void resetSerialConfig(serialConfig_t *serialConfig) { serialConfig->serial_port_1_scenario = lookupScenarioIndex(SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH); serialConfig->serial_port_2_scenario = lookupScenarioIndex(SCENARIO_GPS_ONLY); serialConfig->serial_port_3_scenario = lookupScenarioIndex(SCENARIO_UNUSED); serialConfig->serial_port_4_scenario = lookupScenarioIndex(SCENARIO_UNUSED); #ifdef STM32F303xC serialConfig->serial_port_5_scenario = lookupScenarioIndex(SCENARIO_UNUSED); #endif serialConfig->msp_baudrate = 115200; serialConfig->cli_baudrate = 115200; serialConfig->gps_baudrate = 115200; serialConfig->gps_passthrough_baudrate = 115200; serialConfig->reboot_character = 'R';
void resetSerialConfig(serialConfig_t *serialConfig) { #ifdef SWAP_SERIAL_PORT_1_AND_2_DEFAULTS serialConfig->serial_port_scenario[0] = lookupScenarioIndex(SCENARIO_UNUSED); serialConfig->serial_port_scenario[1] = lookupScenarioIndex(SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH); #else serialConfig->serial_port_scenario[0] = lookupScenarioIndex(SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH); serialConfig->serial_port_scenario[1] = lookupScenarioIndex(SCENARIO_UNUSED); #endif #if (SERIAL_PORT_COUNT > 2) serialConfig->serial_port_scenario[2] = lookupScenarioIndex(SCENARIO_UNUSED); #if (SERIAL_PORT_COUNT > 3) serialConfig->serial_port_scenario[3] = lookupScenarioIndex(SCENARIO_UNUSED); #if (SERIAL_PORT_COUNT > 4) serialConfig->serial_port_scenario[4] = lookupScenarioIndex(SCENARIO_UNUSED); #endif #endif #endif serialConfig->msp_baudrate = 115200; serialConfig->cli_baudrate = 115200; serialConfig->gps_baudrate = 115200; serialConfig->gps_passthrough_baudrate = 115200; serialConfig->reboot_character = 'R'; }
void resetSerialConfig(serialConfig_t *serialConfig) { serialConfig->serial_port_scenario[FIRST_PORT_INDEX] = lookupScenarioIndex(SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH); #ifdef CC3D // Temporary workaround for CC3D non-functional VCP when using OpenPilot bootloader. // This allows MSP connection via USART so the board can be reconfigured. serialConfig->serial_port_scenario[SECOND_PORT_INDEX] = lookupScenarioIndex(SCENARIO_MSP_ONLY); #else serialConfig->serial_port_scenario[SECOND_PORT_INDEX] = lookupScenarioIndex(SCENARIO_UNUSED); #endif #if (SERIAL_PORT_COUNT > 2) serialConfig->serial_port_scenario[2] = lookupScenarioIndex(SCENARIO_UNUSED); #if (SERIAL_PORT_COUNT > 3) serialConfig->serial_port_scenario[3] = lookupScenarioIndex(SCENARIO_UNUSED); #if (SERIAL_PORT_COUNT > 4) serialConfig->serial_port_scenario[4] = lookupScenarioIndex(SCENARIO_UNUSED); #endif #endif #endif serialConfig->msp_baudrate = 115200; serialConfig->cli_baudrate = 115200; serialConfig->gps_baudrate = 115200; serialConfig->gps_passthrough_baudrate = 115200; serialConfig->reboot_character = 'R'; }
// 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.mixerMode = MIXER_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; 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.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; 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 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 #ifdef BLACKBOX 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); featureClear(FEATURE_VBAT); #ifdef ALIENWIIF3 masterConfig.serialConfig.serial_port_scenario[2] = lookupScenarioIndex(SCENARIO_SERIAL_RX_ONLY); #else masterConfig.serialConfig.serial_port_scenario[1] = lookupScenarioIndex(SCENARIO_SERIAL_RX_ONLY); #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; currentProfile->failsafeConfig.failsafe_delay = 2; currentProfile->failsafeConfig.failsafe_off_delay = 0; currentProfile->failsafeConfig.failsafe_throttle = 1000; currentControlRateProfile->rcRate8 = 130; currentControlRateProfile->rollPitchRate = 20; currentControlRateProfile->yawRate = 60; currentControlRateProfile->yawRate = 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; } }