370 lines
11 KiB
JavaScript
370 lines
11 KiB
JavaScript
'use strict';
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// define all the global variables that are uses to hold FC state
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var CONFIG;
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var FEATURE_CONFIG;
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var MIXER_CONFIG;
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var BOARD_ALIGNMENT_CONFIG;
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var LED_STRIP;
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var LED_COLORS;
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var LED_MODE_COLORS;
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var PID;
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var PID_names;
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var PIDs;
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var RC_MAP;
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var RC;
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var RC_tuning;
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var AUX_CONFIG;
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var AUX_CONFIG_IDS;
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var MODE_RANGES;
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var ADJUSTMENT_RANGES;
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var SERVO_CONFIG;
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var SERVO_RULES;
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var SERIAL_CONFIG;
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var SENSOR_DATA;
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var MOTOR_DATA;
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var SERVO_DATA;
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var GPS_DATA;
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var ANALOG;
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var VOLTAGE_METERS;
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var VOLTAGE_METER_CONFIGS;
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var CURRENT_METERS;
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var CURRENT_METER_CONFIGS;
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var BATTERY_STATE;
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var BATTERY_CONFIG;
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var ARMING_CONFIG;
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var FC_CONFIG;
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var MISC; // DEPRECATED
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var MOTOR_CONFIG;
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var GPS_CONFIG;
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var COMPASS_CONFIG;
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var RSSI_CONFIG;
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var MOTOR_3D_CONFIG;
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var DATAFLASH;
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var SDCARD;
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var BLACKBOX;
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var TRANSPONDER;
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var RC_DEADBAND_CONFIG;
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var SENSOR_ALIGNMENT;
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var RX_CONFIG;
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var FAILSAFE_CONFIG;
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var RXFAIL_CONFIG;
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var PID_ADVANCED_CONFIG;
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var FILTER_CONFIG;
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var ADVANCED_TUNING;
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var SENSOR_CONFIG;
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var FC = {
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resetState: function() {
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CONFIG = {
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apiVersion: "0.0.0",
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flightControllerIdentifier: '',
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flightControllerVersion: '',
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version: 0,
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buildInfo: '',
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multiType: 0,
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msp_version: 0, // not specified using semantic versioning
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capability: 0,
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cycleTime: 0,
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i2cError: 0,
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activeSensors: 0,
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mode: 0,
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profile: 0,
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uid: [0, 0, 0],
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accelerometerTrims: [0, 0],
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name: '',
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numProfiles: 3,
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rateProfile: 0,
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boardType: 0,
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};
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FEATURE_CONFIG = {
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features: 0,
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};
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MIXER_CONFIG = {
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mixer: 0,
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};
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BOARD_ALIGNMENT_CONFIG = {
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roll: 0,
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pitch: 0,
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yaw: 0,
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};
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LED_STRIP = [];
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LED_COLORS = [];
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LED_MODE_COLORS = [];
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PID = {
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controller: 0
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};
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PID_names = [];
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PIDs = new Array(10);
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for (var i = 0; i < 10; i++) {
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PIDs[i] = new Array(3);
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}
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RC_MAP = [];
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// defaults
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// roll, pitch, yaw, throttle, aux 1, ... aux n
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RC = {
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active_channels: 0,
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channels: new Array(32),
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};
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RC_tuning = {
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RC_RATE: 0,
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RC_EXPO: 0,
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roll_pitch_rate: 0, // pre 1.7 api only
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roll_rate: 0,
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pitch_rate: 0,
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yaw_rate: 0,
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dynamic_THR_PID: 0,
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throttle_MID: 0,
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throttle_EXPO: 0,
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dynamic_THR_breakpoint: 0,
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RC_YAW_EXPO: 0,
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rcYawRate: 0,
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};
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AUX_CONFIG = [];
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AUX_CONFIG_IDS = [];
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MODE_RANGES = [];
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ADJUSTMENT_RANGES = [];
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SERVO_CONFIG = [];
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SERVO_RULES = [];
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SERIAL_CONFIG = {
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ports: [],
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// pre 1.6 settings
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mspBaudRate: 0,
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gpsBaudRate: 0,
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gpsPassthroughBaudRate: 0,
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cliBaudRate: 0,
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};
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SENSOR_DATA = {
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gyroscope: [0, 0, 0],
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accelerometer: [0, 0, 0],
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magnetometer: [0, 0, 0],
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altitude: 0,
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sonar: 0,
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kinematics: [0.0, 0.0, 0.0],
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debug: [0, 0, 0, 0],
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};
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MOTOR_DATA = new Array(8);
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SERVO_DATA = new Array(8);
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GPS_DATA = {
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fix: 0,
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numSat: 0,
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lat: 0,
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lon: 0,
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alt: 0,
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speed: 0,
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ground_course: 0,
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distanceToHome: 0,
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ditectionToHome: 0,
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update: 0,
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chn: [],
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svid: [],
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quality: [],
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cno: []
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};
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ANALOG = {
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voltage: 0,
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mAhdrawn: 0,
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rssi: 0,
