Move most parameter defaults to config.h

flix/config.h

@@ -0,0 +1,54 @@
+// Copyright (c) 2026 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// Default configuration parameters
+
+#pragma once
+
+// IMU
+#define IMU_MODEL -1
+#define IMU_BUS 0
+#define IMU_PIN_INT -1
+#define IMU_ROT_ROLL 0
+#define IMU_ROT_PITCH 0
+#define IMU_ROT_YAW -PI/2
+
+// Motors
+#define MOTOR_PIN_FL 12
+#define MOTOR_PIN_FR 13
+#define MOTOR_PIN_RL 14
+#define MOTOR_PIN_RR 15
+#define MOT_PWM_FREQ 78000
+#define MOT_PWM_RES 10
+#define MOT_PWM_STOP 0
+#define MOT_PWM_MIN 0
+#define MOT_PWM_MAX -1
+
+// Control
+#define PITCHRATE_P 0.05
+#define PITCHRATE_I 0.2
+#define PITCHRATE_D 0.001
+#define PITCHRATE_I_LIM 0.3
+#define ROLLRATE_P PITCHRATE_P
+#define ROLLRATE_I PITCHRATE_I
+#define ROLLRATE_D PITCHRATE_D
+#define ROLLRATE_I_LIM PITCHRATE_I_LIM
+#define YAWRATE_P 0.3
+#define YAWRATE_I 0.0
+#define YAWRATE_D 0.0
+#define YAWRATE_I_LIM 0.3
+#define ROLL_P 6
+#define ROLL_I 0
+#define ROLL_D 0
+#define PITCH_P ROLL_P
+#define PITCH_I ROLL_I
+#define PITCH_D ROLL_D
+#define YAW_P 3
+#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+
+// Power
+#define VOLTAGE_PIN -1
+#define VOLTAGE_SCALE 2
+
+// RC
+#define RC_PIN_RX -1

flix/control.ino

@@ -3,37 +3,13 @@
 
 // Flight control
 
+#include "config.h"
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
 #include "filter.h"
 #include "util.h"
 
-#define PITCHRATE_P 0.05
-#define PITCHRATE_I 0.2
-#define PITCHRATE_D 0.001
-#define PITCHRATE_I_LIM 0.3
-#define ROLLRATE_P PITCHRATE_P
-#define ROLLRATE_I PITCHRATE_I
-#define ROLLRATE_D PITCHRATE_D
-#define ROLLRATE_I_LIM PITCHRATE_I_LIM
-#define YAWRATE_P 0.3
-#define YAWRATE_I 0.0
-#define YAWRATE_D 0.0
-#define YAWRATE_I_LIM 0.3
-#define ROLL_P 6
-#define ROLL_I 0
-#define ROLL_D 0
-#define PITCH_P ROLL_P
-#define PITCH_I ROLL_I
-#define PITCH_D ROLL_D
-#define YAW_P 3
-#define PITCHRATE_MAX radians(360)
-#define ROLLRATE_MAX radians(360)
-#define YAWRATE_MAX radians(300)
-#define TILT_MAX radians(30)
-#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
-
 const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
 int mode = STAB;
 bool armed = false;
@@ -49,9 +25,9 @@ PID pitchRatePID(PITCHRATE_P, PITCHRATE_I, PITCHRATE_D, PITCHRATE_I_LIM, RATES_D
 PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D);
 PID rollPID(ROLL_P, ROLL_I, ROLL_D);
 PID pitchPID(PITCH_P, PITCH_I, PITCH_D);
-PID yawPID(YAW_P, 0, 0);
-Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX);
-float tiltMax = TILT_MAX;
+PID yawPID(YAW_P);
+Vector maxRate(radians(360), radians(360), radians(360));
+float tiltMax = radians(30);
 int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;

flix/imu.ino

@@ -6,16 +6,17 @@
 #include <SPI.h>
 #include <Wire.h>
 #include <FlixPeriph.h>
+#include "config.h"
 #include "vector.h"
 #include "filter.h"
 #include "util.h"
 
 IMU *imu;
-int imuModel = -1; // 1 - MPU9250, 2 - ICM20948, 3 - MPU6050, 4 - ICM40609D
-int imuBus = 0; // 0 - SPI, 1 - I2C
-int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = SS, imuIntPin = -1;
+int imuModel = IMU_MODEL; // 1 - MPU9250, 2 - ICM20948, 3 - MPU6050, 4 - ICM40609D
+int imuBus = IMU_BUS; // 0 - SPI, 1 - I2C
+int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = SS, imuIntPin = IMU_PIN_INT;
 int imuSdaPin = SDA, imuSclPin = SCL;
-Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles
+Vector imuRotation(IMU_ROT_ROLL, IMU_ROT_PITCH, IMU_ROT_YAW); // imu orientation as Euler angles
 
 Vector gyro; // gyroscope output, rad/s
 Vector gyroBias;

flix/motors.ino

@@ -3,16 +3,17 @@
 
 // PWM control for motors
 
+#include "config.h"
 #include "util.h"
 
 float motors[4]; // normalized motor thrusts in range [0..1]
 
-int motorPins[4] = {-1, -1, -1, -1}; // default pin numbers
-int pwmFrequency = 78000;
-int pwmResolution = 10;
-int pwmStop = 0;
-int pwmMin = 0;
-int pwmMax = -1; // -1 means duty cycle mode
+int motorPins[4] = {MOTOR_PIN_RL, MOTOR_PIN_RR, MOTOR_PIN_FR, MOTOR_PIN_FL}; // default pin numbers
+int pwmFrequency = MOT_PWM_FREQ;
+int pwmResolution = MOT_PWM_RES;
+int pwmStop = MOT_PWM_STOP;
+int pwmMin = MOT_PWM_MIN;
+int pwmMax = MOT_PWM_MAX; // -1 means duty cycle mode
 
 const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;
 

flix/power.ino

@@ -5,13 +5,14 @@
 
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
+#include "config.h"
 #include "filter.h"
 #include "util.h"
 
 float voltage = NAN;
 LowPassFilter<float> voltageFilter(1);
-int voltagePin = -1;
-float voltageScale = 2;
+int voltagePin = VOLTAGE_PIN;
+float voltageScale = VOLTAGE_SCALE;
 
 void setupPower() {
 	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); // disable reset on low voltage

flix/rc.ino

@@ -4,10 +4,11 @@
 // Work with the RC receiver
 
 #include <SBUS.h>
+#include "config.h"
 #include "util.h"
 
 SBUS rc(Serial1);
-int rcRxPin = -1; // -1 means disabled
+int rcRxPin = RC_PIN_RX; // -1 means disabled
 
 uint16_t channels[16]; // raw rc channels
 int channelZero[16]; // calibration zero values