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Make sensor calibration flags system STATEs; Check for calibration values for ACC and MAG; Block arming if calibration is not done for available sensor; Indicate ARMing blockers in armingFlags; Report armingFlags via MSP_STATUS_EX

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-12-08 22:02:59 +10:00
parent 6f17bdc146
commit 5e95d7d055
11 changed files with 282 additions and 269 deletions
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24
src/main/config/config.c
View file

@ -467,7 +467,6 @@ static void resetConf(void)
masterConfig.version = EEPROM_CONF_VERSION;
mixerConfig()->mixerMode = MIXER_QUADX;
featureClearAll();
persistentFlagClearAll();
featureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE);
#ifdef DEFAULT_FEATURES
featureSet(DEFAULT_FEATURES);
@ -781,8 +780,7 @@ void activateConfig(void)
useFailsafeConfig(&masterConfig.failsafeConfig);
setAccelerationZero(&masterConfig.sensorTrims.accZero);
setAccelerationGain(&masterConfig.sensorTrims.accGain);
setAccelerationCalibrationValues(&masterConfig.sensorTrims.accZero, &masterConfig.sensorTrims.accGain);
setAccelerationFilter(currentProfile->pidProfile.acc_soft_lpf_hz);
mixerUseConfigs(&masterConfig.flight3DConfig, &masterConfig.motorConfig, &masterConfig.mixerConfig, &masterConfig.rxConfig);
@ -1074,26 +1072,6 @@ void changeControlRateProfile(uint8_t profileIndex)
activateControlRateConfig();
}
void persistentFlagClearAll()
{
masterConfig.persistentFlags = 0;
}
bool persistentFlag(uint8_t mask)
{
return masterConfig.persistentFlags & mask;
}
void persistentFlagSet(uint8_t mask)
{
masterConfig.persistentFlags |= mask;
}
void persistentFlagClear(uint8_t mask)
{
masterConfig.persistentFlags &= ~(mask);
}
void beeperOffSet(uint32_t mask)
{
masterConfig.beeper_off_flags |= mask;

9
src/main/config/config.h
View file

@ -73,10 +73,6 @@ typedef enum {
FEATURE_OSD = 1 << 29,
} features_e;
typedef enum {
FLAG_MAG_CALIBRATION_DONE = 1 << 0,
} persistent_flags_e;
void beeperOffSet(uint32_t mask);
void beeperOffSetAll(uint8_t beeperCount);
void beeperOffClear(uint32_t mask);
@ -86,11 +82,6 @@ void setBeeperOffMask(uint32_t mask);
uint32_t getPreferredBeeperOffMask(void);
void setPreferredBeeperOffMask(uint32_t mask);
bool persistentFlag(uint8_t mask);
void persistentFlagSet(uint8_t mask);
void persistentFlagClear(uint8_t mask);
void persistentFlagClearAll();
void copyCurrentProfileToProfileSlot(uint8_t profileSlotIndex);
void resetEEPROM(void);

1
src/main/fc/fc_msp.c
View file

@ -556,6 +556,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU32(dst, packFlightModeFlags());
sbufWriteU8(dst, masterConfig.current_profile_index);
sbufWriteU16(dst, averageSystemLoadPercent);
sbufWriteU16(dst, armingFlags);
break;
case MSP_STATUS:

54
src/main/fc/mw.c
View file

@ -127,6 +127,45 @@ int16_t getAxisRcCommand(int16_t rawData, int16_t rate, int16_t deadband)
return rcLookup(stickDeflection, rate);
}
static void updatePreArmingChecks(void)
{
DISABLE_ARMING_FLAG(BLOCKED_ALL_FLAGS);
if (!STATE(SMALL_ANGLE)) {
ENABLE_ARMING_FLAG(BLOCKED_UAV_NOT_LEVEL);
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (isCalibrating()) {
ENABLE_ARMING_FLAG(BLOCKED_SENSORS_CALIBRATING);
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (isSystemOverloaded()) {
ENABLE_ARMING_FLAG(BLOCKED_SYSTEM_OVERLOADED);
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
#if defined(NAV)
if (naivationBlockArming()) {
ENABLE_ARMING_FLAG(BLOCKED_NAVIGATION_SAFETY);
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
#endif
#if defined(MAG)
if (sensors(SENSOR_MAG) && !STATE(COMPASS_CALIBRATED)) {
ENABLE_ARMING_FLAG(BLOCKED_COMPASS_NOT_CALIBRATED);
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
#endif
if (sensors(SENSOR_ACC) && !STATE(ACCELEROMETER_CALIBRATED)) {
ENABLE_ARMING_FLAG(BLOCKED_ACCELEROMETER_NOT_CALIBRATED);
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
}
void annexCode(void)
{
@ -158,20 +197,7 @@ void annexCode(void)
ENABLE_ARMING_FLAG(OK_TO_ARM);
}
if (!STATE(SMALL_ANGLE)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (isCalibrating() || isSystemOverloaded() || !isHardwareHealthy()) {
warningLedFlash();
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
#if defined(NAV)
if (naivationBlockArming()) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
#endif
updatePreArmingChecks();
if (ARMING_FLAG(OK_TO_ARM)) {
warningLedDisable();

4
src/main/fc/runtime_config.c
View file

@ -23,8 +23,8 @@
#include "fc/runtime_config.h"
#include "io/beeper.h"
uint8_t armingFlags = 0;
uint8_t stateFlags = 0;
uint16_t armingFlags = 0;
uint32_t stateFlags = 0;
uint32_t flightModeFlags = 0;
static uint32_t enabledSensors = 0;

