src/main/fc/config.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24 #include <math.h>
  25
  26 #include "platform.h"
  27
  28 #include "blackbox/blackbox.h"
  29
  30 #include "build/debug.h"
  31
  32 #include "config/config_eeprom.h"
  33 #include "config/feature.h"
  34
  35 #include "drivers/system.h"
  36
  37 #include "fc/config.h"
  38 #include "fc/controlrate_profile.h"
  39 #include "fc/core.h"
  40 #include "fc/rc.h"
  41 #include "fc/rc_adjustments.h"
  42 #include "fc/rc_controls.h"
  43
  44 #include "flight/failsafe.h"
  45 #include "flight/imu.h"
  46 #include "flight/mixer.h"
  47 #include "flight/pid.h"
  48 #include "flight/servos.h"
  49
  50 #include "io/beeper.h"
  51 #include "io/ledstrip.h"
  52 #include "io/serial.h"
  53 #include "io/gps.h"
  54
  55 #include "pg/beeper.h"
  56 #include "pg/beeper_dev.h"
  57 #include "pg/rx.h"
  58 #include "pg/pg.h"
  59 #include "pg/pg_ids.h"
  60
  61 #include "rx/rx.h"
  62
  63 #include "sensors/acceleration.h"
  64 #include "sensors/battery.h"
  65 #include "sensors/gyro.h"
  66
  67 #include "scheduler/scheduler.h"
  68
  69 pidProfile_t *currentPidProfile;
  70
  71 #ifndef RX_SPI_DEFAULT_PROTOCOL
  72 #define RX_SPI_DEFAULT_PROTOCOL 0
  73 #endif
  74
  75 #define DYNAMIC_FILTER_MAX_SUPPORTED_LOOP_TIME HZ_TO_INTERVAL_US(2000)
  76
  77 PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 1);
  78
  79 PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
  80     .name = { 0 },
  81     .displayName = { 0 },
  82 );
  83
  84 PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
  85
  86 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
  87     .pidProfileIndex = 0,
  88     .activeRateProfile = 0,
  89     .debug_mode = DEBUG_MODE,
  90     .task_statistics = true,
  91     .cpu_overclock = 0,
  92     .powerOnArmingGraceTime = 5,
  93     .boardIdentifier = TARGET_BOARD_IDENTIFIER,
  94     .hseMhz = SYSTEM_HSE_VALUE,  // Not used for non-F4 targets
  95     .configured = false,
  96     .schedulerOptimizeRate = false,
  97 );
  98
  99 uint8_t getCurrentPidProfileIndex(void)
 100 {
 101     return systemConfig()->pidProfileIndex;
 102 }
 103
 104 static void loadPidProfile(void)
 105 {
 106     currentPidProfile = pidProfilesMutable(systemConfig()->pidProfileIndex);
 107 }
 108
 109 uint8_t getCurrentControlRateProfileIndex(void)
 110 {
 111     return systemConfig()->activeRateProfile;
 112 }
 113
 114 uint16_t getCurrentMinthrottle(void)
 115 {
 116     return motorConfig()->minthrottle;
 117 }
 118
 119 void resetConfigs(void)
 120 {
 121     pgResetAll();
 122
 123 #if defined(USE_TARGET_CONFIG)
 124     targetConfiguration();
 125 #endif
 126 }
 127
 128 static void activateConfig(void)
 129 {
 130     schedulerOptimizeRate(systemConfig()->schedulerOptimizeRate);
 131     loadPidProfile();
 132     loadControlRateProfile();
 133
 134     initRcProcessing();
 135
 136     resetAdjustmentStates();
 137
 138     pidInit(currentPidProfile);
 139
 140     rcControlsInit();
 141
 142     failsafeReset();
 143     setAccelerationTrims(&accelerometerConfigMutable()->accZero);
 144     accInitFilters();
 145
 146     imuConfigure(throttleCorrectionConfig()->throttle_correction_angle, throttleCorrectionConfig()->throttle_correction_value);
 147
 148 #ifdef USE_LED_STRIP
 149     reevaluateLedConfig();
 150 #endif
 151 }
 152
 153 static void validateAndFixConfig(void)
 154 {
 155 #if !defined(USE_QUAD_MIXER_ONLY)
 156     // Reset unsupported mixer mode to default.
 157     // This check will be gone when motor/servo mixers are loaded dynamically
 158     // by configurator as a part of configuration procedure.
