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;
}
}
