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@shellixyz
shellixyz committed Feb 10, 2021
1 parent 294e0f6 commit 3ae27bf
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Showing 6 changed files with 40 additions and 40 deletions.
8 changes: 4 additions & 4 deletions src/main/flight/imu.c
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Original file line number Diff line number Diff line change
Expand Up @@ -100,10 +100,10 @@ STATIC_FASTRAM bool gpsHeadingInitialized;
PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 2);

PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
.dcm_kp_acc = SETTING_IMU_DCM_KP_DEFAULT, // 0.25 * 10000
.dcm_ki_acc = SETTING_IMU_DCM_KI_DEFAULT, // 0.005 * 10000
.dcm_kp_mag = SETTING_IMU_DCM_KP_MAG_DEFAULT, // 1.00 * 10000
.dcm_ki_mag = SETTING_IMU_DCM_KI_MAG_DEFAULT, // 0.00 * 10000
.dcm_kp_acc = SETTING_IMU_DCM_KP_DEFAULT, // 0.25 * 10000
.dcm_ki_acc = SETTING_IMU_DCM_KI_DEFAULT, // 0.005 * 10000
.dcm_kp_mag = SETTING_IMU_DCM_KP_MAG_DEFAULT, // 1.00 * 10000
.dcm_ki_mag = SETTING_IMU_DCM_KI_MAG_DEFAULT, // 0.00 * 10000
.small_angle = SETTING_SMALL_ANGLE_DEFAULT,
.acc_ignore_rate = SETTING_IMU_ACC_IGNORE_RATE_DEFAULT,
.acc_ignore_slope = SETTING_IMU_ACC_IGNORE_SLOPE_DEFAULT
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58 changes: 29 additions & 29 deletions src/main/flight/pid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -166,34 +166,34 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
[PID_PITCH] = { SETTING_MC_P_PITCH_DEFAULT, SETTING_MC_I_PITCH_DEFAULT, SETTING_MC_D_PITCH_DEFAULT, SETTING_MC_CD_PITCH_DEFAULT },
[PID_YAW] = { SETTING_MC_P_YAW_DEFAULT, SETTING_MC_I_YAW_DEFAULT, SETTING_MC_D_YAW_DEFAULT, SETTING_MC_CD_YAW_DEFAULT },
[PID_LEVEL] = {
.P = SETTING_MC_P_LEVEL_DEFAULT, // Self-level strength
.I = SETTING_MC_I_LEVEL_DEFAULT, // Self-leveing low-pass frequency (0 - disabled)
.D = SETTING_MC_D_LEVEL_DEFAULT, // 75% horizon strength
.P = SETTING_MC_P_LEVEL_DEFAULT, // Self-level strength
.I = SETTING_MC_I_LEVEL_DEFAULT, // Self-leveing low-pass frequency (0 - disabled)
.D = SETTING_MC_D_LEVEL_DEFAULT, // 75% horizon strength
.FF = 0,
},
[PID_HEADING] = { SETTING_NAV_MC_HEADING_P_DEFAULT, 0, 0, 0 },
[PID_POS_XY] = {
.P = SETTING_NAV_MC_POS_XY_P_DEFAULT, // NAV_POS_XY_P * 100
.P = SETTING_NAV_MC_POS_XY_P_DEFAULT, // NAV_POS_XY_P * 100
.I = 0,
.D = 0,
.FF = 0,
},
[PID_VEL_XY] = {
.P = SETTING_NAV_MC_VEL_XY_P_DEFAULT, // NAV_VEL_XY_P * 20
.I = SETTING_NAV_MC_VEL_XY_I_DEFAULT, // NAV_VEL_XY_I * 100
