Fixed dumping of profile values in CLI.

src/main/fc/config.c

@@ -93,17 +93,14 @@ uint8_t getCurrentPidProfileIndex(void)
     return systemConfig()->pidProfileIndex;
 }
 
-static void setPidProfile(uint8_t pidProfileIndex)
+static void loadPidProfile(void)
 {
-    if (pidProfileIndex < MAX_PROFILE_COUNT) {
+    currentPidProfile = pidProfilesMutable(systemConfig()->pidProfileIndex);
-        systemConfigMutable()->pidProfileIndex = pidProfileIndex;
-        currentPidProfile = pidProfilesMutable(pidProfileIndex);
-    }
 }
 
 uint8_t getCurrentControlRateProfileIndex(void)
 {
-    return systemConfigMutable()->activeRateProfile;
+    return systemConfig()->activeRateProfile;
 }
 
 uint16_t getCurrentMinthrottle(void)
@@ -119,20 +116,14 @@ void resetConfigs(void)
 #if defined(USE_TARGET_CONFIG)
     targetConfiguration();
 #endif
-
-#ifndef USE_OSD_SLAVE
-    setPidProfile(0);
-    setControlRateProfile(0);
-#endif
-
-#ifdef USE_LED_STRIP
-    reevaluateLedConfig();
-#endif
 }
 
-void activateConfig(void)
+static void activateConfig(void)
 {
 #ifndef USE_OSD_SLAVE
+    loadPidProfile();
+    loadControlRateProfile();
+
     initRcProcessing();
 
     resetAdjustmentStates();
@@ -147,6 +138,10 @@ void activateConfig(void)
 
     imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
 #endif // USE_OSD_SLAVE
+
+#ifdef USE_LED_STRIP
+    reevaluateLedConfig();
+#endif
 }
 
 static void validateAndFixConfig(void)
@@ -172,12 +167,12 @@ static void validateAndFixConfig(void)
     if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {
         systemConfigMutable()->activeRateProfile = 0;
     }
-    setControlRateProfile(systemConfig()->activeRateProfile);
+    loadControlRateProfile();
 
     if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) {
         systemConfigMutable()->pidProfileIndex = 0;
     }
-    setPidProfile(systemConfig()->pidProfileIndex);
+    loadPidProfile();
 
     // Prevent invalid notch cutoff
     if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) {
@@ -479,6 +474,7 @@ bool readEEPROM(void)
     bool success = loadEEPROM();
 
     validateAndFixConfig();
+
     activateConfig();
 
 #ifndef USE_OSD_SLAVE
@@ -490,6 +486,8 @@ bool readEEPROM(void)
 
 void writeEEPROM(void)
 {
+    validateAndFixConfig();
+
 #ifndef USE_OSD_SLAVE
     suspendRxSignal();
 #endif
@@ -505,10 +503,9 @@ void resetEEPROM(void)
 {
     resetConfigs();
 
-    validateAndFixConfig();
-    activateConfig();
-
     writeEEPROM();
+
+    activateConfig();
 }
 
 void ensureEEPROMStructureIsValid(void)
@@ -529,11 +526,11 @@ void saveConfigAndNotify(void)
 #ifndef USE_OSD_SLAVE
 void changePidProfile(uint8_t pidProfileIndex)
 {
-    if (pidProfileIndex >= MAX_PROFILE_COUNT) {
+    if (pidProfileIndex < MAX_PROFILE_COUNT) {
-        pidProfileIndex = MAX_PROFILE_COUNT - 1;
+        systemConfigMutable()->pidProfileIndex = pidProfileIndex;
+        loadPidProfile();
     }
-    systemConfigMutable()->pidProfileIndex = pidProfileIndex;
+
-    currentPidProfile = pidProfilesMutable(pidProfileIndex);
     beeperConfirmationBeeps(pidProfileIndex + 1);
 }
 #endif

src/main/fc/config.h

@@ -57,7 +57,6 @@ void ensureEEPROMStructureIsValid(void);
 
 void saveConfigAndNotify(void);
 void validateAndFixGyroConfig(void);
-void activateConfig(void);
 
 uint8_t getCurrentPidProfileIndex(void);
 void changePidProfile(uint8_t pidProfileIndex);

src/main/fc/controlrate_profile.c

@@ -62,20 +62,18 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
     }
 }
 
-void setControlRateProfile(uint8_t controlRateProfileIndex)
+void loadControlRateProfile(void)
 {
-    if (controlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT) {
+    currentControlRateProfile = controlRateProfilesMutable(systemConfig()->activeRateProfile);
-        systemConfigMutable()->activeRateProfile = controlRateProfileIndex;
-        currentControlRateProfile = controlRateProfilesMutable(controlRateProfileIndex);
-    }
 }
 
 void changeControlRateProfile(uint8_t controlRateProfileIndex)
 {
-    if (controlRateProfileIndex >= CONTROL_RATE_PROFILE_COUNT) {
+    if (controlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT) {
-        controlRateProfileIndex = CONTROL_RATE_PROFILE_COUNT - 1;
+        systemConfigMutable()->activeRateProfile = controlRateProfileIndex;
     }
-    setControlRateProfile(controlRateProfileIndex);
+
+    loadControlRateProfile();
     initRcProcessing();
 }
 

src/main/fc/controlrate_profile.h

@@ -54,7 +54,7 @@ PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRatePro
 
 extern controlRateConfig_t *currentControlRateProfile;
 
-void setControlRateProfile(uint8_t controlRateProfileIndex);
+void loadControlRateProfile(void);
 void changeControlRateProfile(uint8_t controlRateProfileIndex);
 
 void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex);

src/main/fc/fc_init.c

@@ -250,8 +250,6 @@ void init(void)
 
     if (!readSuccess || !isEEPROMVersionValid() || strncasecmp(systemConfig()->boardIdentifier, TARGET_BOARD_IDENTIFIER, sizeof(TARGET_BOARD_IDENTIFIER))) {
         resetEEPROM();
-
-        activateConfig();
     }
 
     systemState |= SYSTEM_STATE_CONFIG_LOADED;

src/main/interface/cli.c

@@ -174,6 +174,10 @@ static uint32_t bufferIndex = 0;
 
 static bool configIsInCopy = false;
 
+#define CURRENT_PROFILE_INDEX -1
+static int8_t pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
+static int8_t rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
+
 #if defined(USE_BOARD_INFO)
 static bool boardInformationUpdated = false;
 #if defined(USE_SIGNATURE)
@@ -487,15 +491,26 @@ static bool valuePtrEqualsDefault(const clivalue_t *var, const void *ptr, const
     return result;
 }
 
+static uint8_t getPidProfileIndexToUse()
+{
+    return pidProfileIndexToUse == CURRENT_PROFILE_INDEX ? getCurrentPidProfileIndex() : pidProfileIndexToUse;
+}
+
+static uint8_t getRateProfileIndexToUse()
+{
+    return rateProfileIndexToUse == CURRENT_PROFILE_INDEX ? getCurrentControlRateProfileIndex() : rateProfileIndexToUse;
+}
+
+
 static uint16_t getValueOffset(const clivalue_t *value)
 {
     switch (value->type & VALUE_SECTION_MASK) {
     case MASTER_VALUE:
         return value->offset;
     case PROFILE_VALUE:
-        return value->offset + sizeof(pidProfile_t) * getCurrentPidProfileIndex();
+        return value->offset + sizeof(pidProfile_t) * getPidProfileIndexToUse();
     case PROFILE_RATE_VALUE:
-        return value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex();
+        return value->offset + sizeof(controlRateConfig_t) * getRateProfileIndexToUse();
     }
     return 0;
 }
@@ -3157,12 +3172,12 @@ static void cliPlaySound(char *cmdline)
 static void cliProfile(char *cmdline)
 {
     if (isEmpty(cmdline)) {
-        cliPrintLinef("profile %d", getCurrentPidProfileIndex());
+        cliPrintLinef("profile %d", getPidProfileIndexToUse());
         return;
     } else {
         const int i = atoi(cmdline);
         if (i >= 0 && i < MAX_PROFILE_COUNT) {
-            systemConfigMutable()->pidProfileIndex = i;
+            changePidProfile(i);
             cliProfile("");
         }
     }
@@ -3171,7 +3186,7 @@ static void cliProfile(char *cmdline)
 static void cliRateProfile(char *cmdline)
 {
     if (isEmpty(cmdline)) {
-        cliPrintLinef("rateprofile %d", getCurrentControlRateProfileIndex());
+        cliPrintLinef("rateprofile %d", getRateProfileIndexToUse());
         return;
     } else {
         const int i = atoi(cmdline);
@@ -3188,11 +3203,15 @@ static void cliDumpPidProfile(uint8_t pidProfileIndex, uint8_t dumpMask)
         // Faulty values
         return;
     }
-    changePidProfile(pidProfileIndex);
+
+    pidProfileIndexToUse = pidProfileIndex;
+
     cliPrintHashLine("profile");
     cliProfile("");
     cliPrintLinefeed();
     dumpAllValues(PROFILE_VALUE, dumpMask);
+
+    pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
 }
 
 static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask)
@@ -3201,11 +3220,15 @@ static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask)
         // Faulty values
         return;
     }
-    changeControlRateProfile(rateProfileIndex);
+
+    rateProfileIndexToUse = rateProfileIndex;
+
     cliPrintHashLine("rateprofile");
     cliRateProfile("");
     cliPrintLinefeed();
     dumpAllValues(PROFILE_RATE_VALUE, dumpMask);
+
+    rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
 }
 
 static void cliSave(char *cmdline)
@@ -3226,6 +3249,7 @@ static void cliSave(char *cmdline)
 #endif // USE_BOARD_INFO
 
     writeEEPROM();
+
     cliReboot();
 }
 
@@ -3242,7 +3266,9 @@ static void cliDefaults(char *cmdline)
     }
 
     cliPrintHashLine("resetting to defaults");
+
     resetConfigs();
+
     if (saveConfigs) {
         cliSave(NULL);
     }
@@ -3268,6 +3294,9 @@ STATIC_UNIT_TESTED void cliGet(char *cmdline)
     const clivalue_t *val;
     int matchedCommands = 0;
 
+    pidProfileIndexToUse = getCurrentPidProfileIndex();
+    rateProfileIndexToUse = getCurrentControlRateProfileIndex();
+
     backupAndResetConfigs();
 
     for (uint32_t i = 0; i < valueTableEntryCount; i++) {
@@ -3287,6 +3316,9 @@ STATIC_UNIT_TESTED void cliGet(char *cmdline)
 
     restoreConfigs();
 
+    pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
+    rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
+
     if (matchedCommands) {
         return;
     }
@@ -4199,22 +4231,28 @@ static void printConfig(char *cmdline, bool doDiff)
         dumpAllValues(MASTER_VALUE, dumpMask);
 
         if (dumpMask & DUMP_ALL) {
-            const uint8_t pidProfileIndexSave = systemConfig_Copy.pidProfileIndex;
             for (uint32_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
                 cliDumpPidProfile(pidProfileIndex, dumpMask);
             }
-            changePidProfile(pidProfileIndexSave);
             cliPrintHashLine("restore original profile selection");
+
+            pidProfileIndexToUse = systemConfig_Copy.pidProfileIndex;
+
             cliProfile("");
 
-            const uint8_t controlRateProfileIndexSave = systemConfig_Copy.activeRateProfile;
+            pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
+
             for (uint32_t rateIndex = 0; rateIndex < CONTROL_RATE_PROFILE_COUNT; rateIndex++) {
                 cliDumpRateProfile(rateIndex, dumpMask);
             }
-            changeControlRateProfile(controlRateProfileIndexSave);
             cliPrintHashLine("restore original rateprofile selection");
+
+            rateProfileIndexToUse = systemConfig_Copy.activeRateProfile;
+
             cliRateProfile("");
 
+            rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
+
             cliPrintHashLine("save configuration");
             cliPrint("save");
         } else {