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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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18
src/main/blackbox/blackbox.c
View file

@ -1199,7 +1199,7 @@ static bool blackboxWriteSysinfo()
);
BLACKBOX_PRINT_HEADER_LINE("looptime:%d", gyro.targetLooptime);
BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom:%d", masterConfig.gyroConfig.gyro_sync_denom);
BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom:%d", gyroConfig()->gyro_sync_denom);
BLACKBOX_PRINT_HEADER_LINE("pid_process_denom:%d", masterConfig.pid_process_denom);
BLACKBOX_PRINT_HEADER_LINE("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8);
BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
@ -1262,14 +1262,14 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("deadband:%d", masterConfig.rcControlsConfig.deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", masterConfig.gyroConfig.gyro_lpf);
BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d", masterConfig.gyroConfig.gyro_soft_lpf_type);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", masterConfig.gyroConfig.gyro_soft_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d,%d", masterConfig.gyroConfig.gyro_soft_notch_hz_1,
masterConfig.gyroConfig.gyro_soft_notch_hz_2);
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d,%d", masterConfig.gyroConfig.gyro_soft_notch_cutoff_1,
masterConfig.gyroConfig.gyro_soft_notch_cutoff_2);
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(masterConfig.accelerometerConfig.acc_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", gyroConfig()->gyro_lpf);
BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d", gyroConfig()->gyro_soft_lpf_type);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", gyroConfig()->gyro_soft_lpf_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("acc_lpf_hz:%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", sensorSelectionConfig()->acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", sensorSelectionConfig()->baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", sensorSelectionConfig()->mag_hardware);

10
src/main/cms/cms_menu_imu.c
View file

@ -282,11 +282,11 @@ static OSD_Entry cmsx_menuFilterGlobalEntries[] =
{
{ "-- FILTER GLB --", OME_Label, NULL, NULL, 0 },
{ "GYRO LPF", OME_UINT8, NULL, &(OSD_UINT8_t) { &masterConfig.gyroConfig.gyro_soft_lpf_hz, 0, 255, 1 }, 0 },
{ "GYRO NF1", OME_UINT16, NULL, &(OSD_UINT16_t) { &masterConfig.gyroConfig.gyro_soft_notch_hz_1, 0, 500, 1 }, 0 },
{ "GYRO NF1C", OME_UINT16, NULL, &(OSD_UINT16_t) { &masterConfig.gyroConfig.gyro_soft_notch_cutoff_1, 0, 500, 1 }, 0 },
{ "GYRO NF2", OME_UINT16, NULL, &(OSD_UINT16_t) { &masterConfig.gyroConfig.gyro_soft_notch_hz_2, 0, 500, 1 }, 0 },
{ "GYRO NF2C", OME_UINT16, NULL, &(OSD_UINT16_t) { &masterConfig.gyroConfig.gyro_soft_notch_cutoff_2, 0, 500, 1 }, 0 },
{ "GYRO LPF", OME_UINT8, NULL, &(OSD_UINT8_t) { &gyroConfig()->gyro_soft_lpf_hz, 0, 255, 1 }, 0 },
{ "GYRO NF1", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig()->gyro_soft_notch_hz_1, 0, 500, 1 }, 0 },
{ "GYRO NF1C", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig()->gyro_soft_notch_cutoff_1, 0, 500, 1 }, 0 },
{ "GYRO NF2", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig()->gyro_soft_notch_hz_2, 0, 500, 1 }, 0 },
{ "GYRO NF2C", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig()->gyro_soft_notch_cutoff_2, 0, 500, 1 }, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }

6
src/main/config/config_master.h
View file

@ -69,6 +69,12 @@
#define sensorSelectionConfig(x) (&masterConfig.sensorSelectionConfig)
#define sensorAlignmentConfig(x) (&masterConfig.sensorAlignmentConfig)
#define sensorTrims(x) (&masterConfig.sensorTrims)
#define boardAlignment(x) (&masterConfig.boardAlignment)
#define imuConfig(x) (&masterConfig.imuConfig)
#define gyroConfig(x) (&masterConfig.gyroConfig)
#define compassConfig(x) (&masterConfig.compassConfig)
#define accelerometerConfig(x) (&masterConfig.accelerometerConfig)
#define barometerConfig(x) (&masterConfig.barometerConfig)
// System-wide
typedef struct master_s {

