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serial_cli.c
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serial_cli.c
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it 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 is distributed in the hope that it 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
#include <ctype.h>
#include "platform.h"
#include "build/build_config.h"
#include "build/assert.h"
#include "build/version.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/color.h"
#include "common/printf.h"
#include "common/typeconversion.h"
#include "config/config.h"
#include "config/config_eeprom.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h"
#include "drivers/accgyro.h"
#include "drivers/buf_writer.h"
#include "drivers/compass.h"
#include "drivers/bus_i2c.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/logging.h"
#include "drivers/pwm_rx.h"
#include "drivers/sdcard.h"
#include "drivers/sensor.h"
#include "drivers/serial.h"
#include "drivers/stack_check.h"
#include "drivers/system.h"
#include "drivers/timer.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/navigation_rewrite.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
#include "io/flashfs.h"
#include "io/gimbal.h"
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/motors.h"
#include "io/osd.h"
#include "io/serial.h"
#include "io/serial_cli.h"
#include "io/servos.h"
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/diagnostics.h"
#include "sensors/gyro.h"
#include "sensors/pitotmeter.h"
#include "sensors/sensors.h"
#include "telemetry/telemetry.h"
#include "telemetry/frsky.h"
// FIXME remove this for targets that don't need a CLI. Perhaps use a no-op macro when USE_CLI is not enabled
// signal that we're in cli mode
uint8_t cliMode = 0;
#ifdef USE_CLI
#if FLASH_SIZE > 128
#define PLAY_SOUND
#endif
extern uint16_t cycleTime; // FIXME dependency on mw.c
extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort);
static serialPort_t *cliPort;
static bufWriter_t *cliWriter;
static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 16];
#if defined(USE_ASSERT)
static void cliAssert(char *cmdline);
#endif
#if defined(BOOTLOG)
static void cliBootlog(char *cmdline);
#endif
static void cliAux(char *cmdline);
static void cliRxFail(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
static void cliMotorMix(char *cmdline);
static void cliDefaults(char *cmdline);
static void cliDump(char *cmdLine);
static void cliExit(char *cmdline);
static void cliFeature(char *cmdline);
static void cliMotor(char *cmdline);
#ifdef PLAY_SOUND
static void cliPlaySound(char *cmdline);
#endif
static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
static void cliReboot(void);
static void cliSave(char *cmdline);
static void cliSerial(char *cmdline);
#ifdef USE_SERVOS
static void cliServo(char *cmdline);
static void cliServoMix(char *cmdline);
#endif
static void cliSet(char *cmdline);
static void cliGet(char *cmdline);
static void cliStatus(char *cmdline);
#ifndef SKIP_TASK_STATISTICS
static void cliTasks(char *cmdline);
#endif
static void cliVersion(char *cmdline);
static void cliRxRange(char *cmdline);
static void cliPFlags(char *cmdline);
#if !defined(SKIP_TASK_STATISTICS) && !defined(SKIP_CLI_RESOURCES)
static void cliResource(char *cmdline);
#endif
#ifdef GPS
static void cliGpsPassthrough(char *cmdline);
#endif
static void cliHelp(char *cmdline);
static void cliMap(char *cmdline);
#ifdef LED_STRIP
static void cliLed(char *cmdline);
static void cliColor(char *cmdline);
static void cliModeColor(char *cmdline);
#endif
#ifndef USE_QUAD_MIXER_ONLY
static void cliMixer(char *cmdline);
#endif
#ifdef USE_FLASHFS
static void cliFlashInfo(char *cmdline);
static void cliFlashErase(char *cmdline);
#ifdef USE_FLASH_TOOLS
static void cliFlashWrite(char *cmdline);
static void cliFlashRead(char *cmdline);
#endif
#endif
#ifdef USE_SDCARD
static void cliSdInfo(char *cmdline);
#endif
#ifdef BEEPER
static void cliBeeper(char *cmdline);
#endif
// buffer
static char cliBuffer[48];
static uint32_t bufferIndex = 0;
#ifndef USE_QUAD_MIXER_ONLY
// sync this with mixerMode_e
static const char * const mixerNames[] = {
"TRI", "QUADP", "QUADX", "BI",
"GIMBAL", "Y6", "HEX6",
"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
"AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4",
"HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
"ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", NULL
};
#endif
// sync this with features_e
static const char * const featureNames[] = {
"RX_PPM", "VBAT", "UNUSED_1", "RX_SERIAL", "MOTOR_STOP",
"SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DASHBOARD", "UNUSED_2",
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
"SUPEREXPO", "VTX", "RX_SPI", "SOFTSPI", "PWM_SERVO_DRIVER", "PWM_OUTPUT_ENABLE", "OSD", NULL
};
// sync this with rxFailsafeChannelMode_e
static const char rxFailsafeModeCharacters[] = "ahs";
static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT][RX_FAILSAFE_MODE_COUNT] = {
{ RX_FAILSAFE_MODE_AUTO, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_INVALID },
{ RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
};
/* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
// sync with gyroSensor_e
static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE"};
// sync with accelerationSensor_e
static const char * const accNames[] = { "NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE"};
// sync with baroSensor_e
static const char * const baroNames[] = { "NONE", "AUTO", "BMP085", "MS5611", "BMP280", "FAKE"};
// sync with magSensor_e
static const char * const magNames[] = { "NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "FAKE"};
// sycn with rangefinderType_e
static const char * const rangefinderNames[] = { "NONE", "HCSR04", "SRF10"};
// sync with pitotSensor_e
static const char * const pitotmeterNames[] = { "NONE", "AUTO", "MS4525", "FAKE"};
#if (FLASH_SIZE > 64)
// sync this with sensors_e
static const char * const sensorTypeNames[] = {
"GYRO", "ACC", "BARO", "MAG", "SONAR", "PITOT", "GPS", "GPS+MAG", NULL
};
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_SONAR | SENSOR_PITOT)
static const char * const hardwareSensorStatusNames[] = {
"NONE", "OK", "UNAVAILABLE", "FAILING"
};
static const char * const *sensorHardwareNames[] = {gyroNames, accNames, baroNames, magNames, rangefinderNames, pitotmeterNames};
#endif
#ifdef OSD
static const char * const lookupTableOsdType[] = {
"AUTO",
"PAL",
"NTSC"
};
#endif
typedef struct {
const char *name;
#ifndef SKIP_CLI_COMMAND_HELP
const char *description;
const char *args;
#endif
void (*func)(char *cmdline);
} clicmd_t;
#ifndef SKIP_CLI_COMMAND_HELP
#define CLI_COMMAND_DEF(name, description, args, method) \
{ \
name , \
description , \
args , \
method \
}
#else
#define CLI_COMMAND_DEF(name, description, args, method) \
{ \
name, \
method \
}
#endif
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
#if defined(USE_ASSERT)
CLI_COMMAND_DEF("assert", "", NULL, cliAssert),
#endif
CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
#if defined(BOOTLOG)
CLI_COMMAND_DEF("bootlog", "show boot events", NULL, cliBootlog),
#endif
#ifdef LED_STRIP
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
#endif
CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
CLI_COMMAND_DEF("dump", "dump configuration", "[master|profile]", cliDump),
CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
CLI_COMMAND_DEF("feature", "configure features",
"list\r\n"
"\t<+|->[name]", cliFeature),
#ifdef USE_FLASHFS
CLI_COMMAND_DEF("flash_erase", "erase flash chip", NULL, cliFlashErase),
CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
#ifdef USE_FLASH_TOOLS
CLI_COMMAND_DEF("flash_read", NULL, "<length> <address>", cliFlashRead),
CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
#endif
#endif
CLI_COMMAND_DEF("get", "get variable value",
"[name]", cliGet),
#ifdef GPS
CLI_COMMAND_DEF("gpspassthrough", "passthrough gps to serial", NULL, cliGpsPassthrough),
#endif
CLI_COMMAND_DEF("help", NULL, NULL, cliHelp),
#ifdef LED_STRIP
CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
#endif
CLI_COMMAND_DEF("map", "configure rc channel order",
"[<map>]", cliMap),
#ifndef USE_QUAD_MIXER_ONLY
CLI_COMMAND_DEF("mixer", "configure mixer",
"list\r\n"
"\t<name>", cliMixer),
#endif
CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix),
CLI_COMMAND_DEF("motor", "get/set motor",
"<index> [<value>]", cliMotor),
#ifdef PLAY_SOUND
CLI_COMMAND_DEF("play_sound", NULL,
"[<index>]\r\n", cliPlaySound),
#endif
CLI_COMMAND_DEF("profile", "change profile",
"[<index>]", cliProfile),
CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
#if !defined(SKIP_TASK_STATISTICS) && !defined(SKIP_CLI_RESOURCES)
CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
#endif
CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
#ifdef USE_SERVOS
CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
#endif
CLI_COMMAND_DEF("set", "change setting",
"[<name>=<value>]", cliSet),
CLI_COMMAND_DEF("pflags", "get persistent flags", NULL, cliPFlags),
#ifdef USE_SERVOS
CLI_COMMAND_DEF("smix", "servo mixer",
"<rule> <servo> <source> <rate> <speed> <min> <max> <box>\r\n"
"\treset\r\n"
"\tload <mixer>\r\n"
"\treverse <servo> <source> r|n", cliServoMix),
#endif
#ifdef USE_SDCARD
CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
#endif
CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
#ifndef SKIP_TASK_STATISTICS
CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
#endif
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
#ifdef BEEPER
CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
"\t<+|->[name]", cliBeeper),
#endif
};
#define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
static const char * const lookupTableOffOn[] = {
"OFF", "ON"
};
static const char * const lookupTableUnit[] = {
"IMPERIAL", "METRIC"
};
static const char * const lookupTableAlignment[] = {
"DEFAULT",
"CW0",
"CW90",
"CW180",
"CW270",
"CW0FLIP",
"CW90FLIP",
"CW180FLIP",
"CW270FLIP"
};
#ifdef GPS
static const char * const lookupTableGPSProvider[] = {
"NMEA", "UBLOX", "I2C-NAV", "NAZA"
};
static const char * const lookupTableGPSSBASMode[] = {
"AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "NONE"
};
static const char * const lookupTableGpsModel[] = {
"PEDESTRIAN", "AIR_1G", "AIR_4G"
};
#endif
static const char * const lookupTableCurrentSensor[] = {
"NONE", "ADC", "VIRTUAL"
};
#ifdef USE_SERVOS
static const char * const lookupTableGimbalMode[] = {
"NORMAL", "MIXTILT"
};
#endif
#ifdef BLACKBOX
static const char * const lookupTableBlackboxDevice[] = {
"SERIAL", "SPIFLASH", "SDCARD"
};
#endif
#ifdef SERIAL_RX
static const char * const lookupTableSerialRX[] = {
"SPEK1024",
"SPEK2048",
"SBUS",
"SUMD",
"SUMH",
"XB-B",
"XB-B-RJ01",
"IBUS"
};
#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"
};
#endif
static const char * const lookupTableGyroLpf[] = {
"256HZ",
"188HZ",
"98HZ",
"42HZ",
"20HZ",
"10HZ"
};
static const char * const lookupTableFailsafeProcedure[] = {
"SET-THR", "DROP", "RTH"
};
#ifdef NAV
static const char * const lookupTableNavControlMode[] = {
"ATTI", "CRUISE"
};
static const char * const lookupTableNavRthAltMode[] = {
"CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST"
};
#endif
static const char * const lookupTableAuxOperator[] = {
"OR", "AND"
};
static const char * const lookupTablePwmProtocol[] = {
"STANDARD", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED"
};
#ifdef ASYNC_GYRO_PROCESSING
static const char * const lookupTableAsyncMode[] = {
"NONE", "GYRO", "ALL"
};
#endif
typedef struct lookupTableEntry_s {
const char * const *values;
const uint8_t valueCount;
} lookupTableEntry_t;
typedef enum {
TABLE_OFF_ON = 0,
TABLE_UNIT,
TABLE_ALIGNMENT,
#ifdef GPS
TABLE_GPS_PROVIDER,
TABLE_GPS_SBAS_MODE,
TABLE_GPS_DYN_MODEL,
#endif
#ifdef BLACKBOX
TABLE_BLACKBOX_DEVICE,
#endif
TABLE_CURRENT_SENSOR,
#ifdef USE_SERVOS
TABLE_GIMBAL_MODE,
#endif
#ifdef SERIAL_RX
TABLE_SERIAL_RX,
#endif
#ifdef USE_RX_SPI
TABLE_RX_SPI,
#endif
TABLE_GYRO_LPF,
TABLE_FAILSAFE_PROCEDURE,
#ifdef NAV
TABLE_NAV_USER_CTL_MODE,
TABLE_NAV_RTH_ALT_MODE,
#endif
TABLE_AUX_OPERATOR,
TABLE_MOTOR_PWM_PROTOCOL,
#ifdef ASYNC_GYRO_PROCESSING
TABLE_ASYNC_MODE,
#endif
#ifdef OSD
TABLE_OSD,
#endif
TABLE_HW_ACC,
TABLE_HW_BARO,
TABLE_HW_MAG,
TABLE_HW_RANGEFINDER, // currently not used
TABLE_HW_PITOT,
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
{ lookupTableOffOn, sizeof(lookupTableOffOn) / sizeof(char *) },
{ lookupTableUnit, sizeof(lookupTableUnit) / sizeof(char *) },
{ lookupTableAlignment, sizeof(lookupTableAlignment) / sizeof(char *) },
#ifdef GPS
{ lookupTableGPSProvider, sizeof(lookupTableGPSProvider) / sizeof(char *) },
{ lookupTableGPSSBASMode, sizeof(lookupTableGPSSBASMode) / sizeof(char *) },
{ lookupTableGpsModel, sizeof(lookupTableGpsModel) / sizeof(char *) },
#endif
#ifdef BLACKBOX
{ lookupTableBlackboxDevice, sizeof(lookupTableBlackboxDevice) / sizeof(char *) },
#endif
{ lookupTableCurrentSensor, sizeof(lookupTableCurrentSensor) / sizeof(char *) },
#ifdef USE_SERVOS
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
#endif
#ifdef SERIAL_RX
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
#endif
#ifdef USE_RX_SPI
{ lookupTableRxSpi, sizeof(lookupTableRxSpi) / sizeof(char *) },
#endif
{ lookupTableGyroLpf, sizeof(lookupTableGyroLpf) / sizeof(char *) },
{ lookupTableFailsafeProcedure, sizeof(lookupTableFailsafeProcedure) / sizeof(char *) },
#ifdef NAV
{ lookupTableNavControlMode, sizeof(lookupTableNavControlMode) / sizeof(char *) },
{ lookupTableNavRthAltMode, sizeof(lookupTableNavRthAltMode) / sizeof(char *) },
#endif
{ lookupTableAuxOperator, sizeof(lookupTableAuxOperator) / sizeof(char *) },
{ lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
#ifdef ASYNC_GYRO_PROCESSING
{ lookupTableAsyncMode, sizeof(lookupTableAsyncMode) / sizeof(char *) },
#endif
#ifdef OSD
{ lookupTableOsdType, sizeof(lookupTableOsdType) / sizeof(char *) },
#endif
{ accNames, sizeof(accNames) / sizeof(char *) },
{ baroNames, sizeof(baroNames) / sizeof(char *) },
{ magNames, sizeof(magNames) / sizeof(char *) },
{ rangefinderNames, sizeof(rangefinderNames) / sizeof(char *) },
{ pitotmeterNames, sizeof(pitotmeterNames) / sizeof(char *) },
};
#define VALUE_TYPE_OFFSET 0
#define VALUE_SECTION_OFFSET 4
#define VALUE_MODE_OFFSET 6
typedef enum {
// value type
VAR_UINT8 = (0 << VALUE_TYPE_OFFSET),
VAR_INT8 = (1 << VALUE_TYPE_OFFSET),
VAR_UINT16 = (2 << VALUE_TYPE_OFFSET),
VAR_INT16 = (3 << VALUE_TYPE_OFFSET),
VAR_UINT32 = (4 << VALUE_TYPE_OFFSET),
VAR_FLOAT = (5 << VALUE_TYPE_OFFSET),
// value section
MASTER_VALUE = (0 << VALUE_SECTION_OFFSET),
PROFILE_VALUE = (1 << VALUE_SECTION_OFFSET),
CONTROL_RATE_VALUE = (2 << VALUE_SECTION_OFFSET),
// value mode
MODE_DIRECT = (0 << VALUE_MODE_OFFSET),
MODE_LOOKUP = (1 << VALUE_MODE_OFFSET)
} cliValueFlag_e;
#define VALUE_TYPE_MASK (0x0F)
#define VALUE_SECTION_MASK (0x30)
#define VALUE_MODE_MASK (0xC0)
typedef struct cliMinMaxConfig_s {
const int32_t min;
const int32_t max;
} cliMinMaxConfig_t;
typedef struct cliLookupTableConfig_s {
const lookupTableIndex_e tableIndex;
} cliLookupTableConfig_t;
typedef union {
cliLookupTableConfig_t lookup;
cliMinMaxConfig_t minmax;
} cliValueConfig_t;
typedef struct {
const char *name;
const uint8_t type; // see cliValueFlag_e
void *ptr;
const cliValueConfig_t config;
} clivalue_t;
const clivalue_t valueTable[] = {
{ "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 } },
#ifdef ASYNC_GYRO_PROCESSING
{ "acc_task_frequency", VAR_UINT16 | MASTER_VALUE, &masterConfig.accTaskFrequency, .config.minmax = { ACC_TASK_FREQUENCY_MIN, ACC_TASK_FREQUENCY_MAX } },
{ "attitude_task_frequency", VAR_UINT16 | MASTER_VALUE, &masterConfig.attitudeTaskFrequency, .config.minmax = { ATTITUDE_TASK_FREQUENCY_MIN, ATTITUDE_TASK_FREQUENCY_MAX } },
{ "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 } },
{ "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, &pwmRxConfig()->inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
{ "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 } }, // 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 } },
{ "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 } },
{ "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 } },
#ifdef GPS
{ "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 }, },
{ "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 }, },
{ "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 }, },
{ "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 } },
#endif
{ "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 } },
{ "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 } },
{ "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 } },
{ "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 } },
{ "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 } },
{ "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 } },
{ "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 } },
#endif
#ifdef USE_RX_SPI
{ "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} },
#endif
#ifdef TELEMETRY
{ "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 } },
#ifdef TELEMETRY_SMARTPORT
{ "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 } },
{ "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 } },
{ "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 } },
{ "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 } },
{ "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 }, },
{ "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 }, },
{ "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} },
{ "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 } },
{ "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 }, },
{ "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}, },
{ "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 } },
{ "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 } },
{ "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 } },
{ "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 } },
{ "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 } },
{ "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 }, },
{ "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 }, },
{ "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 }, },
{ "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 }, },
{ "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 } },
{ "rate_accel_limit_roll_pitch",VAR_UINT32 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.axisAccelerationLimitRollPitch, .config.minmax = {0, 500000 } },
{ "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 } },
{ "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, &compassConfig()->magZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &compassConfig()->magZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &compassConfig()->magZero.raw[Z], .config.minmax = { -32768, 32767 } },
#endif
{ "acczero_x", VAR_INT16 | MASTER_VALUE, &accelerometerConfig()->accZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "acczero_y", VAR_INT16 | MASTER_VALUE, &accelerometerConfig()->accZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "acczero_z", VAR_INT16 | MASTER_VALUE, &accelerometerConfig()->accZero.raw[Z], .config.minmax = { -32768, 32767 } },
#ifdef LED_STRIP
{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &ledStripConfig()->ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },
#endif
#ifdef OSD
{ "osd_video_system", VAR_UINT8 | MASTER_VALUE, &osdProfile()->video_system, .config.minmax = { 0, 2 } },
{ "osd_row_shiftdown", VAR_UINT8 | MASTER_VALUE, &osdProfile()->row_shiftdown, .config.minmax = { 0, 1 } },
{ "osd_units", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &osdProfile()->units, .config.lookup = { TABLE_UNIT } },
{ "osd_rssi_alarm", VAR_UINT8 | MASTER_VALUE, &osdProfile()->rssi_alarm, .config.minmax = { 0, 100 } },
{ "osd_cap_alarm", VAR_UINT16 | MASTER_VALUE, &osdProfile()->cap_alarm, .config.minmax = { 0, 20000 } },
{ "osd_time_alarm", VAR_UINT16 | MASTER_VALUE, &osdProfile()->time_alarm, .config.minmax = { 0, 60 } },
{ "osd_alt_alarm", VAR_UINT16 | MASTER_VALUE, &osdProfile()->alt_alarm, .config.minmax = { 0, 10000 } },
{ "osd_main_voltage_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_MAIN_BATT_VOLTAGE], .config.minmax = { 0, UINT16_MAX } },
{ "osd_rssi_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_RSSI_VALUE], .config.minmax = { 0, UINT16_MAX } },
{ "osd_flytimer_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_FLYTIME], .config.minmax = { 0, UINT16_MAX } },
{ "osd_ontime_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_ONTIME], .config.minmax = { 0, UINT16_MAX } },
{ "osd_flymode_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_FLYMODE], .config.minmax = { 0, UINT16_MAX } },
{ "osd_throttle_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_THROTTLE_POS], .config.minmax = { 0, UINT16_MAX } },
{ "osd_vtx_channel_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_VTX_CHANNEL], .config.minmax = { 0, UINT16_MAX } },
{ "osd_crosshairs", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_CROSSHAIRS], .config.minmax = { 0, UINT16_MAX } },
{ "osd_artificial_horizon", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_ARTIFICIAL_HORIZON], .config.minmax = { 0, UINT16_MAX } },
{ "osd_current_draw_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_CURRENT_DRAW], .config.minmax = { 0, UINT16_MAX } },
{ "osd_mah_drawn_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_MAH_DRAWN], .config.minmax = { 0, UINT16_MAX } },
{ "osd_craft_name_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_CRAFT_NAME], .config.minmax = { 0, UINT16_MAX } },
{ "osd_gps_speed_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_GPS_SPEED], .config.minmax = { 0, UINT16_MAX } },
{ "osd_gps_sats_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_GPS_SATS], .config.minmax = { 0, UINT16_MAX } },
{ "osd_altitude_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_ALTITUDE], .config.minmax = { 0, UINT16_MAX } },
#endif
{ "accgain_x", VAR_INT16 | MASTER_VALUE, &accelerometerConfig()->accGain.raw[X], .config.minmax = { 1, 8192 } },
{ "accgain_y", VAR_INT16 | MASTER_VALUE, &accelerometerConfig()->accGain.raw[Y], .config.minmax = { 1, 8192 } },
{ "accgain_z", VAR_INT16 | MASTER_VALUE, &accelerometerConfig()->accGain.raw[Z], .config.minmax = { 1, 8192 } },
};
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
typedef union {
int32_t int_value;
float float_value;
} int_float_value_t;
static void cliSetVar(const clivalue_t *var, const int_float_value_t value);
static void cliPrintVar(const clivalue_t *var, uint32_t full);
static void cliPrintVarRange(const clivalue_t *var);
static void cliPrint(const char *str);
static void cliPrintf(const char *fmt, ...);
static void cliWrite(uint8_t ch);
static void cliPrompt(void)
{
cliPrint("\r\n# ");
bufWriterFlush(cliWriter);
}
static void cliShowParseError(void)
{
cliPrint("Parse error\r\n");
}
static void cliShowArgumentRangeError(char *name, int min, int max)
{
cliPrintf("%s must be between %d and %d\r\n", name, min, max);
}
static char *processChannelRangeArgs(char *ptr, channelRange_t *range, uint8_t *validArgumentCount)
{