Simplify parameter defaults definition

docs/usage.md

@@ -179,8 +179,6 @@ Before flight you need to calibrate the accelerometer:
 
 If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively).
 
-Certain ESP32 models (such as ESP32-S3 and ESP32-C3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz.
-
 #### Brushless motors
 
 In case of using brushless motors with ESCs:

flix/config.h

@@ -1,69 +1,27 @@
 // Copyright (c) 2026 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Default configuration parameters
+// Parameter defaults
 
 #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
+void setDefaults() {
+	// Set defaults here
 
-// 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
+	#if defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32C3)
+		pwmFrequency = 38000;
+	#endif
 
-// 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
+	#ifdef FLIX2
+		imuModel = 4; // ICM-40609-D
+		imuIntPin = 10;
+		imuCsPin = 14;
 
-// Power
-#define VOLTAGE_PIN -1
-#define VOLTAGE_SCALE 2
+		motorPins[0] = 41;
+		motorPins[1] = 7;
+		motorPins[2] = 38;
+		motorPins[3] = 18;
 
-// RC
-#define RC_PIN_RX -1
-
-// Flix2 board configuration
-#ifdef FLIX2
-	#define IMU_MODEL 4 // ICM-40609-D
-	#define IMU_PIN_INT 10
-	#define SS 14
-
-	#define MOTOR_PIN_RL 41
-	#define MOTOR_PIN_RR 7
-	#define MOTOR_PIN_FL 38
-	#define MOTOR_PIN_FR 18
-	#define MOT_PWM_FREQ 38000
-
-	#define VOLTAGE_PIN 3
-#endif
+		voltagePin = 3;
+	#endif
+}

flix/control.ino

@@ -3,7 +3,6 @@
 
 // Flight control
 
-#include "config.h"
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
@@ -13,6 +12,7 @@
 const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
 int mode = STAB;
 bool armed = false;
+int _desaturate = 1;
 
 Quaternion attitudeTarget;
 Vector ratesTarget;
@@ -20,12 +20,12 @@ Vector ratesExtra; // feedforward rates
 Vector torqueTarget; // 0 - no torque, 1 - maximum torque
 float thrustTarget;
 
-PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA);
-PID pitchRatePID(PITCHRATE_P, PITCHRATE_I, PITCHRATE_D, PITCHRATE_I_LIM, RATES_D_LPF_ALPHA);
-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);
+PID rollRatePID(0.05, 0.2, 0.001, 0.3, 0.2);
+PID pitchRatePID(0.05, 0.2, 0.001, 0.3, 0.2);
+PID yawRatePID(0.3);
+PID rollPID(6);
+PID pitchPID(6);
+PID yawPID(3);
 Vector maxRate(radians(360), radians(360), radians(360));
 float tiltMax = radians(30);
 int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch

flix/imu.ino

@@ -6,17 +6,16 @@
 #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 = 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 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 imuSdaPin = SDA, imuSclPin = SCL;
-Vector imuRotation(IMU_ROT_ROLL, IMU_ROT_PITCH, IMU_ROT_YAW); // imu orientation as Euler angles
+Vector imuRotation(0, 0, -PI/2); // imu orientation as Euler angles
 
 Vector gyro; // gyroscope output, rad/s
 Vector gyroBias;

flix/motors.ino

@@ -3,17 +3,16 @@
 
 // PWM control for motors
 
-#include "config.h"
 #include "util.h"
 
 float motors[4]; // normalized motor thrusts in range [0..1]
 
-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
+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
 
 const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3;
 

flix/parameters.ino

@@ -14,6 +14,8 @@ extern float rcLossTimeout, descendTime, disarmTilt;
 extern float voltageScale;
 extern LowPassFilter<float> voltageFilter;
 
+#include "config.h"
+
 Preferences storage;
 
 struct Parameter {
@@ -161,6 +163,7 @@ Parameter parameters[] = {
 
 void setupParameters() {
 	print("Setup parameters\n");
+	setDefaults();
 	storage.begin("flix");
 	// Read parameters from storage
 	for (auto &parameter : parameters) {

flix/power.ino

@@ -5,14 +5,13 @@
 
 #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 = VOLTAGE_PIN;
-float voltageScale = VOLTAGE_SCALE;
+int voltagePin = -1;
+float voltageScale = 2;
 
 void setupPower() {
 	REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); // disable reset on low voltage

flix/rc.ino

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