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Code Issues Wiki Activity

Added throttleCorrection, batter, rcControls, gpsProfile, and gps config() macros

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This commit is contained in:
Martin Budden 2016-11-30 22:59:12 +00:00
parent 2f0f23ebfe
commit 00338cb854
9 changed files with 144 additions and 139 deletions
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16
src/main/blackbox/blackbox.c
View file

@ -394,7 +394,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
return feature(FEATURE_VBAT);
case FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC:
return feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
return feature(FEATURE_CURRENT_METER) && batteryConfig()->currentMeterType == CURRENT_SENSOR_ADC;
case FLIGHT_LOG_FIELD_CONDITION_SONAR:
#ifdef SONAR
@ -1180,21 +1180,21 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
blackboxPrintfHeaderLine("vbatscale:%u", masterConfig.batteryConfig.vbatscale);
blackboxPrintfHeaderLine("vbatscale:%u", batteryConfig()->vbatscale);
} else {
xmitState.headerIndex += 2; // Skip the next two vbat fields too
}
);
BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage:%u,%u,%u", masterConfig.batteryConfig.vbatmincellvoltage,
masterConfig.batteryConfig.vbatwarningcellvoltage,
masterConfig.batteryConfig.vbatmaxcellvoltage);
BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage:%u,%u,%u", batteryConfig()->vbatmincellvoltage,
batteryConfig()->vbatwarningcellvoltage,
batteryConfig()->vbatmaxcellvoltage);
BLACKBOX_PRINT_HEADER_LINE("vbatref:%u", vbatReference);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
//Note: Log even if this is a virtual current meter, since the virtual meter uses these parameters too:
if (feature(FEATURE_CURRENT_METER)) {
blackboxPrintfHeaderLine("currentMeter:%d,%d", masterConfig.batteryConfig.currentMeterOffset, masterConfig.batteryConfig.currentMeterScale);
blackboxPrintfHeaderLine("currentMeter:%d,%d", batteryConfig()->currentMeterOffset, batteryConfig()->currentMeterScale);
}
);
@ -1260,8 +1260,8 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit);
// End of Betaflight controller parameters
BLACKBOX_PRINT_HEADER_LINE("deadband:%d", masterConfig.rcControlsConfig.deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE("deadband:%d", rcControlsConfig()->deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", rcControlsConfig()->yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", gyroConfig()->gyro_lpf);
BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d", gyroConfig()->gyro_soft_lpf_type);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", gyroConfig()->gyro_soft_lpf_hz);

4
src/main/cms/cms_menu_misc.c
View file

@ -84,8 +84,8 @@ static OSD_Entry menuMiscEntries[]=
{ "-- MISC --", OME_Label, NULL, NULL, 0 },
{ "MIN THR", OME_UINT16, NULL, &(OSD_UINT16_t){ &motorConfig()->minthrottle, 1000, 2000, 1 }, 0 },
{ "VBAT SCALE", OME_UINT8, NULL, &(OSD_UINT8_t) { &masterConfig.batteryConfig.vbatscale, 1, 250, 1 }, 0 },
{ "VBAT CLMAX", OME_UINT8, NULL, &(OSD_UINT8_t) { &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50, 1 }, 0 },
{ "VBAT SCALE", OME_UINT8, NULL, &(OSD_UINT8_t) { &batteryConfig()->vbatscale, 1, 250, 1 }, 0 },
{ "VBAT CLMAX", OME_UINT8, NULL, &(OSD_UINT8_t) { &batteryConfig()->vbatmaxcellvoltage, 10, 50, 1 }, 0 },
{ "RC PREV", OME_Submenu, cmsMenuChange, &cmsx_menuRcPreview, 0},
{ "BACK", OME_Back, NULL, NULL, 0},

5
src/main/config/config_master.h
View file

@ -75,6 +75,11 @@
#define compassConfig(x) (&masterConfig.compassConfig)
#define accelerometerConfig(x) (&masterConfig.accelerometerConfig)
#define barometerConfig(x) (&masterConfig.barometerConfig)
#define throttleCorrectionConfig(x) (&masterConfig.throttleCorrectionConfig)
#define batteryConfig(x) (&masterConfig.batteryConfig)
#define rcControlsConfig(x) (&masterConfig.rcControlsConfig)
#define gpsProfile(x) (&masterConfig.gpsProfile)
#define gpsConfig(x) (&masterConfig.gpsConfig)
// System-wide
typedef struct master_s {

10
src/main/fc/config.c
View file

@ -861,7 +861,7 @@ void activateConfig(void)
imuConfigure(
&masterConfig.imuConfig,
&currentProfile->pidProfile,
masterConfig.throttleCorrectionConfig.throttle_correction_angle
throttleCorrectionConfig()->throttle_correction_angle
);
configureAltitudeHold(
@ -908,7 +908,7 @@ void validateAndFixConfig(void)
// rssi adc needs the same ports
featureClear(FEATURE_RSSI_ADC);
// current meter needs the same ports
if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
if (batteryConfig()->currentMeterType == CURRENT_SENSOR_ADC) {
featureClear(FEATURE_CURRENT_METER);
}
#endif
@ -930,7 +930,7 @@ void validateAndFixConfig(void)
// rssi adc needs the same ports
featureClear(FEATURE_RSSI_ADC);
// current meter needs the same ports
if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
if (batteryConfig()->currentMeterType == CURRENT_SENSOR_ADC) {
featureClear(FEATURE_CURRENT_METER);
}
#endif
@ -938,13 +938,13 @@ void validateAndFixConfig(void)
#endif
#if defined(NAZE) && defined(SONAR)
if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && batteryConfig()->currentMeterType == CURRENT_SENSOR_ADC) {
featureClear(FEATURE_CURRENT_METER);
}
#endif
#if defined(OLIMEXINO) && defined(SONAR)
if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && batteryConfig()->currentMeterType == CURRENT_SENSOR_ADC) {
featureClear(FEATURE_CURRENT_METER);
}
#endif

