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Remove gps_common.c's dependencies on the mw.h/board.h.

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Moved some GPS code from mw.c into gps_common.c.
Moved pid values into a pidProfile_t structure; this was done so that
gps_common.c does not have a dependency on config_profile.h.
pidProfile_t lives in flight_common.h now.
Moved gps profile settings from profile_t into gpsProfile_t for the same
reason.
Removed gps_common.c's dependency on masterConfig_t by passing needed
variables into gpsInit().
This commit is contained in:
Dominic Clifton 2014-04-22 00:37:35 +01:00
parent f8d0dd98f7
commit 2c80094b0e
14 changed files with 332 additions and 251 deletions
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64
src/serial_cli.c
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@ -201,38 +201,38 @@ const clivalue_t valueTable[] = {
{ "baro_cf_vel", VAR_FLOAT, &currentProfile.baro_cf_vel, 0, 1 },
{ "baro_cf_alt", VAR_FLOAT, &currentProfile.baro_cf_alt, 0, 1 },
{ "mag_declination", VAR_INT16, &currentProfile.mag_declination, -18000, 18000 },
{ "gps_pos_p", VAR_UINT8, &currentProfile.P8[PIDPOS], 0, 200 },
{ "gps_pos_i", VAR_UINT8, &currentProfile.I8[PIDPOS], 0, 200 },
{ "gps_pos_d", VAR_UINT8, &currentProfile.D8[PIDPOS], 0, 200 },
{ "gps_posr_p", VAR_UINT8, &currentProfile.P8[PIDPOSR], 0, 200 },
{ "gps_posr_i", VAR_UINT8, &currentProfile.I8[PIDPOSR], 0, 200 },
{ "gps_posr_d", VAR_UINT8, &currentProfile.D8[PIDPOSR], 0, 200 },
{ "gps_nav_p", VAR_UINT8, &currentProfile.P8[PIDNAVR], 0, 200 },
{ "gps_nav_i", VAR_UINT8, &currentProfile.I8[PIDNAVR], 0, 200 },
{ "gps_nav_d", VAR_UINT8, &currentProfile.D8[PIDNAVR], 0, 200 },
{ "gps_wp_radius", VAR_UINT16, &currentProfile.gps_wp_radius, 0, 2000 },
{ "nav_controls_heading", VAR_UINT8, &currentProfile.nav_controls_heading, 0, 1 },
{ "nav_speed_min", VAR_UINT16, &currentProfile.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16, &currentProfile.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8, &currentProfile.nav_slew_rate, 0, 100 },
{ "p_pitch", VAR_UINT8, &currentProfile.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8, &currentProfile.I8[PITCH], 0, 200 },
{ "d_pitch", VAR_UINT8, &currentProfile.D8[PITCH], 0, 200 },
{ "p_roll", VAR_UINT8, &currentProfile.P8[ROLL], 0, 200 },
{ "i_roll", VAR_UINT8, &currentProfile.I8[ROLL], 0, 200 },
{ "d_roll", VAR_UINT8, &currentProfile.D8[ROLL], 0, 200 },
{ "p_yaw", VAR_UINT8, &currentProfile.P8[YAW], 0, 200 },
{ "i_yaw", VAR_UINT8, &currentProfile.I8[YAW], 0, 200 },
{ "d_yaw", VAR_UINT8, &currentProfile.D8[YAW], 0, 200 },
{ "p_alt", VAR_UINT8, &currentProfile.P8[PIDALT], 0, 200 },
{ "i_alt", VAR_UINT8, &currentProfile.I8[PIDALT], 0, 200 },
{ "d_alt", VAR_UINT8, &currentProfile.D8[PIDALT], 0, 200 },
{ "p_level", VAR_UINT8, &currentProfile.P8[PIDLEVEL], 0, 200 },
{ "i_level", VAR_UINT8, &currentProfile.I8[PIDLEVEL], 0, 200 },
{ "d_level", VAR_UINT8, &currentProfile.D8[PIDLEVEL], 0, 200 },
{ "p_vel", VAR_UINT8, &currentProfile.P8[PIDVEL], 0, 200 },
{ "i_vel", VAR_UINT8, &currentProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8, &currentProfile.D8[PIDVEL], 0, 200 },
{ "gps_pos_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOS], 0, 200 },
{ "gps_pos_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOS], 0, 200 },
{ "gps_pos_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOS], 0, 200 },
{ "gps_posr_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOSR], 0, 200 },
{ "gps_posr_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOSR], 0, 200 },
{ "gps_posr_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOSR], 0, 200 },
{ "gps_nav_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDNAVR], 0, 200 },
{ "gps_nav_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDNAVR], 0, 200 },
{ "gps_nav_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDNAVR], 0, 200 },
{ "gps_wp_radius", VAR_UINT16, &currentProfile.gpsProfile.gps_wp_radius, 0, 2000 },
{ "nav_controls_heading", VAR_UINT8, &currentProfile.gpsProfile.nav_controls_heading, 0, 1 },
{ "nav_speed_min", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8, &currentProfile.gpsProfile.nav_slew_rate, 0, 100 },
{ "p_pitch", VAR_UINT8, &currentProfile.pidProfile.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8, &currentProfile.pidProfile.I8[PITCH], 0, 200 },
{ "d_pitch", VAR_UINT8, &currentProfile.pidProfile.D8[PITCH], 0, 200 },
{ "p_roll", VAR_UINT8, &currentProfile.pidProfile.P8[ROLL], 0, 200 },
{ "i_roll", VAR_UINT8, &currentProfile.pidProfile.I8[ROLL], 0, 200 },
{ "d_roll", VAR_UINT8, &currentProfile.pidProfile.D8[ROLL], 0, 200 },
{ "p_yaw", VAR_UINT8, &currentProfile.pidProfile.P8[YAW], 0, 200 },
{ "i_yaw", VAR_UINT8, &currentProfile.pidProfile.I8[YAW], 0, 200 },
{ "d_yaw", VAR_UINT8, &currentProfile.pidProfile.D8[YAW], 0, 200 },
{ "p_alt", VAR_UINT8, &currentProfile.pidProfile.P8[PIDALT], 0, 200 },
{ "i_alt", VAR_UINT8, &currentProfile.pidProfile.I8[PIDALT], 0, 200 },
{ "d_alt", VAR_UINT8, &currentProfile.pidProfile.D8[PIDALT], 0, 200 },
{ "p_level", VAR_UINT8, &currentProfile.pidProfile.P8[PIDLEVEL], 0, 200 },
{ "i_level", VAR_UINT8, &currentProfile.pidProfile.I8[PIDLEVEL], 0, 200 },
{ "d_level", VAR_UINT8, &currentProfile.pidProfile.D8[PIDLEVEL], 0, 200 },
{ "p_vel", VAR_UINT8, &currentProfile.pidProfile.P8[PIDVEL], 0, 200 },
{ "i_vel", VAR_UINT8, &currentProfile.pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8, &currentProfile.pidProfile.D8[PIDVEL], 0, 200 },
};
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))