mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-26 09:45:28 +03:00
1014 lines
29 KiB
JavaScript
1014 lines
29 KiB
JavaScript
import { bit_check } from "./bit";
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import { API_VERSION_1_45, API_VERSION_1_46 } from "./data_storage";
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import semver from "semver";
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const INITIAL_CONFIG = {
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apiVersion: "0.0.0",
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flightControllerIdentifier: "",
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flightControllerVersion: "",
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version: 0,
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buildInfo: "",
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buildKey: "",
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buildOptions: [],
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gitRevision: "",
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multiType: 0,
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msp_version: 0, // not specified using semantic versioning
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capability: 0,
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cycleTime: 0,
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i2cError: 0,
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cpuload: 0,
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cpuTemp: 0,
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activeSensors: 0,
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mode: 0,
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profile: 0,
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uid: [0, 0, 0],
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accelerometerTrims: [0, 0],
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name: "", // present for backwards compatibility before MSP v1.45
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craftName: "",
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displayName: "", // present for backwards compatibility before MSP v1.45
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pilotName: "",
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pidProfileNames: ["", "", "", ""],
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rateProfileNames: ["", "", "", ""],
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numProfiles: 3,
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rateProfile: 0,
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boardType: 0,
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armingDisableCount: 0,
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armingDisableFlags: 0,
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armingDisabled: false,
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runawayTakeoffPreventionDisabled: false,
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boardIdentifier: "",
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boardVersion: 0,
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targetCapabilities: 0,
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targetName: "",
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boardName: "",
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manufacturerId: "",
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signature: [],
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mcuTypeId: 255,
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configurationState: 0,
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configStateFlag: 0,
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sampleRateHz: 0,
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configurationProblems: 0,
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hardwareName: "",
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};
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const INITIAL_ANALOG = {
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voltage: 0,
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mAhdrawn: 0,
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rssi: 0,
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amperage: 0,
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last_received_timestamp: 0,
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};
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const INITIAL_BATTERY_CONFIG = {
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vbatmincellvoltage: 0,
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vbatmaxcellvoltage: 0,
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vbatwarningcellvoltage: 0,
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capacity: 0,
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voltageMeterSource: 0,
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currentMeterSource: 0,
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};
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const FIRMWARE_BUILD_OPTIONS = {
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// Radio Protocols
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USE_SERIALRX_CRSF: 4097,
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USE_SERIALRX_FPORT: 4098,
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USE_SERIALRX_GHST: 4099,
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USE_SERIALRX_IBUS: 4100,
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USE_SERIALRX_JETIEXBUS: 4101,
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USE_RX_PPM: 4102,
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USE_SERIALRX_SBUS: 4103,
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USE_SERIALRX_SPEKTRUM: 4104,
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USE_SERIALRX_SRXL2: 4105,
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USE_SERIALRX_SUMD: 4106,
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USE_SERIALRX_SUMH: 4107,
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USE_SERIALRX_XBUS: 4108,
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// Motor Protocols
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USE_BRUSHED: 8230,
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USE_DSHOT: 8231,
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USE_MULTISHOT: 8232,
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USE_ONESHOT: 8233,
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USE_PROSHOT: 8234,
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USE_PWM_OUTPUT: 8235,
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// Telemetry Protocols
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USE_TELEMETRY_FRSKY_HUB: 12301,
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USE_TELEMETRY_HOTT: 12302,
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USE_TELEMETRY_IBUS_EXTENDED: 12303,
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USE_TELEMETRY_LTM: 12304,
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USE_TELEMETRY_MAVLINK: 12305,
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USE_TELEMETRY_SMARTPORT: 12306,
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USE_TELEMETRY_SRXL: 12307,
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// General Options
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USE_ACRO_TRAINER: 16404,
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USE_AKK_SMARTAUDIO: 16405,
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USE_BATTERY_CONTINUE: 16406,
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USE_CAMERA_CONTROL: 16407,
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USE_DASHBOARD: 16408,
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USE_EMFAT_TOOLS: 16409,
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USE_ESCSERIAL_SIMONK: 16410,
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USE_FRSKYOSD: 16411,
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USE_GPS: 16412,
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USE_LED_STRIP: 16413,
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USE_LED_STRIP_64: 16414,
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USE_MAG: 16415,
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USE_OSD_SD: 16416,
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USE_OSD_HD: 16417,
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USE_PINIO: 16418,
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USE_RACE_PRO: 16419,
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USE_SERVOS: 16420,
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USE_VTX: 16421,
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USE_ALTITUDE_HOLD: 16422,
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USE_SOFTSERIAL: 16423,
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USE_WING: 16424,
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USE_POSITION_HOLD: 16425,
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};
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const FC = {
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// define all the global variables that are uses to hold FC state
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// the default state must be defined inside the resetState() method
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ADJUSTMENT_RANGES: null,
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ADVANCED_TUNING: null,
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ADVANCED_TUNING_ACTIVE: null,
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ANALOG: { ...INITIAL_ANALOG },
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ARMING_CONFIG: null,
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AUX_CONFIG: null,
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AUX_CONFIG_IDS: null,
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BATTERY_CONFIG: { ...INITIAL_BATTERY_CONFIG },
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BATTERY_STATE: null,
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BEEPER_CONFIG: null,
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BF_CONFIG: null, // Remove when we officialy retire BF 3.1
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BLACKBOX: null,
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BOARD_ALIGNMENT_CONFIG: null,
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// Shallow copy of original config and added getter
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// getter allows this to be used with simple dot notation
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// and bridges the vue and rest of the code
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CONFIG: {
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...INITIAL_CONFIG,
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},
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COPY_PROFILE: null,
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CURRENT_METERS: null,
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CURRENT_METER_CONFIGS: null,
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DATAFLASH: null,
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DEFAULT: null,
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DEFAULT_PIDS: null,
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FAILSAFE_CONFIG: null,
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FC_CONFIG: null,
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FEATURE_CONFIG: null,
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FILTER_CONFIG: null,
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GPS_CONFIG: null,
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COMPASS_CONFIG: null,
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GPS_DATA: null,
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GPS_RESCUE: null,
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LED_COLORS: null,
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LED_MODE_COLORS: null,
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LED_STRIP: null,
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LED_CONFIG_VALUES: [],
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MISC: null, // DEPRECATED
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MIXER_CONFIG: null,
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MODE_RANGES: null,
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MODE_RANGES_EXTRA: null,
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MOTOR_3D_CONFIG: null,
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MOTOR_CONFIG: null,
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MOTOR_DATA: null,
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MOTOR_OUTPUT_ORDER: null,
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MOTOR_TELEMETRY_DATA: null,
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MULTIPLE_MSP: null,
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PID: null,
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PIDS_ACTIVE: null,
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PID_ADVANCED_CONFIG: null,
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PID_NAMES: null,
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PIDS: null,
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RC: null,
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RC_DEADBAND_CONFIG: null,
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RC_MAP: null,
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RC_TUNING: null,
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RSSI_CONFIG: null,
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RXFAIL_CONFIG: null,
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RX_CONFIG: null,
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SDCARD: null,
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SENSOR_ALIGNMENT: null,
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SENSOR_CONFIG: null,
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SENSOR_CONFIG_ACTIVE: null,
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SENSOR_DATA: null,
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SERIAL_CONFIG: null,
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SERVO_CONFIG: null,
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SERVO_DATA: null,
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SERVO_RULES: null,
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TRANSPONDER: null,
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TUNING_SLIDERS: null,
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VOLTAGE_METERS: null,
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VOLTAGE_METER_CONFIGS: null,
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VTXTABLE_BAND: null,
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VTXTABLE_POWERLEVEL: null,
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VTX_CONFIG: null,
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VTX_DEVICE_STATUS: null,
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resetState() {
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// Using `Object.assign` instead of reassigning to
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// trigger the updates on the Vue side
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this.CONFIG = JSON.parse(JSON.stringify(INITIAL_CONFIG));
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this.ANALOG = JSON.parse(JSON.stringify(INITIAL_ANALOG));
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this.BATTERY_CONFIG = JSON.parse(JSON.stringify(INITIAL_BATTERY_CONFIG));
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this.BF_CONFIG = {
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currentscale: 0,
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currentoffset: 0,
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currentmetertype: 0,
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batterycapacity: 0,
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};
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this.COPY_PROFILE = {
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type: 0,
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dstProfile: 0,
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srcProfile: 0,
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};
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this.FEATURE_CONFIG = {
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features: 0,
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};
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this.BEEPER_CONFIG = {
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beepers: 0,
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dshotBeaconTone: 0,
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dshotBeaconConditions: 0,
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};
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this.MIXER_CONFIG = {
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mixer: 0,
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reverseMotorDir: 0,
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};
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this.BOARD_ALIGNMENT_CONFIG = {
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roll: 0,
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pitch: 0,
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yaw: 0,
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};
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this.LED_STRIP = [];
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this.LED_COLORS = [];
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this.LED_MODE_COLORS = [];
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this.PID = {
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controller: 0,
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};
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this.PID_NAMES = [];
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this.PIDS_ACTIVE = Array.from({ length: 10 });
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this.PIDS = Array.from({ length: 10 });
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for (let i = 0; i < 10; i++) {
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this.PIDS_ACTIVE[i] = Array.from({ length: 3 });
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this.PIDS[i] = Array.from({ length: 3 });
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}
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this.RC_MAP = [];
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// defaults
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// roll, pitch, yaw, throttle, aux 1, ... aux n
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this.RC = {
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active_channels: 0,
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channels: Array.from({ length: 32 }),
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};
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this.RC_TUNING = {
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RC_RATE: 0,
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RC_EXPO: 0,
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roll_pitch_rate: 0, // pre 1.7 api only
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roll_rate: 0,
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pitch_rate: 0,
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yaw_rate: 0,
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dynamic_THR_PID: 0, // moved in 1.45 to ADVANCED_TUNING
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throttle_MID: 0,
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throttle_EXPO: 0,
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dynamic_THR_breakpoint: 0, // moved in 1.45 to ADVANCED_TUNING
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RC_YAW_EXPO: 0,
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rcYawRate: 0,
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rcPitchRate: 0,
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RC_PITCH_EXPO: 0,
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throttleLimitType: 0,
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throttleLimitPercent: 100,
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roll_rate_limit: 1998,
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pitch_rate_limit: 1998,
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yaw_rate_limit: 1998,
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rates_type: 0,
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};
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this.AUX_CONFIG = [];
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this.AUX_CONFIG_IDS = [];
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this.MODE_RANGES = [];
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this.MODE_RANGES_EXTRA = [];
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this.ADJUSTMENT_RANGES = [];
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this.SERVO_CONFIG = [];
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this.SERVO_RULES = [];
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this.SERIAL_CONFIG = {
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ports: [],
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// pre 1.6 settings
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mspBaudRate: 0,
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gpsBaudRate: 0,
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gpsPassthroughBaudRate: 0,
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cliBaudRate: 0,
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};
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this.SENSOR_DATA = {
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gyroscope: [0, 0, 0],
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accelerometer: [0, 0, 0],
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magnetometer: [0, 0, 0],
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altitude: 0,
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sonar: 0,
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kinematics: [0.0, 0.0, 0.0],
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debug: [0, 0, 0, 0, 0, 0, 0, 0],
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};
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this.MOTOR_DATA = Array.from({ length: 8 });
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this.SERVO_DATA = Array.from({ length: 8 });
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this.MOTOR_TELEMETRY_DATA = {
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rpm: [0, 0, 0, 0, 0, 0, 0, 0],
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invalidPercent: [0, 0, 0, 0, 0, 0, 0, 0],
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temperature: [0, 0, 0, 0, 0, 0, 0, 0],
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voltage: [0, 0, 0, 0, 0, 0, 0, 0],
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current: [0, 0, 0, 0, 0, 0, 0, 0],
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consumption: [0, 0, 0, 0, 0, 0, 0, 0],
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};
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this.GPS_DATA = {
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fix: 0,
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numSat: 0,
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lat: 0,
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lon: 0,
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alt: 0,
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speed: 0,
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ground_course: 0,
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positionalDop: 0,
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distanceToHome: 0,
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directionToHome: 0,
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update: 0,
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chn: [],
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svid: [],
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quality: [],
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cno: [],
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};
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this.VOLTAGE_METERS = [];
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this.VOLTAGE_METER_CONFIGS = [];
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this.CURRENT_METERS = [];
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this.CURRENT_METER_CONFIGS = [];
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this.BATTERY_STATE = {};
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this.BATTERY_CONFIG = {
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vbatmincellvoltage: 0,
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vbatmaxcellvoltage: 0,
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vbatwarningcellvoltage: 0,
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capacity: 0,
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voltageMeterSource: 0,
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currentMeterSource: 0,
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};
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this.ARMING_CONFIG = {
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auto_disarm_delay: 0,
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disarm_kill_switch: 0,
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small_angle: 0,
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gyro_cal_on_first_arm: 0,
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};
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this.FC_CONFIG = {
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loopTime: 0,
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};
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this.MISC = {
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// DEPRECATED = only used to store values that are written back to the fc as-is, do NOT use for any other purpose
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failsafe_throttle: 0,
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gps_baudrate: 0,
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multiwiicurrentoutput: 0,
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placeholder2: 0,
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vbatscale: 0,
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vbatmincellvoltage: 0,
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vbatmaxcellvoltage: 0,
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vbatwarningcellvoltage: 0,
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batterymetertype: 1, // 1=ADC, 2=ESC
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};
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this.MOTOR_CONFIG = {
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minthrottle: 0,
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maxthrottle: 0,
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mincommand: 0,
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motor_count: 0,
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motor_poles: 0,
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use_dshot_telemetry: false,
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use_esc_sensor: false,
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};
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this.GPS_CONFIG = {
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provider: 0,
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ublox_sbas: 0,
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auto_config: 0,
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auto_baud: 0,
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home_point_once: 0,
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ublox_use_galileo: 0,
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};
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this.COMPASS_CONFIG = {
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mag_declination: 0,
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};
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this.RSSI_CONFIG = {
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channel: 0,
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};
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this.MOTOR_3D_CONFIG = {
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deadband3d_low: 0,
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deadband3d_high: 0,
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neutral: 0,
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};
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this.DATAFLASH = {
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ready: false,
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supported: false,
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sectors: 0,
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totalSize: 0,
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usedSize: 0,
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};
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this.SDCARD = {
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supported: false,
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state: 0,
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filesystemLastError: 0,
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freeSizeKB: 0,
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totalSizeKB: 0,
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};
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this.BLACKBOX = {
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supported: false,
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blackboxDevice: 0,
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blackboxRateNum: 1,
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blackboxRateDenom: 1,
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blackboxPDenom: 0,
