src/main/config/config.c

   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 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <string.h>
  21
  22 #include "platform.h"
  23
  24 #include "build_config.h"
  25
  26 #include "common/color.h"
  27 #include "common/axis.h"
  28 #include "common/maths.h"
  29 #include "common/filter.h"
  30
  31 #include "drivers/sensor.h"
  32 #include "drivers/accgyro.h"
  33 #include "drivers/compass.h"
  34 #include "drivers/system.h"
  35 #include "drivers/gpio.h"
  36 #include "drivers/timer.h"
  37 #include "drivers/pwm_rx.h"
  38 #include "drivers/serial.h"
  39 #include "drivers/gyro_sync.h"
  40
  41 #include "sensors/sensors.h"
  42 #include "sensors/gyro.h"
  43 #include "sensors/compass.h"
  44 #include "sensors/acceleration.h"
  45 #include "sensors/barometer.h"
  46 #include "sensors/boardalignment.h"
  47 #include "sensors/battery.h"
  48
  49 #include "io/beeper.h"
  50 #include "io/serial.h"
  51 #include "io/gimbal.h"
  52 #include "io/escservo.h"
  53 #include "io/rc_controls.h"
  54 #include "io/rc_curves.h"
  55 #include "io/ledstrip.h"
  56 #include "io/gps.h"
  57
  58 #include "rx/rx.h"
  59
  60 #include "telemetry/telemetry.h"
  61
  62 #include "flight/mixer.h"
  63 #include "flight/pid.h"
  64 #include "flight/imu.h"
  65 #include "flight/failsafe.h"
  66 #include "flight/altitudehold.h"
  67 #include "flight/navigation.h"
  68
  69 #include "config/runtime_config.h"
  70 #include "config/config.h"
  71
  72 #include "config/config_profile.h"
  73 #include "config/config_master.h"
  74
  75 #define BRUSHED_MOTORS_PWM_RATE 16000
  76 #define BRUSHLESS_MOTORS_PWM_RATE 400
  77
  78 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
  79
  80 #if !defined(FLASH_SIZE)
  81 #error "Flash size not defined for target. (specify in KB)"
  82 #endif
  83
  84
  85 #ifndef FLASH_PAGE_SIZE
  86     #ifdef STM32F303xC
  87         #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
  88     #endif
  89
  90     #ifdef STM32F10X_MD
  91         #define FLASH_PAGE_SIZE                 ((uint16_t)0x400)
  92     #endif
  93
  94     #ifdef STM32F10X_HD
  95         #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
  96     #endif
  97 #endif
  98
  99 #if !defined(FLASH_SIZE) && !defined(FLASH_PAGE_COUNT)
 100     #ifdef STM32F10X_MD
 101         #define FLASH_PAGE_COUNT 128
 102     #endif
 103
 104     #ifdef STM32F10X_HD
 105         #define FLASH_PAGE_COUNT 128
 106     #endif
 107 #endif
 108
 109 #if defined(FLASH_SIZE)
 110 #define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE)
 111 #endif
 112
 113 #if !defined(FLASH_PAGE_SIZE)
 114 #error "Flash page size not defined for target."
 115 #endif
 116
 117 #if !defined(FLASH_PAGE_COUNT)
 118 #error "Flash page count not defined for target."
 119 #endif
 120
 121 #if FLASH_SIZE <= 128
 122 #define FLASH_TO_RESERVE_FOR_CONFIG 0x800
 123 #else
 124 #define FLASH_TO_RESERVE_FOR_CONFIG 0x1000
 125 #endif
 126
 127 // use the last flash pages for storage
 128 #ifdef CUSTOM_FLASH_MEMORY_ADDRESS
 129 size_t custom_flash_memory_address = 0;
 130 #define CONFIG_START_FLASH_ADDRESS (custom_flash_memory_address)
 131 #else
 132 // use the last flash pages for storage
 133 #define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
 134 #endif
 135
 136 master_t masterConfig;                 // master config struct with data independent from profiles
 137 profile_t *currentProfile;
 138 static uint32_t activeFeaturesLatch = 0;
 139
 140 static uint8_t currentControlRateProfileIndex = 0;
 141 controlRateConfig_t *currentControlRateProfile;
 142
 143 static const uint8_t EEPROM_CONF_VERSION = 135;
 144
 145 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 146 {
 147     accelerometerTrims->values.pitch = 0;
 148     accelerometerTrims->values.roll = 0;
 149     accelerometerTrims->values.yaw = 0;
 150 }
 151
 152 static void resetPidProfile(pidProfile_t *pidProfile)
 153 {
 154     pidProfile->pidController = 1;
 155
 156     pidProfile->P8[ROLL] = 45;
 157     pidProfile->I8[ROLL] = 35;
 158     pidProfile->D8[ROLL] = 18;
 159     pidProfile->P8[PITCH] = 45;
 160     pidProfile->I8[PITCH] = 35;
 161     pidProfile->D8[PITCH] = 18;
 162     pidProfile->P8[YAW] = 90;
 163     pidProfile->I8[YAW] = 40;
 164     pidProfile->D8[YAW] = 0;
 165     pidProfile->P8[PIDALT] = 50;
 166     pidProfile->I8[PIDALT] = 0;
 167     pidProfile->D8[PIDALT] = 0;
 168     pidProfile->P8[PIDPOS] = 15; // POSHOLD_P * 100;
 169     pidProfile->I8[PIDPOS] = 0; // POSHOLD_I * 100;
 170     pidProfile->D8[PIDPOS] = 0;
 171     pidProfile->P8[PIDPOSR] = 34; // POSHOLD_RATE_P * 10;
 172     pidProfile->I8[PIDPOSR] = 14; // POSHOLD_RATE_I * 100;
 173     pidProfile->D8[PIDPOSR] = 53; // POSHOLD_RATE_D * 1000;
 174     pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
 175     pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
 176     pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
 177     pidProfile->P8[PIDLEVEL] = 50;
 178     pidProfile->I8[PIDLEVEL] = 50;
 179     pidProfile->D8[PIDLEVEL] = 100;
 180     pidProfile->P8[PIDMAG] = 40;
 181     pidProfile->P8[PIDVEL] = 55;
 182     pidProfile->I8[PIDVEL] = 55;
 183     pidProfile->D8[PIDVEL] = 75;
 184
 185     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
 186     pidProfile->yaw_lpf_hz = 80;
 187     pidProfile->rollPitchItermResetRate = 200;
 188     pidProfile->rollPitchItermResetAlways = 0;
 189     pidProfile->yawItermResetRate = 50;
 190     pidProfile->itermResetOffset = 15;
 191     pidProfile->dterm_lpf_hz = 110;    // filtering ON by default
 192     pidProfile->dynamic_pterm = 1;
 193
 194 #ifdef GTUNE
 195     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
 196     pidProfile->gtune_lolimP[PITCH] = 10;         // [0..200] Lower limit of PITCH P during G tune.
