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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 | // bitmask for VersionInfo_t.HardwareError[0] |
10 | // bitmask for VersionInfo_t.HardwareError[0] |
11 | #define FC_ERROR0_GYRO_PITCH 0x01 |
11 | #define FC_ERROR0_GYRO_PITCH 0x01 |
12 | #define FC_ERROR0_GYRO_ROLL 0x02 |
12 | #define FC_ERROR0_GYRO_ROLL 0x02 |
13 | #define FC_ERROR0_GYRO_YAW 0x04 |
13 | #define FC_ERROR0_GYRO_YAW 0x04 |
14 | #define FC_ERROR0_ACC_X 0x08 |
14 | #define FC_ERROR0_ACC_X 0x08 |
15 | #define FC_ERROR0_ACC_Y 0x10 |
15 | #define FC_ERROR0_ACC_Y 0x10 |
16 | #define FC_ERROR0_ACC_Z 0x20 |
16 | #define FC_ERROR0_ACC_Z 0x20 |
17 | #define FC_ERROR0_PRESSURE 0x40 |
17 | #define FC_ERROR0_PRESSURE 0x40 |
18 | #define FC_ERROR1_RES0 0x80 |
18 | #define FC_ERROR1_RES0 0x80 |
19 | // bitmask for VersionInfo_t.HardwareError[1] |
19 | // bitmask for VersionInfo_t.HardwareError[1] |
20 | #define FC_ERROR1_I2C 0x01 |
20 | #define FC_ERROR1_I2C 0x01 |
21 | #define FC_ERROR1_BL_MISSING 0x02 |
21 | #define FC_ERROR1_BL_MISSING 0x02 |
22 | #define FC_ERROR1_SPI_RX 0x04 |
22 | #define FC_ERROR1_SPI_RX 0x04 |
23 | #define FC_ERROR1_PPM 0x08 |
23 | #define FC_ERROR1_PPM 0x08 |
24 | #define FC_ERROR1_MIXER 0x10 |
24 | #define FC_ERROR1_MIXER 0x10 |
25 | #define FC_ERROR1_RES1 0x20 |
25 | #define FC_ERROR1_RES1 0x20 |
26 | #define FC_ERROR1_RES2 0x40 |
26 | #define FC_ERROR1_RES2 0x40 |
27 | #define FC_ERROR1_RES3 0x80 |
27 | #define FC_ERROR1_RES3 0x80 |
28 | 28 | ||
29 | typedef struct { |
29 | typedef struct { |
30 | uint8_t SWMajor; |
30 | uint8_t SWMajor; |
31 | uint8_t SWMinor; |
31 | uint8_t SWMinor; |
32 | uint8_t protoMajor; |
32 | uint8_t protoMajor; |
33 | uint8_t protoMinor; |
33 | uint8_t protoMinor; |
34 | uint8_t SWPatch; |
34 | uint8_t SWPatch; |
35 | uint8_t hardwareErrors[5]; |
35 | uint8_t hardwareErrors[5]; |
36 | }__attribute__((packed)) VersionInfo_t; |
36 | }__attribute__((packed)) VersionInfo_t; |
37 | 37 | ||
38 | extern VersionInfo_t versionInfo; |
38 | extern VersionInfo_t versionInfo; |
39 | 39 | ||
40 | typedef struct { |
40 | typedef struct { |
41 | /*PMM*/uint8_t gyroP; |
41 | /*PMM*/uint8_t gyroP; |
42 | /* P */uint8_t gyroI; |
42 | /* P */uint8_t gyroI; |
43 | /* P */uint8_t gyroD; |
43 | /* P */uint8_t gyroD; |
44 | /* P */uint8_t compassControlHeading; |
44 | /* P */uint8_t compassControlHeading; |
45 | 45 | ||
46 | // Control |
46 | // Control |
47 | /* P */uint8_t externalControl; |
47 | /* P */uint8_t externalControl; |
48 | /* P */uint8_t dynamicStability; |
48 | /* P */uint8_t dynamicStability; |
49 | 49 | ||
50 | // Height control |
50 | // Height control |
51 | /*PMM*/uint8_t heightP; |
51 | /*PMM*/uint8_t heightP; |
52 | /* P */uint8_t heightI; |
52 | /* P */uint8_t heightI; |
53 | /*PMM*/uint8_t heightD; |
53 | /*PMM*/uint8_t heightD; |
54 | /* P */uint8_t heightSetting; |
54 | /* P */uint8_t heightSetting; |
55 | 55 | ||
56 | uint8_t attitudeControl; |
56 | uint8_t attitudeControl; |
57 | 57 | ||
58 | // Output and servo |
58 | // Output and servo |
59 | /*PMM*/uint8_t output0Timing; |
59 | /*PMM*/uint8_t output0Timing; |
60 | /*PMM*/uint8_t output1Timing; |
60 | /*PMM*/uint8_t output1Timing; |
61 | 61 | ||
62 | uint8_t servoManualControl[2]; |
62 | uint8_t servoManualControl[2]; |
63 | 63 | ||
64 | // Correction |
64 | // Correction |
65 | uint8_t levelCorrection[2]; |
65 | uint8_t levelCorrection[2]; |
66 | 66 | ||
67 | // Simple direct navigation |
67 | // Simple direct navigation |
68 | uint8_t naviMode; |
