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Revert change and use a specific config for YUPIF7

This commit is contained in:
Faduf 2018-07-01 11:15:59 +02:00
parent 765274699f
commit ec9a713c2f
3 changed files with 5 additions and 15 deletions
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2
src/main/sensors/boardalignment.c
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@ -73,7 +73,7 @@ static void alignBoard(float *vec)
vec[Z] = (boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z); vec[Z] = (boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z);
} }
void alignSensors(float *dest, uint8_t rotation) FAST_CODE void alignSensors(float *dest, uint8_t rotation)
{ {
const float x = dest[X]; const float x = dest[X];
const float y = dest[Y]; const float y = dest[Y];

17
src/main/target/YUPIF7/config.c
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@ -26,24 +26,13 @@
#ifdef USE_TARGET_CONFIG #ifdef USE_TARGET_CONFIG
#include "fc/config.h" #include "fc/config.h"
#include "flight/pid.h" #include "sensors/boardalignment.h"
// alternative defaults settings for YuPiF4 targets // alternative defaults settings for YuPiF4 targets
void targetConfiguration(void) void targetConfiguration(void)
{ {
/* Specific PID values for YupiF4 */ boardAlignmentMutable()->yawDegrees = 90;
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->pid[PID_ROLL].P = 30;
pidProfile->pid[PID_ROLL].I = 45;
pidProfile->pid[PID_ROLL].D = 20;
pidProfile->pid[PID_PITCH].P = 30;
pidProfile->pid[PID_PITCH].I = 50;
pidProfile->pid[PID_PITCH].D = 20;
pidProfile->pid[PID_YAW].P = 40;
pidProfile->pid[PID_YAW].I = 50;
}
} }
#endif #endif

1
src/main/target/YUPIF7/target.h
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@ -20,6 +20,7 @@
#pragma once #pragma once
#define TARGET_BOARD_IDENTIFIER "YPF7" #define TARGET_BOARD_IDENTIFIER "YPF7"
#define USE_TARGET_CONFIG
#define USBD_PRODUCT_STRING "YUPIF7" #define USBD_PRODUCT_STRING "YUPIF7"