Merge pull request #2288 from martinbudden/bf_pg_preparation3

Preparation for conversion to parameter groups 3

src/main/config/parameter_group.h

@@ -140,6 +140,7 @@ extern const uint8_t __pg_resetdata_end[];
 
 #endif // USE_PARAMETER_GROUPS
 
+#ifdef USE_PARAMETER_GROUPS
 // Register system config
 #define PG_REGISTER_I(_type, _name, _pgn, _version, _reset)             \
     _type _name ## _System;                                             \
@@ -242,6 +243,29 @@ extern const uint8_t __pg_resetdata_end[];
         __VA_ARGS__                                                     \
     }                                                                   \
     /**/
+#else
+#define PG_REGISTER_I(_type, _name, _pgn, _version, _reset)             \
+    _type _name ## _System
+
+#define PG_REGISTER(_type, _name, _pgn, _version)                       \
+    PG_REGISTER_I(_type, _name, _pgn, _version, .reset = {.ptr = 0})    \
+    /**/
+
+#define PG_REGISTER_WITH_RESET_FN(_type, _name, _pgn, _version)         \
+    extern void pgResetFn_ ## _name(_type *);                           \
+    PG_REGISTER_I(_type, _name, _pgn, _version, .reset = {.fn = (pgResetFunc*)&pgResetFn_ ## _name }) \
+    /**/
+
+#define PG_REGISTER_WITH_RESET_TEMPLATE(_type, _name, _pgn, _version)   \
+    extern const _type pgResetTemplate_ ## _name;                       \
+    PG_REGISTER_I(_type, _name, _pgn, _version, .reset = {.ptr = (void*)&pgResetTemplate_ ## _name}) \
+    /**/
+#define PG_RESET_TEMPLATE(_type, _name, ...)                            \
+    const _type pgResetTemplate_ ## _name PG_RESETDATA_ATTRIBUTES = {   \
+        __VA_ARGS__                                                     \
+    }                                                                   \
+    /**/
+#endif
 
 const pgRegistry_t* pgFind(pgn_t pgn);
 

src/main/fc/config.c

@@ -896,26 +896,16 @@ void activateConfig(void)
         &currentProfile->pidProfile
     );
 
-#ifdef TELEMETRY
-    telemetryUseConfig(&masterConfig.telemetryConfig);
-#endif
-
 #ifdef GPS
     gpsUseProfile(&masterConfig.gpsProfile);
     gpsUsePIDs(&currentProfile->pidProfile);
 #endif
 
-    useFailsafeConfig(&masterConfig.failsafeConfig);
+    failsafeReset();
     setAccelerationTrims(&accelerometerConfigMutable()->accZero);
     setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
 
-    mixerUseConfigs(
+    mixerUseConfigs(&masterConfig.airplaneConfig);
-        &masterConfig.flight3DConfig,
-        &masterConfig.motorConfig,
-        &masterConfig.mixerConfig,
-        &masterConfig.airplaneConfig,
-        &masterConfig.rxConfig
-    );
 
 #ifdef USE_SERVOS
     servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoProfile.servoConf, &masterConfig.gimbalConfig);
@@ -934,10 +924,6 @@ void activateConfig(void)
         &masterConfig.rcControlsConfig,
         &masterConfig.motorConfig
     );
-
-#ifdef BARO
-    useBarometerConfig(&masterConfig.barometerConfig);
-#endif
 }
 
 void validateAndFixConfig(void)

src/main/fc/fc_init.c

@@ -259,16 +259,16 @@ void init(void)
     timerInit();  // timer must be initialized before any channel is allocated
 
 #if defined(AVOID_UART1_FOR_PWM_PPM)
-    serialInit(serialConfig(), feature(FEATURE_SOFTSERIAL),
+    serialInit(feature(FEATURE_SOFTSERIAL),
             feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
 #elif defined(AVOID_UART2_FOR_PWM_PPM)
-    serialInit(serialConfig(), feature(FEATURE_SOFTSERIAL),
+    serialInit(feature(FEATURE_SOFTSERIAL),
             feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
 #elif defined(AVOID_UART3_FOR_PWM_PPM)
-    serialInit(serialConfig(), feature(FEATURE_SOFTSERIAL),
+    serialInit(feature(FEATURE_SOFTSERIAL),
             feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
 #else
-    serialInit(serialConfig(), feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
+    serialInit(feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
 #endif
 
     mixerInit(mixerConfig()->mixerMode, masterConfig.customMotorMixer);
@@ -403,12 +403,7 @@ void init(void)
     }
 #endif
 
-#ifdef SONAR
+    if (!sensorsAutodetect()) {
-    const sonarConfig_t *sonarConfig = sonarConfig();
-#else
-    const void *sonarConfig = NULL;
-#endif
-    if (!sensorsAutodetect(gyroConfig(), accelerometerConfig(), compassConfig(), barometerConfig(), sonarConfig)) {
         // if gyro was not detected due to whatever reason, we give up now.
         failureMode(FAILURE_MISSING_ACC);
     }
@@ -448,7 +443,7 @@ void init(void)
     cliInit(serialConfig());
 #endif
 
-    failsafeInit(rxConfig(), flight3DConfig()->deadband3d_throttle);
+    failsafeInit(flight3DConfig()->deadband3d_throttle);
 
     rxInit(rxConfig(), modeActivationProfile()->modeActivationConditions);
 
@@ -556,7 +551,7 @@ void init(void)
     // Now that everything has powered up the voltage and cell count be determined.
 
     if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
-        batteryInit(batteryConfig());
+        batteryInit();
 
 #ifdef USE_DASHBOARD
     if (feature(FEATURE_DASHBOARD)) {

src/main/fc/fc_tasks.c

@@ -204,7 +204,7 @@ static void taskTelemetry(timeUs_t currentTimeUs)
     telemetryCheckState();
 
     if (!cliMode && feature(FEATURE_TELEMETRY)) {
-        telemetryProcess(currentTimeUs, rxConfig(), flight3DConfig()->deadband3d_throttle);
+        telemetryProcess(currentTimeUs);
     }
 }
 #endif

src/main/flight/failsafe.c

@@ -43,9 +43,9 @@
 /*
  * Usage:
  *
- * failsafeInit() and useFailsafeConfig() must be called before the other methods are used.
+ * failsafeInit() and resetFailsafe() must be called before the other methods are used.
  *
- * failsafeInit() and useFailsafeConfig() can be called in any order.
+ * failsafeInit() and resetFailsafe() can be called in any order.
  * failsafeInit() should only be called once.
  *
  * enable() should be called after system initialisation.
@@ -53,16 +53,14 @@
 
 static failsafeState_t failsafeState;
 
-#ifndef USE_PARAMETER_GROPUS
-static const failsafeConfig_t *failsafeConfig;
-static const rxConfig_t *rxConfig;
-#endif
-
 static uint16_t deadband3dThrottle;           // default throttle deadband from MIDRC
 
-static void failsafeReset(void)
+/*
+ * Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
+ */
+void failsafeReset(void)
 {
-    failsafeState.rxDataFailurePeriod = PERIOD_RXDATA_FAILURE + failsafeConfig->failsafe_delay * MILLIS_PER_TENTH_SECOND;
+    failsafeState.rxDataFailurePeriod = PERIOD_RXDATA_FAILURE + failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND;
     failsafeState.validRxDataReceivedAt = 0;
     failsafeState.validRxDataFailedAt = 0;
     failsafeState.throttleLowPeriod = 0;
@@ -73,27 +71,8 @@ static void failsafeReset(void)
     failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;
 }
 
-/*
+void failsafeInit(uint16_t deadband3d_throttle)
- * Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
- */
-void useFailsafeConfig(const failsafeConfig_t *failsafeConfigToUse)
 {
-#ifdef USE_PARAMETER_GROUPS
-    (void)(failsafeConfigToUse);
-#else
-    failsafeConfig = failsafeConfigToUse;
-#endif
-    failsafeReset();
-}
-
-void failsafeInit(const rxConfig_t *intialRxConfig, uint16_t deadband3d_throttle)
-{
-#ifdef USE_PARAMETER_GROUPS
-    (void)(intialRxConfig);
-#else
-    rxConfig = intialRxConfig;
-#endif
-
     deadband3dThrottle = deadband3d_throttle;
     failsafeState.events = 0;
     failsafeState.monitoring = false;
@@ -131,7 +110,7 @@ static void failsafeActivate(void)
     failsafeState.active = true;
     failsafeState.phase = FAILSAFE_LANDING;
     ENABLE_FLIGHT_MODE(FAILSAFE_MODE);
-    failsafeState.landingShouldBeFinishedAt = millis() + failsafeConfig->failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
+    failsafeState.landingShouldBeFinishedAt = millis() + failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
 
     failsafeState.events++;
 }
@@ -139,9 +118,9 @@ static void failsafeActivate(void)
 static void failsafeApplyControlInput(void)
 {
     for (int i = 0; i < 3; i++) {
-        rcData[i] = rxConfig->midrc;
+        rcData[i] = rxConfig()->midrc;
     }
-    rcData[THROTTLE] = failsafeConfig->failsafe_throttle;
+    rcData[THROTTLE] = failsafeConfig()->failsafe_throttle;
 }
 
