diff --git a/src/main/fc/config.c.orig b/src/main/fc/config.c.orig
deleted file mode 100755
index 53b49982b1..0000000000
--- a/src/main/fc/config.c.orig
+++ /dev/null
@@ -1,865 +0,0 @@
-/*
- * 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 .
- */
-
-#include
-#include
-#include
-#include
-
-#include "platform.h"
-
-#include "build/build_config.h"
-#include "build/debug.h"
-
-#include "blackbox/blackbox_io.h"
-
-#include "cms/cms.h"
-
-#include "common/axis.h"
-#include "common/color.h"
-#include "common/filter.h"
-#include "common/maths.h"
-
-#include "config/config_eeprom.h"
-#include "config/feature.h"
-#include "config/parameter_group.h"
-#include "config/parameter_group_ids.h"
-
-#include "drivers/accgyro/accgyro.h"
-#include "drivers/compass/compass.h"
-#include "drivers/inverter.h"
-#include "drivers/io.h"
-#include "drivers/light_led.h"
-#include "drivers/light_ws2811strip.h"
-#include "drivers/max7456.h"
-#include "drivers/pwm_esc_detect.h"
-#include "drivers/pwm_output.h"
-#include "drivers/rx_pwm.h"
-#include "drivers/rx_spi.h"
-#include "drivers/sdcard.h"
-#include "drivers/sensor.h"
-#include "drivers/serial.h"
-#include "drivers/sonar_hcsr04.h"
-#include "drivers/sound_beeper.h"
-#include "drivers/system.h"
-#include "drivers/timer.h"
-#include "drivers/vcd.h"
-
-#include "fc/config.h"
-#include "fc/controlrate_profile.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 "flight/altitude.h"
-#include "flight/failsafe.h"
-#include "flight/imu.h"
-#include "flight/mixer.h"
-#include "flight/navigation.h"
-#include "flight/pid.h"
-#include "flight/servos.h"
-
-#include "io/beeper.h"
-#include "io/gimbal.h"
-#include "io/gps.h"
-#include "io/ledstrip.h"
-#include "io/motors.h"
-#include "io/osd.h"
-#include "io/serial.h"
-#include "io/servos.h"
-#include "io/vtx_control.h"
-
-#include "rx/rx.h"
-#include "rx/rx_spi.h"
-
-#include "sensors/acceleration.h"
-#include "sensors/barometer.h"
-#include "sensors/battery.h"
-#include "sensors/boardalignment.h"
-#include "sensors/compass.h"
-#include "sensors/gyro.h"
-#include "sensors/sensors.h"
-
-#include "telemetry/telemetry.h"
-
-#ifndef USE_OSD_SLAVE
-pidProfile_t *currentPidProfile;
-#endif
-
-#ifndef DEFAULT_FEATURES
-#define DEFAULT_FEATURES 0
-#endif
-#ifndef DEFAULT_RX_FEATURE
-#define DEFAULT_RX_FEATURE FEATURE_RX_PARALLEL_PWM
-#endif
-#ifndef RX_SPI_DEFAULT_PROTOCOL
-#define RX_SPI_DEFAULT_PROTOCOL 0
-#endif
-
-PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
-
-PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
- .enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE | FEATURE_FAILSAFE
-);
-
-PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
-
-#ifndef USE_OSD_SLAVE
-PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
- .pidProfileIndex = 0,
- .activeRateProfile = 0,
- .debug_mode = DEBUG_MODE,
- .task_statistics = true,
- .name = { 0 } // FIXME misplaced, see PG_PILOT_CONFIG in CF v1.x
-);
-#endif
-
-#ifdef USE_OSD_SLAVE
-PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
- .debug_mode = DEBUG_MODE,
- .task_statistics = true
-);
-#endif
-
-#ifdef BEEPER
-PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
-#endif
-#ifdef USE_ADC
-PG_REGISTER_WITH_RESET_FN(adcConfig_t, adcConfig, PG_ADC_CONFIG, 0);
-#endif
-#ifdef USE_PWM
-PG_REGISTER_WITH_RESET_FN(pwmConfig_t, pwmConfig, PG_PWM_CONFIG, 0);
-#endif
-#ifdef USE_PPM
-PG_REGISTER_WITH_RESET_FN(ppmConfig_t, ppmConfig, PG_PPM_CONFIG, 0);
-#endif
-PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0);
-PG_REGISTER_WITH_RESET_FN(serialPinConfig_t, serialPinConfig, PG_SERIAL_PIN_CONFIG, 0);
-
-#ifdef USE_FLASHFS
-PG_REGISTER_WITH_RESET_TEMPLATE(flashConfig_t, flashConfig, PG_FLASH_CONFIG, 0);
-#ifdef M25P16_CS_PIN
-#define FLASH_CONFIG_CSTAG IO_TAG(M25P16_CS_PIN)
-#else
-#define FLASH_CONFIG_CSTAG IO_TAG_NONE
-#endif
-
-PG_RESET_TEMPLATE(flashConfig_t, flashConfig,
- .csTag = FLASH_CONFIG_CSTAG
-);
-#endif // USE_FLASH_FS
-
-#ifdef USE_SDCARD
-PG_REGISTER_WITH_RESET_TEMPLATE(sdcardConfig_t, sdcardConfig, PG_SDCARD_CONFIG, 0);
-#if defined(SDCARD_DMA_CHANNEL_TX)
-#define SDCARD_CONFIG_USE_DMA true
-#else
-#define SDCARD_CONFIG_USE_DMA false
-#endif
-PG_RESET_TEMPLATE(sdcardConfig_t, sdcardConfig,
- .useDma = SDCARD_CONFIG_USE_DMA
-);
-#endif
-
-// no template required since defaults are zero
-PG_REGISTER(vcdProfile_t, vcdProfile, PG_VCD_CONFIG, 0);
-
-#ifdef SONAR
-void resetSonarConfig(sonarConfig_t *sonarConfig)
-{
-#if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN)
- sonarConfig->triggerTag = IO_TAG(SONAR_TRIGGER_PIN);
- sonarConfig->echoTag = IO_TAG(SONAR_ECHO_PIN);
-#else
-#error Sonar not defined for target
-#endif
-}
-#endif
-
-#ifdef USE_ADC
-void pgResetFn_adcConfig(adcConfig_t *adcConfig)
-{
-#ifdef VBAT_ADC_PIN
- adcConfig->vbat.enabled = true;
- adcConfig->vbat.ioTag = IO_TAG(VBAT_ADC_PIN);
-#endif
-
-#ifdef EXTERNAL1_ADC_PIN
- adcConfig->external1.enabled = true;
- adcConfig->external1.ioTag = IO_TAG(EXTERNAL1_ADC_PIN);
-#endif
-
-#ifdef CURRENT_METER_ADC_PIN
- adcConfig->current.enabled = true;
- adcConfig->current.ioTag = IO_TAG(CURRENT_METER_ADC_PIN);
-#endif
-
-#ifdef RSSI_ADC_PIN
- adcConfig->rssi.enabled = true;
- adcConfig->rssi.ioTag = IO_TAG(RSSI_ADC_PIN);
-#endif
-
-}
-#endif // USE_ADC
-
-
-#if defined(USE_PWM) || defined(USE_PPM)
-void pgResetFn_ppmConfig(ppmConfig_t *ppmConfig)
-{
-#ifdef PPM_PIN
- ppmConfig->ioTag = IO_TAG(PPM_PIN);
-#else
- for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
- if (timerHardware[i].usageFlags & TIM_USE_PPM) {
- ppmConfig->ioTag = timerHardware[i].tag;
- return;
- }
- }
-
- ppmConfig->ioTag = IO_TAG_NONE;
-#endif
-}
-
-void pgResetFn_pwmConfig(pwmConfig_t *pwmConfig)
-{
- pwmConfig->inputFilteringMode = INPUT_FILTERING_DISABLED;
- int inputIndex = 0;
- for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && inputIndex < PWM_INPUT_PORT_COUNT; i++) {
- if (timerHardware[i].usageFlags & TIM_USE_PWM) {
- pwmConfig->ioTags[inputIndex] = timerHardware[i].tag;
- inputIndex++;
- }
- }
-}
-#endif
-
-
-
-
-// Default pin (NONE).
-// XXX Does this mess belong here???
