mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 19:40:31 +03:00
begin initial merge of 2.2 features
mw2.2-merged stuff: * implemented profiles 0-2 (called 'setting' in mwiigui) * merged in MSP changes including profile switch * cleaned up rc / aux switch stuff in mw.c based on 2.2 rewrite * main loop switch for baro/sonar shit adjusted todo: basically the rest of 2.2 changes (i think some minor imu/gps/baro updates) baseflight-specific stuff: * made boxitems transmission dynamic, based on enabled features. no more GPS / camstab trash if it's not enabled * cleaned up gyro drivers to return scale factor to imu code * set gyro_lpf now controls every supported gyro - not all take same values, see driver files for allowed ranges, in case of invalid lpf, defaults to something reasonable (around 30-40hz) maybe couple other things I forgot. this is all 100% experimental, untested, and not even flown. thats why there's no hex. merge is still ongoing. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@294 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com
parent
bba9bc291f
commit
491b3627f6
20 changed files with 1009 additions and 559 deletions
152
src/cli.c
152
src/cli.c
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@ -12,6 +12,7 @@ static void cliFeature(char *cmdline);
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static void cliHelp(char *cmdline);
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static void cliMap(char *cmdline);
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static void cliMixer(char *cmdline);
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static void cliProfile(char *cmdline);
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static void cliSave(char *cmdline);
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static void cliSet(char *cmdline);
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static void cliStatus(char *cmdline);
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@ -43,7 +44,7 @@ const char * const mixerNames[] = {
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const char * const featureNames[] = {
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"PPM", "VBAT", "INFLIGHT_ACC_CAL", "SPEKTRUM", "MOTOR_STOP",
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"SERVO_TILT", "GYRO_SMOOTHING", "LED_RING", "GPS",
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"FAILSAFE", "SONAR", "TELEMETRY",
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"FAILSAFE", "SONAR", "TELEMETRY", "VARIO",
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NULL
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};
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@ -74,6 +75,7 @@ const clicmd_t cmdTable[] = {
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{ "help", "", cliHelp },
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{ "map", "mapping of rc channel order", cliMap },
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{ "mixer", "mixer name or list", cliMixer },
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{ "profile", "index (0 to 2)", cliProfile },
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{ "save", "save and reboot", cliSave },
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{ "set", "name=value or blank or * for list", cliSet },
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{ "status", "show system status", cliStatus },
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@ -99,34 +101,50 @@ typedef struct {
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} clivalue_t;
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const clivalue_t valueTable[] = {
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{ "looptime", VAR_UINT16, &mcfg.looptime, 0, 9000 },
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{ "midrc", VAR_UINT16, &mcfg.midrc, 1200, 1700 },
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{ "minthrottle", VAR_UINT16, &mcfg.minthrottle, 0, 2000 },
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{ "maxthrottle", VAR_UINT16, &mcfg.maxthrottle, 0, 2000 },
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{ "mincommand", VAR_UINT16, &mcfg.mincommand, 0, 2000 },
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{ "mincheck", VAR_UINT16, &mcfg.mincheck, 0, 2000 },
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{ "maxcheck", VAR_UINT16, &mcfg.maxcheck, 0, 2000 },
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{ "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 },
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{ "motor_pwm_rate", VAR_UINT16, &mcfg.motor_pwm_rate, 50, 498 },
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{ "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 },
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{ "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 },
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{ "gps_baudrate", VAR_UINT32, &mcfg.gps_baudrate, 1200, 115200 },
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{ "spektrum_hires", VAR_UINT8, &mcfg.spektrum_hires, 0, 1 },
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{ "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 },
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{ "vbatmaxcellvoltage", VAR_UINT8, &mcfg.vbatmaxcellvoltage, 10, 50 },
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{ "vbatmincellvoltage", VAR_UINT8, &mcfg.vbatmincellvoltage, 10, 50 },
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{ "power_adc_channel", VAR_UINT8, &mcfg.power_adc_channel, 0, 9 },
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{ "align_gyro_x", VAR_INT8, &mcfg.align[ALIGN_GYRO][0], -3, 3 },
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{ "align_gyro_y", VAR_INT8, &mcfg.align[ALIGN_GYRO][1], -3, 3 },
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{ "align_gyro_z", VAR_INT8, &mcfg.align[ALIGN_GYRO][2], -3, 3 },
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{ "align_acc_x", VAR_INT8, &mcfg.align[ALIGN_ACCEL][0], -3, 3 },
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{ "align_acc_y", VAR_INT8, &mcfg.align[ALIGN_ACCEL][1], -3, 3 },
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{ "align_acc_z", VAR_INT8, &mcfg.align[ALIGN_ACCEL][2], -3, 3 },
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{ "align_mag_x", VAR_INT8, &mcfg.align[ALIGN_MAG][0], -3, 3 },
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{ "align_mag_y", VAR_INT8, &mcfg.align[ALIGN_MAG][1], -3, 3 },
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{ "align_mag_z", VAR_INT8, &mcfg.align[ALIGN_MAG][2], -3, 3 },
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{ "acc_hardware", VAR_UINT8, &mcfg.acc_hardware, 0, 3 },
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{ "moron_threshold", VAR_UINT8, &mcfg.moron_threshold, 0, 128 },
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{ "gyro_lpf", VAR_UINT16, &mcfg.gyro_lpf, 0, 256 },
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{ "gyro_cmpf_factor", VAR_UINT16, &mcfg.gyro_cmpf_factor, 100, 1000 },
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{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
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{ "deadband", VAR_UINT8, &cfg.deadband, 0, 32 },
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{ "yawdeadband", VAR_UINT8, &cfg.yawdeadband, 0, 100 },
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{ "alt_hold_throttle_neutral", VAR_UINT8, &cfg.alt_hold_throttle_neutral, 1, 250 },
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{ "midrc", VAR_UINT16, &cfg.midrc, 1200, 1700 },
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{ "rc_rate", VAR_UINT8, &cfg.rcRate8, 0, 250 },
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{ "rc_expo", VAR_UINT8, &cfg.rcExpo8, 0, 100 },
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{ "thr_mid", VAR_UINT8, &cfg.thrMid8, 0, 100 },
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{ "thr_expo", VAR_UINT8, &cfg.thrExpo8, 0, 250 },
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{ "roll_pitch_rate", VAR_UINT8, &cfg.rollPitchRate, 0, 100 },
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{ "yawrate", VAR_UINT8, &cfg.yawRate, 0, 100 },
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{ "minthrottle", VAR_UINT16, &cfg.minthrottle, 0, 2000 },
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{ "maxthrottle", VAR_UINT16, &cfg.maxthrottle, 0, 2000 },
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{ "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 },
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{ "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
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{ "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
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{ "retarded_arm", VAR_UINT8, &cfg.retarded_arm, 0, 1 },
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{ "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
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{ "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
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{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
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{ "motor_pwm_rate", VAR_UINT16, &cfg.motor_pwm_rate, 50, 498 },
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{ "servo_pwm_rate", VAR_UINT16, &cfg.servo_pwm_rate, 50, 498 },
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{ "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },
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{ "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
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{ "spektrum_hires", VAR_UINT8, &cfg.spektrum_hires, 0, 1 },
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{ "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
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{ "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
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{ "vbatmincellvoltage", VAR_UINT8, &cfg.vbatmincellvoltage, 10, 50 },
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{ "power_adc_channel", VAR_UINT8, &cfg.power_adc_channel, 0, 9 },
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{ "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
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{ "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
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{ "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
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@ -150,28 +168,14 @@ const clivalue_t valueTable[] = {
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{ "gimbal_roll_min", VAR_UINT16, &cfg.gimbal_roll_min, 100, 3000 },
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{ "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 },
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{ "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 },
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{ "align_gyro_x", VAR_INT8, &cfg.align[ALIGN_GYRO][0], -3, 3 },
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{ "align_gyro_y", VAR_INT8, &cfg.align[ALIGN_GYRO][1], -3, 3 },
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{ "align_gyro_z", VAR_INT8, &cfg.align[ALIGN_GYRO][2], -3, 3 },
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{ "align_acc_x", VAR_INT8, &cfg.align[ALIGN_ACCEL][0], -3, 3 },
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{ "align_acc_y", VAR_INT8, &cfg.align[ALIGN_ACCEL][1], -3, 3 },
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{ "align_acc_z", VAR_INT8, &cfg.align[ALIGN_ACCEL][2], -3, 3 },
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{ "align_mag_x", VAR_INT8, &cfg.align[ALIGN_MAG][0], -3, 3 },
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{ "align_mag_y", VAR_INT8, &cfg.align[ALIGN_MAG][1], -3, 3 },
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{ "align_mag_z", VAR_INT8, &cfg.align[ALIGN_MAG][2], -3, 3 },
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{ "acc_hardware", VAR_UINT8, &cfg.acc_hardware, 0, 3 },
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{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
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{ "acc_lpf_for_velocity", VAR_UINT8, &cfg.acc_lpf_for_velocity, 1, 250 },
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{ "acc_trim_pitch", VAR_INT16, &cfg.angleTrim[PITCH], -300, 300 },
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{ "acc_trim_roll", VAR_INT16, &cfg.angleTrim[ROLL], -300, 300 },
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{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
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{ "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 },
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{ "baro_tab_size", VAR_UINT8, &cfg.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
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{ "baro_noise_lpf", VAR_FLOAT, &cfg.baro_noise_lpf, 0, 1 },
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{ "baro_cf", VAR_FLOAT, &cfg.baro_cf, 0, 1 },
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{ "moron_threshold", VAR_UINT8, &cfg.moron_threshold, 0, 128 },
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{ "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
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{ "gps_type", VAR_UINT8, &cfg.gps_type, 0, 3 },
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{ "gps_pos_p", VAR_UINT8, &cfg.P8[PIDPOS], 0, 200 },
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{ "gps_pos_i", VAR_UINT8, &cfg.I8[PIDPOS], 0, 200 },
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{ "gps_pos_d", VAR_UINT8, &cfg.D8[PIDPOS], 0, 200 },
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@ -186,7 +190,6 @@ const clivalue_t valueTable[] = {
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{ "nav_speed_min", VAR_UINT16, &cfg.nav_speed_min, 10, 2000 },
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{ "nav_speed_max", VAR_UINT16, &cfg.nav_speed_max, 10, 2000 },
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{ "nav_slew_rate", VAR_UINT8, &cfg.nav_slew_rate, 0, 100 },
