Added PG config definitions 4

src/main/config/parameter_group_ids.h

@@ -83,8 +83,10 @@
 #define PG_BETAFLIGHT_START 500
 #define PG_MODE_ACTIVATION_OPERATOR_CONFIG 500
 #define PG_OSD_CONFIG 501
-#define PG_BEEPER_CONFIG 5002
+#define PG_BEEPER_CONFIG 502
-#define PG_BETAFLIGHT_END 1002
+#define PG_PID_CONFIG 503
+#define PG_STATUS_LED_CONFIG 504
+#define PG_BETAFLIGHT_END 504
 
 
 // OSD configuration (subject to change)

src/main/fc/config.c

@@ -104,9 +104,6 @@
 #define RX_SPI_DEFAULT_PROTOCOL 0
 #endif
 
-#define BRUSHED_MOTORS_PWM_RATE 16000
-#define BRUSHLESS_MOTORS_PWM_RATE 480
-
 PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
 
 PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
@@ -125,6 +122,7 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
 
 PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
 
+PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0);
 
 master_t masterConfig;                 // master config struct with data independent from profiles
 profile_t *currentProfile;
@@ -294,6 +292,7 @@ void resetServoConfig(servoConfig_t *servoConfig)
 }
 #endif
 
+#ifndef USE_PARAMETER_GROUPS
 void resetMotorConfig(motorConfig_t *motorConfig)
 {
 #ifdef BRUSHED_MOTORS
@@ -328,6 +327,7 @@ void resetMotorConfig(motorConfig_t *motorConfig)
         }
     }
 }
+#endif
 
 #ifdef SONAR
 void resetSonarConfig(sonarConfig_t *sonarConfig)
@@ -676,6 +676,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
 }
 #endif
 
+#ifndef USE_PARAMETER_GROUPS
 void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
 {
     rcControlsConfig->deadband = 0;
@@ -683,6 +684,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
     rcControlsConfig->alt_hold_deadband = 40;
     rcControlsConfig->alt_hold_fast_change = 1;
 }
+#endif
 
 #ifndef USE_PARAMETER_GROUPS
 void resetMixerConfig(mixerConfig_t *mixerConfig)
@@ -711,7 +713,11 @@ void resetDisplayPortProfile(displayPortProfile_t *pDisplayPortProfile)
     pDisplayPortProfile->rowAdjust = 0;
 }
 
+#ifdef USE_PARAMETER_GROUPS
+void pgResetFn_statusLedConfig(statusLedConfig_t *statusLedConfig)
+#else
 void resetStatusLedConfig(statusLedConfig_t *statusLedConfig)
+#endif
 {
     for (int i = 0; i < LED_NUMBER; i++) {
         statusLedConfig->ledTags[i] = IO_TAG_NONE;
@@ -832,8 +838,14 @@ void createDefaultConfig(master_t *config)
 #endif
 
 
+#ifndef USE_PARAMETER_GROUPS
     config->imuConfig.dcm_kp = 2500;                // 1.0 * 10000
     config->imuConfig.dcm_ki = 0;                   // 0.003 * 10000
+    config->imuConfig.small_angle = 25;
+    config->imuConfig.accDeadband.xy = 40;
+    config->imuConfig.accDeadband.z = 40;
+    config->imuConfig.acc_unarmedcal = 1;
+#endif
 #ifndef USE_PARAMETER_GROUPS
     config->gyroConfig.gyro_lpf = GYRO_LPF_256HZ;    // 256HZ default
 #ifdef STM32F10X
@@ -888,9 +900,11 @@ void createDefaultConfig(master_t *config)
     resetPwmConfig(&config->pwmConfig);
 #endif
 
+#ifndef USE_PARAMETER_GROUPS
 #ifdef TELEMETRY
     resetTelemetryConfig(&config->telemetryConfig);
 #endif
+#endif
 
 #ifdef USE_ADC
     resetAdcConfig(&config->adcConfig);
@@ -955,15 +969,14 @@ void createDefaultConfig(master_t *config)
     config->armingConfig.auto_disarm_delay = 5;
 #endif
 
-    config->imuConfig.small_angle = 25;
 
     config->airplaneConfig.fixedwing_althold_dir = 1;
 
     // Motor/ESC/Servo
 #ifndef USE_PARAMETER_GROUPS
     resetMixerConfig(&config->mixerConfig);
-#endif
     resetMotorConfig(&config->motorConfig);
+#endif
 #ifdef USE_SERVOS
     resetServoConfig(&config->servoConfig);
 #endif
@@ -993,10 +1006,6 @@ void createDefaultConfig(master_t *config)
 
     config->compassConfig.mag_declination = 0;
 
-    config->imuConfig.accDeadband.xy = 40;
-    config->imuConfig.accDeadband.z = 40;
-    config->imuConfig.acc_unarmedcal = 1;
-
 #ifdef BARO
 #ifndef USE_PARAMETER_GROUPS
     resetBarometerConfig(&config->barometerConfig);
@@ -1010,12 +1019,12 @@ void createDefaultConfig(master_t *config)
     parseRcChannels("AETR1234", &config->rxConfig);
 #endif
 
+#ifndef USE_PARAMETER_GROUPS
     resetRcControlsConfig(&config->rcControlsConfig);
 
     config->throttleCorrectionConfig.throttle_correction_value = 0;      // could 10 with althold or 40 for fpv
     config->throttleCorrectionConfig.throttle_correction_angle = 800;    // could be 80.0 deg with atlhold or 45.0 for fpv
 
-#ifndef USE_PARAMETER_GROUPS
     // Failsafe Variables
     config->failsafeConfig.failsafe_delay = 10;                            // 1sec
     config->failsafeConfig.failsafe_off_delay = 10;                        // 1sec
@@ -1095,7 +1104,9 @@ void createDefaultConfig(master_t *config)
     resetFlashConfig(&config->flashConfig);
 #endif
 
