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fc.js
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'use strict';
const ServoMixerRuleCollection = require('./servoMixerRuleCollection');
const MotorMixerRuleCollection = require('./motorMixerRuleCollection');
const LogicConditionsCollection = require('./logicConditionsCollection');
const LogicConditionsStatus = require('./logicConditionsStatus');
const GlobalVariablesStatus = require('./globalVariablesStatus');
const ProgrammingPidCollection = require('./programmingPidCollection');
const ProgrammingPidStatus = require('./programmingPidStatus');
const WaypointCollection = require('./waypointCollection');
const OutputMappingCollection = require('./outputMapping');
const SafehomeCollection = require('./safehomeCollection');
const FwApproachCollection = require('./fwApproachCollection');
const GeozoneCollection = require('./geozoneCollection');
const { PLATFORM } = require('./model')
const VTX = require('./vtx');
const BitHelper = require('./bitHelper');
const { FLIGHT_MODES } = require('./flightModes');
var FC = {
// define all the global variables that are uses to hold FC state
CONFIG: null,
LED_STRIP: null,
LED_COLORS: null,
LED_MODE_COLORS: null,
PID: null,
PID_names: null,
PIDs: null,
RC_MAP: null,
RC: null,
RC_tuning: null,
AUX_CONFIG: [],
AUX_CONFIG_IDS: [],
MODE_RANGES: null,
ADJUSTMENT_RANGES: null,
SERVO_CONFIG: null,
SERVO_RULES: null,
MOTOR_RULES: null,
LOGIC_CONDITIONS: null,
LOGIC_CONDITIONS_STATUS: null,
GLOBAL_FUNCTIONS: null,
GLOBAL_VARIABLES_STATUS: null,
PROGRAMMING_PID: null,
PROGRAMMING_PID_STATUS: null,
SERIAL_CONFIG: null,
SENSOR_DATA: null,
MOTOR_DATA: null,
SERVO_DATA: null,
GPS_DATA: null,
ADSB_VEHICLES: null,
MISSION_PLANNER: null,
ANALOG: null,
ARMING_CONFIG: null,
FC_CONFIG: null,
MISC: null,
REVERSIBLE_MOTORS: null,
DATAFLASH: null,
SDCARD: null,
BLACKBOX: null,
RC_deadband: null,
SENSOR_ALIGNMENT: null,
RX_CONFIG: null,
FAILSAFE_CONFIG: null,
RXFAIL_CONFIG: null,
VTX_CONFIG: null,
ADVANCED_CONFIG: null,
INAV_PID_CONFIG: null,
PID_ADVANCED: null,
FILTER_CONFIG: null,
SENSOR_STATUS: null,
SENSOR_CONFIG: null,
NAV_POSHOLD: null,
CALIBRATION_DATA: null,
POSITION_ESTIMATOR: null,
RTH_AND_LAND_CONFIG: null,
FW_CONFIG: null,
DEBUG_TRACE: null,
MIXER_CONFIG: null,
BATTERY_CONFIG: null,
OUTPUT_MAPPING: null,
BRAKING_CONFIG: null,
SAFEHOMES: null,
BOARD_ALIGNMENT: null,
CURRENT_METER_CONFIG: null,
FEATURES: null,
RATE_DYNAMICS: null,
EZ_TUNE: null,
FLIGHT_MODES: null,
GEOZONES: null,
restartRequired: false,
MAX_SERVO_RATE: 125,
MIN_SERVO_RATE: 0,
isAirplane: function () {
return (this.MIXER_CONFIG.platformType == PLATFORM.AIRPLANE);
},
isMultirotor: function () {
return (this.MIXER_CONFIG.platformType == PLATFORM.MULTIROTOR || this.MIXER_CONFIG.platformType == PLATFORM.TRICOPTER);
},
isRpyFfComponentUsed: function () {
return true; // Currently all planes have roll, pitch and yaw FF
},
isRpyDComponentUsed: function () {
return true; // Currently all platforms use D term
},
resetState: function () {
this.SENSOR_STATUS = {
isHardwareHealthy: 0,
gyroHwStatus: 0,
accHwStatus: 0,
magHwStatus: 0,
baroHwStatus: 0,
gpsHwStatus: 0,
rangeHwStatus: 0,
speedHwStatus: 0,
flowHwStatus: 0
};
this.SENSOR_CONFIG = {
accelerometer: 0,
barometer: 0,
magnetometer: 0,
pitot: 0,
rangefinder: 0,
opflow: 0
};
this.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: [],
mixer_profile: -1,
profile: -1,
battery_profile: -1,
uid: [0, 0, 0],
accelerometerTrims: [0, 0],
armingFlags: 0,
name: ''
};
this.BOARD_ALIGNMENT = {
roll: 0,
pitch: 0,
yaw: 0
};
this.CURRENT_METER_CONFIG = {
scale: 0,
offset: 0,
type: 0,
capacity: 0
};
this.LED_STRIP = [];
this.LED_COLORS = [];
this.LED_MODE_COLORS = [];
this.FEATURES = 0;
this.PID = {
};
this.PID_names = [];
this.PIDs = [];
this.RC_MAP = [];
// defaults
// roll, pitch, yaw, throttle, aux 1, ... aux n
this.RC = {
active_channels: 0,
channels: new Array(32)
};
this.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,
manual_RC_EXPO: 0,
manual_RC_YAW_EXPO: 0,
manual_roll_rate: 0,
manual_pitch_rate: 0,
manual_yaw_rate: 0,
};
this.generateAuxConfig = function () {
console.log('Generating AUX_CONFIG');
this.AUX_CONFIG = [];
for ( let i = 0; i < this.AUX_CONFIG_IDS.length; i++ ) {
let found = FLIGHT_MODES.find( mode => mode.permanentId === this.AUX_CONFIG_IDS[i] );
if (found) {
this.AUX_CONFIG.push(found.boxName);
}
}
};
this.MODE_RANGES = [];
this.ADJUSTMENT_RANGES = [];
this.SERVO_CONFIG = [];
this.SERVO_RULES = new ServoMixerRuleCollection();
this.MOTOR_RULES = new MotorMixerRuleCollection();
this.LOGIC_CONDITIONS = new LogicConditionsCollection();
this.LOGIC_CONDITIONS_STATUS = new LogicConditionsStatus();
this.GLOBAL_VARIABLES_STATUS = new GlobalVariablesStatus();
this.PROGRAMMING_PID = new ProgrammingPidCollection();
this.PROGRAMMING_PID_STATUS = new ProgrammingPidStatus();
this.MIXER_CONFIG = {
yawMotorDirection: 0,
yawJumpPreventionLimit: 0,
motorStopOnLow: false,
platformType: -1,
hasFlaps: false,
appliedMixerPreset: -1,
numberOfMotors: 0,
numberOfServos: 0
},
this.SERIAL_CONFIG = {
ports: [],
// pre 1.6 settings
mspBaudRate: 0,
gpsBaudRate: 0,
gpsPassthroughBaudRate: 0,
cliBaudRate: 0
};
this.SENSOR_DATA = {
gyroscope: [0, 0, 0],
accelerometer: [0, 0, 0],
magnetometer: [0, 0, 0],
altitude: 0,
barometer: 0,
sonar: 0,
air_speed: 0,
kinematics: [0.0, 0.0, 0.0],
temperature: [0, 0, 0, 0, 0, 0, 0, 0],
debug: [0, 0, 0, 0]
};
this.MOTOR_DATA = new Array(8);
this.SERVO_DATA = new Array(16);
this.GPS_DATA = {
fix: 0,
numSat: 0,
lat: 0,
lon: 0,
alt: 0,
speed: 0,
ground_course: 0,
distanceToHome: 0,
ditectionToHome: 0,
update: 0,
hdop: 0,
eph: 0,
epv: 0,
messageDt: 0,
errors: 0,
timeouts: 0,
packetCount: 0
};
this.ADSB_VEHICLES = {
vehiclesCount: 0,
callsignLength: 0,
vehiclePacketCount: 0,
heartbeatPacketCount: 0,
vehicles: []
};
this.MISSION_PLANNER = new WaypointCollection();
this.ANALOG = {
voltage: 0,
mAhdrawn: 0,
mWhdrawn: 0,
rssi: 0,
amperage: 0,
power: 0,
cell_count: 0,
battery_percentage: 0,
battery_full_when_plugged_in: false,
use_capacity_thresholds: false,
battery_remaining_capacity: 0,
battery_flags: 0
};
this.FC_CONFIG = {
loopTime: 0
};
this.MISC = {
midrc: 0,
minthrottle: 0,
maxthrottle: 0,
mincommand: 0,
failsafe_throttle: 0,
gps_type: 0,
sensors_baudrate: 0,
gps_ubx_sbas: 0,
multiwiicurrentoutput: 0,
rssi_channel: 0,
placeholder2: 0,
mag_declination: 0, // not checked
battery_cells: 0,
vbatscale: 0,
vbatdetectcellvoltage: 0,
vbatmincellvoltage: 0,
vbatmaxcellvoltage: 0,
vbatwarningcellvoltage: 0,
battery_capacity: 0,
battery_capacity_warning: 0,
battery_capacity_critical: 0,
battery_capacity_unit: 'mAh'
};
this.BATTERY_CONFIG = {
vbatscale: 0,
vbatdetectcellvoltage: 0,
vbatmincellvoltage: 0,
vbatmaxcellvoltage: 0,
vbatwarningcellvoltage: 0,
current_offset: 0,
current_scale: 0,
capacity: 0,
capacity_warning: 0,
capacity_critical: 0,
capacity_unit: 0
};
this.VTX_CONFIG = {
device_type: VTX.DEV_UNKNOWN,
band: 0,
channel: 1,
power: 0,
pitmode: 0,
low_power_disarm: 0,
};
this.ADVANCED_CONFIG = {
gyroSyncDenominator: null,
pidProcessDenom: null,
useUnsyncedPwm: null,
motorPwmProtocol: null,
motorPwmRate: null,
servoPwmRate: null,
gyroSync: null
};
this.FILTER_CONFIG = {
gyroSoftLpfHz: null,
dtermLpfHz: null,
yawLpfHz: null,
gyroNotchHz1: null,
gyroNotchCutoff1: null,
dtermNotchHz: null,
dtermNotchCutoff: null,
gyroNotchHz2: null,
gyroNotchCutoff2: null,
accNotchHz: null,
accNotchCutoff: null,
gyroStage2LowpassHz: null
};
this.PID_ADVANCED = {
rollPitchItermIgnoreRate: null,
yawItermIgnoreRate: null,
yawPLimit: null,
axisAccelerationLimitRollPitch: null,
axisAccelerationLimitYaw: null,
dtermSetpointWeight: null,
pidSumLimit: null
};
this.INAV_PID_CONFIG = {
asynchronousMode: null,
accelerometerTaskFrequency: null,
attitudeTaskFrequency: null,
magHoldRateLimit: null,
magHoldErrorLpfFrequency: null,
yawJumpPreventionLimit: null,
gyroscopeLpf: null,
accSoftLpfHz: null
};
this.NAV_POSHOLD = {
userControlMode: null,
maxSpeed: null,
maxClimbRate: null,
maxManualSpeed: null,
maxManualClimbRate: null,
maxBankAngle: null,
useThrottleMidForAlthold: null,
hoverThrottle: null
};
this.CALIBRATION_DATA = {
acc: {
Pos0: null,
Pos1: null,
Pos2: null,
Pos3: null,
Pos4: null,
Pos5: null
},
accZero: {
X: null,
Y: null,
Z: null
},
accGain: {
X: null,
Y: null,
Z: null
},
magZero: {
X: null,
Y: null,
Z: null
},
opflow: {
Scale: null
},
magGain: {
X: null,
Y: null,
Z: null
}
};
this.RTH_AND_LAND_CONFIG = {
minRthDistance: null,
rthClimbFirst: null,
rthClimbIgnoreEmergency: null,
rthTailFirst: null,
rthAllowLanding: null,
rthAltControlMode: null,
rthAbortThreshold: null,
rthAltitude: null,
landDescentRate: null,
landSlowdownMinAlt: null,
landSlowdownMaxAlt: null,
emergencyDescentRate: null
};
this.REVERSIBLE_MOTORS = {
deadband_low: 0,
deadband_high: 0,
neutral: 0,
deadband_throttle: 0
};
this.DATAFLASH = {
ready: false,
supported: false,
sectors: 0,
totalSize: 0,
usedSize: 0
};
this.SDCARD = {
supported: false,
state: 0,
filesystemLastError: 0,
freeSizeKB: 0,
totalSizeKB: 0
};
this.BLACKBOX = {
supported: false,
blackboxDevice: 0,
blackboxRateNum: 1,
blackboxRateDenom: 1
};
this.RC_deadband = {
deadband: 0,
yaw_deadband: 0,
alt_hold_deadband: 0
};
this.SENSOR_ALIGNMENT = {
align_gyro: 0,
align_acc: 0,
align_mag: 0,
align_opflow: 0
};
this.RX_CONFIG = {
receiver_type: 0,
serialrx_provider: 0,
maxcheck: 0,
midrc: 0,
mincheck: 0,
spektrum_sat_bind: 0,
rx_min_usec: 0,
rx_max_usec: 0,
spirx_protocol: 0,
spirx_id: 0,
spirx_channel_count: 0,
};
this.POSITION_ESTIMATOR = {
w_z_baro_p: null,
w_z_gps_p: null,
w_z_gps_v: null,
w_xy_gps_p: null,
w_xy_gps_v: null,
gps_min_sats: null,
use_gps_velned: null
};
this.FAILSAFE_CONFIG = {
failsafe_delay: 0,
failsafe_off_delay: 0,
failsafe_throttle: 0,
failsafe_kill_switch: 0,
failsafe_throttle_low_delay: 0,
failsafe_procedure: 0,
failsafe_recovery_delay: 0,
failsafe_fw_roll_angle: 0,
failsafe_fw_pitch_angle: 0,
failsafe_fw_yaw_rate: 0,
failsafe_stick_motion_threshold: 0,
failsafe_min_distance: 0,
failsafe_min_distance_procedure: 0
};
this.FW_CONFIG = {
cruiseThrottle: null,
minThrottle: null,
maxThrottle: null,
maxBankAngle: null,
maxClimbAngle: null,
maxDiveAngle: null,
pitchToThrottle: null,
loiterRadius: null
};
this.BRAKING_CONFIG = {
speedThreshold: null,
disengageSpeed: null,
timeout: null,
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.GEOZONES = new GeozoneCollection();
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},
{bit: 4, group: 'other', name: "GEOZONE", 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) {
for (var i = 0; i < FC.AUX_CONFIG.length; i++) {
if (FC.AUX_CONFIG[i] == name)
return i;
}
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',