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68 lines
4 KiB
C
68 lines
4 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "drivers/io_types.h"
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#include "pg/pg.h"
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#define GET_FRAME_ERR_LPF_FREQUENCY(period) (1 / (period / 10.0f))
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#define FRAME_ERR_RESAMPLE_US 100000
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typedef struct rxConfig_s {
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uint8_t rcmap[RX_MAPPABLE_CHANNEL_COUNT]; // mapping of radio channels to internal RPYTA+ order
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uint8_t serialrx_provider; // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
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uint8_t serialrx_inverted; // invert the serial RX protocol compared to it's default setting
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uint8_t halfDuplex; // allow rx to operate in half duplex mode on F4, ignored for F1 and F3.
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ioTag_t spektrum_bind_pin_override_ioTag;
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ioTag_t spektrum_bind_plug_ioTag;
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uint8_t spektrum_sat_bind; // number of bind pulses for Spektrum satellite receivers
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uint8_t spektrum_sat_bind_autoreset; // whenever we will reset (exit) binding mode after hard reboot
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uint8_t rssi_channel;
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uint8_t rssi_scale;
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uint8_t rssi_invert;
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uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
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uint16_t mincheck; // minimum rc end
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uint16_t maxcheck; // maximum rc end
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uint8_t fpvCamAngleDegrees; // Camera angle to be scaled into rc commands
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uint8_t airModeActivateThreshold; // Throttle setpoint percent where airmode gets activated
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uint16_t rx_min_usec;
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uint16_t rx_max_usec;
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uint8_t max_aux_channel;
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uint8_t rssi_src_frame_errors; // true to use frame drop flags in the rx protocol
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int8_t rssi_offset; // offset applied to the RSSI value before it is returned
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uint8_t rc_smoothing_mode; // Whether filter based rc smoothing is on or off
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uint8_t rc_smoothing_setpoint_cutoff; // Filter cutoff frequency for the setpoint filter (0 = auto)
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uint8_t rc_smoothing_feedforward_cutoff; // Filter cutoff frequency for the feedforward filter (0 = auto)
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uint8_t rc_smoothing_throttle_cutoff; // Filter cutoff frequency for the setpoint filter (0 = auto)
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uint8_t rc_smoothing_debug_axis; // Axis to log as debug values when debug_mode = RC_SMOOTHING
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uint8_t rc_smoothing_auto_factor_rpy; // Used to adjust the "smoothness" determined by the auto cutoff calculations
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uint8_t rc_smoothing_auto_factor_throttle; // Used to adjust the "smoothness" determined by the auto cutoff calculations
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uint8_t rssi_src_frame_lpf_period; // Period of the cutoff frequency for the source frame RSSI filter (in 0.1 s)
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uint8_t srxl2_unit_id; // Spektrum SRXL2 RX unit id
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uint8_t srxl2_baud_fast; // Select Spektrum SRXL2 fast baud rate
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uint8_t sbus_baud_fast; // Select SBus fast baud rate
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uint8_t crsf_use_rx_snr; // Use RX SNR (in dB) instead of RSSI dBm for CRSF
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uint32_t msp_override_channels_mask; // Channels to override when the MSP override mode is enabled
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uint8_t crsf_use_negotiated_baud; // Use negotiated baud rate for CRSF V3
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} rxConfig_t;
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PG_DECLARE(rxConfig_t, rxConfig);
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