.D = SETTING_NAV_MC_VEL_XY_D_DEFAULT, // NAV_VEL_XY_D * 100
.FF = SETTING_NAV_MC_VEL_XY_FF_DEFAULT, // NAV_VEL_XY_D * 100
.P = SETTING_NAV_MC_VEL_XY_P_DEFAULT, // NAV_VEL_XY_P * 20
.I = SETTING_NAV_MC_VEL_XY_I_DEFAULT, // NAV_VEL_XY_I * 100
.D = SETTING_NAV_MC_VEL_XY_D_DEFAULT, // NAV_VEL_XY_D * 100
.FF = SETTING_NAV_MC_VEL_XY_FF_DEFAULT, // NAV_VEL_XY_D * 100
},
[PID_POS_Z] = {
.P = SETTING_NAV_MC_POS_Z_P_DEFAULT, // NAV_POS_Z_P * 100
.I = 0, // not used
.D = 0, // not used
.P = SETTING_NAV_MC_POS_Z_P_DEFAULT, // NAV_POS_Z_P * 100
.I = 0, // not used
.D = 0, // not used
.FF = 0,
},
[PID_VEL_Z] = {
.P = SETTING_NAV_MC_VEL_Z_P_DEFAULT, // NAV_VEL_Z_P * 66.7
.I = SETTING_NAV_MC_VEL_Z_I_DEFAULT, // NAV_VEL_Z_I * 20
.D = SETTING_NAV_MC_VEL_Z_D_DEFAULT, // NAV_VEL_Z_D * 100
.P = SETTING_NAV_MC_VEL_Z_P_DEFAULT, // NAV_VEL_Z_P * 66.7
.I = SETTING_NAV_MC_VEL_Z_I_DEFAULT, // NAV_VEL_Z_I * 20
.D = SETTING_NAV_MC_VEL_Z_D_DEFAULT, // NAV_VEL_Z_D * 100
.FF = 0,
},
[PID_POS_HEADING] = {
Expand All @@ -211,20 +211,20 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
[PID_PITCH] = { SETTING_FW_P_PITCH_DEFAULT, SETTING_FW_I_PITCH_DEFAULT, 0, SETTING_FW_FF_PITCH_DEFAULT },
[PID_YAW] = { SETTING_FW_P_YAW_DEFAULT, SETTING_FW_I_YAW_DEFAULT, 0, SETTING_FW_FF_YAW_DEFAULT },
[PID_LEVEL] = {
.P = SETTING_FW_P_LEVEL_DEFAULT, // Self-level strength
.I = SETTING_FW_I_LEVEL_DEFAULT, // Self-leveing low-pass frequency (0 - disabled)
.D = SETTING_FW_D_LEVEL_DEFAULT, // 75% horizon strength
.P = SETTING_FW_P_LEVEL_DEFAULT, // Self-level strength
.I = SETTING_FW_I_LEVEL_DEFAULT, // Self-leveing low-pass frequency (0 - disabled)
.D = SETTING_FW_D_LEVEL_DEFAULT, // 75% horizon strength
.FF = 0,
},
[PID_HEADING] = { SETTING_NAV_FW_HEADING_P_DEFAULT, 0, 0, 0 },
[PID_POS_Z] = {
.P = SETTING_NAV_FW_POS_Z_P_DEFAULT, // FW_POS_Z_P * 10
.I = SETTING_NAV_FW_POS_Z_I_DEFAULT, // FW_POS_Z_I * 10
.D = SETTING_NAV_FW_POS_Z_D_DEFAULT, // FW_POS_Z_D * 10
.P = SETTING_NAV_FW_POS_Z_P_DEFAULT, // FW_POS_Z_P * 10
.I = SETTING_NAV_FW_POS_Z_I_DEFAULT, // FW_POS_Z_I * 10
.D = SETTING_NAV_FW_POS_Z_D_DEFAULT, // FW_POS_Z_D * 10
.FF = 0,
},
[PID_POS_XY] = {
.P = SETTING_NAV_FW_POS_XY_P_DEFAULT, // FW_POS_XY_P * 100
.P = SETTING_NAV_FW_POS_XY_P_DEFAULT, // FW_POS_XY_P * 100
.I = SETTING_NAV_FW_POS_XY_I_DEFAULT, // FW_POS_XY_I * 100
.D = SETTING_NAV_FW_POS_XY_D_DEFAULT, // FW_POS_XY_D * 100
.FF = 0,
Expand All @@ -238,21 +238,21 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
}
},

.dterm_lpf_type = SETTING_DTERM_LPF_TYPE_DEFAULT, //Default to BIQUAD
.dterm_lpf_type = SETTING_DTERM_LPF_TYPE_DEFAULT,
.dterm_lpf_hz = SETTING_DTERM_LPF_HZ_DEFAULT,
.dterm_lpf2_type = SETTING_DTERM_LPF2_TYPE_DEFAULT, //Default to BIQUAD
.dterm_lpf2_hz = SETTING_DTERM_LPF2_HZ_DEFAULT, // Off by default
.dterm_lpf2_type = SETTING_DTERM_LPF2_TYPE_DEFAULT,
.dterm_lpf2_hz = SETTING_DTERM_LPF2_HZ_DEFAULT,
.yaw_lpf_hz = SETTING_YAW_LPF_HZ_DEFAULT,

.itermWindupPointPercent = SETTING_ITERM_WINDUP_DEFAULT, // Percent
.itermWindupPointPercent = SETTING_ITERM_WINDUP_DEFAULT,

.axisAccelerationLimitYaw = SETTING_RATE_ACCEL_LIMIT_YAW_DEFAULT, // dps/s
.axisAccelerationLimitRollPitch = SETTING_RATE_ACCEL_LIMIT_ROLL_PITCH_DEFAULT, // dps/s
.axisAccelerationLimitYaw = SETTING_RATE_ACCEL_LIMIT_YAW_DEFAULT,
.axisAccelerationLimitRollPitch = SETTING_RATE_ACCEL_LIMIT_ROLL_PITCH_DEFAULT,

.heading_hold_rate_limit = SETTING_HEADING_HOLD_RATE_LIMIT_DEFAULT,

.max_angle_inclination[FD_ROLL] = SETTING_MAX_ANGLE_INCLINATION_RLL_DEFAULT, // 30 degrees
.max_angle_inclination[FD_PITCH] = SETTING_MAX_ANGLE_INCLINATION_PIT_DEFAULT, // 30 degrees
.max_angle_inclination[FD_ROLL] = SETTING_MAX_ANGLE_INCLINATION_RLL_DEFAULT,
.max_angle_inclination[FD_PITCH] = SETTING_MAX_ANGLE_INCLINATION_PIT_DEFAULT,
.pidSumLimit = SETTING_PIDSUM_LIMIT_DEFAULT,
.pidSumLimitYaw = SETTING_PIDSUM_LIMIT_YAW_DEFAULT,