14
src/main/fc/config.c
View file

@ -843,7 +843,7 @@ void activateConfig(void)
useFailsafeConfig(&masterConfig.failsafeConfig);
setAccelerationTrims(&sensorTrims()->accZero);
setAccelerationFilter(masterConfig.accelerometerConfig.acc_lpf_hz);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
mixerUseConfigs(
&masterConfig.flight3DConfig,
@ -991,16 +991,16 @@ void validateAndFixConfig(void)
void validateAndFixGyroConfig(void)
{
// Prevent invalid notch cutoff
if (masterConfig.gyroConfig.gyro_soft_notch_cutoff_1 >= masterConfig.gyroConfig.gyro_soft_notch_hz_1) {
masterConfig.gyroConfig.gyro_soft_notch_hz_1 = 0;
if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
gyroConfig()->gyro_soft_notch_hz_1 = 0;
}
if (masterConfig.gyroConfig.gyro_soft_notch_cutoff_2 >= masterConfig.gyroConfig.gyro_soft_notch_hz_2) {
masterConfig.gyroConfig.gyro_soft_notch_hz_2 = 0;
if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
gyroConfig()->gyro_soft_notch_hz_2 = 0;
}
if (masterConfig.gyroConfig.gyro_lpf != GYRO_LPF_256HZ && masterConfig.gyroConfig.gyro_lpf != GYRO_LPF_NONE) {
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
masterConfig.gyroConfig.gyro_sync_denom = 1;
gyroConfig()->gyro_sync_denom = 1;
}
}

54
src/main/fc/fc_msp.c
View file

@ -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);

2
src/main/fc/mw.c
View file

@ -801,7 +801,7 @@ void subTaskMotorUpdate(void)
uint8_t setPidUpdateCountDown(void)
{
if (masterConfig.gyroConfig.gyro_soft_lpf_hz) {
if (gyroConfig()->gyro_soft_lpf_hz) {
return masterConfig.pid_process_denom - 1;
} else {
return 1;