 197     pidProfile->gtune_lolimP[YAW] = 10;           // [0..200] Lower limit of YAW P during G tune.
 198     pidProfile->gtune_hilimP[ROLL] = 100;         // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
 199     pidProfile->gtune_hilimP[PITCH] = 100;        // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
 200     pidProfile->gtune_hilimP[YAW] = 100;          // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
 201     pidProfile->gtune_pwr = 0;                    // [0..10] Strength of adjustment
 202     pidProfile->gtune_settle_time = 450;          // [200..1000] Settle time in ms
 203     pidProfile->gtune_average_cycles = 16;        // [8..128] Number of looptime cycles used for gyro average calculation
 204 #endif
 205 }
 206
 207 #ifdef GPS
 208 void resetGpsProfile(gpsProfile_t *gpsProfile)
 209 {
 210     gpsProfile->gps_wp_radius = 200;
 211     gpsProfile->gps_lpf = 20;
 212     gpsProfile->nav_slew_rate = 30;
 213     gpsProfile->nav_controls_heading = 1;
 214     gpsProfile->nav_speed_min = 100;
 215     gpsProfile->nav_speed_max = 300;
 216     gpsProfile->ap_mode = 40;
 217 }
 218 #endif
 219
 220 void resetBarometerConfig(barometerConfig_t *barometerConfig)
 221 {
 222     barometerConfig->baro_sample_count = 21;
 223     barometerConfig->baro_noise_lpf = 0.6f;
 224     barometerConfig->baro_cf_vel = 0.985f;
 225     barometerConfig->baro_cf_alt = 0.965f;
 226 }
 227
 228 void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
 229 {
 230     sensorAlignmentConfig->gyro_align = ALIGN_DEFAULT;
 231     sensorAlignmentConfig->acc_align = ALIGN_DEFAULT;
 232     sensorAlignmentConfig->mag_align = ALIGN_DEFAULT;
 233 }
 234
 235 void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
 236 {
 237     escAndServoConfig->minthrottle = 1150;
 238     escAndServoConfig->maxthrottle = 1850;
 239     escAndServoConfig->mincommand = 1000;
 240     escAndServoConfig->servoCenterPulse = 1500;
 241 }
 242
 243 void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
 244 {
 245     flight3DConfig->deadband3d_low = 1406;
 246     flight3DConfig->deadband3d_high = 1514;
 247     flight3DConfig->neutral3d = 1460;
 248     flight3DConfig->deadband3d_throttle = 50;
 249 }
 250
 251 void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
 252 {
 253     telemetryConfig->telemetry_inversion = 0;
 254     telemetryConfig->telemetry_switch = 0;
 255     telemetryConfig->gpsNoFixLatitude = 0;
 256     telemetryConfig->gpsNoFixLongitude = 0;
 257     telemetryConfig->frsky_coordinate_format = FRSKY_FORMAT_DMS;
 258     telemetryConfig->frsky_unit = FRSKY_UNIT_METRICS;
 259     telemetryConfig->frsky_vfas_precision = 0;
 260     telemetryConfig->frsky_vfas_cell_voltage = 0;
 261     telemetryConfig->hottAlarmSoundInterval = 5;
 262 }
 263
 264 void resetBatteryConfig(batteryConfig_t *batteryConfig)
 265 {
 266     batteryConfig->vbatscale = VBAT_SCALE_DEFAULT;
 267     batteryConfig->vbatresdivval = VBAT_RESDIVVAL_DEFAULT;
 268     batteryConfig->vbatresdivmultiplier = VBAT_RESDIVMULTIPLIER_DEFAULT;
 269     batteryConfig->vbatmaxcellvoltage = 43;
 270     batteryConfig->vbatmincellvoltage = 33;
 271     batteryConfig->vbatwarningcellvoltage = 35;
 272     batteryConfig->vbathysteresis = 1;
 273     batteryConfig->vbatPidCompensation = 0;
 274     batteryConfig->currentMeterOffset = 0;
 275     batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
 276     batteryConfig->batteryCapacity = 0;
 277     batteryConfig->currentMeterType = CURRENT_SENSOR_ADC;
 278 }
 279
 280 #ifdef SWAP_SERIAL_PORT_0_AND_1_DEFAULTS
 281 #define FIRST_PORT_INDEX 1
 282 #define SECOND_PORT_INDEX 0
 283 #else
 284 #define FIRST_PORT_INDEX 0
 285 #define SECOND_PORT_INDEX 1
 286 #endif
 287
 288 void resetSerialConfig(serialConfig_t *serialConfig)
 289 {
 290     uint8_t index;
 291     memset(serialConfig, 0, sizeof(serialConfig_t));
 292
 293     for (index = 0; index < SERIAL_PORT_COUNT; index++) {
 294         serialConfig->portConfigs[index].identifier = serialPortIdentifiers[index];
 295         serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_115200;
 296         serialConfig->portConfigs[index].gps_baudrateIndex = BAUD_57600;
 297         serialConfig->portConfigs[index].telemetry_baudrateIndex = BAUD_AUTO;
 298         serialConfig->portConfigs[index].blackbox_baudrateIndex = BAUD_115200;
 299     }
 300
 301     serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
 302
 303 #if defined(USE_VCP)
 304     // This allows MSP connection via USART & VCP so the board can be reconfigured.
 305     serialConfig->portConfigs[1].functionMask = FUNCTION_MSP;
 306 #endif
 307
 308     serialConfig->reboot_character = 'R';
 309 }
 310
 311 static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
 312     controlRateConfig->rcRate8 = 100;
 313     controlRateConfig->rcExpo8 = 60;
 314     controlRateConfig->thrMid8 = 50;
 315     controlRateConfig->thrExpo8 = 0;
 316     controlRateConfig->dynThrPID = 20;
 317     controlRateConfig->rcYawExpo8 = 20;
 318     controlRateConfig->tpa_breakpoint = 1650;
 319
 320     for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
 321         controlRateConfig->rates[axis] = 50;
 322     }
 323
 324 }
 325
 326 void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
 327     rcControlsConfig->deadband = 0;
 328     rcControlsConfig->yaw_deadband = 0;
 329     rcControlsConfig->alt_hold_deadband = 40;
 330     rcControlsConfig->alt_hold_fast_change = 1;
 331 }
 332
 333 void resetMixerConfig(mixerConfig_t *mixerConfig) {
 334     mixerConfig->yaw_motor_direction = 1;
 335     mixerConfig->yaw_jump_prevention_limit = 200;
 336 #ifdef USE_SERVOS
 337     mixerConfig->tri_unarmed_servo = 1;
 338     mixerConfig->servo_lowpass_freq = 400;
 339     mixerConfig->servo_lowpass_enable = 0;
 340 #endif
 341 }
 342
 343 uint8_t getCurrentProfile(void)
 344 {
 345     return masterConfig.current_profile_index;
 346 }
 347
 348 static void setProfile(uint8_t profileIndex)
 349 {
 350     currentProfile = &masterConfig.profile[profileIndex];
 351     currentControlRateProfileIndex = currentProfile->activeRateProfile;
 352     currentControlRateProfile = &currentProfile->controlRateProfile[currentControlRateProfileIndex];
 353 }
 354
 355 uint8_t getCurrentControlRateProfile(void)
 356 {
 357     return currentControlRateProfileIndex;
 358 }
 359
 360 static void setControlRateProfile(uint8_t profileIndex) {
 361         currentControlRateProfileIndex = profileIndex;
 362         masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
 363         currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
 364 }
 365
 366
 367 controlRateConfig_t *getControlRateConfig(uint8_t profileIndex) {
 368     return &masterConfig.profile[profileIndex].controlRateProfile[masterConfig.profile[profileIndex].activeRateProfile];
 369 }
 370
 371 uint16_t getCurrentMinthrottle(void)
 372 {
 373     return masterConfig.escAndServoConfig.minthrottle;
 374 }
 375
 376 // Default settings
 377 static void resetConf(void)
 378 {
 379     int i;
 380
 381     // Clear all configuration
 382     memset(&masterConfig, 0, sizeof(master_t));
 383     setProfile(0);
 384
 385     masterConfig.version = EEPROM_CONF_VERSION;
 386     masterConfig.mixerMode = MIXER_QUADX;
 387     featureClearAll();
 388 #if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) || defined(DOGE)
 389     featureSet(FEATURE_RX_PPM);
 390 #endif
 391
 392 //#if defined(SPRACINGF3MINI)
 393 //    featureSet(FEATURE_DISPLAY);
 394 //#endif
 395
 396 #ifdef BOARD_HAS_VOLTAGE_DIVIDER
 397     // only enable the VBAT feature by default if the board has a voltage divider otherwise
 398     // the user may see incorrect readings and unexpected issues with pin mappings may occur.
 399     featureSet(FEATURE_VBAT);
 400 #endif
 401
 402     featureSet(FEATURE_FAILSAFE);
 403     featureSet(FEATURE_ONESHOT125);
 404
 405     // global settings
 406     masterConfig.current_profile_index = 0;     // default profile
 407     masterConfig.dcm_kp = 2500;                // 1.0 * 10000
 408     masterConfig.dcm_ki = 0;                    // 0.003 * 10000
 409     masterConfig.gyro_lpf = 0;                 // 256HZ default
 410 #ifdef STM32F10X
 411     masterConfig.gyro_sync_denom = 8;
 412 #else
 413     masterConfig.gyro_sync_denom = 4;
 414 #endif
 415     masterConfig.gyro_soft_lpf_hz = 100;
 416
 417     masterConfig.pid_process_denom = 2;
 418
 419     masterConfig.debug_mode = 0;
 420
 421     resetAccelerometerTrims(&masterConfig.accZero);
 422
 423     resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
 424
 425     masterConfig.boardAlignment.rollDegrees = 0;
 426     masterConfig.boardAlignment.pitchDegrees = 0;
 427     masterConfig.boardAlignment.yawDegrees = 0;
 428     masterConfig.acc_hardware = ACC_DEFAULT;     // default/autodetect
 429     masterConfig.max_angle_inclination = 700;    // 70 degrees
 430     masterConfig.yaw_control_direction = 1;
 431     masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
 432
 433     // xxx_hardware: 0:default/autodetect, 1: disable
 434     masterConfig.mag_hardware = 0;
 435
 436     masterConfig.baro_hardware = 0;
 437
 438     resetBatteryConfig(&masterConfig.batteryConfig);
 439
 440     resetTelemetryConfig(&masterConfig.telemetryConfig);
 441
 442     masterConfig.rxConfig.serialrx_provider = 0;
 443     masterConfig.rxConfig.sbus_inversion = 1;
 444     masterConfig.rxConfig.spektrum_sat_bind = 0;
 445     masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
 446     masterConfig.rxConfig.midrc = 1500;
 447     masterConfig.rxConfig.mincheck = 1100;
 448     masterConfig.rxConfig.maxcheck = 1900;
 449     masterConfig.rxConfig.rx_min_usec = 885;          // any of first 4 channels below this value will trigger rx loss detection
 450     masterConfig.rxConfig.rx_max_usec = 2115;         // any of first 4 channels above this value will trigger rx loss detection
 451
 452     for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
 453         rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
 454         channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
 455         channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
 456     }
 457
 458     masterConfig.rxConfig.rssi_channel = 0;
 459     masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
 460     masterConfig.rxConfig.rssi_ppm_invert = 0;
 461     masterConfig.rxConfig.rcSmoothing = 0;
 462     masterConfig.rxConfig.fpvCamAngleDegrees = 0;
 463     masterConfig.rxConfig.max_aux_channel = 6;
 464     masterConfig.rxConfig.superExpoFactor = 30;
 465     masterConfig.rxConfig.superExpoFactorYaw = 30;
 466     masterConfig.rxConfig.superExpoYawMode = 0;
 467
 468     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
 469
 470     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 471
 472     masterConfig.gyro_cal_on_first_arm = 0;  // TODO - Cleanup retarded arm support
 473     masterConfig.disarm_kill_switch = 1;
 474     masterConfig.auto_disarm_delay = 5;
 475     masterConfig.small_angle = 25;
 476
 477     resetMixerConfig(&masterConfig.mixerConfig);
 478
 479     masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
 480
 481     // Motor/ESC/Servo
 482     resetEscAndServoConfig(&masterConfig.escAndServoConfig);
 483     resetFlight3DConfig(&masterConfig.flight3DConfig);
 484
 485 #ifdef BRUSHED_MOTORS
 486     masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
 487 #else
 488     masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
 489 #endif
 490     masterConfig.servo_pwm_rate = 50;
 491     masterConfig.fast_pwm_protocol = 0;
 492     masterConfig.use_unsyncedPwm = 0;
 493 #ifdef CC3D
 494     masterConfig.use_buzzer_p6 = 0;
 495 #endif
 496
 497 #ifdef GPS
 498     // gps/nav stuff
 499     masterConfig.gpsConfig.provider = GPS_NMEA;
 500     masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
 501     masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
 502     masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
 503 #endif
 504
 505     resetSerialConfig(&masterConfig.serialConfig);
 506
 507     masterConfig.emf_avoidance = 0; // TODO - needs removal
 508
 509     resetPidProfile(&currentProfile->pidProfile);
 510
 511         uint8_t rI;
 512         for (rI = 0; rI<MAX_RATEPROFILES; rI++) {
 513                 resetControlRateConfig(&masterConfig.profile[0].controlRateProfile[rI]);
 514         }
 515     resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
 516
 517     masterConfig.mag_declination = 0;
 518     masterConfig.acc_lpf_hz = 10.0f;
 519     masterConfig.accDeadband.xy = 40;
 520     masterConfig.accDeadband.z = 40;
 521     masterConfig.acc_unarmedcal = 1;
 522
 523     resetBarometerConfig(&masterConfig.barometerConfig);
 524
 525     // Radio
 526     parseRcChannels("AETR1234", &masterConfig.rxConfig);
 527
 528     resetRcControlsConfig(&masterConfig.rcControlsConfig);
 529
 530     masterConfig.throttle_correction_value = 0;      // could 10 with althold or 40 for fpv
 531     masterConfig.throttle_correction_angle = 800;    // could be 80.0 deg with atlhold or 45.0 for fpv
 532
 533     // Failsafe Variables
 534     masterConfig.failsafeConfig.failsafe_delay = 10;              // 1sec
 535     masterConfig.failsafeConfig.failsafe_off_delay = 10;          // 1sec
 536     masterConfig.failsafeConfig.failsafe_throttle = 1000;         // default throttle off.
