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1612 | dongfang | 1 | #ifndef _CONFIGURATION_H |
2 | #define _CONFIGURATION_H |
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3 | |||
4 | #include <inttypes.h> |
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5 | #include <avr/io.h> |
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6 | |||
1960 | - | 7 | #define MAX_CHANNELS 10 |
8 | #define MAX_MOTORS 12 |
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9 | |||
2018 | - | 10 | // bitmask for VersionInfo_t.HardwareError[0] |
11 | #define FC_ERROR0_GYRO_PITCH 0x01 |
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12 | #define FC_ERROR0_GYRO_ROLL 0x02 |
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13 | #define FC_ERROR0_GYRO_YAW 0x04 |
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14 | #define FC_ERROR0_ACC_X 0x08 |
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15 | #define FC_ERROR0_ACC_Y 0x10 |
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16 | #define FC_ERROR0_ACC_Z 0x20 |
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17 | #define FC_ERROR0_PRESSURE 0x40 |
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18 | #define FC_ERROR1_RES0 0x80 |
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19 | // bitmask for VersionInfo_t.HardwareError[1] |
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20 | #define FC_ERROR1_I2C 0x01 |
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21 | #define FC_ERROR1_BL_MISSING 0x02 |
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22 | #define FC_ERROR1_SPI_RX 0x04 |
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23 | #define FC_ERROR1_PPM 0x08 |
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24 | #define FC_ERROR1_MIXER 0x10 |
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25 | #define FC_ERROR1_RES1 0x20 |
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26 | #define FC_ERROR1_RES2 0x40 |
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27 | #define FC_ERROR1_RES3 0x80 |
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28 | |||
1612 | dongfang | 29 | typedef struct { |
2018 | - | 30 | uint8_t SWMajor; |
31 | uint8_t SWMinor; |
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32 | uint8_t protoMajor; |
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33 | uint8_t protoMinor; |
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34 | uint8_t SWPatch; |
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35 | uint8_t hardwareErrors[5]; |
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36 | }__attribute__((packed)) VersionInfo_t; |
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37 | |||
38 | extern VersionInfo_t versionInfo; |
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39 | |||
40 | typedef struct { |
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1960 | - | 41 | // IMU |
42 | /*PMM*/uint8_t gyroP; |
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2032 | - | 43 | /* P */uint8_t gyroI; |
1960 | - | 44 | /* P */uint8_t gyroD; |
2052 | - | 45 | /* P */uint8_t compassControlHeading; |
1960 | - | 46 | |
47 | // Control |
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48 | /* P */uint8_t externalControl; |
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49 | /* P */uint8_t dynamicStability; |
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50 | |||
51 | // Height control |
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52 | /*PMM*/uint8_t heightP; |
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2032 | - | 53 | /* P */uint8_t heightI; |
1960 | - | 54 | /*PMM*/uint8_t heightD; |
55 | /* P */uint8_t heightSetting; |
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56 | |||
57 | uint8_t attitudeControl; |
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58 | |||
2039 | - | 59 | // Output and servo |
1960 | - | 60 | /*PMM*/uint8_t output0Timing; |
61 | /*PMM*/uint8_t output1Timing; |
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62 | |||
63 | uint8_t servoManualControl[2]; |
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2039 | - | 64 | |
65 | // Correction |
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2032 | - | 66 | uint8_t levelCorrection[2]; |
1960 | - | 67 | |
2039 | - | 68 | // Simple direct navigation |
2045 | - | 69 | uint8_t naviMode; |
2039 | - | 70 | |
2032 | - | 71 | /* P */uint8_t userParams[8]; |
2059 | - | 72 | } DynamicParams_t; |
1960 | - | 73 | |
2059 | - | 74 | extern volatile DynamicParams_t dynamicParams; |
1612 | dongfang | 75 | |
1775 | - | 76 | typedef struct { |
1864 | - | 77 | uint8_t sourceIdx, targetIdx; |
78 | uint8_t min, max; |
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1775 | - | 79 | } MMXLATION; |
1612 | dongfang | 80 | |
2059 | - | 81 | /* |
1775 | - | 82 | typedef struct { |
1864 | - | 83 | uint8_t sourceIdx, targetIdx; |
1775 | - | 84 | } XLATION; |
2059 | - | 85 | */ |
1775 | - | 86 | |
1960 | - | 87 | typedef struct { |
88 | uint8_t channels[MAX_CHANNELS]; |
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89 | } channelMap_t; |
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90 | extern channelMap_t channelMap; |
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91 | |||
92 | typedef struct { |
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2017 | - | 93 | char name[12]; |
1960 | - | 94 | int8_t motor[MAX_MOTORS][4]; |
95 | }__attribute__((packed)) mixerMatrix_t; |
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96 | extern mixerMatrix_t mixerMatrix; |
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97 | |||
98 | typedef struct { |
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1965 | - | 99 | int16_t offsets[3]; |
100 | } sensorOffset_t; |
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101 | |||
102 | typedef struct { |
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1960 | - | 103 | uint8_t manualControl; |
1980 | - | 104 | uint8_t stabilizationFactor; |
1960 | - | 105 | uint8_t minValue; |
106 | uint8_t maxValue; |
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107 | uint8_t flags; |
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108 | } servo_t; |
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109 | |||
1980 | - | 110 | #define SERVO_STABILIZATION_REVERSE 1 |
1977 | - | 111 | |
1960 | - | 112 | typedef struct { |
113 | uint8_t bitmask; |
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114 | uint8_t timing; |
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115 | } output_flash_t; |
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116 | |||
1612 | dongfang | 117 | // values above 250 representing poti1 to poti4 |
118 | typedef struct { |
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1960 | - | 119 | // Global bitflags |
120 | uint8_t bitConfig; // see upper defines for bitcoding |
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121 | |||
122 | // IMU |
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2015 | - | 123 | uint8_t gyroQuadrant; |
124 | uint8_t accQuadrant; |
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125 | uint8_t imuReversedFlags; |
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126 | |||
1960 | - | 127 | uint8_t gyroPIDFilterConstant; |
128 | uint8_t gyroATTFilterConstant; |
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129 | uint8_t gyroDFilterConstant; |
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130 | uint8_t accFilterConstant; |
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131 | |||
2018 | - | 132 | uint8_t zerothOrderCorrection; |
2059 | - | 133 | uint8_t zerothOrderCorrectionAccTolerance; |
134 | uint8_t zerothOrderCorrectionControlTolerance; |
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2062 | - | 135 | |
136 | uint8_t maxControlActivity; // old version for comparison. |
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137 | uint8_t maxAccVector; |
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138 | |||
1960 | - | 139 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
140 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
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141 | |||
2051 | - | 142 | // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
143 | // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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144 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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1960 | - | 145 | |
2032 | - | 146 | uint8_t levelCorrection[2]; |
147 | |||
148 | // Control |
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149 | uint8_t gyroP; |
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150 | uint8_t gyroI; |
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151 | uint8_t gyroD; |
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152 | |||
153 | uint8_t attitudeControl; |
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2051 | - | 154 | |
2032 | - | 155 | uint8_t stickP; |
156 | uint8_t stickD; |
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157 | uint8_t stickYawP; |
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158 | uint8_t stickThrottleD; |
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2051 | - | 159 | |
2032 | - | 160 | uint8_t minThrottle; |
161 | uint8_t maxThrottle; |
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2051 | - | 162 | |
2032 | - | 163 | uint8_t externalControl; // for serial Control |
164 | uint8_t motorSmoothing; |
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1960 | - | 165 | uint8_t dynamicStability; // PID limit for Attitude controller |
2051 | - | 166 | |
2018 | - | 167 | uint8_t IFactor; |
1960 | - | 168 | uint8_t yawIFactor; |
2051 | - | 169 | |
2052 | - | 170 | uint8_t compassMode; // bitflag thing. |
2051 | - | 171 | uint8_t compassYawCorrection; |
2052 | - | 172 | uint8_t compassBendingReturnSpeed; |
173 | uint8_t compassP; |
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2051 | - | 174 | |
2032 | - | 175 | uint8_t batteryVoltageWarning; |
176 | uint8_t emergencyThrottle; |
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177 | uint8_t emergencyFlightDuration; |
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1612 | dongfang | 178 | |
2032 | - | 179 | // Height Control |
2035 | - | 180 | uint8_t airpressureFilterConstant; |
181 | uint8_t airpressureWindowLength; // 0 means: Use filter. |
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2073 | - | 182 | uint8_t airpressureDWindowLength; // values 1..5 are legal. |
2032 | - | 183 | uint8_t airpressureAccZCorrection; |
2074 | - | 184 | |
2032 | - | 185 | uint8_t heightP; |
186 | uint8_t heightI; |
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187 | uint8_t heightD; |
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2074 | - | 188 | |
2032 | - | 189 | uint8_t heightSetting; |
2073 | - | 190 | uint8_t heightControlMaxIntegralIn; |
191 | uint8_t heightControlMaxIntegralOut; |
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2032 | - | 192 | uint8_t heightControlMaxThrottleChange; |
193 | |||
2074 | - | 194 | uint8_t heightControlTestOscPeriod; |
195 | uint8_t heightControlTestOscAmplitude; |
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196 | |||
