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1142 lines
33 KiB
JavaScript
1142 lines
33 KiB
JavaScript
'use strict';
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const ServoMixerRuleCollection = require('./servoMixerRuleCollection');
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const MotorMixerRuleCollection = require('./motorMixerRuleCollection');
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const LogicConditionsCollection = require('./logicConditionsCollection');
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const LogicConditionsStatus = require('./logicConditionsStatus');
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const GlobalVariablesStatus = require('./globalVariablesStatus');
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const ProgrammingPidCollection = require('./programmingPidCollection');
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const ProgrammingPidStatus = require('./programmingPidStatus');
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const WaypointCollection = require('./waypointCollection');
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const OutputMappingCollection = require('./outputMapping');
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const SafehomeCollection = require('./safehomeCollection');
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const FwApproachCollection = require('./fwApproachCollection')
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const { PLATFORM } = require('./model')
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const VTX = require('./vtx');
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const BitHelper = require('./bitHelper');
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const { FLIGHT_MODES } = require('./flightModes');
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var FC = {
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// define all the global variables that are uses to hold FC state
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CONFIG: null,
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LED_STRIP: null,
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LED_COLORS: null,
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LED_MODE_COLORS: null,
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PID: null,
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PID_names: null,
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PIDs: null,
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RC_MAP: null,
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RC: null,
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RC_tuning: null,
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AUX_CONFIG: [],
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AUX_CONFIG_IDS: [],
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MODE_RANGES: null,
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ADJUSTMENT_RANGES: null,
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SERVO_CONFIG: null,
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SERVO_RULES: null,
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MOTOR_RULES: null,
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LOGIC_CONDITIONS: null,
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LOGIC_CONDITIONS_STATUS: null,
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GLOBAL_FUNCTIONS: null,
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GLOBAL_VARIABLES_STATUS: null,
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PROGRAMMING_PID: null,
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PROGRAMMING_PID_STATUS: null,
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SERIAL_CONFIG: null,
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SENSOR_DATA: null,
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MOTOR_DATA: null,
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SERVO_DATA: null,
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GPS_DATA: null,
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ADSB_VEHICLES: null,
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MISSION_PLANNER: null,
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ANALOG: null,
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ARMING_CONFIG: null,
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FC_CONFIG: null,
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MISC: null,
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REVERSIBLE_MOTORS: null,
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DATAFLASH: null,
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SDCARD: null,
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BLACKBOX: null,
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RC_deadband: null,
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SENSOR_ALIGNMENT: null,
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RX_CONFIG: null,
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FAILSAFE_CONFIG: null,
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RXFAIL_CONFIG: null,
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VTX_CONFIG: null,
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ADVANCED_CONFIG: null,
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INAV_PID_CONFIG: null,
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PID_ADVANCED: null,
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FILTER_CONFIG: null,
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SENSOR_STATUS: null,
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SENSOR_CONFIG: null,
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NAV_POSHOLD: null,
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CALIBRATION_DATA: null,
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POSITION_ESTIMATOR: null,
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RTH_AND_LAND_CONFIG: null,
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FW_CONFIG: null,
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DEBUG_TRACE: null,
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MIXER_CONFIG: null,
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BATTERY_CONFIG: null,
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OUTPUT_MAPPING: null,
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BRAKING_CONFIG: null,
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SAFEHOMES: null,
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BOARD_ALIGNMENT: null,
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CURRENT_METER_CONFIG: null,
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FEATURES: null,
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RATE_DYNAMICS: null,
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EZ_TUNE: null,
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FLIGHT_MODES: null,
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restartRequired: false,
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MAX_SERVO_RATE: 125,
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MIN_SERVO_RATE: 0,
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isAirplane: function () {
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return (this.MIXER_CONFIG.platformType == PLATFORM.AIRPLANE);
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},
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isMultirotor: function () {
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return (this.MIXER_CONFIG.platformType == PLATFORM.MULTIROTOR || this.MIXER_CONFIG.platformType == PLATFORM.TRICOPTER);
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},
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isRpyFfComponentUsed: function () {
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return true; // Currently all planes have roll, pitch and yaw FF
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},
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isRpyDComponentUsed: function () {
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return true; // Currently all platforms use D term
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},
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resetState: function () {
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this.SENSOR_STATUS = {
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isHardwareHealthy: 0,
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gyroHwStatus: 0,
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accHwStatus: 0,
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magHwStatus: 0,
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baroHwStatus: 0,
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gpsHwStatus: 0,
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rangeHwStatus: 0,
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speedHwStatus: 0,
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flowHwStatus: 0
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};
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this.SENSOR_CONFIG = {
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accelerometer: 0,
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barometer: 0,
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magnetometer: 0,
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pitot: 0,
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rangefinder: 0,
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opflow: 0
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};
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this.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: [],
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mixer_profile: -1,
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profile: -1,
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battery_profile: -1,
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uid: [0, 0, 0],
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accelerometerTrims: [0, 0],
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armingFlags: 0,
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name: ''
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};
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this.BOARD_ALIGNMENT = {
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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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this.CURRENT_METER_CONFIG = {
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scale: 0,
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offset: 0,
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type: 0,
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capacity: 0
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};
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this.LED_STRIP = [];
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this.LED_COLORS = [];
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this.LED_MODE_COLORS = [];
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this.FEATURES = 0;
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this.PID = {
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};
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this.PID_names = [];
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this.PIDs = [];
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this.RC_MAP = [];
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// defaults
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// roll, pitch, yaw, throttle, aux 1, ... aux n
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this.RC = {
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active_channels: 0,
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channels: new Array(32)
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};
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this.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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manual_RC_EXPO: 0,
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manual_RC_YAW_EXPO: 0,
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manual_roll_rate: 0,
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manual_pitch_rate: 0,
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manual_yaw_rate: 0,
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};
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this.generateAuxConfig = function () {
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console.log('Generating AUX_CONFIG');
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this.AUX_CONFIG = [];
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for ( let i = 0; i < this.AUX_CONFIG_IDS.length; i++ ) {
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let found = FLIGHT_MODES.find( mode => mode.permanentId === this.AUX_CONFIG_IDS[i] );
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if (found) {
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this.AUX_CONFIG.push(found.boxName);
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}
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}
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};
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this.MODE_RANGES = [];
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this.ADJUSTMENT_RANGES = [];
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this.SERVO_CONFIG = [];
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this.SERVO_RULES = new ServoMixerRuleCollection();
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this.MOTOR_RULES = new MotorMixerRuleCollection();
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this.LOGIC_CONDITIONS = new LogicConditionsCollection();
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this.LOGIC_CONDITIONS_STATUS = new LogicConditionsStatus();
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this.GLOBAL_VARIABLES_STATUS = new GlobalVariablesStatus();
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this.PROGRAMMING_PID = new ProgrammingPidCollection();
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this.PROGRAMMING_PID_STATUS = new ProgrammingPidStatus();
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this.MIXER_CONFIG = {
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yawMotorDirection: 0,
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yawJumpPreventionLimit: 0,
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motorStopOnLow: false,
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platformType: -1,
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hasFlaps: false,
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appliedMixerPreset: -1,
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numberOfMotors: 0,
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numberOfServos: 0
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},
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this.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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this.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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barometer: 0,
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sonar: 0,
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air_speed: 0,
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kinematics: [0.0, 0.0, 0.0],
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temperature: [0, 0, 0, 0, 0, 0, 0, 0],
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debug: [0, 0, 0, 0]
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};
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this.MOTOR_DATA = new Array(8);
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this.SERVO_DATA = new Array(16);
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this.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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hdop: 0,
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eph: 0,
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epv: 0,
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messageDt: 0,
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errors: 0,
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timeouts: 0,
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packetCount: 0
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};
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this.ADSB_VEHICLES = {
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vehiclesCount: 0,
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callsignLength: 0,
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vehiclePacketCount: 0,
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heartbeatPacketCount: 0,
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vehicles: []
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};
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this.MISSION_PLANNER = new WaypointCollection();
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this.ANALOG = {
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voltage: 0,
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mAhdrawn: 0,
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mWhdrawn: 0,
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rssi: 0,
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amperage: 0,
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power: 0,
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cell_count: 0,
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battery_percentage: 0,
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battery_full_when_plugged_in: false,