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{ "looptime", VAR_UINT16, &cfg.looptime, 0, 9000 },
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{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200 },
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{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200 },
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{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200 },
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@ -435,26 +438,30 @@ static void cliCMix(char *cmdline)
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if (len == 0) {
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uartPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
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for (i = 0; i < MAX_MOTORS; i++) {
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if (cfg.customMixer[i].throttle == 0.0f)
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if (mcfg.customMixer[i].throttle == 0.0f)
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break;
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mixsum[i] = 0.0f;
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num_motors++;
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printf("#%d:\t", i + 1);
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printf("%s\t", ftoa(cfg.customMixer[i].throttle, buf));
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printf("%s\t", ftoa(cfg.customMixer[i].roll, buf));
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printf("%s\t", ftoa(cfg.customMixer[i].pitch, buf));
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printf("%s\r\n", ftoa(cfg.customMixer[i].yaw, buf));
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printf("%s\t", ftoa(mcfg.customMixer[i].throttle, buf));
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printf("%s\t", ftoa(mcfg.customMixer[i].roll, buf));
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printf("%s\t", ftoa(mcfg.customMixer[i].pitch, buf));
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printf("%s\r\n", ftoa(mcfg.customMixer[i].yaw, buf));
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}
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mixsum[0] = mixsum[1] = mixsum[2] = 0.0f;
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for (i = 0; i < num_motors; i++) {
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mixsum[0] += cfg.customMixer[i].roll;
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mixsum[1] += cfg.customMixer[i].pitch;
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mixsum[2] += cfg.customMixer[i].yaw;
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mixsum[0] += mcfg.customMixer[i].roll;
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mixsum[1] += mcfg.customMixer[i].pitch;
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mixsum[2] += mcfg.customMixer[i].yaw;
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}
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uartPrint("Sanity check:\t");
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for (i = 0; i < 3; i++)
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uartPrint(fabs(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
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uartPrint("\r\n");
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return;
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} else if (strncasecmp(cmdline, "reset", 5) == 0) {
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// erase custom mixer
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for (i = 0; i < MAX_MOTORS; i++)
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mcfg.customMixer[i].throttle = 0.0f;
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} else if (strncasecmp(cmdline, "load", 4) == 0) {
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ptr = strchr(cmdline, ' ');
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if (ptr) {
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@ -478,22 +485,22 @@ static void cliCMix(char *cmdline)
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if (--i < MAX_MOTORS) {
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ptr = strchr(ptr, ' ');
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if (ptr) {
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cfg.customMixer[i].throttle = _atof(++ptr);
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mcfg.customMixer[i].throttle = _atof(++ptr);
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check++;
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}
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ptr = strchr(ptr, ' ');
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if (ptr) {
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cfg.customMixer[i].roll = _atof(++ptr);
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mcfg.customMixer[i].roll = _atof(++ptr);
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check++;
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}
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ptr = strchr(ptr, ' ');
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if (ptr) {
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cfg.customMixer[i].pitch = _atof(++ptr);
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mcfg.customMixer[i].pitch = _atof(++ptr);
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check++;
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}
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ptr = strchr(ptr, ' ');
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if (ptr) {
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cfg.customMixer[i].yaw = _atof(++ptr);
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mcfg.customMixer[i].yaw = _atof(++ptr);
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check++;
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}
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if (check != 4) {
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@ -519,7 +526,7 @@ static void cliDefaults(char *cmdline)
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static void cliDump(char *cmdline)
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{
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int i, val = 0;
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int i;
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char buf[16];
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float thr, roll, pitch, yaw;
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uint32_t mask;
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@ -531,17 +538,17 @@ static void cliDump(char *cmdline)
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cliAux("");
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// print out current motor mix
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printf("mixer %s\r\n", mixerNames[cfg.mixerConfiguration - 1]);
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printf("mixer %s\r\n", mixerNames[mcfg.mixerConfiguration - 1]);
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// print custom mix if exists
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if (cfg.customMixer[0].throttle != 0.0f) {
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if (mcfg.customMixer[0].throttle != 0.0f) {
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for (i = 0; i < MAX_MOTORS; i++) {
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if (cfg.customMixer[i].throttle == 0.0f)
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if (mcfg.customMixer[i].throttle == 0.0f)
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break;
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thr = cfg.customMixer[i].throttle;
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roll = cfg.customMixer[i].roll;
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pitch = cfg.customMixer[i].pitch;
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yaw = cfg.customMixer[i].yaw;
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thr = mcfg.customMixer[i].throttle;
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roll = mcfg.customMixer[i].roll;
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pitch = mcfg.customMixer[i].pitch;
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yaw = mcfg.customMixer[i].yaw;
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printf("cmix %d", i + 1);
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if (thr < 0)
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printf(" ");
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@ -575,7 +582,7 @@ static void cliDump(char *cmdline)
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// print RC MAPPING
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for (i = 0; i < 8; i++)
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buf[cfg.rcmap[i]] = rcChannelLetters[i];
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buf[mcfg.rcmap[i]] = rcChannelLetters[i];
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buf[i] = '\0';
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printf("map %s\r\n", buf);
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@ -685,20 +692,20 @@ static void cliMap(char *cmdline)
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}
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uartPrint("Current assignment: ");
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for (i = 0; i < 8; i++)
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out[cfg.rcmap[i]] = rcChannelLetters[i];
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out[mcfg.rcmap[i]] = rcChannelLetters[i];
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out[i] = '\0';
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printf("%s\r\n", out);
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}
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static void cliMixer(char *cmdline)
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{
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uint8_t i;
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uint8_t len;
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int i;
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int len;
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len = strlen(cmdline);
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if (len == 0) {
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printf("Current mixer: %s\r\n", mixerNames[cfg.mixerConfiguration - 1]);
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printf("Current mixer: %s\r\n", mixerNames[mcfg.mixerConfiguration - 1]);
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return;
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} else if (strncasecmp(cmdline, "list", len) == 0) {
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uartPrint("Available mixers: ");
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@ -717,17 +724,36 @@ static void cliMixer(char *cmdline)
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break;
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}
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if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
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cfg.mixerConfiguration = i + 1;
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mcfg.mixerConfiguration = i + 1;
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printf("Mixer set to %s\r\n", mixerNames[i]);
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break;
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}
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}
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}
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static void cliProfile(char *cmdline)
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{
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uint8_t len;
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int i;
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len = strlen(cmdline);
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if (len == 0) {
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printf("Current profile: %d\r\n", mcfg.current_profile);
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return;
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} else {
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i = atoi(cmdline);
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if (i >= 0 && i <= 2) {
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mcfg.current_profile = i;
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writeEEPROM(0, false);
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cliProfile("");
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}
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}
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}
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static void cliSave(char *cmdline)
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{
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uartPrint("Saving...");
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writeParams(0);
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writeEEPROM(0, true);
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uartPrint("\r\nRebooting...");
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delay(10);
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systemReset(false);
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@ -856,11 +882,11 @@ static void cliStatus(char *cmdline)
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if (sensors(SENSOR_ACC)) {
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printf("ACCHW: %s", accNames[accHardware]);
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if (accHardware == ACC_MPU6050)
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printf(".%c", cfg.mpu6050_scale ? 'o' : 'n');
|
||||
printf(".%c", mcfg.mpu6050_scale ? 'o' : 'n');
|
||||
}
|
||||
uartPrint("\r\n");
|
||||
|
||||
printf("Cycle Time: %d, I2C Errors: %d\r\n", cycleTime, i2cGetErrorCounter());
|
||||
printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cGetErrorCounter(), sizeof(master_t));
|
||||
}
|
||||
|
||||
static void cliVersion(char *cmdline)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue