Better structure alignment to avoid padding
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dcc600a78b
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@ -55,9 +55,9 @@ typedef struct gyroDev_s {
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extiCallbackRec_t exti;
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busDevice_t bus;
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float scale; // scalefactor
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int16_t gyroADCRaw[XYZ_AXIS_COUNT];
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int32_t gyroZero[XYZ_AXIS_COUNT];
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int32_t gyroADC[XYZ_AXIS_COUNT]; // gyro data after calibration and alignment
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int16_t gyroADCRaw[XYZ_AXIS_COUNT];
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int16_t temperature;
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uint8_t lpf;
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gyroRateKHz_e gyroRateKHz;
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@ -61,8 +61,8 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
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.failsafe_delay = 10, // 1sec
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.failsafe_off_delay = 10, // 1sec
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.failsafe_throttle = 1000, // default throttle off.
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.failsafe_kill_switch = 0, // default failsafe switch action is identical to rc link loss
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.failsafe_throttle_low_delay = 100, // default throttle low delay for "just disarm" on failsafe condition
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.failsafe_kill_switch = 0, // default failsafe switch action is identical to rc link loss
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.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT // default full failsafe procedure is 0: auto-landing
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);
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@ -33,8 +33,8 @@ typedef struct failsafeConfig_s {
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uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
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uint8_t failsafe_off_delay; // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
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uint16_t failsafe_throttle; // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
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uint8_t failsafe_kill_switch; // failsafe switch action is 0: identical to rc link loss, 1: disarms instantly
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uint16_t failsafe_throttle_low_delay; // Time throttle stick must have been below 'min_check' to "JustDisarm" instead of "full failsafe procedure".
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uint8_t failsafe_kill_switch; // failsafe switch action is 0: identical to rc link loss, 1: disarms instantly
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uint8_t failsafe_procedure; // selected full failsafe procedure is 0: auto-landing, 1: Drop it
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} failsafeConfig_t;
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@ -90,11 +90,11 @@ void resetPidProfile(pidProfile_t *pidProfile)
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.pidSumLimit = PIDSUM_LIMIT,
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.pidSumLimitYaw = PIDSUM_LIMIT_YAW,
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.yaw_lpf_hz = 0,
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.itermWindupPointPercent = 50,
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.dterm_filter_type = FILTER_BIQUAD,
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.dterm_lpf_hz = 100, // filtering ON by default
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.dterm_notch_hz = 260,
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.dterm_notch_cutoff = 160,
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.dterm_filter_type = FILTER_BIQUAD,
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.itermWindupPointPercent = 50,
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.vbatPidCompensation = 0,
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.pidAtMinThrottle = PID_STABILISATION_ON,
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.levelAngleLimit = 55,
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@ -74,11 +74,11 @@ typedef struct pid8_s {
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typedef struct pidProfile_s {
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pid8_t pid[PID_ITEM_COUNT];
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uint8_t dterm_filter_type; // Filter selection for dterm
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uint16_t dterm_lpf_hz; // Delta Filter in hz
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uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
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uint16_t dterm_lpf_hz; // Delta Filter in hz
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uint16_t dterm_notch_hz; // Biquad dterm notch hz
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uint16_t dterm_notch_cutoff; // Biquad dterm notch low cutoff
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uint8_t dterm_filter_type; // Filter selection for dterm
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uint8_t itermWindupPointPercent; // Experimental ITerm windup threshold, percent motor saturation
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uint16_t pidSumLimit;
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uint16_t pidSumLimitYaw;
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@ -131,9 +131,9 @@ typedef struct osdConfig_s {
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bool enabled_stats[OSD_STAT_COUNT];
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// Alarms
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uint8_t rssi_alarm;
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uint16_t cap_alarm;
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uint16_t alt_alarm;
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uint8_t rssi_alarm;
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osd_unit_e units;
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