 537     masterConfig.failsafeConfig.failsafe_kill_switch = 0;         // default failsafe switch action is identical to rc link loss
 538     masterConfig.failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
 539     masterConfig.failsafeConfig.failsafe_procedure = 0;           // default full failsafe procedure is 0: auto-landing
 540
 541 #ifdef USE_SERVOS
 542     // servos
 543     for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
 544         masterConfig.servoConf[i].min = DEFAULT_SERVO_MIN;
 545         masterConfig.servoConf[i].max = DEFAULT_SERVO_MAX;
 546         masterConfig.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
 547         masterConfig.servoConf[i].rate = 100;
 548         masterConfig.servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
 549         masterConfig.servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
 550         masterConfig.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
 551     }
 552
 553     // gimbal
 554     masterConfig.gimbalConfig.mode = GIMBAL_MODE_NORMAL;
 555 #endif
 556
 557 #ifdef GPS
 558     resetGpsProfile(&masterConfig.gpsProfile);
 559 #endif
 560
 561     // custom mixer. clear by defaults.
 562     for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
 563         masterConfig.customMotorMixer[i].throttle = 0.0f;
 564
 565 #ifdef LED_STRIP
 566     applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT);
 567     applyDefaultLedStripConfig(masterConfig.ledConfigs);
 568     masterConfig.ledstrip_visual_beeper = 0;
 569 #endif
 570
 571 #ifdef SPRACINGF3
 572     featureSet(FEATURE_BLACKBOX);
 573     masterConfig.blackbox_device = 1;
 574 #ifdef TRANSPONDER
 575     static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware
 576
 577     memcpy(masterConfig.transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
 578 #endif
 579
 580 #if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
 581     featureSet(FEATURE_BLACKBOX);
 582     masterConfig.blackbox_device = BLACKBOX_DEVICE_FLASH;
 583 #elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
 584     featureSet(FEATURE_BLACKBOX);
 585     masterConfig.blackbox_device = BLACKBOX_DEVICE_SDCARD;
 586 #else
 587     masterConfig.blackbox_device = 0;
 588 #endif
 589
 590     masterConfig.blackbox_rate_num = 1;
 591     masterConfig.blackbox_rate_denom = 1;
 592 #endif
 593
 594     // alternative defaults settings for COLIBRI RACE targets
 595 #if defined(COLIBRI_RACE)
 596     masterConfig.escAndServoConfig.minthrottle = 1025;
 597     masterConfig.escAndServoConfig.maxthrottle = 1980;
 598     masterConfig.batteryConfig.vbatmaxcellvoltage = 45;
 599     masterConfig.batteryConfig.vbatmincellvoltage = 30;
 600
 601     featureSet(FEATURE_VBAT);
 602     featureSet(FEATURE_FAILSAFE);
 603 #endif
 604
 605 #ifdef SPRACINGF3EVO
 606     featureSet(FEATURE_TRANSPONDER);
 607     featureSet(FEATURE_RSSI_ADC);
 608     featureSet(FEATURE_CURRENT_METER);
 609     featureSet(FEATURE_TELEMETRY);
 610 #endif
 611
 612     // alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
 613 #ifdef ALIENFLIGHT
 614     featureSet(FEATURE_RX_SERIAL);
 615     featureSet(FEATURE_MOTOR_STOP);
 616     featureClear(FEATURE_ONESHOT125);
 617 #ifdef ALIENFLIGHTF3
 618     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 619     masterConfig.batteryConfig.vbatscale = 20;
 620     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
 621 #else
 622     masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
 623 #endif
 624     masterConfig.rxConfig.serialrx_provider = 1;
 625     masterConfig.rxConfig.spektrum_sat_bind = 5;
 626         masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
 627     masterConfig.escAndServoConfig.minthrottle = 1000;
 628     masterConfig.escAndServoConfig.maxthrottle = 2000;
 629     masterConfig.motor_pwm_rate = 32000;
 630     currentProfile->pidProfile.pidController = 2;
 631     masterConfig.failsafeConfig.failsafe_delay = 2;
 632     masterConfig.failsafeConfig.failsafe_off_delay = 0;
 633     masterConfig.mixerConfig.yaw_jump_prevention_limit = 500;
 634     currentControlRateProfile->rcRate8 = 100;
 635     currentControlRateProfile->rates[FD_PITCH] = 20;
 636     currentControlRateProfile->rates[FD_ROLL] = 20;
 637     currentControlRateProfile->rates[FD_YAW] = 20;
 638     parseRcChannels("TAER1234", &masterConfig.rxConfig);
 639
 640     //  { 1.0f, -0.414178f,  1.0f, -1.0f },          // REAR_R
 641     masterConfig.customMotorMixer[0].throttle = 1.0f;
 642     masterConfig.customMotorMixer[0].roll = -0.414178f;
 643     masterConfig.customMotorMixer[0].pitch = 1.0f;
 644     masterConfig.customMotorMixer[0].yaw = -1.0f;
 645
 646     //  { 1.0f, -0.414178f, -1.0f,  1.0f },          // FRONT_R
 647     masterConfig.customMotorMixer[1].throttle = 1.0f;
 648     masterConfig.customMotorMixer[1].roll = -0.414178f;
 649     masterConfig.customMotorMixer[1].pitch = -1.0f;
 650     masterConfig.customMotorMixer[1].yaw = 1.0f;
 651
 652     //  { 1.0f,  0.414178f,  1.0f,  1.0f },          // REAR_L
 653     masterConfig.customMotorMixer[2].throttle = 1.0f;
 654     masterConfig.customMotorMixer[2].roll = 0.414178f;
 655     masterConfig.customMotorMixer[2].pitch = 1.0f;
 656     masterConfig.customMotorMixer[2].yaw = 1.0f;
 657
 658     //  { 1.0f,  0.414178f, -1.0f, -1.0f },          // FRONT_L
 659     masterConfig.customMotorMixer[3].throttle = 1.0f;
 660     masterConfig.customMotorMixer[3].roll = 0.414178f;
 661     masterConfig.customMotorMixer[3].pitch = -1.0f;
 662     masterConfig.customMotorMixer[3].yaw = -1.0f;
 663
 664     //  { 1.0f, -1.0f, -0.414178f, -1.0f },          // MIDFRONT_R
 665     masterConfig.customMotorMixer[4].throttle = 1.0f;
 666     masterConfig.customMotorMixer[4].roll = -1.0f;
 667     masterConfig.customMotorMixer[4].pitch = -0.414178f;
 668     masterConfig.customMotorMixer[4].yaw = -1.0f;
 669
 670     //  { 1.0f,  1.0f, -0.414178f,  1.0f },          // MIDFRONT_L
 671     masterConfig.customMotorMixer[5].throttle = 1.0f;
 672     masterConfig.customMotorMixer[5].roll = 1.0f;
 673     masterConfig.customMotorMixer[5].pitch = -0.414178f;
 674     masterConfig.customMotorMixer[5].yaw = 1.0f;
 675
 676     //  { 1.0f, -1.0f,  0.414178f,  1.0f },          // MIDREAR_R
 677     masterConfig.customMotorMixer[6].throttle = 1.0f;
 678     masterConfig.customMotorMixer[6].roll = -1.0f;
 679     masterConfig.customMotorMixer[6].pitch = 0.414178f;
 680     masterConfig.customMotorMixer[6].yaw = 1.0f;
 681
 682     //  { 1.0f,  1.0f,  0.414178f, -1.0f },          // MIDREAR_L
 683     masterConfig.customMotorMixer[7].throttle = 1.0f;
 684     masterConfig.customMotorMixer[7].roll = 1.0f;
 685     masterConfig.customMotorMixer[7].pitch = 0.414178f;
 686     masterConfig.customMotorMixer[7].yaw = -1.0f;
 687 #endif
 688
 689     // copy first profile into remaining profile
 690     for (i = 1; i < MAX_PROFILE_COUNT; i++) {
 691         memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
 692     }
 693
 694 }
 695
 696 static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
 697 {
 698     uint8_t checksum = 0;
 699     const uint8_t *byteOffset;
 700
 701     for (byteOffset = data; byteOffset < (data + length); byteOffset++)
 702         checksum ^= *byteOffset;
 703     return checksum;
 704 }
 705
 706 static bool isEEPROMContentValid(void)
 707 {
 708     const master_t *temp = (const master_t *) CONFIG_START_FLASH_ADDRESS;
 709     uint8_t checksum = 0;
 710
 711     // check version number
 712     if (EEPROM_CONF_VERSION != temp->version)
 713         return false;
 714
 715     // check size and magic numbers
 716     if (temp->size != sizeof(master_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF)
 717         return false;
 718
 719     // verify integrity of temporary copy
 720     checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t));
 721     if (checksum != 0)
 722         return false;
 723
 724     // looks good, let's roll!
 725     return true;
 726 }
 727
 728 void activateControlRateConfig(void)
 729 {
 730     generatePitchRollCurve(currentControlRateProfile);
 731     generateYawCurve(currentControlRateProfile);
 732     generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig);
 733 }
 734
 735 void activateConfig(void)
 736 {
 737     static imuRuntimeConfig_t imuRuntimeConfig;
 738
 739     activateControlRateConfig();
 740
 741     resetAdjustmentStates();
 742
 743     useRcControlsConfig(
 744         masterConfig.modeActivationConditions,
 745         &masterConfig.escAndServoConfig,
 746         &currentProfile->pidProfile
 747     );
 748
 749     useGyroConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
 750
 751 #ifdef TELEMETRY
 752     telemetryUseConfig(&masterConfig.telemetryConfig);
 753 #endif
 754     pidSetController(currentProfile->pidProfile.pidController);
 755
 756 #ifdef GPS
 757     gpsUseProfile(&masterConfig.gpsProfile);
 758     gpsUsePIDs(&currentProfile->pidProfile);
 759 #endif
 760
 761     useFailsafeConfig(&masterConfig.failsafeConfig);
 762     setAccelerationTrims(&masterConfig.accZero);
 763     setAccelerationFilter(masterConfig.acc_lpf_hz);
 764
 765     mixerUseConfigs(
 766 #ifdef USE_SERVOS
 767         masterConfig.servoConf,
 768         &masterConfig.gimbalConfig,
 769 #endif
 770         &masterConfig.flight3DConfig,
 771         &masterConfig.escAndServoConfig,
 772         &masterConfig.mixerConfig,
 773         &masterConfig.airplaneConfig,
 774         &masterConfig.rxConfig
 775     );
 776
 777     imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
 778     imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
 779     imuRuntimeConfig.acc_unarmedcal = masterConfig.acc_unarmedcal;
 780     imuRuntimeConfig.small_angle = masterConfig.small_angle;
 781
 782     imuConfigure(
 783         &imuRuntimeConfig,
 784         &currentProfile->pidProfile,
 785         &masterConfig.accDeadband,
 786         masterConfig.throttle_correction_angle
 787     );
 788
 789     configureAltitudeHold(
 790         &currentProfile->pidProfile,
 791         &masterConfig.barometerConfig,
 792         &masterConfig.rcControlsConfig,
 793         &masterConfig.escAndServoConfig
 794     );
 795
 796 #ifdef BARO
 797     useBarometerConfig(&masterConfig.barometerConfig);
