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add validation based on rates type

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This commit is contained in:
Nicola De Pasquale 2020-03-10 11:50:47 +01:00
parent 4519935c92
commit 5adc8d5ce6
1 changed files with 38 additions and 0 deletions
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38
src/main/config/config.c
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@ -91,6 +91,7 @@ static bool configIsDirty; /* someone indicated that the config is modified and
static bool rebootRequired = false; // set if a config change requires a reboot to take effect
pidProfile_t *currentPidProfile;
controlRateConfig_t *currentRateProfile;
#ifndef RX_SPI_DEFAULT_PROTOCOL
#define RX_SPI_DEFAULT_PROTOCOL 0
@ -98,6 +99,11 @@ pidProfile_t *currentPidProfile;
#define DYNAMIC_FILTER_MAX_SUPPORTED_LOOP_TIME HZ_TO_INTERVAL_US(2000)
#define BETAFLIGHT_MAX_SRATE 100
#define KISS_MAX_SRATE 100
#define QUICK_MAX_RATE 200
#define ACTUAL_MAX_RATE 200
PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 1);
PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
@ -132,6 +138,11 @@ static void loadPidProfile(void)
currentPidProfile = pidProfilesMutable(systemConfig()->pidProfileIndex);
}
static void loadCurrentControlRateProfile(void)
{
currentControlRateProfile = controlRateProfilesMutable(systemConfig()->activeRateProfile);
}
uint8_t getCurrentControlRateProfileIndex(void)
{
return systemConfig()->activeRateProfile;
@ -156,6 +167,7 @@ static void activateConfig(void)
schedulerOptimizeRate(systemConfig()->schedulerOptimizeRate == SCHEDULER_OPTIMIZE_RATE_ON || (systemConfig()->schedulerOptimizeRate == SCHEDULER_OPTIMIZE_RATE_AUTO && motorConfig()->dev.useDshotTelemetry));
loadPidProfile();
loadControlRateProfile();
loadCurrentControlRateProfile();
initRcProcessing();
@ -555,6 +567,32 @@ static void validateAndFixConfig(void)
#if defined(TARGET_VALIDATECONFIG)
targetValidateConfiguration();
#endif
switch (currentControlRateProfile->rates_type) {
case RATES_TYPE_BETAFLIGHT:
default:
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
currentControlRateProfile->rates[axis] = constrain(currentControlRateProfile->rates[axis], 0, BETAFLIGHT_MAX_SRATE);
}
break;
case RATES_TYPE_KISS:
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
currentControlRateProfile->rates[axis] = constrain(currentControlRateProfile->rates[axis], 0, KISS_MAX_SRATE);
}
break;
case RATES_TYPE_ACTUAL:
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
currentControlRateProfile->rates[axis] = constrain(currentControlRateProfile->rates[axis], 0, ACTUAL_MAX_RATE);
}
break;
case RATES_TYPE_QUICK:
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
currentControlRateProfile->rates[axis] = constrain(currentControlRateProfile->rates[axis], 0, QUICK_MAX_RATE);
}
}
}
void validateAndFixGyroConfig(void)