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New CLI CF1.11 style

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borisbstyle 2015-11-24 14:55:20 +01:00
parent 801ffd909c
commit 28944852a8
1 changed files with 355 additions and 258 deletions
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613
src/main/io/serial_cli.c
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@ -186,11 +186,6 @@ static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT
{ RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET } { RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
}; };
// sync this with pidControllerType_e
static const char * const pidControllers[] = {
"REWRITE", "LUXFLOAT", NULL
};
#ifndef CJMCU #ifndef CJMCU
// sync this with sensors_e // sync this with sensors_e
static const char * const sensorTypeNames[] = { static const char * const sensorTypeNames[] = {
@ -303,248 +298,360 @@ const clicmd_t cmdTable[] = {
}; };
#define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t)) #define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
typedef enum { static const char * const lookupTableOffOn[] = {
VAR_UINT8 = (1 << 0), "OFF", "ON"
VAR_INT8 = (1 << 1), };
VAR_UINT16 = (1 << 2),
VAR_INT16 = (1 << 3),
VAR_UINT32 = (1 << 4),
VAR_FLOAT = (1 << 5),
MASTER_VALUE = (1 << 6), static const char * const lookupTableUnit[] = {
PROFILE_VALUE = (1 << 7), "IMPERIAL", "METRIC"
CONTROL_RATE_VALUE = (1 << 8) };
static const char * const lookupTableAlignment[] = {
"DEFAULT",
"CW0",
"CW90",
"CW180",
"CW270",
"CW0FLIP",
"CW90FLIP",
"CW180FLIP",
"CW270FLIP"
};
#ifdef GPS
static const char * const lookupTableGPSProvider[] = {
"NMEA", "UBLOX"
};
static const char * const lookupTableGPSSBASMode[] = {
"AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN"
};
#endif
static const char * const lookupTableCurrentSensor[] = {
"NONE", "ADC", "VIRTUAL"
};
static const char * const lookupTableGimbalMode[] = {
"NORMAL", "MIXTILT"
};
static const char * const lookupTablePidController[] = {
"MWREWRITE", "LUX"
};
static const char * const lookupTableSerialRX[] = {
"SPEK1024",
"SPEK2048",
"SBUS",
"SUMD",
"SUMH",
"XB-B",
"XB-B-RJ01"
};
typedef struct lookupTableEntry_s {
const char * const *values;
const uint8_t valueCount;
} lookupTableEntry_t;
typedef enum {
TABLE_OFF_ON = 0,
TABLE_UNIT,
TABLE_ALIGNMENT,
#ifdef GPS
TABLE_GPS_PROVIDER,
TABLE_GPS_SBAS_MODE,
#endif
TABLE_CURRENT_SENSOR,
TABLE_GIMBAL_MODE,
TABLE_PID_CONTROLLER,
TABLE_SERIAL_RX
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
{ lookupTableOffOn, sizeof(lookupTableOffOn) / sizeof(char *) },
{ lookupTableUnit, sizeof(lookupTableUnit) / sizeof(char *) },
{ lookupTableAlignment, sizeof(lookupTableAlignment) / sizeof(char *) },
#ifdef GPS
{ lookupTableGPSProvider, sizeof(lookupTableGPSProvider) / sizeof(char *) },
{ lookupTableGPSSBASMode, sizeof(lookupTableGPSSBASMode) / sizeof(char *) },
#endif
{ lookupTableCurrentSensor, sizeof(lookupTableCurrentSensor) / sizeof(char *) },
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) }
};
#define VALUE_TYPE_OFFSET 0
#define VALUE_SECTION_OFFSET 4
#define VALUE_MODE_OFFSET 6
typedef enum {
// value type
VAR_UINT8 = (0 << VALUE_TYPE_OFFSET),
VAR_INT8 = (1 << VALUE_TYPE_OFFSET),
VAR_UINT16 = (2 << VALUE_TYPE_OFFSET),
VAR_INT16 = (3 << VALUE_TYPE_OFFSET),
VAR_UINT32 = (4 << VALUE_TYPE_OFFSET),
VAR_FLOAT = (5 << VALUE_TYPE_OFFSET),
// value section
MASTER_VALUE = (0 << VALUE_SECTION_OFFSET),
PROFILE_VALUE = (1 << VALUE_SECTION_OFFSET),
CONTROL_RATE_VALUE = (2 << VALUE_SECTION_OFFSET),
// value mode
MODE_DIRECT = (0 << VALUE_MODE_OFFSET),
MODE_LOOKUP = (1 << VALUE_MODE_OFFSET)
} cliValueFlag_e; } cliValueFlag_e;
#define VALUE_TYPE_MASK (VAR_UINT8 | VAR_INT8 | VAR_UINT16 | VAR_INT16 | VAR_UINT32 | VAR_FLOAT) #define VALUE_TYPE_MASK (0x0F)
#define SECTION_MASK (MASTER_VALUE | PROFILE_VALUE | CONTROL_RATE_VALUE) #define VALUE_SECTION_MASK (0x30)
#define VALUE_MODE_MASK (0xC0)
typedef struct cliMinMaxConfig_s {
const int32_t min;
const int32_t max;
} cliMinMaxConfig_t;
typedef struct cliLookupTableConfig_s {
const lookupTableIndex_e tableIndex;
} cliLookupTableConfig_t;
typedef union {
cliLookupTableConfig_t lookup;
cliMinMaxConfig_t minmax;
} cliValueConfig_t;
typedef struct { typedef struct {
const char *name; const char *name;
const uint16_t type; // cliValueFlag_e - specify one of each from VALUE_TYPE_MASK and SECTION_MASK const uint8_t type; // see cliValueFlag_e
void *ptr; void *ptr;
const int32_t min; const cliValueConfig_t config;
const int32_t max;
} clivalue_t; } clivalue_t;
const clivalue_t valueTable[] = { const clivalue_t valueTable[] = {
{ "emf_avoidance", VAR_UINT8 | MASTER_VALUE, &masterConfig.emf_avoidance, 0, 1 }, { "emf_avoidance", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.emf_avoidance, .config.lookup = { TABLE_OFF_ON } },
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, 1200, 1700 }, { "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, .config.minmax = { 1200, 1700 } },
{ "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX }, { "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX }, { "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_channel, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT }, { "rssi_channel", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_channel, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, RSSI_SCALE_MIN, RSSI_SCALE_MAX }, { "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX } },
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_ppm_invert, 0, 1 }, { "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE, &masterConfig.inputFilteringMode, 0, 1 }, { "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX }, { "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX }, { "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "min_command", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.mincommand, PWM_RANGE_ZERO, PWM_RANGE_MAX }, { "min_command", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.servoCenterPulse, PWM_RANGE_ZERO, PWM_RANGE_MAX }, { "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_low, PWM_RANGE_ZERO, PWM_RANGE_MAX }, // FIXME upper limit should match code in the mixer, 1500 currently { "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_low, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_high, PWM_RANGE_ZERO, PWM_RANGE_MAX }, // FIXME lower limit should match code in the mixer, 1500 currently, { "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_high, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, PWM_RANGE_ZERO, PWM_RANGE_MAX }, { "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, PWM_RANGE_ZERO, PWM_RANGE_MAX }, { "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, 50, 32000 }, { "enable_fast_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_fast_pwm, .config.lookup = { TABLE_OFF_ON } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, 50, 498 }, { "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 50, 32000 } },
{ "enable_fast_pwm", VAR_UINT8 | MASTER_VALUE, &masterConfig.use_fast_pwm, 0, 1 }, { "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },
{ "retarded_arm", VAR_UINT8 | MASTER_VALUE, &masterConfig.retarded_arm, 0, 1 }, { "retarded_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.retarded_arm, .config.lookup = { TABLE_OFF_ON } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.disarm_kill_switch, 0, 1 }, { "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, 0, 60 }, { "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, .config.minmax = { 0, 60 } },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, 0, 180 }, { "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, .config.minmax = { 0, 180 } },
{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &masterConfig.airplaneConfig.fixedwing_althold_dir, -1, 1 }, { "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &masterConfig.airplaneConfig.fixedwing_althold_dir, .config.minmax = { -1, 1 } },
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.reboot_character, 48, 126 }, { "reboot_character", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.reboot_character, .config.minmax = { 48, 126 } },
#ifdef GPS #ifdef GPS
{ "gps_provider", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.provider, 0, GPS_PROVIDER_MAX }, { "gps_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gpsConfig.provider, .config.lookup = { TABLE_GPS_PROVIDER } },
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.sbasMode, 0, SBAS_MODE_MAX }, { "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, &masterConfig.gpsConfig.autoConfig, GPS_AUTOCONFIG_OFF, GPS_AUTOCONFIG_ON }, { "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gpsConfig.autoConfig, .config.lookup = { TABLE_OFF_ON } },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.autoBaud, GPS_AUTOBAUD_OFF, GPS_AUTOBAUD_ON }, { "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gpsConfig.autoBaud, .config.lookup = { TABLE_OFF_ON } },
{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOS], 0, 200 }, { "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], 0, 200 }, { "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOS], .config.minmax = { 0, 200 } },
{ "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOS], 0, 200 }, { "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOS], .config.minmax = { 0, 200 } },
{ "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOSR], 0, 200 }, { "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOSR], .config.minmax = { 0, 200 } },
{ "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOSR], 0, 200 }, { "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOSR], .config.minmax = { 0, 200 } },
{ "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOSR], 0, 200 }, { "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOSR], .config.minmax = { 0, 200 } },
{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], 0, 200 }, { "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], 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], 0, 200 }, { "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], .config.minmax = { 0, 200 } },
{ "gps_wp_radius", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.gps_wp_radius, 0, 2000 }, { "gps_wp_radius", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.gps_wp_radius, .config.minmax = { 0, 2000 } },
{ "nav_controls_heading", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_controls_heading, 0, 1 }, { "nav_controls_heading", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gpsProfile.nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
{ "nav_speed_min", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_min, 10, 2000 }, { "nav_speed_min", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_min, .config.minmax = { 10, 2000 } },
{ "nav_speed_max", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_max, 10, 2000 }, { "nav_speed_max", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_max, .config.minmax = { 10, 2000 } },
{ "nav_slew_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_slew_rate, 0, 100 }, { "nav_slew_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_slew_rate, .config.minmax = { 0, 100 } },
#endif #endif
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.serialrx_provider, 0, SERIALRX_PROVIDER_MAX }, { "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, { "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX} },
{ "telemetry_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.telemetry_switch, 0, 1 }, { "telemetry_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.telemetry_switch, .config.lookup = { TABLE_OFF_ON } },
{ "telemetry_inversion", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.telemetry_inversion, 0, 1 }, { "telemetry_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.telemetry_inversion, .config.lookup = { TABLE_OFF_ON } },
{ "frsky_default_lattitude", VAR_FLOAT | MASTER_VALUE, &masterConfig.telemetryConfig.gpsNoFixLatitude, -90.0, 90.0 }, { "frsky_default_lattitude", VAR_FLOAT | MASTER_VALUE, &masterConfig.telemetryConfig.gpsNoFixLatitude, .config.minmax = { -90.0, 90.0 } },
{ "frsky_default_longitude", VAR_FLOAT | MASTER_VALUE, &masterConfig.telemetryConfig.gpsNoFixLongitude, -180.0, 180.0 }, { "frsky_default_longitude", VAR_FLOAT | MASTER_VALUE, &masterConfig.telemetryConfig.gpsNoFixLongitude, .config.minmax = { -180.0, 180.0 } },
{ "frsky_coordinates_format", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_coordinate_format, 0, FRSKY_FORMAT_NMEA }, { "frsky_coordinates_format", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_coordinate_format, .config.minmax = { 0, FRSKY_FORMAT_NMEA } },
{ "frsky_unit", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_unit, 0, FRSKY_UNIT_IMPERIALS }, { "frsky_unit", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.frsky_unit, .config.lookup = { TABLE_UNIT } },
{ "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_vfas_precision, FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH }, { "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH } },
{ "hott_alarm_sound_interval", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.hottAlarmSoundInterval, 0, 120 }, { "hott_alarm_sound_interval", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.hottAlarmSoundInterval, .config.minmax = { 0, 120 } },
{ "battery_capacity", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.batteryCapacity, 0, 20000 }, { "battery_capacity", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.batteryCapacity, .config.minmax = { 0, 20000 } },
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatscale, VBAT_SCALE_MIN, VBAT_SCALE_MAX }, { "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, 10, 50 }, { "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, 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, 10, 50 }, { "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatwarningcellvoltage, .config.minmax = { 10, 50 } },
{ "current_meter_scale", VAR_INT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterScale, -10000, 10000 }, { "current_meter_scale", VAR_INT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterScale, .config.minmax = { -10000, 10000 } },
{ "current_meter_offset", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterOffset, 0, 3300 }, { "current_meter_offset", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterOffset, .config.minmax = { 0, 3300 } },
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, 0, 1 }, { "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, &masterConfig.batteryConfig.currentMeterType, 0, CURRENT_SENSOR_MAX }, { "current_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
{ "align_gyro", VAR_UINT8 | MASTER_VALUE, &masterConfig.sensorAlignmentConfig.gyro_align, 0, 8 }, { "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorAlignmentConfig.gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_acc", VAR_UINT8 | MASTER_VALUE, &masterConfig.sensorAlignmentConfig.acc_align, 0, 8 }, { "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorAlignmentConfig.acc_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_mag", VAR_UINT8 | MASTER_VALUE, &masterConfig.sensorAlignmentConfig.mag_align, 0, 8 }, { "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorAlignmentConfig.mag_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_board_roll", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.rollDegrees, -180, 360 }, { "align_board_roll", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.rollDegrees, .config.minmax = { -180, 360 } },
{ "align_board_pitch", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.pitchDegrees, -180, 360 }, { "align_board_pitch", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.pitchDegrees, .config.minmax = { -180, 360 } },
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.yawDegrees, -180, 360 }, { "align_board_yaw", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.yawDegrees, .config.minmax = { -180, 360 } },
{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, 100, 1200 }, { "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, .config.minmax = { 100, 900 } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, 0, 128 }, { "gyro_lpf", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_lpf, .config.minmax = { 0, 256 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, 0, 50000 }, { "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, 0, 50000 }, { "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } },
{ "alt_hold_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, 1, 250 }, { "alt_hold_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, .config.minmax = { 1, 250 } },
{ "alt_hold_fast_change", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_fast_change, 0, 1 }, { "alt_hold_fast_change", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].rcControlsConfig.alt_hold_fast_change, .config.lookup = { TABLE_OFF_ON } },
{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.deadband, 0, 32 }, { "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.deadband, .config.minmax = { 0, 32 } },
{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.yaw_deadband, 0, 100 }, { "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.yaw_deadband, .config.minmax = { 0, 100 } },
{ "throttle_correction_value", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_value, 0, 150 }, { "throttle_correction_value", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_value, .config.minmax = { 0, 150 } },
{ "throttle_correction_angle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_angle, 1, 900 }, { "throttle_correction_angle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_angle, .config.minmax = { 1, 900 } },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, -1, 1 }, { "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, .config.minmax = { -1, 1 } },
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 5 }, { "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.pid_at_min_throttle, .config.minmax = { 0, 5 } },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, -1, 1 }, { "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH }, { "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH } },
#ifdef USE_SERVOS #ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 }, { "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400}, { "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_enable, 0, 1 }, { "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
#endif #endif
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, { "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 } },
{ "rc_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, 0, 250 }, { "rc_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, .config.minmax = { 0, 250 } },
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, 0, 100 }, { "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, .config.minmax = { 0, 100 } },
{ "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, 0, 100 }, { "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, .config.minmax = { 0, 100 } },
{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, 0, 100 }, { "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, .config.minmax = { 0, 100 } },
{ "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, 0, 100 }, { "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, .config.minmax = { 0, 100 } },
{ "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, { "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, { "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX }, { "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], .config.minmax = { 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, CONTROL_RATE_CONFIG_TPA_MAX}, { "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX} },
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX}, { "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX} },
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_delay, 0, 200 }, { "failsafe_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_delay, .config.minmax = { 0, 200 } },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_off_delay, 0, 200 }, { "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_off_delay, .config.minmax = { 0, 200 } },
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX }, { "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX } },
{ "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_kill_switch, 0, 1 }, { "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle_low_delay, 0, 300 }, { "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle_low_delay, .config.minmax = { 0, 300 } },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, PWM_PULSE_MIN, PWM_PULSE_MAX }, { "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, PWM_PULSE_MIN, PWM_PULSE_MAX }, { "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
#ifdef USE_SERVOS #ifdef USE_SERVOS
{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gimbalConfig.mode, 0, GIMBAL_MODE_MAX}, { "gimbal_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE } },
#endif #endif
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, 0, ACC_MAX }, { "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, .config.minmax = { 0, ACC_MAX } },
{ "acc_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_cut_hz, 0, 200 }, { "acc_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_cut_hz, .config.minmax = { 0, 200 } },
{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.xy, 0, 100 }, { "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.xy, .config.minmax = { 0, 100 } },
{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.z, 0, 100 }, { "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.z, .config.minmax = { 0, 100 } },
{ "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].accz_lpf_cutoff, 1, 20 }, { "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].accz_lpf_cutoff, .config.minmax = { 1, 20 } },
{ "acc_unarmedcal", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_unarmedcal, 0, 1 }, { "acc_unarmedcal", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].acc_unarmedcal, .config.lookup = { TABLE_OFF_ON } },
{ "acc_trim_pitch", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.pitch, -300, 300 }, { "acc_trim_pitch", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.pitch, .config.minmax = { -300, 300 } },
{ "acc_trim_roll", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.roll, -300, 300 }, { "acc_trim_roll", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.roll, .config.minmax = { -300, 300 } },
{ "baro_tab_size", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_sample_count, 0, BARO_SAMPLE_COUNT_MAX }, { "baro_tab_size", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_sample_count, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX } },
{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, 0, 1 }, { "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, .config.lookup = { TABLE_OFF_ON } },
{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, 0, 1 }, { "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].barometerConfig.baro_cf_vel, .config.lookup = { TABLE_OFF_ON } },
{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, 0, 1 }, { "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].barometerConfig.baro_cf_alt, .config.lookup = { TABLE_OFF_ON } },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, 0, BARO_MAX }, { "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, .config.minmax = { 0, BARO_MAX } },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_MAX }, { "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, .config.minmax = { 0, MAG_MAX } },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 }, { "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, .config.minmax = { -18000, 18000 } },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidController, 1, 2 }, { "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], 0, 200 }, { "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 } },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], 0, 200 }, { "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 } },
{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], 0, 200 }, { "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], .config.minmax = { 0, 200 } },
{ "p_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[ROLL], 0, 200 }, { "p_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[ROLL], .config.minmax = { 0, 200 } },
{ "i_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[ROLL], 0, 200 }, { "i_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[ROLL], .config.minmax = { 0, 200 } },
{ "d_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[ROLL], 0, 200 }, { "d_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[ROLL], .config.minmax = { 0, 200 } },
{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[YAW], 0, 200 }, { "p_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[YAW], .config.minmax = { 0, 200 } },
{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[YAW], 0, 200 }, { "i_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[YAW], .config.minmax = { 0, 200 } },
{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[YAW], 0, 200 }, { "d_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[YAW], .config.minmax = { 0, 200 } },
{ "p_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[PITCH], 0, 100 }, { "p_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[PITCH], .config.minmax = { 0, 100 } },
{ "i_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[PITCH], 0, 100 }, { "i_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[PITCH], .config.minmax = { 0, 100 } },
{ "d_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[PITCH], 0, 100 }, { "d_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[PITCH], .config.minmax = { 0, 100 } },
{ "p_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[ROLL], 0, 100 }, { "p_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[ROLL], .config.minmax = { 0, 100 } },
{ "i_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[ROLL], 0, 100 }, { "i_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[ROLL], .config.minmax = { 0, 100 } },
{ "d_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[ROLL], 0, 100 }, { "d_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[ROLL], .config.minmax = { 0, 100 } },
{ "p_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[YAW], 0, 100 }, { "p_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[YAW], .config.minmax = { 0, 100 } },
{ "i_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[YAW], 0, 100 }, { "i_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[YAW], .config.minmax = { 0, 100 } },
{ "d_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[YAW], 0, 100 }, { "d_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[YAW], .config.minmax = { 0, 100 } },
{ "level_horizon", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_level, 0, 10 }, { "level_horizon", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_level, .config.minmax = { 0, 10 } },
{ "level_angle", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.A_level, 0, 10 }, { "level_angle", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.A_level, .config.minmax = { 0, 10 } },
{ "sensitivity_horizon", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_sensitivity, 0, 250 }, { "sensitivity_horizon", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_sensitivity, .config.minmax = { 0, 250 } },
{ "p_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], 0, 200 }, { "p_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], .config.minmax = { 0, 200 } },
{ "i_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], 0, 200 }, { "i_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], .config.minmax = { 0, 200 } },
{ "d_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDALT], 0, 200 }, { "d_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDALT], .config.minmax = { 0, 200 } },
{ "p_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDLEVEL], 0, 200 }, { "p_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDLEVEL], .config.minmax = { 0, 200 } },
{ "i_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDLEVEL], 0, 200 }, { "i_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDLEVEL], .config.minmax = { 0, 200 } },
{ "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], 0, 200 }, { "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], .config.minmax = { 0, 200 } },
{ "p_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], 0, 200 }, { "p_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], .config.minmax = { 0, 200 } },
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 }, { "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], 0, 200 }, { "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, 0, 200 }, { "yaw_pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, .config.minmax = { 0, 200 } },
{ "yaw_pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, 0, 200 }, { "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = { 0, 200 } },
#ifdef GTUNE #ifdef GTUNE
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], 10, 200 }, { "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 } },
{ "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], 10, 200 }, { "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10, 200 } },
{ "gtune_loP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], 10, 200 }, { "gtune_loP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], .config.minmax = { 10, 200 } },
{ "gtune_hiP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], 0, 200 }, { "gtune_hiP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], .config.minmax = { 0, 200 } },
{ "gtune_hiP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], 0, 200 }, { "gtune_hiP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], .config.minmax = { 0, 200 } },
{ "gtune_hiP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], 0, 200 }, { "gtune_hiP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], .config.minmax = { 0, 200 } },
{ "gtune_pwr", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_pwr, 0, 10 }, { "gtune_pwr", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_pwr, .config.minmax = { 0, 10 } },
{ "gtune_settle_time", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_settle_time, 200, 1000 }, { "gtune_settle_time", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_settle_time, .config.minmax = { 200, 1000 } },
{ "gtune_average_cycles", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_average_cycles, 8, 128 }, { "gtune_average_cycles", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8, 128 } },
#endif #endif
#ifdef BLACKBOX #ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, 1, 32 }, { "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, .config.minmax = { 1, 32 } },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, 1, 32 }, { "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, .config.minmax = { 1, 32 } },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_device, 0, 1 }, { "blackbox_device", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_device, .config.lookup = { TABLE_OFF_ON } },
#endif #endif
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[X], -32768, 32767 }, { "beeper_off_flags", VAR_UINT32 | MASTER_VALUE, &masterConfig.beeper_off.flags, .config.minmax = {BEEPER_OFF_FLAGS_MIN, BEEPER_OFF_FLAGS_MAX }},
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[Y], -32768, 32767 },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[Z], -32768, 32767 },
{ "beeper_off_flags", VAR_UINT32 | MASTER_VALUE, &masterConfig.beeper_off.flags, BEEPER_OFF_FLAGS_MIN, BEEPER_OFF_FLAGS_MAX }, { "magzero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[Z], .config.minmax = { -32768, 32767 } },
}; };
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t)) #define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
@ -1400,27 +1507,19 @@ static void cliFlashRead(char *cmdline)
#endif #endif
#endif #endif
static void dumpValues(uint16_t mask) static void dumpValues(uint16_t valueSection)
{ {
uint32_t i; uint32_t i;
const clivalue_t *value; const clivalue_t *value;
for (i = 0; i < VALUE_COUNT; i++) { for (i = 0; i < VALUE_COUNT; i++) {
value = &valueTable[i]; value = &valueTable[i];
if ((value->type & mask) == 0) { if ((value->type & VALUE_SECTION_MASK) != valueSection) {
continue; continue;
} }
printf("set %s = ", valueTable[i].name); printf("set %s = ", valueTable[i].name);
cliPrintVar(value, 0);
if (strstr(valueTable[i].name, "pid_controller")) {
void *pidPtr= value->ptr;
pidPtr= ((uint8_t *)pidPtr) + (sizeof(profile_t) * masterConfig.current_profile_index);
cliPrint(pidControllers[*(uint8_t *)pidPtr-1]);
} else {
cliPrintVar(value, 0);
}
cliPrint("\r\n"); cliPrint("\r\n");
} }
} }
@ -1955,10 +2054,10 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
char buf[8]; char buf[8];
void *ptr = var->ptr; void *ptr = var->ptr;
if (var->type & PROFILE_VALUE) { if ((var->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index); ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
} }
if (var->type & CONTROL_RATE_VALUE) { if ((var->type & VALUE_SECTION_MASK) == CONTROL_RATE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile()); ptr = ((uint8_t *)ptr) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
} }
@ -1985,24 +2084,33 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
case VAR_FLOAT: case VAR_FLOAT:
printf("%s", ftoa(*(float *)ptr, buf)); printf("%s", ftoa(*(float *)ptr, buf));
if (full) { if (full && (var->type & VALUE_MODE_MASK) == MODE_DIRECT) {
printf(" %s", ftoa((float)var->min, buf)); printf(" %s", ftoa((float)var->config.minmax.min, buf));
printf(" %s", ftoa((float)var->max, buf)); printf(" %s", ftoa((float)var->config.minmax.max, buf));
} }
return; // return from case for float only return; // return from case for float only
} }
printf("%d", value);
if (full) switch(var->type & VALUE_MODE_MASK) {
printf(" %d %d", var->min, var->max); case MODE_DIRECT:
printf("%d", value);
if (full) {
printf(" %d %d", var->config.minmax.min, var->config.minmax.max);
}
break;
case MODE_LOOKUP:
printf(lookupTables[var->config.lookup.tableIndex].values[value]);
break;
}
} }
static void cliSetVar(const clivalue_t *var, const int_float_value_t value) static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
{ {
void *ptr = var->ptr; void *ptr = var->ptr;
if (var->type & PROFILE_VALUE) { if ((var->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index); ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
} }
if (var->type & CONTROL_RATE_VALUE) { if ((var->type & VALUE_SECTION_MASK) == CONTROL_RATE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile()); ptr = ((uint8_t *)ptr) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
} }
@ -2033,8 +2141,6 @@ static void cliSet(char *cmdline)
uint32_t len; uint32_t len;
const clivalue_t *val; const clivalue_t *val;
char *eqptr = NULL; char *eqptr = NULL;
int32_t value = 0;
float valuef = 0;
len = strlen(cmdline); len = strlen(cmdline);
@ -2056,57 +2162,56 @@ static void cliSet(char *cmdline)
eqptr++; eqptr++;
len--; len--;
value = atoi(eqptr);
valuef = fastA2F(eqptr);
for (i = 0; i < VALUE_COUNT; i++) { for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i]; val = &valueTable[i];
// ensure exact match when setting to prevent setting variables with shorter names
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) { if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
// ensure exact match when setting to prevent setting variables with shorter names
if (strstr(valueTable[i].name, "pid_controller")) {
int_float_value_t tmp;
tmp.int_value = 0;
bool pidControllerSet = false;
if (value) { bool changeValue = false;
if (value >= valueTable[i].min && value <= valueTable[i].max) { int_float_value_t tmp;
tmp.int_value = value; switch (valueTable[i].type & VALUE_MODE_MASK) {
cliSetVar(val, tmp); case MODE_DIRECT: {
printf("%s set to %s \r\n", valueTable[i].name, pidControllers[value - 1]); int32_t value = 0;
pidControllerSet = true; float valuef = 0;
}
} else { value = atoi(eqptr);
for (int pid = 0; pid < (PID_COUNT - 1); pid++) { valuef = fastA2F(eqptr);
if (strstr(eqptr, pidControllers[pid])) {
tmp.int_value = pid + 1; if (valuef >= valueTable[i].config.minmax.min && valuef <= valueTable[i].config.minmax.max) { // note: compare float value
cliSetVar(val, tmp);
printf("%s set to %s \r\n", valueTable[i].name, pidControllers[pid]); if ((valueTable[i].type & VALUE_TYPE_MASK) == VAR_FLOAT)
pidControllerSet = true; tmp.float_value = valuef;
else
tmp.int_value = value;
changeValue = true;
} }
} }
} break;
case MODE_LOOKUP: {
const lookupTableEntry_t *tableEntry = &lookupTables[valueTable[i].config.lookup.tableIndex];
bool matched = false;
for (uint8_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
matched = strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
if (!pidControllerSet) { if (matched) {
printf("Invalid Value! (Available PID Controllers: "); tmp.int_value = tableValueIndex;
for (int pid = 0; pid < (PID_COUNT - 1); pid++) { changeValue = true;
printf(pidControllers[pid]); }
printf(" "); }
} }
printf(")\r\n"); break;
} }
return; if (changeValue) {
} else if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
int_float_value_t tmp;
if (valueTable[i].type & VAR_FLOAT)
tmp.float_value = valuef;
else
tmp.int_value = value;
cliSetVar(val, tmp); cliSetVar(val, tmp);
printf("%s set to ", valueTable[i].name); printf("%s set to ", valueTable[i].name);
cliPrintVar(val, 0); cliPrintVar(val, 0);
} else { } else {
cliPrint("Value assignment out of range\r\n"); cliPrint("Invalid value\r\n");
} }
return; return;
} }
} }
@ -2117,7 +2222,6 @@ static void cliSet(char *cmdline)
} }
} }
static void cliGet(char *cmdline) static void cliGet(char *cmdline)
{ {
uint32_t i; uint32_t i;
@ -2128,15 +2232,7 @@ static void cliGet(char *cmdline)
if (strstr(valueTable[i].name, cmdline)) { if (strstr(valueTable[i].name, cmdline)) {
val = &valueTable[i]; val = &valueTable[i];
printf("%s = ", valueTable[i].name); printf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
if (strstr(valueTable[i].name, "pid_controller")) {
void *pidPtr= val->ptr;
pidPtr= ((uint8_t *)pidPtr) + (sizeof(profile_t) * masterConfig.current_profile_index);
cliPrint(pidControllers[*(uint8_t *)pidPtr-1]);
} else {
cliPrintVar(val, 0);
}
cliPrint("\r\n"); cliPrint("\r\n");
matchedCommands++; matchedCommands++;
@ -2219,6 +2315,7 @@ static void cliUSB1Wire(char *cmdline)
} }
#endif #endif
static void cliVersion(char *cmdline) static void cliVersion(char *cmdline)
{ {
UNUSED(cmdline); UNUSED(cmdline);