mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 08:45:36 +03:00
Graft of 'cli_diff_command' into 'master'.
This commit is contained in:
mikeller
parent
271eb4c023
commit
f9354e53b3
10 changed files with 696 additions and 382 deletions
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@ -273,7 +273,7 @@ void resetProfile(profile_t *profile)
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resetControlRateConfig(&profile->controlRateProfile[rI]);
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}
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profile->activeRateProfile = 0;
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profile->activeRateProfile = 0;
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}
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#ifdef GPS
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@ -440,263 +440,280 @@ uint16_t getCurrentMinthrottle(void)
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return masterConfig.escAndServoConfig.minthrottle;
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}
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static void intFeatureClearAll(master_t *config);
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static void intFeatureSet(uint32_t mask, master_t *config);
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static void intFeatureClear(uint32_t mask, master_t *config);
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// Default settings
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static void resetConf(void)
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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(&masterConfig, 0, sizeof(master_t));
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setProfile(0);
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memset(config, 0, sizeof(master_t));
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featureClearAll();
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featureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_SUPEREXPO_RATES);
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intFeatureClearAll(config);
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intFeatureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_SUPEREXPO_RATES, config);
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#ifdef DEFAULT_FEATURES
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featureSet(DEFAULT_FEATURES);
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intFeatureSet(DEFAULT_FEATURES, config);
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#endif
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#ifdef OSD
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resetOsdConfig();
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intFeatureSet(FEATURE_OSD, config);
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resetOsdConfig(&config->osdProfile);
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#endif
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#ifdef BOARD_HAS_VOLTAGE_DIVIDER
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// only enable the VBAT feature by default if the board has a voltage divider otherwise
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// the user may see incorrect readings and unexpected issues with pin mappings may occur.
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featureSet(FEATURE_VBAT);
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intFeatureSet(FEATURE_VBAT, config);
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#endif
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masterConfig.version = EEPROM_CONF_VERSION;
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masterConfig.mixerMode = MIXER_QUADX;
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config->version = EEPROM_CONF_VERSION;
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config->mixerMode = MIXER_QUADX;
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// global settings
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masterConfig.current_profile_index = 0; // default profile
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masterConfig.dcm_kp = 2500; // 1.0 * 10000
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masterConfig.dcm_ki = 0; // 0.003 * 10000
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masterConfig.gyro_lpf = 0; // 256HZ default
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config->current_profile_index = 0; // default profile
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config->dcm_kp = 2500; // 1.0 * 10000
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config->dcm_ki = 0; // 0.003 * 10000
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config->gyro_lpf = 0; // 256HZ default
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#ifdef STM32F10X
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masterConfig.gyro_sync_denom = 8;
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masterConfig.pid_process_denom = 1;
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config->gyro_sync_denom = 8;
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config->pid_process_denom = 1;
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#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)
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masterConfig.gyro_sync_denom = 1;
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masterConfig.pid_process_denom = 4;
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config->gyro_sync_denom = 1;
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config->pid_process_denom = 4;
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#else
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masterConfig.gyro_sync_denom = 4;
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masterConfig.pid_process_denom = 2;
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config->gyro_sync_denom = 4;
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config->pid_process_denom = 2;
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#endif
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masterConfig.gyro_soft_type = FILTER_PT1;
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masterConfig.gyro_soft_lpf_hz = 90;
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masterConfig.gyro_soft_notch_hz = 0;
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masterConfig.gyro_soft_notch_cutoff = 150;
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config->gyro_soft_type = FILTER_PT1;
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config->gyro_soft_lpf_hz = 90;
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config->gyro_soft_notch_hz = 0;
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config->gyro_soft_notch_cutoff = 150;
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masterConfig.debug_mode = DEBUG_NONE;
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config->debug_mode = DEBUG_NONE;
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resetAccelerometerTrims(&masterConfig.accZero);
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resetAccelerometerTrims(&config->accZero);
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resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
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resetSensorAlignment(&config->sensorAlignmentConfig);
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masterConfig.boardAlignment.rollDegrees = 0;
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masterConfig.boardAlignment.pitchDegrees = 0;
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masterConfig.boardAlignment.yawDegrees = 0;
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masterConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
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masterConfig.max_angle_inclination = 700; // 70 degrees
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masterConfig.yaw_control_direction = 1;
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masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
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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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config->acc_hardware = ACC_DEFAULT; // default/autodetect
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config->max_angle_inclination = 700; // 70 degrees
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config->yaw_control_direction = 1;
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config->gyroConfig.gyroMovementCalibrationThreshold = 32;
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// xxx_hardware: 0:default/autodetect, 1: disable
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masterConfig.mag_hardware = 0;
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config->mag_hardware = 0;
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masterConfig.baro_hardware = 0;
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config->baro_hardware = 0;
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resetBatteryConfig(&masterConfig.batteryConfig);
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resetBatteryConfig(&config->batteryConfig);
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#ifdef TELEMETRY
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resetTelemetryConfig(&masterConfig.telemetryConfig);
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resetTelemetryConfig(&config->telemetryConfig);
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#endif
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#ifdef SERIALRX_PROVIDER
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masterConfig.rxConfig.serialrx_provider = SERIALRX_PROVIDER;
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config->rxConfig.serialrx_provider = SERIALRX_PROVIDER;
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#else
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masterConfig.rxConfig.serialrx_provider = 0;
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config->rxConfig.serialrx_provider = 0;
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#endif
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masterConfig.rxConfig.sbus_inversion = 1;
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masterConfig.rxConfig.spektrum_sat_bind = 0;
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masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
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masterConfig.rxConfig.midrc = 1500;
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masterConfig.rxConfig.mincheck = 1100;
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masterConfig.rxConfig.maxcheck = 1900;
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masterConfig.rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection
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masterConfig.rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
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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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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &config->rxConfig.failsafe_channel_configurations[i];
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channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
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channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
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channelFailsafeConfiguration->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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masterConfig.rxConfig.rssi_channel = 0;
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masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
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masterConfig.rxConfig.rssi_ppm_invert = 0;
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masterConfig.rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
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masterConfig.rxConfig.rcInterpolationInterval = 19;
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masterConfig.rxConfig.fpvCamAngleDegrees = 0;
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masterConfig.rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
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masterConfig.rxConfig.airModeActivateThreshold = 1350;
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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_ppm_invert = 0;
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config->rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
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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 = MAX_AUX_CHANNELS;
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config->rxConfig.airModeActivateThreshold = 1350;
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resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
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resetAllRxChannelRangeConfigurations(config->rxConfig.channelRanges);
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masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
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config->inputFilteringMode = INPUT_FILTERING_DISABLED;
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masterConfig.gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
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masterConfig.disarm_kill_switch = 1;
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masterConfig.auto_disarm_delay = 5;
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masterConfig.small_angle = 25;
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config->gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
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config->disarm_kill_switch = 1;
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config->auto_disarm_delay = 5;
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config->small_angle = 25;
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resetMixerConfig(&masterConfig.mixerConfig);
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resetMixerConfig(&config->mixerConfig);
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masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
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config->airplaneConfig.fixedwing_althold_dir = 1;
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// Motor/ESC/Servo
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resetEscAndServoConfig(&masterConfig.escAndServoConfig);
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resetFlight3DConfig(&masterConfig.flight3DConfig);
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resetEscAndServoConfig(&config->escAndServoConfig);
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resetFlight3DConfig(&config->flight3DConfig);
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#ifdef BRUSHED_MOTORS
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masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
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masterConfig.motor_pwm_protocol = PWM_TYPE_BRUSHED;
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masterConfig.use_unsyncedPwm = true;
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config->motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
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config->motor_pwm_protocol = PWM_TYPE_BRUSHED;
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config->use_unsyncedPwm = true;
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#else
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masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
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masterConfig.motor_pwm_protocol = PWM_TYPE_ONESHOT125;
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config->motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
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config->motor_pwm_protocol = PWM_TYPE_ONESHOT125;
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#endif
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masterConfig.servo_pwm_rate = 50;
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config->servo_pwm_rate = 50;
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#ifdef CC3D
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masterConfig.use_buzzer_p6 = 0;
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config->use_buzzer_p6 = 0;
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#endif
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#ifdef GPS
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// gps/nav stuff
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masterConfig.gpsConfig.provider = GPS_NMEA;
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masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
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masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
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masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
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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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resetSerialConfig(&masterConfig.serialConfig);
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resetSerialConfig(&config->serialConfig);
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masterConfig.emf_avoidance = 0; // TODO - needs removal
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config->emf_avoidance = 0; // TODO - needs removal
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resetProfile(currentProfile);
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resetProfile(&config->profile[0]);
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resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
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resetRollAndPitchTrims(&config->accelerometerTrims);
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masterConfig.mag_declination = 0;
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masterConfig.acc_lpf_hz = 10.0f;
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masterConfig.accDeadband.xy = 40;
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masterConfig.accDeadband.z = 40;
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masterConfig.acc_unarmedcal = 1;
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config->mag_declination = 0;
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config->acc_lpf_hz = 10.0f;
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config->accDeadband.xy = 40;
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config->accDeadband.z = 40;
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config->acc_unarmedcal = 1;
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#ifdef BARO
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resetBarometerConfig(&masterConfig.barometerConfig);
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resetBarometerConfig(&config->barometerConfig);
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#endif
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// Radio
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#ifdef RX_CHANNELS_TAER
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parseRcChannels("TAER1234", &masterConfig.rxConfig);
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parseRcChannels("TAER1234", &config->rxConfig);
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#else
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parseRcChannels("AETR1234", &masterConfig.rxConfig);
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parseRcChannels("AETR1234", &config->rxConfig);
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#endif
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resetRcControlsConfig(&masterConfig.rcControlsConfig);
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resetRcControlsConfig(&config->rcControlsConfig);
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masterConfig.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
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masterConfig.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
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config->throttle_correction_value = 0; // could 10 with althold or 40 for fpv
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config->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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masterConfig.failsafeConfig.failsafe_delay = 10; // 1sec
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masterConfig.failsafeConfig.failsafe_off_delay = 10; // 1sec
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masterConfig.failsafeConfig.failsafe_throttle = 1000; // default throttle off.
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masterConfig.failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss
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masterConfig.failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
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masterConfig.failsafeConfig.failsafe_procedure = 0; // default full failsafe procedure is 0: auto-landing
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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 = 0; // default full failsafe procedure is 0: auto-landing
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#ifdef USE_SERVOS
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// servos
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for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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masterConfig.servoConf[i].min = DEFAULT_SERVO_MIN;
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masterConfig.servoConf[i].max = DEFAULT_SERVO_MAX;
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masterConfig.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
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masterConfig.servoConf[i].rate = 100;
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masterConfig.servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
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masterConfig.servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
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masterConfig.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
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config->servoConf[i].min = DEFAULT_SERVO_MIN;
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config->servoConf[i].max = DEFAULT_SERVO_MAX;
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config->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
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config->servoConf[i].rate = 100;
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config->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
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config->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
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config->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
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}
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// gimbal
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masterConfig.gimbalConfig.mode = GIMBAL_MODE_NORMAL;
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config->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
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#endif
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#ifdef GPS
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resetGpsProfile(&masterConfig.gpsProfile);
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resetGpsProfile(&config->gpsProfile);
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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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masterConfig.customMotorMixer[i].throttle = 0.0f;
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config->customMotorMixer[i].throttle = 0.0f;
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}
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#ifdef LED_STRIP
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applyDefaultColors(masterConfig.colors);
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applyDefaultLedStripConfig(masterConfig.ledConfigs);
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applyDefaultModeColors(masterConfig.modeColors);
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applyDefaultSpecialColors(&(masterConfig.specialColors));
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masterConfig.ledstrip_visual_beeper = 0;
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applyDefaultColors(config->colors);
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applyDefaultLedStripConfig(config->ledConfigs);
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applyDefaultModeColors(config->modeColors);
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applyDefaultSpecialColors(&(config->specialColors));
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config->ledstrip_visual_beeper = 0;
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#endif
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#ifdef VTX
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masterConfig.vtx_band = 4; //Fatshark/Airwaves
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masterConfig.vtx_channel = 1; //CH1
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masterConfig.vtx_mode = 0; //CH+BAND mode
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masterConfig.vtx_mhz = 5740; //F0
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config->vtx_band = 4; //Fatshark/Airwaves
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config->vtx_channel = 1; //CH1
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config->vtx_mode = 0; //CH+BAND mode
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config->vtx_mhz = 5740; //F0
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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(masterConfig.transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
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memcpy(config->transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
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#endif
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#ifdef BLACKBOX
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#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
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featureSet(FEATURE_BLACKBOX);
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masterConfig.blackbox_device = BLACKBOX_DEVICE_FLASH;
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intFeatureSet(FEATURE_BLACKBOX, config);
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config->blackbox_device = BLACKBOX_DEVICE_FLASH;
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#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
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featureSet(FEATURE_BLACKBOX);
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masterConfig.blackbox_device = BLACKBOX_DEVICE_SDCARD;
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intFeatureSet(FEATURE_BLACKBOX, config);
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config->blackbox_device = BLACKBOX_DEVICE_SDCARD;
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#else
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masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL;
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config->blackbox_device = BLACKBOX_DEVICE_SERIAL;
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#endif
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masterConfig.blackbox_rate_num = 1;
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masterConfig.blackbox_rate_denom = 1;
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config->blackbox_rate_num = 1;
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config->blackbox_rate_denom = 1;
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#endif // BLACKBOX
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||||
|
||||
#ifdef SERIALRX_UART
|
||||
if (featureConfigured(FEATURE_RX_SERIAL)) {
|
||||
masterConfig.serialConfig.portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
|
||||
config->serialConfig.portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(TARGET_CONFIG)
|
||||
targetConfiguration();
|
||||
// Don't look at target specific config settings when getting default
|
||||
// values for a CLI diff. This is suboptimal, but it doesn't break the
|
||||
// public API
|
||||
if (config == &masterConfig) {
|
||||
targetConfiguration();
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
// copy first profile into remaining profile
|
||||
for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
|
||||
memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
|
||||
memcpy(&config->profile[i], &config->profile[0], sizeof(profile_t));
|
||||
}
|
||||
}
|
||||
|
||||
static void resetConf(void)
|
||||
{
|
||||
createDefaultConfig(&masterConfig);
|
||||
|
||||
setProfile(0);
|
||||
|
||||
#ifdef LED_STRIP
|
||||
reevaluateLedConfig();
|
||||
#endif
|
||||
}
|
||||
|
||||
static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
|
||||
|
|
@ -1067,17 +1084,32 @@ bool feature(uint32_t mask)
|
|||
|
||||
void featureSet(uint32_t mask)
|
||||
{
|
||||
masterConfig.enabledFeatures |= mask;
|
||||
intFeatureSet(mask, &masterConfig);
|
||||
}
|
||||
|
||||
static void intFeatureSet(uint32_t mask, master_t *config)
|
||||
{
|
||||
config->enabledFeatures |= mask;
|
||||
}
|
||||
|
||||
void featureClear(uint32_t mask)
|
||||
{
|
||||
masterConfig.enabledFeatures &= ~(mask);
|
||||
intFeatureClear(mask, &masterConfig);
|
||||
}
|
||||
|
||||
static void intFeatureClear(uint32_t mask, master_t *config)
|
||||
{
|
||||
config->enabledFeatures &= ~(mask);
|
||||
}
|
||||
|
||||
void featureClearAll()
|
||||
{
|
||||
masterConfig.enabledFeatures = 0;
|
||||
intFeatureClearAll(&masterConfig);
|
||||
}
|
||||
|
||||
static void intFeatureClearAll(master_t *config)
|
||||
{
|
||||
config->enabledFeatures = 0;
|
||||
}
|
||||
|
||||
uint32_t featureMask(void)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue