void createDefaultConfig(master_t *config)
{
// Clear all configuration
memset(config, 0, sizeof(master_t));
uint32_t *featuresPtr = &config->enabledFeatures;
intFeatureClearAll(featuresPtr);
intFeatureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE , featuresPtr);
#ifdef DEFAULT_FEATURES
intFeatureSet(DEFAULT_FEATURES, featuresPtr);
#endif
#ifdef OSD
intFeatureSet(FEATURE_OSD, featuresPtr);
osdResetConfig(&config->osdProfile);
#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.
intFeatureSet(FEATURE_VBAT, featuresPtr);
#endif
config->version = EEPROM_CONF_VERSION;
config->mixerMode = MIXER_QUADX;
// global settings
config->current_profile_index = 0; // default profile
config->dcm_kp = 2500; // 1.0 * 10000
config->dcm_ki = 0; // 0.003 * 10000
config->gyro_lpf = 0; // 256HZ default
#ifdef STM32F10X
config->gyro_sync_denom = 8;
config->pid_process_denom = 1;
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
config->gyro_sync_denom = 1;
config->pid_process_denom = 4;
#else
config->gyro_sync_denom = 4;
config->pid_process_denom = 2;
#endif
config->gyro_soft_type = FILTER_PT1;
config->gyro_soft_lpf_hz = 90;
config->gyro_soft_notch_hz_1 = 400;
config->gyro_soft_notch_cutoff_1 = 300;
config->gyro_soft_notch_hz_2 = 200;
config->gyro_soft_notch_cutoff_2 = 100;
config->debug_mode = DEBUG_NONE;
resetAccelerometerTrims(&config->accZero);
resetSensorAlignment(&config->sensorAlignmentConfig);
config->boardAlignment.rollDegrees = 0;
config->boardAlignment.pitchDegrees = 0;
config->boardAlignment.yawDegrees = 0;
config->acc_hardware = ACC_DEFAULT; // default/autodetect
config->max_angle_inclination = 700; // 70 degrees
config->yaw_control_direction = 1;
config->gyroConfig.gyroMovementCalibrationThreshold = 32;
// xxx_hardware: 0:default/autodetect, 1: disable
config->mag_hardware = 1;
config->baro_hardware = 1;
resetBatteryConfig(&config->batteryConfig);
#ifndef SKIP_RX_PWM_PPM
resetPpmConfig(&config->ppmConfig);
resetPwmConfig(&config->pwmConfig);
#endif
#ifdef TELEMETRY
resetTelemetryConfig(&config->telemetryConfig);
#endif
#ifdef USE_ADC
resetAdcConfig(&config->adcConfig);
#endif
#ifdef BEEPER
resetBeeperConfig(&config->beeperConfig);
#endif
#ifdef SONAR
resetSonarConfig(&config->sonarConfig);
#endif
#ifdef USE_SDCARD
intFeatureSet(FEATURE_SDCARD, featuresPtr);
resetsdcardConfig(&config->sdcardConfig);
#endif
#ifdef SERIALRX_PROVIDER
config->rxConfig.serialrx_provider = SERIALRX_PROVIDER;
#else
config->rxConfig.serialrx_provider = 0;
#endif
config->rxConfig.rx_spi_protocol = RX_SPI_DEFAULT_PROTOCOL;
config->rxConfig.sbus_inversion = 1;
config->rxConfig.spektrum_sat_bind = 0;
config->rxConfig.spektrum_sat_bind_autoreset = 1;
config->rxConfig.midrc = 1500;
config->rxConfig.mincheck = 1100;
config->rxConfig.maxcheck = 1900;
config->rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection
config->rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &config->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(config->rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(config->rxConfig.midrc);
}
config->rxConfig.rssi_channel = 0;
config->rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
config->rxConfig.rssi_ppm_invert = 0;
config->rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
config->rxConfig.rcInterpolationInterval = 19;
config->rxConfig.fpvCamAngleDegrees = 0;
config->rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
config->rxConfig.airModeActivateThreshold = 1350;
resetAllRxChannelRangeConfigurations(config->rxConfig.channelRanges);
config->inputFilteringMode = INPUT_FILTERING_DISABLED;
config->gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
config->disarm_kill_switch = 1;
config->auto_disarm_delay = 5;
config->small_angle = 25;
config->airplaneConfig.fixedwing_althold_dir = 1;
// Motor/ESC/Servo
resetMixerConfig(&config->mixerConfig);
resetMotorConfig(&config->motorConfig);
#ifdef USE_SERVOS
resetServoMixerConfig(&config->servoMixerConfig);
resetServoConfig(&config->servoConfig);
#endif
resetFlight3DConfig(&config->flight3DConfig);
#ifdef LED_STRIP
resetLedStripConfig(&config->ledStripConfig);
#endif
#ifdef GPS
// gps/nav stuff
config->gpsConfig.provider = GPS_NMEA;
config->gpsConfig.sbasMode = SBAS_AUTO;
config->gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
config->gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
#endif
resetSerialConfig(&config->serialConfig);
resetProfile(&config->profile[0]);
resetRollAndPitchTrims(&config->accelerometerTrims);
config->mag_declination = 0;
config->acc_lpf_hz = 10.0f;
config->accDeadband.xy = 40;
config->accDeadband.z = 40;
config->acc_unarmedcal = 1;
#ifdef BARO
resetBarometerConfig(&config->barometerConfig);
#endif
// Radio
#ifdef RX_CHANNELS_TAER
parseRcChannels("TAER1234", &config->rxConfig);
#else
parseRcChannels("AETR1234", &config->rxConfig);
#endif
resetRcControlsConfig(&config->rcControlsConfig);
config->throttle_correction_value = 0; // could 10 with althold or 40 for fpv
config->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
// Failsafe Variables
config->failsafeConfig.failsafe_delay = 10; // 1sec
config->failsafeConfig.failsafe_off_delay = 10; // 1sec
config->failsafeConfig.failsafe_throttle = 1000; // default throttle off.
config->failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss
config->failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
config->failsafeConfig.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;// default full failsafe procedure is 0: auto-landing
#ifdef USE_SERVOS
// servos
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
config->servoConf[i].min = DEFAULT_SERVO_MIN;
config->servoConf[i].max = DEFAULT_SERVO_MAX;
config->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
config->servoConf[i].rate = 100;
config->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
config->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
config->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
}
// gimbal
config->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
#endif
#ifdef GPS
resetGpsProfile(&config->gpsProfile);
#endif
// custom mixer. clear by defaults.
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
config->customMotorMixer[i].throttle = 0.0f;
}
#ifdef VTX
config->vtx_band = 4; //Fatshark/Airwaves
config->vtx_channel = 1; //CH1
config->vtx_mode = 0; //CH+BAND mode
config->vtx_mhz = 5740; //F0
#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(config->transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
#endif
#ifdef BLACKBOX
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
intFeatureSet(FEATURE_BLACKBOX, featuresPtr);
config->blackbox_device = BLACKBOX_DEVICE_FLASH;
#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
intFeatureSet(FEATURE_BLACKBOX, featuresPtr);
config->blackbox_device = BLACKBOX_DEVICE_SDCARD;
#else
config->blackbox_device = BLACKBOX_DEVICE_SERIAL;
#endif
config->blackbox_rate_num = 1;
config->blackbox_rate_denom = 1;
config->blackbox_on_motor_test = 0; // default off
#endif // BLACKBOX
#ifdef SERIALRX_UART
if (featureConfigured(FEATURE_RX_SERIAL)) {
int serialIndex = findSerialPortIndexByIdentifier(SERIALRX_UART);
if (serialIndex >= 0) {
config->serialConfig.portConfigs[serialIndex].functionMask = FUNCTION_RX_SERIAL;
}
}
#endif
#if defined(TARGET_CONFIG)
targetConfiguration(config);
#endif
// copy first profile into remaining profile
for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
memcpy(&config->profile[i], &config->profile[0], sizeof(profile_t));
}
}
// 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;
}
}
// 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_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;
}
}