389 lines
12 KiB
JavaScript
389 lines
12 KiB
JavaScript
'use strict';
|
|
|
|
// define all the global variables that are uses to hold FC state
|
|
var CONFIG;
|
|
var BF_CONFIG; // Remove when we officialy retire BF 3.1
|
|
var FEATURE_CONFIG;
|
|
var BEEPER_CONFIG;
|
|
var MIXER_CONFIG;
|
|
var BOARD_ALIGNMENT_CONFIG;
|
|
var LED_STRIP;
|
|
var LED_COLORS;
|
|
var LED_MODE_COLORS;
|
|
var PID;
|
|
var PID_names;
|
|
var PIDs;
|
|
var RC_MAP;
|
|
var RC;
|
|
var RC_tuning;
|
|
var AUX_CONFIG;
|
|
var AUX_CONFIG_IDS;
|
|
var MODE_RANGES;
|
|
var ADJUSTMENT_RANGES;
|
|
var SERVO_CONFIG;
|
|
var SERVO_RULES;
|
|
var SERIAL_CONFIG;
|
|
var SENSOR_DATA;
|
|
var MOTOR_DATA;
|
|
var SERVO_DATA;
|
|
var GPS_DATA;
|
|
var ANALOG;
|
|
var VOLTAGE_METERS;
|
|
var VOLTAGE_METER_CONFIGS;
|
|
var CURRENT_METERS;
|
|
var CURRENT_METER_CONFIGS;
|
|
var BATTERY_STATE;
|
|
var BATTERY_CONFIG;
|
|
var ARMING_CONFIG;
|
|
var FC_CONFIG;
|
|
var MISC; // DEPRECATED
|
|
var MOTOR_CONFIG;
|
|
var GPS_CONFIG;
|
|
var COMPASS_CONFIG;
|
|
var RSSI_CONFIG;
|
|
var MOTOR_3D_CONFIG;
|
|
var DATAFLASH;
|
|
var SDCARD;
|
|
var BLACKBOX;
|
|
var TRANSPONDER;
|
|
var RC_DEADBAND_CONFIG;
|
|
var SENSOR_ALIGNMENT;
|
|
var RX_CONFIG;
|
|
var FAILSAFE_CONFIG;
|
|
var RXFAIL_CONFIG;
|
|
var PID_ADVANCED_CONFIG;
|
|
var FILTER_CONFIG;
|
|
var ADVANCED_TUNING;
|
|
var SENSOR_CONFIG;
|
|
|
|
var FC = {
|
|
resetState: function() {
|
|
CONFIG = {
|
|
apiVersion: "0.0.0",
|
|
flightControllerIdentifier: '',
|
|
flightControllerVersion: '',
|
|
version: 0,
|
|
buildInfo: '',
|
|
multiType: 0,
|
|
msp_version: 0, // not specified using semantic versioning
|
|
capability: 0,
|
|
cycleTime: 0,
|
|
i2cError: 0,
|
|
activeSensors: 0,
|
|
mode: 0,
|
|
profile: 0,
|
|
uid: [0, 0, 0],
|
|
accelerometerTrims: [0, 0],
|
|
name: '',
|
|
numProfiles: 3,
|
|
rateProfile: 0,
|
|
boardType: 0,
|
|
};
|
|
|
|
BF_CONFIG = {
|
|
currentscale: 0,
|
|
currentoffset: 0,
|
|
currentmetertype: 0,
|
|
batterycapacity: 0,
|
|
};
|
|
|
|
FEATURE_CONFIG = {
|
|
features: 0,
|
|
};
|
|
|
|
BEEPER_CONFIG = {
|
|
beepers: 0,
|
|
};
|
|
|
|
MIXER_CONFIG = {
|
|
mixer: 0,
|
|
reverseMotorDir: 0,
|
|
};
|
|
|
|
BOARD_ALIGNMENT_CONFIG = {
|
|
roll: 0,
|
|
pitch: 0,
|
|
yaw: 0,
|
|
};
|
|
|
|
LED_STRIP = [];
|
|
LED_COLORS = [];
|
|
LED_MODE_COLORS = [];
|
|
|
|
PID = {
|
|
controller: 0
|
|
};
|
|
|
|
PID_names = [];
|
|
PIDs = new Array(10);
|
|
for (var i = 0; i < 10; i++) {
|
|
PIDs[i] = new Array(3);
|
|
}
|
|
|
|
RC_MAP = [];
|
|
|
|
// defaults
|
|
// roll, pitch, yaw, throttle, aux 1, ... aux n
|
|
RC = {
|
|
active_channels: 0,
|
|
channels: new Array(32),
|
|
};
|
|
|
|
RC_tuning = {
|
|
RC_RATE: 0,
|
|
RC_EXPO: 0,
|
|
roll_pitch_rate: 0, // pre 1.7 api only
|
|
roll_rate: 0,
|
|
pitch_rate: 0,
|
|
yaw_rate: 0,
|
|
dynamic_THR_PID: 0,
|
|
throttle_MID: 0,
|
|
throttle_EXPO: 0,
|
|
dynamic_THR_breakpoint: 0,
|
|
RC_YAW_EXPO: 0,
|
|
rcYawRate: 0,
|
|
};
|
|
|
|
AUX_CONFIG = [];
|
|
AUX_CONFIG_IDS = [];
|
|
|
|
MODE_RANGES = [];
|
|
ADJUSTMENT_RANGES = [];
|
|
|
|
SERVO_CONFIG = [];
|
|
SERVO_RULES = [];
|
|
|
|
SERIAL_CONFIG = {
|
|
ports: [],
|
|
|
|
// pre 1.6 settings
|
|
mspBaudRate: 0,
|
|
gpsBaudRate: 0,
|
|
gpsPassthroughBaudRate: 0,
|
|
cliBaudRate: 0,
|
|
};
|
|
|
|
SENSOR_DATA = {
|
|
gyroscope: [0, 0, 0],
|
|
accelerometer: [0, 0, 0],
|
|
magnetometer: [0, 0, 0],
|
|
altitude: 0,
|
|
sonar: 0,
|
|
kinematics: [0.0, 0.0, 0.0],
|
|
debug: [0, 0, 0, 0],
|
|
};
|
|
|
|
MOTOR_DATA = new Array(8);
|
|
SERVO_DATA = new Array(8);
|
|
|
|
GPS_DATA = {
|
|
fix: 0,
|
|
numSat: 0,
|
|
lat: 0,
|
|
lon: 0,
|
|
alt: 0,
|
|
speed: 0,
|
|
ground_course: 0,
|
|
distanceToHome: 0,
|
|
ditectionToHome: 0,
|
|
update: 0,
|
|
|
|
chn: [],
|
|
svid: [],
|
|
quality: [],
|
|
cno: []
|
|
};
|
|
|
|
ANALOG = {
|
|
voltage: 0,
|
|
mAhdrawn: 0,
|
|
rssi: 0,
|
|
amperage: 0,
|
|
last_received_timestamp: Date.now() // FIXME this code lies, it's never been received at this point
|
|
};
|
|
|
|
VOLTAGE_METERS = [];
|
|
VOLTAGE_METER_CONFIGS = [];
|
|
CURRENT_METERS = [];
|
|
CURRENT_METER_CONFIGS = [];
|
|
|
|
BATTERY_STATE = {};
|
|
BATTERY_CONFIG = {
|
|
vbatmincellvoltage: 0,
|
|
vbatmaxcellvoltage: 0,
|
|
vbatwarningcellvoltage: 0,
|
|
capacity: 0,
|
|
voltageMeterSource: 0,
|
|
currentMeterSource: 0,
|
|
};
|
|
|
|
ARMING_CONFIG = {
|
|
auto_disarm_delay: 0,
|
|
disarm_kill_switch: 0,
|
|
};
|
|
|
|
FC_CONFIG = {
|
|
loopTime: 0
|
|
};
|
|
|
|
MISC = {
|
|
// DEPRECATED = only used to store values that are written back to the fc as-is, do NOT use for any other purpose
|
|
failsafe_throttle: 0,
|
|
gps_baudrate: 0,
|
|
multiwiicurrentoutput: 0,
|
|
placeholder2: 0,
|
|
vbatscale: 0,
|
|
vbatmincellvoltage: 0,
|
|
vbatmaxcellvoltage: 0,
|
|
vbatwarningcellvoltage: 0,
|
|
batterymetertype: 1, // 1=ADC, 2=ESC
|
|
};
|
|
MOTOR_CONFIG = {
|
|
minthrottle: 0,
|
|
maxthrottle: 0,
|
|
mincommand: 0,
|
|
};
|
|
|
|
GPS_CONFIG = {
|
|
provider: 0,
|
|
ublox_sbas: 0,
|
|
auto_config: 0,
|
|
auto_baud: 0,
|
|
};
|
|
|
|
COMPASS_CONFIG = {
|
|
mag_declination: 0,
|
|