-#ifdef USE_UART1
-# if !defined(UART1_RX_PIN)
-# define UART1_RX_PIN NONE
-# endif
-# if !defined(UART1_TX_PIN)
-# define UART1_TX_PIN NONE
-# endif
-#endif
-
-#ifdef USE_UART2
-# if !defined(UART2_RX_PIN)
-# define UART2_RX_PIN NONE
-# endif
-# if !defined(UART2_TX_PIN)
-# define UART2_TX_PIN NONE
-# endif
-#endif
-
-#ifdef USE_UART3
-# if !defined(UART3_RX_PIN)
-# define UART3_RX_PIN NONE
-# endif
-# if !defined(UART3_TX_PIN)
-# define UART3_TX_PIN NONE
-# endif
-#endif
-
-#ifdef USE_UART4
-# if !defined(UART4_RX_PIN)
-# define UART4_RX_PIN NONE
-# endif
-# if !defined(UART4_TX_PIN)
-# define UART4_TX_PIN NONE
-# endif
-#endif
-
-#ifdef USE_UART5
-# if !defined(UART5_RX_PIN)
-# define UART5_RX_PIN NONE
-# endif
-# if !defined(UART5_TX_PIN)
-# define UART5_TX_PIN NONE
-# endif
-#endif
-
-#ifdef USE_UART6
-# if !defined(UART6_RX_PIN)
-# define UART6_RX_PIN NONE
-# endif
-# if !defined(UART6_TX_PIN)
-# define UART6_TX_PIN NONE
-# endif
-#endif
-
-#ifdef USE_UART7
-# if !defined(UART7_RX_PIN)
-# define UART7_RX_PIN NONE
-# endif
-# if !defined(UART7_TX_PIN)
-# define UART7_TX_PIN NONE
-# endif
-#endif
-
-#ifdef USE_UART8
-# if !defined(UART8_RX_PIN)
-# define UART8_RX_PIN NONE
-# endif
-# if !defined(UART8_TX_PIN)
-# define UART8_TX_PIN NONE
-# endif
-#endif
-
-#ifdef USE_SOFTSERIAL1
-# if !defined(SOFTSERIAL1_RX_PIN)
-# define SOFTSERIAL1_RX_PIN NONE
-# endif
-# if !defined(SOFTSERIAL1_TX_PIN)
-# define SOFTSERIAL1_TX_PIN NONE
-# endif
-#endif
-
-#ifdef USE_SOFTSERIAL2
-# if !defined(SOFTSERIAL2_RX_PIN)
-# define SOFTSERIAL2_RX_PIN NONE
-# endif
-# if !defined(SOFTSERIAL2_TX_PIN)
-# define SOFTSERIAL2_TX_PIN NONE
-# endif
-#endif
-
-void pgResetFn_serialPinConfig(serialPinConfig_t *serialPinConfig)
-{
- for (int port = 0 ; port < SERIAL_PORT_MAX_INDEX ; port++) {
- serialPinConfig->ioTagRx[port] = IO_TAG(NONE);
- serialPinConfig->ioTagTx[port] = IO_TAG(NONE);
- }
-
- for (int index = 0 ; index < SERIAL_PORT_COUNT ; index++) {
- switch (serialPortIdentifiers[index]) {
- case SERIAL_PORT_USART1:
-#ifdef USE_UART1
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART1)] = IO_TAG(UART1_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART1)] = IO_TAG(UART1_TX_PIN);
-<<<<<<< HEAD
-#ifdef INVERTER_PIN_UART1
- serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART1)] = IO_TAG(INVERTER_PIN_UART1);
-#endif
-=======
->>>>>>> betaflight/master
-#endif
- break;
- case SERIAL_PORT_USART2:
-#ifdef USE_UART2
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART2)] = IO_TAG(UART2_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART2)] = IO_TAG(UART2_TX_PIN);
-<<<<<<< HEAD
-#ifdef INVERTER_PIN_UART2
- serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART2)] = IO_TAG(INVERTER_PIN_UART2);
-#endif
-=======
->>>>>>> betaflight/master
-#endif
- break;
- case SERIAL_PORT_USART3:
-#ifdef USE_UART3
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART3)] = IO_TAG(UART3_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART3)] = IO_TAG(UART3_TX_PIN);
-<<<<<<< HEAD
-#ifdef INVERTER_PIN_UART3
- serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART3)] = IO_TAG(INVERTER_PIN_UART3);
-#endif
-=======
->>>>>>> betaflight/master
-#endif
- break;
- case SERIAL_PORT_UART4:
-#ifdef USE_UART4
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_UART4)] = IO_TAG(UART4_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_UART4)] = IO_TAG(UART4_TX_PIN);
-<<<<<<< HEAD
-#ifdef INVERTER_PIN_UART4
- serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART4)] = IO_TAG(INVERTER_PIN_UART4);
-#endif
-=======
->>>>>>> betaflight/master
-#endif
- break;
- case SERIAL_PORT_UART5:
-#ifdef USE_UART5
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_UART5)] = IO_TAG(UART5_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_UART5)] = IO_TAG(UART5_TX_PIN);
-<<<<<<< HEAD
-#ifdef INVERTER_PIN_UART5
- serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART5)] = IO_TAG(INVERTER_PIN_UART5);
-#endif
-=======
->>>>>>> betaflight/master
-#endif
- break;
- case SERIAL_PORT_USART6:
-#ifdef USE_UART6
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART6)] = IO_TAG(UART6_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART6)] = IO_TAG(UART6_TX_PIN);
-<<<<<<< HEAD
-#ifdef INVERTER_PIN_UART6
- serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART6)] = IO_TAG(INVERTER_PIN_UART6);
-#endif
-=======
->>>>>>> betaflight/master
-#endif
- break;
- case SERIAL_PORT_USART7:
-#ifdef USE_UART7
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART7)] = IO_TAG(UART7_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART7)] = IO_TAG(UART7_TX_PIN);
-#endif
- break;
- case SERIAL_PORT_USART8:
-#ifdef USE_UART8
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART8)] = IO_TAG(UART8_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART8)] = IO_TAG(UART8_TX_PIN);
-#endif
- break;
- case SERIAL_PORT_SOFTSERIAL1:
-#ifdef USE_SOFTSERIAL1
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_SOFTSERIAL1)] = IO_TAG(SOFTSERIAL1_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_SOFTSERIAL1)] = IO_TAG(SOFTSERIAL1_TX_PIN);
-#endif
- break;
- case SERIAL_PORT_SOFTSERIAL2:
-#ifdef USE_SOFTSERIAL2
- serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_SOFTSERIAL2)] = IO_TAG(SOFTSERIAL2_RX_PIN);
- serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_SOFTSERIAL2)] = IO_TAG(SOFTSERIAL2_TX_PIN);
-#endif
- break;
- case SERIAL_PORT_USB_VCP:
- break;
- case SERIAL_PORT_NONE:
- break;
- }
- }
-}
-
-#ifdef SWAP_SERIAL_PORT_0_AND_1_DEFAULTS
-#define FIRST_PORT_INDEX 1
-#define SECOND_PORT_INDEX 0
-#else
-#define FIRST_PORT_INDEX 0
-#define SECOND_PORT_INDEX 1
-#endif
-
-void pgResetFn_statusLedConfig(statusLedConfig_t *statusLedConfig)
-{
- for (int i = 0; i < LED_NUMBER; i++) {
- statusLedConfig->ledTags[i] = IO_TAG_NONE;
- }
-
-#ifdef LED0
- statusLedConfig->ledTags[0] = IO_TAG(LED0);
-#endif
-#ifdef LED1
- statusLedConfig->ledTags[1] = IO_TAG(LED1);
-#endif
-#ifdef LED2
- statusLedConfig->ledTags[2] = IO_TAG(LED2);
-#endif
-
- statusLedConfig->polarity = 0
-#ifdef LED0_INVERTED
- | BIT(0)
-#endif
-#ifdef LED1_INVERTED
- | BIT(1)
-#endif
-#ifdef LED2_INVERTED
- | BIT(2)
-#endif
- ;
-}
-
-#ifndef USE_OSD_SLAVE
-uint8_t getCurrentPidProfileIndex(void)
-{
- return systemConfig()->pidProfileIndex;
-}
-
-static void setPidProfile(uint8_t pidProfileIndex)
-{
- if (pidProfileIndex < MAX_PROFILE_COUNT) {
- systemConfigMutable()->pidProfileIndex = pidProfileIndex;
- currentPidProfile = pidProfilesMutable(pidProfileIndex);
- pidInit(currentPidProfile); // re-initialise pid controller to re-initialise filters and config
- }
-}
-
-uint8_t getCurrentControlRateProfileIndex(void)
-{
- return systemConfigMutable()->activeRateProfile;
-}
-
-uint16_t getCurrentMinthrottle(void)
-{
- return motorConfig()->minthrottle;
-}
-#endif
-
-void resetConfigs(void)
-{
- pgResetAll(MAX_PROFILE_COUNT);
-
-#if defined(TARGET_CONFIG)
- targetConfiguration();
-#endif
-
- pgActivateProfile(0);
-
-#ifndef USE_OSD_SLAVE
