예제 #1
0
void resetProfile(profile_t *profile)
{
    resetPidProfile(&profile->pidProfile);

    for (int rI = 0; rI<MAX_RATEPROFILES; rI++) {
        resetControlRateConfig(&profile->controlRateProfile[rI]);
    }

    profile->activeRateProfile = 0;
}
예제 #2
0
파일: config.c 프로젝트: gurkenfolie/inav
// 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(&currentProfile->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(&currentProfile->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;
    }
}
예제 #3
0
// 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(&currentProfile->pidProfile);

    resetControlRateConfig(&masterConfig.controlRateProfiles[0]);

    // for (i = 0; i < CHECKBOXITEMS; i++)
    //     cfg.activate[i] = 0;

    resetRollAndPitchTrims(&currentProfile->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(&currentProfile->barometerConfig);

    currentProfile->acc_unarmedcal = 1;

    // Radio
    parseRcChannels("AETR1234", &masterConfig.rxConfig);

    resetRcControlsConfig(&currentProfile->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(&currentProfile->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;
    }
}
예제 #4
0
// 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(&currentProfile->pidProfile);

    resetControlRateConfig(&masterConfig.controlRateProfiles[0]);

    // for (i = 0; i < CHECKBOXITEMS; i++)
    //     cfg.activate[i] = 0;

    resetRollAndPitchTrims(&currentProfile->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(&currentProfile->barometerConfig);

    currentProfile->acc_unarmedcal = 1;

    // Radio
    parseRcChannels("AETR1234", &masterConfig.rxConfig);

    resetRcControlsConfig(&currentProfile->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(&currentProfile->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;
    }
}
예제 #5
0
// 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));
    memset(&currentProfile, 0, sizeof(profile_t));

    masterConfig.version = EEPROM_CONF_VERSION;
    masterConfig.mixerConfiguration = MULTITYPE_QUADX;
    featureClearAll();
    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.batteryConfig.vbatscale = 110;
    masterConfig.batteryConfig.vbatmaxcellvoltage = 43;
    masterConfig.batteryConfig.vbatmincellvoltage = 33;
    masterConfig.batteryConfig.currentMeterOffset = 0;
    masterConfig.batteryConfig.currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)

    resetTelemetryConfig(&masterConfig.telemetryConfig);

    masterConfig.rxConfig.serialrx_provider = 0;
    masterConfig.rxConfig.midrc = 1500;
    masterConfig.rxConfig.mincheck = 1100;
    masterConfig.rxConfig.maxcheck = 1900;
    masterConfig.rxConfig.rssi_channel = 0;

    masterConfig.retarded_arm = 0;              // disable arm/disarm on roll left/right
    masterConfig.airplaneConfig.flaps_speed = 0;
    masterConfig.fixedwing_althold_dir = 1;

    // Motor/ESC/Servo
    resetEscAndServoConfig(&masterConfig.escAndServoConfig);
    resetFlight3DConfig(&masterConfig.flight3DConfig);
    masterConfig.motor_pwm_rate = 400;
    masterConfig.servo_pwm_rate = 50;

    // gps/nav stuff
    masterConfig.gpsConfig.provider = GPS_NMEA;
    masterConfig.gpsConfig.sbasMode = SBAS_AUTO;

    resetSerialConfig(&masterConfig.serialConfig);

    masterConfig.looptime = 3500;
    masterConfig.emf_avoidance = 0;

    currentProfile.pidController = 0;
    resetPidProfile(&currentProfile.pidProfile);

    currentProfile.controlRateConfig.rcRate8 = 90;
    currentProfile.controlRateConfig.rcExpo8 = 65;
    currentProfile.controlRateConfig.rollPitchRate = 0;
    currentProfile.controlRateConfig.yawRate = 0;
    currentProfile.dynThrPID = 0;
    currentProfile.tpa_breakpoint = 1500;
    currentProfile.controlRateConfig.thrMid8 = 50;
    currentProfile.controlRateConfig.thrExpo8 = 0;

    // for (i = 0; i < CHECKBOXITEMS; i++)
    //     cfg.activate[i] = 0;

    resetRollAndPitchTrims(&currentProfile.accelerometerTrims);

    currentProfile.mag_declination = 0;
    currentProfile.acc_lpf_factor = 4;
    currentProfile.accDeadband.xy = 40;
    currentProfile.accDeadband.z = 40;

    resetBarometerConfig(&currentProfile.barometerConfig);

    currentProfile.acc_unarmedcal = 1;

    // Radio
    parseRcChannels("AETR1234", &masterConfig.rxConfig);
    currentProfile.deadband = 0;
    currentProfile.yaw_deadband = 0;
    currentProfile.alt_hold_deadband = 40;
    currentProfile.alt_hold_fast_change = 1;
    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;

    resetGpsProfile(&currentProfile.gpsProfile);

    // custom mixer. clear by defaults.
    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
        masterConfig.customMixer[i].throttle = 0.0f;

    // copy default config into all 3 profiles
    for (i = 0; i < 3; i++)
        memcpy(&masterConfig.profile[i], &currentProfile, sizeof(profile_t));
예제 #6
0
// 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(&currentProfile->pidProfile);

    resetControlRateConfig(&masterConfig.controlRateProfiles[0]);

    // for (i = 0; i < CHECKBOXITEMS; i++)
    //     cfg.activate[i] = 0;

    resetRollAndPitchTrims(&currentProfile->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(&currentProfile->barometerConfig);
#endif

    // Radio
    parseRcChannels("AETR1234", &masterConfig.rxConfig);

    resetRcControlsConfig(&currentProfile->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(&currentProfile->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;
    }
}