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use_capacity_thresholds: false,
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battery_remaining_capacity: 0,
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battery_flags: 0
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};
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this.FC_CONFIG = {
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loopTime: 0
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};
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this.MISC = {
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midrc: 0,
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minthrottle: 0,
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maxthrottle: 0,
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mincommand: 0,
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failsafe_throttle: 0,
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gps_type: 0,
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sensors_baudrate: 0,
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gps_ubx_sbas: 0,
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multiwiicurrentoutput: 0,
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rssi_channel: 0,
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placeholder2: 0,
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mag_declination: 0, // not checked
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battery_cells: 0,
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vbatscale: 0,
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vbatdetectcellvoltage: 0,
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vbatmincellvoltage: 0,
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vbatmaxcellvoltage: 0,
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vbatwarningcellvoltage: 0,
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battery_capacity: 0,
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battery_capacity_warning: 0,
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battery_capacity_critical: 0,
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battery_capacity_unit: 'mAh'
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};
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this.BATTERY_CONFIG = {
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vbatscale: 0,
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vbatdetectcellvoltage: 0,
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vbatmincellvoltage: 0,
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vbatmaxcellvoltage: 0,
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vbatwarningcellvoltage: 0,
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current_offset: 0,
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current_scale: 0,
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capacity: 0,
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capacity_warning: 0,
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capacity_critical: 0,
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capacity_unit: 0
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};
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this.VTX_CONFIG = {
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device_type: VTX.DEV_UNKNOWN,
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band: 0,
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channel: 1,
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power: 0,
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pitmode: 0,
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low_power_disarm: 0,
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};
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this.ADVANCED_CONFIG = {
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gyroSyncDenominator: null,
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pidProcessDenom: null,
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useUnsyncedPwm: null,
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motorPwmProtocol: null,
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motorPwmRate: null,
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servoPwmRate: null,
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gyroSync: null
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};
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this.FILTER_CONFIG = {
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gyroSoftLpfHz: null,
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dtermLpfHz: null,
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yawLpfHz: null,
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gyroNotchHz1: null,
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gyroNotchCutoff1: null,
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dtermNotchHz: null,
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dtermNotchCutoff: null,
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gyroNotchHz2: null,
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gyroNotchCutoff2: null,
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accNotchHz: null,
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accNotchCutoff: null,
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gyroStage2LowpassHz: null
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};
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this.PID_ADVANCED = {
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rollPitchItermIgnoreRate: null,
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yawItermIgnoreRate: null,
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yawPLimit: null,
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axisAccelerationLimitRollPitch: null,
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axisAccelerationLimitYaw: null,
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dtermSetpointWeight: null,
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pidSumLimit: null
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};
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this.INAV_PID_CONFIG = {
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asynchronousMode: null,
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accelerometerTaskFrequency: null,
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attitudeTaskFrequency: null,
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magHoldRateLimit: null,
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magHoldErrorLpfFrequency: null,
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yawJumpPreventionLimit: null,
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gyroscopeLpf: null,
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accSoftLpfHz: null
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};
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this.NAV_POSHOLD = {
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userControlMode: null,
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maxSpeed: null,
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maxClimbRate: null,
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maxManualSpeed: null,
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maxManualClimbRate: null,
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maxBankAngle: null,
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useThrottleMidForAlthold: null,
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hoverThrottle: null
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};
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this.CALIBRATION_DATA = {
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acc: {
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Pos0: null,
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Pos1: null,
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Pos2: null,
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Pos3: null,
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Pos4: null,
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Pos5: null
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},
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accZero: {
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X: null,
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Y: null,
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Z: null
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},
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accGain: {
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X: null,
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Y: null,
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Z: null
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},
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magZero: {
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X: null,
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Y: null,
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Z: null
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},
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opflow: {
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Scale: null
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},
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magGain: {
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X: null,
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Y: null,
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Z: null
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}
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};
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this.RTH_AND_LAND_CONFIG = {
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minRthDistance: null,
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rthClimbFirst: null,
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rthClimbIgnoreEmergency: null,
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rthTailFirst: null,
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rthAllowLanding: null,
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rthAltControlMode: null,
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rthAbortThreshold: null,
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rthAltitude: null,
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landDescentRate: null,
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landSlowdownMinAlt: null,
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landSlowdownMaxAlt: null,
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emergencyDescentRate: null
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};
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this.REVERSIBLE_MOTORS = {
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deadband_low: 0,
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deadband_high: 0,
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neutral: 0,
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deadband_throttle: 0
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};
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this.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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this.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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this.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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this.RC_deadband = {
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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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};
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this.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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align_opflow: 0
