Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 13:55:18 +03:00
Code Issues Wiki Activity

Additional configs moved from profile to master

Browse source
This commit is contained in:
KiteAnton 2016-01-26 22:23:39 +01:00
parent 0d054af27f
commit 62e0e59ab5
7 changed files with 131 additions and 137 deletions
Download patch file Download diff file Expand all files Collapse all files

65
src/main/config/config.c
View file

@ -492,27 +492,24 @@ static void resetConf(void)
resetControlRateConfig(&masterConfig.controlRateProfiles[0]); resetControlRateConfig(&masterConfig.controlRateProfiles[0]);
// for (i = 0; i < CHECKBOXITEMS; i++) resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
// cfg.activate[i] = 0;
resetRollAndPitchTrims(&currentProfile->accelerometerTrims); masterConfig.mag_declination = 0;
masterConfig.acc_lpf_hz = 20;
masterConfig.accz_lpf_cutoff = 5.0f;
masterConfig.accDeadband.xy = 40;
masterConfig.accDeadband.z = 40;
masterConfig.acc_unarmedcal = 1;
currentProfile->mag_declination = 0; resetBarometerConfig(&masterConfig.barometerConfig);
currentProfile->acc_lpf_hz = 20;
currentProfile->accz_lpf_cutoff = 5.0f;
currentProfile->accDeadband.xy = 40;
currentProfile->accDeadband.z = 40;
currentProfile->acc_unarmedcal = 1;
resetBarometerConfig(&currentProfile->barometerConfig);
// Radio // Radio
parseRcChannels("AETR1234", &masterConfig.rxConfig); parseRcChannels("AETR1234", &masterConfig.rxConfig);
resetRcControlsConfig(&currentProfile->rcControlsConfig); resetRcControlsConfig(&masterConfig.rcControlsConfig);
currentProfile->throttle_correction_value = 0; // could 10 with althold or 40 for fpv masterConfig.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
currentProfile->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv masterConfig.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
// Failsafe Variables // Failsafe Variables
masterConfig.failsafeConfig.failsafe_delay = 10; // 1sec masterConfig.failsafeConfig.failsafe_delay = 10; // 1sec
@ -524,21 +521,21 @@ static void resetConf(void)
#ifdef USE_SERVOS #ifdef USE_SERVOS
// servos // servos
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) { for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN; masterConfig.servoConf[i].min = DEFAULT_SERVO_MIN;
currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX; masterConfig.servoConf[i].max = DEFAULT_SERVO_MAX;
currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE; masterConfig.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
currentProfile->servoConf[i].rate = 100; masterConfig.servoConf[i].rate = 100;
currentProfile->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE; masterConfig.servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
currentProfile->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE; masterConfig.servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED; masterConfig.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
} }
// gimbal // gimbal
currentProfile->gimbalConfig.mode = GIMBAL_MODE_NORMAL; masterConfig.gimbalConfig.mode = GIMBAL_MODE_NORMAL;
#endif #endif
#ifdef GPS #ifdef GPS
resetGpsProfile(&currentProfile->gpsProfile); resetGpsProfile(&masterConfig.gpsProfile);
#endif #endif
// custom mixer. clear by defaults. // custom mixer. clear by defaults.
@ -779,7 +776,7 @@ void activateConfig(void)
pidSetController(currentProfile->pidProfile.pidController); pidSetController(currentProfile->pidProfile.pidController);
#ifdef GPS #ifdef GPS
gpsUseProfile(&currentProfile->gpsProfile); gpsUseProfile(&masterConfig.gpsProfile);
gpsUsePIDs(&currentProfile->pidProfile); gpsUsePIDs(&currentProfile->pidProfile);
#endif #endif
@ -788,8 +785,8 @@ void activateConfig(void)
mixerUseConfigs( mixerUseConfigs(
#ifdef USE_SERVOS #ifdef USE_SERVOS
currentProfile->servoConf, masterConfig.servoConf,
&currentProfile->gimbalConfig, &masterConfig.gimbalConfig,
#endif #endif
&masterConfig.flight3DConfig, &masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig, &masterConfig.escAndServoConfig,
@ -800,27 +797,27 @@ void activateConfig(void)
imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f; imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f; imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
imuRuntimeConfig.acc_cut_hz = currentProfile->acc_lpf_hz; imuRuntimeConfig.acc_cut_hz = masterConfig.acc_lpf_hz;
imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal; imuRuntimeConfig.acc_unarmedcal = masterConfig.acc_unarmedcal;
imuRuntimeConfig.small_angle = masterConfig.small_angle; imuRuntimeConfig.small_angle = masterConfig.small_angle;
imuConfigure( imuConfigure(
&imuRuntimeConfig, &imuRuntimeConfig,
&currentProfile->pidProfile, &currentProfile->pidProfile,
&currentProfile->accDeadband, &masterConfig.accDeadband,
currentProfile->accz_lpf_cutoff, masterConfig.accz_lpf_cutoff,
currentProfile->throttle_correction_angle masterConfig.throttle_correction_angle
); );
configureAltitudeHold( configureAltitudeHold(
&currentProfile->pidProfile, &currentProfile->pidProfile,
&currentProfile->barometerConfig, &masterConfig.barometerConfig,
&currentProfile->rcControlsConfig, &masterConfig.rcControlsConfig,
&masterConfig.escAndServoConfig &masterConfig.escAndServoConfig
); );
#ifdef BARO #ifdef BARO
useBarometerConfig(&currentProfile->barometerConfig); useBarometerConfig(&masterConfig.barometerConfig);
#endif #endif
} }

