// 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);
}
}
// 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);
}
}
/*
* processRx called from taskUpdateRxMain
*/
bool processRx(timeUs_t currentTimeUs)
{
static bool armedBeeperOn = false;
if (!calculateRxChannelsAndUpdateFailsafe(currentTimeUs)) {
return false;
}
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
disarm();
}
updateRSSI(currentTimeUs);
if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
const throttleStatus_e throttleStatus = calculateThrottleStatus();
const uint8_t throttlePercent = calculateThrottlePercent();
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
airmodeIsActivated = true; // Prevent Iterm from being reset
}
} else {
airmodeIsActivated = false;
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetITerm();
if (currentPidProfile->pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
pidStabilisationState(PID_STABILISATION_ON);
}
#ifdef USE_RUNAWAY_TAKEOFF
// If runaway_takeoff_prevention is enabled, accumulate the amount of time that throttle
// is above runaway_takeoff_deactivate_throttle with the any of the R/P/Y sticks deflected
// to at least runaway_takeoff_stick_percent percent while the pidSum on all axis is kept low.
// Once the amount of accumulated time exceeds runaway_takeoff_deactivate_delay then disable
// prevention for the remainder of the battery.
if (ARMING_FLAG(ARMED)
&& pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& !STATE(FIXED_WING)) {
// Determine if we're in "flight"
// - motors running
// - throttle over runaway_takeoff_deactivate_throttle_percent
// - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
// - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
bool inStableFlight = false;
if (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
&& (fabsf(pidData[FD_PITCH].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(pidData[FD_ROLL].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(pidData[FD_YAW].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)) {
inStableFlight = true;
if (runawayTakeoffDeactivateUs == 0) {
runawayTakeoffDeactivateUs = currentTimeUs;
}
}
}
// If we're in flight, then accumulate the time and deactivate once it exceeds runaway_takeoff_deactivate_delay milliseconds
if (inStableFlight) {
if (runawayTakeoffDeactivateUs == 0) {
runawayTakeoffDeactivateUs = currentTimeUs;
}
uint16_t deactivateDelay = pidConfig()->runaway_takeoff_deactivate_delay;
// at high throttle levels reduce deactivation delay by 50%
if (throttlePercent >= RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT) {
deactivateDelay = deactivateDelay / 2;
}
if ((cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) > deactivateDelay * 1000) {
runawayTakeoffCheckDisabled = true;
}
} else {
if (runawayTakeoffDeactivateUs != 0) {
runawayTakeoffAccumulatedUs += cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs);
}
runawayTakeoffDeactivateUs = 0;
}
if (runawayTakeoffDeactivateUs == 0) {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, runawayTakeoffAccumulatedUs / 1000);
} else {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_TRUE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, (cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) / 1000);
}
} else {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, DEBUG_RUNAWAY_TAKEOFF_FALSE);
}
#endif
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
&& !feature(FEATURE_3D)
&& !isAirmodeActive()
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (armingConfig()->auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
disarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (armingConfig()->auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions();
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes();
#ifdef USE_DSHOT
/* Enable beep warning when the crash flip mode is active */
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
beeper(BEEPER_CRASH_FLIP_MODE);
}
#endif
if (!cliMode) {
updateAdjustmentStates();
processRcAdjustments(currentControlRateProfile);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeIsActive()) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
#ifdef USE_GPS_RESCUE
if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE)) {
if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}
#endif
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
// increase frequency of attitude task to reduce drift when in angle or horizon mode
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(500));
} else {
LED1_OFF;
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
}
if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
DISABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
}
#if defined(USE_ACC) || defined(USE_MAG)
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
#if defined(USE_GPS) || defined(USE_MAG)
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
#endif
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
if (imuQuaternionHeadfreeOffsetSet()){
beeper(BEEPER_RX_SET);
}
}
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef USE_TELEMETRY
static bool sharedPortTelemetryEnabled = false;
if (feature(FEATURE_TELEMETRY)) {
bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
mspSerialReleaseSharedTelemetryPorts();
telemetryCheckState();
sharedPortTelemetryEnabled = true;
} else if (!enableSharedPortTelemetry && sharedPortTelemetryEnabled) {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspSerialAllocatePorts();
sharedPortTelemetryEnabled = false;
}
}
#endif
#ifdef USE_VTX_CONTROL
vtxUpdateActivatedChannel();
if (canUpdateVTX()) {
handleVTXControlButton();
}
#endif
#ifdef USE_ACRO_TRAINER
pidSetAcroTrainerState(IS_RC_MODE_ACTIVE(BOXACROTRAINER) && sensors(SENSOR_ACC));
#endif // USE_ACRO_TRAINER
#ifdef USE_RC_SMOOTHING_FILTER
if (ARMING_FLAG(ARMED) && !rcSmoothingInitializationComplete()) {
beeper(BEEPER_RC_SMOOTHING_INIT_FAIL);
}
#endif
pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || feature(FEATURE_ANTI_GRAVITY));
return true;
}