 798 #endif
 799 }
 800
 801 void validateAndFixConfig(void)
 802 {
 803     if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) {
 804         featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
 805     }
 806
 807     if (featureConfigured(FEATURE_RX_PPM)) {
 808         featureClear(FEATURE_RX_PARALLEL_PWM);
 809     }
 810
 811     if (featureConfigured(FEATURE_RX_MSP)) {
 812         featureClear(FEATURE_RX_SERIAL);
 813         featureClear(FEATURE_RX_PARALLEL_PWM);
 814         featureClear(FEATURE_RX_PPM);
 815     }
 816
 817     if (featureConfigured(FEATURE_RX_SERIAL)) {
 818         featureClear(FEATURE_RX_PARALLEL_PWM);
 819         featureClear(FEATURE_RX_PPM);
 820     }
 821
 822     if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
 823 #if defined(STM32F10X)
 824         // rssi adc needs the same ports
 825         featureClear(FEATURE_RSSI_ADC);
 826         // current meter needs the same ports
 827         if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 828             featureClear(FEATURE_CURRENT_METER);
 829         }
 830 #endif
 831
 832 #if defined(STM32F10X) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY)
 833         // led strip needs the same ports
 834         featureClear(FEATURE_LED_STRIP);
 835 #endif
 836
 837         // software serial needs free PWM ports
 838         featureClear(FEATURE_SOFTSERIAL);
 839     }
 840
 841
 842 #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2))
 843     if (featureConfigured(FEATURE_SOFTSERIAL) && (
 844             0
 845 #ifdef USE_SOFTSERIAL1
 846             || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER)
 847 #endif
 848 #ifdef USE_SOFTSERIAL2
 849             || (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER)
 850 #endif
 851     )) {
 852         // led strip needs the same timer as softserial
 853         featureClear(FEATURE_LED_STRIP);
 854     }
 855 #endif
 856
 857 #if defined(NAZE) && defined(SONAR)
 858     if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 859         featureClear(FEATURE_CURRENT_METER);
 860     }
 861 #endif
 862
 863 #if defined(OLIMEXINO) && defined(SONAR)
 864     if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 865         featureClear(FEATURE_CURRENT_METER);
 866     }
 867 #endif
 868
 869 #if defined(CC3D) && defined(DISPLAY) && defined(USE_USART3)
 870     if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DISPLAY)) {
 871         featureClear(FEATURE_DISPLAY);
 872     }
 873 #endif
 874
 875 #ifdef STM32F303xC
 876     // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's
 877     masterConfig.telemetryConfig.telemetry_inversion = 1;
 878 #endif
 879
 880
 881 /*#if defined(LED_STRIP) && defined(TRANSPONDER) // TODO - Add transponder feature
 882     if ((WS2811_DMA_TC_FLAG == TRANSPONDER_DMA_TC_FLAG) && featureConfigured(FEATURE_TRANSPONDER) && featureConfigured(FEATURE_LED_STRIP)) {
 883         featureClear(FEATURE_LED_STRIP);
 884     }
 885 #endif
 886 */
 887
 888 #if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1) && defined(RSSI_ADC_GPIO)
 889     // shared pin
 890     if ((featureConfigured(FEATURE_SONAR) + featureConfigured(FEATURE_SOFTSERIAL) + featureConfigured(FEATURE_RSSI_ADC)) > 1) {
 891         featureClear(FEATURE_SONAR);
 892         featureClear(FEATURE_SOFTSERIAL);
 893         featureClear(FEATURE_RSSI_ADC);
 894     }
 895 #endif
 896
 897 #if defined(COLIBRI_RACE)
 898     masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP;
 899     if(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
 900             featureClear(FEATURE_RX_PARALLEL_PWM);
 901             featureClear(FEATURE_RX_MSP);
 902             featureSet(FEATURE_RX_PPM);
 903     }
 904     if(featureConfigured(FEATURE_RX_SERIAL)) {
 905             masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 906             //masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
 907     }
 908 #endif
 909
 910     useRxConfig(&masterConfig.rxConfig);
 911
 912     serialConfig_t *serialConfig = &masterConfig.serialConfig;
 913
 914     if (!isSerialConfigValid(serialConfig)) {
 915         resetSerialConfig(serialConfig);
 916     }
 917 }
 918
 919 void initEEPROM(void)
 920 {
 921 }
 922
 923 void readEEPROM(void)
 924 {
 925     // Sanity check
 926     if (!isEEPROMContentValid())
 927         failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
 928
 929     suspendRxSignal();
 930
 931     // Read flash
 932     memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t));
 933
 934     if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check
 935         masterConfig.current_profile_index = 0;
 936
 937     setProfile(masterConfig.current_profile_index);
 938
 939     validateAndFixConfig();
 940     activateConfig();
 941
 942     resumeRxSignal();
 943 }
 944
 945 void readEEPROMAndNotify(void)
 946 {
 947     // re-read written data
 948     readEEPROM();
 949     beeperConfirmationBeeps(1);
 950 }
 951
 952 void writeEEPROM(void)
 953 {
 954     // Generate compile time error if the config does not fit in the reserved area of flash.
