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
  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     uint8_t emf_avoidance;                   // change pll settings to avoid noise in the uhf band
  29
  30     beeperOffConditions_t beeper_off;
  31
  32     // motor/esc/servo related stuff
  33     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
  34     escAndServoConfig_t escAndServoConfig;
  35     flight3DConfig_t flight3DConfig;
  36
  37     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
  38     uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
  39     uint8_t use_fast_pwm;                   // Use fast PWM implementation when oneshot enabled
  40     uint8_t use_oneshot42;                   // Oneshot42
  41     uint8_t use_multiShot;                   // multishot
  42
  43 #ifdef USE_SERVOS
  44     servoMixer_t customServoMixer[MAX_SERVO_RULES];
  45     // Servo-related stuff
  46     servoParam_t servoConf[MAX_SUPPORTED_SERVOS]; // servo configuration
  47     // gimbal-related configuration
  48     gimbalConfig_t gimbalConfig;
  49 #endif
  50
  51 #ifdef CC3D
  52     uint8_t use_buzzer_p6;
  53 #endif
  54
  55     // global sensor-related stuff
  56     sensorAlignmentConfig_t sensorAlignmentConfig;
  57     boardAlignment_t boardAlignment;
  58
  59     int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
  60     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
  61     uint8_t acc_for_fast_looptime;          // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
  62     uint8_t gyro_lpf;                       // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
  63     uint8_t gyro_sync_denom;                // Gyro sample divider
  64     float gyro_soft_lpf_hz;                 // Biqyad gyro lpf hz
  65     uint16_t dcm_kp;                        // DCM filter proportional gain ( x 10000)
  66     uint16_t dcm_ki;                        // DCM filter integral gain ( x 10000)
  67
  68     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
  69
  70     uint8_t debug_mode;                     // Processing denominator for PID controller vs gyro sampling rate
  71
  72     gyroConfig_t gyroConfig;
  73
  74     uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
  75     uint8_t baro_hardware;                  // Barometer hardware to use
  76     int16_t mag_declination;                // Get your magnetic decliniation from here : http://magnetic-declination.com/
  77                                             // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
  78
  79     rollAndPitchTrims_t accelerometerTrims; // accelerometer trim
  80
  81     float acc_lpf_hz;                       // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
  82     accDeadband_t accDeadband;
  83     barometerConfig_t barometerConfig;
  84     uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
  85
  86     uint16_t throttle_correction_angle;     // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
  87     uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.
  88     batteryConfig_t batteryConfig;
  89
  90     // Radio/ESC-related configuration
  91     rcControlsConfig_t rcControlsConfig;
  92
  93 #ifdef GPS
  94     gpsProfile_t gpsProfile;
  95 #endif
  96
  97     uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
  98     flightDynamicsTrims_t accZero;
  99     flightDynamicsTrims_t magZero;
 100
 101     rxConfig_t rxConfig;
 102     inputFilteringMode_e inputFilteringMode;  // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
 103
 104
 105     uint8_t retarded_arm;                   // allow disarm/arm on throttle down + roll left/right
 106     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
 107     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
 108     uint8_t small_angle;
 109
 110     // mixer-related configuration
 111     mixerConfig_t mixerConfig;
 112     airplaneConfig_t airplaneConfig;
 113
 114 #ifdef GPS
 115     gpsConfig_t gpsConfig;
 116 #endif
 117
 118     failsafeConfig_t failsafeConfig;
 119     serialConfig_t serialConfig;
 120     telemetryConfig_t telemetryConfig;
 121
 122 #ifdef LED_STRIP
 123     ledConfig_t ledConfigs[MAX_LED_STRIP_LENGTH];
 124     hsvColor_t colors[CONFIGURABLE_COLOR_COUNT];
 125 #endif
 126
 127 #ifdef TRANSPONDER
 128     uint8_t transponderData[6];
 129 #endif
 130
 131     profile_t profile[MAX_PROFILE_COUNT];
 132     uint8_t current_profile_index;
 133
 134     modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
 135     adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
 136
 137 #ifdef BLACKBOX
 138     uint8_t blackbox_rate_num;
 139     uint8_t blackbox_rate_denom;
 140     uint8_t blackbox_device;
 141 #endif
 142
 143     uint8_t magic_ef;                       // magic number, should be 0xEF
 144     uint8_t chk;                            // XOR checksum
 145 } master_t;
 146
 147 extern master_t masterConfig;
 148 extern profile_t *currentProfile;
 149 extern controlRateConfig_t *currentControlRateProfile;