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settings.c
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settings.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "build/debug.h"
#include "blackbox/blackbox.h"
#include "cms/cms.h"
#include "common/utils.h"
#include "common/time.h"
#include "drivers/adc.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/dshot_command.h"
#include "drivers/camera_control.h"
#include "drivers/light_led.h"
#include "drivers/pinio.h"
#include "drivers/sdio.h"
#include "drivers/vtx_common.h"
#include "drivers/vtx_table.h"
#include "config/config.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "flight/failsafe.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/position.h"
#include "flight/rpm_filter.h"
#include "flight/servos.h"
#include "io/beeper.h"
#include "io/dashboard.h"
#include "io/gimbal.h"
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/serial.h"
#include "io/vtx.h"
#include "io/vtx_control.h"
#include "io/vtx_rtc6705.h"
#include "osd/osd.h"
#include "pg/adc.h"
#include "pg/beeper.h"
#include "pg/beeper_dev.h"
#include "pg/bus_i2c.h"
#include "pg/dashboard.h"
#include "pg/displayport_profiles.h"
#include "pg/flash.h"
#include "pg/gyrodev.h"
#include "pg/max7456.h"
#include "pg/mco.h"
#include "pg/motor.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/pinio.h"
#include "pg/piniobox.h"
#include "pg/rx.h"
#include "pg/rx_pwm.h"
#include "pg/rx_spi.h"
#include "pg/rx_spi_cc2500.h"
#include "pg/sdcard.h"
#include "pg/vcd.h"
#include "pg/vtx_io.h"
#include "pg/usb.h"
#include "pg/sdio.h"
#include "pg/rcdevice.h"
#include "pg/stats.h"
#include "pg/board.h"
#include "rx/rx.h"
#include "rx/cc2500_frsky_common.h"
#include "rx/cc2500_sfhss.h"
#include "rx/spektrum.h"
#include "rx/cyrf6936_spektrum.h"
#include "rx/a7105_flysky.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/esc_sensor.h"
#include "sensors/gyro.h"
#include "sensors/rangefinder.h"
#include "telemetry/frsky_hub.h"
#include "telemetry/ibus_shared.h"
#include "telemetry/telemetry.h"
#include "settings.h"
// Sensor names (used in lookup tables for *_hardware settings and in status command output)
// sync with accelerationSensor_e
const char * const lookupTableAccHardware[] = {
"AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
"BMI160", "FAKE"
};
// sync with gyroSensor_e
const char * const lookupTableGyroHardware[] = {
"AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
"BMI160", "FAKE"
};
#if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
// sync with baroSensor_e
const char * const lookupTableBaroHardware[] = {
"AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988", "BMP388"
};
#endif
#if defined(USE_SENSOR_NAMES) || defined(USE_MAG)
// sync with magSensor_e
const char * const lookupTableMagHardware[] = {
"AUTO", "NONE", "HMC5883", "AK8975", "AK8963", "QMC5883", "LIS3MDL"
};
#endif
#if defined(USE_SENSOR_NAMES) || defined(USE_RANGEFINDER)
const char * const lookupTableRangefinderHardware[] = {
"NONE", "HCSR04", "TFMINI", "TF02"
};
#endif
static const char * const lookupTableOffOn[] = {
"OFF", "ON"
};
static const char * const lookupTableCrashRecovery[] = {
"OFF", "ON" ,"BEEP", "DISARM"
};
static const char * const lookupTableUnit[] = {
"IMPERIAL", "METRIC"
};
static const char * const lookupTableAlignment[] = {
"DEFAULT",
"CW0",
"CW90",
"CW180",
"CW270",
"CW0FLIP",
"CW90FLIP",
"CW180FLIP",
"CW270FLIP",
"CUSTOM",
};
#ifdef USE_MULTI_GYRO
static const char * const lookupTableGyro[] = {
"FIRST", "SECOND", "BOTH"
};
#endif
#ifdef USE_GPS
static const char * const lookupTableGPSProvider[] = {
"NMEA", "UBLOX", "MSP"
};
static const char * const lookupTableGPSSBASMode[] = {
"AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN"
};
#endif
#ifdef USE_SERVOS
static const char * const lookupTableGimbalMode[] = {
"NORMAL", "MIXTILT"
};
#endif
#ifdef USE_BLACKBOX
static const char * const lookupTableBlackboxDevice[] = {
"NONE", "SPIFLASH", "SDCARD", "SERIAL"
};
static const char * const lookupTableBlackboxMode[] = {
"NORMAL", "MOTOR_TEST", "ALWAYS"
};
#endif
#ifdef USE_SERIAL_RX
static const char * const lookupTableSerialRX[] = {
"SPEK1024",
"SPEK2048",
"SBUS",
"SUMD",
"SUMH",
"XB-B",
"XB-B-RJ01",
"IBUS",
"JETIEXBUS",
"CRSF",
"SRXL",
"CUSTOM",
"FPORT",
"SRXL2",
};
#endif
#ifdef USE_RX_SPI
// sync with rx_spi_protocol_e
static const char * const lookupTableRxSpi[] = {
"V202_250K",
"V202_1M",
"SYMA_X",
"SYMA_X5C",
"CX10",
"CX10A",
"H8_3D",
"INAV",
"FRSKY_D",
"FRSKY_X",
"FLYSKY",
"FLYSKY_2A",
"KN",
"SFHSS",
"SPEKTRUM",
"FRSKY_X_LBT"
};
#endif
static const char * const lookupTableGyroHardwareLpf[] = {
"NORMAL",
"1KHZ_SAMPLING",
#ifdef USE_GYRO_DLPF_EXPERIMENTAL
"EXPERIMENTAL"
#endif
};
#ifdef USE_CAMERA_CONTROL
static const char * const lookupTableCameraControlMode[] = {
"HARDWARE_PWM",
"SOFTWARE_PWM",
"DAC"
};
#endif
static const char * const lookupTablePwmProtocol[] = {
"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED",
#ifdef USE_DSHOT
"DSHOT150", "DSHOT300", "DSHOT600", "PROSHOT1000"
#endif
};
static const char * const lookupTableRcInterpolation[] = {
"OFF", "PRESET", "AUTO", "MANUAL"
};
static const char * const lookupTableRcInterpolationChannels[] = {
"RP", "RPY", "RPYT", "T", "RPT",
};
static const char * const lookupTableLowpassType[] = {
"PT1",
"BIQUAD",
};
static const char * const lookupTableDtermLowpassType[] = {
"PT1",
"BIQUAD",