34
src/main/config/config_master.h
View file

@ -60,6 +60,40 @@ typedef struct master_t {
uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device
uint8_t baro_hardware; // Barometer hardware to use uint8_t baro_hardware; // Barometer hardware to use
int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
// For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
rollAndPitchTrims_t accelerometerTrims; // accelerometer trim
// sensor-related stuff
uint8_t acc_lpf_hz; // Set the Low Pass Filter factor for ACC. Reducing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
float accz_lpf_cutoff; // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
accDeadband_t accDeadband;
barometerConfig_t barometerConfig;
uint8_t acc_unarmedcal; // turn automatic acc compensation on/off
uint16_t throttle_correction_angle; // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.
// Radio/ESC-related configuration
rcControlsConfig_t rcControlsConfig;
#ifdef USE_SERVOS
// Servo-related stuff
servoParam_t servoConf[MAX_SUPPORTED_SERVOS]; // servo configuration
// gimbal-related configuration
gimbalConfig_t gimbalConfig;
#endif
#ifdef GPS
gpsProfile_t gpsProfile;
#endif
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees). uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
flightDynamicsTrims_t accZero; flightDynamicsTrims_t accZero;
flightDynamicsTrims_t magZero; flightDynamicsTrims_t magZero;

37
src/main/config/config_profile.h
View file

@ -19,42 +19,5 @@
typedef struct profile_s { typedef struct profile_s {
pidProfile_t pidProfile; pidProfile_t pidProfile;
uint8_t defaultRateProfileIndex; uint8_t defaultRateProfileIndex;
int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
// For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
rollAndPitchTrims_t accelerometerTrims; // accelerometer trim
// sensor-related stuff
uint8_t acc_lpf_hz; // Set the Low Pass Filter factor for ACC. Reducing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
float accz_lpf_cutoff; // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
accDeadband_t accDeadband;
barometerConfig_t barometerConfig;
uint8_t acc_unarmedcal; // turn automatic acc compensation on/off
// Radio/ESC-related configuration
rcControlsConfig_t rcControlsConfig;
uint16_t throttle_correction_angle; // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.
#ifdef USE_SERVOS
// Servo-related stuff
servoParam_t servoConf[MAX_SUPPORTED_SERVOS]; // servo configuration
// gimbal-related configuration
gimbalConfig_t gimbalConfig;
#endif
#ifdef GPS
gpsProfile_t gpsProfile;
#endif
} profile_t; } profile_t;

60
src/main/io/serial_cli.c
View file

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

44
src/main/io/serial_msp.c
View file

@ -713,14 +713,14 @@ static bool processOutCommand(uint8_t cmdMSP)
case MSP_SERVO_CONFIGURATIONS: case MSP_SERVO_CONFIGURATIONS:
headSerialReply(MAX_SUPPORTED_SERVOS * sizeof(servoParam_t)); headSerialReply(MAX_SUPPORTED_SERVOS * sizeof(servoParam_t));
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) { for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
serialize16(currentProfile->servoConf[i].min); serialize16(masterConfig.servoConf[i].min);
serialize16(currentProfile->servoConf[i].max); serialize16(masterConfig.servoConf[i].max);
serialize16(currentProfile->servoConf[i].middle); serialize16(masterConfig.servoConf[i].middle);
serialize8(currentProfile->servoConf[i].rate); serialize8(masterConfig.servoConf[i].rate);
serialize8(currentProfile->servoConf[i].angleAtMin); serialize8(masterConfig.servoConf[i].angleAtMin);
serialize8(currentProfile->servoConf[i].angleAtMax); serialize8(masterConfig.servoConf[i].angleAtMax);
serialize8(currentProfile->servoConf[i].forwardFromChannel); serialize8(masterConfig.servoConf[i].forwardFromChannel);
serialize32(currentProfile->servoConf[i].reversedSources); serialize32(masterConfig.servoConf[i].reversedSources);
} }
break; break;
case MSP_SERVO_MIX_RULES: case MSP_SERVO_MIX_RULES:
@ -900,7 +900,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.rxConfig.rssi_channel); serialize8(masterConfig.rxConfig.rssi_channel);
serialize8(0); serialize8(0);
serialize16(currentProfile->mag_declination / 10); serialize16(masterConfig.mag_declination / 10);
serialize8(masterConfig.batteryConfig.vbatscale); serialize8(masterConfig.batteryConfig.vbatscale);
serialize8(masterConfig.batteryConfig.vbatmincellvoltage); serialize8(masterConfig.batteryConfig.vbatmincellvoltage);
@ -973,8 +973,8 @@ static bool processOutCommand(uint8_t cmdMSP)
// Additional commands that are not compatible with MultiWii // Additional commands that are not compatible with MultiWii
case MSP_ACC_TRIM: case MSP_ACC_TRIM:
headSerialReply(4); headSerialReply(4);
serialize16(currentProfile->accelerometerTrims.values.pitch); serialize16(masterConfig.accelerometerTrims.values.pitch);
serialize16(currentProfile->accelerometerTrims.values.roll); serialize16(masterConfig.accelerometerTrims.values.roll);
break; break;
case MSP_UID: case MSP_UID:
@ -1240,8 +1240,8 @@ static bool processInCommand(void)
} }
break; break;
case MSP_SET_ACC_TRIM: case MSP_SET_ACC_TRIM:
currentProfile->accelerometerTrims.values.pitch = read16(); masterConfig.accelerometerTrims.values.pitch = read16();
currentProfile->accelerometerTrims.values.roll = read16(); masterConfig.accelerometerTrims.values.roll = read16();
break; break;
case MSP_SET_ARMING_CONFIG: case MSP_SET_ARMING_CONFIG:
masterConfig.auto_disarm_delay = read8(); masterConfig.auto_disarm_delay = read8();
@ -1391,7 +1391,7 @@ static bool processInCommand(void)
masterConfig.rxConfig.rssi_channel = read8(); masterConfig.rxConfig.rssi_channel = read8();
read8(); read8();
currentProfile->mag_declination = read16() * 10; masterConfig.mag_declination = read16() * 10;
masterConfig.batteryConfig.vbatscale = read8(); // actual vbatscale as intended masterConfig.batteryConfig.vbatscale = read8(); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = read8(); // vbatlevel_warn1 in MWC2.3 GUI masterConfig.batteryConfig.vbatmincellvoltage = read8(); // vbatlevel_warn1 in MWC2.3 GUI
@ -1412,14 +1412,14 @@ static bool processInCommand(void)
if (i >= MAX_SUPPORTED_SERVOS) { if (i >= MAX_SUPPORTED_SERVOS) {
headSerialError(0); headSerialError(0);
} else { } else {
currentProfile->servoConf[i].min = read16(); masterConfig.servoConf[i].min = read16();
currentProfile->servoConf[i].max = read16(); masterConfig.servoConf[i].max = read16();
currentProfile->servoConf[i].middle = read16(); masterConfig.servoConf[i].middle = read16();
currentProfile->servoConf[i].rate = read8(); masterConfig.servoConf[i].rate = read8();
currentProfile->servoConf[i].angleAtMin = read8(); masterConfig.servoConf[i].angleAtMin = read8();
currentProfile->servoConf[i].angleAtMax = read8(); masterConfig.servoConf[i].angleAtMax = read8();
currentProfile->servoConf[i].forwardFromChannel = read8(); masterConfig.servoConf[i].forwardFromChannel = read8();
currentProfile->servoConf[i].reversedSources = read32(); masterConfig.servoConf[i].reversedSources = read32();
} }
#endif #endif
break; break;

4
src/main/main.c
View file

@ -455,7 +455,7 @@ void init(void)
} }
#endif #endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination, masterConfig.gyro_lpf)) { if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, masterConfig.mag_declination, masterConfig.gyro_lpf)) {
// if gyro was not detected due to whatever reason, we give up now. // if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC); failureMode(FAILURE_MISSING_ACC);
} }
@ -499,7 +499,7 @@ void init(void)
&masterConfig.gpsConfig &masterConfig.gpsConfig
); );
navigationInit( navigationInit(
&currentProfile->gpsProfile, &masterConfig.gpsProfile,
&currentProfile->pidProfile &currentProfile->pidProfile
); );
} }

24
src/main/mw.c
View file

@ -127,8 +127,8 @@ extern pidControllerFuncPtr pid_controller;
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta) void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
{ {
currentProfile->accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll; masterConfig.accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
currentProfile->accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch; masterConfig.accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
saveConfigAndNotify(); saveConfigAndNotify();
} }
@ -240,9 +240,9 @@ void annexCode(void)
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500); tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis == ROLL || axis == PITCH) { if (axis == ROLL || axis == PITCH) {
if (currentProfile->rcControlsConfig.deadband) { if (masterConfig.rcControlsConfig.deadband) {
if (tmp > currentProfile->rcControlsConfig.deadband) { if (tmp > masterConfig.rcControlsConfig.deadband) {
tmp -= currentProfile->rcControlsConfig.deadband; tmp -= masterConfig.rcControlsConfig.deadband;
} else { } else {
tmp = 0; tmp = 0;
} }
@ -253,9 +253,9 @@ void annexCode(void)
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * tmp / 500; prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100; prop1 = (uint16_t)prop1 * prop2 / 100;
} else if (axis == YAW) { } else if (axis == YAW) {
if (currentProfile->rcControlsConfig.yaw_deadband) { if (masterConfig.rcControlsConfig.yaw_deadband) {
if (tmp > currentProfile->rcControlsConfig.yaw_deadband) { if (tmp > masterConfig.rcControlsConfig.yaw_deadband) {
tmp -= currentProfile->rcControlsConfig.yaw_deadband; tmp -= masterConfig.rcControlsConfig.yaw_deadband;
} else { } else {
tmp = 0; tmp = 0;
} }
@ -674,8 +674,8 @@ void taskMainPidLoop(void)
rcCommand[YAW] = 0; rcCommand[YAW] = 0;
} }
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) { if (masterConfig.throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value); rcCommand[THROTTLE] += calculateThrottleAngleCorrection(masterConfig.throttle_correction_value);
} }
#ifdef GPS #ifdef GPS
@ -691,7 +691,7 @@ void taskMainPidLoop(void)
&currentProfile->pidProfile, &currentProfile->pidProfile,
currentControlRateProfile, currentControlRateProfile,
masterConfig.max_angle_inclination, masterConfig.max_angle_inclination,
&currentProfile->accelerometerTrims, &masterConfig.accelerometerTrims,
&masterConfig.rxConfig &masterConfig.rxConfig
); );
@ -738,7 +738,7 @@ void taskMainPidLoopCheck(void) {
void taskUpdateAccelerometer(void) void taskUpdateAccelerometer(void)
{ {
imuUpdateAccelerometer(&currentProfile->accelerometerTrims); imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
} }
void taskHandleSerial(void) void taskHandleSerial(void)