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     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 syncGyroToLoop;                 // Enable interrupt based loop
  31     uint8_t rcSmoothing;                    // Enable Interpolation of RC command
  32
  33     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
  34 #ifdef USE_SERVOS
  35     servoMixer_t customServoMixer[MAX_SERVO_RULES];
  36 #endif
  37     // motor/esc/servo related stuff
  38     escAndServoConfig_t escAndServoConfig;
  39     flight3DConfig_t flight3DConfig;
  40
  41     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
  42     uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
  43
  44     // global sensor-related stuff
  45
  46     sensorAlignmentConfig_t sensorAlignmentConfig;
  47     boardAlignment_t boardAlignment;
  48
  49     int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
  50     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
  51     uint16_t gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
  52     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.
  53     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
  54
  55     gyroConfig_t gyroConfig;
  56
  57     uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
  58     uint8_t baro_hardware;                  // Barometer hardware to use
  59
  60     uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
  61     flightDynamicsTrims_t accZero;
  62     flightDynamicsTrims_t magZero;
  63
  64     batteryConfig_t batteryConfig;
  65
  66     rxConfig_t rxConfig;
  67     inputFilteringMode_e inputFilteringMode;  // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
  68
  69     failsafeConfig_t failsafeConfig;
  70
  71     uint8_t retarded_arm;                   // allow disarm/arm on throttle down + roll left/right
  72     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
  73     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
  74     uint8_t small_angle;
  75
  76     // mixer-related configuration
  77     mixerConfig_t mixerConfig;
  78
  79     airplaneConfig_t airplaneConfig;
  80
  81 #ifdef GPS
  82     gpsConfig_t gpsConfig;
  83 #endif
  84
  85     serialConfig_t serialConfig;
  86
  87     telemetryConfig_t telemetryConfig;
  88
  89 #ifdef LED_STRIP
  90     ledConfig_t ledConfigs[MAX_LED_STRIP_LENGTH];
  91     hsvColor_t colors[CONFIGURABLE_COLOR_COUNT];
  92 #endif
  93
  94     profile_t profile[MAX_PROFILE_COUNT];
  95     uint8_t current_profile_index;
  96     controlRateConfig_t controlRateProfiles[MAX_CONTROL_RATE_PROFILE_COUNT];
  97
  98 #ifdef BLACKBOX
  99     uint8_t blackbox_rate_num;
 100     uint8_t blackbox_rate_denom;
 101     uint8_t blackbox_device;
 102 #endif
 103
 104     uint8_t magic_ef;                       // magic number, should be 0xEF
 105     uint8_t chk;                            // XOR checksum
 106 } master_t;
 107
 108 extern master_t masterConfig;
 109 extern profile_t *currentProfile;
 110 extern controlRateConfig_t *currentControlRateProfile;