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Code Issues Wiki Activity

Additional configs moved from profile to master

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

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

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

@ -19,42 +19,5 @@
typedef struct profile_s {
pidProfile_t pidProfile;
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;

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_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_wp_radius", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].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_speed_min", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].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_slew_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_slew_rate, .config.minmax = { 0, 100 } },
{ "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.gpsProfile.nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
{ "nav_speed_min", VAR_UINT16 | PROFILE_VALUE, &masterConfig.gpsProfile.nav_speed_min, .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.gpsProfile.nav_slew_rate, .config.minmax = { 0, 100 } },
#endif
#ifdef GTUNE
{ "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_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_fast_change", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].rcControlsConfig.alt_hold_fast_change, .config.lookup = { TABLE_OFF_ON } },
{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.deadband, .config.minmax = { 0, 32 } },
{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.yaw_deadband, .config.minmax = { 0, 100 } },
{ "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.rcControlsConfig.alt_hold_fast_change, .config.lookup = { TABLE_OFF_ON } },
{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.rcControlsConfig.deadband, .config.minmax = { 0, 32 } },
{ "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_angle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_angle, .config.minmax = { 1, 900 } },
{ "throttle_correction_value", VAR_UINT8 | PROFILE_VALUE, &masterConfig.throttle_correction_value, .config.minmax = { 0, 150 } },
{ "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 } },
@ -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 } },
#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
{ "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 } },
{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.xy, .config.minmax = { 0, 100 } },
{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.z, .config.minmax = { 0, 100 } },
{ "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].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_trim_pitch", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].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_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.acc_lpf_hz, .config.minmax = { 0, 200 } },
{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.accDeadband.xy, .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.accz_lpf_cutoff, .config.minmax = { 1, 20 } },
{ "acc_unarmedcal", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.acc_unarmedcal, .config.lookup = { TABLE_OFF_ON } },
{ "acc_trim_pitch", VAR_INT16 | PROFILE_VALUE, &masterConfig.accelerometerTrims.values.pitch, .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_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].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_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, .config.minmax = { 0 , 1 } },
{ "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.barometerConfig.baro_noise_lpf, .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.barometerConfig.baro_cf_alt, .config.minmax = { 0 , 1 } },
{ "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_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 } },
{ "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)) {
// print out servo settings
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",
i,
@ -1331,7 +1331,7 @@ static void cliServo(char *cmdline)
return;
}
servo = &currentProfile->servoConf[i];
servo = &masterConfig.servoConf[i];
if (
arguments[MIN] < PWM_PULSE_MIN || arguments[MIN] > PWM_PULSE_MAX ||
@ -1392,7 +1392,7 @@ static void cliServoMix(char *cmdline)
// erase custom mixer
memset(masterConfig.customServoMixer, 0, sizeof(masterConfig.customServoMixer));
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) {
ptr = strchr(cmdline, ' ');
@ -1426,7 +1426,7 @@ static void cliServoMix(char *cmdline)
for (servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
cliPrintf("%d", servoIndex);
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");
}
return;
@ -1447,9 +1447,9 @@ static void cliServoMix(char *cmdline)
&& args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT
&& (*ptr == 'r' || *ptr == 'n')) {
if (*ptr == 'r')
currentProfile->servoConf[args[SERVO]].reversedSources |= 1 << args[INPUT];
masterConfig.servoConf[args[SERVO]].reversedSources |= 1 << args[INPUT];
else
currentProfile->servoConf[args[SERVO]].reversedSources &= ~(1 << args[INPUT]);
masterConfig.servoConf[args[SERVO]].reversedSources &= ~(1 << args[INPUT]);
} else
cliShowParseError();

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

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

4
src/main/main.c
View file

@ -455,7 +455,7 @@ void init(void)
}
#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.
failureMode(FAILURE_MISSING_ACC);
}
@ -499,7 +499,7 @@ void init(void)
&masterConfig.gpsConfig
);
navigationInit(
&currentProfile->gpsProfile,
&masterConfig.gpsProfile,
&currentProfile->pidProfile
);
}

24
src/main/mw.c
View file

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