+#ifndef USE_PARAMETER_GROUPS
     resetStatusLedConfig(&config->statusLedConfig);
+#endif
 
     /* merely to force a reset if the person inadvertently flashes the wrong target */
     strncpy(config->boardIdentifier, TARGET_BOARD_IDENTIFIER, sizeof(TARGET_BOARD_IDENTIFIER));

src/main/fc/fc_core.c

@@ -102,6 +102,13 @@ static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the m
 bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
 
+PG_REGISTER_WITH_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig, PG_THROTTLE_CORRECTION_CONFIG, 0);
+
+PG_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig,
+    .throttle_correction_value = 0,      // could 10 with althold or 40 for fpv
+    .throttle_correction_angle = 800     // could be 80.0 deg with atlhold or 45.0 for fpv
+);
+
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
 {
     accelerometerConfigMutable()->accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;

src/main/fc/fc_tasks.c

@@ -165,7 +165,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
 static void taskUpdateCompass(timeUs_t currentTimeUs)
 {
     if (sensors(SENSOR_MAG)) {
-        compassUpdate(currentTimeUs, &compassConfig()->magZero);
+        compassUpdate(currentTimeUs, &compassConfigMutable()->magZero);
     }
 }
 #endif

src/main/fc/rc_adjustments.c

@@ -50,6 +50,8 @@
 
 #include "rx/rx.h"
 
+PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 0);
+
 static pidProfile_t *pidProfile;
 
 static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue)

src/main/fc/rc_controls.c

@@ -70,6 +70,15 @@ int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+
 
 uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
 
+PG_REGISTER_WITH_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
+
+PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
+    .deadband = 0,
+    .yaw_deadband = 0,
+    .alt_hold_deadband = 40,
+    .alt_hold_fast_change = 1
+);
+
 PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 0);
 
 PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
@@ -78,6 +87,8 @@ PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
     .auto_disarm_delay = 5
 );
 
+PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
+
 bool isAirmodeActive(void) {
     return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
 }

src/main/flight/imu.c

@@ -76,6 +76,17 @@ static float rMat[3][3];
 
 attitudeEulerAngles_t attitude = { { 0, 0, 0 } };     // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
 
+PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
+
+PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
+    .dcm_kp = 2500,                // 1.0 * 10000
+    .dcm_ki = 0,                   // 0.003 * 10000
+    .small_angle = 25,
+    .accDeadband.xy = 40,
+    .accDeadband.z = 40,
+    .acc_unarmedcal = 1
+);
+
 STATIC_UNIT_TESTED void imuComputeRotationMatrix(void)
 {
     float q1q1 = sq(q1);

src/main/flight/mixer.c

@@ -34,6 +34,7 @@
 
 #include "drivers/system.h"
 #include "drivers/pwm_output.h"
+#include "drivers/pwm_esc_detect.h"
 
 #include "io/motors.h"
 
@@ -69,6 +70,43 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .yaw_motor_direction = 1,
 );
 
+PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
+
+void pgResetFn_motorConfig(motorConfig_t *motorConfig)
+{
+#ifdef BRUSHED_MOTORS
+    motorConfig->minthrottle = 1000;
+    motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
+    motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
+    motorConfig->dev.useUnsyncedPwm = true;
+#else
+#ifdef BRUSHED_ESC_AUTODETECT
+    if (hardwareMotorType == MOTOR_BRUSHED) {
+        motorConfig->minthrottle = 1000;
+        motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
+        motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
+        motorConfig->dev.useUnsyncedPwm = true;
+    } else
+#endif
+    {
+        motorConfig->minthrottle = 1070;
+        motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
+        motorConfig->dev.motorPwmProtocol = PWM_TYPE_ONESHOT125;
+    }
+#endif
+    motorConfig->maxthrottle = 2000;
+    motorConfig->mincommand = 1000;
+    motorConfig->digitalIdleOffsetPercent = 4.5f;
+
+    int motorIndex = 0;
+    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && motorIndex < MAX_SUPPORTED_MOTORS; i++) {
+        if (timerHardware[i].usageFlags & TIM_USE_MOTOR) {
+            motorConfig->dev.ioTags[motorIndex] = timerHardware[i].tag;
+            motorIndex++;
+        }
+    }
+}
+
 #define EXTERNAL_DSHOT_CONVERSION_FACTOR 2
 // (minimum output value(1001) - (minimum input value(48) / conversion factor(2))
 #define EXTERNAL_DSHOT_CONVERSION_OFFSET 977

src/main/flight/mixer.h

@@ -22,6 +22,8 @@
 #include "drivers/pwm_output.h"
 
 #define QUAD_MOTOR_COUNT 4
+#define BRUSHED_MOTORS_PWM_RATE 16000
+#define BRUSHLESS_MOTORS_PWM_RATE 480
 
 /*
   DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings

src/main/flight/pid.c

@@ -58,6 +58,19 @@ static float previousGyroIf[3];
 
 static float dT;
 
+PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
+
+#ifdef STM32F10X
+#define PID_PROCESS_DENOM_DEFAULT       1
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)  || defined(USE_GYRO_SPI_ICM20689)
+#define PID_PROCESS_DENOM_DEFAULT       4
+#else
+#define PID_PROCESS_DENOM_DEFAULT       2
+#endif
+PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
+    .pid_process_denom = PID_PROCESS_DENOM_DEFAULT
+);
+
 void pidSetTargetLooptime(uint32_t pidLooptime)
 {
     targetPidLooptime = pidLooptime;