 bool failsafeIsReceivingRxData(void)
@@ -201,11 +180,11 @@ void failsafeUpdateState(void)
             case FAILSAFE_IDLE:
                 if (armed) {
                     // Track throttle command below minimum time
-                    if (THROTTLE_HIGH == calculateThrottleStatus(rxConfig, deadband3dThrottle)) {
+                    if (THROTTLE_HIGH == calculateThrottleStatus(rxConfig(), deadband3dThrottle)) {
-                        failsafeState.throttleLowPeriod = millis() + failsafeConfig->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
+                        failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
                     }
                     // Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)
-                    if (failsafeSwitchIsOn && failsafeConfig->failsafe_kill_switch) {
+                    if (failsafeSwitchIsOn && failsafeConfig()->failsafe_kill_switch) {
                         // KillswitchEvent: failsafe switch is configured as KILL switch and is switched ON
                         failsafeActivate();
                         failsafeState.phase = FAILSAFE_LANDED;      // skip auto-landing procedure
@@ -238,7 +217,7 @@ void failsafeUpdateState(void)
                 if (receivingRxData) {
                     failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
                 } else {
-                    switch (failsafeConfig->failsafe_procedure) {
+                    switch (failsafeConfig()->failsafe_procedure) {
                         default:
                         case FAILSAFE_PROCEDURE_AUTO_LANDING:
                             // Stabilize, and set Throttle to specified level
@@ -300,7 +279,7 @@ void failsafeUpdateState(void)
                 // Entering IDLE with the requirement that throttle first must be at min_check for failsafe_throttle_low_delay period.
                 // This is to prevent that JustDisarm is activated on the next iteration.
                 // Because that would have the effect of shutting down failsafe handling on intermittent connections.
-                failsafeState.throttleLowPeriod = millis() + failsafeConfig->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
+                failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
                 failsafeState.phase = FAILSAFE_IDLE;
                 failsafeState.active = false;
                 DISABLE_FLIGHT_MODE(FAILSAFE_MODE);

src/main/flight/failsafe.h

@@ -74,9 +74,8 @@ typedef struct failsafeState_s {
     failsafeRxLinkState_e rxLinkState;
 } failsafeState_t;
 
-struct rxConfig_s;
+void failsafeInit(uint16_t deadband3d_throttle);
-void failsafeInit(const struct rxConfig_s *intialRxConfig, uint16_t deadband3d_throttle);
+void failsafeReset(void);
-void useFailsafeConfig(const failsafeConfig_t *failsafeConfigToUse);
 
 void failsafeStartMonitoring(void);
 void failsafeUpdateState(void);

src/main/flight/mixer.c

@@ -63,12 +63,6 @@ int16_t motor[MAX_SUPPORTED_MOTORS];
 int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 
 static airplaneConfig_t *airplaneConfig;
-#ifndef USE_PARAMETER_GROUPS
-static const mixerConfig_t *mixerConfig;
-static const flight3DConfig_t *flight3DConfig;
-static const motorConfig_t *motorConfig;
-const rxConfig_t *rxConfig;
-#endif
 
 mixerMode_e currentMixerMode;
 static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
@@ -297,24 +291,8 @@ void initEscEndpoints(void) {
     rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
 }
 
-void mixerUseConfigs(
+void mixerUseConfigs(airplaneConfig_t *airplaneConfigToUse)
-        flight3DConfig_t *flight3DConfigToUse,
-        motorConfig_t *motorConfigToUse,
-        mixerConfig_t *mixerConfigToUse,
-        airplaneConfig_t *airplaneConfigToUse,
-        rxConfig_t *rxConfigToUse)
 {
-#ifdef USE_PARAMETER_GROUPS
-    (void)(flight3DConfigToUse);
-    (void)(motorConfigToUse);
-    (void)(mixerConfigToUse);
-    (void)(rxConfigToUse);
-#else
-    flight3DConfig = flight3DConfigToUse;
-    motorConfig = motorConfigToUse;
-    mixerConfig = mixerConfigToUse;
-    rxConfig = rxConfigToUse;
-#endif
     airplaneConfig = airplaneConfigToUse;
 }
 
@@ -494,7 +472,7 @@ void mixTable(pidProfile_t *pidProfile)
     }
 
     // Calculate voltage compensation
-    const float vbatCompensationFactor = (batteryConfig && pidProfile->vbatPidCompensation)  ? calculateVbatPidCompensation() : 1.0f;
+    const float vbatCompensationFactor = pidProfile->vbatPidCompensation  ? calculateVbatPidCompensation() : 1.0f;
 
     // Find roll/pitch/yaw desired output
     float motorMix[MAX_SUPPORTED_MOTORS];

src/main/flight/mixer.h

@@ -141,12 +141,7 @@ struct rxConfig_s;
 uint8_t getMotorCount();
 float getMotorMixRange();
 
-void mixerUseConfigs(
+void mixerUseConfigs(airplaneConfig_t *airplaneConfigToUse);
-        flight3DConfig_t *flight3DConfigToUse,
-        motorConfig_t *motorConfigToUse,
-        mixerConfig_t *mixerConfigToUse,
-        airplaneConfig_t *airplaneConfigToUse,
-        struct rxConfig_s *rxConfigToUse);
 
 void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);

src/main/io/serial.c

@@ -54,7 +54,6 @@
 #include "telemetry/telemetry.h"
 #endif
 
-static const serialConfig_t *serialConfig;
 static serialPortUsage_t serialPortUsageList[SERIAL_PORT_COUNT];
 
 const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT] = {
@@ -396,16 +395,12 @@ void closeSerialPort(serialPort_t *serialPort)
     serialPortUsage->serialPort = NULL;
 }
 
-void serialInit(const serialConfig_t *initialSerialConfig, bool softserialEnabled, serialPortIdentifier_e serialPortToDisable)
+void serialInit(bool softserialEnabled, serialPortIdentifier_e serialPortToDisable)
 {
-    uint8_t index;
-
-    serialConfig = initialSerialConfig;
-
     serialPortCount = SERIAL_PORT_COUNT;
     memset(&serialPortUsageList, 0, sizeof(serialPortUsageList));
 
-    for (index = 0; index < SERIAL_PORT_COUNT; index++) {
+    for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
         serialPortUsageList[index].identifier = serialPortIdentifiers[index];
 
         if (serialPortToDisable != SERIAL_PORT_NONE) {
@@ -471,7 +466,7 @@ void serialEvaluateNonMspData(serialPort_t *serialPort, uint8_t receivedChar)
         cliEnter(serialPort);
     }
 #endif
-    if (receivedChar == serialConfig->reboot_character) {
+    if (receivedChar == serialConfig()->reboot_character) {
         systemResetToBootloader();
     }
 }
@@ -488,8 +483,7 @@ static void nopConsumer(uint8_t data)
  arbitrary serial passthrough "proxy". Optional callbacks can be given to allow
  for specialized data processing.
  */
-void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer
+void serialPassthrough(serialPort_t *left, serialPort_t *right, serialConsumer *leftC, serialConsumer *rightC)
-                       *leftC, serialConsumer *rightC)
 {
     waitForSerialPortToFinishTransmitting(left);
     waitForSerialPortToFinishTransmitting(right);

src/main/io/serial.h

@@ -122,7 +122,7 @@ typedef void serialConsumer(uint8_t);
 //
 // configuration
 //
-void serialInit(const serialConfig_t *initialSerialConfig, bool softserialEnabled, serialPortIdentifier_e serialPortToDisable);
+void serialInit(bool softserialEnabled, serialPortIdentifier_e serialPortToDisable);
 void serialRemovePort(serialPortIdentifier_e identifier);
 uint8_t serialGetAvailablePortCount(void);
 bool serialIsPortAvailable(serialPortIdentifier_e identifier);

src/main/rx/jetiexbus.c

@@ -407,10 +407,8 @@ static uint16_t jetiExBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uin
   -----------------------------------------------
 */
 
-void initJetiExBusTelemetry(telemetryConfig_t *initialTelemetryConfig)
+void initJetiExBusTelemetry(void)
 {
-    UNUSED(initialTelemetryConfig);
-
     // Init Ex Bus Frame header
     jetiExBusTelemetryFrame[EXBUS_HEADER_SYNC] = 0x3B;       // Startbytes
     jetiExBusTelemetryFrame[EXBUS_HEADER_REQ] = 0x01;
@@ -427,7 +425,6 @@ void initJetiExBusTelemetry(telemetryConfig_t *initialTelemetryConfig)
     jetiExTelemetryFrame[EXTEL_HEADER_RES] = 0x00;               // reserved, by default 0x00
 }
 
-
 void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
 {
     uint8_t labelLength = strlen(sensor->label);

src/main/sensors/acceleration.c

@@ -246,13 +246,13 @@ retry:
     return true;
 }
 
-bool accInit(const accelerometerConfig_t *accelerometerConfig, uint32_t gyroSamplingInverval)
+bool accInit(uint32_t gyroSamplingInverval)
 {
     memset(&acc, 0, sizeof(acc));
     // copy over the common gyro mpu settings
     acc.dev.mpuConfiguration = gyro.dev.mpuConfiguration;
     acc.dev.mpuDetectionResult = gyro.dev.mpuDetectionResult;
-    if (!accDetect(&acc.dev, accelerometerConfig->acc_hardware)) {
+    if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {
         return false;
     }
     acc.dev.acc_1G = 256; // set default

src/main/sensors/acceleration.h

@@ -69,7 +69,7 @@ typedef struct accelerometerConfig_s {
 
 PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
 
-bool accInit(const accelerometerConfig_t *accelerometerConfig, uint32_t gyroTargetLooptime);
+bool accInit(uint32_t gyroTargetLooptime);
 bool isAccelerationCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);

src/main/sensors/barometer.c

@@ -54,10 +54,6 @@ static int32_t baroGroundAltitude = 0;
 static int32_t baroGroundPressure = 0;
 static uint32_t baroPressureSum = 0;
 
-#ifndef USE_PARAMETER_GROUPS
-static const barometerConfig_t *barometerConfig;
-#endif
-
 bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
 {
     // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
@@ -124,15 +120,6 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
     return true;
 }
 
-void useBarometerConfig(const barometerConfig_t *barometerConfigToUse)
-{
-#ifdef USE_PARAMETER_GROUPS
-    (void)(barometerConfigToUse);
-#else
-    barometerConfig = barometerConfigToUse;
-#endif
-}
-
 bool isBaroCalibrationComplete(void)
 {
     return calibratingB == 0;

src/main/sensors/barometer.h

@@ -49,7 +49,6 @@ typedef struct baro_s {
 extern baro_t baro;
 
 bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse);
-void useBarometerConfig(const barometerConfig_t *barometerConfigToUse);
 bool isBaroCalibrationComplete(void);
 void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 uint32_t baroUpdate(void);

src/main/sensors/battery.c

@@ -68,10 +68,6 @@ int32_t amperageLatest = 0;        // most recent value
 
 int32_t mAhDrawn = 0;               // milliampere hours drawn from the battery since start
 
-#ifndef USE_PARAMETER_GROUPS
-const batteryConfig_t *batteryConfig;
-#endif
-
 static batteryState_e vBatState;
 static batteryState_e consumptionState;
 
@@ -213,13 +209,8 @@ const char * getBatteryStateString(void)
     return batteryStateStrings[getBatteryState()];
 }
 
-void batteryInit(const batteryConfig_t *initialBatteryConfig)
+void batteryInit(void)
 {
-#ifndef USE_PARAMETER_GROUPS
-    (void)initialBatteryConfig;
-#else
-    batteryConfig = initialBatteryConfig;
-#endif
     vBatState = BATTERY_NOT_PRESENT;
     consumptionState = BATTERY_OK;
     batteryCellCount = 0;

src/main/sensors/battery.h

@@ -87,7 +87,7 @@ extern const batteryConfig_t *batteryConfig;
 batteryState_e getBatteryState(void);
 const  char * getBatteryStateString(void);
 void updateBattery(void);
-void batteryInit(const batteryConfig_t *initialBatteryConfig);
+void batteryInit(void);
 
 struct rxConfig_s;
 void updateCurrentMeter(int32_t lastUpdateAt, const struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);

src/main/sensors/compass.c

@@ -146,12 +146,12 @@ retry:
     return true;
 }
 
-void compassInit(const compassConfig_t *compassConfig)
+void compassInit(void)
 {
     // initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
     // calculate magnetic declination
-    const int16_t deg = compassConfig->mag_declination / 100;
+    const int16_t deg = compassConfig()->mag_declination / 100;
-    const int16_t min = compassConfig->mag_declination % 100;
+    const int16_t min = compassConfig()->mag_declination % 100;
     mag.magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
     LED1_ON;
     mag.dev.init();

src/main/sensors/compass.h

@@ -50,7 +50,7 @@ typedef struct compassConfig_s {
 PG_DECLARE(compassConfig_t, compassConfig);
 
 bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse);
-void compassInit(const compassConfig_t *compassConfig);
+void compassInit(void);
 union flightDynamicsTrims_u;
 void compassUpdate(uint32_t currentTime, union flightDynamicsTrims_u *magZero);
 

src/main/sensors/gyro.c

@@ -72,9 +72,6 @@ gyro_t gyro;                      // gyro access functions
 static int32_t gyroADC[XYZ_AXIS_COUNT];
 
 static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
-#ifndef USE_PARAMETER_GROUPS
-static const gyroConfig_t *gyroConfig;
-#endif
 static uint16_t calibratingG = 0;
 
 static filterApplyFnPtr softLpfFilterApplyFn;
@@ -86,6 +83,29 @@ static void *notchFilter2[3];
 
 #define DEBUG_GYRO_CALIBRATION 3
 
+#ifdef STM32F10X
+#define GYRO_SYNC_DENOM_DEFAULT 8
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)  || defined(USE_GYRO_SPI_ICM20689)
+#define GYRO_SYNC_DENOM_DEFAULT 1
+#else
+#define GYRO_SYNC_DENOM_DEFAULT 4
+#endif
+
+PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
+
+PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
+    .gyro_lpf = GYRO_LPF_256HZ,
+    .gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT,
+    .gyro_soft_lpf_type = FILTER_PT1,
+    .gyro_soft_lpf_hz = 90,
+    .gyro_soft_notch_hz_1 = 400,
+    .gyro_soft_notch_cutoff_1 = 300,
+    .gyro_soft_notch_hz_2 = 200,
+    .gyro_soft_notch_cutoff_2 = 100,
+    .gyro_align = ALIGN_DEFAULT,
+    .gyroMovementCalibrationThreshold = 32
+);
+
 static const extiConfig_t *selectMPUIntExtiConfig(void)
 {
 #if defined(MPU_INT_EXTI)
@@ -236,13 +256,8 @@ static bool gyroDetect(gyroDev_t *dev)
     return true;
 }
 
