mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-23 16:25:22 +03:00
e3041286a3
Remove white spaces Remove white space2 Revert and add suggested changes Some cosmetic changes MinHz Changes Fix MinHz Max
692 lines
23 KiB
JavaScript
692 lines
23 KiB
JavaScript
'use strict';
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// define all the global variables that are uses to hold FC state
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var CONFIG;
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var BF_CONFIG; // Remove when we officialy retire BF 3.1
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var FEATURE_CONFIG;
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var BEEPER_CONFIG;
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var MIXER_CONFIG;
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var BOARD_ALIGNMENT_CONFIG;
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var LED_STRIP;
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var LED_COLORS;
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var LED_MODE_COLORS;
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var PID;
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var PID_names;
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var PIDS_ACTIVE;
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var PIDs;
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var RC_MAP;
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var RC;
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var RC_tuning;
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var AUX_CONFIG;
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var AUX_CONFIG_IDS;
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var MODE_RANGES;
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var MODE_RANGES_EXTRA;
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var ADJUSTMENT_RANGES;
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var SERVO_CONFIG;
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var SERVO_RULES;
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var SERIAL_CONFIG;
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var SENSOR_DATA;
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var MOTOR_DATA;
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var MOTOR_TELEMETRY_DATA;
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var SERVO_DATA;
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var GPS_DATA;
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var ANALOG;
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var VOLTAGE_METERS;
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var VOLTAGE_METER_CONFIGS;
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var CURRENT_METERS;
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var CURRENT_METER_CONFIGS;
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var BATTERY_STATE;
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var BATTERY_CONFIG;
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var ARMING_CONFIG;
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var FC_CONFIG;
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var MISC; // DEPRECATED
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var MOTOR_CONFIG;
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var GPS_CONFIG;
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var COMPASS_CONFIG;
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var RSSI_CONFIG;
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var MOTOR_3D_CONFIG;
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var DATAFLASH;
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var SDCARD;
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var BLACKBOX;
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var TRANSPONDER;
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var RC_DEADBAND_CONFIG;
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var SENSOR_ALIGNMENT;
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var RX_CONFIG;
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var FAILSAFE_CONFIG;
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var GPS_RESCUE;
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var RXFAIL_CONFIG;
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var PID_ADVANCED_CONFIG;
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var FILTER_CONFIG;
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var ADVANCED_TUNING_ACTIVE;
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var ADVANCED_TUNING;
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var SENSOR_CONFIG;
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var COPY_PROFILE;
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var VTX_CONFIG;
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var VTXTABLE_BAND;
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var VTXTABLE_POWERLEVEL;
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var MULTIPLE_MSP;
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var DEFAULT;
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var DEFAULT_PIDS;
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var FC = {
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resetState: function () {
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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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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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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: '',
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displayName: 'JOE PILOT',
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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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sampleRateHz: 0,
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};
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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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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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FEATURE_CONFIG = {
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features: 0,
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};
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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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MIXER_CONFIG = {
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mixer: 0,
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reverseMotorDir: 0,
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};
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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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LED_STRIP = [];
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LED_COLORS = [];
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LED_MODE_COLORS = [];
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PID = {
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controller: 0
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};
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PID_names = [];
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PIDS_ACTIVE = new Array(10);
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PIDs = new Array(10);
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for (var i = 0; i < 10; i++) {
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PIDS_ACTIVE[i] = new Array(3);
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PIDs[i] = new Array(3);
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}
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RC_MAP = [];
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// defaults
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// roll, pitch, yaw, throttle, aux 1, ... aux n
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RC = {
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active_channels: 0,
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channels: new Array(32),
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};
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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,
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throttle_MID: 0,
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throttle_EXPO: 0,
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dynamic_THR_breakpoint: 0,
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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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roll_rate_limit: 1998,
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pitch_rate_limit: 1998,
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yaw_rate_limit: 1998,
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};
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AUX_CONFIG = [];
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AUX_CONFIG_IDS = [];
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MODE_RANGES = [];
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MODE_RANGES_EXTRA = [];
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ADJUSTMENT_RANGES = [];
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SERVO_CONFIG = [];
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SERVO_RULES = [];
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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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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],
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};
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MOTOR_DATA = new Array(8);
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SERVO_DATA = new Array(8);
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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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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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distanceToHome: 0,
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ditectionToHome: 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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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: Date.now() // FIXME this code lies, it's never been received at this point
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};
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VOLTAGE_METERS = [];
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VOLTAGE_METER_CONFIGS = [];
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CURRENT_METERS = [];
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CURRENT_METER_CONFIGS = [];
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BATTERY_STATE = {};
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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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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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};
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FC_CONFIG = {
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loopTime: 0
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};
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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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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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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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COMPASS_CONFIG = {
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mag_declination: 0,
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};
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RSSI_CONFIG = {
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channel: 0,
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};
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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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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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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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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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};
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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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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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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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};
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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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digitalIdlePercent: 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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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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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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gyro_rpm_notch_harmonics: 0,
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gyro_rpm_notch_min_hz: 0,
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};
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ADVANCED_TUNING = {
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rollPitchItermIgnoreRate: 0,
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yawItermIgnoreRate: 0,
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yaw_p_limit: 0,
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deltaMethod: 0,
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vbatPidCompensation: 0,
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dtermSetpointTransition: 0,
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dtermSetpointWeight: 0,
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toleranceBand: 0,
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toleranceBandReduction: 0,
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itermThrottleGain: 0,
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pidMaxVelocity: 0,
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pidMaxVelocityYaw: 0,
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levelAngleLimit: 0,
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levelSensitivity: 0,
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itermThrottleThreshold: 0,
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itermAcceleratorGain: 0,
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itermRotation: 0,
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smartFeedforward: 0,
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itermRelax: 0,
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itermRelaxType: 0,
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itermRelaxCutoff: 0,
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absoluteControlGain: 0,
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throttleBoost: 0,
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acroTrainerAngleLimit: 0,
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feedforwardRoll: 0,
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feedforwardPitch: 0,
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feedforwardYaw: 0,
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feedforwardTransition: 0,
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antiGravityMode: 0,
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dMinRoll: 0,
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dMinPitch: 0,
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dMinYaw: 0,
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dMinGain: 0,
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dMinAdvance: 0,
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useIntegratedYaw: 0,
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integratedYawRelax: 0,
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};
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ADVANCED_TUNING_ACTIVE = { ...ADVANCED_TUNING };
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SENSOR_CONFIG = {
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acc_hardware: 0,
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baro_hardware: 0,
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mag_hardware: 0,
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};
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RX_CONFIG = {
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serialrx_provider: 0,
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stick_max: 0,
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stick_center: 0,
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stick_min: 0,
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spektrum_sat_bind: 0,
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rx_min_usec: 0,
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rx_max_usec: 0,
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rcInterpolation: 0,
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rcInterpolationInterval: 0,
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rcInterpolationChannels: 0,
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airModeActivateThreshold: 0,
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rxSpiProtocol: 0,
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rxSpiId: 0,
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rxSpiRfChannelCount: 0,
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fpvCamAngleDegrees: 0,
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rcSmoothingType: 0,
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rcSmoothingInputCutoff: 0,
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rcSmoothingDerivativeCutoff: 0,
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rcSmoothingInputType: 0,
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rcSmoothingDerivativeType: 0,
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rcSmoothingAutoSmoothness: 0,
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usbCdcHidType: 0,
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};
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FAILSAFE_CONFIG = {
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failsafe_delay: 0,
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failsafe_off_delay: 0,
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failsafe_throttle: 0,
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failsafe_switch_mode: 0,
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failsafe_throttle_low_delay: 0,
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failsafe_procedure: 0,
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};
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GPS_RESCUE = {
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angle: 0,
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initialAltitudeM: 0,
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descentDistanceM: 0,
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rescueGroundspeed: 0,
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throttleMin: 0,
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throttleMax: 0,
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throttleHover: 0,
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sanityChecks: 0,
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minSats: 0,
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ascendRate: 0,
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descendRate: 0,
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allowArmingWithoutFix: 0,
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altitudeMode: 0,
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};
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RXFAIL_CONFIG = [];
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VTX_CONFIG = {
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vtx_type: 0,
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vtx_band: 0,
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vtx_channel: 0,
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vtx_power: 0,
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vtx_pit_mode: false,
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vtx_frequency: 0,
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vtx_device_ready: false,
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vtx_low_power_disarm: 0,
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vtx_pit_mode_frequency: 0,
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vtx_table_available: false,
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vtx_table_bands: 0,
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vtx_table_channels: 0,
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vtx_table_powerlevels: 0,
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vtx_table_clear: false,
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};
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VTXTABLE_BAND = {
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vtxtable_band_number: 0,
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vtxtable_band_name: '',
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vtxtable_band_letter: '',
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vtxtable_band_is_factory_band: false,
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vtxtable_band_frequencies: [],
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};
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VTXTABLE_POWERLEVEL = {
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vtxtable_powerlevel_number: 0,
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vtxtable_powerlevel_value: 0,
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vtxtable_powerlevel_label: 0,
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};
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MULTIPLE_MSP = {
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msp_commands: [],
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};
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DEFAULT = {
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gyro_lowpass_hz: 100,
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gyro_lowpass_dyn_min_hz: 150,
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gyro_lowpass_dyn_max_hz: 450,
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gyro_lowpass_type: FC.FILTER_TYPE_FLAGS.PT1,
|
|
gyro_lowpass2_hz: 300,
|
|
gyro_lowpass2_type: FC.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,
|
|
dterm_lowpass_hz: 100,
|
|
dterm_lowpass_dyn_min_hz: 150,
|
|
dterm_lowpass_dyn_max_hz: 250,
|
|
dterm_lowpass_type: FC.FILTER_TYPE_FLAGS.PT1,
|
|
dterm_lowpass2_hz: 150,
|
|
dterm_lowpass2_type: FC.FILTER_TYPE_FLAGS.BIQUAD,
|
|
dterm_notch_cutoff: 160,
|
|
dterm_notch_hz: 260,
|
|
yaw_lowpass_hz: 100,
|
|
};
|
|
|
|
DEFAULT_PIDS = [
|
|
42, 85, 35, 20, 90,
|
|
46, 90, 38, 22, 95,
|
|
30, 90, 0, 0, 90,
|
|
];
|
|
},
|
|
|
|
getHardwareName: function () {
|
|
let name;
|
|
if (CONFIG.targetName) {
|
|
name = CONFIG.targetName;
|
|
} else {
|
|
name = CONFIG.boardIdentifier;
|
|
}
|
|
|
|
if (CONFIG.boardName && CONFIG.boardName !== name) {
|
|
name = CONFIG.boardName + "(" + name + ")";
|
|
}
|
|
|
|
if (CONFIG.manufacturerId) {
|
|
name = CONFIG.manufacturerId + "/" + name;
|
|
}
|
|
|
|
return name;
|
|
},
|
|
|
|
MCU_TYPES: {
|
|
0: "SIMULATOR",
|
|
1: "F103",
|
|
2: "F303",
|
|
3: "F40X",
|
|
4: "F411",
|
|
5: "F446",
|
|
6: "F722",
|
|
7: "F745",
|
|
8: "F746",
|
|
9: "F765",
|
|
255: "Unknown MCU",
|
|
},
|
|
|
|
getMcuType: function () {
|
|
return FC.MCU_TYPES[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,
|
|
},
|
|
|
|
boardHasVcp: function () {
|
|
var hasVcp = false;
|
|
if (semver.gte(CONFIG.apiVersion, "1.37.0")) {
|
|
hasVcp = bit_check(CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.HAS_VCP);
|
|
} else {
|
|
hasVcp = BOARD.find_board_definition(CONFIG.boardIdentifier).vcp;
|
|
}
|
|
|
|
return hasVcp;
|
|
},
|
|
|
|
FILTER_TYPE_FLAGS: {
|
|
PT1: 0,
|
|
BIQUAD: 1,
|
|
},
|
|
|
|
getFilterDefaults: function() {
|
|
var versionFilterDefaults = DEFAULT;
|
|
|
|
if (semver.eq(CONFIG.apiVersion, "1.40.0")) {
|
|
versionFilterDefaults.dterm_lowpass2_hz = 200;
|
|
} else if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
|
|
versionFilterDefaults.gyro_lowpass_hz = 150;
|
|
versionFilterDefaults.gyro_lowpass_type = FC.FILTER_TYPE_FLAGS.BIQUAD;
|
|
versionFilterDefaults.gyro_lowpass2_hz = 0;
|
|
versionFilterDefaults.gyro_lowpass2_type = FC.FILTER_TYPE_FLAGS.BIQUAD;
|
|
versionFilterDefaults.dterm_lowpass_hz = 150;
|
|
versionFilterDefaults.dterm_lowpass_type = FC.FILTER_TYPE_FLAGS.BIQUAD;
|
|
versionFilterDefaults.dterm_lowpass2_hz = 150;
|
|
versionFilterDefaults.dterm_lowpass2_type = FC.FILTER_TYPE_FLAGS.BIQUAD;
|
|
if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
|
|
versionFilterDefaults.gyro_lowpass_hz = 200;
|
|
versionFilterDefaults.gyro_lowpass_dyn_min_hz = 200;
|
|
versionFilterDefaults.gyro_lowpass_dyn_max_hz = 500;
|
|
versionFilterDefaults.gyro_lowpass_type = FC.FILTER_TYPE_FLAGS.PT1;
|
|
versionFilterDefaults.gyro_lowpass2_hz = 250;
|
|
versionFilterDefaults.gyro_lowpass2_type = FC.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 = FC.FILTER_TYPE_FLAGS.PT1;
|
|
versionFilterDefaults.dterm_lowpass2_hz = 150;
|
|
versionFilterDefaults.dterm_lowpass2_type = FC.FILTER_TYPE_FLAGS.PT1;
|
|
}
|
|
}
|
|
return versionFilterDefaults;
|
|
},
|
|
|
|
getPidDefaults: function() {
|
|
var versionPidDefaults = DEFAULT_PIDS;
|
|
// if defaults change they should go here
|
|
return versionPidDefaults;
|
|
},
|
|
};
|