2 * This file is part of Cleanflight.
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.
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.
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/>.
21 typedef struct master_t
{
24 uint8_t magic_be
; // magic number, should be 0xBE
27 uint32_t enabledFeatures
;
28 uint8_t emf_avoidance
; // change pll settings to avoid noise in the uhf band
30 motorMixer_t customMotorMixer
[MAX_SUPPORTED_MOTORS
];
32 servoMixer_t customServoMixer
[MAX_SERVO_RULES
];
34 // motor/esc/servo related stuff
35 escAndServoConfig_t escAndServoConfig
;
36 flight3DConfig_t flight3DConfig
;
38 uint16_t motor_pwm_rate
; // The update rate of motor outputs (50-498Hz)
39 uint16_t servo_pwm_rate
; // The update rate of servo outputs (50-498Hz)
40 uint8_t use_fast_pwm
; // Use fast PWM implementation when oneshot enabled
42 // global sensor-related stuff
44 sensorAlignmentConfig_t sensorAlignmentConfig
;
45 boardAlignment_t boardAlignment
;
47 int8_t yaw_control_direction
; // change control direction of yaw (inverted, normal)
48 uint8_t acc_hardware
; // Which acc hardware to use on boards with more than one device
49 uint8_t acc_for_fast_looptime
; // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
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 dcm_kp
; // DCM filter proportional gain ( x 10000)
52 uint16_t dcm_ki
; // DCM filter integral gain ( x 10000)
54 gyroConfig_t gyroConfig
;
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
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
;
63 batteryConfig_t batteryConfig
;
66 inputFilteringMode_e inputFilteringMode
; // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
68 failsafeConfig_t failsafeConfig
;
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
75 // mixer-related configuration
76 mixerConfig_t mixerConfig
;
78 airplaneConfig_t airplaneConfig
;
81 gpsConfig_t gpsConfig
;
84 serialConfig_t serialConfig
;
86 telemetryConfig_t telemetryConfig
;
89 ledConfig_t ledConfigs
[MAX_LED_STRIP_LENGTH
];
90 hsvColor_t colors
[CONFIGURABLE_COLOR_COUNT
];
93 profile_t profile
[MAX_PROFILE_COUNT
];
94 uint8_t current_profile_index
;
95 controlRateConfig_t controlRateProfiles
[MAX_CONTROL_RATE_PROFILE_COUNT
];
98 uint8_t blackbox_rate_num
;
99 uint8_t blackbox_rate_denom
;
100 uint8_t blackbox_device
;
103 beeperOffConditions_t beeper_off
;
105 uint8_t magic_ef
; // magic number, should be 0xEF
106 uint8_t chk
; // XOR checksum
109 extern master_t masterConfig
;
110 extern profile_t
*currentProfile
;
111 extern controlRateConfig_t
*currentControlRateProfile
;