WebSVN - FlightCtrl - Diff - Rev 2015 and 2017 - /branches/dongfang_FC


#ifndef _CONFIGURATION_H
#define _CONFIGURATION_H
 
#include <inttypes.h>
#include <avr/io.h>
 
#define MAX_CHANNELS 10
#define MAX_MOTORS 12
 
typedef struct {
  // IMU
  /*PMM*/uint8_t gyroP;
  /* P */uint8_t gyroD;
  /* P */uint8_t gyroI;
  /* P */uint8_t IFactor;
  uint8_t yawIFactor;
  /* P */uint8_t compassYawEffect;
 
  // Control
  /* P */uint8_t externalControl;
 
  /* P */uint8_t axisCoupling1;
  /* P */uint8_t axisCoupling2;
  /* P */uint8_t axisCouplingYawCorrection;
  /* P */uint8_t dynamicStability;
  uint8_t maxAccVector;
 
  // Height control
  /*PMM*/uint8_t heightP;
  /*PMM*/uint8_t heightD;
  /* P */uint8_t heightSetting;
  /* P */uint8_t heightACCEffect;
 
  uint8_t attitudeControl;
 
  // The rest...
  /* P */uint8_t userParams[8];
  /*PMM*/uint8_t output0Timing;
  /*PMM*/uint8_t output1Timing;
 
  uint8_t servoManualControl[2];
 
  uint8_t motorSmoothing;
  uint8_t levelCorrection[2];
} dynamicParam_t;
 
extern volatile dynamicParam_t dynamicParams;
 
typedef struct {
  uint8_t sourceIdx, targetIdx;
  uint8_t min, max;
} MMXLATION;
 
typedef struct {
  uint8_t sourceIdx, targetIdx;
} XLATION;
 
typedef struct {
  uint8_t channels[MAX_CHANNELS];
} channelMap_t;
extern channelMap_t channelMap;
 
typedef struct {
  char name[12];
  int8_t motor[MAX_MOTORS][4];
}__attribute__((packed)) mixerMatrix_t;
extern mixerMatrix_t mixerMatrix;
 
typedef struct {
  int16_t offsets[3];
} sensorOffset_t;
 
typedef struct {
  uint8_t manualControl;
  uint8_t stabilizationFactor;
  uint8_t minValue;
  uint8_t maxValue;
  uint8_t flags;
} servo_t;
 
#define SERVO_STABILIZATION_REVERSE 1
 
typedef struct {
  uint8_t bitmask;
  uint8_t timing;
} output_flash_t;
 
// values above 250 representing poti1 to poti4
typedef struct {
  // Global bitflags
  uint8_t bitConfig;  // see upper defines for bitcoding
 
  // Height Control
  uint8_t heightP; // Value : 0-32
  uint8_t heightD; // Value : 0-250
  uint8_t heightSetting; // Value : 0-32
  uint8_t heightControlMaxThrottleChange; // Value : 0-100
  uint8_t heightSlewRate; // Value : 0-50
 
  // Attitude Control
  uint8_t attitudeControl;
 
  // Control
  uint8_t stickP; // Value : 1-6
  uint8_t stickD; // Value : 0-64
  uint8_t stickYawP; // Value : 1-20
  uint8_t stickThrottleD;
  uint8_t minThrottle; // Value : 0-32
  uint8_t maxThrottle; // Value : 33-250
  uint8_t externalControl; // for serial Control
  uint8_t maxAccVector;
  uint8_t maxControlActivity;
  uint8_t motorSmoothing;
 
  // IMU
 
  uint8_t gyroQuadrant;
  uint8_t accQuadrant;
  uint8_t imuReversedFlags;
 
  uint8_t gyroPIDFilterConstant;
  uint8_t gyroATTFilterConstant;
  uint8_t gyroDFilterConstant;
  uint8_t accFilterConstant;
 
  uint8_t gyroP; // Value : 10-250
  uint8_t gyroI; // Value : 0-250
  uint8_t gyroD; // Value : 0-250
 
  uint8_t zerothOrderCorrection; // Value : 1-64
  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
  uint8_t driftCompLimit;   // limit for gyrodrift compensation
 
  uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
  uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
  uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
 
  uint8_t dynamicStability; // PID limit for Attitude controller
  uint8_t IFactor; // Value : 0-250
  uint8_t yawIFactor;
  uint8_t compassYawEffect; // Value : 0-32
  uint8_t levelCorrection[2];
 
  // Servos
  uint8_t servoCount;
  uint8_t servoManualMaxSpeed;
  servo_t servoConfigurations[2]; // [PITCH, ROLL]
 
  // Battery warning and emergency flight
  uint8_t batteryVoltageWarning; // Value : 0-250
  uint8_t emergencyThrottle; // Value : 0-250
  uint8_t emergencyFlightDuration; // Value : 0-250 
 
  // Outputs
  output_flash_t outputFlash[2];
  uint8_t outputDebugMask;
  uint8_t outputFlags;
 
  // User params
  uint8_t userParams[8]; // Value : 0-250
 
  // Name
  char name[12];
} paramset_t;
extern paramset_t staticParams;
 
// MKFlags
#define MKFLAG_MOTOR_RUN        (1<<0)
#define MKFLAG_FLY              (1<<1)
#define MKFLAG_CALIBRATE        (1<<2)
#define MKFLAG_START            (1<<3)
#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
#define MKFLAG_RESERVE1         (1<<5)
#define MKFLAG_RESERVE2         (1<<6)
#define MKFLAG_RESERVE3         (1<<7)
 
// bit mask for staticParams.bitConfig
#define CFG_SIMPLE_HEIGHT_CONTROL               (1<<0)
#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)
#define CFG_HEADING_HOLD                        (1<<2)
#define CFG_COMPASS_ACTIVE                          (1<<3)
#define CFG_COMPASS_FIX                                 (1<<4)
#define CFG_GPS_ACTIVE                          (1<<5)
#define CFG_AXIS_COUPLING_ACTIVE        (1<<6)
#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)
 
#define ATMEGA644       0
#define ATMEGA644P      1
#define SYSCLK F_CPU
 
// Not really a part of configuration, but LEDs and HW version test are the same.
#define RED_OFF   {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}
#define RED_ON    {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}
#define RED_FLASH PORTB ^= (1<<PORTB0)
#define GRN_OFF   {if(boardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}
#define GRN_ON    {if(boardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
#define GRN_FLASH PORTB ^= (1<<PORTB1)
 
// Mixer table
#define MIX_THROTTLE    0
#define MIX_PITCH       1
#define MIX_ROLL        2
#define MIX_YAW         3
 
#define VARIABLE_COUNT 8
 
extern volatile uint8_t MKFlags;
extern uint8_t requiredMotors;
extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
extern uint8_t boardRelease;
extern uint8_t CPUType;
 
extern volatile uint8_t MKFlags;
extern uint16_t isFlying;
 
void channelMap_default(void);
void paramSet_default(uint8_t setnumber);
void mixerMatrix_default(void);
 
void configuration_applyVariablesToParams(void);
uint8_t getCPUType(void);
uint8_t getBoardRelease(void);
 
#endif // _CONFIGURATION_H
 

Rev 2015	Rev 2017
1	#ifndef _CONFIGURATION_H	1	#ifndef _CONFIGURATION_H
2	#define _CONFIGURATION_H	2	#define _CONFIGURATION_H
3		3
4	#include <inttypes.h>	4	#include <inttypes.h>
5	#include <avr/io.h>	5	#include <avr/io.h>
6		6
7	#define MAX_CHANNELS 10	7	#define MAX_CHANNELS 10
8	#define MAX_MOTORS 12	8	#define MAX_MOTORS 12
9		9
10	typedef struct {	10	typedef struct {
11	// IMU	11	// IMU
12	/PMM/uint8_t gyroP;	12	/PMM/uint8_t gyroP;
13	/* P */uint8_t gyroD;	13	/* P */uint8_t gyroD;
14	/* P */uint8_t gyroI;	14	/* P */uint8_t gyroI;
15	/* P */uint8_t IFactor;	15	/* P */uint8_t IFactor;
16	uint8_t yawIFactor;	16	uint8_t yawIFactor;
17	/* P */uint8_t compassYawEffect;	17	/* P */uint8_t compassYawEffect;
18		18
19	// Control	19	// Control
20	/* P */uint8_t externalControl;	20	/* P */uint8_t externalControl;
21		21
22	/* P */uint8_t axisCoupling1;	22	/* P */uint8_t axisCoupling1;
23	/* P */uint8_t axisCoupling2;	23	/* P */uint8_t axisCoupling2;
24	/* P */uint8_t axisCouplingYawCorrection;	24	/* P */uint8_t axisCouplingYawCorrection;
25	/* P */uint8_t dynamicStability;	25	/* P */uint8_t dynamicStability;
26	uint8_t maxAccVector;	26	uint8_t maxAccVector;
27		27
28	// Height control	28	// Height control
29	/PMM/uint8_t heightP;	29	/PMM/uint8_t heightP;
30	/PMM/uint8_t heightD;	30	/PMM/uint8_t heightD;
31	/* P */uint8_t heightSetting;	31	/* P */uint8_t heightSetting;
32	/* P */uint8_t heightACCEffect;	32	/* P */uint8_t heightACCEffect;
33		33
34	uint8_t attitudeControl;	34	uint8_t attitudeControl;
35		35
36	// The rest...	36	// The rest...
37	/* P */uint8_t userParams[8];	37	/* P */uint8_t userParams[8];
38	/PMM/uint8_t output0Timing;	38	/PMM/uint8_t output0Timing;
39	/PMM/uint8_t output1Timing;	39	/PMM/uint8_t output1Timing;
40		40
41	uint8_t servoManualControl[2];	41	uint8_t servoManualControl[2];
42		42
43	uint8_t motorSmoothing;	43	uint8_t motorSmoothing;
44	uint8_t levelCorrection[2];	44	uint8_t levelCorrection[2];
45	} dynamicParam_t;	45	} dynamicParam_t;
46		46
47	extern volatile dynamicParam_t dynamicParams;	47	extern volatile dynamicParam_t dynamicParams;
48		48
49	typedef struct {	49	typedef struct {
50	uint8_t sourceIdx, targetIdx;	50	uint8_t sourceIdx, targetIdx;
51	uint8_t min, max;	51	uint8_t min, max;
52	} MMXLATION;	52	} MMXLATION;
53		53
54	typedef struct {	54	typedef struct {
55	uint8_t sourceIdx, targetIdx;	55	uint8_t sourceIdx, targetIdx;
56	} XLATION;	56	} XLATION;
57		57
58	typedef struct {	58	typedef struct {
59	uint8_t channels[MAX_CHANNELS];	59	uint8_t channels[MAX_CHANNELS];
60	} channelMap_t;	60	} channelMap_t;
61	extern channelMap_t channelMap;	61	extern channelMap_t channelMap;
62		62
63	typedef struct {	63	typedef struct {
64	int8_t name[12];	64	char name[12];
65	int8_t motor[MAX_MOTORS][4];	65	int8_t motor[MAX_MOTORS][4];
66	}__attribute__((packed)) mixerMatrix_t;	66	}__attribute__((packed)) mixerMatrix_t;
67	extern mixerMatrix_t mixerMatrix;	67	extern mixerMatrix_t mixerMatrix;
68		68
69	typedef struct {	69	typedef struct {
70	int16_t offsets[3];	70	int16_t offsets[3];
71	} sensorOffset_t;	71	} sensorOffset_t;
72		72
73	typedef struct {	73	typedef struct {
74	uint8_t manualControl;	74	uint8_t manualControl;
75	uint8_t stabilizationFactor;	75	uint8_t stabilizationFactor;
76	uint8_t minValue;	76	uint8_t minValue;
77	uint8_t maxValue;	77	uint8_t maxValue;
78	uint8_t flags;	78	uint8_t flags;
79	} servo_t;	79	} servo_t;
80		80
81	#define SERVO_STABILIZATION_REVERSE 1	81	#define SERVO_STABILIZATION_REVERSE 1
82		82
83	typedef struct {	83	typedef struct {
84	uint8_t bitmask;	84	uint8_t bitmask;
85	uint8_t timing;	85	uint8_t timing;
86	} output_flash_t;	86	} output_flash_t;
87		87
88	// values above 250 representing poti1 to poti4	88	// values above 250 representing poti1 to poti4
89	typedef struct {	89	typedef struct {
90	// Global bitflags	90	// Global bitflags
91	uint8_t bitConfig; // see upper defines for bitcoding	91	uint8_t bitConfig; // see upper defines for bitcoding
92		92
93	// Height Control	93	// Height Control
94	uint8_t heightP; // Value : 0-32	94	uint8_t heightP; // Value : 0-32
95	uint8_t heightD; // Value : 0-250	95	uint8_t heightD; // Value : 0-250
96	uint8_t heightSetting; // Value : 0-32	96	uint8_t heightSetting; // Value : 0-32
97	uint8_t heightControlMaxThrottleChange; // Value : 0-100	97	uint8_t heightControlMaxThrottleChange; // Value : 0-100
98	uint8_t heightSlewRate; // Value : 0-50	98	uint8_t heightSlewRate; // Value : 0-50
99		99
100	// Attitude Control	100	// Attitude Control
101	uint8_t attitudeControl;	101	uint8_t attitudeControl;
102		102
103	// Control	103	// Control
104	uint8_t stickP; // Value : 1-6	104	uint8_t stickP; // Value : 1-6
105	uint8_t stickD; // Value : 0-64	105	uint8_t stickD; // Value : 0-64
106	uint8_t stickYawP; // Value : 1-20	106	uint8_t stickYawP; // Value : 1-20
107	uint8_t stickThrottleD;	107	uint8_t stickThrottleD;
108	uint8_t minThrottle; // Value : 0-32	108	uint8_t minThrottle; // Value : 0-32
109	uint8_t maxThrottle; // Value : 33-250	109	uint8_t maxThrottle; // Value : 33-250
110	uint8_t externalControl; // for serial Control	110	uint8_t externalControl; // for serial Control
111	uint8_t maxAccVector;	111	uint8_t maxAccVector;
112	uint8_t maxControlActivity;	112	uint8_t maxControlActivity;
113	uint8_t motorSmoothing;	113	uint8_t motorSmoothing;
114		114
115	// IMU	115	// IMU
116	// IMU stuff	-
117	uint8_t gyroQuadrant;	116	uint8_t gyroQuadrant;
118	uint8_t accQuadrant;	117	uint8_t accQuadrant;
119	uint8_t imuReversedFlags;	118	uint8_t imuReversedFlags;
120		119
121	uint8_t gyroPIDFilterConstant;	120	uint8_t gyroPIDFilterConstant;
122	uint8_t gyroATTFilterConstant;	121	uint8_t gyroATTFilterConstant;
123	uint8_t gyroDFilterConstant;	122	uint8_t gyroDFilterConstant;
124	uint8_t accFilterConstant;	123	uint8_t accFilterConstant;
125		124
126	uint8_t gyroP; // Value : 10-250	125	uint8_t gyroP; // Value : 10-250
127	uint8_t gyroI; // Value : 0-250	126	uint8_t gyroI; // Value : 0-250
128	uint8_t gyroD; // Value : 0-250	127	uint8_t gyroD; // Value : 0-250
129		128
130	uint8_t zerothOrderCorrection; // Value : 1-64	129	uint8_t zerothOrderCorrection; // Value : 1-64
131	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	130	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
132	uint8_t driftCompLimit; // limit for gyrodrift compensation	131	uint8_t driftCompLimit; // limit for gyrodrift compensation
133		132
134	uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	133	uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
135	uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	134	uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
136	uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	135	uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
137		136
138	uint8_t dynamicStability; // PID limit for Attitude controller	137	uint8_t dynamicStability; // PID limit for Attitude controller
139	uint8_t IFactor; // Value : 0-250	138	uint8_t IFactor; // Value : 0-250
140	uint8_t yawIFactor;	139	uint8_t yawIFactor;
141	uint8_t compassYawEffect; // Value : 0-32	140	uint8_t compassYawEffect; // Value : 0-32
142	uint8_t levelCorrection[2];	141	uint8_t levelCorrection[2];
143		142
144	// Servos	143	// Servos
145	uint8_t servoCount;	144	uint8_t servoCount;
146	uint8_t servoManualMaxSpeed;	145	uint8_t servoManualMaxSpeed;
147	servo_t servoConfigurations[2]; // [PITCH, ROLL]	146	servo_t servoConfigurations[2]; // [PITCH, ROLL]
148		147
149	// Battery warning and emergency flight	148	// Battery warning and emergency flight
150	uint8_t batteryVoltageWarning; // Value : 0-250	149	uint8_t batteryVoltageWarning; // Value : 0-250
151	uint8_t emergencyThrottle; // Value : 0-250	150	uint8_t emergencyThrottle; // Value : 0-250
152	uint8_t emergencyFlightDuration; // Value : 0-250	151	uint8_t emergencyFlightDuration; // Value : 0-250
153		152
154	// Outputs	153	// Outputs
155	output_flash_t outputFlash[2];	154	output_flash_t outputFlash[2];
156	uint8_t outputDebugMask;	155	uint8_t outputDebugMask;
157	uint8_t outputFlags;	156	uint8_t outputFlags;
158		157
159	// User params	158	// User params
160	uint8_t userParams[8]; // Value : 0-250	159	uint8_t userParams[8]; // Value : 0-250
161		160
162	// Name	161	// Name
163	uint8_t name[12];	162	char name[12];
164	} paramset_t;	163	} paramset_t;
165	extern paramset_t staticParams;	164	extern paramset_t staticParams;
166		165
167	// MKFlags	166	// MKFlags
168	#define MKFLAG_MOTOR_RUN (1<<0)	167	#define MKFLAG_MOTOR_RUN (1<<0)
169	#define MKFLAG_FLY (1<<1)	168	#define MKFLAG_FLY (1<<1)
170	#define MKFLAG_CALIBRATE (1<<2)	169	#define MKFLAG_CALIBRATE (1<<2)
171	#define MKFLAG_START (1<<3)	170	#define MKFLAG_START (1<<3)
172	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	171	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
173	#define MKFLAG_RESERVE1 (1<<5)	172	#define MKFLAG_RESERVE1 (1<<5)
174	#define MKFLAG_RESERVE2 (1<<6)	173	#define MKFLAG_RESERVE2 (1<<6)
175	#define MKFLAG_RESERVE3 (1<<7)	174	#define MKFLAG_RESERVE3 (1<<7)
176		175
177	// bit mask for staticParams.bitConfig	176	// bit mask for staticParams.bitConfig
178	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	177	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
179	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	178	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
180	#define CFG_HEADING_HOLD (1<<2)	179	#define CFG_HEADING_HOLD (1<<2)
181	#define CFG_COMPASS_ACTIVE (1<<3)	180	#define CFG_COMPASS_ACTIVE (1<<3)
182	#define CFG_COMPASS_FIX (1<<4)	181	#define CFG_COMPASS_FIX (1<<4)
183	#define CFG_GPS_ACTIVE (1<<5)	182	#define CFG_GPS_ACTIVE (1<<5)
184	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)	183	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
185	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	184	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
186		185
187	#define ATMEGA644 0	186	#define ATMEGA644 0
188	#define ATMEGA644P 1	187	#define ATMEGA644P 1
189	#define SYSCLK F_CPU	188	#define SYSCLK F_CPU
190		189
191	// Not really a part of configuration, but LEDs and HW version test are the same.	190	// Not really a part of configuration, but LEDs and HW version test are the same.
192	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	191	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
193	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	192	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
194	#define RED_FLASH PORTB ^= (1<<PORTB0)	193	#define RED_FLASH PORTB ^= (1<<PORTB0)
195	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	194	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
196	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	195	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
197	#define GRN_FLASH PORTB ^= (1<<PORTB1)	196	#define GRN_FLASH PORTB ^= (1<<PORTB1)
198		197
199	// Mixer table	198	// Mixer table
200	#define MIX_THROTTLE 0	199	#define MIX_THROTTLE 0
201	#define MIX_PITCH 1	200	#define MIX_PITCH 1
202	#define MIX_ROLL 2	201	#define MIX_ROLL 2
203	#define MIX_YAW 3	202	#define MIX_YAW 3
204		203
205	#define VARIABLE_COUNT 8	204	#define VARIABLE_COUNT 8
206		205
207	extern volatile uint8_t MKFlags;	206	extern volatile uint8_t MKFlags;
208	extern uint8_t requiredMotors;	207	extern uint8_t requiredMotors;
209	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	208	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
210	extern uint8_t boardRelease;	209	extern uint8_t boardRelease;
211	extern uint8_t CPUType;	210	extern uint8_t CPUType;
212		211
213	extern volatile uint8_t MKFlags;	212	extern volatile uint8_t MKFlags;
214	extern uint16_t isFlying;	213	extern uint16_t isFlying;
215		214
216	void channelMap_default(void);	215	void channelMap_default(void);
217	void paramSet_default(uint8_t setnumber);	216	void paramSet_default(uint8_t setnumber);
218	void mixerMatrix_default(void);	217	void mixerMatrix_default(void);
219		218
220	void configuration_applyVariablesToParams(void);	219	void configuration_applyVariablesToParams(void);
221	uint8_t getCPUType(void);	220	uint8_t getCPUType(void);
222	uint8_t getBoardRelease(void);	221	uint8_t getBoardRelease(void);
223		222
224	#endif // _CONFIGURATION_H	223	#endif // _CONFIGURATION_H
225		224

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(root)/branches/dongfang_FC_rewrite/configuration.h @ 2088 - Rev 2015 → 2017