Merge branch 'development' of https://github.com/betaflight/betaflight into rc_rate_yaw_adjustment

src/main/fc/rc_controls.c

@@ -0,0 +1,727 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <math.h>
+
+#include "platform.h"
+
+#include "build/build_config.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "config/config.h"
+
+#include "fc/runtime_config.h"
+
+#include "drivers/system.h"
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+
+#include "sensors/barometer.h"
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/acceleration.h"
+
+#include "rx/rx.h"
+
+#include "io/gps.h"
+#include "io/beeper.h"
+#include "io/escservo.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "io/vtx.h"
+
+#include "io/display.h"
+
+#include "flight/pid.h"
+#include "flight/navigation.h"
+#include "flight/failsafe.h"
+
+#include "blackbox/blackbox.h"
+
+#include "fc/mw.h"
+
+static escAndServoConfig_t *escAndServoConfig;
+static pidProfile_t *pidProfile;
+
+// true if arming is done via the sticks (as opposed to a switch)
+static bool isUsingSticksToArm = true;
+
+int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
+int16_t rcCommandSmooth[4];
+
+uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
+
+bool isAirmodeActive(void) {
+    return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
+}
+
+bool isSuperExpoActive(void) {
+    return (feature(FEATURE_SUPEREXPO_RATES));
+}
+
+void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
+#ifndef BLACKBOX
+    UNUSED(adjustmentFunction);
+    UNUSED(newValue);
+#else
+    if (feature(FEATURE_BLACKBOX)) {
+        flightLogEvent_inflightAdjustment_t eventData;
+        eventData.adjustmentFunction = adjustmentFunction;
+        eventData.newValue = newValue;
+        eventData.floatFlag = false;
+        blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
+    }
+#endif
+}
+
+void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
+#ifndef BLACKBOX
+    UNUSED(adjustmentFunction);
+    UNUSED(newFloatValue);
+#else
+    if (feature(FEATURE_BLACKBOX)) {
+        flightLogEvent_inflightAdjustment_t eventData;
+        eventData.adjustmentFunction = adjustmentFunction;
+        eventData.newFloatValue = newFloatValue;
+        eventData.floatFlag = true;
+        blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
+    }
+#endif
+}
+
+bool isUsingSticksForArming(void)
+{
+    return isUsingSticksToArm;
+}
+
+bool areSticksInApModePosition(uint16_t ap_mode)
+{
+    return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
+}
+
+throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
+{
+    if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
+        if ((rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
+            return THROTTLE_LOW;
+    } else {
+        if (rcData[THROTTLE] < rxConfig->mincheck)
+            return THROTTLE_LOW;
+    }
+
+    return THROTTLE_HIGH;
+}
+
+void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
+{
+    static uint8_t rcDelayCommand;      // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
+    static uint8_t rcSticks;            // this hold sticks position for command combos
+    static uint8_t rcDisarmTicks;       // this is an extra guard for disarming through switch to prevent that one frame can disarm it
+    uint8_t stTmp = 0;
+    int i;
+
+    // ------------------ STICKS COMMAND HANDLER --------------------
+    // checking sticks positions
+    for (i = 0; i < 4; i++) {
+        stTmp >>= 2;
+        if (rcData[i] > rxConfig->mincheck)
+            stTmp |= 0x80;  // check for MIN
+        if (rcData[i] < rxConfig->maxcheck)
+            stTmp |= 0x40;  // check for MAX
+    }
+    if (stTmp == rcSticks) {
+        if (rcDelayCommand < 250)
+            rcDelayCommand++;
+    } else
+        rcDelayCommand = 0;
+    rcSticks = stTmp;
+
+    // perform actions
+    if (!isUsingSticksToArm) {
+
+        if (IS_RC_MODE_ACTIVE(BOXARM)) {
+            rcDisarmTicks = 0;
+            // Arming via ARM BOX
+            if (throttleStatus == THROTTLE_LOW) {
+                if (ARMING_FLAG(OK_TO_ARM)) {
+                    mwArm();
+                }
+            }
+        } else {
+            // Disarming via ARM BOX
+
+            if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive()  ) {
+                rcDisarmTicks++;
+                if (rcDisarmTicks > 3) {
+                    if (disarm_kill_switch) {
+                        mwDisarm();
+                    } else if (throttleStatus == THROTTLE_LOW) {
+                        mwDisarm();
+                    }
+                }
+            }
+        }
+    }
+
+    if (rcDelayCommand != 20) {
+        return;
+    }
+
+    if (isUsingSticksToArm) {
+        // Disarm on throttle down + yaw
+        if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
+            if (ARMING_FLAG(ARMED))
+                mwDisarm();
+            else {
+                beeper(BEEPER_DISARM_REPEAT);    // sound tone while stick held
+                rcDelayCommand = 0;              // reset so disarm tone will repeat
+            }
+        }
+    }
+
+    if (ARMING_FLAG(ARMED)) {
+        // actions during armed
+        return;
+    }
+
+    // actions during not armed
+    i = 0;
+
+    if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
+        // GYRO calibration
+        gyroSetCalibrationCycles();
+
+#ifdef GPS
+        if (feature(FEATURE_GPS)) {
+            GPS_reset_home_position();
+        }
+#endif
+
+#ifdef BARO
+        if (sensors(SENSOR_BARO))
+            baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
+#endif
+
+        return;
+    }
+
+    if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
+        // Inflight ACC Calibration
+        handleInflightCalibrationStickPosition();
+        return;
+    }
+
+    // Multiple configuration profiles
+    if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO)          // ROLL left  -> Profile 1
+        i = 1;
+    else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE)     // PITCH up   -> Profile 2
+        i = 2;
+    else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI)     // ROLL right -> Profile 3
+        i = 3;
+    if (i) {
+        changeProfile(i - 1);
+        return;
+    }
+
+    if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_HI) {
+        saveConfigAndNotify();
+    }
+
+    if (isUsingSticksToArm) {
+
+        if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
+            // Arm via YAW
+            mwArm();
+            return;
+        }
+    }
+
+    if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
+        // Calibrating Acc
+        accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
+        return;
+    }
+
+
+    if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
+        // Calibrating Mag
+        ENABLE_STATE(CALIBRATE_MAG);
+        return;
+    }
+
+
+    // Accelerometer Trim
+
+    rollAndPitchTrims_t accelerometerTrimsDelta;
+    memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
+
+    bool shouldApplyRollAndPitchTrimDelta = false;
+    if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
+        accelerometerTrimsDelta.values.pitch = 2;
+        shouldApplyRollAndPitchTrimDelta = true;
+    } else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
+        accelerometerTrimsDelta.values.pitch = -2;
+        shouldApplyRollAndPitchTrimDelta = true;
+    } else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
+        accelerometerTrimsDelta.values.roll = 2;
+        shouldApplyRollAndPitchTrimDelta = true;
+    } else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
+        accelerometerTrimsDelta.values.roll = -2;
+        shouldApplyRollAndPitchTrimDelta = true;
+    }
+    if (shouldApplyRollAndPitchTrimDelta) {
+        applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);
+        rcDelayCommand = 0; // allow autorepetition
+        return;
+    }
+
+#ifdef DISPLAY
+    if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) {
+        displayDisablePageCycling();
+    }
+
+    if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
+        displayEnablePageCycling();
+    }
+#endif
+
+#ifdef VTX
+    if (rcSticks ==  THR_HI + YAW_LO + PIT_CE + ROL_HI) {
+        vtxIncrementBand();
+    }
+    if (rcSticks ==  THR_HI + YAW_LO + PIT_CE + ROL_LO) {
+        vtxDecrementBand();
+    }
+    if (rcSticks ==  THR_HI + YAW_HI + PIT_CE + ROL_HI) {
+        vtxIncrementChannel();
+    }
+    if (rcSticks ==  THR_HI + YAW_HI + PIT_CE + ROL_LO) {
+        vtxDecrementChannel();
+    }
+#endif
+
+}
+
+bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId)
+{
+    uint8_t index;
+
+    for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
+        modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
+
+        if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range) {
+    if (!IS_RANGE_USABLE(range)) {
+        return false;
+    }
+
+    uint16_t channelValue = constrain(rcData[auxChannelIndex + NON_AUX_CHANNEL_COUNT], CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX - 1);
+    return (channelValue >= 900 + (range->startStep * 25) &&
+            channelValue < 900 + (range->endStep * 25));
+}
+
+void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
+{
+    rcModeActivationMask = 0;
+
+    uint8_t index;
+
+    for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
+        modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
+
+        if (isRangeActive(modeActivationCondition->auxChannelIndex, &modeActivationCondition->range)) {
+            ACTIVATE_RC_MODE(modeActivationCondition->modeId);
+        }
+    }
+}
+
+uint8_t adjustmentStateMask = 0;
+
+#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
+#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
+
+#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
+
+// sync with adjustmentFunction_e
+static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
+    {
+        .adjustmentFunction = ADJUSTMENT_RC_RATE,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_RC_EXPO,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_YAW_RATE,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_YAW_P,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_YAW_I,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_YAW_D,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
+        .mode = ADJUSTMENT_MODE_SELECT,
+        .data = { .selectConfig = { .switchPositions = 3 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_RATE,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_ROLL_RATE,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_P,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_I,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_D,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_ROLL_P,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_ROLL_I,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_ROLL_D,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
+    }
+};
+
+#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
+
+adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
+
+static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
+    adjustmentState_t *adjustmentState = &adjustmentStates[index];
+
+    if (adjustmentState->config == adjustmentConfig) {
+        // already configured
+        return;
+    }
+    adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
+    adjustmentState->config = adjustmentConfig;
+    adjustmentState->timeoutAt = 0;
+
+    MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
+}
+
+static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
+    int newValue;
+
+    if (delta > 0) {
+        beeperConfirmationBeeps(2);
+    } else {
+        beeperConfirmationBeeps(1);
+    }
+    switch(adjustmentFunction) {
+        case ADJUSTMENT_RC_RATE:
+            newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in serial_cli.c
+            controlRateConfig->rcRate8 = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
+        break;
+        case ADJUSTMENT_RC_EXPO:
+            newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
+            controlRateConfig->rcExpo8 = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
+        break;
+        case ADJUSTMENT_THROTTLE_EXPO:
+            newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
+            controlRateConfig->thrExpo8 = newValue;
+            generateThrottleCurve(controlRateConfig, escAndServoConfig);
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
+        break;
+        case ADJUSTMENT_PITCH_ROLL_RATE:
+        case ADJUSTMENT_PITCH_RATE:
+            newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
+            controlRateConfig->rates[FD_PITCH] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
+            if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
+                break;
+            }
+            // follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
+        case ADJUSTMENT_ROLL_RATE:
+            newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
+            controlRateConfig->rates[FD_ROLL] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
+            break;
+        case ADJUSTMENT_YAW_RATE:
+            newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
+            controlRateConfig->rates[FD_YAW] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
+            break;
+        case ADJUSTMENT_PITCH_ROLL_P:
+        case ADJUSTMENT_PITCH_P:
+            newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            pidProfile->P8[PIDPITCH] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
+
+            if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
+                break;
+            }
+            // follow though for combined ADJUSTMENT_PITCH_ROLL_P
+        case ADJUSTMENT_ROLL_P:
+            newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            pidProfile->P8[PIDROLL] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
+            break;
+        case ADJUSTMENT_PITCH_ROLL_I:
+        case ADJUSTMENT_PITCH_I:
+            newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            pidProfile->I8[PIDPITCH] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
+
+            if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
+                break;
+            }
+            // follow though for combined ADJUSTMENT_PITCH_ROLL_I
+        case ADJUSTMENT_ROLL_I:
+            newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            pidProfile->I8[PIDROLL] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
+            break;
+        case ADJUSTMENT_PITCH_ROLL_D:
+        case ADJUSTMENT_PITCH_D:
+            newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            pidProfile->D8[PIDPITCH] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
+
+            if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
+                break;
+            }
+            // follow though for combined ADJUSTMENT_PITCH_ROLL_D
+        case ADJUSTMENT_ROLL_D:
+            newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            pidProfile->D8[PIDROLL] = newValue;
+                blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
+            break;
+        case ADJUSTMENT_YAW_P:
+            newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            pidProfile->P8[PIDYAW] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
+            break;
+        case ADJUSTMENT_YAW_I:
+            newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            pidProfile->I8[PIDYAW] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
+            break;
+        case ADJUSTMENT_YAW_D:
+            newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            pidProfile->D8[PIDYAW] = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
+            break;
+        case ADJUSTMENT_RC_RATE_YAW:
+            newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in serial_cli.c
+            controlRateConfig->rcYawRate8 = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
+            break;
+        default:
+            break;
+    };
+}
+
+static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
+{
+    bool applied = false;
+
+    switch(adjustmentFunction) {
+        case ADJUSTMENT_RATE_PROFILE:
+            if (getCurrentControlRateProfile() != position) {
+                changeControlRateProfile(position);
+                blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
+                applied = true;
+            }
+            break;
+    }
+
+    if (applied) {
+        beeperConfirmationBeeps(position + 1);
+    }
+}
+
+#define RESET_FREQUENCY_2HZ (1000 / 2)
+
+void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig)
+{
+    uint8_t adjustmentIndex;
+    uint32_t now = millis();
+
+    bool canUseRxData = rxIsReceivingSignal();
+
+
+    for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
+        adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
+
+        if (!adjustmentState->config) {
+            continue;
+        }
+        uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
+        if (adjustmentFunction == ADJUSTMENT_NONE) {
+            continue;
+        }
+
+        int32_t signedDiff = now - adjustmentState->timeoutAt;
+        bool canResetReadyStates = signedDiff >= 0L;
+
+        if (canResetReadyStates) {
+            adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
+            MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
+        }
+
+        if (!canUseRxData) {
+            continue;
+        }
+
+        uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
+
+        if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
+            int delta;
+            if (rcData[channelIndex] > rxConfig->midrc + 200) {
+                delta = adjustmentState->config->data.stepConfig.step;
+            } else if (rcData[channelIndex] < rxConfig->midrc - 200) {
+                delta = 0 - adjustmentState->config->data.stepConfig.step;
+            } else {
+                // returning the switch to the middle immediately resets the ready state
+                MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
+                adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
+                continue;
+            }
+            if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
+                continue;
+            }
+
+            applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
+        } else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
+            uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
+            uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
+
+            applySelectAdjustment(adjustmentFunction, position);
+        }
+        MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
+    }
+}
+
+void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
+{
+    uint8_t index;
+
+    for (index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
+        adjustmentRange_t *adjustmentRange = &adjustmentRanges[index];
+
+        if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
+
+            const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
+
+            configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
+        }
+    }
+}
+
+int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
+    return MIN(ABS(rcData[axis] - midrc), 500);
+}
+
+void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse)
+{
+    escAndServoConfig = escAndServoConfigToUse;
+    pidProfile = pidProfileToUse;
+
+    isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
+}
+
+void resetAdjustmentStates(void)
+{
+    memset(adjustmentStates, 0, sizeof(adjustmentStates));
+}
+