src/main/config/config_master.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17 #include "tracker/defines.h"
  18 #pragma once
  19
  20 // System-wide
  21 typedef struct master_t {
  22     uint8_t version;
  23     uint16_t size;
  24     uint8_t magic_be;                       // magic number, should be 0xBE
  25
  26     uint8_t mixerMode;
  27     uint32_t enabledFeatures;
  28     uint16_t looptime;                      // imu loop time in us
  29     uint8_t emf_avoidance;                   // change pll settings to avoid noise in the uhf band
  30     uint8_t i2c_overclock;                  // Overclock i2c Bus for faster IMU readings
  31
  32     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
  33 #ifdef USE_SERVOS
  34     servoMixer_t customServoMixer[MAX_SERVO_RULES];
  35 #endif
  36     // motor/esc/servo related stuff
  37     escAndServoConfig_t escAndServoConfig;
  38     flight3DConfig_t flight3DConfig;
  39
  40     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
  41     uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
  42
  43     // global sensor-related stuff
  44
  45     sensorAlignmentConfig_t sensorAlignmentConfig;
  46     boardAlignment_t boardAlignment;
  47
  48     //int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
  49     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
  50     uint16_t gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
  51     uint16_t gyro_cmpf_factor;              // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
  52     uint16_t gyro_cmpfm_factor;             // Set the Gyro Weight for Gyro/Magnetometer complementary filter. Increasing this value would reduce and delay Magnetometer influence on the output of the filter
  53
  54     gyroConfig_t gyroConfig;
  55
  56     uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
  57     uint8_t baro_hardware;                  // Barometer hardware to use
  58
  59     uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
  60     flightDynamicsTrims_t accZero;
  61     flightDynamicsTrims_t magZero;
  62
  63     batteryConfig_t batteryConfig;
  64
  65     rxConfig_t rxConfig;
  66     inputFilteringMode_e inputFilteringMode;  // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
  67
  68     failsafeConfig_t failsafeConfig;
  69
  70     /*uint8_t retarded_arm;                   // allow disarm/arm on throttle down + roll left/right
  71     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
  72     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
  73     uint8_t small_angle;*/
  74
  75     // mixer-related configuration
  76     mixerConfig_t mixerConfig;
  77
  78     airplaneConfig_t airplaneConfig;
  79
  80 #ifdef GPS
  81     gpsConfig_t gpsConfig;
  82 #endif
  83
  84     serialConfig_t serialConfig;
  85
  86     telemetryConfig_t telemetryConfig;
  87
  88 /*#ifdef LED_STRIP
  89     ledConfig_t ledConfigs[MAX_LED_STRIP_LENGTH];
  90     hsvColor_t colors[CONFIGURABLE_COLOR_COUNT];
  91 #endif*/
  92
  93     profile_t profile[MAX_PROFILE_COUNT];
  94     uint8_t current_profile_index;
  95     controlRateConfig_t controlRateProfiles[MAX_CONTROL_RATE_PROFILE_COUNT];
  96
  97 /*#ifdef BLACKBOX
  98     uint8_t blackbox_rate_num;
  99     uint8_t blackbox_rate_denom;
 100     uint8_t blackbox_device;
 101 #endif*/
 102
 103     uint8_t magic_ef;                       // magic number, should be 0xEF
 104     uint8_t chk;                            // XOR checksum
 105 ///////////////////////////////
 106     // PID
 107     uint16_t p;
 108     uint16_t i;
 109     uint16_t d;
 110     uint8_t max_pid_error;
 111     uint16_t max_pid_accumulator;
 112     uint16_t max_pid_gain;
 113     uint8_t max_pid_divider;
 114     // EASING
 115     uint8_t pan_pin;
 116     uint16_t pan0;
 117     uint8_t pan0_calibrated;
 118     uint8_t mag_calibrated;
 119     uint8_t min_pan_speed;
 120     int16_t offset;
 121     int8_t offset_trim;
 122     uint8_t tilt_pin;
 123         uint16_t tilt0;
 124         uint16_t tilt90;
 125         uint8_t tilt_max_angle;
 126         uint8_t easing;
 127         uint8_t easing_steps;
 128         uint8_t easing_min_angle;
 129         uint8_t easing_millis;
 130         uint16_t easing_last_tilt;
 131         uint16_t telemetry_protocol;
 132         uint8_t start_tracking_distance;
 133         uint8_t start_tracking_altitude;
 134         uint8_t init_servos;
 135         uint8_t telemetry_min_sats;
 136         uint8_t telemetry_provider;
 137         uint8_t telemetry_home;
 138         uint8_t gps_min_sats;
 139         uint8_t min_logic_level;
 140         // NO PID CONTROL SYSTEM
 141         float nopid_min_delta;
 142         uint16_t nopid_max_speed;
 143         uint8_t nopid_map_angle;
 144         uint8_t eps;
 145         epsVectorGain_t eps_gain;
 146         uint16_t eps_frequency;
 147         uint8_t eps_interpolation;
 148         uint8_t eps_interpolation_points;
 149         uint8_t update_home_by_local_gps;
 150         uint16_t pan_calibration_pulse;
 151         uint8_t max_speed_filter;
 152         uint8_t altitude_priority;
 153         uint8_t pan_inverted;
 154 } master_t;
 155
 156 extern master_t masterConfig;
 157 extern profile_t *currentProfile;
 158 extern controlRateConfig_t *currentControlRateProfile;