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};
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this.RX_CONFIG = {
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receiver_type: 0,
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serialrx_provider: 0,
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maxcheck: 0,
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midrc: 0,
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mincheck: 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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spirx_protocol: 0,
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spirx_id: 0,
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spirx_channel_count: 0,
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};
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this.POSITION_ESTIMATOR = {
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w_z_baro_p: null,
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w_z_gps_p: null,
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w_z_gps_v: null,
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w_xy_gps_p: null,
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w_xy_gps_v: null,
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gps_min_sats: null,
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use_gps_velned: null
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};
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this.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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failsafe_recovery_delay: 0,
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failsafe_fw_roll_angle: 0,
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failsafe_fw_pitch_angle: 0,
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failsafe_fw_yaw_rate: 0,
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failsafe_stick_motion_threshold: 0,
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failsafe_min_distance: 0,
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failsafe_min_distance_procedure: 0
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};
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this.FW_CONFIG = {
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cruiseThrottle: null,
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minThrottle: null,
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maxThrottle: null,
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maxBankAngle: null,
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maxClimbAngle: null,
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maxDiveAngle: null,
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pitchToThrottle: null,
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loiterRadius: null
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};
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this.BRAKING_CONFIG = {
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speedThreshold: null,
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disengageSpeed: null,
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timeout: null,
|
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boostFactor: null,
|
|
boostTimeout: null,
|
|
boostSpeedThreshold: null,
|
|
boostDisengageSpeed: null,
|
|
bankAngle: null
|
|
}
|
|
|
|
this.RXFAIL_CONFIG = [];
|
|
|
|
this.OUTPUT_MAPPING = new OutputMappingCollection();
|
|
|
|
this.SAFEHOMES = new SafehomeCollection();
|
|
|
|
this.RATE_DYNAMICS = {
|
|
sensitivityCenter: null,
|
|
sensitivityEnd: null,
|
|
correctionCenter: null,
|
|
correctionEnd: null,
|
|
weightCenter: null,
|
|
weightEnd: null
|
|
};
|
|
|
|
this.EZ_TUNE = {
|
|
enabled: null,
|
|
filterHz: null,
|
|
axisRatio: null,
|
|
response: null,
|
|
damping: null,
|
|
stability: null,
|
|
aggressiveness: null,
|
|
rate: null,
|
|
expo: null,
|
|
snappiness: null,
|
|
};
|
|
|
|
|
|
this.FW_APPROACH = new FwApproachCollection();
|
|
|
|
this.OSD_CUSTOM_ELEMENTS = {
|
|
settings: {customElementsCount: 0, customElementTextSize: 0, customElementParts: 0},
|
|
items: [],
|
|
};
|
|
|
|
},
|
|
getOutputUsages: function() {
|
|
return {
|
|
'ANY': (0),
|
|
'MC_MOTOR': (1<<2),
|
|
'MC_SERVO': (1<<3),
|
|
'FW_MOTOR': (1<<5),
|
|
'FW_SERVO': (1<<6),
|
|
'LED': (1<<24)
|
|
};
|
|
},
|
|
getFeatures: function () {
|
|
var features = [
|
|
{bit: 1, group: 'batteryVoltage', name: 'VBAT'},
|
|
{bit: 6, group: 'other', name: 'SOFTSERIAL', haveTip: true, showNameInTip: true},
|
|
{bit: 7, group: 'other', name: 'GPS', haveTip: true},
|
|
{bit: 10, group: 'other', name: 'TELEMETRY', showNameInTip: true},
|
|
{bit: 11, group: 'batteryCurrent', name: 'CURRENT_METER'},
|
|
{bit: 12, group: 'other', name: 'REVERSIBLE_MOTORS', showNameInTip: true},
|
|
{bit: 15, group: 'other', name: 'RSSI_ADC', haveTip: true, showNameInTip: true},
|
|
{bit: 16, group: 'other', name: 'LED_STRIP', showNameInTip: true},
|
|
{bit: 17, group: 'other', name: 'DASHBOARD', showNameInTip: true},
|
|
{bit: 19, group: 'other', name: 'BLACKBOX', haveTip: true, showNameInTip: true},
|
|
{bit: 28, group: 'other', name: 'PWM_OUTPUT_ENABLE', haveTip: true},
|
|
{bit: 26, group: 'other', name: 'SOFTSPI'},
|
|
{bit: 29, group: 'other', name: 'OSD', haveTip: false, showNameInTip: false},
|
|
{bit: 22, group: 'other', name: 'AIRMODE', haveTip: false, showNameInTip: false},
|
|
{bit: 30, group: 'other', name: 'FW_LAUNCH', haveTip: false, showNameInTip: false},
|
|
{bit: 2, group: 'other', name: 'TX_PROF_SEL', haveTip: false, showNameInTip: false},
|
|
{bit: 0, group: 'other', name: 'THR_VBAT_COMP', haveTip: true, showNameInTip: true},
|
|
{bit: 3, group: 'other', name: 'BAT_PROFILE_AUTOSWITCH', haveTip: true, showNameInTip: true},
|
|
{bit: 31, group: 'other', name: "FW_AUTOTRIM", haveTip: true, showNameInTip: true}
|
|
];
|
|
|
|
return features.reverse();
|
|
},
|
|
isFeatureEnabled: function (featureName, features) {
|
|
if (features === undefined) {
|
|
features = this.getFeatures();
|
|
}
|
|
for (var i = 0; i < features.length; i++) {
|
|
if (features[i].name == featureName && BitHelper.bit_check(this.FEATURES, features[i].bit)) {
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
},
|
|
isMotorOutputEnabled: function () {
|
|
return this.isFeatureEnabled('PWM_OUTPUT_ENABLE', this.getFeatures());
|
|
},
|
|
getGpsProtocols: function () {
|
|
return [
|
|
'UBLOX',
|
|
'MSP',
|
|
'FAKE'
|
|
];
|
|
},
|
|
getGpsBaudRates: function () {
|
|
return [
|
|
'115200',
|
|
'57600',
|
|
'38400',
|
|
'19200',
|
|
'9600'
|
|
];
|
|
},
|
|
getGpsSbasProviders: function () {
|
|
return [
|
|
'Autodetect',
|
|
'European EGNOS',
|
|
'North American WAAS',
|
|
'Japanese MSAS',
|
|
'Indian GAGAN',
|
|
'SouthPAN (AU/NZ)',
|
|
'Disabled'
|
|
];
|
|
},
|
|
getSensorAlignments: function () {
|
|
return [
|
|
'CW 0°',
|
|
'CW 90°',
|
|
'CW 180°',
|
|
'CW 270°',
|
|
'CW 0° flip',
|
|
'CW 90° flip',
|
|
'CW 180° flip',
|
|
'CW 270° flip'
|
|
];
|
|
},
|
|
getEscProtocols: function () {
|
|
return {
|
|
0: {
|
|
name: "STANDARD",
|
|
message: null,
|
|
defaultRate: 400,
|
|
rates: {
|
|
50: "50Hz",
|
|
400: "400Hz"
|
|
}
|
|
},
|
|
1: {
|
|
name: "ONESHOT125",
|
|
message: null,
|
|
defaultRate: 1000,
|
|
rates: {
|
|
1000: "1kHz",
|
|
2000: "2kHz"
|
|
}
|
|
},
|
|
2: {
|
|
name: "MULTISHOT",
|
|
message: null,
|
|
defaultRate: 2000,
|
|
rates: {
|
|
1000: "1kHz",
|
|
2000: "2kHz"
|
|
}
|
|
},
|
|
3: {
|
|
name: "BRUSHED",
|
|
message: null,
|
|
defaultRate: 8000,
|
|
rates: {
|
|
8000: "8kHz",
|
|
16000: "16kHz",
|
|
32000: "32kHz"
|
|
}
|
|
},
|
|
4: {
|
|
name: "DSHOT150",
|
|
message: null,
|
|
defaultRate: 4000,
|
|
rates: {
|
|
4000: "4kHz"
|
|
}
|
|
},
|
|
5: {
|
|
name: "DSHOT300",
|
|
message: null,
|
|
defaultRate: 8000,
|
|
rates: {
|
|
8000: "8kHz"
|
|
}
|
|
},
|
|
6: {
|
|
name: "DSHOT600",
|
|
message: null,
|
|
defaultRate: 16000,
|
|
rates: {
|
|
16000: "16kHz"
|
|
}
|
|
}
|
|
};
|
|
},
|
|
getServoRates: function () {
|
|
return {
|
|
50: "50Hz",
|
|
60: "60Hz",
|
|
100: "100Hz",
|
|
160: "160Hz",
|
|
330: "330Hz"
|
|
};
|
|
},
|
|
getAsyncModes: function () {
|
|
return [
|
|
'Disabled',
|
|
'Gyro',
|
|
'All'
|
|
]
|
|
},
|
|
getAccelerometerTaskFrequencies: function () {
|
|
return {
|
|
100: '100Hz',
|
|
200: '200Hz',
|
|
250: '250Hz',
|
|
500: '500Hz',
|
|
750: '750Hz',
|
|
1000: '1kHz'
|
|
}
|
|
},
|
|
getAttitudeTaskFrequencies: function () {
|
|
return {
|
|
100: '100Hz',
|
|
200: '200Hz',
|
|
250: '250Hz',
|
|
500: '500Hz',
|
|
750: '750Hz',
|
|
1000: '1kHz'
|
|
}
|
|
},
|
|
getOsdDisabledFields: function () {
|
|
return [];
|
|
},
|
|
getArmingFlags: function () {
|
|
return {
|
|
0: "OK_TO_ARM",
|
|
1: "PREVENT_ARMING",
|
|
2: "ARMED",
|
|
3: "WAS_EVER_ARMED",
|
|
8: "BLOCKED_UAV_NOT_LEVEL",
|
|
9: "BLOCKED_SENSORS_CALIBRATING",
|
|
10: "BLOCKED_SYSTEM_OVERLOADED",
|
|
11: "BLOCKED_NAVIGATION_SAFETY",
|
|
12: "BLOCKED_COMPASS_NOT_CALIBRATED",
|
|
13: "BLOCKED_ACCELEROMETER_NOT_CALIBRATED",
|
|
14: null,
|
|
15: "BLOCKED_HARDWARE_FAILURE",
|
|
26: "BLOCKED_INVALID_SETTING",
|
|
}
|
|
},
|
|
getArmingBlockingFlags: function() {
|
|
var allFlags = this.getArmingFlags(),
|
|
retVal = {};
|
|
|
|
for (var i in allFlags) {
|
|
if (allFlags.hasOwnProperty(i) && parseInt(i, 10) >= 8 && allFlags[i] !== null) {
|
|
retVal[i] = allFlags[i];
|
|
}
|
|
}
|
|
|
|
return retVal;
|
|
},
|
|
getAccelerometerCalibrated: function () {
|
|
var calibrated = true;
|
|
var flagNames = FC.getArmingFlags();
|
|
|
|
if (this.CALIBRATION_DATA.accGain.X === 4096 && this.CALIBRATION_DATA.accGain.Y === 4096 && this.CALIBRATION_DATA.accGain.Z === 4096 &&
|
|
this.CALIBRATION_DATA.accZero.X === 0 && this.CALIBRATION_DATA.accZero.Y === 0 && this.CALIBRATION_DATA.accZero.Z === 0
|
|
) {
|
|
calibrated = false;
|
|
}
|
|
|
|
if ((calibrated) && flagNames.hasOwnProperty(13)) {
|
|
if (BitHelper.bit_check(this.CONFIG.armingFlags, 13)) {
|
|
calibrated = false;
|
|
}
|
|
}
|
|
|
|
return calibrated;
|
|
},
|
|
getUserControlMode: function () {
|
|
return [
|
|
"Attitude",
|
|
"Cruise"
|
|
]
|
|
},
|
|
getPidNames: function () {
|
|
return [
|
|
'Roll',
|
|
'Pitch',
|
|
'Yaw',
|
|
'Position Z',
|
|
'Position XY',
|
|
'Velocity XY',
|
|
'Surface',
|
|
'Level',
|
|
'Heading Hold',
|
|
'Velocity Z',
|
|
'Nav Heading'
|
|
];
|
|
},
|
|
getRthAltControlMode: function () {
|
|
return ["Current", "Extra", "Fixed", "Max", "At least", "At least, linear descent"];
|
|
},
|
|
getRthAllowLanding: function() {
|
|
return ["Never", "Always", "Only on failsafe"];
|
|
},
|
|
getFailsafeProcedure: function () {
|
|
return {
|
|
0: "Land",
|
|
1: "Drop",
|
|
2: "RTH",
|
|
3: "Do Nothing",
|
|
}
|
|
},
|
|
getRcMapLetters: function () {
|
|
return ['A', 'E', 'R', 'T'];
|
|
},
|
|
isRcMapValid: function (val) {
|
|
var strBuffer = val.split(''),
|
|
duplicityBuffer = [];
|
|
|
|
if (val.length != FC.getRcMapLetters().length)
|
|
return false;
|
|
|
|
// check if characters inside are all valid, also check for duplicity
|
|
for (var i = 0; i < val.length; i++) {
|
|
if (FC.getRcMapLetters().indexOf(strBuffer[i]) < 0)
|
|
return false;
|
|
|
|
if (duplicityBuffer.indexOf(strBuffer[i]) < 0)
|
|
duplicityBuffer.push(strBuffer[i]);
|
|
else
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
},
|
|
getServoMixInputNames: function () {
|
|
return [
|
|
'Stabilized Roll', // 0
|
|
'Stabilized Pitch', // 1
|
|
'Stabilized Yaw', // 2
|
|
'Stabilized Throttle', // 3
|
|
'RC Roll', // 4
|
|
'RC Pitch', // 5
|
|
'RC Yaw', // 6
|
|
'RC Throttle', // 7
|
|
'RC Channel 5', // 8
|
|
'RC Channel 6', // 9
|
|
'RC Channel 7', // 10
|
|
'RC Channel 8', // 11
|
|
'Gimbal Pitch', // 12
|
|
'Gimbal Roll', // 13
|
|
'Flaperon Mode', // 14
|
|
'RC Channel 9', // 15
|
|
'RC Channel 10', // 16
|
|
'RC Channel 11', // 17
|
|
'RC Channel 12', // 18
|
|
'RC Channel 13', // 19
|
|
'RC Channel 14', // 20
|
|
'RC Channel 15', // 21
|
|
'RC Channel 16', // 22
|
|
'Stabilized Roll+', // 23
|
|
'Stabilized Roll-', // 24
|
|
'Stabilized Pitch+', // 25
|
|
'Stabilized Pitch-', // 26
|
|
'Stabilized Yaw+', // 27
|
|
'Stabilized Yaw-', // 28,
|
|
'MAX', // 29,
|
|
'GVAR 0', // 30
|
|
'GVAR 1', // 31
|
|
'GVAR 2', // 32
|
|
'GVAR 3', // 33
|
|
'GVAR 4', // 34
|
|
'GVAR 5', // 35
|
|
'GVAR 6', // 36
|
|
'GVAR 7', // 37
|
|
'Mixer Transition', // 38
|
|
'Head Tracker Pan', // 39
|
|
'Head Tracker Tilt', // 40
|
|
'Head Tracker Roll', // 41
|
|
'RC Channel 17', // 42
|
|
'RC Channel 18', // 43
|
|
'RC Channel 19', // 44
|
|
'RC Channel 20', // 45
|
|
'RC Channel 21', // 46
|
|
'RC Channel 22', // 47
|
|
'RC Channel 23', // 48
|
|
'RC Channel 24', // 49
|
|
'RC Channel 25', // 50
|
|
'RC Channel 26', // 51
|
|
'RC Channel 27', // 52
|
|
'RC Channel 28', // 53
|
|
'RC Channel 29', // 54
|
|
'RC Channel 30', // 55
|
|
'RC Channel 31', // 56
|
|
'RC Channel 32', // 57
|
|
'RC Channel 33', // 58
|
|
'RC Channel 34', // 59
|
|
];
|
|
},
|
|
getServoMixInputName: function (input) {
|
|
return this.getServoMixInputNames()[input];
|
|
},
|
|
getModeId: function (name) {
|
|
|
|
let mode = FLIGHT_MODES.find( mode => mode.boxName === name );
|
|
if (mode) {
|
|
return mode.permanentId;
|
|
} else {
|
|
return -1;
|
|
}
|
|
},
|
|
isModeBitSet: function (i) {
|
|
return BitHelper.bit_check(this.CONFIG.mode[Math.trunc(i / 32)], i % 32);
|
|
},
|
|
isModeEnabled: function (name) {
|
|
return this.isModeBitSet(this.getModeId(name));
|
|
},
|
|
getBatteryProfileParameters: function () {
|
|
return [
|
|
'bat_cells',
|
|
'vbat_cell_detect_voltage',
|
|
'vbat_max_cell_voltage',
|
|
'vbat_min_cell_voltage',
|
|
'vbat_warning_cell_voltage',
|
|
'battery_capacity',
|
|
'battery_capacity_warning',
|
|
'battery_capacity_critical',
|
|
'battery_capacity_unit',
|
|
'controlrate_profile',
|
|
'throttle_scale',
|
|
'throttle_idle',
|
|
'turtle_mode_power_factor',
|
|
'failsafe_throttle',
|
|
'nav_mc_hover_thr',
|
|
'nav_fw_cruise_thr',
|
|
'nav_fw_min_thr',
|
|
'nav_fw_max_thr',
|
|
'nav_fw_pitch2thr',
|
|
'nav_fw_launch_thr',
|
|
'nav_fw_launch_idle_thr',
|
|
'limit_cont_current',
|
|
'limit_burst_current',
|
|
'limit_burst_current_time',
|
|
'limit_burst_current_falldown_time',
|
|
'limit_cont_power',
|
|
'limit_burst_power',
|
|
'limit_burst_power_time',
|
|
'limit_burst_power_falldown_time'
|
|
];
|
|
},
|
|
isBatteryProfileParameter: function(paramName) {
|
|
return ($.inArray(paramName,this.getBatteryProfileParameters()) != -1);
|
|
},
|
|
getControlProfileParameters: function () {
|
|
return [
|
|
'mc_p_pitch',
|
|
'mc_i_pitch',
|
|
'mc_d_pitch',
|
|
'mc_cd_pitch',
|
|
'mc_p_roll',
|
|
'mc_i_roll',
|
|
'mc_d_roll',
|
|
'mc_cd_roll',
|
|
'mc_p_yaw',
|
|
'mc_i_yaw',
|
|
'mc_d_yaw',
|
|
'mc_cd_yaw',
|
|
'mc_p_level',
|
|
'mc_i_level',
|
|
'mc_d_level',
|
|
'fw_p_pitch',
|
|
'fw_i_pitch',
|
|
'fw_d_pitch',
|
|
'fw_ff_pitch',
|
|
'fw_p_roll',
|
|
'fw_i_roll',
|
|
'fw_d_roll',
|
|
'fw_ff_roll',
|
|
'fw_p_yaw',
|
|
'fw_i_yaw',
|
|
'fw_d_yaw',
|
|
'fw_ff_yaw',
|
|
'fw_p_level',
|
|
'fw_i_level',
|
|
'fw_d_level',
|
|
'max_angle_inclination_rll',
|
|
'max_angle_inclination_pit',
|
|
'dterm_lpf_hz',
|
|
'dterm_lpf_type',
|
|
'yaw_lpf_hz',
|
|
'fw_iterm_throw_limit',
|
|
'fw_reference_airspeed',
|
|
'fw_turn_assist_yaw_gain',
|
|
'fw_turn_assist_pitch_gain',
|
|
'fw_iterm_limit_stick_position',
|
|
'fw_yaw_iterm_freeze_bank_angle',
|
|
'pidsum_limit',
|
|
'pidsum_limit_yaw',
|
|
'iterm_windup',
|
|
'rate_accel_limit_roll_pitch',
|
|
'rate_accel_limit_yaw',
|
|
'heading_hold_rate_limit',
|
|
'nav_mc_pos_z_p',
|
|
'nav_mc_vel_z_p',
|
|
'nav_mc_vel_z_i',
|
|
'nav_mc_vel_z_d',
|
|
'nav_mc_pos_xy_p',
|
|
'nav_mc_vel_xy_p',
|
|
'nav_mc_vel_xy_i',
|
|
'nav_mc_vel_xy_d',
|
|
'nav_mc_vel_xy_ff',
|
|
'nav_mc_heading_p',
|
|
'nav_mc_vel_xy_dterm_lpf_hz',
|
|
'nav_mc_vel_xy_dterm_attenuation',
|
|
'nav_mc_vel_xy_dterm_attenuation_start',
|
|
'nav_mc_vel_xy_dterm_attenuation_end',
|
|
'nav_fw_pos_z_p',
|
|
'nav_fw_pos_z_i',
|
|
'nav_fw_pos_z_d',
|
|
'nav_fw_pos_xy_p',
|
|
'nav_fw_pos_xy_i',
|
|
'nav_fw_pos_xy_d',
|
|
'nav_fw_heading_p',
|
|
'nav_fw_pos_hdg_p',
|
|
'nav_fw_pos_hdg_i',
|
|
'nav_fw_pos_hdg_d',
|
|
'nav_fw_pos_hdg_pidsum_limit',
|
|
'mc_iterm_relax',
|
|
'mc_iterm_relax_cutoff',
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'd_boost_min',
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'd_boost_max',
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'd_boost_max_at_acceleration',
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|
'd_boost_gyro_delta_lpf_hz',
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|
'antigravity_gain',
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|
'antigravity_accelerator',
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|
'antigravity_cutoff_lpf_hz',
|
|
'pid_type',
|
|
'mc_cd_lpf_hz',
|
|
'fw_level_pitch_trim',
|
|
'smith_predictor_strength',
|
|
'smith_predictor_delay',
|
|
'smith_predictor_lpf_hz',
|
|
'fw_level_pitch_gain',
|
|
'thr_mid',
|
|
'thr_expo',
|
|
'tpa_rate',
|
|
'tpa_breakpoint',
|
|
'fw_tpa_time_constant',
|
|
'rc_expo',
|
|
'rc_yaw_expo',
|
|
'roll_rate',
|
|
'pitch_rate',
|
|
'yaw_rate',
|
|
'manual_rc_expo',
|
|
'manual_rc_yaw_expo',
|
|
'manual_roll_rate',
|
|
'manual_pitch_rate',
|
|
'manual_yaw_rate',
|
|
'fpv_mix_degrees',
|
|
'rate_dynamics_center_sensitivity',
|
|
'rate_dynamics_end_sensitivity',
|
|
'rate_dynamics_center_correction',
|
|
'rate_dynamics_end_correction',
|
|
'rate_dynamics_center_weight',
|
|
'rate_dynamics_end_weight'
|
|
];
|
|
},
|
|
isControlProfileParameter: function(paramName) {
|
|
return ($.inArray(paramName, this.getControlProfileParameters()) != -1);
|
|
}
|
|
};
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|
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module.exports = FC;
|