};
static const char * const lookupTableAntiGravityMode[] = {
"SMOOTH",
"STEP",
};
static const char * const lookupTableFailsafe[] = {
"AUTO-LAND", "DROP", "GPS-RESCUE"
};
static const char * const lookupTableFailsafeSwitchMode[] = {
"STAGE1", "KILL", "STAGE2"
};
static const char * const lookupTableBusType[] = {
"NONE", "I2C", "SPI", "SLAVE",
#if defined(USE_SPI_GYRO) && defined(USE_I2C_GYRO)
"GYROAUTO"
#endif
};
#ifdef USE_MAX7456
static const char * const lookupTableMax7456Clock[] = {
"HALF", "DEFAULT", "FULL"
};
#endif
#ifdef USE_RX_FRSKY_SPI
static const char * const lookupTableFrskySpiA1Source[] = {
"VBAT", "EXTADC", "CONST"
};
#endif
#ifdef USE_GYRO_OVERFLOW_CHECK
static const char * const lookupTableGyroOverflowCheck[] = {
"OFF", "YAW", "ALL"
};
#endif
static const char * const lookupTableRatesType[] = {
"BETAFLIGHT", "RACEFLIGHT", "KISS"
};
#ifdef USE_OVERCLOCK
static const char * const lookupOverclock[] = {
"OFF",
#if defined(STM32F40_41xxx)
"192MHZ", "216MHZ", "240MHZ"
#elif defined(STM32F411xE)
"108MHZ", "120MHZ"
#elif defined(STM32F7)
"240MHZ"
#endif
};
#endif
#ifdef USE_LED_STRIP
static const char * const lookupLedStripFormatRGB[] = {
"GRB", "RGB"
};
#endif
static const char * const lookupTableThrottleLimitType[] = {
"OFF", "SCALE", "CLIP"
};
#ifdef USE_GPS_RESCUE
static const char * const lookupTableRescueSanityType[] = {
"RESCUE_SANITY_OFF", "RESCUE_SANITY_ON", "RESCUE_SANITY_FS_ONLY"
};
const char * const lookupTableRescueAltitudeMode[] = {
"MAX_ALT", "FIXED_ALT", "CURRENT_ALT"
};
#endif
#ifdef USE_MAX7456
static const char * const lookupTableVideoSystem[] = {
"AUTO", "PAL", "NTSC"
};
#endif // USE_MAX7456
#if defined(USE_ITERM_RELAX)
const char * const lookupTableItermRelax[] = {
"OFF", "RP", "RPY", "RP_INC", "RPY_INC"
};
const char * const lookupTableItermRelaxType[] = {
"GYRO", "SETPOINT"
};
#endif
#ifdef USE_ACRO_TRAINER
static const char * const lookupTableAcroTrainerDebug[] = {
"ROLL", "PITCH"
};
#endif // USE_ACRO_TRAINER
#ifdef USE_RC_SMOOTHING_FILTER
static const char * const lookupTableRcSmoothingType[] = {
"INTERPOLATION", "FILTER"
};
static const char * const lookupTableRcSmoothingDebug[] = {
"ROLL", "PITCH", "YAW", "THROTTLE"
};
static const char * const lookupTableRcSmoothingInputType[] = {
"PT1", "BIQUAD"
};
static const char * const lookupTableRcSmoothingDerivativeType[] = {
"OFF", "PT1", "BIQUAD"
};
#endif // USE_RC_SMOOTHING_FILTER
#ifdef USE_GYRO_DATA_ANALYSE
static const char * const lookupTableDynamicFilterRange[] = {
"HIGH", "MEDIUM", "LOW", "AUTO"
};
#endif // USE_GYRO_DATA_ANALYSE
#ifdef USE_VTX_COMMON
static const char * const lookupTableVtxLowPowerDisarm[] = {
"OFF", "ON", "UNTIL_FIRST_ARM"
};
#endif
#ifdef USE_SDCARD
static const char * const lookupTableSdcardMode[] = {
"OFF", "SPI", "SDIO"
};
#endif
#ifdef USE_LAUNCH_CONTROL
static const char * const lookupTableLaunchControlMode[] = {
"NORMAL", "PITCHONLY", "FULL"
};
#endif
#ifdef USE_TPA_MODE
static const char * const lookupTableTpaMode[] = {
"PD", "D"
};
#endif
#ifdef USE_LED_STRIP
#ifdef USE_LED_STRIP_STATUS_MODE
static const char * const lookupTableLEDProfile[] = {
"RACE", "BEACON", "STATUS"
};
#else
static const char * const lookupTableLEDProfile[] = {
"RACE", "BEACON"
};
#endif
#endif
const char * const lookupTableLedstripColors[COLOR_COUNT] = {
"BLACK",
"WHITE",
"RED",
"ORANGE",
"YELLOW",
"LIME_GREEN",
"GREEN",
"MINT_GREEN",
"CYAN",
"LIGHT_BLUE",
"BLUE",
"DARK_VIOLET",
"MAGENTA",
"DEEP_PINK"
};
static const char * const lookupTableGyroFilterDebug[] = {
"ROLL", "PITCH", "YAW"
};
static const char * const lookupTablePositionAltSource[] = {
"DEFAULT", "BARO_ONLY", "GPS_ONLY"
};
static const char * const lookupTableOffOnAuto[] = {
"OFF", "ON", "AUTO"
};
static const char* const lookupTableInterpolatedSetpoint[] = {
"OFF", "ON", "AVERAGED_2", "AVERAGED_3", "AVERAGED_4"
};
static const char* const lookupTableDshotBitbangedTimer[] = {
"AUTO", "TIM1", "TIM8"
};
static const char * const lookupTableOsdDisplayPortDevice[] = {
"NONE", "AUTO", "MAX7456", "MSP",
};
#ifdef USE_OSD
static const char * const lookupTableOsdLogoOnArming[] = {
"OFF", "ON", "FIRST_ARMING",
};
#endif
#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
const lookupTableEntry_t lookupTables[] = {
LOOKUP_TABLE_ENTRY(lookupTableOffOn),
LOOKUP_TABLE_ENTRY(lookupTableUnit),
LOOKUP_TABLE_ENTRY(lookupTableAlignment),
#ifdef USE_GPS
LOOKUP_TABLE_ENTRY(lookupTableGPSProvider),
LOOKUP_TABLE_ENTRY(lookupTableGPSSBASMode),
#ifdef USE_GPS_RESCUE
LOOKUP_TABLE_ENTRY(lookupTableRescueSanityType),
LOOKUP_TABLE_ENTRY(lookupTableRescueAltitudeMode),
#endif
#endif
#ifdef USE_BLACKBOX
LOOKUP_TABLE_ENTRY(lookupTableBlackboxDevice),
LOOKUP_TABLE_ENTRY(lookupTableBlackboxMode),
#endif
LOOKUP_TABLE_ENTRY(currentMeterSourceNames),
LOOKUP_TABLE_ENTRY(voltageMeterSourceNames),
#ifdef USE_SERVOS
LOOKUP_TABLE_ENTRY(lookupTableGimbalMode),
#endif
#ifdef USE_SERIAL_RX
LOOKUP_TABLE_ENTRY(lookupTableSerialRX),
#endif
#ifdef USE_RX_SPI
LOOKUP_TABLE_ENTRY(lookupTableRxSpi),
#endif
LOOKUP_TABLE_ENTRY(lookupTableGyroHardwareLpf),
LOOKUP_TABLE_ENTRY(lookupTableAccHardware),
#ifdef USE_BARO
LOOKUP_TABLE_ENTRY(lookupTableBaroHardware),
#endif
#ifdef USE_MAG
LOOKUP_TABLE_ENTRY(lookupTableMagHardware),
#endif
LOOKUP_TABLE_ENTRY(debugModeNames),
LOOKUP_TABLE_ENTRY(lookupTablePwmProtocol),
LOOKUP_TABLE_ENTRY(lookupTableRcInterpolation),
LOOKUP_TABLE_ENTRY(lookupTableRcInterpolationChannels),
LOOKUP_TABLE_ENTRY(lookupTableLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableDtermLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableAntiGravityMode),
LOOKUP_TABLE_ENTRY(lookupTableFailsafe),
LOOKUP_TABLE_ENTRY(lookupTableFailsafeSwitchMode),
LOOKUP_TABLE_ENTRY(lookupTableCrashRecovery),
#ifdef USE_CAMERA_CONTROL
LOOKUP_TABLE_ENTRY(lookupTableCameraControlMode),
#endif
LOOKUP_TABLE_ENTRY(lookupTableBusType),
#ifdef USE_MAX7456
LOOKUP_TABLE_ENTRY(lookupTableMax7456Clock),
#endif
#ifdef USE_RX_FRSKY_SPI
LOOKUP_TABLE_ENTRY(lookupTableFrskySpiA1Source),
#endif
#ifdef USE_RANGEFINDER
LOOKUP_TABLE_ENTRY(lookupTableRangefinderHardware),
#endif
#ifdef USE_GYRO_OVERFLOW_CHECK
LOOKUP_TABLE_ENTRY(lookupTableGyroOverflowCheck),
#endif
LOOKUP_TABLE_ENTRY(lookupTableRatesType),
#ifdef USE_OVERCLOCK
LOOKUP_TABLE_ENTRY(lookupOverclock),
#endif
#ifdef USE_LED_STRIP
LOOKUP_TABLE_ENTRY(lookupLedStripFormatRGB),
#endif
#ifdef USE_MULTI_GYRO
LOOKUP_TABLE_ENTRY(lookupTableGyro),
#endif
LOOKUP_TABLE_ENTRY(lookupTableThrottleLimitType),
#ifdef USE_MAX7456
LOOKUP_TABLE_ENTRY(lookupTableVideoSystem),
#endif // USE_MAX7456
#if defined(USE_ITERM_RELAX)
LOOKUP_TABLE_ENTRY(lookupTableItermRelax),
LOOKUP_TABLE_ENTRY(lookupTableItermRelaxType),
#endif
#ifdef USE_ACRO_TRAINER
LOOKUP_TABLE_ENTRY(lookupTableAcroTrainerDebug),
#endif // USE_ACRO_TRAINER
#ifdef USE_RC_SMOOTHING_FILTER
LOOKUP_TABLE_ENTRY(lookupTableRcSmoothingType),
LOOKUP_TABLE_ENTRY(lookupTableRcSmoothingDebug),
LOOKUP_TABLE_ENTRY(lookupTableRcSmoothingInputType),
LOOKUP_TABLE_ENTRY(lookupTableRcSmoothingDerivativeType),
#endif // USE_RC_SMOOTHING_FILTER
#ifdef USE_GYRO_DATA_ANALYSE
LOOKUP_TABLE_ENTRY(lookupTableDynamicFilterRange),
#endif // USE_GYRO_DATA_ANALYSE
#ifdef USE_VTX_COMMON
LOOKUP_TABLE_ENTRY(lookupTableVtxLowPowerDisarm),
#endif
LOOKUP_TABLE_ENTRY(lookupTableGyroHardware),
#ifdef USE_SDCARD
LOOKUP_TABLE_ENTRY(lookupTableSdcardMode),
#endif
#ifdef USE_LAUNCH_CONTROL
LOOKUP_TABLE_ENTRY(lookupTableLaunchControlMode),
#endif
#ifdef USE_TPA_MODE
LOOKUP_TABLE_ENTRY(lookupTableTpaMode),
#endif
#ifdef USE_LED_STRIP
LOOKUP_TABLE_ENTRY(lookupTableLEDProfile),
LOOKUP_TABLE_ENTRY(lookupTableLedstripColors),
#endif
LOOKUP_TABLE_ENTRY(lookupTableGyroFilterDebug),
LOOKUP_TABLE_ENTRY(lookupTablePositionAltSource),
LOOKUP_TABLE_ENTRY(lookupTableOffOnAuto),
LOOKUP_TABLE_ENTRY(lookupTableInterpolatedSetpoint),
LOOKUP_TABLE_ENTRY(lookupTableDshotBitbangedTimer),
LOOKUP_TABLE_ENTRY(lookupTableOsdDisplayPortDevice),
#ifdef USE_OSD
LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
#endif
};
#undef LOOKUP_TABLE_ENTRY
const clivalue_t valueTable[] = {
// PG_GYRO_CONFIG
{ "gyro_hardware_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_hardware_lpf) },
#if defined(USE_GYRO_SPI_ICM20649)
{ "gyro_high_range", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_high_fsr) },
#endif
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 32 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_sync_denom) },
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_type) },
{ "gyro_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz) },
{ "gyro_lowpass2_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_type) },
{ "gyro_lowpass2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz) },
{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_1) },
{ "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) },
{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) },
{ "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) },
{ "gyro_calib_duration", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 50, 3000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroCalibrationDuration) },
{ "gyro_calib_noise_limit", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
{ "gyro_offset_yaw", VAR_INT16 | MASTER_VALUE, .config.minmax = { -1000, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_offset_yaw) },
#ifdef USE_GYRO_OVERFLOW_CHECK
{ "gyro_overflow_detect", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_OVERFLOW_CHECK }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, checkOverflow) },
#endif
#ifdef USE_YAW_SPIN_RECOVERY
{ "yaw_spin_recovery", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, yaw_spin_recovery) },
{ "yaw_spin_threshold", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 500, 1950 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, yaw_spin_threshold) },
#endif
#ifdef USE_MULTI_GYRO
{ "gyro_to_use", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
#endif
#if defined(USE_GYRO_DATA_ANALYSE)
{ "dyn_notch_range", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DYNAMIC_FILTER_RANGE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_range) },
{ "dyn_notch_width_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 20 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_width_percent) },
{ "dyn_notch_q", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_q) },
{ "dyn_notch_min_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 60, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_min_hz) },
#endif
#ifdef USE_DYN_LPF
{ "dyn_lpf_gyro_min_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_min_hz) },
{ "dyn_lpf_gyro_max_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_max_hz) },
#endif