19
src/main/fc/runtime_config.h
View file

@ -22,10 +22,21 @@ typedef enum {
OK_TO_ARM = (1 << 0),
PREVENT_ARMING = (1 << 1),
ARMED = (1 << 2),
WAS_EVER_ARMED = (1 << 3)
WAS_EVER_ARMED = (1 << 3),
BLOCKED_UAV_NOT_LEVEL = (1 << 8),
BLOCKED_SENSORS_CALIBRATING = (1 << 9),
BLOCKED_SYSTEM_OVERLOADED = (1 << 10),
BLOCKED_NAVIGATION_SAFETY = (1 << 11),
BLOCKED_COMPASS_NOT_CALIBRATED = (1 << 12),
BLOCKED_ACCELEROMETER_NOT_CALIBRATED = (1 << 13),
// = (1 << 14),
BLOCKED_HARDWARE_FAILURE = (1 << 15),
BLOCKED_ALL_FLAGS = (BLOCKED_UAV_NOT_LEVEL | BLOCKED_SENSORS_CALIBRATING | BLOCKED_SYSTEM_OVERLOADED | BLOCKED_NAVIGATION_SAFETY |
BLOCKED_COMPASS_NOT_CALIBRATED | BLOCKED_ACCELEROMETER_NOT_CALIBRATED | BLOCKED_HARDWARE_FAILURE)
} armingFlag_e;
extern uint8_t armingFlags;
extern uint16_t armingFlags;
#define DISABLE_ARMING_FLAG(mask) (armingFlags &= ~(mask))
#define ENABLE_ARMING_FLAG(mask) (armingFlags |= (mask))
@ -64,13 +75,15 @@ typedef enum {
ANTI_WINDUP = (1 << 5),
FLAPERON_AVAILABLE = (1 << 6),
NAV_MOTOR_STOP_OR_IDLE = (1 << 7), // navigation requests MOTOR_STOP or motor idle regardless of throttle stick, will only activate if MOTOR_STOP feature is available
COMPASS_CALIBRATED = (1 << 8),
ACCELEROMETER_CALIBRATED= (1 << 9),
} stateFlags_t;
#define DISABLE_STATE(mask) (stateFlags &= ~(mask))
#define ENABLE_STATE(mask) (stateFlags |= (mask))
#define STATE(mask) (stateFlags & (mask))
extern uint8_t stateFlags;
extern uint32_t stateFlags;
uint32_t enableFlightMode(flightModeFlags_e mask);
uint32_t disableFlightMode(flightModeFlags_e mask);

2
src/main/flight/imu.c
View file

@ -615,7 +615,7 @@ bool isImuReady(void)
bool isImuHeadingValid(void)
{
return (sensors(SENSOR_MAG) && persistentFlag(FLAG_MAG_CALIBRATION_DONE)) || (STATE(FIXED_WING) && gpsHeadingInitialized);
return (sensors(SENSOR_MAG) && STATE(COMPASS_CALIBRATED)) || (STATE(FIXED_WING) && gpsHeadingInitialized);
}
float calculateCosTiltAngle(void)