68 | uint8_t naviMode; |
69 | 69 | ||
70 | /* P */uint8_t userParams[8]; |
70 | /* P */uint8_t userParams[8]; |
71 | } DynamicParams_t; |
71 | } DynamicParams_t; |
72 | 72 | ||
73 | extern volatile DynamicParams_t dynamicParams; |
73 | extern volatile DynamicParams_t dynamicParams; |
74 | 74 | ||
75 | typedef struct { |
75 | typedef struct { |
76 | uint8_t sourceIdx, targetIdx; |
76 | uint8_t sourceIdx, targetIdx; |
77 | uint8_t min, max; |
77 | uint8_t min, max; |
78 | } MMXLATION; |
78 | } MMXLATION; |
79 | 79 | ||
80 | /* |
80 | /* |
81 | typedef struct { |
81 | typedef struct { |
82 | uint8_t sourceIdx, targetIdx; |
82 | uint8_t sourceIdx, targetIdx; |
83 | } XLATION; |
83 | } XLATION; |
84 | */ |
84 | */ |
85 | 85 | ||
86 | typedef struct { |
86 | typedef struct { |
- | 87 | uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky. |
|
87 | uint8_t trim; |
88 | uint8_t HWTrim; |
88 | uint8_t variableOffset; |
89 | uint8_t variableOffset; |
89 | uint8_t channels[MAX_CHANNELS]; |
90 | uint8_t channels[MAX_CHANNELS]; |
90 | } ChannelMap_t; |
91 | } ChannelMap_t; |
- | 92 | ||
91 | extern ChannelMap_t channelMap; |
93 | extern ChannelMap_t channelMap; |
92 | 94 | ||
93 | typedef struct { |
95 | typedef struct { |
94 | char name[12]; |
96 | char name[12]; |
95 | int8_t matrix[MAX_MOTORS][5]; |
97 | int8_t matrix[MAX_MOTORS][5]; |
96 | //int8_t oppositeMotor[MAX_MOTORS]; |
98 | //int8_t oppositeMotor[MAX_MOTORS]; |
97 | }__attribute__((packed)) MotorMixer_t; |
99 | }__attribute__((packed)) MotorMixer_t; |
98 | extern MotorMixer_t motorMixer; |
100 | extern MotorMixer_t motorMixer; |
99 | 101 | ||
100 | typedef struct { |
102 | typedef struct { |
101 | int16_t offsets[3]; |
103 | int16_t offsets[3]; |
102 | } sensorOffset_t; |
104 | } sensorOffset_t; |
103 | 105 | ||
104 | typedef struct { |
106 | typedef struct { |
105 | uint8_t manualControl; |
107 | uint8_t manualControl; |
106 | uint8_t stabilizationFactor; |
108 | uint8_t stabilizationFactor; |
107 | uint8_t minValue; |
109 | uint8_t minValue; |
108 | uint8_t maxValue; |
110 | uint8_t maxValue; |
109 | uint8_t flags; |
111 | uint8_t flags; |
110 | } Servo_t; |
112 | } Servo_t; |
111 | 113 | ||
112 | #define SERVO_STABILIZATION_REVERSE 1 |
114 | #define SERVO_STABILIZATION_REVERSE 1 |
113 | 115 | ||
114 | typedef struct { |
116 | typedef struct { |
115 | uint8_t bitmask; |
117 | uint8_t bitmask; |
116 | uint8_t timing; |
118 | uint8_t timing; |
117 | } output_flash_t; |
119 | } output_flash_t; |
118 | 120 | ||
119 | typedef struct { |
121 | typedef struct { |
120 | uint8_t gyroQuadrant; |
122 | uint8_t gyroQuadrant; |
121 | uint8_t accQuadrant; |
123 | uint8_t accQuadrant; |
122 | uint8_t imuReversedFlags; |
124 | uint8_t imuReversedFlags; |
123 | 125 | ||
124 | uint8_t gyroPIDFilterConstant; |
126 | uint8_t gyroPIDFilterConstant; |
125 | uint8_t gyroDWindowLength; |
127 | uint8_t gyroDWindowLength; |
126 | // uint8_t gyroDFilterConstant; |
128 | // uint8_t gyroDFilterConstant; |
127 | uint8_t accFilterConstant; |
129 | uint8_t accFilterConstant; |
128 | 130 | ||
129 | uint8_t zerothOrderCorrection; |
131 | uint8_t zerothOrderCorrection; |
130 | uint8_t rateTolerance; |
132 | uint8_t rateTolerance; |
131 | 133 | ||
132 | uint8_t gyroActivityDamping; |
134 | uint8_t gyroActivityDamping; |
133 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
135 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
134 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
136 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
135 | } IMUConfig_t; |
137 | } IMUConfig_t; |
136 | 138 | ||
137 | extern IMUConfig_t IMUConfig; |
139 | extern IMUConfig_t IMUConfig; |
138 | 140 | ||
139 | // values above 250 representing poti1 to poti4 |
141 | // values above 250 representing poti1 to poti4 |
140 | typedef struct { |
142 | typedef struct { |
141 | // Global bitflags |
143 | // Global bitflags |
142 | uint8_t bitConfig; // see upper defines for bitcoding |
144 | uint8_t bitConfig; // see upper defines for bitcoding |
143 | 145 | ||
144 | // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
146 | // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
145 | // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
147 | // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
146 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
148 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
147 | 149 | ||
148 | uint8_t levelCorrection[2]; |
150 | uint8_t levelCorrection[2]; |
149 | 151 | ||
150 | // Control |
152 | // Control |
151 | uint8_t gyroP; |
153 | uint8_t gyroP; |
152 | uint8_t gyroI; |
154 | uint8_t gyroI; |
153 | uint8_t gyroD; |
155 | uint8_t gyroD; |
154 | 156 | ||
155 | uint8_t attitudeControl; |
157 | uint8_t attitudeControl; |
156 | 158 | ||
157 | uint8_t stickP; |
159 | uint8_t stickP; |
158 | uint8_t stickD; |
160 | uint8_t stickD; |
159 | uint8_t stickYawP; |
161 | uint8_t stickYawP; |
160 | uint8_t stickThrottleD; |
162 | uint8_t stickThrottleD; |
161 | 163 | ||
162 | uint8_t minThrottle; |
164 | uint8_t minThrottle; |
163 | uint8_t maxThrottle; |
165 | uint8_t maxThrottle; |
164 | 166 | ||
165 | uint8_t externalControl; // for serial Control |
167 | uint8_t externalControl; // for serial Control |
166 | uint8_t motorSmoothing; |
168 | uint8_t motorSmoothing; |
167 | uint8_t dynamicStability; // PID limit for Attitude controller |
169 | uint8_t dynamicStability; // PID limit for Attitude controller |
168 | 170 | ||
169 | uint8_t IFactor; |
171 | uint8_t IFactor; |
170 | uint8_t yawIFactor; |
172 | uint8_t yawIFactor; |
171 | 173 | ||
172 | uint8_t compassMode; // bitflag thing. |
174 | uint8_t compassMode; // bitflag thing. |
173 | uint8_t compassYawCorrection; |
175 | uint8_t compassYawCorrection; |
174 | uint8_t compassBendingReturnSpeed; |
176 | uint8_t compassBendingReturnSpeed; |
175 | uint8_t compassP; |
177 | uint8_t compassP; |
176 | 178 | ||
177 | uint8_t batteryVoltageWarning; |
179 | uint8_t batteryVoltageWarning; |
178 | uint8_t emergencyThrottle; |
180 | uint8_t emergencyThrottle; |
179 | uint8_t emergencyFlightDuration; |
181 | uint8_t emergencyFlightDuration; |
180 | 182 | ||
181 | // Height Control |
183 | // Height Control |
182 | uint8_t airpressureFilterConstant; |
184 | uint8_t airpressureFilterConstant; |
183 | uint8_t airpressureWindowLength; // 0 means: Use filter. |
185 | uint8_t airpressureWindowLength; // 0 means: Use filter. |
184 | uint8_t airpressureDWindowLength; // values 1..5 are legal. |
186 | uint8_t airpressureDWindowLength; // values 1..5 are legal. |
185 | uint8_t airpressureAccZCorrection; |
187 | uint8_t airpressureAccZCorrection; |
186 | 188 | ||
187 | uint8_t heightP; |
189 | uint8_t heightP; |
188 | uint8_t heightI; |
190 | uint8_t heightI; |
189 | uint8_t heightD; |
191 | uint8_t heightD; |
190 | 192 | ||
191 | uint8_t heightSetting; |
193 | uint8_t heightSetting; |
192 | uint8_t heightControlMaxIntegralIn; |
194 | uint8_t heightControlMaxIntegralIn; |
193 | uint8_t heightControlMaxIntegralOut; |
195 | uint8_t heightControlMaxIntegralOut; |
194 | uint8_t heightControlMaxThrottleChange; |
196 | uint8_t heightControlMaxThrottleChange; |
195 | 197 | ||
196 | uint8_t heightControlTestOscPeriod; |
198 | uint8_t heightControlTestOscPeriod; |
197 | uint8_t heightControlTestOscAmplitude; |
199 | uint8_t heightControlTestOscAmplitude; |
198 | 200 | ||
199 | // Servos |
201 | // Servos |
200 | uint8_t servoCount; |
202 | uint8_t servoCount; |
201 | uint8_t servoManualMaxSpeed; |
203 | uint8_t servoManualMaxSpeed; |
202 | Servo_t servoConfigurations[2]; // [PITCH, ROLL] |
204 | Servo_t servoConfigurations[2]; // [PITCH, ROLL] |
203 | 205 | ||
204 | // Outputs |
206 | // Outputs |
205 | output_flash_t outputFlash[2]; |
207 | output_flash_t outputFlash[2]; |
206 | uint8_t outputDebugMask; |
208 | uint8_t outputDebugMask; |
207 | uint8_t outputFlags; |
209 | uint8_t outputFlags; |
208 | 210 | ||
209 | // Shared for both modes of navigation |
211 | // Shared for both modes of navigation |
210 | uint8_t naviMode; |
212 | uint8_t naviMode; |
211 | uint8_t naviStickThreshold; |
213 | uint8_t naviStickThreshold; |
212 | uint8_t naviStickLimit; |
214 | uint8_t naviStickLimit; |
213 | uint8_t GPSMininumSatellites; |
215 | uint8_t GPSMininumSatellites; |
214 | uint8_t naviP; |
216 | uint8_t naviP; |
215 | uint8_t naviI; |
217 | uint8_t naviI; |
216 | uint8_t naviD; |
218 | uint8_t naviD; |
217 | 219 | ||
218 | uint8_t naviTestOscPeriod; |
220 | uint8_t naviTestOscPeriod; |
219 | uint8_t naviTestOscAmplitude; |
221 | uint8_t naviTestOscAmplitude; |
220 | 222 | ||
221 | // User params |
223 | // User params |
222 | uint8_t userParams[8]; |
224 | uint8_t userParams[8]; |
223 | 225 | ||
224 | // Name |
226 | // Name |
225 | char name[12]; |
227 | char name[12]; |
226 | } ParamSet_t; |
228 | } ParamSet_t; |
227 | 229 | ||
228 | extern ParamSet_t staticParams; |
230 | extern ParamSet_t staticParams; |
229 | 231 | ||
230 | // MKFlags |
232 | // MKFlags |
231 | #define MKFLAG_MOTOR_RUN (1<<0) |
233 | #define MKFLAG_MOTOR_RUN (1<<0) |
232 | //#define MKFLAG_FLY (1<<1) |
234 | //#define MKFLAG_FLY (1<<1) |
233 | #define MKFLAG_CALIBRATE (1<<2) |
235 | #define MKFLAG_CALIBRATE (1<<2) |
234 | #define MKFLAG_START (1<<3) |
236 | #define MKFLAG_START (1<<3) |
235 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
237 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
236 | #define MKFLAG_LOWBAT (1<<5) |
238 | #define MKFLAG_LOWBAT (1<<5) |
237 | #define MKFLAG_RESERVE2 (1<<6) |
239 | #define MKFLAG_RESERVE2 (1<<6) |
238 | #define MKFLAG_RESERVE3 (1<<7) |
240 | #define MKFLAG_RESERVE3 (1<<7) |
239 | 241 | ||
240 | // bit mask for staticParams.bitConfig |
242 | // bit mask for staticParams.bitConfig |
241 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
243 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
242 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
244 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
243 | #define CFG_HEADING_HOLD (1<<2) |
245 | #define CFG_HEADING_HOLD (1<<2) |
244 | #define CFG_COMPASS_ENABLED (1<<3) |
246 | #define CFG_COMPASS_ENABLED (1<<3) |
245 | #define CFG_UNUSED (1<<4) |
247 | #define CFG_UNUSED (1<<4) |
246 | #define CFG_NAVI_ENABLED (1<<5) |
248 | #define CFG_NAVI_ENABLED (1<<5) |
247 | #define CFG_AXIS_COUPLING_ENABLED (1<<6) |
249 | #define CFG_AXIS_COUPLING_ENABLED (1<<6) |
248 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
250 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
249 | 251 | ||
250 | #define IMU_REVERSE_GYRO_PR (1<<0) |
252 | #define IMU_REVERSE_GYRO_PR (1<<0) |
251 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
253 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
252 | #define IMU_REVERSE_ACC_XY (1<<2) |
254 | #define IMU_REVERSE_ACC_XY (1<<2) |
253 | #define IMU_REVERSE_ACC_Z (1<<3) |
255 | #define IMU_REVERSE_ACC_Z (1<<3) |
254 | 256 | ||
255 | #define ATMEGA644 0 |
257 | #define ATMEGA644 0 |
256 | #define ATMEGA644P 1 |
258 | #define ATMEGA644P 1 |
257 | #define SYSCLK F_CPU |
259 | #define SYSCLK F_CPU |
258 | 260 | ||
259 | // Not really a part of configuration, but LEDs and HW s test are the same. |
261 | // Not really a part of configuration, but LEDs and HW s test are the same. |
260 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
262 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
261 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
263 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
262 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
264 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
263 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
265 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
264 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
266 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
265 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
267 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
266 | 268 | ||
267 | // Mixer table |
269 | // Mixer table |
268 | #define MIX_PITCH 0 |
270 | #define MIX_PITCH 0 |
269 | #define MIX_ROLL 1 |
271 | #define MIX_ROLL 1 |
270 | #define MIX_THROTTLE 2 |
272 | #define MIX_THROTTLE 2 |
271 | #define MIX_YAW 3 |
273 | #define MIX_YAW 3 |
272 | #define MIX_OPPOSITE_MOTOR 4 |
274 | #define MIX_OPPOSITE_MOTOR 4 |
273 | 275 | ||
274 | #define VARIABLE_COUNT 8 |
276 | #define VARIABLE_COUNT 8 |
275 | 277 | ||
276 | extern volatile uint8_t MKFlags; |
278 | extern volatile uint8_t MKFlags; |
277 | extern uint8_t requiredMotors; |
279 | extern uint8_t requiredMotors; |
278 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
280 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
279 | extern uint8_t boardRelease; |
281 | extern uint8_t boardRelease; |
280 | extern uint8_t CPUType; |
282 | extern uint8_t CPUType; |
281 | 283 | ||
282 | extern volatile uint8_t MKFlags; |
284 | extern volatile uint8_t MKFlags; |
283 | extern uint16_t isFlying; |
285 | extern uint16_t isFlying; |
284 | 286 | ||
285 | void IMUConfig_default(void); |
287 | void IMUConfig_default(void); |
286 | void channelMap_default(void); |
288 | void channelMap_default(void); |
287 | void paramSet_default(uint8_t setnumber); |
289 | void paramSet_default(uint8_t setnumber); |
288 | void motorMixer_default(void); |
290 | void motorMixer_default(void); |
289 | 291 | ||
290 | void configuration_setNormalFlightParameters(void); |
292 | void configuration_setNormalFlightParameters(void); |
291 | void configuration_setFailsafeFlightParameters(void); |
293 | void configuration_setFailsafeFlightParameters(void); |
292 | void configuration_applyVariablesToParams(void); |
294 | void configuration_applyVariablesToParams(void); |
293 | 295 | ||
294 | void setCPUType(void); |
296 | void setCPUType(void); |
295 | void setBoardRelease(void); |
297 | void setBoardRelease(void); |
296 | 298 | ||
297 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
299 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
298 | void configuration_paramSetDidChange(void); |
300 | void configuration_paramSetDidChange(void); |
299 | #endif // _CONFIGURATION_H |
301 | #endif // _CONFIGURATION_H |
300 | 302 |