1960 | - | 197 | // Servos |
1980 | - | 198 | uint8_t servoCount; |
199 | uint8_t servoManualMaxSpeed; |
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1960 | - | 200 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
1612 | dongfang | 201 | |
1960 | - | 202 | // Outputs |
203 | output_flash_t outputFlash[2]; |
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204 | uint8_t outputDebugMask; |
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1986 | - | 205 | uint8_t outputFlags; |
1612 | dongfang | 206 | |
2039 | - | 207 | // Shared for both modes of navigation |
2045 | - | 208 | uint8_t naviMode; |
2039 | - | 209 | uint8_t naviStickThreshold; |
2047 | - | 210 | uint8_t naviStickLimit; |
2039 | - | 211 | uint8_t GPSMininumSatellites; |
212 | uint8_t naviP; |
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213 | uint8_t naviI; |
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214 | uint8_t naviD; |
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215 | |||
2086 | - | 216 | uint8_t naviTestOscPeriod; |
217 | uint8_t naviTestOscAmplitude; |
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218 | |||
1960 | - | 219 | // User params |
2018 | - | 220 | uint8_t userParams[8]; |
1612 | dongfang | 221 | |
1960 | - | 222 | // Name |
2017 | - | 223 | char name[12]; |
2039 | - | 224 | } ParamSet_t; |
1960 | - | 225 | |
2039 | - | 226 | extern ParamSet_t staticParams; |
227 | |||
1612 | dongfang | 228 | // MKFlags |
229 | #define MKFLAG_MOTOR_RUN (1<<0) |
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2055 | - | 230 | //#define MKFLAG_FLY (1<<1) |
1612 | dongfang | 231 | #define MKFLAG_CALIBRATE (1<<2) |
232 | #define MKFLAG_START (1<<3) |
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1960 | - | 233 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
2035 | - | 234 | #define MKFLAG_LOWBAT (1<<5) |
1612 | dongfang | 235 | #define MKFLAG_RESERVE2 (1<<6) |
236 | #define MKFLAG_RESERVE3 (1<<7) |
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237 | |||
1960 | - | 238 | // bit mask for staticParams.bitConfig |
1980 | - | 239 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
1961 | - | 240 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
1980 | - | 241 | #define CFG_HEADING_HOLD (1<<2) |
2052 | - | 242 | #define CFG_COMPASS_ENABLED (1<<3) |
243 | #define CFG_UNUSED (1<<4) |
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2088 | - | 244 | #define CFG_NAVI_ENABLED (1<<5) |
2058 | - | 245 | #define CFG_AXIS_COUPLING_ENABLED (1<<6) |
1960 | - | 246 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
1612 | dongfang | 247 | |
2020 | - | 248 | #define IMU_REVERSE_GYRO_PR (1<<0) |
249 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
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250 | #define IMU_REVERSE_ACC_XY (1<<2) |
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251 | #define IMU_REVERSE_ACC_Z (1<<3) |
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252 | |||
1612 | dongfang | 253 | #define ATMEGA644 0 |
254 | #define ATMEGA644P 1 |
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255 | #define SYSCLK F_CPU |
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256 | |||
2033 | - | 257 | // Not really a part of configuration, but LEDs and HW s test are the same. |
1960 | - | 258 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
259 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
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1612 | dongfang | 260 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
1960 | - | 261 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
262 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
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1612 | dongfang | 263 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
264 | |||
265 | // Mixer table |
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266 | #define MIX_THROTTLE 0 |
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267 | #define MIX_PITCH 1 |
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268 | #define MIX_ROLL 2 |
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269 | #define MIX_YAW 3 |
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270 | |||
1961 | - | 271 | #define VARIABLE_COUNT 8 |
272 | |||
1612 | dongfang | 273 | extern volatile uint8_t MKFlags; |
1960 | - | 274 | extern uint8_t requiredMotors; |
1961 | - | 275 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
1960 | - | 276 | extern uint8_t boardRelease; |
1612 | dongfang | 277 | extern uint8_t CPUType; |
278 | |||
1963 | - | 279 | extern volatile uint8_t MKFlags; |
280 | extern uint16_t isFlying; |
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281 | |||
1960 | - | 282 | void channelMap_default(void); |
283 | void paramSet_default(uint8_t setnumber); |
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284 | void mixerMatrix_default(void); |
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285 | |||
2059 | - | 286 | void configuration_setNormalFlightParameters(void); |
287 | void configuration_setFailsafeFlightParameters(void); |
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1612 | dongfang | 288 | void configuration_applyVariablesToParams(void); |
2059 | - | 289 | |
2088 | - | 290 | void setCPUType(void); |
291 | void setBoardRelease(void); |
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1612 | dongfang | 292 | |
2059 | - | 293 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
294 | void configuration_paramSetDidChange(void); |
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1612 | dongfang | 295 | #endif // _CONFIGURATION_H |