 159
 160     mixerMode_e mixerMode = mixerConfigMutable()->mixerMode;
 161
 162     if (!(mixerMode == MIXER_CUSTOM || mixerMode == MIXER_CUSTOM_AIRPLANE || mixerMode == MIXER_CUSTOM_TRI)) {
 163         if (mixers[mixerMode].motorCount && mixers[mixerMode].motor == NULL)
 164             mixerConfigMutable()->mixerMode = MIXER_CUSTOM;
 165 #ifdef USE_SERVOS
 166         if (mixers[mixerMode].useServo && servoMixers[mixerMode].servoRuleCount == 0)
 167             mixerConfigMutable()->mixerMode = MIXER_CUSTOM_AIRPLANE;
 168 #endif
 169     }
 170 #endif
 171
 172     if (!isSerialConfigValid(serialConfig())) {
 173         pgResetFn_serialConfig(serialConfigMutable());
 174     }
 175
 176 #if defined(USE_GPS)
 177     serialPortConfig_t *gpsSerial = findSerialPortConfig(FUNCTION_GPS);
 178     if (gpsConfig()->provider == GPS_MSP && gpsSerial) {
 179         serialRemovePort(gpsSerial->identifier);
 180     }
 181 #endif
 182     if (
 183 #if defined(USE_GPS)
 184         gpsConfig()->provider != GPS_MSP && !gpsSerial &&
 185 #endif
 186         true) {
 187         featureDisable(FEATURE_GPS);
 188     }
 189
 190     if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {
 191         systemConfigMutable()->activeRateProfile = 0;
 192     }
 193     loadControlRateProfile();
 194
 195     if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) {
 196         systemConfigMutable()->pidProfileIndex = 0;
 197     }
 198     loadPidProfile();
 199
 200     // Prevent invalid notch cutoff
 201     if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) {
 202         currentPidProfile->dterm_notch_hz = 0;
 203     }
 204
 205 #ifdef USE_DYN_LPF
 206     //PRevent invalid dynamic lowpass
 207     if (currentPidProfile->dyn_lpf_dterm_min_hz > currentPidProfile->dyn_lpf_dterm_max_hz) {
 208         currentPidProfile->dyn_lpf_dterm_min_hz = 0;
 209     }
 210 #endif
 211
 212     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
 213         featureDisable(FEATURE_3D);
 214
 215         if (motorConfig()->mincommand < 1000) {
 216             motorConfigMutable()->mincommand = 1000;
 217         }
 218     }
 219
 220     if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
 221         motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
 222     }
 223
 224     validateAndFixGyroConfig();
 225
 226     if (!(featureIsEnabled(FEATURE_RX_PARALLEL_PWM) || featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_SERIAL) || featureIsEnabled(FEATURE_RX_MSP) || featureIsEnabled(FEATURE_RX_SPI))) {
 227         featureEnable(DEFAULT_RX_FEATURE);
 228     }
 229
 230     if (featureIsEnabled(FEATURE_RX_PPM)) {
 231         featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
 232     }
 233
 234     if (featureIsEnabled(FEATURE_RX_MSP)) {
 235         featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
 236     }
 237
 238     if (featureIsEnabled(FEATURE_RX_SERIAL)) {
 239         featureDisable(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
 240     }
 241
 242 #ifdef USE_RX_SPI
 243     if (featureIsEnabled(FEATURE_RX_SPI)) {
 244         featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
 245     }
 246 #endif // USE_RX_SPI
 247
 248     if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
 249         featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
 250     }
 251
 252 #ifdef USE_SOFTSPI
 253     if (featureIsEnabled(FEATURE_SOFTSPI)) {
 254         featureDisable(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM | FEATURE_SOFTSERIAL);
 255         batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_NONE;
 256 #if defined(STM32F10X)
 257         featureDisable(FEATURE_LED_STRIP);
 258         // rssi adc needs the same ports
 259         featureDisable(FEATURE_RSSI_ADC);
 260         // current meter needs the same ports
 261         if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
 262             batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE;
 263         }
 264 #endif // STM32F10X
 265     }
 266 #endif // USE_SOFTSPI
 267
 268 #if defined(USE_ADC)
 269     if (featureIsEnabled(FEATURE_RSSI_ADC)) {
 270         rxConfigMutable()->rssi_channel = 0;
 271         rxConfigMutable()->rssi_src_frame_errors = false;
 272     } else
 273 #endif
 274     if (rxConfigMutable()->rssi_channel
 275 #if defined(USE_PWM) || defined(USE_PPM)
 276         || featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM)
 277 #endif
 278         ) {
 279         rxConfigMutable()->rssi_src_frame_errors = false;
 280     }
 281
 282     if (!rcSmoothingIsEnabled() || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T) {
 283         for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
 284             pidProfilesMutable(i)->pid[PID_ROLL].F = 0;
 285             pidProfilesMutable(i)->pid[PID_PITCH].F = 0;
 286         }
 287     }
 288
 289     if (!rcSmoothingIsEnabled() ||
 290         (rxConfig()->rcInterpolationChannels != INTERPOLATION_CHANNELS_RPY &&
 291          rxConfig()->rcInterpolationChannels != INTERPOLATION_CHANNELS_RPYT)) {
 292
 293         for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
 294             pidProfilesMutable(i)->pid[PID_YAW].F = 0;
 295         }
 296     }
 297
 298 #if defined(USE_THROTTLE_BOOST)
 299     if (!rcSmoothingIsEnabled() ||
 300         !(rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPYT
 301         || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T
 302         || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPT)) {
 303         for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
 304             pidProfilesMutable(i)->throttle_boost = 0;
 305         }
 306     }
 307 #endif
 308
 309     if (
 310         featureIsEnabled(FEATURE_3D) || !featureIsEnabled(FEATURE_GPS)
 311 #if !defined(USE_GPS) || !defined(USE_GPS_RESCUE)
 312         || true
 313 #endif
 314         ) {
 315         if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
 316             failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;
 317         }
 318
 319         if (isModeActivationConditionPresent(BOXGPSRESCUE)) {
 320             removeModeActivationCondition(BOXGPSRESCUE);
 321         }
 322     }
 323
 324 #if defined(USE_ESC_SENSOR)
 325     if (!findSerialPortConfig(FUNCTION_ESC_SENSOR)) {
 326         featureDisable(FEATURE_ESC_SENSOR);
 327     }
 328 #endif
 329
 330 // clear features that are not supported.
 331 // I have kept them all here in one place, some could be moved to sections of code above.
 332
 333 #ifndef USE_PPM
 334     featureDisable(FEATURE_RX_PPM);
 335 #endif
 336
 337 #ifndef USE_SERIAL_RX
 338     featureDisable(FEATURE_RX_SERIAL);
 339 #endif
 340
 341 #if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2)
 342     featureDisable(FEATURE_SOFTSERIAL);
 343 #endif
 344
 345 #ifndef USE_RANGEFINDER
 346     featureDisable(FEATURE_RANGEFINDER);
 347 #endif
 348
 349 #ifndef USE_TELEMETRY
 350     featureDisable(FEATURE_TELEMETRY);
 351 #endif
 352
 353 #ifndef USE_PWM
 354     featureDisable(FEATURE_RX_PARALLEL_PWM);
 355 #endif
 356
 357 #ifndef USE_RX_MSP
 358     featureDisable(FEATURE_RX_MSP);
 359 #endif
 360
 361 #ifndef USE_LED_STRIP
 362     featureDisable(FEATURE_LED_STRIP);
 363 #endif
 364
 365 #ifndef USE_DASHBOARD
 366     featureDisable(FEATURE_DASHBOARD);
 367 #endif
 368
 369 #ifndef USE_OSD
 370     featureDisable(FEATURE_OSD);
 371 #endif
 372
 373 #ifndef USE_SERVOS
 374     featureDisable(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING);
 375 #endif
 376
 377 #ifndef USE_TRANSPONDER
 378     featureDisable(FEATURE_TRANSPONDER);
 379 #endif
 380
 381 #ifndef USE_RX_SPI
 382     featureDisable(FEATURE_RX_SPI);
 383 #endif
 384
 385 #ifndef USE_SOFTSPI
 386     featureDisable(FEATURE_SOFTSPI);
 387 #endif
 388
 389 #ifndef USE_ESC_SENSOR
 390     featureDisable(FEATURE_ESC_SENSOR);
 391 #endif