- setPidProfile(0);
- setControlRateProfile(0);
-#endif
-
-#ifdef LED_STRIP
- reevaluateLedConfig();
-#endif
-}
-
-void activateConfig(void)
-{
-#ifndef USE_OSD_SLAVE
- generateThrottleCurve();
-
- resetAdjustmentStates();
-
- useRcControlsConfig(modeActivationConditions(0), currentPidProfile);
- useAdjustmentConfig(currentPidProfile);
-
-#ifdef GPS
- gpsUsePIDs(currentPidProfile);
-#endif
-
- failsafeReset();
- setAccelerationTrims(&accelerometerConfigMutable()->accZero);
- setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
-
- imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
-#endif
-}
-
-void validateAndFixConfig(void)
-{
-#ifndef USE_OSD_SLAVE
- if((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){
- motorConfigMutable()->mincommand = 1000;
- }
-
- if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
- motorConfigMutable()->dev.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))) {
- featureSet(DEFAULT_RX_FEATURE);
- }
-
- if (featureConfigured(FEATURE_RX_PPM)) {
- featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
- }
-
- if (featureConfigured(FEATURE_RX_MSP)) {
- featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
- }
-
- if (featureConfigured(FEATURE_RX_SERIAL)) {
- featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
- }
-
- if (featureConfigured(FEATURE_RX_SPI)) {
- featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
- }
-
- if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
- featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
-#if defined(STM32F10X)
- // rssi adc needs the same ports
- featureClear(FEATURE_RSSI_ADC);
- // current meter needs the same ports
- if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
- batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE;
- }
-#endif
- // software serial needs free PWM ports
- featureClear(FEATURE_SOFTSERIAL);
- }
-
-#ifdef USE_SOFTSPI
- if (featureConfigured(FEATURE_SOFTSPI)) {
- featureClear(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM | FEATURE_SOFTSERIAL);
- batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_NONE;
-#if defined(STM32F10X)
- featureClear(FEATURE_LED_STRIP);
- // rssi adc needs the same ports
- featureClear(FEATURE_RSSI_ADC);
- // current meter needs the same ports
- if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
- batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE;
- }
-#endif
- }
-#endif
-
- // Prevent invalid notch cutoff
- if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) {
- currentPidProfile->dterm_notch_hz = 0;
- }
-
- validateAndFixGyroConfig();
-#endif
-
- if (!isSerialConfigValid(serialConfig())) {
- pgResetFn_serialConfig(serialConfigMutable());
- }
-
-#if defined(TARGET_VALIDATECONFIG)
- targetValidateConfiguration();
-#endif
-}
-
-#ifndef USE_OSD_SLAVE
-void validateAndFixGyroConfig(void)
-{
- // Prevent invalid notch cutoff
- if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
- gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
- }
- if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
- gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
- }
-
- float samplingTime = 0.000125f;
-
- if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
- pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
- gyroConfigMutable()->gyro_sync_denom = 1;
- gyroConfigMutable()->gyro_use_32khz = false;
- samplingTime = 0.001f;
- }
-
- if (gyroConfig()->gyro_use_32khz) {
- samplingTime = 0.00003125;
- // F1 and F3 can't handle high sample speed.
