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https://github.com/betaflight/betaflight.git
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Add rate profiles and inflight switching between them. See Profiles and
Inflight Adjustment documentation for details.
This commit is contained in:
Dominic Clifton
parent
cac814923c
commit
28f9fa629c
12 changed files with 346 additions and 66 deletions
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@ -89,6 +89,7 @@ static void cliColor(char *cmdline);
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static void cliMixer(char *cmdline);
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static void cliMotor(char *cmdline);
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static void cliProfile(char *cmdline);
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static void cliRateProfile(char *cmdline);
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static void cliSave(char *cmdline);
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static void cliSet(char *cmdline);
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static void cliGet(char *cmdline);
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@ -163,6 +164,7 @@ const clicmd_t cmdTable[] = {
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{ "mixer", "mixer name or list", cliMixer },
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{ "motor", "get/set motor output value", cliMotor },
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{ "profile", "index (0 to 2)", cliProfile },
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{ "rateprofile", "index (0 to 2)", cliRateProfile },
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{ "save", "save and reboot", cliSave },
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{ "set", "name=value or blank or * for list", cliSet },
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{ "status", "show system status", cliStatus },
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@ -179,15 +181,16 @@ typedef enum {
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VAR_FLOAT = (1 << 5),
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MASTER_VALUE = (1 << 6),
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PROFILE_VALUE = (1 << 7)
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PROFILE_VALUE = (1 << 7),
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CONTROL_RATE_VALUE = (1 << 8)
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} cliValueFlag_e;
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#define VALUE_TYPE_MASK (VAR_UINT8 | VAR_INT8 | VAR_UINT16 | VAR_INT16 | VAR_UINT32 | VAR_FLOAT)
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#define SECTION_MASK (MASTER_VALUE | PROFILE_VALUE)
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#define SECTION_MASK (MASTER_VALUE | PROFILE_VALUE | CONTROL_RATE_VALUE)
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typedef struct {
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const char *name;
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const uint8_t type; // cliValueFlag_e - specify one of each from VALUE_TYPE_MASK and SECTION_MASK
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const uint16_t type; // cliValueFlag_e - specify one of each from VALUE_TYPE_MASK and SECTION_MASK
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void *ptr;
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const int32_t min;
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const int32_t max;
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@ -221,7 +224,7 @@ const clivalue_t valueTable[] = {
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{ "flaps_speed", VAR_UINT8 | MASTER_VALUE, &masterConfig.airplaneConfig.flaps_speed, 0, 100 },
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{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE | MASTER_VALUE, &masterConfig.fixedwing_althold_dir, -1, 1 },
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{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &masterConfig.fixedwing_althold_dir, -1, 1 },
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{ "serial_port_1_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[0], 0, SERIAL_PORT_SCENARIO_MAX },
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{ "serial_port_2_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[1], 0, SERIAL_PORT_SCENARIO_MAX },
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@ -311,14 +314,15 @@ const clivalue_t valueTable[] = {
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{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
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{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
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{ "rc_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.rcRate8, 0, 250 },
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{ "rc_expo", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.rcExpo8, 0, 100 },
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{ "thr_mid", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.thrMid8, 0, 100 },
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{ "thr_expo", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.thrExpo8, 0, 100 },
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{ "roll_pitch_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.rollPitchRate, 0, 100 },
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{ "yaw_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.yawRate, 0, 100 },
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{ "tpa_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].dynThrPID, 0, 100},
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{ "tpa_breakpoint", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
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{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].default_rateProfile_index, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 },
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{ "rc_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, 0, 250 },
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{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, 0, 100 },
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{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, 0, 100 },
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{ "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, 0, 100 },
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{ "roll_pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rollPitchRate, 0, 100 },
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{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].yawRate, 0, 100 },
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{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, 100},
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{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
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{ "failsafe_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_delay, 0, 200 },
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{ "failsafe_off_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_off_delay, 0, 200 },
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@ -696,7 +700,7 @@ static void cliColor(char *cmdline)
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}
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#endif
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static void dumpValues(uint8_t mask)
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static void dumpValues(uint16_t mask)
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{
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uint32_t i;
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const clivalue_t *value;
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@ -715,10 +719,11 @@ static void dumpValues(uint8_t mask)
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typedef enum {
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DUMP_MASTER = (1 << 0),
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DUMP_PROFILE = (1 << 1)
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DUMP_PROFILE = (1 << 1),
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DUMP_CONTROL_RATE_PROFILE = (1 << 2)
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} dumpFlags_e;
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#define DUMP_ALL (DUMP_MASTER | DUMP_PROFILE)
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#define DUMP_ALL (DUMP_MASTER | DUMP_PROFILE | DUMP_CONTROL_RATE_PROFILE)
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static const char* const sectionBreak = "\r\n";
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@ -739,6 +744,9 @@ static void cliDump(char *cmdline)
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if (strcasecmp(cmdline, "profile") == 0) {
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dumpMask = DUMP_PROFILE; // only
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}
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if (strcasecmp(cmdline, "rates") == 0) {
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dumpMask = DUMP_CONTROL_RATE_PROFILE; // only
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}
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if (dumpMask & DUMP_MASTER) {
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@ -826,6 +834,17 @@ static void cliDump(char *cmdline)
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dumpValues(PROFILE_VALUE);
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}
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if (dumpMask & DUMP_CONTROL_RATE_PROFILE) {
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printf("\r\n# dump rates\r\n");
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printf("\r\n# rateprofile\r\n");
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cliRateProfile("");
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printSectionBreak();
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dumpValues(CONTROL_RATE_VALUE);
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}
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}
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static void cliEnter(void)
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@ -1075,7 +1094,7 @@ static void cliProfile(char *cmdline)
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return;
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} else {
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i = atoi(cmdline);
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if (i >= 0 && i <= 2) {
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if (i >= 0 && i < MAX_PROFILE_COUNT) {
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masterConfig.current_profile_index = i;
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writeEEPROM();
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readEEPROM();
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@ -1084,6 +1103,24 @@ static void cliProfile(char *cmdline)
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}
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}
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static void cliRateProfile(char *cmdline)
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{
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uint8_t len;
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int i;
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len = strlen(cmdline);
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if (len == 0) {
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printf("rateprofile %d\r\n", getCurrentControlRateProfile());
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return;
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} else {
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i = atoi(cmdline);
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if (i >= 0 && i < MAX_CONTROL_RATE_PROFILE_COUNT) {
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changeControlRateProfile(i);
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cliRateProfile("");
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}
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}
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}
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static void cliReboot(void) {
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cliPrint("\r\nRebooting");
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waitForSerialPortToFinishTransmitting(cliPort);
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@ -1129,6 +1166,9 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
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if (var->type & PROFILE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
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}
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if (var->type & CONTROL_RATE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
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}
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switch (var->type & VALUE_TYPE_MASK) {
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case VAR_UINT8:
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@ -1170,6 +1210,9 @@ static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
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if (var->type & PROFILE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
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}
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if (var->type & CONTROL_RATE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
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}
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switch (var->type & VALUE_TYPE_MASK) {
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case VAR_UINT8:
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