void readEEPROM(void) { // Sanity check if (!isEEPROMContentValid()) failureMode(10); // Read flash memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t)); if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check masterConfig.current_profile_index = 0; setProfile(masterConfig.current_profile_index); if (currentProfile->defaultRateProfileIndex > MAX_CONTROL_RATE_PROFILE_COUNT - 1) // sanity check currentProfile->defaultRateProfileIndex = 0; setControlRateProfile(currentProfile->defaultRateProfileIndex); validateAndFixConfig(); activateConfig(); }
CYm2149Ex::CYm2149Ex(ymProfile profile, ymu32 playRate) { ymint i,env; frameCycle = 0; //-------------------------------------------------------- // build env shapes. //-------------------------------------------------------- ymu8 *pEnv = &envData[0][0][0]; for (env=0;env<16;env++) { const ymint *pse = EnvWave[env]; for (ymint phase=0;phase<4;phase++) { pEnv = ym2149EnvInit(pEnv,pse[phase*2+0],pse[phase*2+1]); } } setProfile(profile); internalClock = profile.masterClock; replayFrequency = playRate; cycleSample = 0; // Set volume voice pointers. pVolA = &volA; pVolB = &volB; pVolC = &volC; for(ymint i = 0; i < 3; i++) { filters[i].push_back(new SimpleLowPassFilter()); filters[i].push_back(new DCRemover()); } // Reset YM2149 reset(); }
cgfxPass::cgfxPass( CGpass pass, const cgfxProfile* profile ) : fPass( pass), fProgram( NULL), fParameters( NULL), fDefaultProfile("default", pass), fNext( NULL) { if( pass) { fName = cgGetPassName( pass); CGstateassignment stateAssignment = cgGetFirstStateAssignment( pass); cgfxVaryingParameter** nextParameter = &fParameters; while( stateAssignment ) { CGstate state = cgGetStateAssignmentState( stateAssignment); if( cgGetStateType( state) == CG_PROGRAM_TYPE && ( stricmp( cgGetStateName( state), "vertexProgram") == 0 || stricmp( cgGetStateName( state), "vertexShader") == 0)) { fProgram = cgGetProgramStateAssignmentValue( stateAssignment); if( fProgram) { CGparameter parameter = cgGetFirstParameter( fProgram, CG_PROGRAM); while( parameter) { cgfxVaryingParameter::addRecursive( parameter, nextParameter); parameter = cgGetNextParameter( parameter); } } } setProfile(profile); stateAssignment = cgGetNextStateAssignment( stateAssignment); } } }
static void changePMProfile(GtkWidget *widget, gpointer data){ pm_profile_t newProfile = *(pm_profile_t*)data; if (curCard == NULL){ curCard = "card0"; } if (newProfile < 0 || newProfile >= MAX_PROFILE){ g_error("Invalid new profile %d\n", newProfile); return; } if (canModifyPM()) { g_print("Setting profile %s\n", pm_profile_names[newProfile]); setMethod(curCard, PROFILE); setProfile(curCard, newProfile); } else { g_print("Insufficient permissions to set profile to %s\n", pm_profile_names[newProfile]); } }
// Handling the binder transaction to BWCService status_t BnBWCService::onTransact(uint32_t code, const Parcel& data, Parcel* reply, uint32_t flags) { status_t ret = 0; switch(code) { // Set current BWC profile (profile id, state id) case BWC_SET_PROFILE: { int profile = 0; int state = 0; data.readInt32(&profile); data.readInt32(&state); ret = setProfile(profile, state); reply->writeInt32(ret); } break; default: return BBinder::onTransact(code, data, reply, flags); } return ret; }
void doProfileXhtml() { setProfile(_T("xhtml"), g_fiProfileXhtml); }
boolean pidCmnd::doCommand( CmndParser* pars ) { if( strcmp( keyword, pars->cmndName() ) == 0 ) { if( strcmp( pars->paramStr(1), "ON" ) == 0 ) { #ifdef PID_CONTROL myPID.SetMode(1); #ifdef ACKS_ON Serial.println("# PID turned ON"); #endif #endif return true; } else if( strcmp( pars->paramStr(1), "OFF" ) == 0 ) { #ifdef PID_CONTROL myPID.SetMode(0); #ifdef ACKS_ON Serial.println("# PID turned OFF"); #endif #endif return true; } else if( strcmp( pars->paramStr(1), "TIME" ) == 0 ) { counter = 0; // reset TC4 timer #ifdef ACKS_ON Serial.println("# PID time reset"); #endif return true; } else if( strcmp( pars->paramStr(1), "GO" ) == 0 ) { #ifdef PID_CONTROL counter = 0; // reset TC4 timer myPID.SetMode(1); // turn PID on #ifdef ACKS_ON Serial.println("# PID Roast Start"); #endif #endif return true; } else if( strcmp( pars->paramStr(1), "STOP" ) == 0 ) { #ifdef PID_CONTROL myPID.SetMode(0); // turn PID off levelOT1 = 0; output_level_icc( levelOT1 ); // Turn OT1 (heater) off levelOT2 = OT2_AUTO_COOL; output_level_pac( levelOT2 ); // Set fan to auto cool level #ifdef ACKS_ON Serial.println("# PID Roast Stop"); #endif #endif return true; } else if( pars->paramStr(1)[0] == 'P' ) { #ifdef PID_CONTROL profile_number = atoi( pars->paramStr(1) + 1 ); setProfile(); #ifdef ACKS_ON Serial.print("# Profile number "); Serial.print( profile_number ); Serial.println(" selected"); #endif #endif return true; } else if( strcmp( pars->paramStr(1), "T" ) == 0 ) { #ifdef PID_CONTROL double kp, ki, kd; kp = atof( pars->paramStr(2) ); ki = atof( pars->paramStr(3) ); kd = atof( pars->paramStr(4) ); myPID.SetTunings( kp, ki, kd ); #ifdef ACKS_ON Serial.print("# PID Tunings set. "); Serial.print("Kp = "); Serial.print(kp); Serial.print(", Ki = "); Serial.print(ki); Serial.print(", Kd = "); Serial.println(kd); #endif #endif return true; } } else { return false; } }
void CIP::unpack() { quint8 byte; int b = 0; quint8 size; QByteArray tmpArray; QString cipString; // Header: request (1) byte = packet.at(b++); setRequest(byte); // Header: profile (1) byte = packet.at(b++); setProfile(byte); // Header: verion (1) byte = packet.at(b++); setVersion(byte); // Header: channel (1) byte = packet.at(b++); setChannel(byte); // Header: UUID (16) tmpArray = packet.mid(b, 16); b += 16; ciHead.setUuid(QUuid::fromRfc4122(tmpArray)); // Header: IP address (4) tmpArray.clear(); tmpArray = packet.mid(b, 4); b += 4; in_addr ip; memcpy(&ip, tmpArray, 4); setIpAddress(QHostAddress(inet_ntoa(ip))); // Header: IP port (2) tmpArray.clear(); tmpArray = packet.mid(b, 2); b += 2; ciHead.setIpPort((tmpArray.at(0)<<8) + tmpArray.at(1)); // Header: time (8) tmpArray.clear(); tmpArray = packet.mid(b, 8); b += 8; time_t unixTime; memcpy(&unixTime, tmpArray, 8); ciHead.getTime().setTime_t((uint) unixTime); // Header: type (1) byte = packet.at(b++); ciHead.setHeadDataType(byte); // Header: size (1) byte = packet.at(b++); ciHead.setHeadDataSize(byte); size = byte; // Header: additional data (size) tmpArray.clear(); tmpArray = packet.mid(b, size); b += size; ciHead.setHeadData(tmpArray); // CI: type (1) byte = packet.at(b++); setCiType(byte); // CI root-CIC (2) byte = packet.at(b++); quint8 content = byte; byte = packet.at(b++); ci.setRootCicContent(content); ci.setRootCicMask(byte); // CI: size (1) byte = packet.at(b++); setCiSize(byte); size = byte; // CI: additional data (size) tmpArray.clear(); tmpArray = packet.mid(b, size*2); b += size*2; ci.setCiBricks(tmpArray); // Application Data: type (1) byte = packet.at(b++); ciData.setAppDataType(byte); // Application Data: size (1) byte = packet.at(b++); ciData.setAppDataSize(byte); size = byte; // Application Data: additional data (size) tmpArray.clear(); tmpArray = packet.mid(b, size); b += size; ciData.setAppData(tmpArray); } //
unsigned_quantifier_validater() {setProfile();}
strict_weak_order_validater() {setProfile();}
int main( int argc, char **argv ) { mpconfig *control; char *path; FILE *pidlog=NULL; struct timeval tv; control=readConfig( ); if( control == NULL ) { printf( "music directory needs to be set.\n" ); printf( "It will be set up now\n" ); path=(char *)falloc( MAXPATHLEN+1, 1 ); while( 1 ) { printf( "Default music directory:" ); fflush( stdout ); memset( path, 0, MAXPATHLEN ); fgets(path, MAXPATHLEN, stdin ); path[strlen( path )-1]=0; /* cut off CR */ abspath( path, getenv( "HOME" ), MAXPATHLEN ); if( isDir( path ) ) { break; } else { printf( "%s is not a directory!\n", path ); } } writeConfig( path ); free( path ); control=readConfig(); if( control == NULL ) { printf( "Could not create config file!\n" ); return 1; } } muteVerbosity(); /* improve 'randomization' */ gettimeofday( &tv,NULL ); srand( (getpid()*tv.tv_usec)%RAND_MAX ); switch( getArgs( argc, argv ) ) { case 0: /* no arguments given */ break; case 1: /* stream - does this even make sense? */ break; case 2: /* single file */ break; case 3: /* directory */ /* if no default directory is set, use the one given */ if( control->musicdir == NULL ) { incDebug(); addMessage( 0, "Setting default configuration values and initializing..." ); setProfile( control ); if( control->root == NULL ) { addMessage( 0, "No music found at %s!", control->musicdir ); return -1; } addMessage( 0, "Initialization successful!" ); writeConfig( argv[optind] ); freeConfig( ); return 0; } break; case 4: /* playlist */ break; default: addMessage( 0, "Unknown argument!\n", argv[optind] ); return -1; } snprintf( control->pidpath, MAXPATHLEN, "%s/.mixplay/mixplayd.pid", getenv("HOME") ); if( access( control->pidpath, F_OK ) == 0 ) { addMessage( 0, "Mixplayd is already running!" ); freeConfig(); return -1; } signal(SIGINT, sigint ); signal(SIGTERM, sigint ); /* daemonization must happen before childs are created otherwise the pipes are cut */ if( getDebug() == 0 ) { daemon( 0, 1 ); openlog ("mixplayd", LOG_PID, LOG_DAEMON); control->isDaemon=1; pidlog=fopen( control->pidpath, "w"); if( pidlog == NULL ) { addMessage( 0, "Cannot open %s!", control->pidpath ); return -1; } fprintf( pidlog, "%i", getpid() ); fclose(pidlog); } addUpdateHook( &s_updateHook ); control->inUI=1; initAll( ); #ifdef EPAPER sleep(1); if( control->status != mpc_quit ) { epSetup(); addUpdateHook( &ep_updateHook ); } #endif pthread_join( control->stid, NULL ); pthread_join( control->rtid, NULL ); control->inUI=0; #ifdef EPAPER epExit(); #endif if( control->changed ) { writeConfig( NULL ); } unlink(control->pidpath); addMessage( 0, "Daemon terminated" ); freeConfig( ); return 0; }
void doProfilePlain() { setProfile(_T("plain"), g_fiProfilePlain); }
void doProfileHtml() { setProfile(_T("html"), g_fiProfileHtml); }
void shouldDetermineCompatibility_data() { QTest::addColumn<QSharedPointer<Qt3DRender::QGraphicsApiFilter>>("required"); QTest::addColumn<QSharedPointer<Qt3DRender::QGraphicsApiFilter>>("actual"); QTest::addColumn<bool>("expected"); auto required = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); required->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); required->setProfile(Qt3DRender::QGraphicsApiFilter::CoreProfile); required->setMajorVersion(4); required->setMinorVersion(5); auto actual = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); actual->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); actual->setProfile(Qt3DRender::QGraphicsApiFilter::CoreProfile); actual->setMajorVersion(4); actual->setMinorVersion(5); bool expected = true; QTest::newRow("exact_match") << required << actual << expected; required = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); required->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); required->setProfile(Qt3DRender::QGraphicsApiFilter::CoreProfile); required->setMajorVersion(3); required->setMinorVersion(2); actual = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); actual->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); actual->setProfile(Qt3DRender::QGraphicsApiFilter::CoreProfile); actual->setMajorVersion(4); actual->setMinorVersion(5); expected = true; QTest::newRow("actual_is_higher_version") << required << actual << expected; required = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); required->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); required->setProfile(Qt3DRender::QGraphicsApiFilter::CoreProfile); required->setMajorVersion(4); required->setMinorVersion(5); actual = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); actual->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); actual->setProfile(Qt3DRender::QGraphicsApiFilter::CoreProfile); actual->setMajorVersion(3); actual->setMinorVersion(2); expected = false; QTest::newRow("actual_is_lower_version") << required << actual << expected; required = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); required->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); required->setProfile(Qt3DRender::QGraphicsApiFilter::CompatibilityProfile); required->setMajorVersion(4); required->setMinorVersion(5); actual = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); actual->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); actual->setProfile(Qt3DRender::QGraphicsApiFilter::CoreProfile); actual->setMajorVersion(4); actual->setMinorVersion(5); expected = false; QTest::newRow("wrong_profile") << required << actual << expected; required = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); required->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); required->setProfile(Qt3DRender::QGraphicsApiFilter::CoreProfile); required->setMajorVersion(3); required->setMinorVersion(2); actual = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); actual->setApi(Qt3DRender::QGraphicsApiFilter::OpenGLES); actual->setProfile(Qt3DRender::QGraphicsApiFilter::NoProfile); actual->setMajorVersion(3); actual->setMinorVersion(2); expected = false; QTest::newRow("wrong_api") << required << actual << expected; required = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); required->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); required->setProfile(Qt3DRender::QGraphicsApiFilter::NoProfile); required->setMajorVersion(2); required->setMinorVersion(0); actual = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); actual->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); actual->setProfile(Qt3DRender::QGraphicsApiFilter::CompatibilityProfile); actual->setMajorVersion(3); actual->setMinorVersion(2); expected = true; QTest::newRow("gl_3_2_compatibility_can_use_gl_2_0") << required << actual << expected; required = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); required->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); required->setProfile(Qt3DRender::QGraphicsApiFilter::NoProfile); required->setMajorVersion(2); required->setMinorVersion(0); actual = QSharedPointer<Qt3DRender::QGraphicsApiFilter>::create(); actual->setApi(Qt3DRender::QGraphicsApiFilter::OpenGL); actual->setProfile(Qt3DRender::QGraphicsApiFilter::CoreProfile); actual->setMajorVersion(3); actual->setMinorVersion(2); expected = false; QTest::newRow("gl_3_2_core_cant_use_gl_2_0") << required << actual << expected; }
void LearningProgressModel::profileDestroyed() { setProfile(0); }
// Default settings STATIC_UNIT_TESTED void resetConf(void) { pgResetAll(MAX_PROFILE_COUNT); setProfile(0); pgActivateProfile(0); setControlRateProfile(0); parseRcChannels("AETR1234", rxConfig()); featureClearAll(); featureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_BLACKBOX); #ifdef DEFAULT_FEATURES featureSet(DEFAULT_FEATURES); #endif #ifdef BOARD_HAS_VOLTAGE_DIVIDER // only enable the feature by default if the board has supporting hardware featureSet(FEATURE_VBAT); #endif #ifdef BOARD_HAS_AMPERAGE_METER // only enable the feature by default if the board has supporting hardware featureSet(FEATURE_AMPERAGE_METER); batteryConfig()->amperageMeterSource = AMPERAGE_METER_ADC; #endif // alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets #ifdef ALIENFLIGHT #ifdef ALIENFLIGHTF3 serialConfig()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; getVoltageMeterConfig(ADC_BATTERY)->vbatscale = 20; sensorSelectionConfig()->mag_hardware = MAG_NONE; // disabled by default # else serialConfig()->portConfigs[1].functionMask = FUNCTION_RX_SERIAL; # endif rxConfig()->serialrx_provider = SERIALRX_SPEKTRUM2048; rxConfig()->spektrum_sat_bind = 5; motorConfig()->minthrottle = 1000; motorConfig()->maxthrottle = 2000; motorConfig()->motor_pwm_rate = 32000; failsafeConfig()->failsafe_delay = 2; failsafeConfig()->failsafe_off_delay = 0; mixerConfig()->yaw_jump_prevention_limit = YAW_JUMP_PREVENTION_LIMIT_HIGH; currentControlRateProfile->rcRate8 = 100; currentControlRateProfile->rates[PITCH] = 20; currentControlRateProfile->rates[ROLL] = 20; currentControlRateProfile->rates[YAW] = 20; parseRcChannels("TAER1234", rxConfig()); *customMotorMixer(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R *customMotorMixer(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R *customMotorMixer(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L *customMotorMixer(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L *customMotorMixer(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R *customMotorMixer(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L *customMotorMixer(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R *customMotorMixer(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L #endif // copy first profile into remaining profile PG_FOREACH_PROFILE(reg) { for (int i = 1; i < MAX_PROFILE_COUNT; i++) { memcpy(reg->address + i * pgSize(reg), reg->address, pgSize(reg)); } } for (int i = 1; i < MAX_PROFILE_COUNT; i++) { configureRateProfileSelection(i, i % MAX_CONTROL_RATE_PROFILE_COUNT); } }
void changeProfile(uint8_t profileIndex) { setProfile(profileIndex); writeEEPROM(); readEEPROM(); }
// Default settings STATIC_UNIT_TESTED void resetConf(void) { pgResetAll(MAX_PROFILE_COUNT); setProfile(0); pgActivateProfile(0); setControlRateProfile(0); featureClearAll(); featureSet(DEFAULT_RX_FEATURE); #ifdef BOARD_HAS_VOLTAGE_DIVIDER // only enable the VBAT feature by default if the board has a voltage divider otherwise // the user may see incorrect readings and unexpected issues with pin mappings may occur. featureSet(FEATURE_VBAT); #endif featureSet(FEATURE_FAILSAFE); parseRcChannels("AETR1234", rxConfig()); featureSet(FEATURE_BLACKBOX); #if defined(COLIBRI_RACE) // alternative defaults settings for COLIBRI RACE targets imuConfig()->looptime = 1000; featureSet(FEATURE_ONESHOT125); featureSet(FEATURE_LED_STRIP); #endif #ifdef SPRACINGF3EVO featureSet(FEATURE_TRANSPONDER); featureSet(FEATURE_RSSI_ADC); featureSet(FEATURE_CURRENT_METER); featureSet(FEATURE_TELEMETRY); #endif // alternative defaults settings for ALIENWIIF1 and ALIENWIIF3 targets #ifdef ALIENWII32 featureSet(FEATURE_RX_SERIAL); featureSet(FEATURE_MOTOR_STOP); # ifdef ALIENWIIF3 serialConfig()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; batteryConfig()->vbatscale = 20; # else serialConfig()->portConfigs[1].functionMask = FUNCTION_RX_SERIAL; # endif rxConfig()->serialrx_provider = SERIALRX_SPEKTRUM2048; rxConfig()->spektrum_sat_bind = 5; motorAndServoConfig()->minthrottle = 1000; motorAndServoConfig()->maxthrottle = 2000; motorAndServoConfig()->motor_pwm_rate = 32000; imuConfig()->looptime = 2000; pidProfile()->pidController = 3; pidProfile()->P8[PIDROLL] = 36; pidProfile()->P8[PIDPITCH] = 36; failsafeConfig()->failsafe_delay = 2; failsafeConfig()->failsafe_off_delay = 0; currentControlRateProfile->rcRate8 = 130; currentControlRateProfile->rates[ROLL] = 20; currentControlRateProfile->rates[PITCH] = 20; currentControlRateProfile->rates[YAW] = 100; parseRcChannels("TAER1234", rxConfig()); *customMotorMixer(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R *customMotorMixer(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R *customMotorMixer(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L *customMotorMixer(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L *customMotorMixer(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R *customMotorMixer(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L *customMotorMixer(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R *customMotorMixer(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L #endif // copy first profile into remaining profile PG_FOREACH_PROFILE(reg) { for (int i = 1; i < MAX_PROFILE_COUNT; i++) { memcpy(reg->address + i * pgSize(reg), reg->address, pgSize(reg)); } } for (int i = 1; i < MAX_PROFILE_COUNT; i++) { configureRateProfileSelection(i, i % MAX_CONTROL_RATE_PROFILE_COUNT); } }
void doProfileXml() { setProfile(_T("xml"), g_fiProfileXml); }
void Stage::setProfile(int score, int times, bool u, bool h, std::deque<std::string> required) { setProfile(score, times, u, h); requiredSongs = required; }
extern "C" __declspec(dllexport) void beNotified(SCNotification *notifyCode) { switch(notifyCode->nmhdr.code) { case NPPN_READY: { ShortcutKey key; ::SendMessage(nppData._nppHandle, NPPM_GETSHORTCUTBYCMDID, funcItem[0]._cmdID, reinterpret_cast<LPARAM>(&key)); g_expandIsTab = keyIsTab(key); loadSettings(); // Lazy initialisation, so don't call initialise() yet //initialise(); } break; case NPPN_SHORTCUTREMAPPED: if (funcItem[0]._cmdID == notifyCode->nmhdr.idFrom) { g_expandIsTab = keyIsTab(*reinterpret_cast<ShortcutKey*>(notifyCode->nmhdr.hwndFrom)); } break; case NPPN_BUFFERACTIVATED: case NPPN_LANGCHANGED: if (g_autoSelectProfile) { int lang = ::SendMessage(nppData._nppHandle, NPPM_GETBUFFERLANGTYPE, notifyCode->nmhdr.idFrom, 0); switch(lang) { case L_XML: setProfile(_T("xml"), g_fiProfileXml); break; case L_TXT: setProfile(_T("plain"), g_fiProfilePlain); break; case L_HTML: default: setProfile(_T("xhtml"), g_fiProfileXhtml); break; } } break; case NPPN_FILESAVED: if (g_watchSave) { TCHAR filename[MAX_PATH]; ::SendMessage(nppData._nppHandle, NPPM_GETFULLPATHFROMBUFFERID, notifyCode->nmhdr.idFrom, reinterpret_cast<LPARAM>(filename)); if (0 == _tcsicmp(filename, g_settingsFile)) { if (g_initialised) { runString(_T("npp_zen_coding.update_settings()")); ::MessageBox(nppData._nppHandle, _T("Zen Coding settings automatically refreshed"), _T("Zen Coding for Notepad++"), MB_ICONINFORMATION); } else { ::MessageBox(nppData._nppHandle, _T("New Zen Coding settings have been applied"), _T("Zen Coding for Notepad++"), MB_ICONINFORMATION); } } } break; } }
// Default settings static void resetConf(void) { int i; #ifdef USE_SERVOS int8_t servoRates[MAX_SUPPORTED_SERVOS] = { 30, 30, 100, 100, 100, 100, 100, 100 }; ; #endif // Clear all configuration memset(&masterConfig, 0, sizeof(master_t)); setProfile(0); setControlRateProfile(0); masterConfig.version = EEPROM_CONF_VERSION; masterConfig.mixerMode = MIXER_QUADX; featureClearAll(); #if defined(CJMCU) || defined(SPARKY) featureSet(FEATURE_RX_PPM); #endif #ifdef BOARD_HAS_VOLTAGE_DIVIDER // only enable the VBAT feature by default if the board has a voltage divider otherwise // the user may see incorrect readings and unexpected issues with pin mappings may occur. featureSet(FEATURE_VBAT); #endif featureSet(FEATURE_FAILSAFE); // global settings masterConfig.current_profile_index = 0; // default profile masterConfig.gyro_cmpf_factor = 600; // default MWC masterConfig.gyro_cmpfm_factor = 250; // default MWC masterConfig.gyro_lpf = 42; // supported by all gyro drivers now. In case of ST gyro, will default to 32Hz instead resetAccelerometerTrims(&masterConfig.accZero); resetSensorAlignment(&masterConfig.sensorAlignmentConfig); masterConfig.boardAlignment.rollDegrees = 0; masterConfig.boardAlignment.pitchDegrees = 0; masterConfig.boardAlignment.yawDegrees = 0; masterConfig.acc_hardware = ACC_DEFAULT; // default/autodetect masterConfig.max_angle_inclination = 500; // 50 degrees masterConfig.yaw_control_direction = 1; masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32; masterConfig.mag_hardware = MAG_DEFAULT; // default/autodetect resetBatteryConfig(&masterConfig.batteryConfig); resetTelemetryConfig(&masterConfig.telemetryConfig); masterConfig.rxConfig.serialrx_provider = 0; masterConfig.rxConfig.spektrum_sat_bind = 0; masterConfig.rxConfig.midrc = 1500; masterConfig.rxConfig.mincheck = 1100; masterConfig.rxConfig.maxcheck = 1900; masterConfig.rxConfig.rx_min_usec = 985; // any of first 4 channels below this value will trigger rx loss detection masterConfig.rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection masterConfig.rxConfig.rssi_channel = 0; masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT; masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED; masterConfig.retarded_arm = 0; masterConfig.disarm_kill_switch = 1; masterConfig.auto_disarm_delay = 5; masterConfig.small_angle = 25; resetMixerConfig(&masterConfig.mixerConfig); masterConfig.airplaneConfig.flaps_speed = 0; masterConfig.airplaneConfig.fixedwing_althold_dir = 1; // Motor/ESC/Servo resetEscAndServoConfig(&masterConfig.escAndServoConfig); resetFlight3DConfig(&masterConfig.flight3DConfig); #ifdef BRUSHED_MOTORS masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE; #else masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE; #endif masterConfig.servo_pwm_rate = 50; #ifdef GPS // gps/nav stuff masterConfig.gpsConfig.provider = GPS_NMEA; masterConfig.gpsConfig.sbasMode = SBAS_AUTO; masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON; masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_OFF; #endif resetSerialConfig(&masterConfig.serialConfig); masterConfig.looptime = 3500; masterConfig.emf_avoidance = 0; resetPidProfile(¤tProfile->pidProfile); resetControlRateConfig(&masterConfig.controlRateProfiles[0]); // for (i = 0; i < CHECKBOXITEMS; i++) // cfg.activate[i] = 0; resetRollAndPitchTrims(¤tProfile->accelerometerTrims); currentProfile->mag_declination = 0; currentProfile->acc_lpf_factor = 4; currentProfile->accz_lpf_cutoff = 5.0f; currentProfile->accDeadband.xy = 40; currentProfile->accDeadband.z = 40; resetBarometerConfig(¤tProfile->barometerConfig); currentProfile->acc_unarmedcal = 1; // Radio parseRcChannels("AETR1234", &masterConfig.rxConfig); resetRcControlsConfig(¤tProfile->rcControlsConfig); currentProfile->throttle_correction_value = 0; // could 10 with althold or 40 for fpv currentProfile->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv // Failsafe Variables masterConfig.failsafeConfig.failsafe_delay = 10; // 1sec masterConfig.failsafeConfig.failsafe_off_delay = 200; // 20sec masterConfig.failsafeConfig.failsafe_throttle = 1000; // default throttle off. #ifdef USE_SERVOS // servos for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) { currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN; currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX; currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE; currentProfile->servoConf[i].rate = servoRates[i]; currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED; } // gimbal currentProfile->gimbalConfig.gimbal_flags = GIMBAL_NORMAL; #endif #ifdef GPS resetGpsProfile(¤tProfile->gpsProfile); #endif // custom mixer. clear by defaults. for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) masterConfig.customMixer[i].throttle = 0.0f; #ifdef LED_STRIP applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT); applyDefaultLedStripConfig(masterConfig.ledConfigs); #endif #ifdef BLACKBOX #ifdef SPRACINGF3 featureSet(FEATURE_BLACKBOX); masterConfig.blackbox_device = 1; #else masterConfig.blackbox_device = 0; #endif masterConfig.blackbox_rate_num = 1; masterConfig.blackbox_rate_denom = 1; #endif // alternative defaults settings for ALIENWIIF1 and ALIENWIIF3 targets #ifdef ALIENWII32 featureSet(FEATURE_RX_SERIAL); featureSet(FEATURE_MOTOR_STOP); featureSet(FEATURE_FAILSAFE); #ifdef ALIENWIIF3 masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL; masterConfig.batteryConfig.vbatscale = 20; #else masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL; #endif masterConfig.rxConfig.serialrx_provider = 1; masterConfig.rxConfig.spektrum_sat_bind = 5; masterConfig.escAndServoConfig.minthrottle = 1000; masterConfig.escAndServoConfig.maxthrottle = 2000; masterConfig.motor_pwm_rate = 32000; masterConfig.looptime = 2000; currentProfile->pidProfile.pidController = 3; currentProfile->pidProfile.P8[ROLL] = 36; currentProfile->pidProfile.P8[PITCH] = 36; masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_off_delay = 0; masterConfig.failsafeConfig.failsafe_throttle = 1000; currentControlRateProfile->rcRate8 = 130; currentControlRateProfile->rates[FD_PITCH] = 20; currentControlRateProfile->rates[FD_ROLL] = 20; currentControlRateProfile->rates[FD_YAW] = 100; parseRcChannels("TAER1234", &masterConfig.rxConfig); // { 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R masterConfig.customMixer[0].throttle = 1.0f; masterConfig.customMixer[0].roll = -0.5f; masterConfig.customMixer[0].pitch = 1.0f; masterConfig.customMixer[0].yaw = -1.0f; // { 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R masterConfig.customMixer[1].throttle = 1.0f; masterConfig.customMixer[1].roll = -0.5f; masterConfig.customMixer[1].pitch = -1.0f; masterConfig.customMixer[1].yaw = 1.0f; // { 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L masterConfig.customMixer[2].throttle = 1.0f; masterConfig.customMixer[2].roll = 0.5f; masterConfig.customMixer[2].pitch = 1.0f; masterConfig.customMixer[2].yaw = 1.0f; // { 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L masterConfig.customMixer[3].throttle = 1.0f; masterConfig.customMixer[3].roll = 0.5f; masterConfig.customMixer[3].pitch = -1.0f; masterConfig.customMixer[3].yaw = -1.0f; // { 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R masterConfig.customMixer[4].throttle = 1.0f; masterConfig.customMixer[4].roll = -1.0f; masterConfig.customMixer[4].pitch = -0.5f; masterConfig.customMixer[4].yaw = -1.0f; // { 1.0f, 1.0f, -0.5f, 1.0f }, // MIDFRONT_L masterConfig.customMixer[5].throttle = 1.0f; masterConfig.customMixer[5].roll = 1.0f; masterConfig.customMixer[5].pitch = -0.5f; masterConfig.customMixer[5].yaw = 1.0f; // { 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R masterConfig.customMixer[6].throttle = 1.0f; masterConfig.customMixer[6].roll = -1.0f; masterConfig.customMixer[6].pitch = 0.5f; masterConfig.customMixer[6].yaw = 1.0f; // { 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L masterConfig.customMixer[7].throttle = 1.0f; masterConfig.customMixer[7].roll = 1.0f; masterConfig.customMixer[7].pitch = 0.5f; masterConfig.customMixer[7].yaw = -1.0f; #endif // copy first profile into remaining profile for (i = 1; i < MAX_PROFILE_COUNT; i++) { memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t)); } // copy first control rate config into remaining profile for (i = 1; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) { memcpy(&masterConfig.controlRateProfiles[i], currentControlRateProfile, sizeof(controlRateConfig_t)); } for (i = 1; i < MAX_PROFILE_COUNT; i++) { masterConfig.profile[i].defaultRateProfileIndex = i % MAX_CONTROL_RATE_PROFILE_COUNT; } }
itl_set_driver() { setProfile(); }
void mlayer(void) { static char command[COMMANDLEN+2]; static double undoFit[NA], undoFitUnc[NA]; /* Process command */ while (queryString("mlayer% ", command, COMMANDLEN + 2) == NULL); caps(command); /* Spawn a command */ if (strcmp(command, "!") == 0 || strcmp(command, "!!") == 0) { bang(command); /* Print current directory */ } else if (strcmp(command, "PWD") == 0) { puts(currentDir); /* Change current directory */ } else if (strcmp(command, "CD") == 0) { cd(command); /* Help */ } else if (strcmp(command, "?") == 0 || strcmp(command, "HE") == 0 || strcmp(command, "HELP") == 0) { help(command + (*command == '?' ? 1 : 2)); /* Value of vacuum QCSQ */ } else if (strcmp(command, "QCV") == 0 || strcmp(command, "VQC") == 0) { setVQCSQ(tqcsq); /* Value of vacuum linear absorption coefficient */ } else if (strcmp(command, "MUV") == 0 || strcmp(command, "VMU") == 0) { setVMU(tmu); /* Wavelength */ } else if (strcmp(command, "WL") == 0) { double v = lambda; if (setWavelength(&lambda)==0 && lambda != v) { /* May need to recalculate Q for the new wavelength */ if (theta_offset != 0. && loaded) loadData(infile); } /* Theta offset */ } else if (strcmp(command, "TO") == 0) { double v = theta_offset; if (setThetaoffset(&theta_offset)==0 && theta_offset != v) { /* May need to recalculate Q for the new theta offset */ if (loaded) loadData(infile); } /* Number of layers */ } else if ( strcmp(command, "NTL") == 0 || strcmp(command, "NML") == 0 || strcmp(command, "NBL") == 0 ) switch (command[1]) { case 'T': setNLayer(&ntlayer); break; case 'M': setNLayer(&nmlayer); break; case 'B': setNLayer(&nblayer); break; /* Add or remove layers */ } else if ( strcmp(command, "ATL") == 0 || strcmp(command, "AML") == 0 || strcmp(command, "ABL") == 0 || strcmp(command, "RTL") == 0 || strcmp(command, "RML") == 0 || strcmp(command, "RBL") == 0 ) { modifyLayers(command); /* Copy layer */ } else if (strcmp(command, "CL") == 0) { copyLayer(command); /* Maximum number of layers used to simulate rough interface */ } else if ( strcmp(command, "NR") == 0 && !setNRough(&nrough) ) { /* Generate interface profile */ if (nrough < 3) nrough = 11; if (*proftyp == 'H') gentanh(nrough, zint, rufint); else generf(nrough, zint, rufint); /* Specify error function or hyperbolic tangent profile */ } else if (strcmp(command, "PR") == 0) { setProfile(proftyp, PROFTYPLEN + 2); /* Number of layers in multilayer */ } else if (strcmp(command, "NMR") == 0) { setNrepeat(&nrepeat); /* Range of Q to be scanned */ } else if (strcmp(command, "QL") == 0) { setQrange(&qmin, &qmax); /* Number of points scanned */ } else if (strcmp(command, "NP") == 0) { setNpnts(); /* File for input data */ } else if (strcmp(command, "IF") == 0) { setFilename(infile, INFILELEN + 2); /* File for output data */ } else if (strcmp(command, "OF") == 0) { setFilename(outfile, OUTFILELEN + 2); /* File for parameters */ } else if (strcmp(command, "PF") == 0) { setFilename(parfile, PARFILELEN + 2); /* Delta lambda */ } else if (strcmp(command, "DL") == 0) { setLamdel(&lamdel); /* Delta theta */ } else if (strcmp(command, "DT") == 0) { setThedel(&thedel); /* Beam intensity */ } else if (strcmp(command, "BI") == 0) { setBeamIntens(&bmintns, &Dbmintns); /* Background intensity */ } else if (strcmp(command, "BK") == 0) { setBackground(&bki, &Dbki); /* Verify parameters by printing out */ } else if ( strncmp(command, "TVE", 3) == 0 || strncmp(command, "MVE", 3) == 0 || strncmp(command, "BVE", 3) == 0 || strncmp(command, "VE", 2) == 0 ) { printLayers(command); /* Get data from file */ } else if (strcmp(command, "GD") == 0) { loadData(infile); /* Edit constraints */ } else if (strcmp(command, "EC") == 0) { constrainFunc newmodule; newmodule = newConstraints(constrainScript, constrainModule); if (newmodule != NULL) Constrain = newmodule; /* Reload constrain module */ } else if (strcmp(command, "LC") == 0) { Constrain = loadConstrain(constrainModule); /* Unload constrain module */ } else if (strcmp(command, "ULC") == 0) { Constrain = loadConstrain(NULL); /* Load parameters from parameter file */ } else if (strncmp(command, "LP", 2) == 0) { loadParms(command, &npnts, parfile, constrainScript, constrainModule); /* Save parameters to parameter file */ } else if (strcmp(command, "SP") == 0) { parms(tqcsq, mqcsq, bqcsq, tqcmsq, mqcmsq, bqcmsq, td, md, bd, trough, mrough, brough, tmu, mmu, bmu, MAXLAY, &lambda, &lamdel, &thedel, &theta_offset, &ntlayer, &nmlayer, &nblayer, &nrepeat, &qmin, &qmax, &npnts, infile, outfile, &bmintns, &bki, listA, &mfit, NA, &nrough, proftyp, DA, constrainScript, parfile, TRUE); /* List data and fit */ } else if (strcmp(command, "LID") == 0) { listData(); /* Generate logarithm of bare (unconvoluted) reflectivity */ } else if (strcmp(command, "GR") == 0 || strcmp(command, "SA") == 0) { genReflect(command); /* Generate and display layer profile used for roughness */ } else if (strcmp(command, "GLP") == 0) { genProfile(); /* Save layer profile to OUTFILE */ } else if ( strcmp(command, "SLP") == 0 || strcmp(command, "SSP") == 0 ) { saveProfile(command); /* Save values in XTEMP and YTEMP to OUTFILE */ } else if (strcmp(command, "SV") == 0) { saveTemps(outfile); /* Calculate derivative of reflectivity or spin asymmetry with respect to a fit parameter or save a fit to disk file */ } else if ( strcmp(command, "RD") == 0 || strcmp(command, "RSD") == 0 || strcmp(command, "SRF") == 0 || strcmp(command, "SRSF") == 0 ) { printDerivs(command); /* Turn off all varied parameters */ } else if (strcmp(command, "VANONE") == 0) { clearLista(listA); /* Specify which parameters are to be varied in the reflectivity fit */ } else if (strncmp(command, "VA", 2) == 0) { varyParm(command); /* Calculate chi-squared */ } else if (strcmp(command, "CSR") == 0 || strcmp(command, "CSRS") == 0) { printChiSq(command); /* Fit five-layer reflectivity */ } else if (strncmp(command, "FR", 2) == 0) { register int n; for (n = 0; n < NA; n++) { undoFit[n] = A[n]; undoFitUnc[n] = DA[n]; } fitReflec(command); /* Undo last fit */ } else if (strcmp(command, "UF") == 0) { register int n; for (n = 0; n < NA; n++) { A[n] = undoFit[n]; DA[n] = undoFitUnc[n]; } /* Exit */ } else if (strcmp(command, "EX") == 0) { parms(tqcsq, mqcsq, bqcsq, tqcmsq, mqcmsq, bqcmsq, td, md, bd, trough, mrough, brough, tmu, mmu, bmu, MAXLAY, &lambda, &lamdel, &thedel, &theta_offset, &ntlayer, &nmlayer, &nblayer, &nrepeat, &qmin, &qmax, &npnts, infile, outfile, &bmintns, &bki, listA, &mfit, NA, &nrough, proftyp, DA, constrainScript, parfile, TRUE); exit(0); /* Exit without saving changes */ } else if (strcmp(command, "QU") == 0 || strcmp(command, "QUIT") == 0) { exit(0); /***** Start new ************** */ /* Plot reflectivity on screen */ } else if (strncmp(command, "PRF", 3) == 0) { plotfit(command); /* Plot profile on screen */ } else if (strcmp(command, "PLP") == 0) { /* Generate profile */ plotprofile(command); /* Send data to other processes. */ } else if (strcmp(command, "SEND") == 0) { ipc_send(command); /* Receive data to other processes. */ } else if (strcmp(command, "RECV") == 0) { ipc_recv(command); /* Plot movie of reflectivity change from fit */ } else if (strncmp(command, "MVF", 3) == 0) { fitMovie(command, undoFit); /* Plot general movie from data file on screen */ } else if (strncmp(command, "MVX", 3) == 0) { arbitraryMovie(command); /* Plot movie of parameter on screen */ } else if (strncmp(command, "MV", 2) == 0) { oneParmMovie(command); /* Update constraints */ } else if (strcmp(command, "UC") == 0) { genshift(a, TRUE); /* constrain(a); */ (*Constrain)(FALSE, a, ntlayer, nmlayer, nrepeat, nblayer); genshift(a, FALSE); /* Enter critical Q squared */ /* or */ /* Top length absorption coefficient */ /* or */ /* Thicknesses of top layers */ /* or */ /* Roughnesses of top layers */ } else { static char *paramcom[] = {"QC", "MU", "D", "RO"}; static double *top[] = { tqcsq, tmu, td, trough}; static double *mid[] = { mqcsq, mmu, md, mrough}; static double *bot[] = { bqcsq, bmu, bd, brough}; static double *Dtop[] = {Dtqcsq, Dtmu, Dtd, Dtrough}; static double *Dmid[] = {Dmqcsq, Dmmu, Dmd, Dmrough}; static double *Dbot[] = {Dbqcsq, Dbmu, Dbd, Dbrough}; static int (*store[])(int, double *, double *) = { setQCSQ, setMU, setD, setRO }; int param, code = -1; for (param = 0; param < sizeof(paramcom) / sizeof(paramcom[0]); param++) { code = fetchLayParam(command, paramcom[param], top[param], mid[param], bot[param], Dtop[param], Dmid[param], Dbot[param], store[param]); if (code > -1) break; } if (code == -1) ERROR("/** Unrecognized command: %s **/\n", command); } }
// Default settings static void resetConf(void) { int i; // Clear all configuration memset(&masterConfig, 0, sizeof(master_t)); setProfile(0); setControlRateProfile(0); masterConfig.version = EEPROM_CONF_VERSION; masterConfig.mixerMode = MIXER_QUADX; featureClearAll(); persistentFlagClearAll(); featureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE); #ifdef DEFAULT_FEATURES featureSet(DEFAULT_FEATURES); #endif #ifdef BOARD_HAS_VOLTAGE_DIVIDER // only enable the VBAT feature by default if the board has a voltage divider otherwise // the user may see incorrect readings and unexpected issues with pin mappings may occur. featureSet(FEATURE_VBAT); #endif // global settings masterConfig.current_profile_index = 0; // default profile masterConfig.dcm_kp_acc = 2500; // 0.25 * 10000 masterConfig.dcm_ki_acc = 50; // 0.005 * 10000 masterConfig.dcm_kp_mag = 10000; // 1.00 * 10000 masterConfig.dcm_ki_mag = 0; // 0.00 * 10000 masterConfig.gyro_lpf = 3; // INV_FILTER_42HZ, In case of ST gyro, will default to 32Hz instead resetAccelerometerTrims(&masterConfig.accZero, &masterConfig.accGain); resetSensorAlignment(&masterConfig.sensorAlignmentConfig); masterConfig.boardAlignment.rollDeciDegrees = 0; masterConfig.boardAlignment.pitchDeciDegrees = 0; masterConfig.boardAlignment.yawDeciDegrees = 0; masterConfig.acc_hardware = ACC_DEFAULT; // default/autodetect masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32; masterConfig.mag_hardware = MAG_DEFAULT; // default/autodetect masterConfig.baro_hardware = BARO_DEFAULT; // default/autodetect resetBatteryConfig(&masterConfig.batteryConfig); resetTelemetryConfig(&masterConfig.telemetryConfig); masterConfig.rxConfig.serialrx_provider = 0; masterConfig.rxConfig.spektrum_sat_bind = 0; masterConfig.rxConfig.midrc = 1500; masterConfig.rxConfig.mincheck = 1100; masterConfig.rxConfig.maxcheck = 1900; masterConfig.rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection masterConfig.rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) { rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i]; channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD; channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc); } masterConfig.rxConfig.rssi_channel = 0; masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT; masterConfig.rxConfig.rssi_ppm_invert = 0; masterConfig.rxConfig.rcSmoothing = 1; resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges); masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED; masterConfig.disarm_kill_switch = 1; masterConfig.auto_disarm_delay = 5; masterConfig.small_angle = 25; resetMixerConfig(&masterConfig.mixerConfig); // Motor/ESC/Servo resetEscAndServoConfig(&masterConfig.escAndServoConfig); resetFlight3DConfig(&masterConfig.flight3DConfig); #ifdef BRUSHED_MOTORS masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE; #else masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE; #endif masterConfig.servo_pwm_rate = 50; #ifdef GPS // gps/nav stuff masterConfig.gpsConfig.provider = GPS_UBLOX; masterConfig.gpsConfig.sbasMode = SBAS_AUTO; masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON; masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_ON; masterConfig.gpsConfig.dynModel = GPS_DYNMODEL_AIR_1G; #endif #ifdef NAV resetNavConfig(&masterConfig.navConfig); #endif resetSerialConfig(&masterConfig.serialConfig); masterConfig.looptime = 2000; masterConfig.emf_avoidance = 0; masterConfig.i2c_overclock = 0; masterConfig.gyroSync = 0; masterConfig.gyroSyncDenominator = 2; resetPidProfile(¤tProfile->pidProfile); resetControlRateConfig(&masterConfig.controlRateProfiles[0]); // for (i = 0; i < CHECKBOXITEMS; i++) // cfg.activate[i] = 0; currentProfile->mag_declination = 0; resetBarometerConfig(&masterConfig.barometerConfig); // Radio parseRcChannels("AETR1234", &masterConfig.rxConfig); resetRcControlsConfig(¤tProfile->rcControlsConfig); currentProfile->throttle_tilt_compensation_strength = 0; // 0-100, 0 - disabled // Failsafe Variables masterConfig.failsafeConfig.failsafe_delay = 10; // 1sec masterConfig.failsafeConfig.failsafe_off_delay = 200; // 20sec masterConfig.failsafeConfig.failsafe_throttle = 1000; // default throttle off. masterConfig.failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss masterConfig.failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition masterConfig.failsafeConfig.failsafe_procedure = 0; // default full failsafe procedure is 0: auto-landing #ifdef USE_SERVOS // servos for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) { currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN; currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX; currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE; currentProfile->servoConf[i].rate = 100; currentProfile->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE; currentProfile->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE; currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED; } // gimbal currentProfile->gimbalConfig.mode = GIMBAL_MODE_NORMAL; #endif // custom mixer. clear by defaults. for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) masterConfig.customMotorMixer[i].throttle = 0.0f; #ifdef LED_STRIP applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT); applyDefaultLedStripConfig(masterConfig.ledConfigs); #endif #ifdef BLACKBOX #ifdef ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT featureSet(FEATURE_BLACKBOX); masterConfig.blackbox_device = BLACKBOX_DEVICE_FLASH; #else masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL; #endif masterConfig.blackbox_rate_num = 1; masterConfig.blackbox_rate_denom = 1; #endif // alternative defaults settings for COLIBRI RACE targets #if defined(COLIBRI_RACE) masterConfig.looptime = 1000; masterConfig.rxConfig.rcmap[0] = 1; masterConfig.rxConfig.rcmap[1] = 2; masterConfig.rxConfig.rcmap[2] = 3; masterConfig.rxConfig.rcmap[3] = 0; masterConfig.rxConfig.rcmap[4] = 4; masterConfig.rxConfig.rcmap[5] = 5; masterConfig.rxConfig.rcmap[6] = 6; masterConfig.rxConfig.rcmap[7] = 7; featureSet(FEATURE_ONESHOT125); featureSet(FEATURE_VBAT); featureSet(FEATURE_LED_STRIP); featureSet(FEATURE_FAILSAFE); #endif // alternative defaults settings for ALIENWIIF1 and ALIENWIIF3 targets #ifdef ALIENWII32 #ifdef ALIENWIIF3 masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL; masterConfig.batteryConfig.vbatscale = 20; #else masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL; #endif masterConfig.rxConfig.serialrx_provider = 1; masterConfig.rxConfig.spektrum_sat_bind = 5; masterConfig.escAndServoConfig.minthrottle = 1000; masterConfig.escAndServoConfig.maxthrottle = 2000; masterConfig.motor_pwm_rate = 32000; masterConfig.looptime = 2000; currentProfile->pidProfile.P8[ROLL] = 36; currentProfile->pidProfile.P8[PITCH] = 36; masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_off_delay = 0; currentControlRateProfile->rcRate8 = 130; currentControlRateProfile->rates[FD_PITCH] = 20; currentControlRateProfile->rates[FD_ROLL] = 20; currentControlRateProfile->rates[FD_YAW] = 100; parseRcChannels("TAER1234", &masterConfig.rxConfig); // { 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R masterConfig.customMotorMixer[0].throttle = 1.0f; masterConfig.customMotorMixer[0].roll = -0.414178f; masterConfig.customMotorMixer[0].pitch = 1.0f; masterConfig.customMotorMixer[0].yaw = -1.0f; // { 1.0f, -0.414178f, -1.0f, 1.0f }, // FRONT_R masterConfig.customMotorMixer[1].throttle = 1.0f; masterConfig.customMotorMixer[1].roll = -0.414178f; masterConfig.customMotorMixer[1].pitch = -1.0f; masterConfig.customMotorMixer[1].yaw = 1.0f; // { 1.0f, 0.414178f, 1.0f, 1.0f }, // REAR_L masterConfig.customMotorMixer[2].throttle = 1.0f; masterConfig.customMotorMixer[2].roll = 0.414178f; masterConfig.customMotorMixer[2].pitch = 1.0f; masterConfig.customMotorMixer[2].yaw = 1.0f; // { 1.0f, 0.414178f, -1.0f, -1.0f }, // FRONT_L masterConfig.customMotorMixer[3].throttle = 1.0f; masterConfig.customMotorMixer[3].roll = 0.414178f; masterConfig.customMotorMixer[3].pitch = -1.0f; masterConfig.customMotorMixer[3].yaw = -1.0f; // { 1.0f, -1.0f, -0.414178f, -1.0f }, // MIDFRONT_R masterConfig.customMotorMixer[4].throttle = 1.0f; masterConfig.customMotorMixer[4].roll = -1.0f; masterConfig.customMotorMixer[4].pitch = -0.414178f; masterConfig.customMotorMixer[4].yaw = -1.0f; // { 1.0f, 1.0f, -0.414178f, 1.0f }, // MIDFRONT_L masterConfig.customMotorMixer[5].throttle = 1.0f; masterConfig.customMotorMixer[5].roll = 1.0f; masterConfig.customMotorMixer[5].pitch = -0.414178f; masterConfig.customMotorMixer[5].yaw = 1.0f; // { 1.0f, -1.0f, 0.414178f, 1.0f }, // MIDREAR_R masterConfig.customMotorMixer[6].throttle = 1.0f; masterConfig.customMotorMixer[6].roll = -1.0f; masterConfig.customMotorMixer[6].pitch = 0.414178f; masterConfig.customMotorMixer[6].yaw = 1.0f; // { 1.0f, 1.0f, 0.414178f, -1.0f }, // MIDREAR_L masterConfig.customMotorMixer[7].throttle = 1.0f; masterConfig.customMotorMixer[7].roll = 1.0f; masterConfig.customMotorMixer[7].pitch = 0.414178f; masterConfig.customMotorMixer[7].yaw = -1.0f; #endif // copy first profile into remaining profile for (i = 1; i < MAX_PROFILE_COUNT; i++) { memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t)); } // copy first control rate config into remaining profile for (i = 1; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) { memcpy(&masterConfig.controlRateProfiles[i], currentControlRateProfile, sizeof(controlRateConfig_t)); } for (i = 1; i < MAX_PROFILE_COUNT; i++) { masterConfig.profile[i].defaultRateProfileIndex = i % MAX_CONTROL_RATE_PROFILE_COUNT; } }
// Default settings static void resetConf(void) { int i; int8_t servoRates[8] = { 30, 30, 100, 100, 100, 100, 100, 100 }; // Clear all configuration memset(&masterConfig, 0, sizeof(master_t)); setProfile(0); setControlRateProfile(0); masterConfig.version = EEPROM_CONF_VERSION; masterConfig.mixerConfiguration = MULTITYPE_QUADX; featureClearAll(); #if defined(CJMCU) || defined(SPARKY) featureSet(FEATURE_RX_PPM); #endif featureSet(FEATURE_VBAT); // global settings masterConfig.current_profile_index = 0; // default profile masterConfig.gyro_cmpf_factor = 600; // default MWC masterConfig.gyro_cmpfm_factor = 250; // default MWC masterConfig.gyro_lpf = 42; // supported by all gyro drivers now. In case of ST gyro, will default to 32Hz instead resetAccelerometerTrims(&masterConfig.accZero); resetSensorAlignment(&masterConfig.sensorAlignmentConfig); masterConfig.boardAlignment.rollDegrees = 0; masterConfig.boardAlignment.pitchDegrees = 0; masterConfig.boardAlignment.yawDegrees = 0; masterConfig.acc_hardware = ACC_DEFAULT; // default/autodetect masterConfig.max_angle_inclination = 500; // 50 degrees masterConfig.yaw_control_direction = 1; masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32; resetBatteryConfig(&masterConfig.batteryConfig); resetTelemetryConfig(&masterConfig.telemetryConfig); masterConfig.rxConfig.serialrx_provider = 0; masterConfig.rxConfig.spektrum_sat_bind = 0; masterConfig.rxConfig.midrc = 1500; masterConfig.rxConfig.mincheck = 1100; masterConfig.rxConfig.maxcheck = 1900; masterConfig.rxConfig.rssi_channel = 0; masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT; masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED; masterConfig.retarded_arm = 0; masterConfig.disarm_kill_switch = 1; masterConfig.small_angle = 25; masterConfig.airplaneConfig.flaps_speed = 0; masterConfig.airplaneConfig.fixedwing_althold_dir = 1; // Motor/ESC/Servo resetEscAndServoConfig(&masterConfig.escAndServoConfig); resetFlight3DConfig(&masterConfig.flight3DConfig); #ifdef BRUSHED_MOTORS masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE; #else masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE; #endif masterConfig.servo_pwm_rate = 50; #ifdef GPS // gps/nav stuff masterConfig.gpsConfig.provider = GPS_NMEA; masterConfig.gpsConfig.sbasMode = SBAS_AUTO; masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON; masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_OFF; #endif resetSerialConfig(&masterConfig.serialConfig); masterConfig.looptime = 3500; masterConfig.emf_avoidance = 0; currentProfile->pidController = 0; resetPidProfile(¤tProfile->pidProfile); resetControlRateConfig(&masterConfig.controlRateProfiles[0]); // for (i = 0; i < CHECKBOXITEMS; i++) // cfg.activate[i] = 0; resetRollAndPitchTrims(¤tProfile->accelerometerTrims); currentProfile->mag_declination = 0; currentProfile->acc_lpf_factor = 4; currentProfile->accz_lpf_cutoff = 5.0f; currentProfile->accDeadband.xy = 40; currentProfile->accDeadband.z = 40; resetBarometerConfig(¤tProfile->barometerConfig); currentProfile->acc_unarmedcal = 1; // Radio parseRcChannels("AETR1234", &masterConfig.rxConfig); resetRcControlsConfig(¤tProfile->rcControlsConfig); currentProfile->throttle_correction_value = 0; // could 10 with althold or 40 for fpv currentProfile->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv // Failsafe Variables currentProfile->failsafeConfig.failsafe_delay = 10; // 1sec currentProfile->failsafeConfig.failsafe_off_delay = 200; // 20sec currentProfile->failsafeConfig.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people. currentProfile->failsafeConfig.failsafe_min_usec = 985; // any of first 4 channels below this value will trigger failsafe currentProfile->failsafeConfig.failsafe_max_usec = 2115; // any of first 4 channels above this value will trigger failsafe // servos for (i = 0; i < 8; i++) { currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN; currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX; currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE; currentProfile->servoConf[i].rate = servoRates[i]; currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED; } currentProfile->mixerConfig.yaw_direction = 1; currentProfile->mixerConfig.tri_unarmed_servo = 1; // gimbal currentProfile->gimbalConfig.gimbal_flags = GIMBAL_NORMAL; #ifdef GPS resetGpsProfile(¤tProfile->gpsProfile); #endif // custom mixer. clear by defaults. for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) masterConfig.customMixer[i].throttle = 0.0f; #ifdef LED_STRIP applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT); applyDefaultLedStripConfig(masterConfig.ledConfigs); #endif // copy first profile into remaining profile for (i = 1; i < MAX_PROFILE_COUNT; i++) { memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t)); } // copy first control rate config into remaining profile for (i = 1; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) { memcpy(&masterConfig.controlRateProfiles[i], currentControlRateProfile, sizeof(controlRateConfig_t)); } for (i = 1; i < MAX_PROFILE_COUNT; i++) { masterConfig.profile[i].defaultRateProfileIndex = i % MAX_CONTROL_RATE_PROFILE_COUNT; } }
void magblocks4(void) { static char command[COMMANDLEN + 2]; static double undoFit[NA], undoFitUnc[NA]; int npnts, j; double qmax, qmin; /* Process command */ while (queryString("magblocks4% ", command, COMMANDLEN + 2) == NULL); caps(command); /* Spawn a command */ if (strcmp(command, "!") == 0 || strcmp(command, "!!") == 0) { bang(command); /* Print current directory */ } else if (strcmp(command, "PWD") == 0) { puts(currentDir); /* Change current directory */ } else if (strcmp(command, "CD") == 0) { cd(command); /* Help */ } else if ( strcmp(command, "?") == 0 || strcmp(command, "HE") == 0 ) { help(command + (*command == '?' ? 1 : 2)); /* Value of vacuum QCSQ */ } else if ( strcmp(command, "QCV") == 0 || strcmp(command, "VQC") == 0 ) { setVQCSQ(qcsq); /* Vacuum QCMSQ */ } else if ( strcmp(command, "QMV") == 0 || strcmp(command, "VQM") == 0 ) { setVMQCSQ(qcmsq); /* Value of vacuum linear absorption coefficient */ } else if ( strcmp(command, "MUV") == 0 || strcmp(command, "VMU") == 0 ) { setVMU(mu); /* Enter critical Q squared */ } else if (strncmp(command, "QC", 2) == 0) { setQCSQ(command + 2, qcsq, Dqcsq); /* Top magnetic critical Q squared */ } else if (strncmp(command, "QM", 2) == 0) { setMQCSQ(command + 2, qcmsq, Dqcmsq); /* Top length absorption coefficient */ } else if (strncmp(command, "MU", 2) == 0) { setMU(command + 2, mu, Dmu); /* Thicknesses of magnetic layers */ } else if (strncmp(command, "DM", 2) == 0) { setDM(command + 2, dm, Ddm); /* Delta lambda */ } else if (strcmp(command, "DL") == 0) { setLamdel(&lamdel); /* Delta theta */ } else if (strcmp(command, "DT") == 0) { setThedel(&thedel); /* Enter chemical thickness */ } else if (command[0] == 'D') { setD(command + 1, d, Dd); /* Chemical roughnesses */ } else if (strncmp(command, "RO", 2) == 0) { setRO(command + 2, rough, Drough); /* Magnetic roughnesses of layers */ } else if (strncmp(command, "RM", 2) == 0) { setMRO(command + 2, mrough, Dmrough); /* Theta angle of average moment in layer */ } else if (strncmp(command, "TH", 2) == 0) { setTHE(command + 2, the, Dthe); /* Wavelength */ } else if (strcmp(command, "WL") == 0) { setWavelength(&lambda); /* Guide angle */ } else if (strcmp(command, "EPS") == 0) { setGuideangle(&aguide); /* Number of layers */ } else if (strcmp(command, "NL") == 0) { if (!setNlayer(&nlayer)) /* Bug found Wed Jun 7 10:38:45 EDT 2000 by KOD */ /* since it starts at 0, correction for vacuum forces zero */ for (j = 1; j <= nlayer; j++) /* Set all absorptions to non-zero values */ if (mu[j] < *mu) mu[j] = *mu + 1.e-20; /* Add or remove layers */ } else if (strcmp(command, "AL") == 0 || strcmp(command, "RL") == 0) { modifyLayers(command); /* Copy layer */ } else if (strcmp(command, "CL") == 0) { copyLayer(command); /* Make superlattice */ } else if (strcmp(command, "SL") == 0) { superLayer(command); /* Maximum number of layers used to simulate rough interface */ } else if (strcmp(command, "NR") == 0) { if (!setNrough(&nrough)) { /* Generate interface profile */ if (nrough < 3) nrough = 11; if (proftyp[0] == 'H') gentanh(nrough, zint, rufint); else generf(nrough, zint, rufint); } /* Specify error function or hyperbolic tangent profile */ } else if (strcmp(command, "PR") == 0) { setProfile(proftyp, PROFTYPLEN + 2); /* Range of Q to be scanned */ } else if (strcmp(command, "QL") == 0) { if (!setQrange(&qmin, &qmax)) { qmina = qmin; qmaxa = qmax; qminb = qmin; qmaxb = qmax; qminc = qmin; qmaxc = qmax; qmind = qmin; qmaxd = qmax; } /* Number of points scanned */ } else if (strcmp(command, "NP") == 0) { if (!setNpnts(&npnts)) { npntsa = npnts; npntsb = npnts; npntsc = npnts; npntsd = npnts; } /* File for input data */ } else if (strcmp(command, "IF") == 0) { setFilename(infile, INFILELEN + 2); /* File for output data */ } else if (strcmp(command, "OF") == 0) { setFilename(outfile, OUTFILELEN + 2); /* File for parameters */ } else if (strcmp(command, "PF") == 0) { setFilename(parfile, PARFILELEN + 2); /* Polarization state */ } else if (strcmp(command, "PS") == 0) { setPolstat(polstat, POLSTATLEN + 2); /* Beam intensity */ } else if (strcmp(command, "BI") == 0) { setBeamIntens(&bmintns, &Dbmintns); /* Background intensity */ } else if (strcmp(command, "BK") == 0) { setBackground(&bki, &Dbki); /* Verify parameters by printing out */ } else if (strncmp(command, "VE", 2) == 0) { printLayers(command); /* Get data from file */ } else if (strcmp(command, "GD") == 0) { loadData(infile, xspin); /* Edit constraints */ } else if (strcmp(command, "EC") == 0) { constrainFunc newmodule; newmodule = newConstraints(constrainScript, constrainModule); if (newmodule != NULL) Constrain = newmodule; /* Reload constrain module */ } else if (strcmp(command, "LC") == 0) { Constrain = loadConstrain(constrainModule); /* Unload constrain module */ } else if (strcmp(command, "ULC") == 0) { Constrain = loadConstrain(NULL); /* Load parameters from parameter file */ } else if (strncmp(command, "LP", 2) == 0) { loadParms(command, parfile, constrainScript, constrainModule); /* Save parameters to parameter file */ } else if (strcmp(command, "SP") == 0) { parms(qcsq, qcmsq, d, dm, rough, mrough, mu, the, MAXLAY, &lambda, &lamdel, &thedel, &aguide, &nlayer, &qmina, &qmaxa, &npntsa, &qminb, &qmaxb, &npntsb, &qminc, &qmaxc, &npntsc, &qmind, &qmaxd, &npntsd, infile, outfile, &bmintns, &bki, listA, &mfit, NA, &nrough, proftyp, polstat, DA, constrainScript, parfile, TRUE); /* List data and fit */ } else if (strcmp(command, "LID") == 0) { listData(); /* Generate logarithm of bare (unconvoluted) reflectivity */ /* or generate reflected amplitude */ } else if (strcmp(command,"GR") == 0 || strcmp(command, "GA") == 0) { genReflect(command); /* Generate and display layer profile */ } else if ( strcmp(command, "GLP") == 0 || strncmp(command, "SLP", 3) == 0 ) { genProfile(command); /* Save values in Q4X and YFIT to OUTFILE */ } else if (strcmp(command, "SV") == 0) { saveTemps(outfile, xspin, y4x, n4x, FALSE); /* Save values in Q4X and YFITA to OUTFILE */ } else if (strcmp(command, "SVA") == 0) { saveTemps(outfile, xspin, yfita, n4x, TRUE); /* Calculate derivative of reflectivity or spin asymmetry with respect */ /* to a fit parameter or save a fit to disk file */ } else if ( strcmp(command, "RD") == 0 || strcmp(command, "SRF") == 0 ) { printDerivs(command, npnts); /* Turn off all varied parameters */ } else if (strcmp(command, "VANONE") == 0) { clearLista(listA); /* Specify which parameters are to be varied in the reflectivity fit */ } else if (strncmp(command, "VA", 2) == 0) { varyParm(command); /* Calculate chi-squared */ } else if ( strcmp(command, "CSR") == 0 || strcmp(command, "CS") == 0 ) { calcChiSq(command); /* Fit reflectivity */ } else if (strncmp(command, "FR", 2) == 0) { for (j = 0; j < NA; j++) { undoFit[j] = A[j]; undoFitUnc[j] = DA[j]; } fitReflec(command); /* Undo last fit */ } else if (strcmp(command, "UF") == 0) { for (j = 0; j < NA; j++) { A[j] = undoFit[j]; DA[j] = undoFitUnc[j]; } /* Exit */ } else if ( strcmp(command, "EX") == 0 || strcmp(command, "EXS") == 0 ) { parms(qcsq, qcmsq, d, dm, rough, mrough, mu, the, MAXLAY, &lambda, &lamdel, &thedel, &aguide, &nlayer, &qmina, &qmaxa, &npntsa, &qminb, &qmaxb, &npntsb, &qminc, &qmaxc, &npntsc, &qmind, &qmaxd, &npntsd, infile, outfile, &bmintns, &bki, listA, &mfit, NA, &nrough, proftyp, polstat, DA, constrainScript, parfile, TRUE); /* Print elapsed CPU time */ if (strcmp(command, "EXS") == 0) system("ps"); exit(0); /* Exit without saving changes */ } else if (strcmp(command, "QU") == 0 || strcmp(command, "QUIT") == 0) { exit(0); /* Plot reflectivity on screen */ } else if (strncmp(command, "PRF", 3) == 0) { plotfit(command, xspin); /* Plot profile on screen */ } else if (strncmp(command, "PLP", 3) == 0) { plotprofile(command, xspin); /* Plot movie of reflectivity change from fit */ } else if (strncmp(command, "MVF", 3) == 0) { fitMovie(command, xspin, undoFit); /* Plot general movie from data file on screen */ } else if (strncmp(command, "MVX", 3) == 0) { arbitraryMovie(command, xspin); /* Plot movie of parameter on screen */ } else if (strncmp(command, "MV", 2) == 0) { oneParmMovie(command, xspin); /* Update constraints */ } else if (strcmp(command, "UC") == 0) { genshift(a, TRUE); /* constrain(a); */ (*Constrain)(FALSE, a, nlayer); genshift(a, FALSE); /* Determine number of points required for resolution extension */ } else if (strcmp(command, "RE") == 0) { calcExtend(xspin); #if 0 /* Dead code --- shadowed by "CD" command earlier */ /* Convolute input raw data set with instrumental resolution */ } else if (strcmp(command, "CD") == 0) { calcConvolve(polstat); #endif /* Send data to other processes. */ } else if (strcmp(command, "SEND") == 0) { ipc_send(command); /* Receive data to other processes. */ } else if (strcmp(command, "RECV") == 0) { ipc_recv(command); /* Faulty input */ } else ERROR("/** Unrecognized command **/"); }
// Default settings STATIC_UNIT_TESTED void resetConf(void) { int i; // Clear all configuration memset(&masterConfig, 0, sizeof(master_t)); setProfile(0); setControlRateProfile(0); masterConfig.version = EEPROM_CONF_VERSION; masterConfig.mixerMode = MIXER_QUADX; featureClearAll(); #if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) featureSet(FEATURE_RX_PPM); #endif //#if defined(SPRACINGF3MINI) // featureSet(FEATURE_DISPLAY); //#endif #ifdef BOARD_HAS_VOLTAGE_DIVIDER // only enable the VBAT feature by default if the board has a voltage divider otherwise // the user may see incorrect readings and unexpected issues with pin mappings may occur. featureSet(FEATURE_VBAT); #endif featureSet(FEATURE_FAILSAFE); // global settings masterConfig.dcm_kp = 2500; // 1.0 * 10000 masterConfig.gyro_lpf = 1; // supported by all gyro drivers now. In case of ST gyro, will default to 32Hz instead masterConfig.soft_gyro_lpf_hz = 60; // Software based lpf filter for gyro masterConfig.max_angle_inclination = 500; // 50 degrees masterConfig.yaw_control_direction = 1; masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32; resetBatteryConfig(&masterConfig.batteryConfig); #ifdef TELEMETRY masterConfig.telemetryConfig.hottAlarmSoundInterval = 5; #endif masterConfig.rxConfig.sbus_inversion = 1; masterConfig.rxConfig.midrc = 1500; masterConfig.rxConfig.mincheck = 1100; masterConfig.rxConfig.maxcheck = 1900; masterConfig.rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection masterConfig.rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) { rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i]; channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD; channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc); } masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT; resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges); masterConfig.disarm_kill_switch = 1; masterConfig.auto_disarm_delay = 5; masterConfig.small_angle = 25; resetMixerConfig(&masterConfig.mixerConfig); masterConfig.airplaneConfig.fixedwing_althold_dir = 1; // Motor/ESC/Servo resetEscAndServoConfig(&masterConfig.escAndServoConfig); resetFlight3DConfig(&masterConfig.flight3DConfig); #ifdef BRUSHED_MOTORS masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE; #else masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE; #endif masterConfig.servo_pwm_rate = 50; #ifdef GPS // gps/nav stuff masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON; #endif resetSerialConfig(&masterConfig.serialConfig); masterConfig.looptime = 2000; masterConfig.i2c_highspeed = 1; masterConfig.gyroSync = 1; masterConfig.gyroSyncDenominator = 1; resetPidProfile(¤tProfile->pidProfile); resetControlRateConfig(&masterConfig.controlRateProfiles[0]); // for (i = 0; i < CHECKBOXITEMS; i++) // cfg.activate[i] = 0; resetRollAndPitchTrims(¤tProfile->accelerometerTrims); currentProfile->mag_declination = 0; currentProfile->acc_cut_hz = 15; currentProfile->accz_lpf_cutoff = 5.0f; currentProfile->accDeadband.xy = 40; currentProfile->accDeadband.z = 40; currentProfile->acc_unarmedcal = 1; #ifdef BARO resetBarometerConfig(¤tProfile->barometerConfig); #endif // Radio parseRcChannels("AETR1234", &masterConfig.rxConfig); resetRcControlsConfig(¤tProfile->rcControlsConfig); currentProfile->throttle_correction_value = 0; // could 10 with althold or 40 for fpv currentProfile->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv // Failsafe Variables masterConfig.failsafeConfig.failsafe_delay = 10; // 1sec masterConfig.failsafeConfig.failsafe_off_delay = 200; // 20sec masterConfig.failsafeConfig.failsafe_throttle = 1000; // default throttle off. masterConfig.failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition #ifdef USE_SERVOS // servos for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) { currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN; currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX; currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE; currentProfile->servoConf[i].rate = 100; currentProfile->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE; currentProfile->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE; currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED; } // gimbal currentProfile->gimbalConfig.mode = GIMBAL_MODE_NORMAL; #endif #ifdef GPS resetGpsProfile(¤tProfile->gpsProfile); #endif #ifdef LED_STRIP applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT); applyDefaultLedStripConfig(masterConfig.ledConfigs); #endif #ifdef TRANSPONDER static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware memcpy(masterConfig.transponderData, &defaultTransponderData, sizeof(defaultTransponderData)); #endif #ifdef BLACKBOX #if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT) featureSet(FEATURE_BLACKBOX); masterConfig.blackbox_device = BLACKBOX_DEVICE_FLASH; #elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT) featureSet(FEATURE_BLACKBOX); masterConfig.blackbox_device = BLACKBOX_DEVICE_SDCARD; #else masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL; #endif masterConfig.blackbox_rate_num = 1; masterConfig.blackbox_rate_denom = 1; #endif // alternative defaults settings for COLIBRI RACE targets #if defined(COLIBRI_RACE) masterConfig.looptime = 1000; currentProfile->pidProfile.pidController = 1; masterConfig.rxConfig.rcmap[0] = 1; masterConfig.rxConfig.rcmap[1] = 2; masterConfig.rxConfig.rcmap[2] = 3; masterConfig.rxConfig.rcmap[3] = 0; masterConfig.rxConfig.rcmap[4] = 4; masterConfig.rxConfig.rcmap[5] = 5; masterConfig.rxConfig.rcmap[6] = 6; masterConfig.rxConfig.rcmap[7] = 7; featureSet(FEATURE_ONESHOT125); featureSet(FEATURE_VBAT); featureSet(FEATURE_LED_STRIP); featureSet(FEATURE_FAILSAFE); #endif // alternative defaults settings for ALIENWIIF1 and ALIENWIIF3 targets #ifdef ALIENWII32 featureSet(FEATURE_RX_SERIAL); featureSet(FEATURE_MOTOR_STOP); #ifdef ALIENWIIF3 masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL; masterConfig.batteryConfig.vbatscale = 20; #else masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL; #endif masterConfig.rxConfig.serialrx_provider = 1; masterConfig.rxConfig.spektrum_sat_bind = 5; masterConfig.escAndServoConfig.minthrottle = 1000; masterConfig.escAndServoConfig.maxthrottle = 2000; masterConfig.motor_pwm_rate = 32000; masterConfig.looptime = 2000; currentProfile->pidProfile.pidController = 3; currentProfile->pidProfile.P8[ROLL] = 36; currentProfile->pidProfile.P8[PITCH] = 36; masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_off_delay = 0; currentControlRateProfile->rcRate8 = 130; currentControlRateProfile->rates[FD_PITCH] = 20; currentControlRateProfile->rates[FD_ROLL] = 20; currentControlRateProfile->rates[FD_YAW] = 100; parseRcChannels("TAER1234", &masterConfig.rxConfig); // { 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R masterConfig.customMotorMixer[0].throttle = 1.0f; masterConfig.customMotorMixer[0].roll = -0.414178f; masterConfig.customMotorMixer[0].pitch = 1.0f; masterConfig.customMotorMixer[0].yaw = -1.0f; // { 1.0f, -0.414178f, -1.0f, 1.0f }, // FRONT_R masterConfig.customMotorMixer[1].throttle = 1.0f; masterConfig.customMotorMixer[1].roll = -0.414178f; masterConfig.customMotorMixer[1].pitch = -1.0f; masterConfig.customMotorMixer[1].yaw = 1.0f; // { 1.0f, 0.414178f, 1.0f, 1.0f }, // REAR_L masterConfig.customMotorMixer[2].throttle = 1.0f; masterConfig.customMotorMixer[2].roll = 0.414178f; masterConfig.customMotorMixer[2].pitch = 1.0f; masterConfig.customMotorMixer[2].yaw = 1.0f; // { 1.0f, 0.414178f, -1.0f, -1.0f }, // FRONT_L masterConfig.customMotorMixer[3].throttle = 1.0f; masterConfig.customMotorMixer[3].roll = 0.414178f; masterConfig.customMotorMixer[3].pitch = -1.0f; masterConfig.customMotorMixer[3].yaw = -1.0f; // { 1.0f, -1.0f, -0.414178f, -1.0f }, // MIDFRONT_R masterConfig.customMotorMixer[4].throttle = 1.0f; masterConfig.customMotorMixer[4].roll = -1.0f; masterConfig.customMotorMixer[4].pitch = -0.414178f; masterConfig.customMotorMixer[4].yaw = -1.0f; // { 1.0f, 1.0f, -0.414178f, 1.0f }, // MIDFRONT_L masterConfig.customMotorMixer[5].throttle = 1.0f; masterConfig.customMotorMixer[5].roll = 1.0f; masterConfig.customMotorMixer[5].pitch = -0.414178f; masterConfig.customMotorMixer[5].yaw = 1.0f; // { 1.0f, -1.0f, 0.414178f, 1.0f }, // MIDREAR_R masterConfig.customMotorMixer[6].throttle = 1.0f; masterConfig.customMotorMixer[6].roll = -1.0f; masterConfig.customMotorMixer[6].pitch = 0.414178f; masterConfig.customMotorMixer[6].yaw = 1.0f; // { 1.0f, 1.0f, 0.414178f, -1.0f }, // MIDREAR_L masterConfig.customMotorMixer[7].throttle = 1.0f; masterConfig.customMotorMixer[7].roll = 1.0f; masterConfig.customMotorMixer[7].pitch = 0.414178f; masterConfig.customMotorMixer[7].yaw = -1.0f; #endif // copy first profile into remaining profile for (i = 1; i < MAX_PROFILE_COUNT; i++) { memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t)); } // copy first control rate config into remaining profile for (i = 1; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) { memcpy(&masterConfig.controlRateProfiles[i], currentControlRateProfile, sizeof(controlRateConfig_t)); } for (i = 1; i < MAX_PROFILE_COUNT; i++) { masterConfig.profile[i].defaultRateProfileIndex = i % MAX_CONTROL_RATE_PROFILE_COUNT; } }