-#if defined(STM32F1)
- gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
-#elif defined(STM32F3)
- gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
-#endif
- } else {
-#if defined(STM32F1)
- gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 3);
-#endif
- }
-
-#if !defined(GYRO_USES_SPI) || !defined(USE_MPU_DATA_READY_SIGNAL)
- gyroConfigMutable()->gyro_isr_update = false;
-#endif
-
- // check for looptime restrictions based on motor protocol. Motor times have safety margin
- const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom;
- float motorUpdateRestriction;
- switch(motorConfig()->dev.motorPwmProtocol) {
- case (PWM_TYPE_STANDARD):
- motorUpdateRestriction = 1.0f/BRUSHLESS_MOTORS_PWM_RATE;
- break;
- case (PWM_TYPE_ONESHOT125):
- motorUpdateRestriction = 0.0005f;
- break;
- case (PWM_TYPE_ONESHOT42):
- motorUpdateRestriction = 0.0001f;
- break;
-#ifdef USE_DSHOT
- case (PWM_TYPE_DSHOT150):
- motorUpdateRestriction = 0.000250f;
- break;
- case (PWM_TYPE_DSHOT300):
- motorUpdateRestriction = 0.0001f;
- break;
-#endif
- default:
- motorUpdateRestriction = 0.00003125f;
- }
-
- if (pidLooptime < motorUpdateRestriction) {
- const uint8_t maxPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
- pidConfigMutable()->pid_process_denom = MIN(pidConfigMutable()->pid_process_denom, maxPidProcessDenom);
- }
-
- // Prevent overriding the max rate of motors
- if (motorConfig()->dev.useUnsyncedPwm && (motorConfig()->dev.motorPwmProtocol <= PWM_TYPE_BRUSHED) && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) {
- uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
-
- if(motorConfig()->dev.motorPwmRate > maxEscRate)
- motorConfigMutable()->dev.motorPwmRate = maxEscRate;
- }
-}
-#endif
-
-void readEEPROM(void)
-{
-#ifndef USE_OSD_SLAVE
- suspendRxSignal();
-#endif
-
- // Sanity check, read flash
- if (!loadEEPROM()) {
- failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
- }
-#ifndef USE_OSD_SLAVE
- if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {// sanity check
- systemConfigMutable()->activeRateProfile = 0;
- }
- setControlRateProfile(systemConfig()->activeRateProfile);
-
- if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) {// sanity check
- systemConfigMutable()->pidProfileIndex = 0;
- }
- setPidProfile(systemConfig()->pidProfileIndex);
-#endif
-
- validateAndFixConfig();
- activateConfig();
-
-#ifndef USE_OSD_SLAVE
- resumeRxSignal();
-#endif
-}
-
-void writeEEPROM(void)
-{
-#ifndef USE_OSD_SLAVE
- suspendRxSignal();
-#endif
-
- writeConfigToEEPROM();
-
-#ifndef USE_OSD_SLAVE
- resumeRxSignal();
-#endif
-}
-
-void resetEEPROM(void)
-{
- resetConfigs();
- writeEEPROM();
-}
-
-void ensureEEPROMContainsValidData(void)
-{
- if (isEEPROMContentValid()) {
- return;
- }
- resetEEPROM();
-}
-
-void saveConfigAndNotify(void)
-{
- writeEEPROM();
- readEEPROM();
- beeperConfirmationBeeps(1);
-}
-
-#ifndef USE_OSD_SLAVE
-void changePidProfile(uint8_t pidProfileIndex)
-{
- if (pidProfileIndex >= MAX_PROFILE_COUNT) {
- pidProfileIndex = MAX_PROFILE_COUNT - 1;
- }
- systemConfigMutable()->pidProfileIndex = pidProfileIndex;
- currentPidProfile = pidProfilesMutable(pidProfileIndex);
- beeperConfirmationBeeps(pidProfileIndex + 1);
-}
-#endif
-
-void beeperOffSet(uint32_t mask)
-{
-#ifdef BEEPER
- beeperConfigMutable()->beeper_off_flags |= mask;
-#else
- UNUSED(mask);
-#endif
-}
-
-void beeperOffSetAll(uint8_t beeperCount)
-{
-#ifdef BEEPER
- beeperConfigMutable()->beeper_off_flags = (1 << beeperCount) -1;
-#else
- UNUSED(beeperCount);
-#endif
-}
-
-void beeperOffClear(uint32_t mask)
-{
-#ifdef BEEPER
- beeperConfigMutable()->beeper_off_flags &= ~(mask);
-#else
- UNUSED(mask);
-#endif
-}
-
-void beeperOffClearAll(void)
-{
-#ifdef BEEPER
- beeperConfigMutable()->beeper_off_flags = 0;
-#endif
-}
-
-uint32_t getBeeperOffMask(void)
-{
-#ifdef BEEPER
- return beeperConfig()->beeper_off_flags;
-#else
- return 0;
-#endif
-}
-
-void setBeeperOffMask(uint32_t mask)
-{
-#ifdef BEEPER
- beeperConfigMutable()->beeper_off_flags = mask;
-#else
- UNUSED(mask);
-#endif
-}
-
-uint32_t getPreferredBeeperOffMask(void)
-{
-#ifdef BEEPER
- return beeperConfig()->preferred_beeper_off_flags;
-#else
- return 0;
-#endif
-}
-
-void setPreferredBeeperOffMask(uint32_t mask)
-{
-#ifdef BEEPER
- beeperConfigMutable()->preferred_beeper_off_flags = mask;
-#else
- UNUSED(mask);
-#endif
-}