[ROLL] = 55;
+        config->profile[profileId].pidProfile.I8[ROLL] = 40;
+        config->profile[profileId].pidProfile.D8[ROLL] = 20;
+        config->profile[profileId].pidProfile.P8[PITCH] = 55;
+        config->profile[profileId].pidProfile.I8[PITCH] = 40;
+        config->profile[profileId].pidProfile.D8[PITCH] = 20;
+        config->profile[profileId].pidProfile.P8[YAW] = 180;
+        config->profile[profileId].pidProfile.I8[YAW] = 45;
+        config->profile[profileId].pidProfile.P8[PIDLEVEL] = 50;
+        config->profile[profileId].pidProfile.D8[PIDLEVEL] = 50;
+        config->profile[profileId].pidProfile.levelSensitivity = 1.0f;
+
+        for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) {
+            config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 120;
+            config->profile[profileId].controlRateProfile[rateProfileId].rcYawRate8 = 120;
+            config->profile[profileId].controlRateProfile[rateProfileId].rates[ROLL] = 99;
+            config->profile[profileId].controlRateProfile[rateProfileId].rates[PITCH] = 99;
+            config->profile[profileId].controlRateProfile[rateProfileId].rates[YAW] = 99;
+
+            config->profile[profileId].pidProfile.setpointRelaxRatio = 100;
+        }
+    }
+}
+#endif

src/main/target/NAZE/target.h

@@ -17,7 +17,6 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "AFNA" // AFroNAze - NAZE might be considered misleading on Naze clones like the flip32.
 #define USE_HARDWARE_REVISION_DETECTION
 
 #define BOARD_HAS_VOLTAGE_DIVIDER
@@ -25,9 +24,17 @@
 #define LED0                    PB3
 #define LED1                    PB4
 
-#define BEEPER                  PA12
-#ifdef AFROMINI
+#define BEEPER                  PA1
+
+#if defined(AFROMINI)
 #define BEEPER_INVERTED
+#define TARGET_BOARD_IDENTIFIER "AFMN"
+#elif defined(BEEBRAIN)
+#define BRUSHED_MOTORS
+#define TARGET_BOARD_IDENTIFIER "BEBR"
+#define TARGET_CONFIG
+#else
+#define TARGET_BOARD_IDENTIFIER "AFNA"
 #endif
 
 #define BARO_XCLR_PIN           PC13