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Additional configs moved from profile to master
This commit is contained in:
KiteAnton
parent
0d054af27f
commit
62e0e59ab5
7 changed files with 131 additions and 137 deletions
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@ -550,11 +550,11 @@ const clivalue_t valueTable[] = {
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{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], .config.minmax = { 0, 200 } },
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{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDNAVR], .config.minmax = { 0, 200 } },
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{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], .config.minmax = { 0, 200 } },
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{ "gps_wp_radius", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.gps_wp_radius, .config.minmax = { 0, 2000 } },
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{ "nav_controls_heading", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gpsProfile.nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
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{ "nav_speed_min", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_min, .config.minmax = { 10, 2000 } },
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{ "nav_speed_max", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_max, .config.minmax = { 10, 2000 } },
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{ "nav_slew_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_slew_rate, .config.minmax = { 0, 100 } },
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{ "gps_wp_radius", VAR_UINT16 | PROFILE_VALUE, &masterConfig.gpsProfile.gps_wp_radius, .config.minmax = { 0, 2000 } },
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{ "nav_controls_heading", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.gpsProfile.nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
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{ "nav_speed_min", VAR_UINT16 | PROFILE_VALUE, &masterConfig.gpsProfile.nav_speed_min, .config.minmax = { 10, 2000 } },
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{ "nav_speed_max", VAR_UINT16 | PROFILE_VALUE, &masterConfig.gpsProfile.nav_speed_max, .config.minmax = { 10, 2000 } },
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{ "nav_slew_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.gpsProfile.nav_slew_rate, .config.minmax = { 0, 100 } },
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#endif
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#ifdef GTUNE
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{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 } },
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@ -606,13 +606,13 @@ const clivalue_t valueTable[] = {
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{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } },
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{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } },
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{ "alt_hold_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, .config.minmax = { 1, 250 } },
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{ "alt_hold_fast_change", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].rcControlsConfig.alt_hold_fast_change, .config.lookup = { TABLE_OFF_ON } },
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{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.deadband, .config.minmax = { 0, 32 } },
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{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.yaw_deadband, .config.minmax = { 0, 100 } },
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{ "alt_hold_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.rcControlsConfig.alt_hold_deadband, .config.minmax = { 1, 250 } },
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{ "alt_hold_fast_change", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.rcControlsConfig.alt_hold_fast_change, .config.lookup = { TABLE_OFF_ON } },
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{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.rcControlsConfig.deadband, .config.minmax = { 0, 32 } },
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{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.rcControlsConfig.yaw_deadband, .config.minmax = { 0, 100 } },
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{ "throttle_correction_value", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_value, .config.minmax = { 0, 150 } },
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{ "throttle_correction_angle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_angle, .config.minmax = { 1, 900 } },
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{ "throttle_correction_value", VAR_UINT8 | PROFILE_VALUE, &masterConfig.throttle_correction_value, .config.minmax = { 0, 150 } },
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{ "throttle_correction_angle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.throttle_correction_angle, .config.minmax = { 1, 900 } },
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{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, .config.minmax = { -1, 1 } },
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@ -646,26 +646,26 @@ const clivalue_t valueTable[] = {
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{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
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#ifdef USE_SERVOS
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{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE } },
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{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE } },
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#endif
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{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
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{ "acc_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_lpf_hz, .config.minmax = { 0, 200 } },
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{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.xy, .config.minmax = { 0, 100 } },
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{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.z, .config.minmax = { 0, 100 } },
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{ "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].accz_lpf_cutoff, .config.minmax = { 1, 20 } },
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{ "acc_unarmedcal", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].acc_unarmedcal, .config.lookup = { TABLE_OFF_ON } },
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{ "acc_trim_pitch", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.pitch, .config.minmax = { -300, 300 } },
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{ "acc_trim_roll", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.roll, .config.minmax = { -300, 300 } },
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{ "acc_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.acc_lpf_hz, .config.minmax = { 0, 200 } },
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{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.accDeadband.xy, .config.minmax = { 0, 100 } },
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{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.accDeadband.z, .config.minmax = { 0, 100 } },
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{ "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &masterConfig.accz_lpf_cutoff, .config.minmax = { 1, 20 } },
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{ "acc_unarmedcal", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.acc_unarmedcal, .config.lookup = { TABLE_OFF_ON } },
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{ "acc_trim_pitch", VAR_INT16 | PROFILE_VALUE, &masterConfig.accelerometerTrims.values.pitch, .config.minmax = { -300, 300 } },
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{ "acc_trim_roll", VAR_INT16 | PROFILE_VALUE, &masterConfig.accelerometerTrims.values.roll, .config.minmax = { -300, 300 } },
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{ "baro_tab_size", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_sample_count, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX } },
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{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, .config.minmax = { 0 , 1 } },
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{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, .config.minmax = { 0 , 1 } },
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{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, .config.minmax = { 0 , 1 } },
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{ "baro_tab_size", VAR_UINT8 | PROFILE_VALUE, &masterConfig.barometerConfig.baro_sample_count, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX } },
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{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.barometerConfig.baro_noise_lpf, .config.minmax = { 0 , 1 } },
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{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.barometerConfig.baro_cf_vel, .config.minmax = { 0 , 1 } },
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{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.barometerConfig.baro_cf_alt, .config.minmax = { 0 , 1 } },
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{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.baro_hardware, .config.lookup = { TABLE_BARO_HARDWARE } },
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{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
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{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, .config.minmax = { -18000, 18000 } },
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{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
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{ "delta_from_gyro", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaFromGyro, .config.lookup = { TABLE_OFF_ON } },
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{ "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
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@ -1280,7 +1280,7 @@ static void cliServo(char *cmdline)
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if (isEmpty(cmdline)) {
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// print out servo settings
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for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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servo = ¤tProfile->servoConf[i];
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servo = &masterConfig.servoConf[i];
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cliPrintf("servo %u %d %d %d %d %d %d %d\r\n",
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i,
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@ -1331,7 +1331,7 @@ static void cliServo(char *cmdline)
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return;
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}
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servo = ¤tProfile->servoConf[i];
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servo = &masterConfig.servoConf[i];
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if (
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arguments[MIN] < PWM_PULSE_MIN || arguments[MIN] > PWM_PULSE_MAX ||
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@ -1392,7 +1392,7 @@ static void cliServoMix(char *cmdline)
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// erase custom mixer
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memset(masterConfig.customServoMixer, 0, sizeof(masterConfig.customServoMixer));
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for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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currentProfile->servoConf[i].reversedSources = 0;
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masterConfig.servoConf[i].reversedSources = 0;
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}
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} else if (strncasecmp(cmdline, "load", 4) == 0) {
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ptr = strchr(cmdline, ' ');
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@ -1426,7 +1426,7 @@ static void cliServoMix(char *cmdline)
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for (servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
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cliPrintf("%d", servoIndex);
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for (inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
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cliPrintf("\t%s ", (currentProfile->servoConf[servoIndex].reversedSources & (1 << inputSource)) ? "r" : "n");
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cliPrintf("\t%s ", (masterConfig.servoConf[servoIndex].reversedSources & (1 << inputSource)) ? "r" : "n");
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cliPrintf("\r\n");
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}
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return;
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@ -1447,9 +1447,9 @@ static void cliServoMix(char *cmdline)
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&& args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT
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&& (*ptr == 'r' || *ptr == 'n')) {
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if (*ptr == 'r')
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currentProfile->servoConf[args[SERVO]].reversedSources |= 1 << args[INPUT];
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masterConfig.servoConf[args[SERVO]].reversedSources |= 1 << args[INPUT];
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else
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currentProfile->servoConf[args[SERVO]].reversedSources &= ~(1 << args[INPUT]);
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masterConfig.servoConf[args[SERVO]].reversedSources &= ~(1 << args[INPUT]);
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} else
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cliShowParseError();
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