 392
 393 #ifndef USE_GYRO_DATA_ANALYSE
 394     featureDisable(FEATURE_DYNAMIC_FILTER);
 395 #endif
 396
 397 #if !defined(USE_ADC)
 398     featureDisable(FEATURE_RSSI_ADC);
 399 #endif
 400
 401 #if defined(USE_BEEPER)
 402     if (beeperDevConfig()->frequency && !timerGetByTag(beeperDevConfig()->ioTag)) {
 403         beeperDevConfigMutable()->frequency = 0;
 404     }
 405
 406     if (beeperConfig()->beeper_off_flags & ~BEEPER_ALLOWED_MODES) {
 407         beeperConfigMutable()->beeper_off_flags = 0;
 408     }
 409
 410 #ifdef USE_DSHOT
 411     if (beeperConfig()->dshotBeaconOffFlags & ~DSHOT_BEACON_ALLOWED_MODES) {
 412         beeperConfigMutable()->dshotBeaconOffFlags = 0;
 413     }
 414
 415     if (beeperConfig()->dshotBeaconTone < DSHOT_CMD_BEACON1
 416         || beeperConfig()->dshotBeaconTone > DSHOT_CMD_BEACON5) {
 417         beeperConfigMutable()->dshotBeaconTone = DSHOT_CMD_BEACON1;
 418     }
 419 #endif
 420 #endif
 421
 422 #if defined(USE_DSHOT_TELEMETRY)
 423     if (motorConfig()->dev.useBurstDshot && motorConfig()->dev.useDshotTelemetry) {
 424         motorConfigMutable()->dev.useDshotTelemetry = false;
 425     }
 426 #endif
 427
 428 #if defined(TARGET_VALIDATECONFIG)
 429     targetValidateConfiguration();
 430 #endif
 431 }
 432
 433 void validateAndFixGyroConfig(void)
 434 {
 435 #ifdef USE_GYRO_DATA_ANALYSE
 436     // Disable dynamic filter if gyro loop is less than 2KHz
 437     if (gyro.targetLooptime > DYNAMIC_FILTER_MAX_SUPPORTED_LOOP_TIME) {
 438         featureDisable(FEATURE_DYNAMIC_FILTER);
 439     }
 440 #endif
 441
 442     // Prevent invalid notch cutoff
 443     if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
 444         gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
 445     }
 446     if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
 447         gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
 448     }
 449 #ifdef USE_DYN_LPF
 450     //Prevent invalid dynamic lowpass filter
 451     if (gyroConfig()->dyn_lpf_gyro_min_hz > gyroConfig()->dyn_lpf_gyro_max_hz) {
 452         gyroConfigMutable()->dyn_lpf_gyro_min_hz = 0;
 453     }
 454 #endif
 455
 456     if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
 457         pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
 458         gyroConfigMutable()->gyro_sync_denom = 1;
 459         gyroConfigMutable()->gyro_use_32khz = false;
 460     }
 461
 462     if (gyroConfig()->gyro_use_32khz) {
 463         // F1 and F3 can't handle high sample speed.
 464 #if defined(STM32F1)
 465         gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
 466 #elif defined(STM32F3)
 467         gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
 468 #endif
 469     } else {
 470 #if defined(STM32F1)
 471         gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 3);
 472 #endif
 473     }
 474
 475     float samplingTime;
 476     switch (gyroMpuDetectionResult()->sensor) {
 477     case ICM_20649_SPI:
 478         samplingTime = 1.0f / 9000.0f;
 479         break;
 480     case BMI_160_SPI:
 481         samplingTime = 0.0003125f;
 482         break;
 483     default:
 484         samplingTime = 0.000125f;
 485         break;
 486     }
 487     if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
 488         switch (gyroMpuDetectionResult()->sensor) {
 489         case ICM_20649_SPI:
 490             samplingTime = 1.0f / 1100.0f;
 491             break;
 492         default:
 493             samplingTime = 0.001f;
 494             break;
 495         }
 496     }
 497     if (gyroConfig()->gyro_use_32khz) {
 498         samplingTime = 0.00003125;
 499     }
 500
 501     // check for looptime restrictions based on motor protocol. Motor times have safety margin
 502     float motorUpdateRestriction;
 503     switch (motorConfig()->dev.motorPwmProtocol) {
 504     case PWM_TYPE_STANDARD:
 505             motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
 506             break;
 507     case PWM_TYPE_ONESHOT125:
 508             motorUpdateRestriction = 0.0005f;
 509             break;
 510     case PWM_TYPE_ONESHOT42:
 511             motorUpdateRestriction = 0.0001f;
 512             break;
 513 #ifdef USE_DSHOT
 514     case PWM_TYPE_DSHOT150:
 515             motorUpdateRestriction = 0.000250f;
 516             break;
 517     case PWM_TYPE_DSHOT300:
 518             motorUpdateRestriction = 0.0001f;
 519             break;
 520 #endif
 521     default:
 522         motorUpdateRestriction = 0.00003125f;
 523         break;
 524     }
 525
 526     if (motorConfig()->dev.useUnsyncedPwm) {
 527         // Prevent overriding the max rate of motors
 528         if ((motorConfig()->dev.motorPwmProtocol <= PWM_TYPE_BRUSHED) && (motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD)) {
 529             const uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
 530             motorConfigMutable()->dev.motorPwmRate = MIN(motorConfig()->dev.motorPwmRate, maxEscRate);
 531         }
 532     } else {
 533         const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom;
 534         if (pidLooptime < motorUpdateRestriction) {
 535             const uint8_t minPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
 536             pidConfigMutable()->pid_process_denom = MAX(pidConfigMutable()->pid_process_denom, minPidProcessDenom);
 537         }
 538     }
 539
 540 #ifdef USE_BLACKBOX
 541 #ifndef USE_FLASHFS
 542     if (blackboxConfig()->device == 1) {  // BLACKBOX_DEVICE_FLASH (but not defined)
 543         blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
 544     }
 545 #endif // USE_FLASHFS
 546
 547 #ifndef USE_SDCARD
 548     if (blackboxConfig()->device == 2) {  // BLACKBOX_DEVICE_SDCARD (but not defined)
 549         blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
 550     }
 551 #endif // USE_SDCARD
 552 #endif // USE_BLACKBOX
 553 }
 554
 555 bool readEEPROM(void)
 556 {
 557     suspendRxPwmPpmSignal();
 558
 559     // Sanity check, read flash
 560     bool success = loadEEPROM();
 561
 562     validateAndFixConfig();
 563
 564     activateConfig();
 565
 566     resumeRxPwmPpmSignal();
 567
 568     return success;
 569 }
 570
 571 static void ValidateAndWriteConfigToEEPROM(bool setConfigured)
 572 {
 573     validateAndFixConfig();
 574
 575     suspendRxPwmPpmSignal();
 576
 577 #ifdef USE_CONFIGURATION_STATE
 578     if (setConfigured) {
 579         systemConfigMutable()->configured = true;
 580     }
 581 #else
 582     UNUSED(setConfigured);
 583 #endif
 584
 585     writeConfigToEEPROM();
 586
 587     resumeRxPwmPpmSignal();
 588 }
 589
 590 void writeEEPROM(void)
 591 {
 592     ValidateAndWriteConfigToEEPROM(true);
 593 }
 594
 595 void writeEEPROMWithFeatures(uint32_t features)
 596 {
 597     featureDisableAll();
 598     featureEnable(features);
 599
 600     ValidateAndWriteConfigToEEPROM(true);
 601 }
 602
 603 void resetEEPROM(void)
 604 {
 605     resetConfigs();
 606
 607     ValidateAndWriteConfigToEEPROM(false);
 608
 609     activateConfig();
 610 }
 611
 612 void ensureEEPROMStructureIsValid(void)
 613 {
 614     if (isEEPROMStructureValid()) {
 615         return;
 616     }
 617     resetEEPROM();
 618 }
 619
 620 void saveConfigAndNotify(void)
 621 {
 622     ValidateAndWriteConfigToEEPROM(true);
 623     readEEPROM();
 624     beeperConfirmationBeeps(1);
 625 }
 626
 627 void changePidProfile(uint8_t pidProfileIndex)
 628 {
 629     if (pidProfileIndex < MAX_PROFILE_COUNT) {
 630         systemConfigMutable()->pidProfileIndex = pidProfileIndex;
 631         loadPidProfile();
 632
 633         pidInit(currentPidProfile);
 634     }
 635
 636     beeperConfirmationBeeps(pidProfileIndex + 1);
 637 }
 638
 639 bool isSystemConfigured(void)
 640 {
 641 #ifdef USE_CONFIGURATION_STATE
 642     return systemConfig()->configured;
 643 #else
 644     return true;
 645 #endif
 646 }