Updated ALIENWHOOP defaults for Betaflight 3.4 release
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@ -41,13 +41,17 @@
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#ifdef USE_TARGET_CONFIG
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#include "blackbox/blackbox.h"
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#include "fc/rc_modes.h"
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#include "common/axis.h"
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#include "common/filter.h"
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#include "config/feature.h"
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#include "drivers/pwm_esc_detect.h"
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "io/beeper.h"
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@ -63,28 +67,34 @@
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#undef BRUSHED_MOTORS_PWM_RATE
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#endif
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#define BRUSHED_MOTORS_PWM_RATE 666 // 666Hz };-)>~ low PWM rate seems to give better power and cooler motors...
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#define BRUSHED_MOTORS_PWM_RATE 32000
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void targetConfiguration(void)
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{
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if (hardwareMotorType == MOTOR_BRUSHED) {
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motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
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motorConfigMutable()->minthrottle = 1020;
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motorConfigMutable()->minthrottle = 1050;
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motorConfigMutable()->maxthrottle = 2000;
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}
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/* Default to Spektrum */
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rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
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rxConfigMutable()->spektrum_sat_bind = 5;
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rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048; // all DSM* except DSM2 22ms
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rxConfigMutable()->spektrum_sat_bind = 5; // DSM2 11ms
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rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
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rxConfigMutable()->mincheck = 1025;
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rxConfigMutable()->maxcheck = 2000;
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rxConfigMutable()->rcInterpolation = RC_SMOOTHING_MANUAL;
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rxConfigMutable()->rcInterpolationInterval = 14;
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parseRcChannels("TAER1234", rxConfigMutable());
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#if defined(ALIENWHOOPF7)
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rxConfigMutable()->serialrx_inverted = true;
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rxConfigMutable()->serialrx_inverted = false; // don't invert signal for target default DSM*
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#endif
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// Don't know what this is meant to do, but it's broken because enum values can't be directly set
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// beeperOffSet((BEEPER_BAT_CRIT_LOW | BEEPER_BAT_LOW | BEEPER_RX_SET) ^ BEEPER_GYRO_CALIBRATED);
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mixerConfigMutable()->yaw_motors_reversed = true;
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imuConfigMutable()->small_angle = 180;
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blackboxConfigMutable()->p_ratio = 128;
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/* Breadboard-specific settings for development purposes only
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*/
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@ -97,58 +107,85 @@ void targetConfiguration(void)
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compassConfigMutable()->mag_hardware = MAG_NONE;
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systemConfigMutable()->cpu_overclock = 2; //216MHZ
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/* Default to 32kHz enabled at 16/16 */
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gyroConfigMutable()->gyro_use_32khz = 1; // enable 32kHz sampling
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gyroConfigMutable()->gyroMovementCalibrationThreshold = 200; // aka moron_threshold
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gyroConfigMutable()->gyro_sync_denom = 2; // 16kHz gyro
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pidConfigMutable()->pid_process_denom = 1; // 16kHz PID
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gyroConfigMutable()->gyro_lowpass_type = FILTER_PT1;
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gyroConfigMutable()->gyro_lowpass2_type = FILTER_PT1;
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gyroConfigMutable()->gyro_lowpass_hz = 100;
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gyroConfigMutable()->gyro_lowpass2_hz = 751;
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gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
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gyroConfigMutable()->gyro_soft_notch_cutoff_1 = 0;
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gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
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gyroConfigMutable()->gyro_soft_notch_cutoff_2 = 0;
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pidConfigMutable()->runaway_takeoff_prevention = false;
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featureSet((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
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/* AlienWhoop PIDs based on Ole Gravy Leg (aka Matt Williamson's) PIDs
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*/
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/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
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for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
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pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
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/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
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pidProfile->pid[PID_PITCH].P = 75;
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pidProfile->pid[PID_PITCH].I = 36;
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pidProfile->pid[PID_PITCH].D = 25;
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pidProfile->pid[PID_ROLL].P = 75;
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pidProfile->pid[PID_ROLL].I = 36;
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pidProfile->pid[PID_ROLL].D = 25;
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pidProfile->pid[PID_YAW].P = 70;
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pidProfile->pid[PID_YAW].I = 36;
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pidProfile->pidSumLimit = 1000;
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pidProfile->pidSumLimitYaw = 1000;
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pidProfile->pid[PID_LEVEL].P = 30;
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pidProfile->pid[PID_LEVEL].D = 30;
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/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
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pidProfile->pid[PID_PITCH].P = 115;
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pidProfile->pid[PID_PITCH].I = 75;
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pidProfile->pid[PID_PITCH].D = 95;
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pidProfile->pid[PID_ROLL].P = 110;
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pidProfile->pid[PID_ROLL].I = 75;
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pidProfile->pid[PID_ROLL].D = 85;
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pidProfile->pid[PID_YAW].P = 220;
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pidProfile->pid[PID_YAW].I = 75;
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pidProfile->pid[PID_YAW].D = 20;
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pidProfile->pid[PID_LEVEL].P = 65;
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pidProfile->pid[PID_LEVEL].I = 65;
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pidProfile->pid[PID_LEVEL].D = 55;
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/* Setpoints */
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pidProfile->dterm_filter_type = FILTER_BIQUAD;
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pidProfile->dterm_notch_hz = 0;
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pidProfile->dtermSetpointWeight = 100;
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pidProfile->setpointRelaxRatio = 100;
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pidProfile->setpointRelaxRatio = 0;
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/* Throttle PID Attenuation (TPA) */
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pidProfile->itermThrottleThreshold = 400;
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/* Anti-Gravity */
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pidProfile->itermThrottleThreshold = 500;
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pidProfile->itermAcceleratorGain = 5000;
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}
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for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
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controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
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/* RC Rates */
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controlRateConfig->rcRates[FD_ROLL] = 100;
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controlRateConfig->rcRates[FD_PITCH] = 100;
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controlRateConfig->rcRates[FD_YAW] = 100;
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controlRateConfig->rcExpo[FD_ROLL] = 0;
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controlRateConfig->rcExpo[FD_PITCH] = 0;
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controlRateConfig->rcRates[FD_ROLL] = 218;
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controlRateConfig->rcRates[FD_PITCH] = 218;
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controlRateConfig->rcRates[FD_YAW] = 218;
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/* Classic Expo */
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controlRateConfig->rcExpo[FD_ROLL] = 45;
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controlRateConfig->rcExpo[FD_PITCH] = 45;
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controlRateConfig->rcExpo[FD_YAW] = 45;
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/* Super Expo Rates */
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controlRateConfig->rates[FD_ROLL] = 80;
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controlRateConfig->rates[FD_PITCH] = 80;
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controlRateConfig->rates[FD_YAW] = 85;
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controlRateConfig->rates[FD_ROLL] = 0;
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controlRateConfig->rates[FD_PITCH] = 0;
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controlRateConfig->rates[FD_YAW] = 0;
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/* Throttle PID Attenuation (TPA) */
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controlRateConfig->dynThrPID = 0; // tpa_rate off
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controlRateConfig->tpa_breakpoint = 1650;
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controlRateConfig->tpa_breakpoint = 1600;
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/* Force the clipping mixer at 100% seems better for brushed than default (off) and scaling) */
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controlRateConfig->throttle_limit_type = THROTTLE_LIMIT_TYPE_CLIP;
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controlRateConfig->throttle_limit_percent = 100;
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controlRateConfig->thrExpo8 = 20; // 20% throttle expo
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}
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}
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#endif
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