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config.c
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config.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 <string.h>
#include <math.h>
#include "platform.h"
#include "blackbox/blackbox.h"
#include "build/debug.h"
#include "cli/cli.h"
#include "common/sensor_alignment.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "drivers/dshot_command.h"
#include "drivers/motor.h"
#include "drivers/system.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/pid_init.h"
#include "flight/rpm_filter.h"
#include "flight/servos.h"
#include "io/beeper.h"
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/serial.h"
#include "io/vtx.h"
#include "msp/msp_box.h"
#include "osd/osd.h"
#include "pg/adc.h"
#include "pg/beeper.h"
#include "pg/beeper_dev.h"
#include "pg/displayport_profiles.h"
#include "pg/gyrodev.h"
#include "pg/motor.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "pg/rx_spi.h"
#include "pg/sdcard.h"
#include "pg/vtx_table.h"
#include "rx/rx.h"
#include "rx/rx_spi.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/battery.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "config.h"
#include "drivers/dshot.h"
static bool configIsDirty; /* someone indicated that the config is modified and it is not yet saved */
static bool rebootRequired = false; // set if a config change requires a reboot to take effect
pidProfile_t *currentPidProfile;
#ifndef RX_SPI_DEFAULT_PROTOCOL
#define RX_SPI_DEFAULT_PROTOCOL 0
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 1);
PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
.name = { 0 },
.displayName = { 0 },
);
PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 3);
PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
.pidProfileIndex = 0,
.activeRateProfile = 0,
.debug_mode = DEBUG_MODE,
.task_statistics = true,
.rateProfile6PosSwitch = false,
.cpu_overclock = DEFAULT_CPU_OVERCLOCK,
.powerOnArmingGraceTime = 5,
.boardIdentifier = TARGET_BOARD_IDENTIFIER,
.hseMhz = SYSTEM_HSE_VALUE, // Only used for F4 and G4 targets
.configurationState = CONFIGURATION_STATE_DEFAULTS_BARE,
.enableStickArming = false,
);
uint8_t getCurrentPidProfileIndex(void)
{
return systemConfig()->pidProfileIndex;
}
static void loadPidProfile(void)
{
currentPidProfile = pidProfilesMutable(systemConfig()->pidProfileIndex);
}
uint8_t getCurrentControlRateProfileIndex(void)
{
return systemConfig()->activeRateProfile;
}
uint16_t getCurrentMinthrottle(void)
{
return motorConfig()->minthrottle;
}
void resetConfig(void)
{
pgResetAll();
#if defined(USE_TARGET_CONFIG)
targetConfiguration();
#endif
}
static void activateConfig(void)
{
loadPidProfile();
loadControlRateProfile();
initRcProcessing();
activeAdjustmentRangeReset();
pidInit(currentPidProfile);
rcControlsInit();
failsafeReset();
#ifdef USE_ACC
setAccelerationTrims(&accelerometerConfigMutable()->accZero);
accInitFilters();
#endif
imuConfigure(throttleCorrectionConfig()->throttle_correction_angle, throttleCorrectionConfig()->throttle_correction_value);
#if defined(USE_LED_STRIP_STATUS_MODE)
reevaluateLedConfig();
#endif
initActiveBoxIds();
}
static void adjustFilterLimit(uint16_t *parm, uint16_t resetValue)
{
if (*parm > LPF_MAX_HZ) {
*parm = resetValue;
}
}
static void validateAndFixRatesSettings(void)
{
for (unsigned profileIndex = 0; profileIndex < CONTROL_RATE_PROFILE_COUNT; profileIndex++) {
const ratesType_e ratesType = controlRateProfilesMutable(profileIndex)->rates_type;
for (unsigned axis = FD_ROLL; axis <= FD_YAW; axis++) {
controlRateProfilesMutable(profileIndex)->rcRates[axis] = constrain(controlRateProfilesMutable(profileIndex)->rcRates[axis], 0, ratesSettingLimits[ratesType].rc_rate_limit);
controlRateProfilesMutable(profileIndex)->rates[axis] = constrain(controlRateProfilesMutable(profileIndex)->rates[axis], 0, ratesSettingLimits[ratesType].srate_limit);
controlRateProfilesMutable(profileIndex)->rcExpo[axis] = constrain(controlRateProfilesMutable(profileIndex)->rcExpo[axis], 0, ratesSettingLimits[ratesType].expo_limit);
}
}
}
static void validateAndFixConfig(void)
{
#if !defined(USE_QUAD_MIXER_ONLY)
// Reset unsupported mixer mode to default.
