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Added gyro, compass, acc, and baro config macros

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This commit is contained in:
Martin Budden 2016-11-30 21:38:14 +00:00
parent a9280d732a
commit 3ec46f1bd2
9 changed files with 96 additions and 90 deletions
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54
src/main/fc/fc_msp.c
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@ -797,7 +797,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, masterConfig.rxConfig.rssi_channel);
sbufWriteU8(dst, 0);
sbufWriteU16(dst, masterConfig.compassConfig.mag_declination / 10);
sbufWriteU16(dst, compassConfig()->mag_declination / 10);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatscale);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmincellvoltage);
@ -866,9 +866,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_BOARD_ALIGNMENT:
sbufWriteU16(dst, masterConfig.boardAlignment.rollDegrees);
sbufWriteU16(dst, masterConfig.boardAlignment.pitchDegrees);
sbufWriteU16(dst, masterConfig.boardAlignment.yawDegrees);
sbufWriteU16(dst, boardAlignment()->rollDegrees);
sbufWriteU16(dst, boardAlignment()->pitchDegrees);
sbufWriteU16(dst, boardAlignment()->yawDegrees);
break;
case MSP_VOLTAGE_METER_CONFIG:
@ -938,9 +938,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, masterConfig.rxConfig.serialrx_provider);
sbufWriteU16(dst, masterConfig.boardAlignment.rollDegrees);
sbufWriteU16(dst, masterConfig.boardAlignment.pitchDegrees);
sbufWriteU16(dst, masterConfig.boardAlignment.yawDegrees);
sbufWriteU16(dst, boardAlignment()->rollDegrees);
sbufWriteU16(dst, boardAlignment()->pitchDegrees);
sbufWriteU16(dst, boardAlignment()->yawDegrees);
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterScale);
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterOffset);
@ -1081,11 +1081,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_ADVANCED_CONFIG:
if (masterConfig.gyroConfig.gyro_lpf) {
if (gyroConfig()->gyro_lpf) {
sbufWriteU8(dst, 8); // If gyro_lpf != OFF then looptime is set to 1000
sbufWriteU8(dst, 1);
} else {
sbufWriteU8(dst, masterConfig.gyroConfig.gyro_sync_denom);
sbufWriteU8(dst, gyroConfig()->gyro_sync_denom);
sbufWriteU8(dst, masterConfig.pid_process_denom);
}
sbufWriteU8(dst, motorConfig()->useUnsyncedPwm);
@ -1094,15 +1094,15 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_FILTER_CONFIG :
sbufWriteU8(dst, masterConfig.gyroConfig.gyro_soft_lpf_hz);
sbufWriteU8(dst, gyroConfig()->gyro_soft_lpf_hz);
sbufWriteU16(dst, currentProfile->pidProfile.dterm_lpf_hz);
sbufWriteU16(dst, currentProfile->pidProfile.yaw_lpf_hz);
sbufWriteU16(dst, masterConfig.gyroConfig.gyro_soft_notch_hz_1);
sbufWriteU16(dst, masterConfig.gyroConfig.gyro_soft_notch_cutoff_1);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_hz_1);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_1);
sbufWriteU16(dst, currentProfile->pidProfile.dterm_notch_hz);
sbufWriteU16(dst, currentProfile->pidProfile.dterm_notch_cutoff);
sbufWriteU16(dst, masterConfig.gyroConfig.gyro_soft_notch_hz_2);
sbufWriteU16(dst, masterConfig.gyroConfig.gyro_soft_notch_cutoff_2);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_hz_2);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_2);
break;
case MSP_PID_ADVANCED:
@ -1355,7 +1355,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
masterConfig.rxConfig.rssi_channel = sbufReadU8(src);
sbufReadU8(src);
masterConfig.compassConfig.mag_declination = sbufReadU16(src) * 10;
compassConfig()->mag_declination = sbufReadU16(src) * 10;
masterConfig.batteryConfig.vbatscale = sbufReadU8(src); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
@ -1433,7 +1433,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_ADVANCED_CONFIG:
masterConfig.gyroConfig.gyro_sync_denom = sbufReadU8(src);
gyroConfig()->gyro_sync_denom = sbufReadU8(src);
masterConfig.pid_process_denom = sbufReadU8(src);
motorConfig()->useUnsyncedPwm = sbufReadU8(src);
#ifdef USE_DSHOT
@ -1445,18 +1445,18 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_FILTER_CONFIG:
masterConfig.gyroConfig.gyro_soft_lpf_hz = sbufReadU8(src);
gyroConfig()->gyro_soft_lpf_hz = sbufReadU8(src);
currentProfile->pidProfile.dterm_lpf_hz = sbufReadU16(src);
currentProfile->pidProfile.yaw_lpf_hz = sbufReadU16(src);
if (dataSize > 5) {
masterConfig.gyroConfig.gyro_soft_notch_hz_1 = sbufReadU16(src);
masterConfig.gyroConfig.gyro_soft_notch_cutoff_1 = sbufReadU16(src);
gyroConfig()->gyro_soft_notch_hz_1 = sbufReadU16(src);
gyroConfig()->gyro_soft_notch_cutoff_1 = sbufReadU16(src);
currentProfile->pidProfile.dterm_notch_hz = sbufReadU16(src);
currentProfile->pidProfile.dterm_notch_cutoff = sbufReadU16(src);
}
if (dataSize > 13) {
masterConfig.gyroConfig.gyro_soft_notch_hz_2 = sbufReadU16(src);
masterConfig.gyroConfig.gyro_soft_notch_cutoff_2 = sbufReadU16(src);
gyroConfig()->gyro_soft_notch_hz_2 = sbufReadU16(src);
gyroConfig()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
}
// reinitialize the gyro filters with the new values
validateAndFixGyroConfig();
@ -1641,9 +1641,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_BOARD_ALIGNMENT:
masterConfig.boardAlignment.rollDegrees = sbufReadU16(src);
masterConfig.boardAlignment.pitchDegrees = sbufReadU16(src);
masterConfig.boardAlignment.yawDegrees = sbufReadU16(src);
boardAlignment()->rollDegrees = sbufReadU16(src);
boardAlignment()->pitchDegrees = sbufReadU16(src);
boardAlignment()->yawDegrees = sbufReadU16(src);
break;
case MSP_SET_VOLTAGE_METER_CONFIG:
@ -1729,9 +1729,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
masterConfig.rxConfig.serialrx_provider = sbufReadU8(src); // serialrx_type
masterConfig.boardAlignment.rollDegrees = sbufReadU16(src); // board_align_roll
masterConfig.boardAlignment.pitchDegrees = sbufReadU16(src); // board_align_pitch
masterConfig.boardAlignment.yawDegrees = sbufReadU16(src); // board_align_yaw
boardAlignment()->rollDegrees = sbufReadU16(src); // board_align_roll
boardAlignment()->pitchDegrees = sbufReadU16(src); // board_align_pitch
boardAlignment()->yawDegrees = sbufReadU16(src); // board_align_yaw
masterConfig.batteryConfig.currentMeterScale = sbufReadU16(src);
masterConfig.batteryConfig.currentMeterOffset = sbufReadU16(src);