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Merge branch 'betaflight_f4' into resource_rework

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This commit is contained in:
borisbstyle 2016-06-08 23:40:00 +02:00
commit 184eef9d03
3 changed files with 101 additions and 201 deletions
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285
src/main/blackbox/blackbox.c
View file

@ -1118,6 +1118,15 @@ static bool sendFieldDefinition(char mainFrameChar, char deltaFrameChar, const v
return xmitState.headerIndex < headerCount; return xmitState.headerIndex < headerCount;
} }
#ifndef BLACKBOX_PRINT_HEADER_LINE
#define BLACKBOX_PRINT_HEADER_LINE(x, ...) case __COUNTER__: \
blackboxPrintfHeaderLine(x, __VA_ARGS__); \
break;
#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \
{__VA_ARGS__}; \
break;
#endif
/** /**
* Transmit a portion of the system information headers. Call the first time with xmitState.headerIndex == 0. Returns * Transmit a portion of the system information headers. Call the first time with xmitState.headerIndex == 0. Returns
* true iff transmission is complete, otherwise call again later to continue transmission. * true iff transmission is complete, otherwise call again later to continue transmission.
@ -1130,209 +1139,97 @@ static bool blackboxWriteSysinfo()
} }
switch (xmitState.headerIndex) { switch (xmitState.headerIndex) {
case 0: BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s", "Cleanflight");
blackboxPrintfHeaderLine("Firmware type:Cleanflight"); BLACKBOX_PRINT_HEADER_LINE("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName);
break; BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s", buildDate, buildTime);
case 1: BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
blackboxPrintfHeaderLine("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName); BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle);
break; BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", masterConfig.escAndServoConfig.maxthrottle);
case 2: BLACKBOX_PRINT_HEADER_LINE("gyro.scale:0x%x", castFloatBytesToInt(gyro.scale));
blackboxPrintfHeaderLine("Firmware date:%s %s", buildDate, buildTime); BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc_1G);
break;
case 3: BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
break;
case 4:
blackboxPrintfHeaderLine("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8);
break;
case 5:
blackboxPrintfHeaderLine("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle);
break;
case 6:
blackboxPrintfHeaderLine("maxthrottle:%d", masterConfig.escAndServoConfig.maxthrottle);
break;
case 7:
blackboxPrintfHeaderLine("gyro.scale:0x%x", castFloatBytesToInt(gyro.scale));
break;
case 8:
blackboxPrintfHeaderLine("acc_1G:%u", acc_1G);
break;
case 9:
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) { if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
blackboxPrintfHeaderLine("vbatscale:%u", masterConfig.batteryConfig.vbatscale); blackboxPrintfHeaderLine("vbatscale:%u", masterConfig.batteryConfig.vbatscale);
} else { } else {
xmitState.headerIndex += 2; // Skip the next two vbat fields too xmitState.headerIndex += 2; // Skip the next two vbat fields too
} }
break; );
case 10:
blackboxPrintfHeaderLine("vbatcellvoltage:%u,%u,%u", masterConfig.batteryConfig.vbatmincellvoltage, BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage:%u,%u,%u", masterConfig.batteryConfig.vbatmincellvoltage,
masterConfig.batteryConfig.vbatwarningcellvoltage, masterConfig.batteryConfig.vbatmaxcellvoltage); masterConfig.batteryConfig.vbatwarningcellvoltage,
break; masterConfig.batteryConfig.vbatmaxcellvoltage);
case 11: BLACKBOX_PRINT_HEADER_LINE("vbatref:%u", vbatReference);
blackboxPrintfHeaderLine("vbatref:%u", vbatReference);
break; BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
case 12:
//Note: Log even if this is a virtual current meter, since the virtual meter uses these parameters too: //Note: Log even if this is a virtual current meter, since the virtual meter uses these parameters too:
if (feature(FEATURE_CURRENT_METER)) { if (feature(FEATURE_CURRENT_METER)) {
blackboxPrintfHeaderLine("currentMeter:%d,%d", masterConfig.batteryConfig.currentMeterOffset, masterConfig.batteryConfig.currentMeterScale); blackboxPrintfHeaderLine("currentMeter:%d,%d", masterConfig.batteryConfig.currentMeterOffset, masterConfig.batteryConfig.currentMeterScale);
} }
break; );
case 13:
blackboxPrintfHeaderLine("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8); BLACKBOX_PRINT_HEADER_LINE("looptime:%d", targetLooptime);
break; BLACKBOX_PRINT_HEADER_LINE("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8);
case 14: BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8); BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8);
break; BLACKBOX_PRINT_HEADER_LINE("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
case 15: BLACKBOX_PRINT_HEADER_LINE("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8);
blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8); BLACKBOX_PRINT_HEADER_LINE("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8);
break; BLACKBOX_PRINT_HEADER_LINE("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID);
case 16: BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint);
blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8); BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL],
break; masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH],
case 17: masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]);
blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID); BLACKBOX_PRINT_HEADER_LINE("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController);
break; BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL],
case 18: masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL],
blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint); masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]);
break; BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH],
case 19: masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH],
blackboxPrintfHeaderLine("rates:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]);
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL], BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH], masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]); masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]);
break; BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT],
case 20: masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT],
blackboxPrintfHeaderLine("looptime:%d", targetLooptime); masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]);
break; BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS],
case 21: masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS],
blackboxPrintfHeaderLine("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController); masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]);
break; BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR],
case 22: masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR],
blackboxPrintfHeaderLine("rollPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL], BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL], masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]); masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]);
break; BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL],
case 23: masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL],
blackboxPrintfHeaderLine("pitchPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH], BLACKBOX_PRINT_HEADER_LINE("magPID:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH], BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]); masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
break; masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
case 24: BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
blackboxPrintfHeaderLine("yawPID:%d,%d,%d", BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW], BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW], BLACKBOX_PRINT_HEADER_LINE("dynamic_pid:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pid);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]); BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
break; BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
case 25: BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
blackboxPrintfHeaderLine("altPID:%d,%d,%d", BLACKBOX_PRINT_HEADER_LINE("deadband:%d", masterConfig.rcControlsConfig.deadband);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT], BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT], BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", masterConfig.gyro_lpf);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
break; BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f));
case 26: BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", masterConfig.acc_hardware);
blackboxPrintfHeaderLine("posPID:%d,%d,%d", BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", masterConfig.baro_hardware);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS], BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", masterConfig.mag_hardware);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS], BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]); BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation);
break; BLACKBOX_PRINT_HEADER_LINE("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing);
case 27: BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d", masterConfig.rxConfig.airModeActivateThreshold);
blackboxPrintfHeaderLine("posrPID:%d,%d,%d", BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]);
break;
case 28:
blackboxPrintfHeaderLine("navrPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]);
break;
case 29:
blackboxPrintfHeaderLine("levelPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]);
break;
case 30:
blackboxPrintfHeaderLine("magPID:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]);
break;
case 31:
blackboxPrintfHeaderLine("velPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
break;
case 32:
blackboxPrintfHeaderLine("yaw_p_limit:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
break;
case 33:
blackboxPrintfHeaderLine("yaw_lpf_hz:%d",
(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
break;
case 34:
blackboxPrintfHeaderLine("dterm_average_count:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
break;
case 35:
blackboxPrintfHeaderLine("dynamic_pid:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pid);
break;
case 36:
blackboxPrintfHeaderLine("rollPitchItermResetRate:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
break;
case 37:
blackboxPrintfHeaderLine("yawItermResetRate:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
break;
case 38:
blackboxPrintfHeaderLine("dterm_lpf_hz:%d",
(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
break;
case 39:
blackboxPrintfHeaderLine("airmode_activate_throttle:%d",
masterConfig.rxConfig.airModeActivateThreshold);
break;
case 40:
blackboxPrintfHeaderLine("deadband:%d", masterConfig.rcControlsConfig.deadband);
break;
case 41:
blackboxPrintfHeaderLine("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
break;
case 42:
blackboxPrintfHeaderLine("gyro_lpf:%d", masterConfig.gyro_lpf);
break;
case 43:
blackboxPrintfHeaderLine("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
break;
case 44:
blackboxPrintfHeaderLine("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f));
break;
case 45:
blackboxPrintfHeaderLine("acc_hardware:%d", masterConfig.acc_hardware);
break;
case 46:
blackboxPrintfHeaderLine("baro_hardware:%d", masterConfig.baro_hardware);
break;
case 47:
blackboxPrintfHeaderLine("mag_hardware:%d", masterConfig.mag_hardware);
break;
case 48:
blackboxPrintfHeaderLine("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm);
break;
case 49:
blackboxPrintfHeaderLine("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation);
break;
case 50:
blackboxPrintfHeaderLine("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing);
break;
case 51:
blackboxPrintfHeaderLine("features:%d", masterConfig.enabledFeatures);
break;
default: default:
return true; return true;
} }

2
src/main/flight/pid.c
View file

@ -79,7 +79,7 @@ float calculateRate(int axis, const controlRateConfig_t *controlRateConfig) {
float angleRate; float angleRate;
if (isSuperExpoActive()) { if (isSuperExpoActive()) {
float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / 500.0f) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f))); float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcYawRate8 / 100.0f))) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f)), 0.01f, 1.00f)); rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f)), 0.01f, 1.00f));
angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f); angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f);

15
src/main/io/serial_cli.c
View file

@ -2051,24 +2051,27 @@ static void cliDump(char *cmdline)
if (dumpMask & DUMP_ALL) { if (dumpMask & DUMP_ALL) {
uint8_t activeProfile = masterConfig.current_profile_index; uint8_t activeProfile = masterConfig.current_profile_index;
uint8_t currentRateIndex = currentProfile->activeRateProfile;
uint8_t profileCount; uint8_t profileCount;
uint8_t rateCount;
for (profileCount=0; profileCount<MAX_PROFILE_COUNT;profileCount++) { for (profileCount=0; profileCount<MAX_PROFILE_COUNT;profileCount++) {
cliDumpProfile(profileCount); cliDumpProfile(profileCount);
uint8_t currentRateIndex = currentProfile->activeRateProfile;
uint8_t rateCount;
for (rateCount=0; rateCount<MAX_RATEPROFILES; rateCount++) for (rateCount=0; rateCount<MAX_RATEPROFILES; rateCount++)
cliDumpRateProfile(rateCount); cliDumpRateProfile(rateCount);
cliPrint("\r\n# restore original rateprofile selection\r\n");
changeControlRateProfile(currentRateIndex);
cliRateProfile("");
} }
cliPrint("\r\n# restore original profile / rateprofile selection\r\n"); cliPrint("\r\n# restore original profile selection\r\n");
changeProfile(activeProfile); changeProfile(activeProfile);
cliProfile(""); cliProfile("");
printSectionBreak(); printSectionBreak();
changeControlRateProfile(currentRateIndex);
cliRateProfile("");
cliPrint("\r\n# save configuration\r\nsave\r\n"); cliPrint("\r\n# save configuration\r\nsave\r\n");
} else { } else {
cliDumpProfile(masterConfig.current_profile_index); cliDumpProfile(masterConfig.current_profile_index);