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amperage: 0,
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last_received_timestamp: Date.now() // FIXME this code lies, it's never been received at this point
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};
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VOLTAGE_METERS = [];
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VOLTAGE_METER_CONFIGS = [];
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CURRENT_METERS = [];
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CURRENT_METER_CONFIGS = [];
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BATTERY_STATE = {};
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BATTERY_CONFIG = {
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vbatmincellvoltage: 0,
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vbatmaxcellvoltage: 0,
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vbatwarningcellvoltage: 0,
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capacity: 0,
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voltageMeterSource: 0,
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currentMeterSource: 0,
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};
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ARMING_CONFIG = {
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auto_disarm_delay: 0,
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disarm_kill_switch: 0,
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};
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FC_CONFIG = {
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loopTime: 0
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};
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MISC = {
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// DEPRECATED = only used to store values that are written back to the fc as-is, do NOT use for any other purpose
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failsafe_throttle: 0,
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gps_baudrate: 0,
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multiwiicurrentoutput: 0,
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placeholder2: 0,
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vbatscale: 0,
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vbatmincellvoltage: 0,
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vbatmaxcellvoltage: 0,
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vbatwarningcellvoltage: 0,
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};
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MOTOR_CONFIG = {
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minthrottle: 0,
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maxthrottle: 0,
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mincommand: 0,
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};
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GPS_CONFIG = {
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provider: 0,
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ublox_sbas: 0,
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auto_config: 0,
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auto_baud: 0,
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};
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COMPASS_CONFIG = {
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mag_declination: 0,
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};
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RSSI_CONFIG = {
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channel: 0,
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};
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MOTOR_3D_CONFIG = {
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deadband3d_low: 0,
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deadband3d_high: 0,
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neutral: 0,
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};
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DATAFLASH = {
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ready: false,
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supported: false,
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sectors: 0,
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totalSize: 0,
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usedSize: 0
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};
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SDCARD = {
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supported: false,
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state: 0,
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filesystemLastError: 0,
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freeSizeKB: 0,
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totalSizeKB: 0,
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};
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BLACKBOX = {
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supported: false,
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blackboxDevice: 0,
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blackboxRateNum: 1,
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blackboxRateDenom: 1,
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};
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TRANSPONDER = {
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supported: false,
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data: [],
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provider: 0,
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providers: [],
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};
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RC_DEADBAND_CONFIG = {
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deadband: 0,
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yaw_deadband: 0,
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alt_hold_deadband: 0,
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deadband3d_throttle: 0,
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};
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SENSOR_ALIGNMENT = {
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align_gyro: 0,
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align_acc: 0,
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align_mag: 0,
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};
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PID_ADVANCED_CONFIG = {
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gyro_sync_denom: 0,
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pid_process_denom: 0,
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use_unsyncedPwm: 0,
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fast_pwm_protocol: 0,
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motor_pwm_rate: 0,
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digitalIdlePercent: 0,
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gyroUse32kHz: 0,
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};
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FILTER_CONFIG = {
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gyro_soft_lpf_hz: 0,
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dterm_lpf_hz: 0,
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yaw_lpf_hz: 0,
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gyro_soft_notch_hz_1: 0,
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gyro_soft_notch_cutoff_1: 0,
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dterm_notch_hz: 0,
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dterm_notch_cutoff: 0,
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gyro_soft_notch_hz_2: 0,
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gyro_soft_notch_cutoff_2: 0,
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};
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ADVANCED_TUNING = {
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rollPitchItermIgnoreRate: 0,
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yawItermIgnoreRate: 0,
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yaw_p_limit: 0,
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deltaMethod: 0,
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vbatPidCompensation: 0,
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ptermSetpointWeight: 0,
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dtermSetpointWeight: 0,
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toleranceBand: 0,
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toleranceBandReduction: 0,
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itermThrottleGain: 0,
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pidMaxVelocity: 0,
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pidMaxVelocityYaw: 0,
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levelAngleLimit: 0,
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levelSensitivity: 0,
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};
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SENSOR_CONFIG = {
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acc_hardware: 0,
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baro_hardware: 0,
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mag_hardware: 0,
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};
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RX_CONFIG = {
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serialrx_provider: 0,
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stick_max: 0,
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stick_center: 0,
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stick_min: 0,
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spektrum_sat_bind: 0,
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rx_min_usec: 0,
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rx_max_usec: 0,
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rcInterpolation: 0,
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rcInterpolationInterval: 0,
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airModeActivateThreshold: 0,
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rxSpiProtocol: 0,
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rxSpiId: 0,
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rxSpiRfChannelCount: 0,
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fpvCamAngleDegrees: 0,
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};
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FAILSAFE_CONFIG = {
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failsafe_delay: 0,
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failsafe_off_delay: 0,
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failsafe_throttle: 0,
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failsafe_kill_switch: 0,
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failsafe_throttle_low_delay: 0,
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failsafe_procedure: 0.
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};
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RXFAIL_CONFIG = [];
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}
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};
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