From df0f32344ff956bd94ea0a6d3bf3b10ae9a083bb Mon Sep 17 00:00:00 2001 From: Michael Jakob Date: Fri, 22 Jul 2016 13:36:34 +0200 Subject: [PATCH] AlienFlight target sepcific defaults update --- src/main/target/ALIENFLIGHTF3/config.c | 11 ++++++++--- src/main/target/ALIENFLIGHTF4/config.c | 11 ++++++++--- src/main/target/NAZE/config.c | 3 --- 3 files changed, 16 insertions(+), 9 deletions(-) diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c index 8c693a98c..271c9292c 100644 --- a/src/main/target/ALIENFLIGHTF3/config.c +++ b/src/main/target/ALIENFLIGHTF3/config.c @@ -84,9 +84,14 @@ void targetConfiguration(void) { masterConfig.motor_pwm_rate = 32000; masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_off_delay = 0; - currentControlRateProfile->rates[FD_PITCH] = 40; - currentControlRateProfile->rates[FD_ROLL] = 40; - currentControlRateProfile->rates[FD_YAW] = 40; + 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; parseRcChannels("TAER1234", &masterConfig.rxConfig); masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c index 8c693a98c..56086358c 100644 --- a/src/main/target/ALIENFLIGHTF4/config.c +++ b/src/main/target/ALIENFLIGHTF4/config.c @@ -84,9 +84,14 @@ void targetConfiguration(void) { masterConfig.motor_pwm_rate = 32000; masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_off_delay = 0; - currentControlRateProfile->rates[FD_PITCH] = 40; - currentControlRateProfile->rates[FD_ROLL] = 40; - currentControlRateProfile->rates[FD_YAW] = 40; + 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; parseRcChannels("TAER1234", &masterConfig.rxConfig); masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R diff --git a/src/main/target/NAZE/config.c b/src/main/target/NAZE/config.c index f9fde0860..411f4e415 100644 --- a/src/main/target/NAZE/config.c +++ b/src/main/target/NAZE/config.c @@ -83,9 +83,6 @@ void targetConfiguration(void) { masterConfig.motor_pwm_rate = 32000; masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_off_delay = 0; - currentControlRateProfile->rates[FD_PITCH] = 40; - currentControlRateProfile->rates[FD_ROLL] = 40; - currentControlRateProfile->rates[FD_YAW] = 40; parseRcChannels("TAER1234", &masterConfig.rxConfig); masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R