Preparation for conversion to parameter groups 6

src/main/blackbox/blackbox.c

@@ -35,6 +35,7 @@
 #include "common/maths.h"
 #include "common/utils.h"
 
+#include "config/config_master.h"
 #include "config/config_profile.h"
 #include "config/feature.h"
 #include "config/parameter_group.h"
@@ -1183,7 +1184,7 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s",                    "Cleanflight");
         BLACKBOX_PRINT_HEADER_LINE("Firmware revision:%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
         BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s",                 buildDate, buildTime);
-        BLACKBOX_PRINT_HEADER_LINE("Craft name:%s",                       masterConfig.name);
+        BLACKBOX_PRINT_HEADER_LINE("Craft name:%s",                       systemConfig()->name);
         BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d",                    blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
         BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d",                      motorConfig()->minthrottle);
         BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d",                      motorConfig()->maxthrottle);
@@ -1295,8 +1296,8 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d",                motorConfig()->motorPwmProtocol);
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d",                   motorConfig()->motorPwmRate);
         BLACKBOX_PRINT_HEADER_LINE("digitalIdleOffset:%d",          (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d",                       masterConfig.debug_mode);
+        BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d",                       systemConfig()->debug_mode);
-        BLACKBOX_PRINT_HEADER_LINE("features:%d",                         masterConfig.enabledFeatures);
+        BLACKBOX_PRINT_HEADER_LINE("features:%d",                         featureConfig()->enabledFeatures);
 
         default:
             return true;

src/main/config/config_master.h

@@ -20,6 +20,7 @@
 #include <stdlib.h>
 
 #include "config/config_profile.h"
+#include "config/feature.h"
 
 #include "blackbox/blackbox.h"
 
@@ -67,6 +68,8 @@
 #include "sensors/compass.h"
 
 #ifndef USE_PARAMETER_GROUPS
+#define featureConfig(x) (&masterConfig.featureConfig)
+#define systemConfig(x) (&masterConfig.systemConfig)
 #define motorConfig(x) (&masterConfig.motorConfig)
 #define flight3DConfig(x) (&masterConfig.flight3DConfig)
 #define servoConfig(x) (&masterConfig.servoConfig)
@@ -115,6 +118,8 @@
 #define displayPortProfileOled(x) (&masterConfig.displayPortProfileOled)
 
 
+#define featureConfigMutable(x) (&masterConfig.featureConfig)
+#define systemConfigMutable(x) (&masterConfig.systemConfig)
 #define motorConfigMutable(x) (&masterConfig.motorConfig)
 #define flight3DConfigMutable(x) (&masterConfig.flight3DConfig)
 #define servoConfigMutable(x) (&masterConfig.servoConfig)
@@ -180,7 +185,9 @@ typedef struct master_s {
     uint16_t size;
     uint8_t magic_be;                       // magic number, should be 0xBE
 
-    uint32_t enabledFeatures;
+    featureConfig_t featureConfig;
+
+    systemConfig_t systemConfig;
 
     // motor/esc/servo related stuff
     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
@@ -205,7 +212,6 @@ typedef struct master_s {
 
     pidConfig_t pidConfig;
 
-    uint8_t debug_mode;                     // Processing denominator for PID controller vs gyro sampling rate
     uint8_t task_statistics;
 
     gyroConfig_t gyroConfig;
@@ -318,7 +324,6 @@ typedef struct master_s {
     uint32_t beeper_off_flags;
     uint32_t preferred_beeper_off_flags;
 
-    char name[MAX_NAME_LENGTH + 1];
     char boardIdentifier[sizeof(TARGET_BOARD_IDENTIFIER)];
 
     uint8_t magic_ef;                       // magic number, should be 0xEF

src/main/config/feature.c

@@ -21,6 +21,7 @@
 
 #include "platform.h"
 
+#include "config/config_master.h"
 #include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
@@ -45,12 +46,12 @@ void intFeatureClearAll(uint32_t *features)
 
 void latchActiveFeatures()
 {
-    activeFeaturesLatch = masterConfig.enabledFeatures;
+    activeFeaturesLatch = featureConfig()->enabledFeatures;
 }
 
 bool featureConfigured(uint32_t mask)
 {
-    return masterConfig.enabledFeatures & mask;
+    return featureConfig()->enabledFeatures & mask;
 }
 
 bool feature(uint32_t mask)
@@ -60,22 +61,22 @@ bool feature(uint32_t mask)
 
 void featureSet(uint32_t mask)
 {
-    intFeatureSet(mask, &masterConfig.enabledFeatures);
+    intFeatureSet(mask, &featureConfigMutable()->enabledFeatures);
 }
 
 void featureClear(uint32_t mask)
 {
-    intFeatureClear(mask, &masterConfig.enabledFeatures);
+    intFeatureClear(mask, &featureConfigMutable()->enabledFeatures);
 }
 
 void featureClearAll()
 {
-    intFeatureClearAll(&masterConfig.enabledFeatures);
+    intFeatureClearAll(&featureConfigMutable()->enabledFeatures);
 }
 
 uint32_t featureMask(void)
 {
-    return masterConfig.enabledFeatures;
+    return featureConfig()->enabledFeatures;
 }
 
 

src/main/fc/cli.c

@@ -46,6 +46,7 @@ uint8_t cliMode = 0;
 #include "common/printf.h"
 #include "common/typeconversion.h"
 
+#include "config/config_master.h"
 #include "config/config_eeprom.h"
 #include "config/config_profile.h"
 #include "config/feature.h"
@@ -522,7 +523,7 @@ static const clivalue_t valueTable[] = {
 #endif
     { "fpv_mix_degrees",            VAR_UINT8  | MASTER_VALUE,  &rxConfig()->fpvCamAngleDegrees, .config.minmax = { 0,  50 } },
     { "max_aux_channels",           VAR_UINT8  | MASTER_VALUE,  &rxConfig()->max_aux_channel, .config.minmax = { 0,  MAX_AUX_CHANNELS } },
-    { "debug_mode",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.debug_mode, .config.lookup = { TABLE_DEBUG } },
+    { "debug_mode",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &systemConfig()->debug_mode, .config.lookup = { TABLE_DEBUG } },
 
     { "min_throttle",               VAR_UINT16 | MASTER_VALUE,  &motorConfig()->minthrottle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "max_throttle",               VAR_UINT16 | MASTER_VALUE,  &motorConfig()->maxthrottle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
@@ -2140,7 +2141,7 @@ static void cliRxRange(char *cmdline)
     if (isEmpty(cmdline)) {
         printRxRange(DUMP_MASTER, rxConfig(), NULL);
     } else if (strcasecmp(cmdline, "reset") == 0) {
-        resetAllRxChannelRangeConfigurations(rxConfig()->channelRanges);
+        resetAllRxChannelRangeConfigurations(rxConfigMutable()->channelRanges);
     } else {
         ptr = cmdline;
         i = atoi(ptr);
@@ -2164,7 +2165,7 @@ static void cliRxRange(char *cmdline)
             } else if (rangeMin < PWM_PULSE_MIN || rangeMin > PWM_PULSE_MAX || rangeMax < PWM_PULSE_MIN || rangeMax > PWM_PULSE_MAX) {
                 cliShowParseError();
             } else {
-                rxChannelRangeConfiguration_t *channelRangeConfiguration = &rxConfig()->channelRanges[i];
+                rxChannelRangeConfiguration_t *channelRangeConfiguration = &rxConfigMutable()->channelRanges[i];
                 channelRangeConfiguration->min = rangeMin;
                 channelRangeConfiguration->max = rangeMax;
             }
@@ -2879,26 +2880,26 @@ static void cliVtx(char *cmdline)
 
 static void printName(uint8_t dumpMask)
 {
-    bool equalsDefault = strlen(masterConfig.name) == 0;
+    const bool equalsDefault = strlen(systemConfig()->name) == 0;
-    cliDumpPrintf(dumpMask, equalsDefault, "name %s\r\n", equalsDefault ? emptyName : masterConfig.name);
+    cliDumpPrintf(dumpMask, equalsDefault, "name %s\r\n", equalsDefault ? emptyName : systemConfig()->name);
 }
 
 static void cliName(char *cmdline)
 {
-    uint32_t len = strlen(cmdline);
+    const uint32_t len = strlen(cmdline);
     if (len > 0) {
-        memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name));
+        memset(systemConfigMutable()->name, 0, ARRAYLEN(systemConfig()->name));
         if (strncmp(cmdline, emptyName, len)) {
-            strncpy(masterConfig.name, cmdline, MIN(len, MAX_NAME_LENGTH));
+            strncpy(systemConfigMutable()->name, cmdline, MIN(len, MAX_NAME_LENGTH));
         }
     }
     printName(DUMP_MASTER);
 }
 
-static void printFeature(uint8_t dumpMask, const master_t *defaultConfig)
+static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfigDefault)
 {
-    uint32_t mask = featureMask();
+    const uint32_t mask = featureMask();
-    uint32_t defaultMask = defaultConfig->enabledFeatures;
+    const uint32_t defaultMask = featureConfigDefault->enabledFeatures;
     for (uint32_t i = 0; ; i++) { // disable all feature first
         if (featureNames[i] == NULL)
             break;
@@ -4039,7 +4040,7 @@ static void printConfig(char *cmdline, bool doDiff)
 #endif
 
         cliPrintHashLine("feature");
-        printFeature(dumpMask, &defaultConfig);
+        printFeature(dumpMask, &defaultConfig.featureConfig);
 
 #ifdef BEEPER
         cliPrintHashLine("beeper");

src/main/fc/config.c

@@ -581,7 +581,7 @@ void createDefaultConfig(master_t *config)
     // Clear all configuration
     memset(config, 0, sizeof(master_t));
 
-    uint32_t *featuresPtr = &config->enabledFeatures;
+    uint32_t *featuresPtr = &config->featureConfig.enabledFeatures;
 
     intFeatureClearAll(featuresPtr);
     intFeatureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE , featuresPtr);
@@ -635,7 +635,7 @@ void createDefaultConfig(master_t *config)
     config->gyroConfig.gyro_soft_notch_hz_2 = 200;
     config->gyroConfig.gyro_soft_notch_cutoff_2 = 100;
 
-    config->debug_mode = DEBUG_MODE;
+    config->systemConfig.debug_mode = DEBUG_MODE;
     config->task_statistics = true;
 
     resetAccelerometerTrims(&config->accelerometerConfig.accZero);
@@ -891,7 +891,7 @@ void activateConfig(void)
 
     resetAdjustmentStates();
 
-    useRcControlsConfig(modeActivationProfile()->modeActivationConditions, &currentProfile->pidProfile);
+    useRcControlsConfig(modeActivationConditions(0), &currentProfile->pidProfile);
     useAdjustmentConfig(&currentProfile->pidProfile);
 
 #ifdef GPS
@@ -909,11 +909,7 @@ void activateConfig(void)
     servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoProfile.servoConf, &masterConfig.gimbalConfig, &masterConfig.channelForwardingConfig);
 #endif
 
-    imuConfigure(
+    imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
-        &masterConfig.imuConfig,
-        &currentProfile->pidProfile,
-        throttleCorrectionConfig()->throttle_correction_angle
-    );
 
     configureAltitudeHold(&currentProfile->pidProfile);
 }
@@ -925,7 +921,7 @@ void validateAndFixConfig(void)
     }
 
     if ((motorConfig()->motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
-        motorConfig()->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
+        motorConfigMutable()->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
     }
 
     if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP) || featureConfigured(FEATURE_RX_SPI))) {

src/main/fc/config.h

@@ -63,9 +63,11 @@ typedef enum {
 
 typedef struct systemConfig_s {
     uint8_t debug_mode;
+    char name[MAX_NAME_LENGTH + 1];
 } systemConfig_t;
 
-//!!TODOPG_DECLARE(systemConfig_t, systemConfig);
+PG_DECLARE(systemConfig_t, systemConfig);
+
 struct profile_s;
 extern struct profile_s *currentProfile;
 struct controlRateConfig_s;

src/main/fc/fc_core.c

@@ -45,11 +45,13 @@
 #include "sensors/gyro.h"
 #include "sensors/sensors.h"
 
+#include "fc/cli.h"
 #include "fc/config.h"
+#include "fc/fc_core.h"
+#include "fc/fc_rc.h"
+#include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
-#include "fc/cli.h"
-#include "fc/fc_rc.h"
 
 #include "msp/msp_serial.h"
 
@@ -359,10 +361,10 @@ void processRx(timeUs_t currentTimeUs)
         updateInflightCalibrationState();
     }
 
-    updateActivatedModes(modeActivationProfile()->modeActivationConditions);
+    updateActivatedModes();
 
     if (!cliMode) {
-        updateAdjustmentStates(adjustmentProfile()->adjustmentRanges);
+        updateAdjustmentStates();
         processRcAdjustments(currentControlRateProfile);
     }
 
@@ -527,6 +529,8 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
     if (!cliMode && feature(FEATURE_BLACKBOX)) {
         handleBlackbox(currentTimeUs);
     }
+#else
+    UNUSED(currentTimeUs);
 #endif
 
 #ifdef TRANSPONDER

src/main/fc/fc_init.c

@@ -188,7 +188,7 @@ void init(void)
 
     //i2cSetOverclock(masterConfig.i2c_overclock);
 
-    debugMode = masterConfig.debug_mode;
+    debugMode = systemConfig()->debug_mode;
 
     // Latch active features to be used for feature() in the remainder of init().
     latchActiveFeatures();
@@ -271,7 +271,7 @@ void init(void)
     serialInit(feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
 #endif
 
-    mixerInit(mixerConfig()->mixerMode, masterConfig.customMotorMixer);
+    mixerInit(mixerConfig()->mixerMode, customMotorMixerMutable(0));
 #ifdef USE_SERVOS
     servoMixerInit(masterConfig.customServoMixer);
 #endif
@@ -445,7 +445,7 @@ void init(void)
 
     failsafeInit();
 
-    rxInit(rxConfig(), modeActivationProfile()->modeActivationConditions);
+    rxInit(rxConfig(), modeActivationConditions(0));
 
 #ifdef GPS
     if (feature(FEATURE_GPS)) {

src/main/fc/fc_msp.c

@@ -34,6 +34,7 @@
 #include "common/maths.h"
 #include "common/streambuf.h"
 
+#include "config/config_master.h"
 #include "config/config_eeprom.h"
 #include "config/config_profile.h"
 #include "config/feature.h"
@@ -60,6 +61,7 @@
 #include "fc/fc_core.h"
 #include "fc/fc_msp.h"
 #include "fc/fc_rc.h"
+#include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
@@ -638,9 +640,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
 
     case MSP_NAME:
         {
-            const int nameLen = strlen(masterConfig.name);
+            const int nameLen = strlen(systemConfig()->name);
             for (int i = 0; i < nameLen; i++) {
-                sbufWriteU8(dst, masterConfig.name[i]);
+                sbufWriteU8(dst, systemConfig()->name[i]);
             }
         }
         break;
@@ -795,7 +797,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
 
     case MSP_MODE_RANGES:
         for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
-            modeActivationCondition_t *mac = &modeActivationProfile()->modeActivationConditions[i];
+            const modeActivationCondition_t *mac = modeActivationConditions(i);
             const box_t *box = &boxes[mac->modeId];
             sbufWriteU8(dst, box->permanentId);
             sbufWriteU8(dst, mac->auxChannelIndex);
@@ -1935,9 +1937,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
 #endif
 
     case MSP_SET_NAME:
-        memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name));
+        memset(systemConfigMutable()->name, 0, ARRAYLEN(systemConfig()->name));
         for (unsigned int i = 0; i < MIN(MAX_NAME_LENGTH, dataSize); i++) {
-            masterConfig.name[i] = sbufReadU8(src);
+            systemConfigMutable()->name[i] = sbufReadU8(src);
         }
         break;
 

src/main/fc/rc_adjustments.c

@@ -435,10 +435,15 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig)
     }
 }
 
-void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
+void resetAdjustmentStates(void)
+{
+    memset(adjustmentStates, 0, sizeof(adjustmentStates));
+}
+
+void updateAdjustmentStates(void)
 {
     for (int index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
-        adjustmentRange_t *adjustmentRange = &adjustmentRanges[index];
+        const adjustmentRange_t * const 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);
@@ -446,11 +451,6 @@ void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
     }
 }
 
-void resetAdjustmentStates(void)
-{
-    memset(adjustmentStates, 0, sizeof(adjustmentStates));
-}
-
 void useAdjustmentConfig(pidProfile_t *pidProfileToUse)
 {
     pidProfile = pidProfileToUse;

src/main/fc/rc_adjustments.h

@@ -109,7 +109,7 @@ typedef struct adjustmentProfile_s {
 } adjustmentProfile_t;
 
 void resetAdjustmentStates(void);
-void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
+void updateAdjustmentStates(void);
 struct controlRateConfig_s;
 void processRcAdjustments(struct controlRateConfig_s *controlRateConfig);
 struct pidProfile_s;

src/main/fc/rc_controls.c

@@ -302,24 +302,22 @@ bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActiv
     return false;
 }
 
-bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range) {
+bool isRangeActive(uint8_t auxChannelIndex, const 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);
+    const 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)
+void updateActivatedModes(void)
 {
     rcModeActivationMask = 0;
 
-    uint8_t index;
+    for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
-
+        const modeActivationCondition_t *modeActivationCondition = modeActivationConditions(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);

src/main/fc/rc_controls.h

@@ -200,8 +200,8 @@ bool areSticksInApModePosition(uint16_t ap_mode);
 throttleStatus_e calculateThrottleStatus(void);
 void processRcStickPositions(throttleStatus_e throttleStatus);
 
-bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
+bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
-void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
+void updateActivatedModes(void);
 
 bool isAirmodeActive(void);
 

src/main/flight/imu.c

@@ -70,7 +70,6 @@ static float smallAngleCosZ = 0;
 static float magneticDeclination = 0.0f;       // calculated at startup from config
 
 static imuRuntimeConfig_t imuRuntimeConfig;
-static pidProfile_t *pidProfile;
 
 STATIC_UNIT_TESTED float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f;    // quaternion of sensor frame relative to earth frame
 static float rMat[3][3];
@@ -116,18 +115,13 @@ static float calculateThrottleAngleScale(uint16_t throttle_correction_angle)
     return (1800.0f / M_PIf) * (900.0f / throttle_correction_angle);
 }
 
-void imuConfigure(
+void imuConfigure(uint16_t throttle_correction_angle)
-    imuConfig_t *imuConfig,
-    pidProfile_t *initialPidProfile,
-    uint16_t throttle_correction_angle
-)
 {
-    imuRuntimeConfig.dcm_kp = imuConfig->dcm_kp / 10000.0f;
+    imuRuntimeConfig.dcm_kp = imuConfig()->dcm_kp / 10000.0f;
-    imuRuntimeConfig.dcm_ki = imuConfig->dcm_ki / 10000.0f;
+    imuRuntimeConfig.dcm_ki = imuConfig()->dcm_ki / 10000.0f;
-    imuRuntimeConfig.acc_unarmedcal = imuConfig->acc_unarmedcal;
+    imuRuntimeConfig.acc_unarmedcal = imuConfig()->acc_unarmedcal;
-    imuRuntimeConfig.small_angle = imuConfig->small_angle;
+    imuRuntimeConfig.small_angle = imuConfig()->small_angle;
 
-    pidProfile = initialPidProfile;
     fc_acc = calculateAccZLowPassFilterRCTimeConstant(5.0f); // Set to fix value
     throttleAngleScale = calculateThrottleAngleScale(throttle_correction_angle);
 }

src/main/flight/imu.h

@@ -64,8 +64,7 @@ typedef struct imuRuntimeConfig_s {
     accDeadband_t accDeadband;
 } imuRuntimeConfig_t;
 
-struct pidProfile_s;
+void imuConfigure(uint16_t throttle_correction_angle);
-void imuConfigure(imuConfig_t *imuConfig, struct pidProfile_s *initialPidProfile, uint16_t throttle_correction_angle);
 
 float getCosTiltAngle(void);
 void calculateEstimatedAltitude(timeUs_t currentTimeUs);

src/main/flight/mixer.c

@@ -232,7 +232,7 @@ const mixer_t mixers[] = {
 };
 #endif
 
-static motorMixer_t *customMixers;
+static const motorMixer_t *customMixers;
 
 static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
 uint16_t motorOutputHigh, motorOutputLow;
@@ -296,7 +296,7 @@ void mixerUseConfigs(airplaneConfig_t *airplaneConfigToUse)
     airplaneConfig = airplaneConfigToUse;
 }
 
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
+void mixerInit(mixerMode_e mixerMode, const motorMixer_t *initialCustomMixers)
 {
     currentMixerMode = mixerMode;
 

src/main/flight/mixer.h

@@ -135,7 +135,7 @@ float getMotorMixRange();
 void mixerUseConfigs(airplaneConfig_t *airplaneConfigToUse);
 
 void mixerLoadMix(int index, motorMixer_t *customMixers);
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
+void mixerInit(mixerMode_e mixerMode, const motorMixer_t *customMotorMixers);
 
 void mixerConfigureOutput(void);
 

src/main/flight/pid.h

@@ -85,7 +85,7 @@ typedef struct pidProfile_s {
     float rateAccelLimit;                   // accel limiter roll/pitch deg/sec/ms
 } pidProfile_t;
 
-PG_DECLARE_PROFILE(pidProfile_t, pidProfile);
+//PG_DECLARE_PROFILE(pidProfile_t, pidProfile);
 
 typedef struct pidConfig_s {
     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate

src/main/io/osd.c

@@ -248,12 +248,12 @@ static void osdDrawSingleElement(uint8_t item)
 
         case OSD_CRAFT_NAME:
         {
-            if (strlen(masterConfig.name) == 0)
+            if (strlen(systemConfig()->name) == 0)
                 strcpy(buff, "CRAFT_NAME");
             else {
                 for (uint8_t i = 0; i < MAX_NAME_LENGTH; i++) {
-                    buff[i] = toupper((unsigned char)masterConfig.name[i]);
+                    buff[i] = toupper((unsigned char)systemConfig()->name[i]);
-                    if (masterConfig.name[i] == 0)
+                    if (systemConfig()->name[i] == 0)
                         break;
                 }
             }

src/main/sensors/battery.c

@@ -33,6 +33,8 @@
 #include "drivers/adc.h"
 #include "drivers/system.h"
 
+#include "fc/config.h"
+#include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
 #include "io/beeper.h"
@@ -273,7 +275,7 @@ void updateCurrentMeter(int32_t lastUpdateAt)
             case CURRENT_SENSOR_VIRTUAL:
                 amperageLatest = (int32_t)batteryConfig()->currentMeterOffset;
                 if (ARMING_FLAG(ARMED)) {
-                    throttleStatus_e throttleStatus = calculateThrottleStatus();
+                    const throttleStatus_e throttleStatus = calculateThrottleStatus();
                     int throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
                     if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP)) {
                         throttleOffset = 0;

src/main/target/ALIENFLIGHTF4/config.c

@@ -75,7 +75,7 @@ void targetConfiguration(master_t *config)
         config->rxConfig.sbus_inversion = 0;
         config->serialConfig.portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY;
         config->telemetryConfig.telemetry_inversion = 0;
-        intFeatureSet(FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY, &config->enabledFeatures);
+        intFeatureSet(FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY, &config->featureConfig.enabledFeatures);
     }
 
     config->profile[0].pidProfile.P8[ROLL] = 53;

src/main/target/BLUEJAYF4/config.c

@@ -39,7 +39,7 @@ void targetConfiguration(master_t *config)
     }
 
     if (hardwareRevision == BJF4_MINI_REV3A || hardwareRevision == BJF4_REV1) {
-        intFeatureClear(FEATURE_SDCARD, &config->enabledFeatures);
+        intFeatureClear(FEATURE_SDCARD, &config->featureConfig.enabledFeatures);
     }
 
     if (hardwareRevision == BJF4_MINI_REV3A) {
@@ -51,7 +51,7 @@ void targetValidateConfiguration(master_t *config)
 {
     /* make sure the SDCARD cannot be turned on */
     if (hardwareRevision == BJF4_MINI_REV3A || hardwareRevision == BJF4_REV1) {
-        intFeatureClear(FEATURE_SDCARD, &config->enabledFeatures);
+        intFeatureClear(FEATURE_SDCARD, &config->featureConfig.enabledFeatures);
 
         if (config->blackboxConfig.device == BLACKBOX_DEVICE_SDCARD) {
             config->blackboxConfig.device = BLACKBOX_DEVICE_FLASH;

src/main/target/TINYFISH/config.c

@@ -51,6 +51,6 @@ void targetConfiguration(master_t *config)
     config->telemetryConfig.telemetry_inversion = 0;
     config->rxConfig.sbus_inversion = 0;
 
-    intFeatureSet(FEATURE_CURRENT_METER | FEATURE_VBAT, &config->enabledFeatures);
+    intFeatureSet(FEATURE_CURRENT_METER | FEATURE_VBAT, &config->featureConfig.enabledFeatures);
 }