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Code Issues Wiki Activity

Cleanup delta method code code and refactor

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This commit is contained in:
borisbstyle 2016-02-06 14:00:45 +01:00
parent 71392f846d
commit 035b34bbc4
4 changed files with 28 additions and 18 deletions
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12
src/main/io/serial_cli.c
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@ -400,6 +400,10 @@ static const char * const lookupTableMagHardware[] = {
"AK8963"
};
static const char * const lookupDeltaMethod[] = {
"ERROR", "MEASUREMENT"
};
typedef struct lookupTableEntry_s {
const char * const *values;
const uint8_t valueCount;
@ -424,6 +428,7 @@ typedef enum {
TABLE_ACC_HARDWARE,
TABLE_BARO_HARDWARE,
TABLE_MAG_HARDWARE,
TABLE_DELTA_METHOD,
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
@ -442,7 +447,8 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableGyroLpf, sizeof(lookupTableGyroLpf) / sizeof(char *) },
{ lookupTableAccHardware, sizeof(lookupTableAccHardware) / sizeof(char *) },
{ lookupTableBaroHardware, sizeof(lookupTableBaroHardware) / sizeof(char *) },
{ lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) }
{ lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
{ lookupDeltaMethod, sizeof(lookupDeltaMethod) / sizeof(char *) }
};
#define VALUE_TYPE_OFFSET 0
@ -664,7 +670,8 @@ const clivalue_t valueTable[] = {
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
{ "delta_from_gyro", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaFromGyro, .config.lookup = { TABLE_OFF_ON } },
{ "pid_delta_method", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
{ "dterm_lpf_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
@ -704,7 +711,6 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 200 } },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
{ "dterm_lpf_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "acro_plus_factor", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.airModeInsaneAcrobilityFactor, .config.minmax = {0, 100 } },
#ifdef BLACKBOX