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2 changes: 1 addition & 1 deletion src/main/flight/servos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 1);
PG_RESET_TEMPLATE(servoConfig_t, servoConfig,
.servoCenterPulse = SETTING_SERVO_CENTER_PULSE_DEFAULT,
.servoPwmRate = SETTING_SERVO_PWM_RATE_DEFAULT, // Default for analog servos
.servo_lowpass_freq = SETTING_SERVO_LPF_HZ_DEFAULT, // Default servo update rate is 50Hz, everything above Nyquist frequency (25Hz) is going to fold and cause distortions
.servo_lowpass_freq = SETTING_SERVO_LPF_HZ_DEFAULT, // Default servo update rate is 50Hz, everything above Nyquist frequency (25Hz) is going to fold and cause distortions
.servo_protocol = SETTING_SERVO_PROTOCOL_DEFAULT,
.flaperon_throw_offset = SETTING_FLAPERON_THROW_OFFSET_DEFAULT,
.tri_unarmed_servo = SETTING_TRI_UNARMED_SERVO_DEFAULT
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4 changes: 2 additions & 2 deletions src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -102,8 +102,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.extra_arming_safety = SETTING_NAV_EXTRA_ARMING_SAFETY_DEFAULT,
.user_control_mode = SETTING_NAV_USER_CONTROL_MODE_DEFAULT,
.rth_alt_control_mode = SETTING_NAV_RTH_ALT_MODE_DEFAULT,
.rth_climb_first = SETTING_NAV_RTH_CLIMB_FIRST_DEFAULT, // Climb first, turn after reaching safe altitude
.rth_climb_ignore_emerg = SETTING_NAV_RTH_CLIMB_IGNORE_EMERG_DEFAULT, // Ignore GPS loss on initial climb
.rth_climb_first = SETTING_NAV_RTH_CLIMB_FIRST_DEFAULT, // Climb first, turn after reaching safe altitude
.rth_climb_ignore_emerg = SETTING_NAV_RTH_CLIMB_IGNORE_EMERG_DEFAULT, // Ignore GPS loss on initial climb
.rth_tail_first = SETTING_NAV_RTH_TAIL_FIRST_DEFAULT,
.disarm_on_landing = SETTING_NAV_DISARM_ON_LANDING_DEFAULT,
.rth_allow_landing = SETTING_NAV_RTH_ALLOW_LANDING_DEFAULT,
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6 changes: 3 additions & 3 deletions src/main/navigation/navigation_pos_estimator.c
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Original file line number Diff line number Diff line change
Expand Up @@ -62,9 +62,9 @@ PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig,
.automatic_mag_declination = SETTING_INAV_AUTO_MAG_DECL_DEFAULT,
.reset_altitude_type = SETTING_INAV_RESET_ALTITUDE_DEFAULT,
.reset_home_type = SETTING_INAV_RESET_HOME_DEFAULT,
.gravity_calibration_tolerance = SETTING_INAV_GRAVITY_CAL_TOLERANCE_DEFAULT, // 5 cm/s/s calibration error accepted (0.5% of gravity)
.use_gps_velned = SETTING_INAV_USE_GPS_VELNED_DEFAULT, // "Disabled" is mandatory with gps_dyn_model = Pedestrian
.use_gps_no_baro = SETTING_INAV_USE_GPS_NO_BARO_DEFAULT, // Use GPS altitude if no baro is available on all aircrafts
.gravity_calibration_tolerance = SETTING_INAV_GRAVITY_CAL_TOLERANCE_DEFAULT, // 5 cm/s/s calibration error accepted (0.5% of gravity)
.use_gps_velned = SETTING_INAV_USE_GPS_VELNED_DEFAULT, // "Disabled" is mandatory with gps_dyn_model = Pedestrian
.use_gps_no_baro = SETTING_INAV_USE_GPS_NO_BARO_DEFAULT, // Use GPS altitude if no baro is available on all aircrafts
.allow_dead_reckoning = SETTING_INAV_ALLOW_DEAD_RECKONING_DEFAULT,

.max_surface_altitude = SETTING_INAV_MAX_SURFACE_ALTITUDE_DEFAULT,
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2 changes: 1 addition & 1 deletion src/main/rx/rx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,7 @@ PG_RESET_TEMPLATE(rxConfig_t, rxConfig,
.mincheck = SETTING_MIN_CHECK_DEFAULT,
.maxcheck = SETTING_MAX_CHECK_DEFAULT,
.rx_min_usec = SETTING_RX_MIN_USEC_DEFAULT, // any of first 4 channels below this value will trigger rx loss detection
.rx_max_usec = SETTING_RX_MAX_USEC_DEFAULT, // any of first 4 channels above this value will trigger rx loss detection
.rx_max_usec = SETTING_RX_MAX_USEC_DEFAULT, // any of first 4 channels above this value will trigger rx loss detection
.rssi_channel = SETTING_RSSI_CHANNEL_DEFAULT,
.rssiMin = SETTING_RSSI_MIN_DEFAULT,
.rssiMax = SETTING_RSSI_MAX_DEFAULT,
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