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Add rate profiles and inflight switching between them. See Profiles and

Browse source 
Inflight Adjustment documentation for details.
This commit is contained in:
Dominic Clifton 2014-10-29 23:31:43 +00:00
parent cac814923c
commit 28f9fa629c
12 changed files with 346 additions and 66 deletions
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80
src/main/config/config.c
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@ -98,10 +98,11 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
// use the last flash pages for storage
#define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
master_t masterConfig; // master config struct with data independent from profiles
profile_t *currentProfile; // profile config struct
master_t masterConfig; // master config struct with data independent from profiles
profile_t *currentProfile;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 83;
static const uint8_t EEPROM_CONF_VERSION = 84;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -231,12 +232,36 @@ void resetSerialConfig(serialConfig_t *serialConfig)
serialConfig->reboot_character = 'R';
}
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcRate8 = 90;
controlRateConfig->rcExpo8 = 65;
controlRateConfig->rollPitchRate = 0;
controlRateConfig->yawRate = 0;
controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0;
controlRateConfig->dynThrPID = 0;
controlRateConfig->tpa_breakpoint = 1500;
}
static void setProfile(uint8_t profileIndex)
{
currentProfile = &masterConfig.profile[profileIndex];
}
static uint8_t currentControlRateProfileIndex = 0;
uint8_t getCurrentControlRateProfile(void)
{
return currentControlRateProfileIndex;
}
static void setControlRateProfile(uint8_t profileIndex)
{
currentControlRateProfileIndex = profileIndex;
currentControlRateProfile = &masterConfig.controlRateProfiles[profileIndex];
}
// Default settings
static void resetConf(void)
{
@ -322,14 +347,7 @@ static void resetConf(void)
currentProfile->pidController = 0;
resetPidProfile(&currentProfile->pidProfile);
currentProfile->controlRateConfig.rcRate8 = 90;
currentProfile->controlRateConfig.rcExpo8 = 65;
currentProfile->controlRateConfig.rollPitchRate = 0;
currentProfile->controlRateConfig.yawRate = 0;
currentProfile->dynThrPID = 0;
currentProfile->tpa_breakpoint = 1500;
currentProfile->controlRateConfig.thrMid8 = 50;
currentProfile->controlRateConfig.thrExpo8 = 0;
resetControlRateConfig(&masterConfig.controlRateProfiles[0]);
// for (i = 0; i < CHECKBOXITEMS; i++)
// cfg.activate[i] = 0;
@ -391,8 +409,18 @@ static void resetConf(void)
#endif
// copy first profile into remaining profile
for (i = 1; i < 3; i++)
for (i = 1; i < MAX_PROFILE_COUNT; i++) {
memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
}
// copy first control rate config into remaining profile
for (i = 1; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
memcpy(&masterConfig.controlRateProfiles[i], currentControlRateProfile, sizeof(controlRateConfig_t));
}
for (i = 1; i < MAX_PROFILE_COUNT; i++) {
masterConfig.profile[i].default_rateProfile_index = i % MAX_CONTROL_RATE_PROFILE_COUNT;
}
}
static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
@ -427,12 +455,18 @@ static bool isEEPROMContentValid(void)
return true;
}
void activateControlRateConfig(void)
{
generatePitchRollCurve(currentControlRateProfile);
generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig);
}
void activateConfig(void)
{
static imuRuntimeConfig_t imuRuntimeConfig;
generatePitchRollCurve(&currentProfile->controlRateConfig);
generateThrottleCurve(&currentProfile->controlRateConfig, &masterConfig.escAndServoConfig);
activateControlRateConfig();
useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);
useGyroConfig(&masterConfig.gyroConfig);
@ -565,12 +599,17 @@ void readEEPROM(void)
// Read flash
memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t));
// Copy current profile
if (masterConfig.current_profile_index > 2) // sanity check
if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check
masterConfig.current_profile_index = 0;
setProfile(masterConfig.current_profile_index);
if (currentProfile->default_rateProfile_index > MAX_CONTROL_RATE_PROFILE_COUNT - 1) // sanity check
currentProfile->default_rateProfile_index = 0;
setControlRateProfile(currentProfile->default_rateProfile_index);
validateAndFixConfig();
activateConfig();
}
@ -663,6 +702,15 @@ void changeProfile(uint8_t profileIndex)
blinkLedAndSoundBeeper(2, 40, profileIndex + 1);
}
void changeControlRateProfile(uint8_t profileIndex)
{
if (profileIndex > MAX_CONTROL_RATE_PROFILE_COUNT) {
profileIndex = MAX_CONTROL_RATE_PROFILE_COUNT - 1;
}
setControlRateProfile(profileIndex);
activateControlRateConfig();
}
bool feature(uint32_t mask)
{
return masterConfig.enabledFeatures & mask;