48
src/main/io/serial_cli.c
View file

@ -719,7 +719,7 @@ const clivalue_t valueTable[] = {
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.armingConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.armingConfig.gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.armingConfig.auto_disarm_delay, .config.minmax = { 0, 60 } },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.imuConfig.small_angle, .config.minmax = { 0, 180 } },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &imuConfig()->small_angle, .config.minmax = { 0, 180 } },
{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &masterConfig.airplaneConfig.fixedwing_althold_dir, .config.minmax = { -1, 1 } },
@ -806,22 +806,22 @@ const clivalue_t valueTable[] = {
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorAlignmentConfig()->acc_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorAlignmentConfig()->mag_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_board_roll", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.rollDegrees, .config.minmax = { -180, 360 } },
{ "align_board_pitch", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.pitchDegrees, .config.minmax = { -180, 360 } },
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.yawDegrees, .config.minmax = { -180, 360 } },
{ "align_board_roll", VAR_INT16 | MASTER_VALUE, &boardAlignment()->rollDegrees, .config.minmax = { -180, 360 } },
{ "align_board_pitch", VAR_INT16 | MASTER_VALUE, &boardAlignment()->pitchDegrees, .config.minmax = { -180, 360 } },
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &boardAlignment()->yawDegrees, .config.minmax = { -180, 360 } },
{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, .config.minmax = { 100, 900 } },
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyroConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyro_sync_denom, .config.minmax = { 1, 8 } },
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyroConfig.gyro_soft_lpf_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyroConfig.gyro_soft_notch_hz_1, .config.minmax = { 0, 1000 } },
{ "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyroConfig.gyro_soft_notch_cutoff_1, .config.minmax = { 1, 1000 } },
{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyroConfig.gyro_soft_notch_hz_2, .config.minmax = { 0, 1000 } },
{ "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyroConfig.gyro_soft_notch_cutoff_2, .config.minmax = { 1, 1000 } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.imuConfig.dcm_kp, .config.minmax = { 0, 50000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.imuConfig.dcm_ki, .config.minmax = { 0, 50000 } },
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_sync_denom, .config.minmax = { 1, 8 } },
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_soft_lpf_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, &gyroConfig()->gyro_soft_notch_hz_1, .config.minmax = { 0, 1000 } },
{ "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, &gyroConfig()->gyro_soft_notch_cutoff_1, .config.minmax = { 1, 1000 } },
{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, &gyroConfig()->gyro_soft_notch_hz_2, .config.minmax = { 0, 1000 } },
{ "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, &gyroConfig()->gyro_soft_notch_cutoff_2, .config.minmax = { 1, 1000 } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_kp, .config.minmax = { 0, 50000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &imuConfig()->dcm_ki, .config.minmax = { 0, 50000 } },
{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.rcControlsConfig.alt_hold_deadband, .config.minmax = { 1, 250 } },
{ "alt_hold_fast_change", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rcControlsConfig.alt_hold_fast_change, .config.lookup = { TABLE_OFF_ON } },
@ -869,24 +869,24 @@ const clivalue_t valueTable[] = {
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorSelectionConfig()->acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.accelerometerConfig.acc_lpf_hz, .config.minmax = { 0, 400 } },
{ "accxy_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.imuConfig.accDeadband.xy, .config.minmax = { 0, 100 } },
{ "accz_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.imuConfig.accDeadband.z, .config.minmax = { 0, 100 } },
{ "acc_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.imuConfig.acc_unarmedcal, .config.lookup = { TABLE_OFF_ON } },
{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, &accelerometerConfig()->acc_lpf_hz, .config.minmax = { 0, 400 } },
{ "accxy_deadband", VAR_UINT8 | MASTER_VALUE, &imuConfig()->accDeadband.xy, .config.minmax = { 0, 100 } },
{ "accz_deadband", VAR_UINT8 | MASTER_VALUE, &imuConfig()->accDeadband.z, .config.minmax = { 0, 100 } },
{ "acc_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &imuConfig()->acc_unarmedcal, .config.lookup = { TABLE_OFF_ON } },
{ "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, &masterConfig.accelerometerTrims.values.pitch, .config.minmax = { -300, 300 } },
{ "acc_trim_roll", VAR_INT16 | MASTER_VALUE, &masterConfig.accelerometerTrims.values.roll, .config.minmax = { -300, 300 } },
#ifdef BARO
{ "baro_tab_size", VAR_UINT8 | MASTER_VALUE, &masterConfig.barometerConfig.baro_sample_count, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX } },
{ "baro_noise_lpf", VAR_FLOAT | MASTER_VALUE, &masterConfig.barometerConfig.baro_noise_lpf, .config.minmax = { 0 , 1 } },
{ "baro_cf_vel", VAR_FLOAT | MASTER_VALUE, &masterConfig.barometerConfig.baro_cf_vel, .config.minmax = { 0 , 1 } },
{ "baro_cf_alt", VAR_FLOAT | MASTER_VALUE, &masterConfig.barometerConfig.baro_cf_alt, .config.minmax = { 0 , 1 } },
{ "baro_tab_size", VAR_UINT8 | MASTER_VALUE, &barometerConfig()->baro_sample_count, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX } },
{ "baro_noise_lpf", VAR_FLOAT | MASTER_VALUE, &barometerConfig()->baro_noise_lpf, .config.minmax = { 0 , 1 } },
{ "baro_cf_vel", VAR_FLOAT | MASTER_VALUE, &barometerConfig()->baro_cf_vel, .config.minmax = { 0 , 1 } },
{ "baro_cf_alt", VAR_FLOAT | MASTER_VALUE, &barometerConfig()->baro_cf_alt, .config.minmax = { 0 , 1 } },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorSelectionConfig()->baro_hardware, .config.lookup = { TABLE_BARO_HARDWARE } },
#endif
#ifdef MAG
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorSelectionConfig()->mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.compassConfig.mag_declination, .config.minmax = { -18000, 18000 } },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &compassConfig()->mag_declination, .config.minmax = { -18000, 18000 } },
#endif
{ "dterm_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },

2
src/main/main.c
View file

@ -424,7 +424,7 @@ void init(void)
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
&masterConfig.sensorSelectionConfig,
masterConfig.compassConfig.mag_declination,
compassConfig()->mag_declination,
&masterConfig.gyroConfig,
sonarConfig)) {
// if gyro was not detected due to whatever reason, we give up now.

32
src/main/target/COLIBRI_RACE/i2c_bst.c
View file

@ -769,7 +769,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite8(masterConfig.rxConfig.rssi_channel);
bstWrite8(0);
bstWrite16(masterConfig.compassConfig.mag_declination / 10);
bstWrite16(compassConfig()->mag_declination / 10);
bstWrite8(masterConfig.batteryConfig.vbatscale);
bstWrite8(masterConfig.batteryConfig.vbatmincellvoltage);
@ -848,9 +848,9 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break;
case BST_BOARD_ALIGNMENT:
bstWrite16(masterConfig.boardAlignment.rollDegrees);
bstWrite16(masterConfig.boardAlignment.pitchDegrees);
bstWrite16(masterConfig.boardAlignment.yawDegrees);
bstWrite16(boardAlignment()->rollDegrees);
bstWrite16(boardAlignment()->pitchDegrees);
bstWrite16(boardAlignment()->yawDegrees);
break;
case BST_VOLTAGE_METER_CONFIG:
@ -910,9 +910,9 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite8(masterConfig.rxConfig.serialrx_provider);
bstWrite16(masterConfig.boardAlignment.rollDegrees);
bstWrite16(masterConfig.boardAlignment.pitchDegrees);
bstWrite16(masterConfig.boardAlignment.yawDegrees);
bstWrite16(boardAlignment()->rollDegrees);
bstWrite16(boardAlignment()->pitchDegrees);
bstWrite16(boardAlignment()->yawDegrees);
bstWrite16(masterConfig.batteryConfig.currentMeterScale);
bstWrite16(masterConfig.batteryConfig.currentMeterOffset);
@ -977,7 +977,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite8(masterConfig.rcControlsConfig.yaw_deadband);
break;
case BST_FC_FILTERS:
bstWrite16(constrain(masterConfig.gyroConfig.gyro_lpf, 0, 1)); // Extra safety to prevent OSD setting corrupt values
bstWrite16(constrain(gyroConfig()->gyro_lpf, 0, 1)); // Extra safety to prevent OSD setting corrupt values
break;
default:
// we do not know how to handle the (valid) message, indicate error BST
@ -1132,7 +1132,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
masterConfig.rxConfig.rssi_channel = bstRead8();
bstRead8();
masterConfig.compassConfig.mag_declination = bstRead16() * 10;
compassConfig()->mag_declination = bstRead16() * 10;
masterConfig.batteryConfig.vbatscale = bstRead8(); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI
@ -1254,9 +1254,9 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
featureSet(bstRead32()); // features bitmap
break;
case BST_SET_BOARD_ALIGNMENT:
masterConfig.boardAlignment.rollDegrees = bstRead16();
masterConfig.boardAlignment.pitchDegrees = bstRead16();
masterConfig.boardAlignment.yawDegrees = bstRead16();
boardAlignment()->rollDegrees = bstRead16();
boardAlignment()->pitchDegrees = bstRead16();
boardAlignment()->yawDegrees = bstRead16();
break;
case BST_SET_VOLTAGE_METER_CONFIG:
masterConfig.batteryConfig.vbatscale = bstRead8(); // actual vbatscale as intended
@ -1327,9 +1327,9 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
masterConfig.rxConfig.serialrx_provider = bstRead8(); // serialrx_type
masterConfig.boardAlignment.rollDegrees = bstRead16(); // board_align_roll
masterConfig.boardAlignment.pitchDegrees = bstRead16(); // board_align_pitch
masterConfig.boardAlignment.yawDegrees = bstRead16(); // board_align_yaw
boardAlignment()->rollDegrees = bstRead16(); // board_align_roll
boardAlignment()->pitchDegrees = bstRead16(); // board_align_pitch
boardAlignment()->yawDegrees = bstRead16(); // board_align_yaw
masterConfig.batteryConfig.currentMeterScale = bstRead16();
masterConfig.batteryConfig.currentMeterOffset = bstRead16();
@ -1404,7 +1404,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
masterConfig.rcControlsConfig.yaw_deadband = bstRead8();
break;
case BST_SET_FC_FILTERS:
masterConfig.gyroConfig.gyro_lpf = bstRead16();
gyroConfig()->gyro_lpf = bstRead16();
break;
default: