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https://github.com/betaflight/betaflight.git
synced 2025-07-21 23:35:34 +03:00
Cleaned USE_PARAMETER_GROUPS remainders
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DieHertz
parent
d74f7aed50
commit
8768dfd3df
2 changed files with 0 additions and 456 deletions
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@ -471,327 +471,8 @@ uint16_t getCurrentMinthrottle(void)
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return motorConfig()->minthrottle;
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}
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#ifndef USE_PARAMETER_GROUPS
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void createDefaultConfig(master_t *config)
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{
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// Clear all configuration
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memset(config, 0, sizeof(master_t));
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uint32_t *featuresPtr = &config->featureConfig.enabledFeatures;
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intFeatureClearAll(featuresPtr);
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intFeatureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE , featuresPtr);
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#ifdef DEFAULT_FEATURES
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intFeatureSet(DEFAULT_FEATURES, featuresPtr);
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#endif
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#ifndef USE_PARAMETER_GROUPS
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#ifdef USE_MSP_DISPLAYPORT
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resetDisplayPortProfile(&config->displayPortProfileMsp);
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#endif
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#ifdef USE_MAX7456
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resetDisplayPortProfile(&config->displayPortProfileMax7456);
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#endif
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#ifdef USE_MAX7456
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resetMax7456Config(&config->vcdProfile);
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#endif
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#ifdef OSD
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osdResetConfig(&config->osdConfig);
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#endif
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#endif // USE_PARAMETER_GROUPS
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config->version = EEPROM_CONF_VERSION;
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// global settings
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#ifndef USE_PARAMETER_GROUPS
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config->systemConfig.pidProfileIndex = 0; // default profile
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config->systemConfig.debug_mode = DEBUG_MODE;
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config->systemConfig.task_statistics = true;
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#endif
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#ifndef USE_PARAMETER_GROUPS
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config->imuConfig.dcm_kp = 2500; // 1.0 * 10000
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config->imuConfig.dcm_ki = 0; // 0.003 * 10000
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config->imuConfig.small_angle = 25;
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config->imuConfig.accDeadband.xy = 40;
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config->imuConfig.accDeadband.z = 40;
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config->imuConfig.acc_unarmedcal = 1;
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#endif
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#ifndef USE_PARAMETER_GROUPS
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config->gyroConfig.gyro_lpf = GYRO_LPF_256HZ; // 256HZ default
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#ifdef STM32F10X
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config->gyroConfig.gyro_sync_denom = 8;
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config->pidConfig.pid_process_denom = 1;
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#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
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config->gyroConfig.gyro_sync_denom = 1;
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config->pidConfig.pid_process_denom = 4;
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#else
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config->gyroConfig.gyro_sync_denom = 4;
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config->pidConfig.pid_process_denom = 2;
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#endif
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config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
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config->gyroConfig.gyro_soft_lpf_hz = 90;
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config->gyroConfig.gyro_soft_notch_hz_1 = 400;
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config->gyroConfig.gyro_soft_notch_cutoff_1 = 300;
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config->gyroConfig.gyro_soft_notch_hz_2 = 200;
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config->gyroConfig.gyro_soft_notch_cutoff_2 = 100;
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config->gyroConfig.gyro_align = ALIGN_DEFAULT;
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config->gyroConfig.gyroMovementCalibrationThreshold = 48;
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#endif
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#ifndef USE_PARAMETER_GROUPS
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resetCompassConfig(&config->compassConfig);
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#endif
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#ifndef USE_PARAMETER_GROUPS
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resetAccelerometerTrims(&config->accelerometerConfig.accZero);
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config->accelerometerConfig.acc_align = ALIGN_DEFAULT;
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config->accelerometerConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
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resetRollAndPitchTrims(&config->accelerometerConfig.accelerometerTrims);
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config->accelerometerConfig.acc_lpf_hz = 10.0f;
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#endif
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#ifndef USE_PARAMETER_GROUPS
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config->boardAlignment.rollDegrees = 0;
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config->boardAlignment.pitchDegrees = 0;
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config->boardAlignment.yawDegrees = 0;
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#endif
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config->rcControlsConfig.yaw_control_reversed = false;
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// xxx_hardware: 0:default/autodetect, 1: disable
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config->compassConfig.mag_hardware = 1;
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config->barometerConfig.baro_hardware = 1;
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#ifndef USE_PARAMETER_GROUPS
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resetBatteryConfig(&config->batteryConfig);
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#if defined(USE_PWM) || defined(USE_PPM)
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resetPpmConfig(&config->ppmConfig);
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resetPwmConfig(&config->pwmConfig);
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#endif
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#ifdef USE_PWM
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config->pwmConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
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#endif
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#ifdef TELEMETRY
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resetTelemetryConfig(&config->telemetryConfig);
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#endif
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#endif