 955     BUILD_BUG_ON(sizeof(master_t) > FLASH_TO_RESERVE_FOR_CONFIG);
 956
 957     FLASH_Status status = 0;
 958     uint32_t wordOffset;
 959     int8_t attemptsRemaining = 3;
 960
 961     suspendRxSignal();
 962
 963     // prepare checksum/version constants
 964     masterConfig.version = EEPROM_CONF_VERSION;
 965     masterConfig.size = sizeof(master_t);
 966     masterConfig.magic_be = 0xBE;
 967     masterConfig.magic_ef = 0xEF;
 968     masterConfig.chk = 0; // erase checksum before recalculating
 969     masterConfig.chk = calculateChecksum((const uint8_t *) &masterConfig, sizeof(master_t));
 970
 971     // write it
 972     FLASH_Unlock();
 973     while (attemptsRemaining--) {
 974 #ifdef STM32F303
 975         FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
 976 #endif
 977 #ifdef STM32F10X
 978         FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
 979 #endif
 980         for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
 981             if (wordOffset % FLASH_PAGE_SIZE == 0) {
 982                 status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
 983                 if (status != FLASH_COMPLETE) {
 984                     break;
 985                 }
 986             }
 987
 988             status = FLASH_ProgramWord(CONFIG_START_FLASH_ADDRESS + wordOffset,
 989                     *(uint32_t *) ((char *) &masterConfig + wordOffset));
 990             if (status != FLASH_COMPLETE) {
 991                 break;
 992             }
 993         }
 994         if (status == FLASH_COMPLETE) {
 995             break;
 996         }
 997     }
 998     FLASH_Lock();
 999
1000     // Flash write failed - just die now
1001     if (status != FLASH_COMPLETE || !isEEPROMContentValid()) {
1002         failureMode(FAILURE_FLASH_WRITE_FAILED);
1003     }
1004
1005     resumeRxSignal();
1006 }
1007
1008 void ensureEEPROMContainsValidData(void)
1009 {
1010     if (isEEPROMContentValid()) {
1011         return;
1012     }
1013
1014     resetEEPROM();
1015 }
1016
1017 void resetEEPROM(void)
1018 {
1019     resetConf();
1020     writeEEPROM();
1021 }
1022
1023 void saveConfigAndNotify(void)
1024 {
1025     writeEEPROM();
1026     readEEPROMAndNotify();
1027 }
1028
1029 void changeProfile(uint8_t profileIndex)
1030 {
1031     masterConfig.current_profile_index = profileIndex;
1032     writeEEPROM();
1033     readEEPROM();
1034     beeperConfirmationBeeps(profileIndex + 1);
1035 }
1036
1037 void changeControlRateProfile(uint8_t profileIndex) {
1038         if (profileIndex > MAX_RATEPROFILES) {
1039                 profileIndex = MAX_RATEPROFILES - 1;
1040         }
1041         setControlRateProfile(profileIndex);
1042         activateControlRateConfig();
1043 }
1044
1045 void handleOneshotFeatureChangeOnRestart(void)
1046 {
1047     // Shutdown PWM on all motors prior to soft restart
1048     StopPwmAllMotors();
1049     delay(50);
1050     // Apply additional delay when OneShot125 feature changed from on to off state
1051     if (feature(FEATURE_ONESHOT125) && !featureConfigured(FEATURE_ONESHOT125)) {
1052         delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
1053     }
1054 }
1055
1056 void latchActiveFeatures()
1057 {
1058     activeFeaturesLatch = masterConfig.enabledFeatures;
1059 }
1060
1061 bool featureConfigured(uint32_t mask)
1062 {
1063     return masterConfig.enabledFeatures & mask;
1064 }
1065
1066 bool feature(uint32_t mask)
1067 {
1068     return activeFeaturesLatch & mask;
1069 }
1070
1071 void featureSet(uint32_t mask)
1072 {
1073     masterConfig.enabledFeatures |= mask;
1074 }
1075
1076 void featureClear(uint32_t mask)
1077 {
1078     masterConfig.enabledFeatures &= ~(mask);
1079 }
1080
1081 void featureClearAll()
1082 {
1083     masterConfig.enabledFeatures = 0;
1084 }
1085
1086 uint32_t featureMask(void)
1087 {
1088     return masterConfig.enabledFeatures;
1089 }
1090
1091 void beeperOffSet(uint32_t mask)
1092 {
1093     masterConfig.beeper_off_flags |= mask;
1094 }
1095
1096 void beeperOffSetAll(uint8_t beeperCount)
1097 {
1098     masterConfig.beeper_off_flags = (1 << beeperCount) -1;
1099 }
1100
1101 void beeperOffClear(uint32_t mask)
1102 {
1103     masterConfig.beeper_off_flags &= ~(mask);
1104 }
1105
1106 void beeperOffClearAll(void)
1107 {
1108     masterConfig.beeper_off_flags = 0;
1109 }
1110
1111 uint32_t getBeeperOffMask(void)
1112 {
1113     return masterConfig.beeper_off_flags;
1114 }
1115
1116 void setBeeperOffMask(uint32_t mask)
1117 {
1118     masterConfig.beeper_off_flags = mask;
1119 }
1120
1121 uint32_t getPreferedBeeperOffMask(void)
1122 {
1123     return masterConfig.prefered_beeper_off_flags;
1124 }
1125
1126 void setPreferedBeeperOffMask(uint32_t mask)
1127 {
1128     masterConfig.prefered_beeper_off_flags = mask;
1129 }