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     // motor/esc/servo related stuff
  31     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
  32     escAndServoConfig_t escAndServoConfig;
  33     flight3DConfig_t flight3DConfig;
  34
  35     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
  36     uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
  37     uint8_t motor_pwm_protocol;             // Pwm Protocol
  38     uint8_t use_unsyncedPwm;                // unsync fast pwm protocol from PID loop
  39
  40 #ifdef USE_SERVOS
  41     servoMixer_t customServoMixer[MAX_SERVO_RULES];
  42     // Servo-related stuff
  43     servoParam_t servoConf[MAX_SUPPORTED_SERVOS]; // servo configuration
  44     // gimbal-related configuration
  45     gimbalConfig_t gimbalConfig;
  46 #endif
  47
  48 #ifdef CC3D
  49     uint8_t use_buzzer_p6;
  50 #endif
  51
  52     // global sensor-related stuff
  53     sensorAlignmentConfig_t sensorAlignmentConfig;
  54     boardAlignment_t boardAlignment;
  55
  56     int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
  57     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
  58     uint8_t acc_for_fast_looptime;          // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
  59     uint16_t gyro_lpf;                       // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
  60     uint8_t gyro_sync_denom;                // Gyro sample divider
  61     uint8_t gyro_soft_lpf_hz;               // Biqyad gyro lpf hz
  62     uint16_t dcm_kp;                        // DCM filter proportional gain ( x 10000)
  63     uint16_t dcm_ki;                        // DCM filter integral gain ( x 10000)
  64
  65     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
  66
  67     uint8_t debug_mode;                     // Processing denominator for PID controller vs gyro sampling rate
  68
  69     gyroConfig_t gyroConfig;
  70
  71     uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
  72     uint8_t baro_hardware;                  // Barometer hardware to use
  73     int16_t mag_declination;                // Get your magnetic decliniation from here : http://magnetic-declination.com/
  74                                             // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
  75
  76     rollAndPitchTrims_t accelerometerTrims; // accelerometer trim
  77
  78     float acc_lpf_hz;                       // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
  79     accDeadband_t accDeadband;
  80     barometerConfig_t barometerConfig;
  81     uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
  82
  83     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
  84     uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.
  85     batteryConfig_t batteryConfig;
  86
  87     // Radio/ESC-related configuration
  88     rcControlsConfig_t rcControlsConfig;
  89
  90 #ifdef GPS
  91     gpsProfile_t gpsProfile;
  92 #endif
  93
  94     uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
  95     flightDynamicsTrims_t accZero;
  96     flightDynamicsTrims_t magZero;
  97
  98     rxConfig_t rxConfig;
  99     inputFilteringMode_e inputFilteringMode;  // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
 100
 101
 102     uint8_t gyro_cal_on_first_arm;          // allow disarm/arm on throttle down + roll left/right
 103     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
 104     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
 105     uint8_t small_angle;
 106
 107     // mixer-related configuration
 108     mixerConfig_t mixerConfig;
 109     airplaneConfig_t airplaneConfig;
 110
 111 #ifdef GPS
 112     gpsConfig_t gpsConfig;
 113 #endif
 114
 115     failsafeConfig_t failsafeConfig;
 116     serialConfig_t serialConfig;
 117     telemetryConfig_t telemetryConfig;
 118
 119 #ifdef LED_STRIP
 120     ledConfig_t ledConfigs[MAX_LED_STRIP_LENGTH];
 121     hsvColor_t colors[CONFIGURABLE_COLOR_COUNT];
 122     uint8_t ledstrip_visual_beeper; // suppress LEDLOW mode if beeper is on
 123 #endif
 124
 125 #ifdef TRANSPONDER
 126     uint8_t transponderData[6];
 127 #endif
 128
 129     profile_t profile[MAX_PROFILE_COUNT];
 130     uint8_t current_profile_index;
 131
 132     modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
 133     adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
 134
 135 #ifdef VTX
 136     uint8_t vtx_band; //1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Raceband
 137     uint8_t vtx_channel; //1-8
 138     uint8_t vtx_mode; //0=ch+band 1=mhz
 139     uint16_t vtx_mhz; //5740
 140
 141     vtxChannelActivationCondition_t vtxChannelActivationConditions[MAX_CHANNEL_ACTIVATION_CONDITION_COUNT];
 142 #endif
 143
 144 #ifdef BLACKBOX
 145     uint8_t blackbox_rate_num;
 146     uint8_t blackbox_rate_denom;
 147     uint8_t blackbox_device;
 148 #endif
 149
 150     uint32_t beeper_off_flags;
 151     uint32_t preferred_beeper_off_flags;
 152
 153     uint8_t magic_ef;                       // magic number, should be 0xEF
 154     uint8_t chk;                            // XOR checksum
 155 } master_t;
 156
 157 extern master_t masterConfig;
 158 extern profile_t *currentProfile;
 159 extern controlRateConfig_t *currentControlRateProfile;