};
|
|
|
|
RSSI_CONFIG = {
|
|
channel: 0,
|
|
};
|
|
|
|
MOTOR_3D_CONFIG = {
|
|
deadband3d_low: 0,
|
|
deadband3d_high: 0,
|
|
neutral: 0,
|
|
};
|
|
|
|
DATAFLASH = {
|
|
ready: false,
|
|
supported: false,
|
|
sectors: 0,
|
|
totalSize: 0,
|
|
usedSize: 0
|
|
};
|
|
|
|
SDCARD = {
|
|
supported: false,
|
|
state: 0,
|
|
filesystemLastError: 0,
|
|
freeSizeKB: 0,
|
|
totalSizeKB: 0,
|
|
};
|
|
|
|
BLACKBOX = {
|
|
supported: false,
|
|
blackboxDevice: 0,
|
|
blackboxRateNum: 1,
|
|
blackboxRateDenom: 1,
|
|
blackboxPDenom: 0,
|
|
};
|
|
|
|
TRANSPONDER = {
|
|
supported: false,
|
|
data: [],
|
|
provider: 0,
|
|
providers: [],
|
|
};
|
|
|
|
RC_DEADBAND_CONFIG = {
|
|
deadband: 0,
|
|
yaw_deadband: 0,
|
|
alt_hold_deadband: 0,
|
|
deadband3d_throttle: 0,
|
|
};
|
|
|
|
SENSOR_ALIGNMENT = {
|
|
align_gyro: 0,
|
|
align_acc: 0,
|
|
align_mag: 0,
|
|
};
|
|
|
|
PID_ADVANCED_CONFIG = {
|
|
gyro_sync_denom: 0,
|
|
pid_process_denom: 0,
|
|
use_unsyncedPwm: 0,
|
|
fast_pwm_protocol: 0,
|
|
motor_pwm_rate: 0,
|
|
digitalIdlePercent: 0,
|
|
gyroUse32kHz: 0,
|
|
};
|
|
|
|
FILTER_CONFIG = {
|
|
gyro_soft_lpf_hz: 0,
|
|
dterm_lpf_hz: 0,
|
|
yaw_lpf_hz: 0,
|
|
gyro_soft_notch_hz_1: 0,
|
|
gyro_soft_notch_cutoff_1: 0,
|
|
dterm_notch_hz: 0,
|
|
dterm_notch_cutoff: 0,
|
|
gyro_soft_notch_hz_2: 0,
|
|
gyro_soft_notch_cutoff_2: 0,
|
|
dterm_filter_type: 0,
|
|
};
|
|
|
|
ADVANCED_TUNING = {
|
|
rollPitchItermIgnoreRate: 0,
|
|
yawItermIgnoreRate: 0,
|
|
yaw_p_limit: 0,
|
|
deltaMethod: 0,
|
|
vbatPidCompensation: 0,
|
|
ptermSetpointWeight: 0,
|
|
dtermSetpointWeight: 0,
|
|
toleranceBand: 0,
|
|
toleranceBandReduction: 0,
|
|
itermThrottleGain: 0,
|
|
pidMaxVelocity: 0,
|
|
pidMaxVelocityYaw: 0,
|
|
levelAngleLimit: 0,
|
|
levelSensitivity: 0,
|
|
itermThrottleThreshold: 0,
|
|
itermAcceleratorGain: 0,
|
|
};
|
|
|
|
SENSOR_CONFIG = {
|
|
acc_hardware: 0,
|
|
baro_hardware: 0,
|
|
mag_hardware: 0,
|
|
};
|
|
|
|
RX_CONFIG = {
|
|
serialrx_provider: 0,
|
|
stick_max: 0,
|
|
stick_center: 0,
|
|
stick_min: 0,
|
|
spektrum_sat_bind: 0,
|
|
rx_min_usec: 0,
|
|
rx_max_usec: 0,
|
|
rcInterpolation: 0,
|
|
rcInterpolationInterval: 0,
|
|
airModeActivateThreshold: 0,
|
|
rxSpiProtocol: 0,
|
|
rxSpiId: 0,
|
|
rxSpiRfChannelCount: 0,
|
|
fpvCamAngleDegrees: 0,
|
|
};
|
|
|
|
FAILSAFE_CONFIG = {
|
|
failsafe_delay: 0,
|
|
failsafe_off_delay: 0,
|
|
failsafe_throttle: 0,
|
|
failsafe_kill_switch: 0,
|
|
failsafe_throttle_low_delay: 0,
|
|
failsafe_procedure: 0.
|
|
};
|
|
|
|
RXFAIL_CONFIG = [];
|
|
}
|
|
};
|