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#ifndef USE_PARAMETER_GROUPS
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#ifdef USE_ADC
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resetAdcConfig(&config->adcConfig);
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#endif
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#ifdef BEEPER
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resetBeeperDevConfig(&config->beeperDevConfig);
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#endif
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#endif
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#ifdef SONAR
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resetSonarConfig(&config->sonarConfig);
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#endif
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#ifndef USE_PARAMETER_GROUPS
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#ifdef USE_SDCARD
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resetsdcardConfig(&config->sdcardConfig);
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#endif
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#ifdef SERIALRX_PROVIDER
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config->rxConfig.serialrx_provider = SERIALRX_PROVIDER;
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#else
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config->rxConfig.serialrx_provider = 0;
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#endif
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config->rxConfig.halfDuplex = 0;
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config->rxConfig.rx_spi_protocol = RX_SPI_DEFAULT_PROTOCOL;
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config->rxConfig.sbus_inversion = 1;
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config->rxConfig.spektrum_sat_bind = 0;
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config->rxConfig.spektrum_sat_bind_autoreset = 1;
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config->rxConfig.midrc = 1500;
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config->rxConfig.mincheck = 1100;
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config->rxConfig.maxcheck = 1900;
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config->rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection
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config->rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
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for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
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rxFailsafeChannelConfig_t *channelFailsafeConfig = &config->rxConfig.failsafe_channel_configurations[i];
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channelFailsafeConfig->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
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channelFailsafeConfig->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(config->rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(config->rxConfig.midrc);
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}
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config->rxConfig.rssi_channel = 0;
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config->rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
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config->rxConfig.rssi_invert = 0;
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config->rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
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config->rxConfig.rcInterpolationChannels = 0;
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config->rxConfig.rcInterpolationInterval = 19;
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config->rxConfig.fpvCamAngleDegrees = 0;
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config->rxConfig.max_aux_channel = DEFAULT_AUX_CHANNEL_COUNT;
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config->rxConfig.airModeActivateThreshold = 1350;
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resetAllRxChannelRangeConfigurations(config->rxConfig.channelRanges);
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#endif
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#ifndef USE_PARAMETER_GROUPS
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config->armingConfig.gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
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config->armingConfig.disarm_kill_switch = 1;
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config->armingConfig.auto_disarm_delay = 5;
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config->airplaneConfig.fixedwing_althold_reversed = false;
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// Motor/ESC/Servo
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resetMixerConfig(&config->mixerConfig);
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resetMotorConfig(&config->motorConfig);
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#ifdef USE_SERVOS
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resetServoConfig(&config->servoConfig);
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#endif
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resetFlight3DConfig(&config->flight3DConfig);
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#ifdef LED_STRIP
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resetLedStripConfig(&config->ledStripConfig);
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#endif
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#ifdef GPS
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// gps/nav stuff
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config->gpsConfig.provider = GPS_NMEA;
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config->gpsConfig.sbasMode = SBAS_AUTO;
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config->gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
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config->gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
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#endif
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resetSerialPinConfig(&config->serialPinConfig);
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resetSerialConfig(&config->serialConfig);
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for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
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resetProfile(&config->profile[ii]);
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}
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for (int ii = 0; ii < CONTROL_RATE_PROFILE_COUNT; ++ii) {
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resetControlRateProfile(&config->controlRateProfile[ii]);
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}
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#endif
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config->compassConfig.mag_declination = 0;
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#ifdef BARO
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#ifndef USE_PARAMETER_GROUPS
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resetBarometerConfig(&config->barometerConfig);
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#endif
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#endif
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// Radio
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#ifdef RX_CHANNELS_TAER
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parseRcChannels("TAER1234", &config->rxConfig);
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#else
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parseRcChannels("AETR1234", &config->rxConfig);
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#endif
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#ifndef USE_PARAMETER_GROUPS
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resetRcControlsConfig(&config->rcControlsConfig);
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config->throttleCorrectionConfig.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
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config->throttleCorrectionConfig.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
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// Failsafe Variables
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config->failsafeConfig.failsafe_delay = 10; // 1sec
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config->failsafeConfig.failsafe_off_delay = 10; // 1sec
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config->failsafeConfig.failsafe_throttle = 1000; // default throttle off.
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config->failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss
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config->failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
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config->failsafeConfig.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;// default full failsafe procedure is 0: auto-landing
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#endif
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#ifdef USE_SERVOS
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#ifndef USE_PARAMETER_GROUPS
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// servos
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for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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config->servoProfile.servoConf[i].min = DEFAULT_SERVO_MIN;
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config->servoProfile.servoConf[i].max = DEFAULT_SERVO_MAX;
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config->servoProfile.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
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config->servoProfile.servoConf[i].rate = 100;
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config->servoProfile.servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
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config->servoProfile.servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
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config->servoProfile.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
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}
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// gimbal
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config->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
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#endif
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// Channel forwarding;
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config->servoConfig.channelForwardingStartChannel = AUX1;
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#endif
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#ifndef USE_PARAMETER_GROUPS
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#ifdef GPS
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resetNavigationConfig(&config->navigationConfig);
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#endif
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#endif
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// custom mixer. clear by defaults.
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for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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config->customMotorMixer[i].throttle = 0.0f;
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}
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#ifndef USE_PARAMETER_GROUPS
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#ifdef VTX
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config->vtxConfig.vtx_band = 4; //Fatshark/Airwaves
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config->vtxConfig.vtx_channel = 1; //CH1
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config->vtxConfig.vtx_mode = 0; //CH+BAND mode
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config->vtxConfig.vtx_mhz = 5740; //F0
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#endif
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#endif
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#ifdef TRANSPONDER
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static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware
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memcpy(config->transponderConfig.data, &defaultTransponderData, sizeof(defaultTransponderData));
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#endif
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#ifndef USE_PARAMETER_GROUPS
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#ifdef BLACKBOX
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#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
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config->blackboxConfig.device = BLACKBOX_DEVICE_FLASH;
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#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
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config->blackboxConfig.device = BLACKBOX_DEVICE_SDCARD;
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#else
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config->blackboxConfig.device = BLACKBOX_DEVICE_SERIAL;
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#endif
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config->blackboxConfig.rate_num = 1;
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config->blackboxConfig.rate_denom = 1;
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config->blackboxConfig.on_motor_test = 0; // default off
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#endif // BLACKBOX
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#endif
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#ifdef SERIALRX_UART
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if (featureConfigured(FEATURE_RX_SERIAL)) {
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int serialIndex = findSerialPortIndexByIdentifier(SERIALRX_UART);
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if (serialIndex >= 0) {
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config->serialConfig.portConfigs[serialIndex].functionMask = FUNCTION_RX_SERIAL;
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}
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}
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#endif
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#ifndef USE_PARAMETER_GROUPS
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#ifdef USE_FLASHFS
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resetFlashConfig(&config->flashConfig);
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#endif
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resetStatusLedConfig(&config->statusLedConfig);
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#endif
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}
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#endif
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void resetConfigs(void)
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{
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#ifndef USE_PARAMETER_GROUPS
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createDefaultConfig(&masterConfig);
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#endif
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pgResetAll(MAX_PROFILE_COUNT);
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#if defined(TARGET_CONFIG)
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@ -890,16 +571,9 @@ void validateAndFixConfig(void)
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}
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#endif
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#ifndef USE_PARAMETER_GROUPS
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serialConfig_t *serialConfig = &masterConfig.serialConfig;
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if (!isSerialConfigValid(serialConfig)) {
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resetSerialConfig(serialConfig);
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}
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#else
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if (!isSerialConfigValid(serialConfig())) {
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pgResetFn_serialConfig(serialConfigMutable());
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}
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#endif
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// Prevent invalid notch cutoff
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if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) {
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