403
src/main/io/serial_cli.c
View file

@ -635,12 +635,11 @@ typedef struct {
const uint8_t type; // see cliValueFlag_e
void *ptr;
const cliValueConfig_t config;
const persistent_flags_e pflags_to_set;
} clivalue_t;
const clivalue_t valueTable[] = {
{ "looptime", VAR_UINT16 | MASTER_VALUE, &gyroConfig()->looptime, .config.minmax = {0, 9000}, 0 },
{ "i2c_overclock", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.i2c_overclock, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "looptime", VAR_UINT16 | MASTER_VALUE, &gyroConfig()->looptime, .config.minmax = {0, 9000} },
{ "i2c_overclock", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.i2c_overclock, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_sync", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyroSync, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyroSyncDenominator, .config.minmax = { 1, 32 } },
@ -650,271 +649,271 @@ const clivalue_t valueTable[] = {
{ "async_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.asyncMode, .config.lookup = { TABLE_ASYNC_MODE } },
#endif
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &rxConfig()->midrc, .config.minmax = { 1200, 1700 }, 0 },
{ "min_check", VAR_UINT16 | MASTER_VALUE, &rxConfig()->mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "max_check", VAR_UINT16 | MASTER_VALUE, &rxConfig()->maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &rxConfig()->rssi_channel, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT }, 0 },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &rxConfig()->rssi_scale, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX }, 0 },
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "rc_smoothing", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rcSmoothing, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &rxConfig()->midrc, .config.minmax = { 1200, 1700 } },
{ "min_check", VAR_UINT16 | MASTER_VALUE, &rxConfig()->mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_check", VAR_UINT16 | MASTER_VALUE, &rxConfig()->maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &rxConfig()->rssi_channel, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &rxConfig()->rssi_scale, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX } },
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
{ "rc_smoothing", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rcSmoothing, .config.lookup = { TABLE_OFF_ON } },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &motorConfig()->minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &motorConfig()->maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "min_command", VAR_UINT16 | MASTER_VALUE, &motorConfig()->mincommand, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &motorConfig()->minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &motorConfig()->maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "min_command", VAR_UINT16 | MASTER_VALUE, &motorConfig()->mincommand, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_low, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 }, // FIXME upper limit should match code in the mixer, 1500 currently
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_high, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 }, // FIXME lower limit should match code in the mixer, 1500 currently,
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_low, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_high, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &motorConfig()->motorPwmRate, .config.minmax = { 50, 32000 }, 0 },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &motorConfig()->motorPwmRate, .config.minmax = { 50, 32000 } },
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &motorConfig()->motorPwmProtocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
{ "fixed_wing_auto_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->fixed_wing_auto_arm, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->disarm_kill_switch, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &armingConfig()->auto_disarm_delay, .config.minmax = { 0, 60 }, 0 },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &imuConfig()->small_angle, .config.minmax = { 0, 180 }, 0 },
{ "fixed_wing_auto_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->fixed_wing_auto_arm, .config.lookup = { TABLE_OFF_ON } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &armingConfig()->auto_disarm_delay, .config.minmax = { 0, 60 } },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &imuConfig()->small_angle, .config.minmax = { 0, 180 } },
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, &serialConfig()->reboot_character, .config.minmax = { 48, 126 }, 0 },
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, &serialConfig()->reboot_character, .config.minmax = { 48, 126 } },
#ifdef GPS
{ "gps_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->provider, .config.lookup = { TABLE_GPS_PROVIDER }, 0 },
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->sbasMode, .config.lookup = { TABLE_GPS_SBAS_MODE }, 0 },
{ "gps_dyn_model", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->dynModel, .config.lookup = { TABLE_GPS_DYN_MODEL }, 0 },
{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoConfig, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoBaud, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "gps_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->provider, .config.lookup = { TABLE_GPS_PROVIDER } },
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->sbasMode, .config.lookup = { TABLE_GPS_SBAS_MODE } },
{ "gps_dyn_model", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->dynModel, .config.lookup = { TABLE_GPS_DYN_MODEL } },
{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoConfig, .config.lookup = { TABLE_OFF_ON } },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoBaud, .config.lookup = { TABLE_OFF_ON } },
#endif
#ifdef NAV
{ "nav_alt_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], .config.minmax = { 0, 255 }, 0 },
{ "nav_alt_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], .config.minmax = { 0, 255 }, 0 },
{ "nav_alt_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDALT], .config.minmax = { 0, 255 }, 0 },
{ "nav_alt_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], .config.minmax = { 0, 255 }, },
{ "nav_alt_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], .config.minmax = { 0, 255 }, },
{ "nav_alt_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDALT], .config.minmax = { 0, 255 }, },
{ "nav_vel_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], .config.minmax = { 0, 255 }, 0 },
{ "nav_vel_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 255 }, 0 },
{ "nav_vel_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 255 }, 0 },
{ "nav_vel_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], .config.minmax = { 0, 255 }, },
{ "nav_vel_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 255 }, },
{ "nav_vel_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 255 }, },
{ "nav_pos_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOS], .config.minmax = { 0, 255 }, 0 },
{ "nav_pos_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOS], .config.minmax = { 0, 255 }, 0 },
{ "nav_pos_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOS], .config.minmax = { 0, 255 }, 0 },
{ "nav_posr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOSR], .config.minmax = { 0, 255 }, 0 },
{ "nav_posr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOSR], .config.minmax = { 0, 255 }, 0 },
{ "nav_posr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOSR], .config.minmax = { 0, 255 }, 0 },
{ "nav_navr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], .config.minmax = { 0, 255 }, 0 },
{ "nav_navr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDNAVR], .config.minmax = { 0, 255 }, 0 },
{ "nav_navr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], .config.minmax = { 0, 255 }, 0 },
{ "nav_pos_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOS], .config.minmax = { 0, 255 }, },
{ "nav_pos_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOS], .config.minmax = { 0, 255 }, },
{ "nav_pos_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOS], .config.minmax = { 0, 255 }, },
{ "nav_posr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOSR], .config.minmax = { 0, 255 }, },
{ "nav_posr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOSR], .config.minmax = { 0, 255 }, },
{ "nav_posr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOSR], .config.minmax = { 0, 255 }, },
{ "nav_navr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], .config.minmax = { 0, 255 }, },
{ "nav_navr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDNAVR], .config.minmax = { 0, 255 }, },
{ "nav_navr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], .config.minmax = { 0, 255 }, },
#if defined(NAV_AUTO_MAG_DECLINATION)
{ "inav_auto_mag_decl", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->estimation.automatic_mag_declination, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "inav_auto_mag_decl", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->estimation.automatic_mag_declination, .config.lookup = { TABLE_OFF_ON } },
#endif
{ "inav_accz_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->estimation.accz_unarmed_cal, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "inav_use_gps_velned", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->estimation.use_gps_velned, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "inav_gps_delay", VAR_UINT16 | MASTER_VALUE, &navConfig()->estimation.gps_delay_ms, .config.minmax = { 0, 500 }, 0 },
{ "inav_gps_min_sats", VAR_UINT8 | MASTER_VALUE, &navConfig()->estimation.gps_min_sats, .config.minmax = { 5, 10}, 0 },
{ "inav_accz_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->estimation.accz_unarmed_cal, .config.lookup = { TABLE_OFF_ON } },
{ "inav_use_gps_velned", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->estimation.use_gps_velned, .config.lookup = { TABLE_OFF_ON } },
{ "inav_gps_delay", VAR_UINT16 | MASTER_VALUE, &navConfig()->estimation.gps_delay_ms, .config.minmax = { 0, 500 } },
{ "inav_gps_min_sats", VAR_UINT8 | MASTER_VALUE, &navConfig()->estimation.gps_min_sats, .config.minmax = { 5, 10} },
{ "inav_w_z_baro_p", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_z_baro_p, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_z_gps_p", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_z_gps_p, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_z_gps_v", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_z_gps_v, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_xy_gps_p", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_xy_gps_p, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_xy_gps_v", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_xy_gps_v, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_z_res_v", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_z_res_v, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_xy_res_v", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_xy_res_v, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_acc_bias", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_acc_bias, .config.minmax = { 0, 1 }, 0 },
{ "inav_w_z_baro_p", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_z_baro_p, .config.minmax = { 0, 10 } },
{ "inav_w_z_gps_p", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_z_gps_p, .config.minmax = { 0, 10 } },
{ "inav_w_z_gps_v", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_z_gps_v, .config.minmax = { 0, 10 } },
{ "inav_w_xy_gps_p", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_xy_gps_p, .config.minmax = { 0, 10 } },
{ "inav_w_xy_gps_v", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_xy_gps_v, .config.minmax = { 0, 10 } },
{ "inav_w_z_res_v", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_z_res_v, .config.minmax = { 0, 10 } },
{ "inav_w_xy_res_v", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_xy_res_v, .config.minmax = { 0, 10 } },
{ "inav_w_acc_bias", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.w_acc_bias, .config.minmax = { 0, 1 } },
{ "inav_max_eph_epv", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.max_eph_epv, .config.minmax = { 0, 9999 }, 0 },
{ "inav_baro_epv", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.baro_epv, .config.minmax = { 0, 9999 }, 0 },
{ "inav_max_eph_epv", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.max_eph_epv, .config.minmax = { 0, 9999 } },
{ "inav_baro_epv", VAR_FLOAT | MASTER_VALUE, &navConfig()->estimation.baro_epv, .config.minmax = { 0, 9999 } },
{ "nav_disarm_on_landing", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.disarm_on_landing, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "nav_use_midthr_for_althold", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.use_thr_mid_for_althold, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "nav_extra_arming_safety", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.extra_arming_safety, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "nav_user_control_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.user_control_mode, .config.lookup = { TABLE_NAV_USER_CTL_MODE }, 0 },
{ "nav_position_timeout", VAR_UINT8 | MASTER_VALUE, &navConfig()->general.pos_failure_timeout, .config.minmax = { 0, 10 }, 0 },
{ "nav_wp_radius", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.waypoint_radius, .config.minmax = { 10, 10000 }, 0 },
{ "nav_max_speed", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.max_speed, .config.minmax = { 10, 2000 }, 0 },
{ "nav_max_climb_rate", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.max_climb_rate, .config.minmax = { 10, 2000 }, 0 },
{ "nav_manual_speed", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.max_manual_speed, .config.minmax = { 10, 2000 }, 0 },
{ "nav_manual_climb_rate", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.max_manual_climb_rate, .config.minmax = { 10, 2000 }, 0 },
{ "nav_landing_speed", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.land_descent_rate, .config.minmax = { 100, 2000 }, 0 },
{ "nav_land_slowdown_minalt", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.land_slowdown_minalt, .config.minmax = { 50, 1000 }, 0 },
{ "nav_land_slowdown_maxalt", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.land_slowdown_maxalt, .config.minmax = { 500, 4000 }, 0 },
{ "nav_emerg_landing_speed", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.emerg_descent_rate, .config.minmax = { 100, 2000 }, 0 },
{ "nav_min_rth_distance", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.min_rth_distance, .config.minmax = { 0, 5000 }, 0 },
{ "nav_rth_climb_first", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.rth_climb_first, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "nav_rth_tail_first", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.rth_tail_first, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "nav_rth_alt_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.rth_alt_control_mode, .config.lookup = { TABLE_NAV_RTH_ALT_MODE }, 0 },
{ "nav_rth_altitude", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.rth_altitude, .config.minmax = { 100, 65000 }, 0 },
{ "nav_disarm_on_landing", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.disarm_on_landing, .config.lookup = { TABLE_OFF_ON } },
{ "nav_use_midthr_for_althold", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.use_thr_mid_for_althold, .config.lookup = { TABLE_OFF_ON } },
{ "nav_extra_arming_safety", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.extra_arming_safety, .config.lookup = { TABLE_OFF_ON } },
{ "nav_user_control_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.user_control_mode, .config.lookup = { TABLE_NAV_USER_CTL_MODE } },
{ "nav_position_timeout", VAR_UINT8 | MASTER_VALUE, &navConfig()->general.pos_failure_timeout, .config.minmax = { 0, 10 } },
{ "nav_wp_radius", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.waypoint_radius, .config.minmax = { 10, 10000 } },
{ "nav_max_speed", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.max_speed, .config.minmax = { 10, 2000 } },
{ "nav_max_climb_rate", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.max_climb_rate, .config.minmax = { 10, 2000 } },
{ "nav_manual_speed", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.max_manual_speed, .config.minmax = { 10, 2000 } },
{ "nav_manual_climb_rate", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.max_manual_climb_rate, .config.minmax = { 10, 2000 } },
{ "nav_landing_speed", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.land_descent_rate, .config.minmax = { 100, 2000 } },
{ "nav_land_slowdown_minalt", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.land_slowdown_minalt, .config.minmax = { 50, 1000 } },
{ "nav_land_slowdown_maxalt", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.land_slowdown_maxalt, .config.minmax = { 500, 4000 } },
{ "nav_emerg_landing_speed", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.emerg_descent_rate, .config.minmax = { 100, 2000 } },
{ "nav_min_rth_distance", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.min_rth_distance, .config.minmax = { 0, 5000 } },
{ "nav_rth_climb_first", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.rth_climb_first, .config.lookup = { TABLE_OFF_ON } },
{ "nav_rth_tail_first", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.rth_tail_first, .config.lookup = { TABLE_OFF_ON } },
{ "nav_rth_alt_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navConfig()->general.flags.rth_alt_control_mode, .config.lookup = { TABLE_NAV_RTH_ALT_MODE } },
{ "nav_rth_altitude", VAR_UINT16 | MASTER_VALUE, &navConfig()->general.rth_altitude, .config.minmax = { 100, 65000 } },
{ "nav_mc_bank_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->mc.max_bank_angle, .config.minmax = { 15, 45 }, 0 },
{ "nav_mc_hover_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->mc.hover_throttle, .config.minmax = { 1000, 2000 }, 0 },
{ "nav_mc_auto_disarm_delay", VAR_UINT16 | MASTER_VALUE, &navConfig()->mc.auto_disarm_delay, .config.minmax = { 100, 10000 }, 0 },
{ "nav_mc_bank_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->mc.max_bank_angle, .config.minmax = { 15, 45 } },
{ "nav_mc_hover_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->mc.hover_throttle, .config.minmax = { 1000, 2000 } },
{ "nav_mc_auto_disarm_delay", VAR_UINT16 | MASTER_VALUE, &navConfig()->mc.auto_disarm_delay, .config.minmax = { 100, 10000 } },
{ "nav_fw_cruise_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.cruise_throttle, .config.minmax = { 1000, 2000 }, 0 },
{ "nav_fw_min_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.min_throttle, .config.minmax = { 1000, 2000 }, 0 },
{ "nav_fw_max_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.max_throttle, .config.minmax = { 1000, 2000 }, 0 },
{ "nav_fw_bank_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.max_bank_angle, .config.minmax = { 5, 45 }, 0 },
{ "nav_fw_climb_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.max_climb_angle, .config.minmax = { 5, 45 }, 0 },
{ "nav_fw_dive_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.max_dive_angle, .config.minmax = { 5, 45 }, 0 },
{ "nav_fw_pitch2thr", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.pitch_to_throttle, .config.minmax = { 0, 100 }, 0 },
{ "nav_fw_roll2pitch", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.roll_to_pitch, .config.minmax = { 0, 200 }, 0 },
{ "nav_fw_loiter_radius", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.loiter_radius, .config.minmax = { 0, 10000 }, 0 },
{ "nav_fw_cruise_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.cruise_throttle, .config.minmax = { 1000, 2000 } },
{ "nav_fw_min_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.min_throttle, .config.minmax = { 1000, 2000 } },
{ "nav_fw_max_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.max_throttle, .config.minmax = { 1000, 2000 } },
{ "nav_fw_bank_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.max_bank_angle, .config.minmax = { 5, 45 } },
{ "nav_fw_climb_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.max_climb_angle, .config.minmax = { 5, 45 } },
{ "nav_fw_dive_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.max_dive_angle, .config.minmax = { 5, 45 } },
{ "nav_fw_pitch2thr", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.pitch_to_throttle, .config.minmax = { 0, 100 } },
{ "nav_fw_roll2pitch", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.roll_to_pitch, .config.minmax = { 0, 200 } },
{ "nav_fw_loiter_radius", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.loiter_radius, .config.minmax = { 0, 10000 } },
{ "nav_fw_launch_velocity", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_velocity_thresh, .config.minmax = { 100, 10000 }, 0 },
{ "nav_fw_launch_accel", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_accel_thresh, .config.minmax = { 1000, 20000 }, 0 },
{ "nav_fw_launch_detect_time", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_time_thresh, .config.minmax = { 10, 1000 }, 0 },
{ "nav_fw_launch_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_throttle, .config.minmax = { 1000, 2000 }, 0 },
{ "nav_fw_launch_motor_delay", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_motor_timer, .config.minmax = { 0, 5000 }, 0 },
{ "nav_fw_launch_timeout", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_timeout, .config.minmax = { 0, 60000 }, 0 },
{ "nav_fw_launch_climb_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.launch_climb_angle, .config.minmax = { 5, 45 }, 0 },
{ "nav_fw_launch_velocity", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_velocity_thresh, .config.minmax = { 100, 10000 } },
{ "nav_fw_launch_accel", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_accel_thresh, .config.minmax = { 1000, 20000 } },
{ "nav_fw_launch_detect_time", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_time_thresh, .config.minmax = { 10, 1000 } },
{ "nav_fw_launch_thr", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_throttle, .config.minmax = { 1000, 2000 } },
{ "nav_fw_launch_motor_delay", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_motor_timer, .config.minmax = { 0, 5000 } },
{ "nav_fw_launch_timeout", VAR_UINT16 | MASTER_VALUE, &navConfig()->fw.launch_timeout, .config.minmax = { 0, 60000 } },
{ "nav_fw_launch_climb_angle", VAR_UINT8 | MASTER_VALUE, &navConfig()->fw.launch_climb_angle, .config.minmax = { 5, 45 } },
#endif
#ifdef SERIAL_RX
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->serialrx_provider, .config.lookup = { TABLE_SERIAL_RX }, 0 },
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
#endif
#ifdef USE_RX_SPI
{ "rx_spi_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rx_spi_protocol, .config.lookup = { TABLE_RX_SPI }, 0 },
{ "rx_spi_id", VAR_UINT32 | MASTER_VALUE, &rxConfig()->rx_spi_id, .config.minmax = { 0, 0 }, 0 },
{ "rx_spi_rf_channel_count", VAR_UINT8 | MASTER_VALUE, &rxConfig()->rx_spi_rf_channel_count, .config.minmax = { 0, 8 }, 0 },
{ "rx_spi_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rx_spi_protocol, .config.lookup = { TABLE_RX_SPI } },
{ "rx_spi_id", VAR_UINT32 | MASTER_VALUE, &rxConfig()->rx_spi_id, .config.minmax = { 0, 0 } },
{ "rx_spi_rf_channel_count", VAR_UINT8 | MASTER_VALUE, &rxConfig()->rx_spi_rf_channel_count, .config.minmax = { 0, 8 } },
#endif
#ifdef SPEKTRUM_BIND
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &rxConfig()->spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, 0 },
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &rxConfig()->spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX} },
#endif
#ifdef TELEMETRY
{ "telemetry_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->telemetry_switch, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "telemetry_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->telemetry_inversion, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "frsky_default_lattitude", VAR_FLOAT | MASTER_VALUE, &telemetryConfig()->gpsNoFixLatitude, .config.minmax = { -90.0, 90.0 }, 0 },
{ "frsky_default_longitude", VAR_FLOAT | MASTER_VALUE, &telemetryConfig()->gpsNoFixLongitude, .config.minmax = { -180.0, 180.0 }, 0 },
{ "frsky_coordinates_format", VAR_UINT8 | MASTER_VALUE, &telemetryConfig()->frsky_coordinate_format, .config.minmax = { 0, FRSKY_FORMAT_NMEA }, 0 },
{ "frsky_unit", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->frsky_unit, .config.lookup = { TABLE_UNIT }, 0 },
{ "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &telemetryConfig()->frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH }, 0 },
{ "telemetry_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->telemetry_switch, .config.lookup = { TABLE_OFF_ON } },
{ "telemetry_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->telemetry_inversion, .config.lookup = { TABLE_OFF_ON } },
{ "frsky_default_lattitude", VAR_FLOAT | MASTER_VALUE, &telemetryConfig()->gpsNoFixLatitude, .config.minmax = { -90.0, 90.0 } },
{ "frsky_default_longitude", VAR_FLOAT | MASTER_VALUE, &telemetryConfig()->gpsNoFixLongitude, .config.minmax = { -180.0, 180.0 } },
{ "frsky_coordinates_format", VAR_UINT8 | MASTER_VALUE, &telemetryConfig()->frsky_coordinate_format, .config.minmax = { 0, FRSKY_FORMAT_NMEA } },
{ "frsky_unit", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->frsky_unit, .config.lookup = { TABLE_UNIT } },
{ "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &telemetryConfig()->frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH } },
{ "frsky_vfas_cell_voltage", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->frsky_vfas_cell_voltage, .config.lookup = { TABLE_OFF_ON } },
{ "hott_alarm_sound_interval", VAR_UINT8 | MASTER_VALUE, &telemetryConfig()->hottAlarmSoundInterval, .config.minmax = { 0, 120 }, 0 },
{ "hott_alarm_sound_interval", VAR_UINT8 | MASTER_VALUE, &telemetryConfig()->hottAlarmSoundInterval, .config.minmax = { 0, 120 } },
#ifdef TELEMETRY_SMARTPORT
{ "smartport_uart_unidir", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->smartportUartUnidirectional, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "smartport_uart_unidir", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &telemetryConfig()->smartportUartUnidirectional, .config.lookup = { TABLE_OFF_ON } },
#endif
#endif
{ "battery_capacity", VAR_UINT16 | MASTER_VALUE, &batteryConfig()->batteryCapacity, .config.minmax = { 0, 20000 }, 0 },
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatscale, .config.minmax = { VBAT_SCALE_MIN, VBAT_SCALE_MAX }, 0 },
{ "vbat_max_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatmaxcellvoltage, .config.minmax = { 10, 50 }, 0 },
{ "vbat_min_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatmincellvoltage, .config.minmax = { 10, 50 }, 0 },
{ "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatwarningcellvoltage, .config.minmax = { 10, 50 }, 0 },
{ "current_meter_scale", VAR_INT16 | MASTER_VALUE, &batteryConfig()->currentMeterScale, .config.minmax = { -10000, 10000 }, 0 },
{ "current_meter_offset", VAR_UINT16 | MASTER_VALUE, &batteryConfig()->currentMeterOffset, .config.minmax = { 0, 3300 }, 0 },
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR }, 0 },
{ "battery_capacity", VAR_UINT16 | MASTER_VALUE, &batteryConfig()->batteryCapacity, .config.minmax = { 0, 20000 } },
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatscale, .config.minmax = { VBAT_SCALE_MIN, VBAT_SCALE_MAX } },
{ "vbat_max_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatmaxcellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_min_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatmincellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatwarningcellvoltage, .config.minmax = { 10, 50 } },
{ "current_meter_scale", VAR_INT16 | MASTER_VALUE, &batteryConfig()->currentMeterScale, .config.minmax = { -10000, 10000 } },
{ "current_meter_offset", VAR_UINT16 | MASTER_VALUE, &batteryConfig()->currentMeterOffset, .config.minmax = { 0, 3300 } },
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
{ "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_align, .config.lookup = { TABLE_ALIGNMENT }, 0 },
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &accelerometerConfig()->acc_align, .config.lookup = { TABLE_ALIGNMENT }, 0 },
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &compassConfig()->mag_align, .config.lookup = { TABLE_ALIGNMENT }, 0 },
{ "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &accelerometerConfig()->acc_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &compassConfig()->mag_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_board_roll", VAR_INT16 | MASTER_VALUE, &boardAlignment()->rollDeciDegrees, .config.minmax = { -1800, 3600 }, 0 },
{ "align_board_pitch", VAR_INT16 | MASTER_VALUE, &boardAlignment()->pitchDeciDegrees, .config.minmax = { -1800, 3600 }, 0 },
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &boardAlignment()->yawDeciDegrees, .config.minmax = { -1800, 3600 }, 0 },
{ "align_board_roll", VAR_INT16 | MASTER_VALUE, &boardAlignment()->rollDeciDegrees, .config.minmax = { -1800, 3600 } },
{ "align_board_pitch", VAR_INT16 | MASTER_VALUE, &boardAlignment()->pitchDeciDegrees, .config.minmax = { -1800, 3600 } },
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &boardAlignment()->yawDeciDegrees, .config.minmax = { -1800, 3600 } },
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 }, 0 },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_kp_acc, .config.minmax = { 0, 65535 }, 0 },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_ki_acc, .config.minmax = { 0, 65535 }, 0 },
{ "imu_dcm_kp_mag", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_kp_mag, .config.minmax = { 0, 65535 }, 0 },
{ "imu_dcm_ki_mag", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_ki_mag, .config.minmax = { 0, 65535 }, 0 },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_kp_acc, .config.minmax = { 0, 65535 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_ki_acc, .config.minmax = { 0, 65535 } },
{ "imu_dcm_kp_mag", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_kp_mag, .config.minmax = { 0, 65535 } },
{ "imu_dcm_ki_mag", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_ki_mag, .config.minmax = { 0, 65535 } },
{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.deadband, .config.minmax = { 0, 32 }, 0 },
{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.yaw_deadband, .config.minmax = { 0, 100 }, 0 },
{ "pos_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.profile[0].rcControlsConfig.pos_hold_deadband, .config.minmax = { 10, 250 }, 0 },
{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, .config.minmax = { 10, 250 }, 0 },
{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.deadband, .config.minmax = { 0, 32 }, },
{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.yaw_deadband, .config.minmax = { 0, 100 }, },
{ "pos_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.profile[0].rcControlsConfig.pos_hold_deadband, .config.minmax = { 10, 250 }, },
{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, .config.minmax = { 10, 250 }, },
{ "throttle_tilt_comp_str", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_tilt_compensation_strength, .config.minmax = { 0, 100 }, 0 },
{ "throttle_tilt_comp_str", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_tilt_compensation_strength, .config.minmax = { 0, 100 }, },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1, 1 }, 0 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &mixerConfig()->yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH }, 0 },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1, 1 } },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &mixerConfig()->yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH } },
#ifdef USE_SERVOS
{ "flaperon_throw_offset", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].flaperon_throw_offset, .config.minmax = { FLAPERON_THROW_MIN, FLAPERON_THROW_MAX}, 0 },
{ "flaperon_throw_inverted", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].flaperon_throw_inverted, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &servoMixerConfig()->servo_lowpass_freq, .config.minmax = { 10, 400}, 0 },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE }, 0 },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoPwmRate, .config.minmax = { 50, 498 }, 0 },
{ "fw_iterm_throw_limit", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.fixedWingItermThrowLimit, .config.minmax = { FW_ITERM_THROW_LIMIT_MIN, FW_ITERM_THROW_LIMIT_MAX}, 0 },
{ "flaperon_throw_offset", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].flaperon_throw_offset, .config.minmax = { FLAPERON_THROW_MIN, FLAPERON_THROW_MAX} },
{ "flaperon_throw_inverted", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].flaperon_throw_inverted, .config.lookup = { TABLE_OFF_ON } },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &servoMixerConfig()->servo_lowpass_freq, .config.minmax = { 10, 400} },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE } },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoPwmRate, .config.minmax = { 50, 498 } },
{ "fw_iterm_throw_limit", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.fixedWingItermThrowLimit, .config.minmax = { FW_ITERM_THROW_LIMIT_MIN, FW_ITERM_THROW_LIMIT_MAX} },
#endif
{ "mode_range_logic_operator", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].modeActivationOperator, .config.lookup = { TABLE_AUX_OPERATOR }, 0 },
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, 0 },
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, .config.minmax = { 0, 100 }, 0 },
{ "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, .config.minmax = { 0, 100 }, 0 },
{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, .config.minmax = { 0, 100 }, 0 },
{ "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, .config.minmax = { 0, 100 }, 0 },
{ "mode_range_logic_operator", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].modeActivationOperator, .config.lookup = { TABLE_AUX_OPERATOR } },
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 } },
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, .config.minmax = { 0, 100 } },
{ "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, .config.minmax = { 0, 100 } },
{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, .config.minmax = { 0, 100 } },
{ "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, .config.minmax = { 0, 100 } },
/*
New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
Rate 180 (1800dps) is max. value gyro can measure reliably
*/
{ "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, 0 },
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, 0 },
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], .config.minmax = { CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX }, 0 },
{ "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, },
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, },
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], .config.minmax = { CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX }, },
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, 0 },
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX}, 0 },
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, },
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX}, },
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, &failsafeConfig()->failsafe_delay, .config.minmax = { 0, 200 }, 0 },
{ "failsafe_recovery_delay", VAR_UINT8 | MASTER_VALUE, &failsafeConfig()->failsafe_recovery_delay, .config.minmax = { 0, 200 }, 0 },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, &failsafeConfig()->failsafe_off_delay, .config.minmax = { 0, 200 }, 0 },
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &failsafeConfig()->failsafe_throttle, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX }, 0 },
{ "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &failsafeConfig()->failsafe_kill_switch, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, &failsafeConfig()->failsafe_throttle_low_delay, .config.minmax = { 0, 300 }, 0 },
{ "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &failsafeConfig()->failsafe_procedure, .config.lookup = { TABLE_FAILSAFE_PROCEDURE }, 0 },
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, &failsafeConfig()->failsafe_delay, .config.minmax = { 0, 200 } },
{ "failsafe_recovery_delay", VAR_UINT8 | MASTER_VALUE, &failsafeConfig()->failsafe_recovery_delay, .config.minmax = { 0, 200 } },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, &failsafeConfig()->failsafe_off_delay, .config.minmax = { 0, 200 } },
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &failsafeConfig()->failsafe_throttle, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX } },
{ "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &failsafeConfig()->failsafe_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, &failsafeConfig()->failsafe_throttle_low_delay, .config.minmax = { 0, 300 } },
{ "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &failsafeConfig()->failsafe_procedure, .config.lookup = { TABLE_FAILSAFE_PROCEDURE } },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &rxConfig()->rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, 0 },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &rxConfig()->rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, 0 },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &rxConfig()->rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &rxConfig()->rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &accelerometerConfig()->acc_hardware, .config.lookup = { TABLE_HW_ACC } },
#ifdef BARO
{ "baro_use_median_filter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &barometerConfig()->use_median_filtering, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "baro_use_median_filter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &barometerConfig()->use_median_filtering, .config.lookup = { TABLE_OFF_ON } },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &barometerConfig()->baro_hardware, .config.lookup = { TABLE_HW_BARO } },
#endif
#ifdef PITOT
{ "pitot_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &pitotmeterConfig()->pitot_hardware, .config.lookup = { TABLE_HW_PITOT } },
{ "pitot_use_median_filter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &pitotmeterConfig()->use_median_filtering, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "pitot_noise_lpf", VAR_FLOAT | MASTER_VALUE, &pitotmeterConfig()->pitot_noise_lpf, .config.minmax = { 0, 1 }, 0 },
{ "pitot_scale", VAR_FLOAT | MASTER_VALUE, &pitotmeterConfig()->pitot_scale, .config.minmax = { 0, 100 }, 0 },
{ "pitot_use_median_filter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &pitotmeterConfig()->use_median_filtering, .config.lookup = { TABLE_OFF_ON } },
{ "pitot_noise_lpf", VAR_FLOAT | MASTER_VALUE, &pitotmeterConfig()->pitot_noise_lpf, .config.minmax = { 0, 1 } },
{ "pitot_scale", VAR_FLOAT | MASTER_VALUE, &pitotmeterConfig()->pitot_scale, .config.minmax = { 0, 100 } },
#endif
#ifdef MAG
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &compassConfig()->mag_hardware, .config.lookup = { TABLE_HW_MAG } },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &compassConfig()->mag_declination, .config.minmax = { -18000, 18000 }, 0 },
{ "mag_hold_rate_limit", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.mag_hold_rate_limit, .config.minmax = { MAG_HOLD_RATE_LIMIT_MIN, MAG_HOLD_RATE_LIMIT_MAX }, 0 },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &compassConfig()->mag_declination, .config.minmax = { -18000, 18000 } },
{ "mag_hold_rate_limit", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.mag_hold_rate_limit, .config.minmax = { MAG_HOLD_RATE_LIMIT_MIN, MAG_HOLD_RATE_LIMIT_MAX } },
#endif
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 }, 0 },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 }, 0 },
{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], .config.minmax = { 0, 200 }, 0 },
{ "p_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[ROLL], .config.minmax = { 0, 200 }, 0 },
{ "i_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[ROLL], .config.minmax = { 0, 200 }, 0 },
{ "d_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[ROLL], .config.minmax = { 0, 200 }, 0 },
{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[YAW], .config.minmax = { 0, 200 }, 0 },
{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[YAW], .config.minmax = { 0, 200 }, 0 },
{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[YAW], .config.minmax = { 0, 200 }, 0 },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 }, },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 }, },
{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], .config.minmax = { 0, 200 }, },
{ "p_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[ROLL], .config.minmax = { 0, 200 }, },
{ "i_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[ROLL], .config.minmax = { 0, 200 }, },
{ "d_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[ROLL], .config.minmax = { 0, 200 }, },
{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[YAW], .config.minmax = { 0, 200 }, },
{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[YAW], .config.minmax = { 0, 200 }, },
{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[YAW], .config.minmax = { 0, 200 }, },
{ "p_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDLEVEL], .config.minmax = { 0, 255 }, 0 },
{ "i_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDLEVEL], .config.minmax = { 0, 100 }, 0 },
{ "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], .config.minmax = { 0, 100 }, 0 },
{ "p_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDLEVEL], .config.minmax = { 0, 255 }, },
{ "i_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDLEVEL], .config.minmax = { 0, 100 }, },
{ "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], .config.minmax = { 0, 100 }, },
{ "max_angle_inclination_rll", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.max_angle_inclination[FD_ROLL], .config.minmax = { 100, 900 }, 0 },
{ "max_angle_inclination_pit", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.max_angle_inclination[FD_PITCH], .config.minmax = { 100, 900 }, 0 },
{ "max_angle_inclination_rll", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.max_angle_inclination[FD_ROLL], .config.minmax = { 100, 900 }, },
{ "max_angle_inclination_pit", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.max_angle_inclination[FD_PITCH], .config.minmax = { 100, 900 }, },
{ "gyro_soft_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_soft_lpf_hz, .config.minmax = {0, 200 } },
{ "acc_soft_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.acc_soft_lpf_hz, .config.minmax = {0, 200 } },
{ "dterm_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 200 } },
{ "yaw_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 200 } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX }, 0 },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX }, },
{ "iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
{ "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
@ -923,20 +922,20 @@ const clivalue_t valueTable[] = {
{ "rate_accel_limit_yaw", VAR_UINT32 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.axisAccelerationLimitYaw, .config.minmax = {0, 500000 } },
#ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &blackboxConfig()->rate_num, .config.minmax = { 1, 32 }, 0 },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &blackboxConfig()->rate_denom, .config.minmax = { 1, 32 }, 0 },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &blackboxConfig()->device, .config.lookup = { TABLE_BLACKBOX_DEVICE }, 0 },
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &blackboxConfig()->rate_num, .config.minmax = { 1, 32 } },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &blackboxConfig()->rate_denom, .config.minmax = { 1, 32 } },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &blackboxConfig()->device, .config.lookup = { TABLE_BLACKBOX_DEVICE } },
#endif
#ifdef MAG
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[X], .config.minmax = { -32768, 32767 }, FLAG_MAG_CALIBRATION_DONE },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[Y], .config.minmax = { -32768, 32767 }, FLAG_MAG_CALIBRATION_DONE },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[Z], .config.minmax = { -32768, 32767 }, FLAG_MAG_CALIBRATION_DONE },
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[Z], .config.minmax = { -32768, 32767 } },
#endif
{ "acczero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accZero.raw[X], .config.minmax = { -32768, 32767 }, 0 },
{ "acczero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accZero.raw[Y], .config.minmax = { -32768, 32767 }, 0 },
{ "acczero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accZero.raw[Z], .config.minmax = { -32768, 32767 }, 0 },
{ "acczero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accZero.raw[X], .config.minmax = { -32768, 32767 }, },
{ "acczero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accZero.raw[Y], .config.minmax = { -32768, 32767 }, },
{ "acczero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accZero.raw[Z], .config.minmax = { -32768, 32767 }, },
#ifdef LED_STRIP
{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },
#endif
@ -966,9 +965,9 @@ const clivalue_t valueTable[] = {
{ "osd_gps_sats_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_GPS_SATS], .config.minmax = { 0, 65536 } },
{ "osd_altitude_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_ALTITUDE], .config.minmax = { 0, 65536 } },
#endif
{ "accgain_x", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accGain.raw[X], .config.minmax = { 1, 8192 }, 0 },
{ "accgain_y", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accGain.raw[Y], .config.minmax = { 1, 8192 }, 0 },
{ "accgain_z", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accGain.raw[Z], .config.minmax = { 1, 8192 }, 0 },
{ "accgain_x", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accGain.raw[X], .config.minmax = { 1, 8192 }, },
{ "accgain_y", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accGain.raw[Y], .config.minmax = { 1, 8192 }, },
{ "accgain_z", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.accGain.raw[Z], .config.minmax = { 1, 8192 }, },
};
@ -2768,10 +2767,6 @@ static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
*(float *)ptr = (float)value.float_value;
break;
}
if (var->pflags_to_set) {
persistentFlagSet(var->pflags_to_set);
}
}
static void cliSet(char *cmdline)

14
src/main/sensors/acceleration.c
View file

@ -384,14 +384,18 @@ void updateAccelerationReadings(void)
alignSensors(acc.accADC, acc.dev.accAlign);
}
void setAccelerationZero(flightDynamicsTrims_t * accZeroToUse)
void setAccelerationCalibrationValues(flightDynamicsTrims_t * accZeroToUse, flightDynamicsTrims_t * accGainToUse)
{
accZero = accZeroToUse;
}
void setAccelerationGain(flightDynamicsTrims_t * accGainToUse)
{
accGain = accGainToUse;
if ((accZero->raw[X] != 0) && (accZero->raw[Y] != 0) && (accZero->raw[Z] != 0) &&
(accGain->raw[X] != 4096) && (accGain->raw[Y] != 4096) &&(accGain->raw[Z] != 4096)) {
ENABLE_STATE(ACCELEROMETER_CALIBRATED);
}
else {
DISABLE_STATE(ACCELEROMETER_CALIBRATED);
}
}
void setAccelerationFilter(uint8_t initialAccLpfCutHz)

3
src/main/sensors/acceleration.h
View file

@ -55,7 +55,6 @@ bool isAccelerationCalibrationComplete(void);
void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
void updateAccelerationReadings(void);
union flightDynamicsTrims_u;
void setAccelerationZero(union flightDynamicsTrims_u * accZeroToUse);
void setAccelerationGain(union flightDynamicsTrims_u * accGainToUse);
void setAccelerationCalibrationValues(union flightDynamicsTrims_u * accZeroToUse, union flightDynamicsTrims_u * accGainToUse);
void setAccelerationFilter(uint8_t initialAccLpfCutHz);
bool isAccelerometerHealthy(void);

12
src/main/sensors/compass.c
View file

@ -198,13 +198,20 @@ bool isCompassReady(void)
return magUpdatedAtLeastOnce;
}
static sensorCalibrationState_t calState;
void compassUpdate(timeUs_t currentTimeUs, flightDynamicsTrims_t *magZero)
{
static sensorCalibrationState_t calState;
static timeUs_t calStartedAt = 0;
static int16_t magPrev[XYZ_AXIS_COUNT];
// Check magZero
if ((magZero->raw[X] != 0) && (magZero->raw[Y] != 0) && (magZero->raw[Z] != 0)) {
ENABLE_STATE(COMPASS_CALIBRATED);
}
else {
DISABLE_STATE(COMPASS_CALIBRATED);
}
if (!mag.dev.read(magADCRaw)) {
mag.magADC[X] = 0;
mag.magADC[Y] = 0;
@ -263,7 +270,6 @@ void compassUpdate(timeUs_t currentTimeUs, flightDynamicsTrims_t *magZero)
}
calStartedAt = 0;
persistentFlagSet(FLAG_MAG_CALIBRATION_DONE);
saveConfigAndNotify();
}
}