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Merge pull request #11113 from ctzsnooze/de-duplicate-all-blackbox-names

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deduplicate more blackbox names
This commit is contained in:
haslinghuis 2021-12-19 19:02:08 +01:00 • committed by GitHub
commit 35e6e1e9c7
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 255 additions and 186 deletions
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190
src/main/blackbox/blackbox.c
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@ -1319,11 +1319,11 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("looptime", "%d", gyro.sampleLooptime);
BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d", 1);
BLACKBOX_PRINT_HEADER_LINE("pid_process_denom", "%d", activePidLoopDenom);
BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d", currentControlRateProfile->thrMid8);
BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d", currentControlRateProfile->thrExpo8);
BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d", currentControlRateProfile->dynThrPID);
BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d", currentControlRateProfile->tpa_breakpoint);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_PID_PROCESS_DENOM, "%d", activePidLoopDenom);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THR_MID, "%d", currentControlRateProfile->thrMid8);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THR_EXPO, "%d", currentControlRateProfile->thrExpo8);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_RATE, "%d", currentControlRateProfile->dynThrPID);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_BREAKPOINT, "%d", currentControlRateProfile->tpa_breakpoint);
BLACKBOX_PRINT_HEADER_LINE("rc_rates", "%d,%d,%d", currentControlRateProfile->rcRates[ROLL],
currentControlRateProfile->rcRates[PITCH],
currentControlRateProfile->rcRates[YAW]);
@ -1353,161 +1353,161 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("d_min", "%d,%d,%d", currentPidProfile->d_min[ROLL],
currentPidProfile->d_min[PITCH],
currentPidProfile->d_min[YAW]);
BLACKBOX_PRINT_HEADER_LINE("d_min_gain", "%d", currentPidProfile->d_min_gain);
BLACKBOX_PRINT_HEADER_LINE("d_min_advance", "%d", currentPidProfile->d_min_advance);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_D_MAX_GAIN, "%d", currentPidProfile->d_min_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_D_MAX_ADVANCE, "%d", currentPidProfile->d_min_advance);
#endif
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf1_type", "%d", currentPidProfile->dterm_lpf1_type);
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf1_static_hz", "%d", currentPidProfile->dterm_lpf1_static_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DTERM_LPF1_TYPE, "%d", currentPidProfile->dterm_lpf1_type);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DTERM_LPF1_STATIC_HZ, "%d", currentPidProfile->dterm_lpf1_static_hz);
#ifdef USE_DYN_LPF
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf1_dyn_hz", "%d,%d", currentPidProfile->dterm_lpf1_dyn_min_hz,
currentPidProfile->dterm_lpf1_dyn_max_hz);
#endif
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf2_type", "%d", currentPidProfile->dterm_lpf2_type);
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf2_static_hz", "%d", currentPidProfile->dterm_lpf2_static_hz);
BLACKBOX_PRINT_HEADER_LINE("yaw_lowpass_hz", "%d", currentPidProfile->yaw_lowpass_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d", currentPidProfile->dterm_notch_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff", "%d", currentPidProfile->dterm_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE("iterm_windup", "%d", currentPidProfile->itermWindupPointPercent);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DTERM_LPF2_TYPE, "%d", currentPidProfile->dterm_lpf2_type);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DTERM_LPF2_STATIC_HZ, "%d", currentPidProfile->dterm_lpf2_static_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_YAW_LOWPASS_HZ, "%d", currentPidProfile->yaw_lowpass_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DTERM_NOTCH_HZ, "%d", currentPidProfile->dterm_notch_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DTERM_NOTCH_CUTOFF, "%d", currentPidProfile->dterm_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ITERM_WINDUP, "%d", currentPidProfile->itermWindupPointPercent);
#if defined(USE_ITERM_RELAX)
BLACKBOX_PRINT_HEADER_LINE("iterm_relax", "%d", currentPidProfile->iterm_relax);
BLACKBOX_PRINT_HEADER_LINE("iterm_relax_type", "%d", currentPidProfile->iterm_relax_type);
BLACKBOX_PRINT_HEADER_LINE("iterm_relax_cutoff", "%d", currentPidProfile->iterm_relax_cutoff);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ITERM_RELAX, "%d", currentPidProfile->iterm_relax);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ITERM_RELAX_TYPE, "%d", currentPidProfile->iterm_relax_type);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ITERM_RELAX_CUTOFF, "%d", currentPidProfile->iterm_relax_cutoff);
#endif
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d", currentPidProfile->pidAtMinThrottle);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_PID_AT_MIN_THROTTLE, "%d", currentPidProfile->pidAtMinThrottle);
// Betaflight PID controller parameters
BLACKBOX_PRINT_HEADER_LINE("anti_gravity_mode", "%d", currentPidProfile->antiGravityMode);
BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold", "%d", currentPidProfile->itermThrottleThreshold);
BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain", "%d", currentPidProfile->itermAcceleratorGain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ANTI_GRAVITY_MODE, "%d", currentPidProfile->antiGravityMode);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ANTI_GRAVITY_THRESHOLD, "%d", currentPidProfile->itermThrottleThreshold);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ANTI_GRAVITY_GAIN, "%d", currentPidProfile->itermAcceleratorGain);
#ifdef USE_ABSOLUTE_CONTROL
BLACKBOX_PRINT_HEADER_LINE("abs_control_gain", "%d", currentPidProfile->abs_control_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ABS_CONTROL_GAIN, "%d", currentPidProfile->abs_control_gain);
#endif
#ifdef USE_INTEGRATED_YAW_CONTROL
BLACKBOX_PRINT_HEADER_LINE("use_integrated_yaw", "%d", currentPidProfile->use_integrated_yaw);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_USE_INTEGRATED_YAW, "%d", currentPidProfile->use_integrated_yaw);
#endif
BLACKBOX_PRINT_HEADER_LINE("ff_weight", "%d,%d,%d", currentPidProfile->pid[PID_ROLL].F,
currentPidProfile->pid[PID_PITCH].F,
currentPidProfile->pid[PID_YAW].F);
#ifdef USE_FEEDFORWARD
BLACKBOX_PRINT_HEADER_LINE("ff_transition", "%d", currentPidProfile->feedforward_transition);
BLACKBOX_PRINT_HEADER_LINE("ff_averaging", "%d", currentPidProfile->feedforward_averaging);
BLACKBOX_PRINT_HEADER_LINE("ff_smooth_factor", "%d", currentPidProfile->feedforward_smooth_factor);
BLACKBOX_PRINT_HEADER_LINE("ff_jitter_factor", "%d", currentPidProfile->feedforward_jitter_factor);
BLACKBOX_PRINT_HEADER_LINE("ff_boost", "%d", currentPidProfile->feedforward_boost);
BLACKBOX_PRINT_HEADER_LINE("ff_max_rate_limit", "%d", currentPidProfile->feedforward_max_rate_limit);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_FEEDFORWARD_TRANSITION, "%d", currentPidProfile->feedforward_transition);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_FEEDFORWARD_AVERAGING, "%d", currentPidProfile->feedforward_averaging);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_FEEDFORWARD_SMOOTH_FACTOR, "%d", currentPidProfile->feedforward_smooth_factor);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_FEEDFORWARD_JITTER_FACTOR, "%d", currentPidProfile->feedforward_jitter_factor);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_FEEDFORWARD_BOOST, "%d", currentPidProfile->feedforward_boost);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_FEEDFORWARD_MAX_RATE_LIMIT, "%d", currentPidProfile->feedforward_max_rate_limit);
#endif
BLACKBOX_PRINT_HEADER_LINE("acc_limit_yaw", "%d", currentPidProfile->yawRateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("acc_limit", "%d", currentPidProfile->rateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("pidsum_limit", "%d", currentPidProfile->pidSumLimit);
BLACKBOX_PRINT_HEADER_LINE("pidsum_limit_yaw", "%d", currentPidProfile->pidSumLimitYaw);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ACC_LIMIT_YAW, "%d", currentPidProfile->yawRateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ACC_LIMIT, "%d", currentPidProfile->rateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_PIDSUM_LIMIT, "%d", currentPidProfile->pidSumLimit);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_PIDSUM_LIMIT_YAW, "%d", currentPidProfile->pidSumLimitYaw);
// End of Betaflight controller parameters
BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DEADBAND, "%d", rcControlsConfig()->deadband);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_YAW_DEADBAND, "%d", rcControlsConfig()->yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE("gyro_hardware_lpf", "%d", gyroConfig()->gyro_hardware_lpf);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf1_type", "%d", gyroConfig()->gyro_lpf1_type);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf1_static_hz", "%d", gyroConfig()->gyro_lpf1_static_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GYRO_HARDWARE_LPF, "%d", gyroConfig()->gyro_hardware_lpf);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GYRO_LPF1_TYPE, "%d", gyroConfig()->gyro_lpf1_type);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GYRO_LPF1_STATIC_HZ, "%d", gyroConfig()->gyro_lpf1_static_hz);
#ifdef USE_DYN_LPF
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf1_dyn_hz", "%d,%d", gyroConfig()->gyro_lpf1_dyn_min_hz,
gyroConfig()->gyro_lpf1_dyn_max_hz);
#endif
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf2_type", "%d", gyroConfig()->gyro_lpf2_type);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf2_static_hz", "%d", gyroConfig()->gyro_lpf2_static_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GYRO_LPF2_TYPE, "%d", gyroConfig()->gyro_lpf2_type);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GYRO_LPF2_STATIC_HZ, "%d", gyroConfig()->gyro_lpf2_static_hz);
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d", gyroConfig()->gyro_soft_notch_hz_1,
gyroConfig()->gyro_soft_notch_hz_2);
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1,
gyroConfig()->gyro_soft_notch_cutoff_2);
BLACKBOX_PRINT_HEADER_LINE("gyro_to_use", "%d", gyroConfig()->gyro_to_use);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GYRO_TO_USE, "%d", gyroConfig()->gyro_to_use);
#ifdef USE_DYN_NOTCH_FILTER
BLACKBOX_PRINT_HEADER_LINE("dyn_notch_max_hz", "%d", dynNotchConfig()->dyn_notch_max_hz);
BLACKBOX_PRINT_HEADER_LINE("dyn_notch_count", "%d", dynNotchConfig()->dyn_notch_count);
BLACKBOX_PRINT_HEADER_LINE("dyn_notch_q", "%d", dynNotchConfig()->dyn_notch_q);
BLACKBOX_PRINT_HEADER_LINE("dyn_notch_min_hz", "%d", dynNotchConfig()->dyn_notch_min_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_NOTCH_MAX_HZ, "%d", dynNotchConfig()->dyn_notch_max_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_NOTCH_COUNT, "%d", dynNotchConfig()->dyn_notch_count);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_NOTCH_Q, "%d", dynNotchConfig()->dyn_notch_q);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_NOTCH_MIN_HZ, "%d", dynNotchConfig()->dyn_notch_min_hz);
#endif
#ifdef USE_DSHOT_TELEMETRY
BLACKBOX_PRINT_HEADER_LINE("dshot_bidir", "%d", motorConfig()->dev.useDshotTelemetry);
BLACKBOX_PRINT_HEADER_LINE("motor_poles", "%d", motorConfig()->motorPoleCount);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DSHOT_BIDIR, "%d", motorConfig()->dev.useDshotTelemetry);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_POLES, "%d", motorConfig()->motorPoleCount);
#endif
#ifdef USE_RPM_FILTER
BLACKBOX_PRINT_HEADER_LINE("rpm_filter_harmonics", "%d", rpmFilterConfig()->rpm_filter_harmonics);
BLACKBOX_PRINT_HEADER_LINE("rpm_filter_q", "%d", rpmFilterConfig()->rpm_filter_q);
BLACKBOX_PRINT_HEADER_LINE("rpm_filter_min_hz", "%d", rpmFilterConfig()->rpm_filter_min_hz);
BLACKBOX_PRINT_HEADER_LINE("rpm_filter_fade_range_hz", "%d", rpmFilterConfig()->rpm_filter_fade_range_hz);
BLACKBOX_PRINT_HEADER_LINE("rpm_filter_lpf_hz", "%d", rpmFilterConfig()->rpm_filter_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RPM_FILTER_HARMONICS, "%d", rpmFilterConfig()->rpm_filter_harmonics);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RPM_FILTER_Q, "%d", rpmFilterConfig()->rpm_filter_q);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RPM_FILTER_MIN_HZ, "%d", rpmFilterConfig()->rpm_filter_min_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RPM_FILTER_FADE_RANGE_HZ, "%d", rpmFilterConfig()->rpm_filter_fade_range_hz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RPM_FILTER_LPF_HZ, "%d", rpmFilterConfig()->rpm_filter_lpf_hz);
#endif
#if defined(USE_ACC)
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d", accelerometerConfig()->acc_hardware);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ACC_LPF_HZ, "%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ACC_HARDWARE, "%d", accelerometerConfig()->acc_hardware);
#endif
#ifdef USE_BARO
BLACKBOX_PRINT_HEADER_LINE("baro_hardware", "%d", barometerConfig()->baro_hardware);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_BARO_HARDWARE, "%d", barometerConfig()->baro_hardware);
#endif
#ifdef USE_MAG
BLACKBOX_PRINT_HEADER_LINE("mag_hardware", "%d", compassConfig()->mag_hardware);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MAG_HARDWARE, "%d", compassConfig()->mag_hardware);
#endif
BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm", "%d", armingConfig()->gyro_cal_on_first_arm);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GYRO_CAL_ON_FIRST_ARM, "%d", armingConfig()->gyro_cal_on_first_arm);
BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle", "%d", rxConfig()->airModeActivateThreshold);
BLACKBOX_PRINT_HEADER_LINE("serialrx_provider", "%d", rxConfig()->serialrx_provider);
BLACKBOX_PRINT_HEADER_LINE("use_unsynced_pwm", "%d", motorConfig()->dev.useUnsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d", motorConfig()->dev.motorPwmProtocol);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d", motorConfig()->dev.motorPwmRate);
BLACKBOX_PRINT_HEADER_LINE("dshot_idle_value", "%d", motorConfig()->digitalIdleOffsetValue);
BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d", debugMode);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SERIAL_RX_PROVIDER, "%d", rxConfig()->serialrx_provider);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_USE_UNSYNCED_PWM, "%d", motorConfig()->dev.useUnsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_PWM_PROTOCOL, "%d", motorConfig()->dev.motorPwmProtocol);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_PWM_RATE, "%d", motorConfig()->dev.motorPwmRate);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DSHOT_IDLE_VALUE, "%d", motorConfig()->digitalIdleOffsetValue);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DEBUG_MODE, "%d", debugMode);
BLACKBOX_PRINT_HEADER_LINE("features", "%d", featureConfig()->enabledFeatures);
#ifdef USE_RC_SMOOTHING_FILTER
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING, "%d", rxConfig()->rc_smoothing_mode);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING_AUTO_FACTOR, "%d", rxConfig()->rc_smoothing_auto_factor_rpy);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING, "%d", rxConfig()->rc_smoothing_mode);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING_AUTO_FACTOR, "%d", rxConfig()->rc_smoothing_auto_factor_rpy);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING_AUTO_FACTOR_THROTTLE, "%d", rxConfig()->rc_smoothing_auto_factor_throttle);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_feedforward_hz", "%d", rcSmoothingData->ffCutoffSetting);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_setpoint_hz", "%d", rcSmoothingData->setpointCutoffSetting);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_throttle_hz", "%d", rcSmoothingData->throttleCutoffSetting);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_debug_axis", "%d", rcSmoothingData->debugAxis);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_active_cutoffs_ff_sp_thr", "%d,%d,%d", rcSmoothingData->feedforwardCutoffFrequency,
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING_FEEDFORWARD_CUTOFF, "%d", rcSmoothingData->ffCutoffSetting);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING_SETPOINT_CUTOFF, "%d", rcSmoothingData->setpointCutoffSetting);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING_THROTTLE_CUTOFF, "%d", rcSmoothingData->throttleCutoffSetting);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING_DEBUG_AXIS, "%d", rcSmoothingData->debugAxis);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RC_SMOOTHING_ACTIVE_CUTOFFS, "%d,%d,%d", rcSmoothingData->feedforwardCutoffFrequency,
rcSmoothingData->setpointCutoffFrequency,
rcSmoothingData->throttleCutoffFrequency);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_rx_average", "%d", rcSmoothingData->averageFrameTimeUs);
#endif // USE_RC_SMOOTHING_FILTER
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RATES_TYPE, "%d", currentControlRateProfile->rates_type);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RATES_TYPE, "%d", currentControlRateProfile->rates_type);
BLACKBOX_PRINT_HEADER_LINE("fields_disabled_mask", "%d", blackboxConfig()->fields_disabled_mask);
#ifdef USE_BATTERY_VOLTAGE_SAG_COMPENSATION
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_VBAT_SAG_COMPENSATION, "%d", currentPidProfile->vbat_sag_compensation);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_VBAT_SAG_COMPENSATION, "%d", currentPidProfile->vbat_sag_compensation);
#endif
#if defined(USE_DYN_IDLE)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_MIN_RPM, "%d", currentPidProfile->dyn_idle_min_rpm);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_P_GAIN, "%d", currentPidProfile->dyn_idle_p_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_I_GAIN, "%d", currentPidProfile->dyn_idle_i_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_D_GAIN, "%d", currentPidProfile->dyn_idle_d_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_MAX_INCREASE, "%d", currentPidProfile->dyn_idle_max_increase);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_MIN_RPM, "%d", currentPidProfile->dyn_idle_min_rpm);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_P_GAIN, "%d", currentPidProfile->dyn_idle_p_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_I_GAIN, "%d", currentPidProfile->dyn_idle_i_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_D_GAIN, "%d", currentPidProfile->dyn_idle_d_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_MAX_INCREASE, "%d", currentPidProfile->dyn_idle_max_increase);
#endif
#ifdef USE_SIMPLIFIED_TUNING
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_PIDS_MODE, "%d", currentPidProfile->simplified_pids_mode);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_MASTER_MULTIPLIER, "%d", currentPidProfile->simplified_master_multiplier);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_I_GAIN, "%d", currentPidProfile->simplified_i_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_D_GAIN, "%d", currentPidProfile->simplified_d_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_PI_GAIN, "%d", currentPidProfile->simplified_pi_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_PIDS_MODE, "%d", currentPidProfile->simplified_pids_mode);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_MASTER_MULTIPLIER, "%d", currentPidProfile->simplified_master_multiplier);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_I_GAIN, "%d", currentPidProfile->simplified_i_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_D_GAIN, "%d", currentPidProfile->simplified_d_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_PI_GAIN, "%d", currentPidProfile->simplified_pi_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_DMAX_GAIN, "%d", currentPidProfile->simplified_dmin_ratio);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_FEEDFORWARD_GAIN, "%d", currentPidProfile->simplified_feedforward_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_PITCH_D_GAIN, "%d", currentPidProfile->simplified_roll_pitch_ratio);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_PITCH_PI_GAIN, "%d", currentPidProfile->simplified_pitch_pi_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_DTERM_FILTER, "%d", currentPidProfile->simplified_dterm_filter);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_DTERM_FILTER_MULTIPLIER, "%d", currentPidProfile->simplified_dterm_filter_multiplier);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_GYRO_FILTER, "%d", gyroConfig()->simplified_gyro_filter);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_GYRO_FILTER_MULTIPLIER, "%d", gyroConfig()->simplified_gyro_filter_multiplier);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_FEEDFORWARD_GAIN, "%d", currentPidProfile->simplified_feedforward_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_PITCH_D_GAIN, "%d", currentPidProfile->simplified_roll_pitch_ratio);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_PITCH_PI_GAIN, "%d", currentPidProfile->simplified_pitch_pi_gain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_DTERM_FILTER, "%d", currentPidProfile->simplified_dterm_filter);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_DTERM_FILTER_MULTIPLIER, "%d", currentPidProfile->simplified_dterm_filter_multiplier);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_GYRO_FILTER, "%d", gyroConfig()->simplified_gyro_filter);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SIMPLIFIED_GYRO_FILTER_MULTIPLIER, "%d", gyroConfig()->simplified_gyro_filter_multiplier);
#endif
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_OUTPUT_LIMIT, "%d", currentPidProfile->motor_output_limit);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_LIMIT_TYPE, "%d", currentControlRateProfile->throttle_limit_type);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_LIMIT_PERCENT, "%d", currentControlRateProfile->throttle_limit_percent);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_BOOST, "%d", currentPidProfile->throttle_boost);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_BOOST_CUTOFF, "%d", currentPidProfile->throttle_boost_cutoff)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_OUTPUT_LIMIT, "%d", currentPidProfile->motor_output_limit);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_LIMIT_TYPE, "%d", currentControlRateProfile->throttle_limit_type);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_LIMIT_PERCENT, "%d", currentControlRateProfile->throttle_limit_percent);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_BOOST, "%d", currentPidProfile->throttle_boost);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_BOOST_CUTOFF, "%d", currentPidProfile->throttle_boost_cutoff)
default:
return true;

172
src/main/cli/settings.c
View file

@ -632,16 +632,16 @@ const lookupTableEntry_t lookupTables[] = {
const clivalue_t valueTable[] = {
// PG_GYRO_CONFIG
{ "gyro_hardware_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_hardware_lpf) },
{ PARAM_NAME_GYRO_HARDWARE_LPF, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_hardware_lpf) },
#if defined(USE_GYRO_SPI_ICM20649)
{ "gyro_high_range", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_high_fsr) },
#endif
{ "gyro_lpf1_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_LPF_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lpf1_type) },
{ "gyro_lpf1_static_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lpf1_static_hz) },
{ PARAM_NAME_GYRO_LPF1_TYPE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_LPF_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lpf1_type) },
{ PARAM_NAME_GYRO_LPF1_STATIC_HZ, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lpf1_static_hz) },
{ "gyro_lpf2_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_LPF_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lpf2_type) },
{ "gyro_lpf2_static_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lpf2_static_hz) },
{ PARAM_NAME_GYRO_LPF2_TYPE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_LPF_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lpf2_type) },
{ PARAM_NAME_GYRO_LPF2_STATIC_HZ, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lpf2_static_hz) },
{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_1) },
{ "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) },
@ -660,13 +660,13 @@ const clivalue_t valueTable[] = {
#endif
#ifdef USE_MULTI_GYRO
{ "gyro_to_use", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
{ PARAM_NAME_GYRO_TO_USE, VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
#endif
#if defined(USE_DYN_NOTCH_FILTER)
{ "dyn_notch_count", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, DYN_NOTCH_COUNT_MAX }, PG_DYN_NOTCH_CONFIG, offsetof(dynNotchConfig_t, dyn_notch_count) },
{ "dyn_notch_q", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 1000 }, PG_DYN_NOTCH_CONFIG, offsetof(dynNotchConfig_t, dyn_notch_q) },
{ "dyn_notch_min_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 60, 250 }, PG_DYN_NOTCH_CONFIG, offsetof(dynNotchConfig_t, dyn_notch_min_hz) },
{ "dyn_notch_max_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 1000 }, PG_DYN_NOTCH_CONFIG, offsetof(dynNotchConfig_t, dyn_notch_max_hz) },
{ PARAM_NAME_DYN_NOTCH_COUNT, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, DYN_NOTCH_COUNT_MAX }, PG_DYN_NOTCH_CONFIG, offsetof(dynNotchConfig_t, dyn_notch_count) },
{ PARAM_NAME_DYN_NOTCH_Q, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 1000 }, PG_DYN_NOTCH_CONFIG, offsetof(dynNotchConfig_t, dyn_notch_q) },
{ PARAM_NAME_DYN_NOTCH_MIN_HZ, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 60, 250 }, PG_DYN_NOTCH_CONFIG, offsetof(dynNotchConfig_t, dyn_notch_min_hz) },
{ PARAM_NAME_DYN_NOTCH_MAX_HZ, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 1000 }, PG_DYN_NOTCH_CONFIG, offsetof(dynNotchConfig_t, dyn_notch_max_hz) },
#endif
#ifdef USE_DYN_LPF
{ "gyro_lpf1_dyn_min_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, DYN_LPF_MAX_HZ }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lpf1_dyn_min_hz) },
@ -677,11 +677,11 @@ const clivalue_t valueTable[] = {
// PG_ACCELEROMETER_CONFIG
#if defined(USE_ACC)
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ACC_HARDWARE }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_hardware) },
{ PARAM_NAME_ACC_HARDWARE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ACC_HARDWARE }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_hardware) },
#if defined(USE_GYRO_SPI_ICM20649)
{ "acc_high_range", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_high_fsr) },
#endif
{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 400 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_lpf_hz) },
{ PARAM_NAME_ACC_LPF_HZ, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 400 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_lpf_hz) },
{ "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.pitch) },
{ "acc_trim_roll", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.roll) },
@ -699,7 +699,7 @@ const clivalue_t valueTable[] = {
{ "mag_i2c_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, I2CDEV_COUNT }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_i2c_device) },
{ "mag_i2c_address", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, I2C_ADDR7_MAX }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_i2c_address) },
{ "mag_spi_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, SPIDEV_COUNT }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_spi_device) },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MAG_HARDWARE }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_hardware) },
{ PARAM_NAME_MAG_HARDWARE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MAG_HARDWARE }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_hardware) },
{ "mag_calibration", VAR_INT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = XYZ_AXIS_COUNT, PG_COMPASS_CONFIG, offsetof(compassConfig_t, magZero.raw) },
#endif
@ -709,7 +709,7 @@ const clivalue_t valueTable[] = {
{ "baro_spi_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 5 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_spi_device) },
{ "baro_i2c_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 5 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_i2c_device) },
{ "baro_i2c_address", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, I2C_ADDR7_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_i2c_address) },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BARO_HARDWARE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_hardware) },
{ PARAM_NAME_BARO_HARDWARE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BARO_HARDWARE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_hardware) },
{ "baro_tab_size", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, BARO_SAMPLE_COUNT_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_sample_count) },
{ "baro_noise_lpf", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_noise_lpf) },
{ "baro_cf_vel", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_cf_vel) },
@ -730,33 +730,33 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_RC_SMOOTHING, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_mode) },
{ PARAM_NAME_RC_SMOOTHING_AUTO_FACTOR, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { RC_SMOOTHING_AUTO_FACTOR_MIN, RC_SMOOTHING_AUTO_FACTOR_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_auto_factor_rpy) },
{ PARAM_NAME_RC_SMOOTHING_AUTO_FACTOR_THROTTLE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { RC_SMOOTHING_AUTO_FACTOR_MIN, RC_SMOOTHING_AUTO_FACTOR_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_auto_factor_throttle) },
{ "rc_smoothing_setpoint_cutoff", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_setpoint_cutoff) },
{ "rc_smoothing_feedforward_cutoff",VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_feedforward_cutoff) },
{ "rc_smoothing_throttle_cutoff", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_throttle_cutoff) },
{ "rc_smoothing_debug_axis", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_DEBUG }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_debug_axis) },
{ PARAM_NAME_RC_SMOOTHING_SETPOINT_CUTOFF, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_setpoint_cutoff) },
{ PARAM_NAME_RC_SMOOTHING_FEEDFORWARD_CUTOFF, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_feedforward_cutoff) },
{ PARAM_NAME_RC_SMOOTHING_THROTTLE_CUTOFF, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_throttle_cutoff) },
{ PARAM_NAME_RC_SMOOTHING_DEBUG_AXIS, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_DEBUG }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_debug_axis) },
#endif // USE_RC_SMOOTHING_FILTER
{ "fpv_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 90 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) },
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, MAX_AUX_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, max_aux_channel) },
{ "fpv_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 90 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) },
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, MAX_AUX_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, max_aux_channel) },
#ifdef USE_SERIAL_RX
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) },
{ "serialrx_inverted", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_inverted) },
{ PARAM_NAME_SERIAL_RX_PROVIDER, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) },
{ "serialrx_inverted", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_inverted) },
#endif
#ifdef USE_SPEKTRUM_BIND
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
{ "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
{ "spektrum_sat_bind_autoreset", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
#endif
#ifdef USE_SERIALRX_SRXL2
{ "srxl2_unit_id", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 0xf }, PG_RX_CONFIG, offsetof(rxConfig_t, srxl2_unit_id) },
{ "srxl2_baud_fast", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, srxl2_baud_fast) },
{ "srxl2_unit_id", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 0xf }, PG_RX_CONFIG, offsetof(rxConfig_t, srxl2_unit_id) },
{ "srxl2_baud_fast", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, srxl2_baud_fast) },
#endif
#if defined(USE_SERIALRX_SBUS)
{ "sbus_baud_fast", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_baud_fast) },
{ "sbus_baud_fast", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_baud_fast) },
#endif
#if defined(USE_SERIALRX_CRSF)
{ "crsf_use_rx_snr", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, crsf_use_rx_snr) },
{ "crsf_use_rx_snr", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, crsf_use_rx_snr) },
#endif
{ "airmode_start_throttle_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) },
{ "airmode_start_throttle_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_max_usec) },
{ "serialrx_halfduplex", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, halfDuplex) },
@ -814,23 +814,23 @@ const clivalue_t valueTable[] = {
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, maxthrottle) },
{ "min_command", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, mincommand) },
#ifdef USE_DSHOT
{ "dshot_idle_value", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 2000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, digitalIdleOffsetValue) },
{ PARAM_NAME_DSHOT_IDLE_VALUE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 2000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, digitalIdleOffsetValue) },
#ifdef USE_DSHOT_DMAR
{ "dshot_burst", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useBurstDshot) },
#endif
#ifdef USE_DSHOT_TELEMETRY
{ "dshot_bidir", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotTelemetry) },
{ PARAM_NAME_DSHOT_BIDIR, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotTelemetry) },
#endif
#ifdef USE_DSHOT_BITBANG
{ "dshot_bitbang", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbang) },
{ "dshot_bitbang_timer", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DSHOT_BITBANGED_TIMER }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbangedTimer) },
#endif
#endif
{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useUnsyncedPwm) },
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmProtocol) },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 32000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmRate) },
{ PARAM_NAME_USE_UNSYNCED_PWM, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useUnsyncedPwm) },
{ PARAM_NAME_MOTOR_PWM_PROTOCOL, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmProtocol) },
{ PARAM_NAME_MOTOR_PWM_RATE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 32000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmRate) },
{ "motor_pwm_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmInversion) },
{ "motor_poles", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 4, UINT8_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, motorPoleCount) },
{ PARAM_NAME_MOTOR_POLES, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 4, UINT8_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, motorPoleCount) },
{ "motor_output_reordering", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = MAX_SUPPORTED_MOTORS, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorOutputReordering)},
// PG_THROTTLE_CORRECTION_CONFIG
@ -934,9 +934,9 @@ const clivalue_t valueTable[] = {
#ifdef USE_PROFILE_NAMES
{ "rateprofile_name", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_STRING, .config.string = { 1, MAX_RATE_PROFILE_NAME_LENGTH, STRING_FLAGS_NONE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, profileName) },
#endif
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
{ "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
{ PARAM_NAME_RATES_TYPE, VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RATES_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates_type) },
{ PARAM_NAME_THR_MID, VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
{ PARAM_NAME_THR_EXPO, VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
{ PARAM_NAME_RATES_TYPE, VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RATES_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates_type) },
{ "quickrates_rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, quickRatesRcExpo) },
{ "roll_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 1, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_ROLL]) },
{ "pitch_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 1, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_PITCH]) },
@ -947,13 +947,13 @@ const clivalue_t valueTable[] = {
{ "roll_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_ROLL]) },
{ "pitch_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_PITCH]) },
{ "yaw_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
{ "tpa_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, dynThrPID) },
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
{ PARAM_NAME_TPA_RATE, VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, dynThrPID) },
{ PARAM_NAME_TPA_BREAKPOINT, VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
#ifdef USE_TPA_MODE
{ "tpa_mode", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpaMode) },
#endif
{ PARAM_NAME_THROTTLE_LIMIT_TYPE, VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_THROTTLE_LIMIT_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_type) },
{ PARAM_NAME_THROTTLE_LIMIT_PERCENT, VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 25, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_percent) },
{ PARAM_NAME_THROTTLE_LIMIT_TYPE, VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_THROTTLE_LIMIT_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_type) },
{ PARAM_NAME_THROTTLE_LIMIT_PERCENT, VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 25, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_percent) },
{ "roll_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_ROLL]) },
{ "pitch_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_PITCH]) },
{ "yaw_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_YAW]) },
@ -971,7 +971,7 @@ const clivalue_t valueTable[] = {
// PG_ARMING_CONFIG
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 60 }, PG_ARMING_CONFIG, offsetof(armingConfig_t, auto_disarm_delay) },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, gyro_cal_on_first_arm) },
{ PARAM_NAME_GYRO_CAL_ON_FIRST_ARM, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, gyro_cal_on_first_arm) },
// PG_GPS_CONFIG
@ -1019,12 +1019,12 @@ const clivalue_t valueTable[] = {
#endif
#endif
{ "deadband", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, deadband) },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
{ PARAM_NAME_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, deadband) },
{ PARAM_NAME_YAW_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
{ "yaw_control_reversed", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_reversed) },
// PG_PID_CONFIG
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },
{ PARAM_NAME_PID_PROCESS_DENOM, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },
#ifdef USE_RUNAWAY_TAKEOFF
{ "runaway_takeoff_prevention", VAR_UINT8 | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_prevention) }, // enables/disables runaway takeoff prevention
{ "runaway_takeoff_deactivate_delay", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 1000 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_delay) }, // deactivate time in ms
@ -1040,21 +1040,21 @@ const clivalue_t valueTable[] = {
{ "dterm_lpf1_dyn_max_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, DYN_LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_dyn_max_hz) },
{ "dterm_lpf1_dyn_expo", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 10 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_dyn_expo) },
#endif
{ "dterm_lpf1_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LPF_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_type) },
{ "dterm_lpf1_static_hz", VAR_INT16 | PROFILE_VALUE, .config.minmax = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_static_hz) },
{ "dterm_lpf2_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LPF_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf2_type) },
{ "dterm_lpf2_static_hz", VAR_INT16 | PROFILE_VALUE, .config.minmax = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf2_static_hz) },
{ "dterm_notch_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_hz) },
{ "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_cutoff) },
{ PARAM_NAME_DTERM_LPF1_TYPE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LPF_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_type) },
{ PARAM_NAME_DTERM_LPF1_STATIC_HZ, VAR_INT16 | PROFILE_VALUE, .config.minmax = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_static_hz) },
{ PARAM_NAME_DTERM_LPF2_TYPE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LPF_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf2_type) },
{ PARAM_NAME_DTERM_LPF2_STATIC_HZ, VAR_INT16 | PROFILE_VALUE, .config.minmax = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf2_static_hz) },
{ PARAM_NAME_DTERM_NOTCH_HZ, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_hz) },
{ PARAM_NAME_DTERM_NOTCH_CUTOFF, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_cutoff) },
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
{ PARAM_NAME_VBAT_SAG_COMPENSATION, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 150 }, PG_PID_PROFILE, offsetof(pidProfile_t, vbat_sag_compensation) },
{ PARAM_NAME_VBAT_SAG_COMPENSATION, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 150 }, PG_PID_PROFILE, offsetof(pidProfile_t, vbat_sag_compensation) },
#endif
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
{ "anti_gravity_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ANTI_GRAVITY_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, antiGravityMode) },
{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
{ "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ "acc_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
{ "acc_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
{ PARAM_NAME_PID_AT_MIN_THROTTLE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
{ PARAM_NAME_ANTI_GRAVITY_MODE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ANTI_GRAVITY_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, antiGravityMode) },
{ PARAM_NAME_ANTI_GRAVITY_THRESHOLD, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
{ PARAM_NAME_ANTI_GRAVITY_GAIN, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ PARAM_NAME_ACC_LIMIT_YAW, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
{ PARAM_NAME_ACC_LIMIT, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
{ "crash_dthreshold", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },
{ "crash_gthreshold", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 100, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_gthreshold) },
{ "crash_setpoint_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 50, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_setpoint_threshold) },
@ -1067,15 +1067,15 @@ const clivalue_t valueTable[] = {
{ "iterm_rotation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_rotation) },
#if defined(USE_ITERM_RELAX)
{ "iterm_relax", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax) },
{ "iterm_relax_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_type) },
{ "iterm_relax_cutoff", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_cutoff) },
{ PARAM_NAME_ITERM_RELAX, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax) },
{ PARAM_NAME_ITERM_RELAX_TYPE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_type) },
{ PARAM_NAME_ITERM_RELAX_CUTOFF, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_cutoff) },
#endif
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
{ PARAM_NAME_ITERM_WINDUP, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
{ "iterm_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermLimit) },
{ "pidsum_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PIDSUM_LIMIT_MIN, PIDSUM_LIMIT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimit) },
{ "pidsum_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PIDSUM_LIMIT_MIN, PIDSUM_LIMIT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimitYaw) },
{ "yaw_lowpass_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lowpass_hz) },
{ PARAM_NAME_PIDSUM_LIMIT, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PIDSUM_LIMIT_MIN, PIDSUM_LIMIT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimit) },
{ PARAM_NAME_PIDSUM_LIMIT_YAW, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PIDSUM_LIMIT_MIN, PIDSUM_LIMIT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimitYaw) },
{ PARAM_NAME_YAW_LOWPASS_HZ, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lowpass_hz) },
#if defined(USE_THROTTLE_BOOST)
{ PARAM_NAME_THROTTLE_BOOST, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, throttle_boost) },
@ -1112,27 +1112,27 @@ const clivalue_t valueTable[] = {
{ "horizon_tilt_expert_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_tilt_expert_mode) },
#if defined(USE_ABSOLUTE_CONTROL)
{ "abs_control_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_gain) },
{ PARAM_NAME_ABS_CONTROL_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_gain) },
{ "abs_control_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_limit) },
{ "abs_control_error_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 45 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_error_limit) },
{ "abs_control_cutoff", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 45 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_cutoff) },
#endif
#ifdef USE_INTEGRATED_YAW_CONTROL
{ "use_integrated_yaw", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, use_integrated_yaw) },
{ "integrated_yaw_relax", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, integrated_yaw_relax) },
{ PARAM_NAME_USE_INTEGRATED_YAW, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, use_integrated_yaw) },
{ "integrated_yaw_relax", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, integrated_yaw_relax) },
#endif
#ifdef USE_D_MIN
{ "d_min_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, D_MIN_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_ROLL]) },
{ "d_min_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, D_MIN_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_PITCH]) },
{ "d_min_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, D_MIN_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_YAW]) },
{ "d_min_boost_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_gain) },
{ "d_min_advance", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_advance) },
{ PARAM_NAME_D_MAX_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_gain) },
{ PARAM_NAME_D_MAX_ADVANCE, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_advance) },
#endif
{ PARAM_NAME_MOTOR_OUTPUT_LIMIT, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { MOTOR_OUTPUT_LIMIT_PERCENT_MIN, MOTOR_OUTPUT_LIMIT_PERCENT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, motor_output_limit) },
{ "auto_profile_cell_count", VAR_INT8 | PROFILE_VALUE, .config.minmax = { AUTO_PROFILE_CELL_COUNT_CHANGE, MAX_AUTO_DETECT_CELL_COUNT }, PG_PID_PROFILE, offsetof(pidProfile_t, auto_profile_cell_count) },
{ PARAM_NAME_MOTOR_OUTPUT_LIMIT, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { MOTOR_OUTPUT_LIMIT_PERCENT_MIN, MOTOR_OUTPUT_LIMIT_PERCENT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, motor_output_limit) },
{ "auto_profile_cell_count", VAR_INT8 | PROFILE_VALUE, .config.minmax = { AUTO_PROFILE_CELL_COUNT_CHANGE, MAX_AUTO_DETECT_CELL_COUNT }, PG_PID_PROFILE, offsetof(pidProfile_t, auto_profile_cell_count) },
#ifdef USE_LAUNCH_CONTROL
{ "launch_control_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlMode) },
@ -1151,12 +1151,12 @@ const clivalue_t valueTable[] = {
#endif
#ifdef USE_FEEDFORWARD
{ "feedforward_transition", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_transition) },
{ "feedforward_averaging", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FEEDFORWARD_AVERAGING }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_averaging) },
{ "feedforward_smoothing", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 75}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_smooth_factor) },
{ "feedforward_jitter_reduction", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 20}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_jitter_factor) },
{ "feedforward_boost", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_boost) },
{ "feedforward_max_rate_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 150}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_max_rate_limit) },
{ PARAM_NAME_FEEDFORWARD_TRANSITION, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_transition) },
{ PARAM_NAME_FEEDFORWARD_AVERAGING, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FEEDFORWARD_AVERAGING }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_averaging) },
{ PARAM_NAME_FEEDFORWARD_SMOOTH_FACTOR, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 75}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_smooth_factor) },
{ PARAM_NAME_FEEDFORWARD_JITTER_FACTOR, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 20}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_jitter_factor) },
{ PARAM_NAME_FEEDFORWARD_BOOST, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_boost) },
{ PARAM_NAME_FEEDFORWARD_MAX_RATE_LIMIT, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 150}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_max_rate_limit) },
#endif
#ifdef USE_DYN_IDLE
@ -1173,7 +1173,7 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_SIMPLIFIED_MASTER_MULTIPLIER, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_master_multiplier) },
{ PARAM_NAME_SIMPLIFIED_I_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_i_gain) },
{ PARAM_NAME_SIMPLIFIED_D_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_d_gain) },
{PARAM_NAME_SIMPLIFIED_PI_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_pi_gain) },
{ PARAM_NAME_SIMPLIFIED_PI_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_pi_gain) },
{ PARAM_NAME_SIMPLIFIED_DMAX_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_dmin_ratio) },
{ PARAM_NAME_SIMPLIFIED_FEEDFORWARD_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_feedforward_gain) },
{ PARAM_NAME_SIMPLIFIED_PITCH_D_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_roll_pitch_ratio) },
@ -1471,7 +1471,7 @@ const clivalue_t valueTable[] = {
{ "system_hse_mhz", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 30 }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, hseMhz) },
#endif
{ "task_statistics", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, task_statistics) },
{ "debug_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DEBUG }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, debug_mode) },
{ PARAM_NAME_DEBUG_MODE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DEBUG }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, debug_mode) },
{ "rate_6pos_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, rateProfile6PosSwitch) },
#ifdef USE_OVERCLOCK
{ "cpu_overclock", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OVERCLOCK }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, cpu_overclock) },
@ -1656,11 +1656,11 @@ const clivalue_t valueTable[] = {
#endif
#ifdef USE_RPM_FILTER
{ "rpm_filter_harmonics", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 3 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_harmonics) },
{ "rpm_filter_q", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 250, 3000 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_q) },
{ "rpm_filter_min_hz", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 30, 200 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_min_hz) },
{ "rpm_filter_fade_range_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_fade_range_hz) },
{ "rpm_filter_lpf_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 500 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_lpf_hz) },
{ PARAM_NAME_RPM_FILTER_HARMONICS, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 3 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_harmonics) },
{ PARAM_NAME_RPM_FILTER_Q, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 250, 3000 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_q) },
{ PARAM_NAME_RPM_FILTER_MIN_HZ, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 30, 200 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_min_hz) },
{ PARAM_NAME_RPM_FILTER_FADE_RANGE_HZ, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_fade_range_hz) },
{ PARAM_NAME_RPM_FILTER_LPF_HZ, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 500 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_lpf_hz) },
#endif
#ifdef USE_RX_FLYSKY

79
src/main/fc/parameter_names.h
View file

@ -20,11 +20,79 @@
#pragma once
#define PARAM_NAME_GYRO_HARDWARE_LPF "gyro_hardware_lpf"
#define PARAM_NAME_GYRO_LPF1_TYPE "gyro_lpf1_type"
#define PARAM_NAME_GYRO_LPF1_STATIC_HZ "gyro_lpf1_static_hz"
#define PARAM_NAME_GYRO_LPF2_TYPE "gyro_lpf2_type"
#define PARAM_NAME_GYRO_LPF2_STATIC_HZ "gyro_lpf2_static_hz"
#define PARAM_NAME_GYRO_TO_USE "gyro_to_use"
#define PARAM_NAME_DYN_NOTCH_MAX_HZ "dyn_notch_max_hz"
#define PARAM_NAME_DYN_NOTCH_COUNT "dyn_notch_count"
#define PARAM_NAME_DYN_NOTCH_Q "dyn_notch_q"
#define PARAM_NAME_DYN_NOTCH_MIN_HZ "dyn_notch_min_hz"
#define PARAM_NAME_ACC_HARDWARE "acc_hardware"
#define PARAM_NAME_ACC_LPF_HZ "acc_lpf_hz"
#define PARAM_NAME_MAG_HARDWARE "mag_hardware"
#define PARAM_NAME_BARO_HARDWARE "baro_hardware"
#define PARAM_NAME_RC_SMOOTHING "rc_smoothing"
#define PARAM_NAME_RC_SMOOTHING_AUTO_FACTOR "rc_smoothing_auto_factor"
#define PARAM_NAME_RC_SMOOTHING_AUTO_FACTOR_THROTTLE "rc_smoothing_auto_factor_throttle"
#define PARAM_NAME_RC_SMOOTHING_SETPOINT_CUTOFF "rc_smoothing_setpoint_cutoff"
#define PARAM_NAME_RC_SMOOTHING_FEEDFORWARD_CUTOFF "rc_smoothing_feedforward_cutoff"
#define PARAM_NAME_RC_SMOOTHING_THROTTLE_CUTOFF "rc_smoothing_throttle_cutoff"
#define PARAM_NAME_RC_SMOOTHING_DEBUG_AXIS "rc_smoothing_debug_axis"
#define PARAM_NAME_RC_SMOOTHING_ACTIVE_CUTOFFS "rc_smoothing_active_cutoffs_ff_sp_thr"
#define PARAM_NAME_SERIAL_RX_PROVIDER "serialrx_provider"
#define PARAM_NAME_DSHOT_IDLE_VALUE "dshot_idle_value"
#define PARAM_NAME_DSHOT_BIDIR "dshot_bidir"
#define PARAM_NAME_USE_UNSYNCED_PWM "use_unsynced_pwm"
#define PARAM_NAME_MOTOR_PWM_PROTOCOL "motor_pwm_protocol"
#define PARAM_NAME_MOTOR_PWM_RATE "motor_pwm_rate"
#define PARAM_NAME_MOTOR_POLES "motor_poles"
#define PARAM_NAME_THR_MID "thr_mid"
#define PARAM_NAME_THR_EXPO "thr_expo"
#define PARAM_NAME_RATES_TYPE "rates_type"
#define PARAM_NAME_TPA_RATE "tpa_rate"
#define PARAM_NAME_TPA_BREAKPOINT "tpa_breakpoint"
#define PARAM_NAME_THROTTLE_LIMIT_TYPE "throttle_limit_type"
#define PARAM_NAME_THROTTLE_LIMIT_PERCENT "throttle_limit_percent"
#define PARAM_NAME_GYRO_CAL_ON_FIRST_ARM "gyro_cal_on_first_arm"
#define PARAM_NAME_DEADBAND "deadband"
#define PARAM_NAME_YAW_DEADBAND "yaw_deadband"
#define PARAM_NAME_PID_PROCESS_DENOM "pid_process_denom"
#define PARAM_NAME_DTERM_LPF1_TYPE "dterm_lpf1_type"
#define PARAM_NAME_DTERM_LPF1_STATIC_HZ "dterm_lpf1_static_hz"
#define PARAM_NAME_DTERM_LPF2_TYPE "dterm_lpf2_type"
#define PARAM_NAME_DTERM_LPF2_STATIC_HZ "dterm_lpf2_static_hz"
#define PARAM_NAME_DTERM_NOTCH_HZ "dterm_notch_hz"
#define PARAM_NAME_DTERM_NOTCH_CUTOFF "dterm_notch_cutoff"
#define PARAM_NAME_VBAT_SAG_COMPENSATION "vbat_sag_compensation"
#define PARAM_NAME_PID_AT_MIN_THROTTLE "pid_at_min_throttle"
#define PARAM_NAME_ANTI_GRAVITY_MODE "anti_gravity_mode"
#define PARAM_NAME_ANTI_GRAVITY_THRESHOLD "anti_gravity_threshold"
#define PARAM_NAME_ANTI_GRAVITY_GAIN "anti_gravity_gain"
#define PARAM_NAME_ACC_LIMIT_YAW "acc_limit_yaw"
#define PARAM_NAME_ACC_LIMIT "acc_limit"
#define PARAM_NAME_ITERM_RELAX "iterm_relax"
#define PARAM_NAME_ITERM_RELAX_TYPE "iterm_relax_type"
#define PARAM_NAME_ITERM_RELAX_CUTOFF "iterm_relax_cutoff"
#define PARAM_NAME_ITERM_WINDUP "iterm_windup"
#define PARAM_NAME_PIDSUM_LIMIT "pidsum_limit"
#define PARAM_NAME_PIDSUM_LIMIT_YAW "pidsum_limit_yaw"
#define PARAM_NAME_YAW_LOWPASS_HZ "yaw_lowpass_hz"
#define PARAM_NAME_THROTTLE_BOOST "throttle_boost"
#define PARAM_NAME_THROTTLE_BOOST_CUTOFF "throttle_boost_cutoff"
#define PARAM_NAME_ABS_CONTROL_GAIN "abs_control_gain"
#define PARAM_NAME_USE_INTEGRATED_YAW "use_integrated_yaw"
#define PARAM_NAME_D_MAX_GAIN "d_max_gain"
#define PARAM_NAME_D_MAX_ADVANCE "d_max_advance"
#define PARAM_NAME_MOTOR_OUTPUT_LIMIT "motor_output_limit"
#define PARAM_NAME_FEEDFORWARD_TRANSITION "feedforward_transition"
#define PARAM_NAME_FEEDFORWARD_AVERAGING "feedforward_averaging"
#define PARAM_NAME_FEEDFORWARD_SMOOTH_FACTOR "feedforward_smooth_factor"
#define PARAM_NAME_FEEDFORWARD_JITTER_FACTOR "feedforward_jitter_factor"
#define PARAM_NAME_FEEDFORWARD_BOOST "feedforward_boost"
#define PARAM_NAME_FEEDFORWARD_MAX_RATE_LIMIT "feedforward_max_rate_limit"
#define PARAM_NAME_DYN_IDLE_MIN_RPM "dyn_idle_min_rpm"
#define PARAM_NAME_DYN_IDLE_P_GAIN "dyn_idle_p_gain"
#define PARAM_NAME_DYN_IDLE_I_GAIN "dyn_idle_i_gain"
@ -43,8 +111,9 @@
#define PARAM_NAME_SIMPLIFIED_DTERM_FILTER_MULTIPLIER "simplified_dterm_filter_multiplier"
#define PARAM_NAME_SIMPLIFIED_GYRO_FILTER "simplified_gyro_filter"
#define PARAM_NAME_SIMPLIFIED_GYRO_FILTER_MULTIPLIER "simplified_gyro_filter_multiplier"
#define PARAM_NAME_MOTOR_OUTPUT_LIMIT "motor_output_limit"
#define PARAM_NAME_THROTTLE_LIMIT_TYPE "throttle_limit_type"
#define PARAM_NAME_THROTTLE_LIMIT_PERCENT "throttle_limit_percent"
#define PARAM_NAME_THROTTLE_BOOST "throttle_boost"
#define PARAM_NAME_THROTTLE_BOOST_CUTOFF "throttle_boost_cutoff"
#define PARAM_NAME_DEBUG_MODE "debug_mode"
#define PARAM_NAME_RPM_FILTER_HARMONICS "rpm_filter_harmonics"
#define PARAM_NAME_RPM_FILTER_Q "rpm_filter_q"
#define PARAM_NAME_RPM_FILTER_MIN_HZ "rpm_filter_min_hz"
#define PARAM_NAME_RPM_FILTER_FADE_RANGE_HZ "rpm_filter_fade_range_hz"
#define PARAM_NAME_RPM_FILTER_LPF_HZ "rpm_filter_lpf_hz"