{ "gyro_filter_debug_axis", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_FILTER_DEBUG }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_debug_axis) },
// PG_ACCELEROMETER_CONFIG
#if defined(USE_ACC)
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ACC_HARDWARE }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_hardware) },
#if defined(USE_GYRO_SPI_ICM20649)
{ "acc_high_range", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_high_fsr) },
#endif
{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 400 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_lpf_hz) },
{ "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.pitch) },
{ "acc_trim_roll", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.roll) },
// 4 elements are output for the ACC calibration - The 3 axis values and the 4th representing whether calibration has been performed
{ "acc_calibration", VAR_INT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = 4, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accZero.raw) },
#endif
// PG_COMPASS_CONFIG
#ifdef USE_MAG
{ "align_mag", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_alignment) },
{ "mag_align_roll", VAR_INT16 | HARDWARE_VALUE, .config.minmax = { -3600, 3600 }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_customAlignment.roll) },
{ "mag_align_pitch", VAR_INT16 | HARDWARE_VALUE, .config.minmax = { -3600, 3600 }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_customAlignment.pitch) },
{ "mag_align_yaw", VAR_INT16 | HARDWARE_VALUE, .config.minmax = { -3600, 3600 }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_customAlignment.yaw) },
{ "mag_bustype", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BUS_TYPE }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_bustype) },
{ "mag_i2c_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, I2CDEV_COUNT }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_i2c_device) },
{ "mag_i2c_address", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, I2C_ADDR7_MAX }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_i2c_address) },
{ "mag_spi_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, SPIDEV_COUNT }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_spi_device) },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MAG_HARDWARE }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_hardware) },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, .config.minmax = { -18000, 18000 }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_declination) },
{ "mag_calibration", VAR_INT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = XYZ_AXIS_COUNT, PG_COMPASS_CONFIG, offsetof(compassConfig_t, magZero.raw) },
#endif
// PG_BAROMETER_CONFIG
#ifdef USE_BARO
{ "baro_bustype", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BUS_TYPE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_bustype) },
{ "baro_spi_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 5 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_spi_device) },
{ "baro_i2c_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 5 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_i2c_device) },
{ "baro_i2c_address", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, I2C_ADDR7_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_i2c_address) },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BARO_HARDWARE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_hardware) },
{ "baro_tab_size", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, BARO_SAMPLE_COUNT_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_sample_count) },
{ "baro_noise_lpf", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_noise_lpf) },
{ "baro_cf_vel", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_cf_vel) },
#endif
// PG_RX_CONFIG
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1200, 1700 }, PG_RX_CONFIG, offsetof(rxConfig_t, midrc) },
{ "min_check", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, mincheck) },
{ "max_check", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, maxcheck) },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_channel) },
{ "rssi_src_frame_errors", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_src_frame_errors) },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { RSSI_SCALE_MIN, RSSI_SCALE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_scale) },
{ "rssi_offset", VAR_INT8 | MASTER_VALUE, .config.minmax = { -100, 100 }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_offset) },
{ "rssi_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_invert) },
{ "rssi_src_frame_lpf_period", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_src_frame_lpf_period) },
{ "rc_interp", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_INTERPOLATION }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolation) },
{ "rc_interp_ch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_INTERPOLATION_CHANNELS }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationChannels) },
{ "rc_interp_int", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationInterval) },
#ifdef USE_RC_SMOOTHING_FILTER
{ "rc_smoothing_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_TYPE }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_type) },
{ "rc_smoothing_input_hz", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_input_cutoff) },
{ "rc_smoothing_derivative_hz", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_derivative_cutoff) },
{ "rc_smoothing_debug_axis", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_DEBUG }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_debug_axis) },
{ "rc_smoothing_input_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_INPUT_TYPE }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_input_type) },
{ "rc_smoothing_derivative_type",VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_DERIVATIVE_TYPE }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_derivative_type) },
{ "rc_smoothing_auto_smoothness",VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_auto_factor) },
#endif // USE_RC_SMOOTHING_FILTER
{ "fpv_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 90 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) },
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, MAX_AUX_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, max_aux_channel) },
#ifdef USE_SERIAL_RX
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) },
{ "serialrx_inverted", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_inverted) },
#endif
#ifdef USE_SPEKTRUM_BIND
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
{ "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
#endif
#ifdef USE_SERIALRX_SRXL2
{ "srxl2_unit_id", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 0xf }, PG_RX_CONFIG, offsetof(rxConfig_t, srxl2_unit_id) },
{ "srxl2_baud_fast", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, srxl2_baud_fast) },
#endif
#if defined(USE_SERIALRX_SBUS)
{ "sbus_baud_fast", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_baud_fast) },
#endif
{ "airmode_start_throttle_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_max_usec) },
{ "serialrx_halfduplex", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, halfDuplex) },
#ifdef USE_RX_SPI
{ "rx_spi_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RX_SPI }, PG_RX_SPI_CONFIG, offsetof(rxSpiConfig_t, rx_spi_protocol) },
{ "rx_spi_bus", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, SPIDEV_COUNT }, PG_RX_SPI_CONFIG, offsetof(rxSpiConfig_t, spibus) },
{ "rx_spi_led_inversion", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_SPI_CONFIG, offsetof(rxSpiConfig_t, ledInversion) },
#endif
// PG_ADC_CONFIG
#if defined(USE_ADC)
{ "adc_device", VAR_INT8 | HARDWARE_VALUE, .config.minmax = { 0, ADCDEV_COUNT }, PG_ADC_CONFIG, offsetof(adcConfig_t, device) },
{ "adc_vrefint_calibration", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 2000 }, PG_ADC_CONFIG, offsetof(adcConfig_t, vrefIntCalibration) },
{ "adc_tempsensor_calibration30", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 2000 }, PG_ADC_CONFIG, offsetof(adcConfig_t, tempSensorCalibration1) },
{ "adc_tempsensor_calibration110", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 2000 }, PG_ADC_CONFIG, offsetof(adcConfig_t, tempSensorCalibration2) },
#endif
// PG_PWM_CONFIG
#if defined(USE_PWM)
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PWM_CONFIG, offsetof(pwmConfig_t, inputFilteringMode) },
#endif
// PG_BLACKBOX_CONFIG
#ifdef USE_BLACKBOX
{ "blackbox_p_ratio", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, INT16_MAX }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, p_ratio) },
{ "blackbox_device", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_DEVICE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, device) },
{ "blackbox_record_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, record_acc) },
{ "blackbox_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_MODE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, mode) },
#endif
// PG_MOTOR_CONFIG
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, minthrottle) },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, maxthrottle) },
{ "min_command", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, mincommand) },
#ifdef USE_DSHOT
{ "dshot_idle_value", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 2000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, digitalIdleOffsetValue) },
#ifdef USE_DSHOT_DMAR
{ "dshot_burst", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useBurstDshot) },
#endif
#ifdef USE_DSHOT_TELEMETRY
{ "dshot_bidir", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotTelemetry) },
#endif
#ifdef USE_DSHOT_BITBANG
{ "dshot_bitbang", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbang) },
{ "dshot_bitbang_timer", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DSHOT_BITBANGED_TIMER }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbangedTimer) },
#endif
#endif
{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useUnsyncedPwm) },
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmProtocol) },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 32000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmRate) },
{ "motor_pwm_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmInversion) },
{ "motor_poles", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 4, UINT8_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, motorPoleCount) },
// PG_THROTTLE_CORRECTION_CONFIG
{ "thr_corr_value", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 150 }, PG_THROTTLE_CORRECTION_CONFIG, offsetof(throttleCorrectionConfig_t, throttle_correction_value) },
{ "thr_corr_angle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 900 }, PG_THROTTLE_CORRECTION_CONFIG, offsetof(throttleCorrectionConfig_t, throttle_correction_angle) },
// PG_FAILSAFE_CONFIG
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_delay) },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_off_delay) },
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_throttle) },
{ "failsafe_switch_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FAILSAFE_SWITCH_MODE }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_switch_mode) },
{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 300 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_throttle_low_delay) },
{ "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FAILSAFE }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_procedure) },
{ "failsafe_recovery_delay", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_recovery_delay) },
{ "failsafe_stick_threshold", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_stick_threshold) },
// PG_BOARDALIGNMENT_CONFIG
{ "align_board_roll", VAR_INT16 | MASTER_VALUE, .config.minmax = { -180, 360 }, PG_BOARD_ALIGNMENT, offsetof(boardAlignment_t, rollDegrees) },
{ "align_board_pitch", VAR_INT16 | MASTER_VALUE, .config.minmax = { -180, 360 }, PG_BOARD_ALIGNMENT, offsetof(boardAlignment_t, pitchDegrees) },
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, .config.minmax = { -180, 360 }, PG_BOARD_ALIGNMENT, offsetof(boardAlignment_t, yawDegrees) },
// PG_GIMBAL_CONFIG
#ifdef USE_SERVOS
{ "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GIMBAL_MODE }, PG_GIMBAL_CONFIG, offsetof(gimbalConfig_t, mode) },
#endif
// PG_BATTERY_CONFIG
{ "bat_capacity", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 20000 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, batteryCapacity) },
{ "vbat_max_cell_voltage", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { VBAT_CELL_VOTAGE_RANGE_MIN, VBAT_CELL_VOTAGE_RANGE_MAX }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatmaxcellvoltage) },
{ "vbat_full_cell_voltage", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { VBAT_CELL_VOTAGE_RANGE_MIN, VBAT_CELL_VOTAGE_RANGE_MAX }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatfullcellvoltage) },
{ "vbat_min_cell_voltage", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { VBAT_CELL_VOTAGE_RANGE_MIN, VBAT_CELL_VOTAGE_RANGE_MAX }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatmincellvoltage) },
{ "vbat_warning_cell_voltage", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { VBAT_CELL_VOTAGE_RANGE_MIN, VBAT_CELL_VOTAGE_RANGE_MAX }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatwarningcellvoltage) },
{ "vbat_hysteresis", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 250 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbathysteresis) },
{ "current_meter", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_CURRENT_METER }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, currentMeterSource) },
{ "battery_meter", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_VOLTAGE_METER }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, voltageMeterSource) },
{ "vbat_detect_cell_voltage", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 2000 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatnotpresentcellvoltage) },
{ "use_vbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, useVBatAlerts) },
{ "use_cbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, useConsumptionAlerts) },
{ "cbat_alert_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, consumptionWarningPercentage) },
{ "vbat_cutoff_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, lvcPercentage) },
{ "force_battery_cell_count", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 24 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, forceBatteryCellCount) },
{ "vbat_lpf_period", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatLpfPeriod) },
{ "ibat_lpf_period", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, ibatLpfPeriod) },
{ "vbat_duration_for_warning", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 150 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatDurationForWarning) },
{ "vbat_duration_for_critical", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 150 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatDurationForCritical) },
// PG_VOLTAGE_SENSOR_ADC_CONFIG
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { VBAT_SCALE_MIN, VBAT_SCALE_MAX }, PG_VOLTAGE_SENSOR_ADC_CONFIG, offsetof(voltageSensorADCConfig_t, vbatscale) },
{ "vbat_divider", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { VBAT_DIVIDER_MIN, VBAT_DIVIDER_MAX }, PG_VOLTAGE_SENSOR_ADC_CONFIG, offsetof(voltageSensorADCConfig_t, vbatresdivval) },
{ "vbat_multiplier", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { VBAT_MULTIPLIER_MIN, VBAT_MULTIPLIER_MAX }, PG_VOLTAGE_SENSOR_ADC_CONFIG, offsetof(voltageSensorADCConfig_t, vbatresdivmultiplier) },
// PG_CURRENT_SENSOR_ADC_CONFIG
{ "ibata_scale", VAR_INT16 | HARDWARE_VALUE, .config.minmax = { -16000, 16000 }, PG_CURRENT_SENSOR_ADC_CONFIG, offsetof(currentSensorADCConfig_t, scale) },
{ "ibata_offset", VAR_INT16 | MASTER_VALUE, .config.minmax = { -32000, 32000 }, PG_CURRENT_SENSOR_ADC_CONFIG, offsetof(currentSensorADCConfig_t, offset) },
// PG_CURRENT_SENSOR_ADC_CONFIG
#ifdef USE_VIRTUAL_CURRENT_METER
{ "ibatv_scale", VAR_INT16 | MASTER_VALUE, .config.minmax = { -16000, 16000 }, PG_CURRENT_SENSOR_VIRTUAL_CONFIG, offsetof(currentSensorVirtualConfig_t, scale) },
{ "ibatv_offset", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 16000 }, PG_CURRENT_SENSOR_VIRTUAL_CONFIG, offsetof(currentSensorVirtualConfig_t, offset) },
#endif
#ifdef USE_BEEPER
// PG_BEEPER_DEV_CONFIG
{ "beeper_inversion", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, isInverted) },
{ "beeper_od", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, isOpenDrain) },
{ "beeper_frequency", VAR_INT16 | HARDWARE_VALUE, .config.minmax = { 0, 16000 }, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, frequency) },
// PG_BEEPER_CONFIG
#ifdef USE_DSHOT
{ "beeper_dshot_beacon_tone", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = {1, DSHOT_CMD_BEACON5 }, PG_BEEPER_CONFIG, offsetof(beeperConfig_t, dshotBeaconTone) },
#endif
#endif // USE_BEEPER
// PG_MIXER_CONFIG
{ "yaw_motors_reversed", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motors_reversed) },
{ "crashflip_motor_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, crashflip_motor_percent) },
// PG_MOTOR_3D_CONFIG
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_RANGE_MIDDLE }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_low) },
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_RANGE_MIDDLE, PWM_PULSE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_high) },
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, neutral3d) },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 100 }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_throttle) },
{ "3d_limit_low", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_RANGE_MIDDLE }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, limit3d_low) },
{ "3d_limit_high", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_RANGE_MIDDLE, PWM_PULSE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, limit3d_high) },
{ "3d_switched_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, switched_mode3d) },
// PG_SERVO_CONFIG
#ifdef USE_SERVOS
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_SERVO_CONFIG, offsetof(servoConfig_t, dev.servoCenterPulse) },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 50, 498 }, PG_SERVO_CONFIG, offsetof(servoConfig_t, dev.servoPwmRate) },
{ "servo_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 400}, PG_SERVO_CONFIG, offsetof(servoConfig_t, servo_lowpass_freq) },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SERVO_CONFIG, offsetof(servoConfig_t, tri_unarmed_servo) },
{ "channel_forwarding_start", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT }, PG_SERVO_CONFIG, offsetof(servoConfig_t, channelForwardingStartChannel) },
#endif
// PG_CONTROLRATE_PROFILES
#ifdef USE_PROFILE_NAMES
{ "rateprofile_name", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_STRING, .config.string = { 1, MAX_RATE_PROFILE_NAME_LENGTH, STRING_FLAGS_NONE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, profileName) },
#endif
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
{ "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
{ "rates_type", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RATES_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates_type) },
{ "roll_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 1, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_ROLL]) },
{ "pitch_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 1, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_PITCH]) },
{ "yaw_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 1, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_YAW]) },
{ "roll_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo[FD_ROLL]) },
{ "pitch_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo[FD_PITCH]) },
{ "yaw_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo[FD_YAW]) },
{ "roll_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_ROLL]) },
{ "pitch_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_PITCH]) },
{ "yaw_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
{ "tpa_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, dynThrPID) },
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
#ifdef USE_TPA_MODE
{ "tpa_mode", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpaMode) },
#endif
{ "throttle_limit_type", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_THROTTLE_LIMIT_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_type) },
{ "throttle_limit_percent", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 25, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_percent) },
{ "roll_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_ROLL]) },
{ "pitch_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_PITCH]) },
{ "yaw_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_YAW]) },
// PG_SERIAL_CONFIG
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 48, 126 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, reboot_character) },
{ "serial_update_rate_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 2000 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, serial_update_rate_hz) },
// PG_IMU_CONFIG
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_kp) },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_ki) },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 180 }, PG_IMU_CONFIG, offsetof(imuConfig_t, small_angle) },
// PG_ARMING_CONFIG
