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1612 dongfang 1
#ifndef _CONFIGURATION_H
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#define _CONFIGURATION_H
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#include <inttypes.h>
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#include <avr/io.h>
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1960 - 7
#define MAX_CHANNELS 10
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#define MAX_MOTORS 12
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2018 - 10
// bitmask for VersionInfo_t.HardwareError[0]
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#define FC_ERROR0_GYRO_PITCH    0x01
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#define FC_ERROR0_GYRO_ROLL     0x02
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#define FC_ERROR0_GYRO_YAW              0x04
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#define FC_ERROR0_ACC_X                 0x08
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#define FC_ERROR0_ACC_Y                 0x10
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#define FC_ERROR0_ACC_Z                 0x20
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#define FC_ERROR0_PRESSURE              0x40
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#define FC_ERROR1_RES0                  0x80
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// bitmask for VersionInfo_t.HardwareError[1]
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#define FC_ERROR1_I2C                   0x01
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#define FC_ERROR1_BL_MISSING    0x02
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#define FC_ERROR1_SPI_RX                0x04
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#define FC_ERROR1_PPM                   0x08
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#define FC_ERROR1_MIXER                 0x10
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#define FC_ERROR1_RES1                  0x20
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#define FC_ERROR1_RES2                  0x40
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#define FC_ERROR1_RES3                  0x80
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typedef struct {
2018 - 30
        uint8_t SWMajor;
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        uint8_t SWMinor;
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        uint8_t protoMajor;
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        uint8_t protoMinor;
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        uint8_t SWPatch;
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        uint8_t hardwareErrors[5];
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}__attribute__((packed)) VersionInfo_t;
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extern VersionInfo_t versionInfo;
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typedef struct {
1960 - 41
  // IMU
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  /*PMM*/uint8_t gyroP;
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  /* P */uint8_t gyroI;
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  /* P */uint8_t gyroD;
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  /* P */uint8_t compassControlHeading;
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  // Control
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  /* P */uint8_t externalControl;
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  /* P */uint8_t dynamicStability;
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  // Height control
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  /*PMM*/uint8_t heightP;
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  /* P */uint8_t heightI;
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  /*PMM*/uint8_t heightD;
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  /* P */uint8_t heightSetting;
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57
  uint8_t attitudeControl;
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2039 - 59
  // Output and servo
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  /*PMM*/uint8_t output0Timing;
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  /*PMM*/uint8_t output1Timing;
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63
  uint8_t servoManualControl[2];
2039 - 64
 
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  // Correction
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  uint8_t levelCorrection[2];
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2039 - 68
  // Simple direct navigation
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  uint8_t naviMode;
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2032 - 71
  /* P */uint8_t userParams[8];
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} DynamicParams_t;
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2059 - 74
extern volatile DynamicParams_t dynamicParams;
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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  uint8_t min, max;
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} MMXLATION;
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2059 - 81
/*
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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} XLATION;
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*/
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typedef struct {
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  uint8_t channels[MAX_CHANNELS];
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} channelMap_t;
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extern channelMap_t channelMap;
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typedef struct {
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  char name[12];
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  int8_t motor[MAX_MOTORS][4];
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}__attribute__((packed)) mixerMatrix_t;
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extern mixerMatrix_t mixerMatrix;
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typedef struct {
1965 - 99
  int16_t offsets[3];
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} sensorOffset_t;
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typedef struct {
1960 - 103
  uint8_t manualControl;
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  uint8_t stabilizationFactor;
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  uint8_t minValue;
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  uint8_t maxValue;
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  uint8_t flags;
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} servo_t;
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1980 - 110
#define SERVO_STABILIZATION_REVERSE 1
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1960 - 112
typedef struct {
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  uint8_t bitmask;
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  uint8_t timing;
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} output_flash_t;
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// values above 250 representing poti1 to poti4
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typedef struct {
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  // Global bitflags
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  uint8_t bitConfig;  // see upper defines for bitcoding
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122
  // IMU
2015 - 123
  uint8_t gyroQuadrant;
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  uint8_t accQuadrant;
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  uint8_t imuReversedFlags;
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1960 - 127
  uint8_t gyroPIDFilterConstant;
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  uint8_t gyroDFilterConstant;
129
  uint8_t accFilterConstant;
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2018 - 131
  uint8_t zerothOrderCorrection;
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  uint8_t rateTolerance;
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  uint8_t yawRateFactor;
2062 - 134
 
1960 - 135
  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
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  uint8_t driftCompLimit;   // limit for gyrodrift compensation
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2051 - 138
  // uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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  // uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  // uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
1960 - 141
 
2032 - 142
  uint8_t levelCorrection[2];
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144
  // Control
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  uint8_t gyroP;
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  uint8_t gyroI;
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  uint8_t gyroD;
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149
  uint8_t attitudeControl;
2051 - 150
 
2032 - 151
  uint8_t stickP;
152
  uint8_t stickD;
153
  uint8_t stickYawP;
154
  uint8_t stickThrottleD;
2051 - 155
 
2032 - 156
  uint8_t minThrottle;
157
  uint8_t maxThrottle;
2051 - 158
 
2032 - 159
  uint8_t externalControl; // for serial Control
160
  uint8_t motorSmoothing;
1960 - 161
  uint8_t dynamicStability; // PID limit for Attitude controller
2051 - 162
 
2018 - 163
  uint8_t IFactor;
1960 - 164
  uint8_t yawIFactor;
2051 - 165
 
2052 - 166
  uint8_t compassMode;      // bitflag thing.
2051 - 167
  uint8_t compassYawCorrection;
2052 - 168
  uint8_t compassBendingReturnSpeed;
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  uint8_t compassP;
2051 - 170
 
2032 - 171
  uint8_t batteryVoltageWarning;
172
  uint8_t emergencyThrottle;
173
  uint8_t emergencyFlightDuration;
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2032 - 175
  // Height Control
2035 - 176
  uint8_t airpressureFilterConstant;
177
  uint8_t airpressureWindowLength; // 0 means: Use filter.
2073 - 178
  uint8_t airpressureDWindowLength; // values 1..5 are legal.
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  uint8_t airpressureAccZCorrection;
2074 - 180
 
2032 - 181
  uint8_t heightP;
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  uint8_t heightI;
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  uint8_t heightD;
2074 - 184
 
2032 - 185
  uint8_t heightSetting;
2073 - 186
  uint8_t heightControlMaxIntegralIn;
187
  uint8_t heightControlMaxIntegralOut;
2032 - 188
  uint8_t heightControlMaxThrottleChange;
189
 
2074 - 190
  uint8_t heightControlTestOscPeriod;
191
  uint8_t heightControlTestOscAmplitude;
192
 
1960 - 193
  // Servos
1980 - 194
  uint8_t servoCount;
195
  uint8_t servoManualMaxSpeed;
1960 - 196
  servo_t servoConfigurations[2]; // [PITCH, ROLL]
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1960 - 198
  // Outputs
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  output_flash_t outputFlash[2];
200
  uint8_t outputDebugMask;
1986 - 201
  uint8_t outputFlags;
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2039 - 203
 // Shared for both modes of navigation
2045 - 204
  uint8_t naviMode;
2039 - 205
  uint8_t naviStickThreshold;
2047 - 206
  uint8_t naviStickLimit;
2039 - 207
  uint8_t GPSMininumSatellites;
208
  uint8_t naviP;
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  uint8_t naviI;
210
  uint8_t naviD;
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2086 - 212
  uint8_t naviTestOscPeriod;
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  uint8_t naviTestOscAmplitude;
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1960 - 215
  // User params
2018 - 216
  uint8_t userParams[8];
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1960 - 218
  // Name
2017 - 219
  char name[12];
2039 - 220
} ParamSet_t;
1960 - 221
 
2039 - 222
extern ParamSet_t staticParams;
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// MKFlags
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#define MKFLAG_MOTOR_RUN        (1<<0)
2055 - 226
//#define MKFLAG_FLY            (1<<1)
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#define MKFLAG_CALIBRATE        (1<<2)
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#define MKFLAG_START            (1<<3)
1960 - 229
#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
2035 - 230
#define MKFLAG_LOWBAT           (1<<5)
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#define MKFLAG_RESERVE2         (1<<6)
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#define MKFLAG_RESERVE3         (1<<7)
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1960 - 234
// bit mask for staticParams.bitConfig
1980 - 235
#define CFG_SIMPLE_HEIGHT_CONTROL               (1<<0)
1961 - 236
#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)
1980 - 237
#define CFG_HEADING_HOLD                        (1<<2)
2052 - 238
#define CFG_COMPASS_ENABLED             (1<<3)
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#define CFG_UNUSED                              (1<<4)
2088 - 240
#define CFG_NAVI_ENABLED                        (1<<5)
2058 - 241
#define CFG_AXIS_COUPLING_ENABLED       (1<<6)
1960 - 242
#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)
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2020 - 244
#define IMU_REVERSE_GYRO_PR                             (1<<0)
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#define IMU_REVERSE_GYRO_YAW                    (1<<1)
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#define IMU_REVERSE_ACC_XY                              (1<<2)
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#define IMU_REVERSE_ACC_Z                               (1<<3)
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1612 dongfang 249
#define ATMEGA644       0
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#define ATMEGA644P      1
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#define SYSCLK F_CPU
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2033 - 253
// Not really a part of configuration, but LEDs and HW s test are the same.
1960 - 254
#define RED_OFF   {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}
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#define RED_ON    {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}
1612 dongfang 256
#define RED_FLASH PORTB ^= (1<<PORTB0)
1960 - 257
#define GRN_OFF   {if(boardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}
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#define GRN_ON    {if(boardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
1612 dongfang 259
#define GRN_FLASH PORTB ^= (1<<PORTB1)
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261
// Mixer table
262
#define MIX_THROTTLE    0
263
#define MIX_PITCH       1
264
#define MIX_ROLL        2
265
#define MIX_YAW         3
266
 
1961 - 267
#define VARIABLE_COUNT 8
268
 
1612 dongfang 269
extern volatile uint8_t MKFlags;
1960 - 270
extern uint8_t requiredMotors;
1961 - 271
extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
1960 - 272
extern uint8_t boardRelease;
1612 dongfang 273
extern uint8_t CPUType;
274
 
1963 - 275
extern volatile uint8_t MKFlags;
276
extern uint16_t isFlying;
277
 
1960 - 278
void channelMap_default(void);
279
void paramSet_default(uint8_t setnumber);
280
void mixerMatrix_default(void);
281
 
2059 - 282
void configuration_setNormalFlightParameters(void);
283
void configuration_setFailsafeFlightParameters(void);
1612 dongfang 284
void configuration_applyVariablesToParams(void);
2059 - 285
 
2088 - 286
void setCPUType(void);
287
void setBoardRelease(void);
1612 dongfang 288
 
2059 - 289
// Called after a change in configuration parameters, as a hook for modules to take over changes.
290
void configuration_paramSetDidChange(void);
1612 dongfang 291
#endif // _CONFIGURATION_H