// This check will be gone when motor/servo mixers are loaded dynamically
// by configurator as a part of configuration procedure.
mixerMode_e mixerMode = mixerConfigMutable()->mixerMode;
if (!(mixerMode == MIXER_CUSTOM || mixerMode == MIXER_CUSTOM_AIRPLANE || mixerMode == MIXER_CUSTOM_TRI)) {
if (mixers[mixerMode].motorCount && mixers[mixerMode].motor == NULL)
mixerConfigMutable()->mixerMode = MIXER_CUSTOM;
#ifdef USE_SERVOS
if (mixers[mixerMode].useServo && servoMixers[mixerMode].servoRuleCount == 0)
mixerConfigMutable()->mixerMode = MIXER_CUSTOM_AIRPLANE;
#endif
}
#endif
if (!isSerialConfigValid(serialConfig())) {
pgResetFn_serialConfig(serialConfigMutable());
}
#if defined(USE_GPS)
const serialPortConfig_t *gpsSerial = findSerialPortConfig(FUNCTION_GPS);
if (gpsConfig()->provider == GPS_MSP && gpsSerial) {
serialRemovePort(gpsSerial->identifier);
}
#endif
if (
#if defined(USE_GPS)
gpsConfig()->provider != GPS_MSP && !gpsSerial &&
#endif
true) {
featureDisableImmediate(FEATURE_GPS);
}
for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
// Fix filter settings to handle cases where an older configurator was used that
// allowed higher cutoff limits from previous firmware versions.
adjustFilterLimit(&pidProfilesMutable(i)->dterm_lpf1_static_hz, LPF_MAX_HZ);
adjustFilterLimit(&pidProfilesMutable(i)->dterm_lpf2_static_hz, LPF_MAX_HZ);
adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_hz, LPF_MAX_HZ);
adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_cutoff, 0);
// Prevent invalid notch cutoff
if (pidProfilesMutable(i)->dterm_notch_cutoff >= pidProfilesMutable(i)->dterm_notch_hz) {
pidProfilesMutable(i)->dterm_notch_hz = 0;
}
#ifdef USE_DYN_LPF
//Prevent invalid dynamic lowpass
if (pidProfilesMutable(i)->dterm_lpf1_dyn_min_hz > pidProfilesMutable(i)->dterm_lpf1_dyn_max_hz) {
pidProfilesMutable(i)->dterm_lpf1_dyn_min_hz = 0;
}
#endif
if (pidProfilesMutable(i)->motor_output_limit > 100 || pidProfilesMutable(i)->motor_output_limit == 0) {
pidProfilesMutable(i)->motor_output_limit = 100;
}
if (pidProfilesMutable(i)->auto_profile_cell_count > MAX_AUTO_DETECT_CELL_COUNT || pidProfilesMutable(i)->auto_profile_cell_count < AUTO_PROFILE_CELL_COUNT_CHANGE) {
pidProfilesMutable(i)->auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY;
}
// If the d_min value for any axis is >= the D gain then reset d_min to 0 for consistent Configurator behavior
for (unsigned axis = 0; axis <= FD_YAW; axis++) {
if (pidProfilesMutable(i)->d_min[axis] > pidProfilesMutable(i)->pid[axis].D) {
pidProfilesMutable(i)->d_min[axis] = 0;
}
}
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_ADC) {
pidProfilesMutable(i)->vbat_sag_compensation = 0;
}
#endif
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureDisableImmediate(FEATURE_3D);
if (motorConfig()->mincommand < 1000) {
motorConfigMutable()->mincommand = 1000;
}
}
if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
}
validateAndFixGyroConfig();
#if defined(USE_MAG)
buildAlignmentFromStandardAlignment(&compassConfigMutable()->mag_customAlignment, compassConfig()->mag_alignment);
#endif
buildAlignmentFromStandardAlignment(&gyroDeviceConfigMutable(0)->customAlignment, gyroDeviceConfig(0)->alignment);
#if defined(USE_MULTI_GYRO)
buildAlignmentFromStandardAlignment(&gyroDeviceConfigMutable(1)->customAlignment, gyroDeviceConfig(1)->alignment);
#endif
#ifdef USE_ACC
if (accelerometerConfig()->accZero.values.roll != 0 ||
accelerometerConfig()->accZero.values.pitch != 0 ||
accelerometerConfig()->accZero.values.yaw != 0) {
accelerometerConfigMutable()->accZero.values.calibrationCompleted = 1;
}
#endif // USE_ACC
if (!(featureIsConfigured(FEATURE_RX_PARALLEL_PWM) || featureIsConfigured(FEATURE_RX_PPM) || featureIsConfigured(FEATURE_RX_SERIAL) || featureIsConfigured(FEATURE_RX_MSP) || featureIsConfigured(FEATURE_RX_SPI))) {
featureEnableImmediate(DEFAULT_RX_FEATURE);
}
if (featureIsConfigured(FEATURE_RX_PPM)) {
featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
}
if (featureIsConfigured(FEATURE_RX_MSP)) {
featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
}
if (featureIsConfigured(FEATURE_RX_SERIAL)) {
featureDisableImmediate(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
}
#ifdef USE_RX_SPI
if (featureIsConfigured(FEATURE_RX_SPI)) {
featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
}
#endif // USE_RX_SPI
if (featureIsConfigured(FEATURE_RX_PARALLEL_PWM)) {
featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
}
#if defined(USE_ADC)
if (featureIsConfigured(FEATURE_RSSI_ADC)) {
rxConfigMutable()->rssi_channel = 0;
rxConfigMutable()->rssi_src_frame_errors = false;
} else
#endif
if (rxConfigMutable()->rssi_channel
#if defined(USE_PWM) || defined(USE_PPM)
|| featureIsConfigured(FEATURE_RX_PPM) || featureIsConfigured(FEATURE_RX_PARALLEL_PWM)
#endif
) {
rxConfigMutable()->rssi_src_frame_errors = false;
}
if (
featureIsConfigured(FEATURE_3D) || !featureIsConfigured(FEATURE_GPS) || mixerModeIsFixedWing(mixerConfig()->mixerMode)
#if !defined(USE_GPS) || !defined(USE_GPS_RESCUE)
|| true
#endif
) {
#ifdef USE_GPS_RESCUE
if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;
}
#endif
if (isModeActivationConditionPresent(BOXGPSRESCUE)) {
removeModeActivationCondition(BOXGPSRESCUE);
}
}
#if defined(USE_ESC_SENSOR)
if (!findSerialPortConfig(FUNCTION_ESC_SENSOR)) {
featureDisableImmediate(FEATURE_ESC_SENSOR);
}
#endif
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
if (mac->linkedTo) {
if (mac->modeId == BOXARM || isModeActivationConditionLinked(mac->linkedTo)) {
removeModeActivationCondition(mac->modeId);
}
}
}
#if defined(USE_DSHOT_TELEMETRY) && defined(USE_DSHOT_BITBANG)
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_PROSHOT1000 && motorConfig()->dev.useDshotTelemetry &&
motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_ON) {
motorConfigMutable()->dev.useDshotBitbang = DSHOT_BITBANG_AUTO;
}
#endif
#ifdef USE_ADC
adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
// The FrSky D SPI RX sends RSSI_ADC_PIN (if configured) as A2
adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
#ifdef USE_RX_SPI
adcConfigMutable()->rssi.enabled |= (featureIsEnabled(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
#endif
#endif // USE_ADC
// clear features that are not supported.
// I have kept them all here in one place, some could be moved to sections of code above.
#ifndef USE_PPM
featureDisableImmediate(FEATURE_RX_PPM);
#endif
#ifndef USE_SERIAL_RX
featureDisableImmediate(FEATURE_RX_SERIAL);
#endif
#if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2)
featureDisableImmediate(FEATURE_SOFTSERIAL);
#endif
#ifndef USE_RANGEFINDER
featureDisableImmediate(FEATURE_RANGEFINDER);
#endif
#ifndef USE_TELEMETRY
featureDisableImmediate(FEATURE_TELEMETRY);
#endif
#ifndef USE_PWM
featureDisableImmediate(FEATURE_RX_PARALLEL_PWM);
#endif
#ifndef USE_RX_MSP
featureDisableImmediate(FEATURE_RX_MSP);
#endif
#ifndef USE_LED_STRIP
featureDisableImmediate(FEATURE_LED_STRIP);
#endif
#ifndef USE_DASHBOARD
featureDisableImmediate(FEATURE_DASHBOARD);
#endif
#ifndef USE_OSD
featureDisableImmediate(FEATURE_OSD);
#endif
#ifndef USE_SERVOS
featureDisableImmediate(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING);
#endif
#ifndef USE_TRANSPONDER
featureDisableImmediate(FEATURE_TRANSPONDER);
#endif
#ifndef USE_RX_SPI
featureDisableImmediate(FEATURE_RX_SPI);
#endif
#ifndef USE_ESC_SENSOR
featureDisableImmediate(FEATURE_ESC_SENSOR);
#endif
#if !defined(USE_ADC)
featureDisableImmediate(FEATURE_RSSI_ADC);
#endif
#if defined(USE_BEEPER)
#ifdef USE_TIMER
if (beeperDevConfig()->frequency && !timerGetConfiguredByTag(beeperDevConfig()->ioTag)) {
beeperDevConfigMutable()->frequency = 0;
}
#endif
if (beeperConfig()->beeper_off_flags & ~BEEPER_ALLOWED_MODES) {
beeperConfigMutable()->beeper_off_flags = 0;
}
#ifdef USE_DSHOT
if (beeperConfig()->dshotBeaconOffFlags & ~DSHOT_BEACON_ALLOWED_MODES) {
beeperConfigMutable()->dshotBeaconOffFlags = 0;
}
if (beeperConfig()->dshotBeaconTone < DSHOT_CMD_BEACON1
|| beeperConfig()->dshotBeaconTone > DSHOT_CMD_BEACON5) {
beeperConfigMutable()->dshotBeaconTone = DSHOT_CMD_BEACON1;
}
#endif
#endif
bool configuredMotorProtocolDshot = false;
checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
#if defined(USE_DSHOT)
// If using DSHOT protocol disable unsynched PWM as it's meaningless
if (configuredMotorProtocolDshot) {
motorConfigMutable()->dev.useUnsyncedPwm = false;
}
#if defined(USE_DSHOT_TELEMETRY)
bool nChannelTimerUsed = false;
for (unsigned i = 0; i < getMotorCount(); i++) {
const ioTag_t tag = motorConfig()->dev.ioTags[i];
if (tag) {
const timerHardware_t *timer = timerGetConfiguredByTag(tag);
if (timer && timer->output & TIMER_OUTPUT_N_CHANNEL) {
nChannelTimerUsed = true;
break;
}
}
}
if ((!configuredMotorProtocolDshot || (motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_OFF && (motorConfig()->dev.useBurstDshot == DSHOT_DMAR_ON || nChannelTimerUsed))) && motorConfig()->dev.useDshotTelemetry) {
motorConfigMutable()->dev.useDshotTelemetry = false;
}
#endif // USE_DSHOT_TELEMETRY
#endif // USE_DSHOT
#if defined(USE_OSD)
for (int i = 0; i < OSD_TIMER_COUNT; i++) {
const uint16_t t = osdConfig()->timers[i];
if (OSD_TIMER_SRC(t) >= OSD_TIMER_SRC_COUNT ||
OSD_TIMER_PRECISION(t) >= OSD_TIMER_PREC_COUNT) {
osdConfigMutable()->timers[i] = osdTimerDefault[i];
}
}
#endif
#if defined(USE_VTX_COMMON) && defined(USE_VTX_TABLE)
// reset vtx band, channel, power if outside range specified by vtxtable
if (vtxSettingsConfig()->channel > vtxTableConfig()->channels) {
vtxSettingsConfigMutable()->channel = 0;
if (vtxSettingsConfig()->band > 0) {
vtxSettingsConfigMutable()->freq = 0; // band/channel determined frequency can't be valid anymore
}
}
if (vtxSettingsConfig()->band > vtxTableConfig()->bands) {
vtxSettingsConfigMutable()->band = 0;
vtxSettingsConfigMutable()->freq = 0; // band/channel determined frequency can't be valid anymore
}
if (vtxSettingsConfig()->power > vtxTableConfig()->powerLevels) {
vtxSettingsConfigMutable()->power = 0;
}
#endif
validateAndFixRatesSettings(); // constrain the various rates settings to limits imposed by the rates type
#if defined(USE_RX_MSP_OVERRIDE)
if (!rxConfig()->msp_override_channels_mask) {
removeModeActivationCondition(BOXMSPOVERRIDE);
}
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
if (mac->modeId == BOXMSPOVERRIDE && ((1 << (mac->auxChannelIndex) & (rxConfig()->msp_override_channels_mask)))) {
rxConfigMutable()->msp_override_channels_mask &= ~(1 << (mac->auxChannelIndex + NON_AUX_CHANNEL_COUNT));
}
}
#endif
validateAndfixMotorOutputReordering(motorConfigMutable()->dev.motorOutputReordering, MAX_SUPPORTED_MOTORS);
// validate that the minimum battery cell voltage is less than the maximum cell voltage
// reset to defaults if not
if (batteryConfig()->vbatmincellvoltage >= batteryConfig()->vbatmaxcellvoltage) {
batteryConfigMutable()->vbatmincellvoltage = VBAT_CELL_VOLTAGE_DEFAULT_MIN;
batteryConfigMutable()->vbatmaxcellvoltage = VBAT_CELL_VOLTAGE_DEFAULT_MAX;
}
#ifdef USE_MSP_DISPLAYPORT
// validate that displayport_msp_serial is referencing a valid UART that actually has MSP enabled
if (displayPortProfileMsp()->displayPortSerial != SERIAL_PORT_NONE) {
const serialPortConfig_t *portConfig = serialFindPortConfiguration(displayPortProfileMsp()->displayPortSerial);
if (!portConfig || !(portConfig->functionMask & FUNCTION_MSP)
#ifndef USE_MSP_PUSH_OVER_VCP
|| (portConfig->identifier == SERIAL_PORT_USB_VCP)
#endif
) {
displayPortProfileMspMutable()->displayPortSerial = SERIAL_PORT_NONE;
}
}
#endif
#if defined(TARGET_VALIDATECONFIG)
// This should be done at the end of the validation
targetValidateConfiguration();
#endif
}
void validateAndFixGyroConfig(void)
{
// Fix gyro filter settings to handle cases where an older configurator was used that
// allowed higher cutoff limits from previous firmware versions.
adjustFilterLimit(&gyroConfigMutable()->gyro_lpf1_static_hz, LPF_MAX_HZ);
adjustFilterLimit(&gyroConfigMutable()->gyro_lpf2_static_hz, LPF_MAX_HZ);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_1, LPF_MAX_HZ);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_1, 0);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_2, LPF_MAX_HZ);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_2, 0);
// Prevent invalid notch cutoff
if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
}
if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
}
#ifdef USE_DYN_LPF
//Prevent invalid dynamic lowpass filter
if (gyroConfig()->gyro_lpf1_dyn_min_hz > gyroConfig()->gyro_lpf1_dyn_max_hz) {
gyroConfigMutable()->gyro_lpf1_dyn_min_hz = 0;
}
#endif
if (gyro.sampleRateHz > 0) {
float samplingTime = 1.0f / gyro.sampleRateHz;
// check for looptime restrictions based on motor protocol. Motor times have safety margin
float motorUpdateRestriction;
#if defined(STM32F40_41xxx) || defined(STM32F411xE)
/* If bidirectional DSHOT is being used on an F411 then force DSHOT300. The motor update restrictions then applied
* will automatically consider the loop time and adjust pid_process_denom appropriately
*/
if (motorConfig()->dev.useDshotTelemetry && (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600)) {
motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT300;
}
#endif
switch (motorConfig()->dev.motorPwmProtocol) {
case PWM_TYPE_STANDARD:
motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
break;
case PWM_TYPE_ONESHOT125:
motorUpdateRestriction = 0.0005f;
break;
case PWM_TYPE_ONESHOT42:
motorUpdateRestriction = 0.0001f;
break;
#ifdef USE_DSHOT
case PWM_TYPE_DSHOT150:
motorUpdateRestriction = 0.000250f;
break;
case PWM_TYPE_DSHOT300:
motorUpdateRestriction = 0.0001f;
break;
#endif
default:
motorUpdateRestriction = 0.00003125f;
break;
}
if (motorConfig()->dev.useUnsyncedPwm) {
bool configuredMotorProtocolDshot = false;
checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
// Prevent overriding the max rate of motors
if (!configuredMotorProtocolDshot && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) {
const uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
motorConfigMutable()->dev.motorPwmRate = MIN(motorConfig()->dev.motorPwmRate, maxEscRate);
}
} else {
const float pidLooptime = samplingTime * pidConfig()->pid_process_denom;
if (motorConfig()->dev.useDshotTelemetry) {
motorUpdateRestriction *= 2;
}
if (pidLooptime < motorUpdateRestriction) {
uint8_t minPidProcessDenom = motorUpdateRestriction / samplingTime;
if (motorUpdateRestriction / samplingTime > minPidProcessDenom) {
// if any fractional part then round up
minPidProcessDenom++;
}
minPidProcessDenom = constrain(minPidProcessDenom, 1, MAX_PID_PROCESS_DENOM);
pidConfigMutable()->pid_process_denom = MAX(pidConfigMutable()->pid_process_denom, minPidProcessDenom);
}
}
}
#ifdef USE_BLACKBOX
#ifndef USE_FLASHFS
if (blackboxConfig()->device == BLACKBOX_DEVICE_FLASH) {
blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
}
#endif // USE_FLASHFS
if (blackboxConfig()->device == BLACKBOX_DEVICE_SDCARD) {
#if defined(USE_SDCARD)
if (!sdcardConfig()->mode)
#endif
{
blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
}
}
#endif // USE_BLACKBOX
if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {
systemConfigMutable()->activeRateProfile = 0;
}
loadControlRateProfile();
if (systemConfig()->pidProfileIndex >= PID_PROFILE_COUNT) {
systemConfigMutable()->pidProfileIndex = 0;
}
loadPidProfile();
}
bool readEEPROM(void)
{
suspendRxPwmPpmSignal();
// Sanity check, read flash
bool success = loadEEPROM();
featureInit();
validateAndFixConfig();
activateConfig();
resumeRxPwmPpmSignal();
return success;
}
void writeUnmodifiedConfigToEEPROM(void)
{
validateAndFixConfig();
suspendRxPwmPpmSignal();
writeConfigToEEPROM();
resumeRxPwmPpmSignal();
configIsDirty = false;
}
void writeEEPROM(void)
{
systemConfigMutable()->configurationState = CONFIGURATION_STATE_CONFIGURED;
writeUnmodifiedConfigToEEPROM();
}
bool resetEEPROM(bool useCustomDefaults)
{
#if !defined(USE_CUSTOM_DEFAULTS)
UNUSED(useCustomDefaults);
#else
if (useCustomDefaults) {
if (!resetConfigToCustomDefaults()) {
return false;
}
} else
#endif
{
resetConfig();
}
writeUnmodifiedConfigToEEPROM();
return true;
}
void ensureEEPROMStructureIsValid(void)
{
if (isEEPROMStructureValid()) {
return;
}
resetEEPROM(false);
}
void saveConfigAndNotify(void)
{
writeEEPROM();
readEEPROM();
beeperConfirmationBeeps(1);
}
void setConfigDirty(void)
{
configIsDirty = true;
}
bool isConfigDirty(void)
{
return configIsDirty;
}
void changePidProfileFromCellCount(uint8_t cellCount)
{
if (currentPidProfile->auto_profile_cell_count == cellCount || currentPidProfile->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
return;
}
unsigned profileIndex = (systemConfig()->pidProfileIndex + 1) % PID_PROFILE_COUNT;
int matchingProfileIndex = -1;
while (profileIndex != systemConfig()->pidProfileIndex) {
if (pidProfiles(profileIndex)->auto_profile_cell_count == cellCount) {
matchingProfileIndex = profileIndex;
break;
} else if (matchingProfileIndex < 0 && pidProfiles(profileIndex)->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
matchingProfileIndex = profileIndex;
}
profileIndex = (profileIndex + 1) % PID_PROFILE_COUNT;
}
if (matchingProfileIndex >= 0) {
changePidProfile(matchingProfileIndex);
}
}
void changePidProfile(uint8_t pidProfileIndex)
{
if (pidProfileIndex < PID_PROFILE_COUNT) {
systemConfigMutable()->pidProfileIndex = pidProfileIndex;
loadPidProfile();
pidInit(currentPidProfile);
initEscEndpoints();
mixerInitProfile();
}
beeperConfirmationBeeps(pidProfileIndex + 1);
}
bool isSystemConfigured(void)
{
return systemConfig()->configurationState == CONFIGURATION_STATE_CONFIGURED;
}
void setRebootRequired(void)
{
rebootRequired = true;
setArmingDisabled(ARMING_DISABLED_REBOOT_REQUIRED);
}
bool getRebootRequired(void)
{
return rebootRequired;
}