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blackboxSampleRate: 0,
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blackboxDisabledMask: 0,
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};
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this.TRANSPONDER = {
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supported: false,
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data: [],
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provider: 0,
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providers: [],
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};
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this.RC_DEADBAND_CONFIG = {
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deadband: 0,
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yaw_deadband: 0,
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alt_hold_deadband: 0,
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deadband3d_throttle: 0,
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};
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this.SENSOR_ALIGNMENT = {
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align_gyro: 0,
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align_acc: 0,
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align_mag: 0,
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gyro_detection_flags: 0,
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gyro_to_use: 0,
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gyro_1_align: 0,
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gyro_2_align: 0,
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gyro_align_roll: 0,
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gyro_align_pitch: 0,
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gyro_align_yaw: 0,
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mag_align_roll: 0,
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mag_align_pitch: 0,
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mag_align_yaw: 0,
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};
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this.PID_ADVANCED_CONFIG = {
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gyro_sync_denom: 0,
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pid_process_denom: 0,
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use_unsyncedPwm: 0,
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fast_pwm_protocol: 0,
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motor_pwm_rate: 0,
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motorIdle: 0,
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gyroUse32kHz: 0,
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motorPwmInversion: 0,
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gyroHighFsr: 0,
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gyroMovementCalibThreshold: 0,
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gyroCalibDuration: 0,
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gyroOffsetYaw: 0,
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gyroCheckOverflow: 0,
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debugMode: 0,
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debugModeCount: 0,
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};
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this.FILTER_CONFIG = {
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gyro_hardware_lpf: 0,
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gyro_32khz_hardware_lpf: 0,
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gyro_lowpass_hz: 0,
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gyro_lowpass_dyn_min_hz: 0,
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gyro_lowpass_dyn_max_hz: 0,
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gyro_lowpass_type: 0,
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gyro_lowpass2_hz: 0,
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gyro_lowpass2_type: 0,
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gyro_notch_hz: 0,
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gyro_notch_cutoff: 0,
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gyro_notch2_hz: 0,
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gyro_notch2_cutoff: 0,
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dterm_lowpass_hz: 0,
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dterm_lowpass_dyn_min_hz: 0,
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dterm_lowpass_dyn_max_hz: 0,
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dterm_lowpass_type: 0,
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dterm_lowpass2_hz: 0,
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dterm_lowpass2_type: 0,
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dyn_lpf_curve_expo: 0,
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dterm_notch_hz: 0,
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dterm_notch_cutoff: 0,
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yaw_lowpass_hz: 0,
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dyn_notch_range: 0,
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dyn_notch_width_percent: 0,
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dyn_notch_q: 0,
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dyn_notch_min_hz: 0,
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dyn_notch_max_hz: 0,
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dyn_notch_count: 0,
|
|
gyro_rpm_notch_harmonics: 0,
|
|
gyro_rpm_notch_min_hz: 0,
|
|
};
|
|
|
|
this.ADVANCED_TUNING = {
|
|
rollPitchItermIgnoreRate: 0,
|
|
yawItermIgnoreRate: 0,
|
|
yaw_p_limit: 0,
|
|
deltaMethod: 0,
|
|
vbatPidCompensation: 0,
|
|
dtermSetpointTransition: 0,
|
|
dtermSetpointWeight: 0,
|
|
toleranceBand: 0,
|
|
toleranceBandReduction: 0,
|
|
itermThrottleGain: 0,
|
|
pidMaxVelocity: 0,
|
|
pidMaxVelocityYaw: 0,
|
|
levelAngleLimit: 0,
|
|
levelSensitivity: 0,
|
|
itermThrottleThreshold: 0,
|
|
itermAcceleratorGain: 0, // depecrated in API 1.45
|
|
antiGravityGain: 0, // was itermAccelatorGain till API 1.45
|
|
itermRotation: 0,
|
|
smartFeedforward: 0,
|
|
itermRelax: 0,
|
|
itermRelaxType: 0,
|
|
itermRelaxCutoff: 0,
|
|
absoluteControlGain: 0,
|
|
throttleBoost: 0,
|
|
acroTrainerAngleLimit: 0,
|
|
feedforwardRoll: 0,
|
|
feedforwardPitch: 0,
|
|
feedforwardYaw: 0,
|
|
feedforwardTransition: 0,
|
|
antiGravityMode: 0,
|
|
dMaxRoll: 0,
|
|
dMaxPitch: 0,
|
|
dMaxYaw: 0,
|
|
dMaxGain: 0,
|
|
dMaxAdvance: 0,
|
|
useIntegratedYaw: 0,
|
|
integratedYawRelax: 0,
|
|
motorOutputLimit: 0,
|
|
autoProfileCellCount: 0,
|
|
idleMinRpm: 0,
|
|
feedforward_averaging: 0,
|
|
feedforward_smooth_factor: 0,
|
|
feedforward_boost: 0,
|
|
feedforward_max_rate_limit: 0,
|
|
feedforward_jitter_factor: 0,
|
|
vbat_sag_compensation: 0,
|
|
thrustLinearization: 0,
|
|
tpaRate: 0,
|
|
tpaBreakpoint: 0,
|
|
};
|
|
this.ADVANCED_TUNING_ACTIVE = { ...this.ADVANCED_TUNING };
|
|
|
|
this.SENSOR_CONFIG = {
|
|
acc_hardware: 0,
|
|
baro_hardware: 0,
|
|
mag_hardware: 0,
|
|
sonar_hardware: 0,
|
|
};
|
|
|
|
this.SENSOR_CONFIG_ACTIVE = { gyro_hardware: 0, ...this.SENSOR_CONFIG };
|
|
|
|
this.RX_CONFIG = {
|
|
serialrx_provider: 0,
|
|
stick_max: 0,
|
|
stick_center: 0,
|
|
stick_min: 0,
|
|
spektrum_sat_bind: 0,
|
|
rx_min_usec: 0,
|
|
rx_max_usec: 0,
|
|
rcInterpolation: 0,
|
|
rcInterpolationInterval: 0,
|
|
rcInterpolationChannels: 0,
|
|
airModeActivateThreshold: 0,
|
|
rxSpiProtocol: 0,
|
|
rxSpiId: 0,
|
|
rxSpiRfChannelCount: 0,
|
|
fpvCamAngleDegrees: 0,
|
|
rcSmoothingType: 0,
|
|
rcSmoothingSetpointCutoff: 0,
|
|
rcSmoothingFeedforwardCutoff: 0,
|
|
rcSmoothingInputType: 0,
|
|
rcSmoothingDerivativeType: 0,
|
|
rcSmoothingAutoFactor: 0,
|
|
usbCdcHidType: 0,
|
|
rcSmoothingMode: 0,
|
|
elrsUid: [0, 0, 0, 0, 0, 0],
|
|
};
|
|
|
|
this.FAILSAFE_CONFIG = {
|
|
failsafe_delay: 0,
|
|
failsafe_off_delay: 0,
|
|
failsafe_throttle: 0,
|
|
failsafe_switch_mode: 0,
|
|
failsafe_throttle_low_delay: 0,
|
|
failsafe_procedure: 0,
|
|
};
|
|
|
|
this.GPS_RESCUE = {
|
|
angle: 0,
|
|
returnAltitudeM: 0,
|
|
descentDistanceM: 0,
|
|
groundSpeed: 0,
|
|
throttleMin: 0,
|
|
throttleMax: 0,
|
|
throttleHover: 0,
|
|
sanityChecks: 0,
|
|
minSats: 0,
|
|
ascendRate: 0,
|
|
descendRate: 0,
|
|
allowArmingWithoutFix: 0,
|
|
altitudeMode: 0,
|
|
minStartDistM: 0,
|
|
initialClimbM: 0,
|
|
};
|
|
|
|
this.RXFAIL_CONFIG = [];
|
|
|
|
this.VTX_CONFIG = {
|
|
vtx_type: 0,
|
|
vtx_band: 0,
|
|
vtx_channel: 0,
|
|
vtx_power: 0,
|
|
vtx_pit_mode: false,
|
|
vtx_frequency: 0,
|
|
vtx_device_ready: false,
|
|
vtx_low_power_disarm: 0,
|
|
vtx_pit_mode_frequency: 0,
|
|
vtx_table_available: false,
|
|
vtx_table_bands: 0,
|
|
vtx_table_channels: 0,
|
|
vtx_table_powerlevels: 0,
|
|
vtx_table_clear: false,
|
|
};
|
|
|
|
this.VTXTABLE_BAND = {
|
|
vtxtable_band_number: 0,
|
|
vtxtable_band_name: "",
|
|
vtxtable_band_letter: "",
|
|
vtxtable_band_is_factory_band: false,
|
|
vtxtable_band_frequencies: [],
|
|
};
|
|
|
|
this.VTXTABLE_POWERLEVEL = {
|
|
vtxtable_powerlevel_number: 0,
|
|
vtxtable_powerlevel_value: 0,
|
|
vtxtable_powerlevel_label: 0,
|
|
};
|
|
|
|
this.MOTOR_OUTPUT_ORDER = [];
|
|
|
|
this.MULTIPLE_MSP = {
|
|
msp_commands: [],
|
|
};
|
|
|
|
this.DEFAULT = {
|
|
gyro_lowpass_hz: 100,
|
|
gyro_lowpass_dyn_min_hz: 150,
|
|
gyro_lowpass_dyn_max_hz: 450,
|
|
gyro_lowpass_type: this.FILTER_TYPE_FLAGS.PT1,
|
|
gyro_lowpass2_hz: 300,
|
|
gyro_lowpass2_type: this.FILTER_TYPE_FLAGS.PT1,
|
|
gyro_notch_cutoff: 300,
|
|
gyro_notch_hz: 400,
|
|
gyro_notch2_cutoff: 100,
|
|
gyro_notch2_hz: 200,
|
|
gyro_rpm_notch_harmonics: 3,
|
|
gyro_rpm_notch_min_hz: 100,
|
|
dterm_lowpass_hz: 100,
|
|
dterm_lowpass_dyn_min_hz: 150,
|
|
dterm_lowpass_dyn_max_hz: 250,
|
|
dyn_lpf_curve_expo: 5,
|
|
dterm_lowpass_type: this.FILTER_TYPE_FLAGS.PT1,
|
|
dterm_lowpass2_hz: 200,
|
|
dterm_lowpass2_type: this.FILTER_TYPE_FLAGS.BIQUAD,
|
|
dterm_notch_cutoff: 160,
|
|
dterm_notch_hz: 260,
|
|
yaw_lowpass_hz: 100,
|
|
dyn_notch_q: 120,
|
|
dyn_notch_width_percent: 8,
|
|
dyn_notch_count: 3,
|
|
dyn_notch_q_rpm: 500, // default with rpm filtering
|
|
dyn_notch_count_rpm: 1,
|
|
dyn_notch_min_hz: 150,
|
|
dyn_notch_max_hz: 600,
|
|
};
|
|
|
|
this.DEFAULT_PIDS = [42, 85, 35, 20, 90, 46, 90, 38, 22, 95, 30, 90, 0, 0, 90];
|
|
|
|
this.VTX_DEVICE_STATUS = null;
|
|
|
|
this.TUNING_SLIDERS = {
|
|
slider_pd_ratio: 0,
|
|
slider_pd_gain: 0,
|
|
slider_feedforward_gain: 0,
|
|
slider_master_multiplier: 0,
|
|
slider_dterm_filter: 0,
|
|
slider_dterm_filter_multiplier: 0,
|
|
slider_gyro_filter: 0,
|
|
slider_gyro_filter_multiplier: 0,
|
|
// introduced in 4.3
|
|
slider_pids_mode: 0,
|
|
slider_d_gain: 0,
|
|
slider_pi_gain: 0,
|
|
slider_dmax_gain: 0,
|
|
slider_i_gain: 0,
|
|
slider_roll_pitch_ratio: 0,
|
|
slider_pitch_pi_gain: 0,
|
|
|
|
slider_pids_valid: 0,
|
|
slider_gyro_valid: 0,
|
|
slider_dterm_valid: 0,
|
|
};
|
|
|
|
this.DEFAULT_TUNING_SLIDERS = {
|
|
slider_pids_mode: 2,
|
|
slider_d_gain: 100,
|
|
slider_pi_gain: 100,
|
|
slider_feedforward_gain: 100,
|
|
slider_dmax_gain: 100,
|
|
slider_i_gain: 100,
|
|
slider_roll_pitch_ratio: 100,
|
|
slider_pitch_pi_gain: 100,
|
|
slider_master_multiplier: 100,
|
|
|
|
slider_dterm_filter: 1,
|
|
slider_dterm_filter_multiplier: 100,
|
|
slider_gyro_filter: 1,
|
|
slider_gyro_filter_multiplier: 100,
|
|
|
|
slider_pids_valid: 1,
|
|
slider_gyro_valid: 1,
|
|
slider_dterm_valid: 1,
|
|
};
|
|
},
|
|
|
|
getSerialRxTypes: () => {
|
|
const apiVersion = FC.CONFIG.apiVersion;
|
|
|
|
// defaults
|
|
const serialRxTypes = [
|
|
"SPEKTRUM1024",
|
|
"SPEKTRUM2048",
|
|
"SBUS",
|
|
"SUMD",
|
|
"SUMH",
|
|
"XBUS_MODE_B",
|
|
"XBUS_MODE_B_RJ01",
|
|
"IBUS",
|
|
"JETIEXBUS",
|
|
"CRSF",
|
|
"SPEKTRUM2048/SRXL",
|
|
"TARGET_CUSTOM",
|
|
"FPORT",
|
|
"SPEKTRUM SRXL2",
|
|
"IRC GHOST",
|
|
];
|
|
|
|
if (semver.gte(apiVersion, API_VERSION_1_46)) {
|
|
// Default to NONE and move SPEKTRUM1024 to the end (firmware PR #12500)
|
|
serialRxTypes[0] = "NONE";
|
|
serialRxTypes.push("SPEKTRUM1024");
|
|
}
|
|
|
|
return serialRxTypes;
|
|
},
|
|
|
|
getSupportedSerialRxTypes: () => {
|
|
if (FC.CONFIG.buildOptions?.length) {
|
|
const options = FC.CONFIG.buildOptions;
|
|
let supportedRxTypes = ["NONE"];
|
|
if (options.includes("USE_SERIALRX_TARGET_CUSTOM")) {
|
|
supportedRxTypes.push("TARGET_CUSTOM");
|
|
}
|
|
if (options.includes("USE_SERIALRX_SPEKTRUM")) {
|
|
supportedRxTypes.push("SPEKTRUM1024");
|
|
supportedRxTypes.push("SPEKTRUM2048");
|
|
supportedRxTypes.push("SPEKTRUM2048/SRXL");
|
|
}
|
|
if (options.includes("USE_SERIALRX_SBUS")) {
|
|
supportedRxTypes.push("SBUS");
|
|
}
|
|
if (options.includes("USE_SERIALRX_SUMD")) {
|
|
supportedRxTypes.push("SUMD");
|
|
}
|
|
if (options.includes("USE_SERIALRX_SUMH")) {
|
|
supportedRxTypes.push("SUMH");
|
|
}
|
|
if (options.includes("USE_SERIALRX_XBUS")) {
|
|
supportedRxTypes.push("XBUS_MODE_B");
|
|
supportedRxTypes.push("XBUS_MODE_B_RJ01");
|
|
}
|
|
if (options.includes("USE_SERIALRX_IBUS")) {
|
|
supportedRxTypes.push("IBUS");
|
|
}
|
|
if (options.includes("USE_SERIALRX_JETIEXBUS")) {
|
|
supportedRxTypes.push("JETIEXBUS");
|
|
}
|
|
if (options.includes("USE_SERIALRX_CRSF")) {
|
|
supportedRxTypes.push("CRSF");
|
|
}
|
|
if (options.includes("USE_SERIALRX_FPORT")) {
|
|
supportedRxTypes.push("FPORT");
|
|
}
|
|
if (options.includes("USE_SERIALRX_SRXL2")) {
|
|
supportedRxTypes.push("SPEKTRUM SRXL2");
|
|
}
|
|
if (options.includes("USE_SERIALRX_GHST")) {
|
|
supportedRxTypes.push("IRC GHOST");
|
|
}
|
|
return supportedRxTypes;
|
|
}
|
|
|
|
return FC.getSerialRxTypes();
|
|
},
|
|
|
|
calculateHardwareName() {
|
|
let name;
|
|
if (this.CONFIG.targetName) {
|
|
name = this.CONFIG.targetName;
|
|
} else {
|
|
name = this.CONFIG.boardIdentifier;
|
|
}
|
|
|
|
if (this.CONFIG.boardName && this.CONFIG.boardName !== name) {
|
|
name = `${this.CONFIG.boardName}(${name})`;
|
|
}
|
|
|
|
if (this.CONFIG.manufacturerId) {
|
|
name = `${this.CONFIG.manufacturerId}/${name}`;
|
|
}
|
|
|
|
this.CONFIG.hardwareName = name;
|
|
},
|
|
|
|
MCU_TYPES: {
|
|
0: "SIMULATOR",
|
|
1: "F40X",
|
|
2: "F411",
|
|
3: "F446",
|
|
4: "F722",
|
|
5: "F745",
|
|
6: "F746",
|
|
7: "F765",
|
|
8: "H750",
|
|
9: "H743_REV_UNKNOWN",
|
|
10: "H743_REV_Y",
|
|
11: "H743_REV_X",
|
|
12: "H743_REV_V",
|
|
13: "H7A3",
|
|
14: "H723_725",
|
|
15: "G474",
|
|
16: "H730",
|
|
17: "AT32F435G",
|
|
18: "APM32F405",
|
|
19: "APM32F407",
|
|
20: "AT32F435M",
|
|
21: "RP2350B",
|
|
255: "Unknown MCU",
|
|
},
|
|
|
|
getMcuType() {
|
|
return this.MCU_TYPES[this.CONFIG.mcuTypeId];
|
|
},
|
|
|
|
CONFIGURATION_STATES: {
|
|
DEFAULTS_BARE: 0,
|
|
DEFAULTS_CUSTOM: 1,
|
|
CONFIGURED: 2,
|
|
},
|
|
|
|
TARGET_CAPABILITIES_FLAGS: {
|
|
HAS_VCP: 0,
|
|
HAS_SOFTSERIAL: 1,
|
|
IS_UNIFIED: 2,
|
|
HAS_FLASH_BOOTLOADER: 3,
|
|
SUPPORTS_CUSTOM_DEFAULTS: 4,
|
|
HAS_CUSTOM_DEFAULTS: 5,
|
|
SUPPORTS_RX_BIND: 6,
|
|
},
|
|
|
|
CONFIGURATION_PROBLEM_FLAGS: {
|
|
ACC_NEEDS_CALIBRATION: 0,
|
|
MOTOR_PROTOCOL_DISABLED: 1,
|
|
},
|
|
|
|
processBuildOptions() {
|
|
const buildOptions = [];
|
|
|
|
for (const [key, value] of Object.entries(FIRMWARE_BUILD_OPTIONS)) {
|
|
for (const option of this.CONFIG.buildOptions) {
|
|
if (option === value) {
|
|
buildOptions.push(key);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
this.CONFIG.buildOptions = buildOptions;
|
|
},
|
|
|
|
boardHasVcp() {
|
|
return bit_check(this.CONFIG.targetCapabilities, this.TARGET_CAPABILITIES_FLAGS.HAS_VCP);
|
|
},
|
|
|
|
boardHasFlashBootloader() {
|
|
return bit_check(this.CONFIG.targetCapabilities, this.TARGET_CAPABILITIES_FLAGS.HAS_FLASH_BOOTLOADER);
|
|
},
|
|
|
|
FILTER_TYPE_FLAGS: {
|
|
PT1: 0,
|
|
BIQUAD: 1,
|
|
},
|
|
|
|
getFilterDefaults() {
|
|
const versionFilterDefaults = this.DEFAULT;
|
|
// Change filter defaults depending on API version here
|
|
versionFilterDefaults.gyro_lowpass_hz = 150;
|
|
versionFilterDefaults.gyro_lowpass_type = this.FILTER_TYPE_FLAGS.BIQUAD;
|
|
versionFilterDefaults.gyro_lowpass2_hz = 0;
|
|
versionFilterDefaults.gyro_lowpass2_type = this.FILTER_TYPE_FLAGS.BIQUAD;
|
|
versionFilterDefaults.dterm_lowpass_hz = 150;
|
|
versionFilterDefaults.dterm_lowpass_type = this.FILTER_TYPE_FLAGS.BIQUAD;
|
|
versionFilterDefaults.dterm_lowpass2_hz = 150;
|
|
versionFilterDefaults.dterm_lowpass2_type = this.FILTER_TYPE_FLAGS.BIQUAD;
|
|
|
|
// Introduced in 1.42
|
|
versionFilterDefaults.gyro_lowpass_hz = 200;
|
|
versionFilterDefaults.gyro_lowpass_dyn_min_hz = 200;
|
|
versionFilterDefaults.gyro_lowpass_dyn_max_hz = 500;
|
|
versionFilterDefaults.gyro_lowpass_type = this.FILTER_TYPE_FLAGS.PT1;
|
|
versionFilterDefaults.gyro_lowpass2_hz = 250;
|
|
versionFilterDefaults.gyro_lowpass2_type = this.FILTER_TYPE_FLAGS.PT1;
|
|
versionFilterDefaults.dterm_lowpass_hz = 150;
|
|
versionFilterDefaults.dterm_lowpass_dyn_min_hz = 70;
|
|
versionFilterDefaults.dterm_lowpass_dyn_max_hz = 170;
|
|
versionFilterDefaults.dterm_lowpass_type = this.FILTER_TYPE_FLAGS.PT1;
|
|
versionFilterDefaults.dterm_lowpass2_hz = 150;
|
|
versionFilterDefaults.dterm_lowpass2_type = this.FILTER_TYPE_FLAGS.PT1;
|
|
|
|
// Introduced in 1.44
|
|
versionFilterDefaults.dyn_notch_q = 300;
|
|
versionFilterDefaults.gyro_lowpass_hz = 250;
|
|
versionFilterDefaults.gyro_lowpass_dyn_min_hz = 250;
|
|
versionFilterDefaults.gyro_lowpass2_hz = 500;
|
|
versionFilterDefaults.dterm_lowpass_hz = 75;
|
|
versionFilterDefaults.dterm_lowpass_dyn_min_hz = 75;
|
|
versionFilterDefaults.dterm_lowpass_dyn_max_hz = 150;
|
|
|
|
// Introduced in 1.45
|
|
if (semver.gte(this.CONFIG.apiVersion, API_VERSION_1_45)) {
|
|
versionFilterDefaults.dyn_notch_min_hz = 100;
|
|
}
|
|
|
|
return versionFilterDefaults;
|
|
},
|
|
|
|
getPidDefaults() {
|
|
// if defaults change they should go here
|
|
// Introduced in 1.44
|
|
const versionPidDefaults = [45, 80, 30, 40, 120, 47, 84, 34, 46, 125, 45, 80, 0, 0, 120];
|
|
|
|
return versionPidDefaults;
|
|
},
|
|
|
|
getSliderDefaults() {
|
|
return this.DEFAULT_TUNING_SLIDERS;
|
|
},
|
|
|
|
RATES_TYPE: {
|
|
BETAFLIGHT: 0,
|
|
RACEFLIGHT: 1,
|
|
KISS: 2,
|
|
ACTUAL: 3,
|
|
QUICKRATES: 4,
|
|
},
|
|
};
|
|
|
|
export default FC;
|