-bool gyroInit(const gyroConfig_t *gyroConfigToUse)
+bool gyroInit(void)
 {
-#ifdef USE_PARAMETER_GROUPS
-    (void)(gyroConfigToUse);
-#else
-    gyroConfig = gyroConfigToUse;
-#endif
     memset(&gyro, 0, sizeof(gyro));
 #if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
     gyro.dev.mpuIntExtiConfig = selectMPUIntExtiConfig();
@@ -257,8 +272,7 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
     switch (detectedSensors[SENSOR_INDEX_GYRO]) {
     default:
         // gyro does not support 32kHz
-        // cast away constness, legitimate as this is cross-validation
+        gyroConfigMutable()->gyro_use_32khz = false;
-        ((gyroConfig_t*)gyroConfig)->gyro_use_32khz = false;
         break;
     case GYRO_MPU6500:
     case GYRO_MPU9250:

src/main/sensors/gyro.h

@@ -63,7 +63,7 @@ typedef struct gyroConfig_s {
 PG_DECLARE(gyroConfig_t, gyroConfig);
 
 void gyroSetCalibrationCycles(void);
-bool gyroInit(const gyroConfig_t *gyroConfigToUse);
+bool gyroInit(void);
 void gyroInitFilters(void);
 void gyroUpdate(void);
 bool isGyroCalibrationComplete(void);

src/main/sensors/initialisation.c

@@ -24,6 +24,8 @@
 #include "common/utils.h"
 
 #include "config/feature.h"
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
 
 #include "fc/config.h"
 #include "fc/runtime_config.h"
@@ -52,50 +54,40 @@ static bool sonarDetect(void)
 }
 #endif
 
-bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
+bool sensorsAutodetect(void)
-        const accelerometerConfig_t *accelerometerConfig,
-        const compassConfig_t *compassConfig,
-        const barometerConfig_t *barometerConfig,
-        const sonarConfig_t *sonarConfig)
 {
     // gyro must be initialised before accelerometer
-    if (!gyroInit(gyroConfig)) {
+    if (!gyroInit()) {
         return false;
     }
 
-    accInit(accelerometerConfig, gyro.targetLooptime);
+    accInit(gyro.targetLooptime);
 
     mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
 #ifdef MAG
-    if (compassDetect(&mag.dev, compassConfig->mag_hardware)) {
+    if (compassDetect(&mag.dev, compassConfig()->mag_hardware)) {
-        compassInit(compassConfig);
+        compassInit();
     }
-#else
-    UNUSED(compassConfig);
 #endif
 
 #ifdef BARO
-    baroDetect(&baro.dev, barometerConfig->baro_hardware);
+    baroDetect(&baro.dev, barometerConfig()->baro_hardware);
-#else
-    UNUSED(barometerConfig);
 #endif
 
 #ifdef SONAR
     if (sonarDetect()) {
-        sonarInit(sonarConfig);
+        sonarInit(sonarConfig());
     }
-#else
-    UNUSED(sonarConfig);
 #endif
 
-    if (gyroConfig->gyro_align != ALIGN_DEFAULT) {
+    if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
-        gyro.dev.gyroAlign = gyroConfig->gyro_align;
+        gyro.dev.gyroAlign = gyroConfig()->gyro_align;
     }
-    if (accelerometerConfig->acc_align != ALIGN_DEFAULT) {
+    if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
-        acc.dev.accAlign = accelerometerConfig->acc_align;
+        acc.dev.accAlign = accelerometerConfig()->acc_align;
     }
-    if (compassConfig->mag_align != ALIGN_DEFAULT) {
+    if (compassConfig()->mag_align != ALIGN_DEFAULT) {
-        mag.dev.magAlign = compassConfig->mag_align;
+        mag.dev.magAlign = compassConfig()->mag_align;
     }
 
     return true;

src/main/sensors/initialisation.h

@@ -17,8 +17,4 @@
 
 #pragma once
 
-bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
+bool sensorsAutodetect(void);
-        const accelerometerConfig_t *accConfig,
-        const compassConfig_t *compassConfig,
-        const barometerConfig_t *baroConfig,
-        const sonarConfig_t *sonarConfig);

src/main/telemetry/frsky.c

@@ -74,9 +74,6 @@ static serialPortConfig_t *portConfig;
 #define FRSKY_BAUDRATE 9600
 #define FRSKY_INITIAL_PORT_MODE MODE_TX
 
-#ifndef USE_PARAMETER_GROUPS
-static const telemetryConfig_t *telemetryConfig;
-#endif
 static bool frskyTelemetryEnabled =  false;
 static portSharing_e frskyPortSharing;
 
@@ -457,13 +454,8 @@ static void sendHeading(void)
     serialize16(0);
 }
 
-void initFrSkyTelemetry(const telemetryConfig_t *initialTelemetryConfig)
+void initFrSkyTelemetry(void)
 {
-#ifdef USE_PARAMETER_GROUPS
-    UNUSED(initialTelemetryConfig);
-#else
-    telemetryConfig = initialTelemetryConfig;
-#endif
     portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_FRSKY);
     frskyPortSharing = determinePortSharing(portConfig, FUNCTION_TELEMETRY_FRSKY);
 }
@@ -515,7 +507,7 @@ void checkFrSkyTelemetryState(void)
     }
 }
 
-void handleFrSkyTelemetry(const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
+void handleFrSkyTelemetry(void)
 {
     if (!frskyTelemetryEnabled) {
         return;
@@ -546,7 +538,7 @@ void handleFrSkyTelemetry(const rxConfig_t *rxConfig, uint16_t deadband3d_thrott
 
     if ((cycleNum % 8) == 0) {      // Sent every 1s
         sendTemperature1();
-        sendThrottleOrBatterySizeAsRpm(rxConfig, deadband3d_throttle);
+        sendThrottleOrBatterySizeAsRpm(rxConfig(), flight3DConfig()->deadband3d_throttle);
 
         if ((feature(FEATURE_VBAT) || feature(FEATURE_ESC_SENSOR)) && batteryCellCount > 0) {
             sendVoltage();

src/main/telemetry/frsky.h

@@ -22,12 +22,10 @@ typedef enum {
     FRSKY_VFAS_PRECISION_HIGH
 } frskyVFasPrecision_e;
 
-struct rxConfig_s;
+void handleFrSkyTelemetry(void);
-void handleFrSkyTelemetry(const struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
 void checkFrSkyTelemetryState(void);
 
-struct telemetryConfig_s;
+void initFrSkyTelemetry(void);
-void initFrSkyTelemetry(const struct telemetryConfig_s *telemetryConfig);
 void configureFrSkyTelemetryPort(void);
 void freeFrSkyTelemetryPort(void);
 

src/main/telemetry/hott.c

@@ -112,9 +112,6 @@ static uint8_t hottMsgCrc;
 static serialPort_t *hottPort = NULL;
 static serialPortConfig_t *portConfig;
 
-#ifndef USE_PARAMETER_GROUPS
-static const telemetryConfig_t *telemetryConfig;
-#endif
 static bool hottTelemetryEnabled =  false;
 static portSharing_e hottPortSharing;
 
@@ -295,13 +292,8 @@ void freeHoTTTelemetryPort(void)
     hottTelemetryEnabled = false;
 }
 
-void initHoTTTelemetry(const telemetryConfig_t *initialTelemetryConfig)
+void initHoTTTelemetry(void)
 {
-#ifdef USE_PARAMETER_GROUPS
-    UNUSED(initialTelemetryConfig);
-#else
-    telemetryConfig = initialTelemetryConfig;
-#endif
     portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_HOTT);
     hottPortSharing = determinePortSharing(portConfig, FUNCTION_TELEMETRY_HOTT);
 

src/main/telemetry/hott.h

@@ -490,7 +490,7 @@ typedef struct HOTT_AIRESC_MSG_s {
 void handleHoTTTelemetry(timeUs_t currentTimeUs);
 void checkHoTTTelemetryState(void);
 
-void initHoTTTelemetry(const telemetryConfig_t *telemetryConfig);
+void initHoTTTelemetry(void);
 void configureHoTTTelemetryPort(void);
 void freeHoTTTelemetryPort(void);
 

src/main/telemetry/jetiexbus.h

@@ -17,7 +17,6 @@
 
 #pragma once
 
-struct telemetryConfig_s;
+void initJetiExBusTelemetry(void);
-void initJetiExBusTelemetry(struct telemetryConfig_s *initialTelemetryConfig);
 void checkJetiExBusTelemetryState(void);
 void handleJetiExBusTelemetry(void);

src/main/telemetry/ltm.c

@@ -81,9 +81,6 @@
 
 static serialPort_t *ltmPort;
 static serialPortConfig_t *portConfig;
-#ifndef USE_PARAMETER_GROUPS
-static const telemetryConfig_t *telemetryConfig;
-#endif
 static bool ltmEnabled;
 static portSharing_e ltmPortSharing;
 static uint8_t ltm_crc;
@@ -271,13 +268,8 @@ void freeLtmTelemetryPort(void)
     ltmEnabled = false;
 }
 
-void initLtmTelemetry(const telemetryConfig_t *initialTelemetryConfig)
+void initLtmTelemetry(void)
 {
-#ifdef USE_PARAMETER_GROUPS
-    UNUSED(initialTelemetryConfig);
-#else
-    telemetryConfig = initialTelemetryConfig;
-#endif
     portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_LTM);
     ltmPortSharing = determinePortSharing(portConfig, FUNCTION_TELEMETRY_LTM);
 }

src/main/telemetry/ltm.h

@@ -19,8 +19,7 @@
 
 #pragma once
 
-struct telemetryConfig_s;
+void initLtmTelemetry(void);
-void initLtmTelemetry(const struct telemetryConfig_s *initialTelemetryConfig);
 void handleLtmTelemetry(void);
 void checkLtmTelemetryState(void);
 

src/main/telemetry/smartport.c

@@ -150,9 +150,6 @@ const uint16_t frSkyDataIdTable[] = {
 static serialPort_t *smartPortSerialPort = NULL; // The 'SmartPort'(tm) Port.
 static serialPortConfig_t *portConfig;
 
-#ifndef USE_PARAMETER_GROUPS
-static const telemetryConfig_t *telemetryConfig;
-#endif
 static bool smartPortTelemetryEnabled =  false;
 static portSharing_e smartPortPortSharing;
 
@@ -306,13 +303,8 @@ static void smartPortSendPackage(uint16_t id, uint32_t val)
     smartPortSendPackageEx(FSSP_DATA_FRAME,payload);
 }
 
-void initSmartPortTelemetry(const telemetryConfig_t *initialTelemetryConfig)
+void initSmartPortTelemetry(void)
 {
-#ifdef USE_PARAMETER_GROUPS
-    UNUSED(initialTelemetryConfig);
-#else
-    telemetryConfig = initialTelemetryConfig;
-#endif
     portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_SMARTPORT);
     smartPortPortSharing = determinePortSharing(portConfig, FUNCTION_TELEMETRY_SMARTPORT);
 }

src/main/telemetry/smartport.h

@@ -7,7 +7,7 @@
 
 #pragma once
 
-void initSmartPortTelemetry(const telemetryConfig_t *);
+void initSmartPortTelemetry(void);
 
 void handleSmartPortTelemetry(void);
 void checkSmartPortTelemetryState(void);

src/main/telemetry/telemetry.c

@@ -53,35 +53,23 @@
 #include "telemetry/srxl.h"
 #include "telemetry/ibus.h"
 
-#ifndef USE_PARAMETER_GROUPS
-static telemetryConfig_t *telemetryConfig;
-#endif
-
-void telemetryUseConfig(telemetryConfig_t *telemetryConfigToUse)
-{
-#ifdef USE_PARAMETER_GROUPS
-    UNUSED(telemetryConfigToUse);
-#else
-    telemetryConfig = telemetryConfigToUse;
-#endif
-}
 
 void telemetryInit(void)
 {
 #ifdef TELEMETRY_FRSKY
-    initFrSkyTelemetry(telemetryConfig());
+    initFrSkyTelemetry();
 #endif
 #ifdef TELEMETRY_HOTT
-    initHoTTTelemetry(telemetryConfig());
+    initHoTTTelemetry();
 #endif
 #ifdef TELEMETRY_SMARTPORT
-    initSmartPortTelemetry(telemetryConfig());
+    initSmartPortTelemetry();
 #endif
 #ifdef TELEMETRY_LTM
-    initLtmTelemetry(telemetryConfig());
+    initLtmTelemetry();
 #endif
 #ifdef TELEMETRY_JETIEXBUS
-    initJetiExBusTelemetry(telemetryConfig());
+    initJetiExBusTelemetry();
 #endif
 #ifdef TELEMETRY_MAVLINK
     initMAVLinkTelemetry();
@@ -151,13 +139,10 @@ void telemetryCheckState(void)
 #endif
 }
 
-void telemetryProcess(uint32_t currentTime, const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
+void telemetryProcess(uint32_t currentTime)
 {
 #ifdef TELEMETRY_FRSKY
-    handleFrSkyTelemetry(rxConfig, deadband3d_throttle);
+    handleFrSkyTelemetry();
-#else
-    UNUSED(rxConfig);
-    UNUSED(deadband3d_throttle);
 #endif
 #ifdef TELEMETRY_HOTT
     handleHoTTTelemetry(currentTime);

src/main/telemetry/telemetry.h

@@ -38,11 +38,11 @@ typedef enum {
 } frskyUnit_e;
 
 typedef struct telemetryConfig_s {
+    float gpsNoFixLatitude;
+    float gpsNoFixLongitude;
     uint8_t telemetry_switch;               // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
     uint8_t telemetry_inversion;            // also shared with smartport inversion
     uint8_t sportHalfDuplex;
-    float gpsNoFixLatitude;
-    float gpsNoFixLongitude;
     frskyGpsCoordFormat_e frsky_coordinate_format;
     frskyUnit_e frsky_unit;
     uint8_t frsky_vfas_precision;
@@ -54,18 +54,16 @@ typedef struct telemetryConfig_s {
 
 PG_DECLARE(telemetryConfig_t, telemetryConfig);
 
-void telemetryInit(void);
+#define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK)
-bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig);
+
 extern serialPort_t *telemetrySharedPort;
 
+void telemetryInit(void);
+bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig);
+
 void telemetryCheckState(void);
-struct rxConfig_s;
+void telemetryProcess(uint32_t currentTime);
-void telemetryProcess(uint32_t currentTime, const struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
 
 bool telemetryDetermineEnabledState(portSharing_e portSharing);
 
-void telemetryUseConfig(telemetryConfig_t *telemetryConfig);
-
-#define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK)
-
 void releaseSharedTelemetryPorts(void);