82
src/main/fc/fc_msp.c
View file

@ -693,7 +693,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, (uint8_t)constrain(vbat, 0, 255));
sbufWriteU16(dst, (uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, rssi);
if(masterConfig.batteryConfig.multiwiiCurrentMeterOutput) {
if(batteryConfig()->multiwiiCurrentMeterOutput) {
sbufWriteU16(dst, (uint16_t)constrain(amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps. Negative range is truncated to zero
} else
sbufWriteU16(dst, (int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
@ -785,24 +785,24 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, masterConfig.failsafeConfig.failsafe_throttle);
#ifdef GPS
sbufWriteU8(dst, masterConfig.gpsConfig.provider); // gps_type
sbufWriteU8(dst, gpsConfig()->provider); // gps_type
sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
sbufWriteU8(dst, masterConfig.gpsConfig.sbasMode); // gps_ubx_sbas
sbufWriteU8(dst, gpsConfig()->sbasMode); // gps_ubx_sbas
#else
sbufWriteU8(dst, 0); // gps_type
sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
sbufWriteU8(dst, 0); // gps_ubx_sbas
#endif
sbufWriteU8(dst, masterConfig.batteryConfig.multiwiiCurrentMeterOutput);
sbufWriteU8(dst, batteryConfig()->multiwiiCurrentMeterOutput);
sbufWriteU8(dst, masterConfig.rxConfig.rssi_channel);
sbufWriteU8(dst, 0);
sbufWriteU16(dst, compassConfig()->mag_declination / 10);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatscale);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmincellvoltage);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmaxcellvoltage);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatwarningcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatscale);
sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
break;
case MSP_MOTOR_PINS:
@ -872,17 +872,17 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_VOLTAGE_METER_CONFIG:
sbufWriteU8(dst, masterConfig.batteryConfig.vbatscale);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmincellvoltage);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmaxcellvoltage);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatwarningcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatscale);
sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
break;
case MSP_CURRENT_METER_CONFIG:
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterScale);
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterOffset);
sbufWriteU8(dst, masterConfig.batteryConfig.currentMeterType);
sbufWriteU16(dst, masterConfig.batteryConfig.batteryCapacity);
sbufWriteU16(dst, batteryConfig()->currentMeterScale);
sbufWriteU16(dst, batteryConfig()->currentMeterOffset);
sbufWriteU8(dst, batteryConfig()->currentMeterType);
sbufWriteU16(dst, batteryConfig()->batteryCapacity);
break;
case MSP_MIXER:
@ -942,8 +942,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, boardAlignment()->pitchDegrees);
sbufWriteU16(dst, boardAlignment()->yawDegrees);
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterScale);
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterOffset);
sbufWriteU16(dst, batteryConfig()->currentMeterScale);
sbufWriteU16(dst, batteryConfig()->currentMeterOffset);
break;
case MSP_CF_SERIAL_CONFIG:
@ -1068,9 +1068,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_RC_DEADBAND:
sbufWriteU8(dst, masterConfig.rcControlsConfig.deadband);
sbufWriteU8(dst, masterConfig.rcControlsConfig.yaw_deadband);
sbufWriteU8(dst, masterConfig.rcControlsConfig.alt_hold_deadband);
sbufWriteU8(dst, rcControlsConfig()->deadband);
sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
sbufWriteU8(dst, rcControlsConfig()->alt_hold_deadband);
sbufWriteU16(dst, flight3DConfig()->deadband3d_throttle);
break;
@ -1344,24 +1344,24 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
masterConfig.failsafeConfig.failsafe_throttle = sbufReadU16(src);
#ifdef GPS
masterConfig.gpsConfig.provider = sbufReadU8(src); // gps_type
gpsConfig()->provider = sbufReadU8(src); // gps_type
sbufReadU8(src); // gps_baudrate
masterConfig.gpsConfig.sbasMode = sbufReadU8(src); // gps_ubx_sbas
gpsConfig()->sbasMode = sbufReadU8(src); // gps_ubx_sbas
#else
sbufReadU8(src); // gps_type
sbufReadU8(src); // gps_baudrate
sbufReadU8(src); // gps_ubx_sbas
#endif
masterConfig.batteryConfig.multiwiiCurrentMeterOutput = sbufReadU8(src);
batteryConfig()->multiwiiCurrentMeterOutput = sbufReadU8(src);
masterConfig.rxConfig.rssi_channel = sbufReadU8(src);
sbufReadU8(src);
compassConfig()->mag_declination = sbufReadU16(src) * 10;
masterConfig.batteryConfig.vbatscale = sbufReadU8(src); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
masterConfig.batteryConfig.vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
masterConfig.batteryConfig.vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break;
case MSP_SET_MOTOR:
@ -1417,9 +1417,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_RC_DEADBAND:
masterConfig.rcControlsConfig.deadband = sbufReadU8(src);
masterConfig.rcControlsConfig.yaw_deadband = sbufReadU8(src);
masterConfig.rcControlsConfig.alt_hold_deadband = sbufReadU8(src);
rcControlsConfig()->deadband = sbufReadU8(src);
rcControlsConfig()->yaw_deadband = sbufReadU8(src);
rcControlsConfig()->alt_hold_deadband = sbufReadU8(src);
flight3DConfig()->deadband3d_throttle = sbufReadU16(src);
break;
@ -1649,17 +1649,17 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_VOLTAGE_METER_CONFIG:
masterConfig.batteryConfig.vbatscale = sbufReadU8(src); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
masterConfig.batteryConfig.vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
masterConfig.batteryConfig.vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break;
case MSP_SET_CURRENT_METER_CONFIG:
masterConfig.batteryConfig.currentMeterScale = sbufReadU16(src);
masterConfig.batteryConfig.currentMeterOffset = sbufReadU16(src);
masterConfig.batteryConfig.currentMeterType = sbufReadU8(src);
masterConfig.batteryConfig.batteryCapacity = sbufReadU16(src);
batteryConfig()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src);
batteryConfig()->currentMeterType = sbufReadU8(src);
batteryConfig()->batteryCapacity = sbufReadU16(src);
break;
#ifndef USE_QUAD_MIXER_ONLY
@ -1735,8 +1735,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
boardAlignment()->pitchDegrees = sbufReadU16(src); // board_align_pitch
boardAlignment()->yawDegrees = sbufReadU16(src); // board_align_yaw
masterConfig.batteryConfig.currentMeterScale = sbufReadU16(src);
masterConfig.batteryConfig.currentMeterOffset = sbufReadU16(src);
batteryConfig()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src);
break;
case MSP_SET_CF_SERIAL_CONFIG:

16
src/main/fc/mw.c
View file

@ -284,19 +284,19 @@ void updateRcCommands(void)
int32_t tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (tmp > masterConfig.rcControlsConfig.deadband) {
tmp -= masterConfig.rcControlsConfig.deadband;
if (tmp > rcControlsConfig()->deadband) {
tmp -= rcControlsConfig()->deadband;
} else {
tmp = 0;
}
rcCommand[axis] = tmp;
} else if (axis == YAW) {
if (tmp > masterConfig.rcControlsConfig.yaw_deadband) {
tmp -= masterConfig.rcControlsConfig.yaw_deadband;
if (tmp > rcControlsConfig()->yaw_deadband) {
tmp -= rcControlsConfig()->yaw_deadband;
} else {
tmp = 0;
}
rcCommand[axis] = tmp * -masterConfig.rcControlsConfig.yaw_control_direction;
rcCommand[axis] = tmp * -rcControlsConfig()->yaw_control_direction;
}
if (rcData[axis] < masterConfig.rxConfig.midrc) {
rcCommand[axis] = -rcCommand[axis];
@ -484,7 +484,7 @@ void updateMagHold(void)
dif += 360;
if (dif >= +180)
dif -= 360;
dif *= -masterConfig.rcControlsConfig.yaw_control_direction;
dif *= -rcControlsConfig()->yaw_control_direction;
if (STATE(SMALL_ANGLE))
rcCommand[YAW] -= dif * currentProfile->pidProfile.P8[PIDMAG] / 30; // 18 deg
} else
@ -743,8 +743,8 @@ void subTaskMainSubprocesses(void)
setpointRate[YAW] = 0;
}
if (masterConfig.throttleCorrectionConfig.throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(masterConfig.throttleCorrectionConfig.throttle_correction_value);
if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
}
processRcCommand();

60
src/main/io/serial_cli.c
View file

@ -726,10 +726,10 @@ const clivalue_t valueTable[] = {
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.reboot_character, .config.minmax = { 48, 126 } },
#ifdef GPS
{ "gps_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gpsConfig.provider, .config.lookup = { TABLE_GPS_PROVIDER } },
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gpsConfig.sbasMode, .config.lookup = { TABLE_GPS_SBAS_MODE } },
{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gpsConfig.autoConfig, .config.lookup = { TABLE_OFF_ON } },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gpsConfig.autoBaud, .config.lookup = { TABLE_OFF_ON } },
{ "gps_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->provider, .config.lookup = { TABLE_GPS_PROVIDER } },
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->sbasMode, .config.lookup = { TABLE_GPS_SBAS_MODE } },
{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoConfig, .config.lookup = { TABLE_OFF_ON } },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoBaud, .config.lookup = { TABLE_OFF_ON } },
{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOS], .config.minmax = { 0, 200 } },
{ "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOS], .config.minmax = { 0, 200 } },
@ -740,11 +740,11 @@ const clivalue_t valueTable[] = {
{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], .config.minmax = { 0, 200 } },
{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDNAVR], .config.minmax = { 0, 200 } },
{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], .config.minmax = { 0, 200 } },
{ "gps_wp_radius", VAR_UINT16 | MASTER_VALUE, &masterConfig.gpsProfile.gps_wp_radius, .config.minmax = { 0, 2000 } },
{ "nav_controls_heading", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gpsProfile.nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
{ "nav_speed_min", VAR_UINT16 | MASTER_VALUE, &masterConfig.gpsProfile.nav_speed_min, .config.minmax = { 10, 2000 } },
{ "nav_speed_max", VAR_UINT16 | MASTER_VALUE, &masterConfig.gpsProfile.nav_speed_max, .config.minmax = { 10, 2000 } },
{ "nav_slew_rate", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsProfile.nav_slew_rate, .config.minmax = { 0, 100 } },
{ "gps_wp_radius", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->gps_wp_radius, .config.minmax = { 0, 2000 } },
{ "nav_controls_heading", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsProfile()->nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
{ "nav_speed_min", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->nav_speed_min, .config.minmax = { 10, 2000 } },
{ "nav_speed_max", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->nav_speed_max, .config.minmax = { 10, 2000 } },
{ "nav_slew_rate", VAR_UINT8 | MASTER_VALUE, &gpsProfile()->nav_slew_rate, .config.minmax = { 0, 100 } },
#endif
#ifdef GTUNE
@ -788,20 +788,20 @@ const clivalue_t valueTable[] = {
{ "pid_values_as_telemetry", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.pidValuesAsTelemetry, .config.lookup = {TABLE_OFF_ON } },
#endif
{ "battery_capacity", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.batteryCapacity, .config.minmax = { 0, 20000 } },
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatscale, .config.minmax = { VBAT_SCALE_MIN, VBAT_SCALE_MAX } },
{ "vbat_max_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatmaxcellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_min_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatmincellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatwarningcellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_hysteresis", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbathysteresis, .config.minmax = { 0, 250 } },
{ "current_meter_scale", VAR_INT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterScale, .config.minmax = { -16000, 16000 } },
{ "current_meter_offset", VAR_INT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterOffset, .config.minmax = { -16000, 16000 } },
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
{ "battery_notpresent_level", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.batterynotpresentlevel, .config.minmax = { 0, 200 } },
{ "use_vbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.useVBatAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "use_consumption_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.useConsumptionAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "consumption_warning_percentage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.consumptionWarningPercentage, .config.minmax = { 0, 100 } },
{ "battery_capacity", VAR_UINT16 | MASTER_VALUE, &batteryConfig()->batteryCapacity, .config.minmax = { 0, 20000 } },
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatscale, .config.minmax = { VBAT_SCALE_MIN, VBAT_SCALE_MAX } },
{ "vbat_max_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatmaxcellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_min_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatmincellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbatwarningcellvoltage, .config.minmax = { 10, 50 } },
{ "vbat_hysteresis", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->vbathysteresis, .config.minmax = { 0, 250 } },
{ "current_meter_scale", VAR_INT16 | MASTER_VALUE, &batteryConfig()->currentMeterScale, .config.minmax = { -16000, 16000 } },
{ "current_meter_offset", VAR_INT16 | MASTER_VALUE, &batteryConfig()->currentMeterOffset, .config.minmax = { -16000, 16000 } },
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
{ "battery_notpresent_level", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->batterynotpresentlevel, .config.minmax = { 0, 200 } },
{ "use_vbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useVBatAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "use_consumption_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useConsumptionAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "consumption_warning_percentage", VAR_UINT8 | MASTER_VALUE, &batteryConfig()->consumptionWarningPercentage, .config.minmax = { 0, 100 } },
{ "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorAlignmentConfig()->gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorAlignmentConfig()->acc_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorAlignmentConfig()->mag_align, .config.lookup = { TABLE_ALIGNMENT } },
@ -823,15 +823,15 @@ const clivalue_t valueTable[] = {
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_kp, .config.minmax = { 0, 50000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_ki, .config.minmax = { 0, 50000 } },
{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.rcControlsConfig.alt_hold_deadband, .config.minmax = { 1, 250 } },
{ "alt_hold_fast_change", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rcControlsConfig.alt_hold_fast_change, .config.lookup = { TABLE_OFF_ON } },
{ "deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.rcControlsConfig.deadband, .config.minmax = { 0, 32 } },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.rcControlsConfig.yaw_deadband, .config.minmax = { 0, 100 } },
{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, &rcControlsConfig()->alt_hold_deadband, .config.minmax = { 1, 250 } },
{ "alt_hold_fast_change", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &rcControlsConfig()->alt_hold_fast_change, .config.lookup = { TABLE_OFF_ON } },
{ "deadband", VAR_UINT8 | MASTER_VALUE, &rcControlsConfig()->deadband, .config.minmax = { 0, 32 } },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, &rcControlsConfig()->yaw_deadband, .config.minmax = { 0, 100 } },
{ "throttle_correction_value", VAR_UINT8 | MASTER_VALUE, &masterConfig.throttleCorrectionConfig.throttle_correction_value, .config.minmax = { 0, 150 } },
{ "throttle_correction_angle", VAR_UINT16 | MASTER_VALUE, &masterConfig.throttleCorrectionConfig.throttle_correction_angle, .config.minmax = { 1, 900 } },
{ "throttle_correction_value", VAR_UINT8 | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_value, .config.minmax = { 0, 150 } },
{ "throttle_correction_angle", VAR_UINT16 | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_angle, .config.minmax = { 1, 900 } },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.rcControlsConfig.yaw_control_direction, .config.minmax = { -1, 1 } },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &rcControlsConfig()->yaw_control_direction, .config.minmax = { -1, 1 } },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },

86
src/main/target/COLIBRI_RACE/i2c_bst.c
View file

@ -677,7 +677,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite8((uint8_t)constrain(vbat, 0, 255));
bstWrite16((uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
bstWrite16(rssi);
if(masterConfig.batteryConfig.multiwiiCurrentMeterOutput) {
if(batteryConfig()->multiwiiCurrentMeterOutput) {
bstWrite16((uint16_t)constrain(amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps. Negative range is truncated to zero
} else
bstWrite16((int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
@ -758,24 +758,24 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite16(masterConfig.failsafeConfig.failsafe_throttle);
#ifdef GPS
bstWrite8(masterConfig.gpsConfig.provider); // gps_type
bstWrite8(gpsConfig()->provider); // gps_type
bstWrite8(0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
bstWrite8(masterConfig.gpsConfig.sbasMode); // gps_ubx_sbas
bstWrite8(gpsConfig()->sbasMode); // gps_ubx_sbas
#else
bstWrite8(0); // gps_type
bstWrite8(0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
bstWrite8(0); // gps_ubx_sbas
#endif
bstWrite8(masterConfig.batteryConfig.multiwiiCurrentMeterOutput);
bstWrite8(batteryConfig()->multiwiiCurrentMeterOutput);
bstWrite8(masterConfig.rxConfig.rssi_channel);
bstWrite8(0);
bstWrite16(compassConfig()->mag_declination / 10);
bstWrite8(masterConfig.batteryConfig.vbatscale);
bstWrite8(masterConfig.batteryConfig.vbatmincellvoltage);
bstWrite8(masterConfig.batteryConfig.vbatmaxcellvoltage);
bstWrite8(masterConfig.batteryConfig.vbatwarningcellvoltage);
bstWrite8(batteryConfig()->vbatscale);
bstWrite8(batteryConfig()->vbatmincellvoltage);
bstWrite8(batteryConfig()->vbatmaxcellvoltage);
bstWrite8(batteryConfig()->vbatwarningcellvoltage);
break;
case BST_MOTOR_PINS:
// FIXME This is hardcoded and should not be.
@ -855,17 +855,17 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break;
case BST_VOLTAGE_METER_CONFIG:
bstWrite8(masterConfig.batteryConfig.vbatscale);
bstWrite8(masterConfig.batteryConfig.vbatmincellvoltage);
bstWrite8(masterConfig.batteryConfig.vbatmaxcellvoltage);
bstWrite8(masterConfig.batteryConfig.vbatwarningcellvoltage);
bstWrite8(batteryConfig()->vbatscale);
bstWrite8(batteryConfig()->vbatmincellvoltage);
bstWrite8(batteryConfig()->vbatmaxcellvoltage);
bstWrite8(batteryConfig()->vbatwarningcellvoltage);
break;
case BST_CURRENT_METER_CONFIG:
bstWrite16(masterConfig.batteryConfig.currentMeterScale);
bstWrite16(masterConfig.batteryConfig.currentMeterOffset);
bstWrite8(masterConfig.batteryConfig.currentMeterType);
bstWrite16(masterConfig.batteryConfig.batteryCapacity);
bstWrite16(batteryConfig()->currentMeterScale);
bstWrite16(batteryConfig()->currentMeterOffset);
bstWrite8(batteryConfig()->currentMeterType);
bstWrite16(batteryConfig()->batteryCapacity);
break;
case BST_MIXER:
@ -915,8 +915,8 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite16(boardAlignment()->pitchDegrees);
bstWrite16(boardAlignment()->yawDegrees);
bstWrite16(masterConfig.batteryConfig.currentMeterScale);
bstWrite16(masterConfig.batteryConfig.currentMeterOffset);
bstWrite16(batteryConfig()->currentMeterScale);
bstWrite16(batteryConfig()->currentMeterOffset);
break;
case BST_CF_SERIAL_CONFIG:
@ -972,10 +972,10 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite32(0); // future exp
break;
case BST_DEADBAND:
bstWrite8(masterConfig.rcControlsConfig.alt_hold_deadband);
bstWrite8(masterConfig.rcControlsConfig.alt_hold_fast_change);
bstWrite8(masterConfig.rcControlsConfig.deadband);
bstWrite8(masterConfig.rcControlsConfig.yaw_deadband);
bstWrite8(rcControlsConfig()->alt_hold_deadband);
bstWrite8(rcControlsConfig()->alt_hold_fast_change);
bstWrite8(rcControlsConfig()->deadband);
bstWrite8(rcControlsConfig()->yaw_deadband);
break;
case BST_FC_FILTERS:
bstWrite16(constrain(gyroConfig()->gyro_lpf, 0, 1)); // Extra safety to prevent OSD setting corrupt values
@ -1121,24 +1121,24 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
masterConfig.failsafeConfig.failsafe_throttle = bstRead16();
#ifdef GPS
masterConfig.gpsConfig.provider = bstRead8(); // gps_type
gpsConfig()->provider = bstRead8(); // gps_type
bstRead8(); // gps_baudrate
masterConfig.gpsConfig.sbasMode = bstRead8(); // gps_ubx_sbas
gpsConfig()->sbasMode = bstRead8(); // gps_ubx_sbas
#else
bstRead8(); // gps_type
bstRead8(); // gps_baudrate
bstRead8(); // gps_ubx_sbas
#endif
masterConfig.batteryConfig.multiwiiCurrentMeterOutput = bstRead8();
batteryConfig()->multiwiiCurrentMeterOutput = bstRead8();
masterConfig.rxConfig.rssi_channel = bstRead8();
bstRead8();
compassConfig()->mag_declination = bstRead16() * 10;
masterConfig.batteryConfig.vbatscale = bstRead8(); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI
masterConfig.batteryConfig.vbatmaxcellvoltage = bstRead8(); // vbatlevel_warn2 in MWC2.3 GUI
masterConfig.batteryConfig.vbatwarningcellvoltage = bstRead8(); // vbatlevel when buzzer starts to alert
batteryConfig()->vbatscale = bstRead8(); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = bstRead8(); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = bstRead8(); // vbatlevel when buzzer starts to alert
break;
case BST_SET_MOTOR:
for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
@ -1260,16 +1260,16 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
boardAlignment()->yawDegrees = bstRead16();
break;
case BST_SET_VOLTAGE_METER_CONFIG:
masterConfig.batteryConfig.vbatscale = bstRead8(); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI
masterConfig.batteryConfig.vbatmaxcellvoltage = bstRead8(); // vbatlevel_warn2 in MWC2.3 GUI
masterConfig.batteryConfig.vbatwarningcellvoltage = bstRead8(); // vbatlevel when buzzer starts to alert
batteryConfig()->vbatscale = bstRead8(); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = bstRead8(); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = bstRead8(); // vbatlevel when buzzer starts to alert
break;
case BST_SET_CURRENT_METER_CONFIG:
masterConfig.batteryConfig.currentMeterScale = bstRead16();
masterConfig.batteryConfig.currentMeterOffset = bstRead16();
masterConfig.batteryConfig.currentMeterType = bstRead8();
masterConfig.batteryConfig.batteryCapacity = bstRead16();
batteryConfig()->currentMeterScale = bstRead16();
batteryConfig()->currentMeterOffset = bstRead16();
batteryConfig()->currentMeterType = bstRead8();
batteryConfig()->batteryCapacity = bstRead16();
break;
#ifndef USE_QUAD_MIXER_ONLY
@ -1332,8 +1332,8 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
boardAlignment()->pitchDegrees = bstRead16(); // board_align_pitch
boardAlignment()->yawDegrees = bstRead16(); // board_align_yaw
masterConfig.batteryConfig.currentMeterScale = bstRead16();
masterConfig.batteryConfig.currentMeterOffset = bstRead16();
batteryConfig()->currentMeterScale = bstRead16();
batteryConfig()->currentMeterOffset = bstRead16();
break;
case BST_SET_CF_SERIAL_CONFIG:
{
@ -1399,10 +1399,10 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
DISABLE_ARMING_FLAG(PREVENT_ARMING);
break;
case BST_SET_DEADBAND:
masterConfig.rcControlsConfig.alt_hold_deadband = bstRead8();
masterConfig.rcControlsConfig.alt_hold_fast_change = bstRead8();
masterConfig.rcControlsConfig.deadband = bstRead8();
masterConfig.rcControlsConfig.yaw_deadband = bstRead8();
rcControlsConfig()->alt_hold_deadband = bstRead8();
rcControlsConfig()->alt_hold_fast_change = bstRead8();
rcControlsConfig()->deadband = bstRead8();
rcControlsConfig()->yaw_deadband = bstRead8();
break;
case BST_SET_FC_FILTERS:
gyroConfig()->gyro_lpf = bstRead16();

4
src/main/telemetry/esc_telemetry.c
View file

@ -139,8 +139,8 @@ bool escTelemetryInit(void)
if (escTelemetryPort) {
escTelemetryEnabled = true;
masterConfig.batteryConfig.currentMeterType = CURRENT_SENSOR_ESC;
masterConfig.batteryConfig.batteryMeterType = BATTERY_SENSOR_ESC;
batteryConfig()->currentMeterType = CURRENT_SENSOR_ESC;
batteryConfig()->batteryMeterType = BATTERY_SENSOR_ESC;
}
return escTelemetryPort != NULL;