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 60 }, PG_ARMING_CONFIG, offsetof(armingConfig_t, auto_disarm_delay) },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, gyro_cal_on_first_arm) },
// PG_GPS_CONFIG
#ifdef USE_GPS
{ "gps_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_PROVIDER }, PG_GPS_CONFIG, offsetof(gpsConfig_t, provider) },
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_SBAS_MODE }, PG_GPS_CONFIG, offsetof(gpsConfig_t, sbasMode) },
{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoConfig) },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoBaud) },
{ "gps_ublox_use_galileo", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_use_galileo) },
{ "gps_set_home_point_once", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_set_home_point_once) },
{ "gps_use_3d_speed", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_use_3d_speed) },
#ifdef USE_GPS_RESCUE
// PG_GPS_RESCUE
{ "gps_rescue_angle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, angle) },
{ "gps_rescue_initial_alt", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 20, 100 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, initialAltitudeM) },
{ "gps_rescue_descent_dist", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 30, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, descentDistanceM) },
{ "gps_rescue_landing_alt", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 3, 10 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, targetLandingAltitudeM) },
{ "gps_rescue_landing_dist", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 5, 15 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, targetLandingDistanceM) },
{ "gps_rescue_ground_speed", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 30, 3000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, rescueGroundspeed) },
{ "gps_rescue_throttle_p", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleP) },
{ "gps_rescue_throttle_i", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleI) },
{ "gps_rescue_throttle_d", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleD) },
{ "gps_rescue_velocity_p", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, velP) },
{ "gps_rescue_velocity_i", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, velI) },
{ "gps_rescue_velocity_d", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, velD) },
{ "gps_rescue_yaw_p", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, yawP) },
{ "gps_rescue_throttle_min", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleMin) },
{ "gps_rescue_throttle_max", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleMax) },
{ "gps_rescue_ascend_rate", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 2500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, ascendRate) },
{ "gps_rescue_descend_rate", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 500 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, descendRate) },
{ "gps_rescue_throttle_hover", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleHover) },
{ "gps_rescue_sanity_checks", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_SANITY_CHECK }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, sanityChecks) },
{ "gps_rescue_min_sats", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minSats) },
{ "gps_rescue_min_dth", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 50, 1000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minRescueDth) },
{ "gps_rescue_allow_arming_without_fix", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, allowArmingWithoutFix) },
{ "gps_rescue_alt_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_ALT_MODE }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, altitudeMode) },
#ifdef USE_MAG
{ "gps_rescue_use_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, useMag) },
#endif
#endif
#endif
{ "deadband", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, deadband) },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
{ "yaw_control_reversed", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_reversed) },
// PG_PID_CONFIG
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },
#ifdef USE_RUNAWAY_TAKEOFF
{ "runaway_takeoff_prevention", VAR_UINT8 | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_prevention) }, // enables/disables runaway takeoff prevention
{ "runaway_takeoff_deactivate_delay", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 1000 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_delay) }, // deactivate time in ms
{ "runaway_takeoff_deactivate_throttle_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_throttle) }, // minimum throttle percentage during deactivation phase
#endif
// PG_PID_PROFILE
#ifdef USE_PROFILE_NAMES
{ "profile_name", VAR_UINT8 | PROFILE_VALUE | MODE_STRING, .config.string = { 1, MAX_PROFILE_NAME_LENGTH, STRING_FLAGS_NONE }, PG_PID_PROFILE, offsetof(pidProfile_t, profileName) },
#endif
#ifdef USE_DYN_LPF
{ "dyn_lpf_dterm_min_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_min_hz) },
{ "dyn_lpf_dterm_max_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_max_hz) },
#endif
{ "dterm_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },
{ "dterm_lowpass_hz", VAR_INT16 | PROFILE_VALUE, .config.minmax = { 0, FILTER_FREQUENCY_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lowpass_hz) },
{ "dterm_lowpass2_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter2_type) },