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Consistent autopilot variable names, use alt_hold_climb_rate (#14136)

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* consistent autopilot parameter names

- add colons after each blackbox header line
- change alt_hold_throttle_response to alt_hold_climb_rate
- don't use cfg abbreviation for apConfig() because it is harder to search

* enforce semicolon with do... while (0)

* don't abbreviate autopilotConfig to apConfig

* remove semicolon after break to enforce semicolon at input line ending

* explanatory message

* fix copy and paste errors

* restore local cfg alias in place of autopilotConfig()

* struct name formatting as requested by blckmn

Co-Authored-By: Jay Blackman <blckmn@users.noreply.github.com>

* underscore the CLI names, fix prev commit

Co-Authored-By: Jay Blackman <blckmn@users.noreply.github.com>

* Update src/main/fc/parameter_names.h

* Update src/main/fc/parameter_names.h

---------

Co-authored-by: Jay Blackman <blckmn@users.noreply.github.com>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
This commit is contained in:
ctzsnooze 2025-02-09 23:34:12 +01:00 • committed by GitHub
parent 9ef4857eeb
commit 86767ba112
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
21 changed files with 202 additions and 200 deletions
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99
src/main/blackbox/blackbox.c
View file

@ -1441,12 +1441,15 @@ STATIC_UNIT_TESTED char *blackboxGetStartDateTime(char *buf)
}
#ifndef BLACKBOX_PRINT_HEADER_LINE
#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) case __COUNTER__: \
blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
break;
#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \
{__VA_ARGS__}; \
break;
#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) \
case __COUNTER__: { \
blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
} break // absence of semicolon on this line is what enforces the presence of a semicolon at the end of each input line
#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) \
case __COUNTER__: { \
__VA_ARGS__; \
} break
#endif
/**
@ -1707,20 +1710,20 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D_LPF, "%d", positionConfig()->altitude_d_lpf);
#ifndef USE_WING
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_LANDING_ALTITUDE, "%d", apConfig()->landing_altitude_m);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_HOVER_THROTTLE, "%d", apConfig()->hover_throttle);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MIN, "%d", apConfig()->throttle_min);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MAX, "%d", apConfig()->throttle_max);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_P, "%d", apConfig()->altitude_P);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_I, "%d", apConfig()->altitude_I);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D, "%d", apConfig()->altitude_D);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_F, "%d", apConfig()->altitude_F);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_P, "%d", apConfig()->position_P);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_I, "%d", apConfig()->position_I);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_D, "%d", apConfig()->position_D);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_A, "%d", apConfig()->position_A);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_CUTOFF, "%d", apConfig()->position_cutoff);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_MAX_ANGLE, "%d", apConfig()->max_angle);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_LANDING_ALTITUDE_M, "%d", autopilotConfig()->landingAltitudeM);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_HOVER_THROTTLE, "%d", autopilotConfig()->hoverThrottle);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_THROTTLE_MIN, "%d", autopilotConfig()->throttleMin);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_THROTTLE_MAX, "%d", autopilotConfig()->throttleMax);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_P, "%d", autopilotConfig()->altitudeP);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_I, "%d", autopilotConfig()->altitudeI);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_D, "%d", autopilotConfig()->altitudeD);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_F, "%d", autopilotConfig()->altitudeF);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_P, "%d", autopilotConfig()->positionP);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_I, "%d", autopilotConfig()->positionI);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_D, "%d", autopilotConfig()->positionD);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_A, "%d", autopilotConfig()->positionA);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_CUTOFF, "%d", autopilotConfig()->positionCutoff);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_MAX_ANGLE, "%d", autopilotConfig()->maxAngle);
#endif // !USE_WING
#ifdef USE_MAG
@ -1793,38 +1796,38 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THRUST_LINEARIZATION, "%d", currentPidProfile->thrustLinearization);
#ifdef USE_GPS
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_PROVIDER, "%d", gpsConfig()->provider)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_SET_HOME_POINT_ONCE, "%d", gpsConfig()->gps_set_home_point_once)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_USE_3D_SPEED, "%d", gpsConfig()->gps_use_3d_speed)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_PROVIDER, "%d", gpsConfig()->provider);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_SET_HOME_POINT_ONCE, "%d", gpsConfig()->gps_set_home_point_once);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_USE_3D_SPEED, "%d", gpsConfig()->gps_use_3d_speed);
#ifdef USE_GPS_RESCUE
#ifndef USE_WING
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_START_DIST, "%d", gpsRescueConfig()->minStartDistM)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALT_MODE, "%d", gpsRescueConfig()->altitudeMode)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_INITIAL_CLIMB, "%d", gpsRescueConfig()->initialClimbM)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ASCEND_RATE, "%d", gpsRescueConfig()->ascendRate)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_START_DIST, "%d", gpsRescueConfig()->minStartDistM);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALT_MODE, "%d", gpsRescueConfig()->altitudeMode);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_INITIAL_CLIMB, "%d", gpsRescueConfig()->initialClimbM);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ASCEND_RATE, "%d", gpsRescueConfig()->ascendRate);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_RETURN_ALT, "%d", gpsRescueConfig()->returnAltitudeM)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_GROUND_SPEED, "%d", gpsRescueConfig()->groundSpeedCmS)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MAX_RESCUE_ANGLE, "%d", gpsRescueConfig()->maxRescueAngle)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ROLL_MIX, "%d", gpsRescueConfig()->rollMix)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_PITCH_CUTOFF, "%d", gpsRescueConfig()->pitchCutoffHz)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_IMU_YAW_GAIN, "%d", gpsRescueConfig()->imuYawGain)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_RETURN_ALT, "%d", gpsRescueConfig()->returnAltitudeM);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_GROUND_SPEED, "%d", gpsRescueConfig()->groundSpeedCmS);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MAX_RESCUE_ANGLE, "%d", gpsRescueConfig()->maxRescueAngle);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ROLL_MIX, "%d", gpsRescueConfig()->rollMix);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_PITCH_CUTOFF, "%d", gpsRescueConfig()->pitchCutoffHz);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_IMU_YAW_GAIN, "%d", gpsRescueConfig()->imuYawGain);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DESCENT_DIST, "%d", gpsRescueConfig()->descentDistanceM)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DESCEND_RATE, "%d", gpsRescueConfig()->descendRate)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DISARM_THRESHOLD, "%d", gpsRescueConfig()->disarmThreshold)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DESCENT_DIST, "%d", gpsRescueConfig()->descentDistanceM);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DESCEND_RATE, "%d", gpsRescueConfig()->descendRate);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DISARM_THRESHOLD, "%d", gpsRescueConfig()->disarmThreshold);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_SANITY_CHECKS, "%d", gpsRescueConfig()->sanityChecks)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_SATS, "%d", gpsRescueConfig()->minSats)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALLOW_ARMING_WITHOUT_FIX, "%d", gpsRescueConfig()->allowArmingWithoutFix)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_SANITY_CHECKS, "%d", gpsRescueConfig()->sanityChecks);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_SATS, "%d", gpsRescueConfig()->minSats);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALLOW_ARMING_WITHOUT_FIX, "%d", gpsRescueConfig()->allowArmingWithoutFix);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_P, "%d", gpsRescueConfig()->velP)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_I, "%d", gpsRescueConfig()->velI)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_D, "%d", gpsRescueConfig()->velD)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_YAW_P, "%d", gpsRescueConfig()->yawP)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_P, "%d", gpsRescueConfig()->velP);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_I, "%d", gpsRescueConfig()->velI);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_D, "%d", gpsRescueConfig()->velD);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_YAW_P, "%d", gpsRescueConfig()->yawP);
#ifdef USE_MAG
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_USE_MAG, "%d", gpsRescueConfig()->useMag)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_USE_MAG, "%d", gpsRescueConfig()->useMag);
#endif // USE_MAG
#endif // !USE_WING
#endif // USE_GPS_RESCUE
@ -1832,15 +1835,15 @@ static bool blackboxWriteSysinfo(void)
#ifdef USE_ALTITUDE_HOLD
#ifndef USE_WING
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, "%d", altHoldConfig()->alt_hold_adjust_rate);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND, "%d", altHoldConfig()->alt_hold_deadband);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_CLIMB_RATE, "%d", altHoldConfig()->climbRate);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND, "%d", altHoldConfig()->deadband);
#endif // !USE_WING
#endif // USE_ALTITUDE_HOLD
#ifdef USE_POSITION_HOLD
#ifndef USE_WING
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->pos_hold_without_mag);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND, "%d", posHoldConfig()->pos_hold_deadband);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->posHoldWithoutMag);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND, "%d", posHoldConfig()->deadband);
#endif // !USE_WING
#endif

36
src/main/cli/settings.c
View file

@ -1155,15 +1155,15 @@ const clivalue_t valueTable[] = {
#ifdef USE_ALTITUDE_HOLD
#ifndef USE_WING
{ PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_adjust_rate) },
{ PARAM_NAME_ALT_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 70 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) },
{ PARAM_NAME_ALT_HOLD_CLIMB_RATE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, climbRate) },
{ PARAM_NAME_ALT_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 70 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, deadband) },
#endif // !USE_WING
#endif // USE_ALTITUDE_HOLD
#ifdef USE_POSITION_HOLD
#ifndef USE_WING
{ PARAM_NAME_POS_HOLD_WITHOUT_MAG, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_without_mag) },
{ PARAM_NAME_POS_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_deadband) },
{ PARAM_NAME_POS_HOLD_WITHOUT_MAG, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, posHoldWithoutMag) },
{ PARAM_NAME_POS_HOLD_DEADBAND, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, deadband) },
#endif // !USE_WING
#endif // USE_POSITION_HOLD
@ -1918,20 +1918,20 @@ const clivalue_t valueTable[] = {
// PG_AUTOPILOT
#ifndef USE_WING
{ PARAM_NAME_LANDING_ALTITUDE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, landing_altitude_m) },
{ PARAM_NAME_HOVER_THROTTLE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1100, 1700 }, PG_AUTOPILOT, offsetof(apConfig_t, hover_throttle) },
{ PARAM_NAME_THROTTLE_MIN, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1050, 1400 }, PG_AUTOPILOT, offsetof(apConfig_t, throttle_min) },
{ PARAM_NAME_THROTTLE_MAX, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1400, 2000 }, PG_AUTOPILOT, offsetof(apConfig_t, throttle_max) },
{ PARAM_NAME_ALTITUDE_P, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, altitude_P) },
{ PARAM_NAME_ALTITUDE_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, altitude_I) },
{ PARAM_NAME_ALTITUDE_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, altitude_D) },
{ PARAM_NAME_ALTITUDE_F, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, altitude_F) },
{ PARAM_NAME_POSITION_P, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, position_P) },
{ PARAM_NAME_POSITION_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, position_I) },
{ PARAM_NAME_POSITION_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, position_D) },
{ PARAM_NAME_POSITION_A, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, position_A) },
{ PARAM_NAME_POSITION_CUTOFF, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 250 }, PG_AUTOPILOT, offsetof(apConfig_t, position_cutoff) },
{ PARAM_NAME_AP_MAX_ANGLE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 70 }, PG_AUTOPILOT, offsetof(apConfig_t, max_angle) },
{ PARAM_NAME_AP_LANDING_ALTITUDE_M, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, landingAltitudeM) },
{ PARAM_NAME_AP_HOVER_THROTTLE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1100, 1700 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, hoverThrottle) },
{ PARAM_NAME_AP_THROTTLE_MIN, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1050, 1400 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, throttleMin) },
{ PARAM_NAME_AP_THROTTLE_MAX, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1400, 2000 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, throttleMax) },
{ PARAM_NAME_AP_ALTITUDE_P, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeP) },
{ PARAM_NAME_AP_ALTITUDE_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeI) },
{ PARAM_NAME_AP_ALTITUDE_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeD) },
{ PARAM_NAME_AP_ALTITUDE_F, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeF) },
{ PARAM_NAME_AP_POSITION_P, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, positionP) },
{ PARAM_NAME_AP_POSITION_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, positionI) },
{ PARAM_NAME_AP_POSITION_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, positionD) },
{ PARAM_NAME_AP_POSITION_A, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, positionA) },
{ PARAM_NAME_AP_POSITION_CUTOFF, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 250 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, positionCutoff) },
{ PARAM_NAME_AP_MAX_ANGLE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 70 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, maxAngle) },
#endif // !USE_WING
// PG_MODE_ACTIVATION_CONFIG

58
src/main/cms/cms_menu_gps_rescue_multirotor.c
View file

@ -55,16 +55,16 @@ static uint8_t gpsRescueConfig_angle; //degrees
static uint16_t gpsRescueConfig_descentDistanceM; //meters
static uint16_t gpsRescueConfig_descendRate;
static uint8_t apConfig_landingAltitudeM;
static uint8_t autopilotConfig_landingAltitudeM;
static uint16_t apConfig_throttleMin;
static uint16_t apConfig_throttleMax;
static uint16_t apConfig_hoverThrottle;
static uint16_t autopilotConfig_throttleMin;
static uint16_t autopilotConfig_throttleMax;
static uint16_t autopilotConfig_hoverThrottle;
static uint8_t gpsRescueConfig_minSats;
static uint8_t gpsRescueConfig_allowArmingWithoutFix;
static uint8_t apConfig_altitude_P, apConfig_altitude_I, apConfig_altitude_D, apConfig_altitude_F;
static uint8_t autopilotConfig_altitude_P, autopilotConfig_altitude_I, autopilotConfig_altitude_D, autopilotConfig_altitude_F;
static uint8_t gpsRescueConfig_yawP;
static uint8_t gpsRescueConfig_velP, gpsRescueConfig_velI, gpsRescueConfig_velD;
@ -75,10 +75,10 @@ static const void *cms_menuGpsRescuePidOnEnter(displayPort_t *pDisp)
{
UNUSED(pDisp);
apConfig_altitude_P = apConfig()->altitude_P;
apConfig_altitude_I = apConfig()->altitude_I;
apConfig_altitude_D = apConfig()->altitude_D;
apConfig_altitude_F = apConfig()->altitude_F;
autopilotConfig_altitude_P = autopilotConfig()->altitudeP;
autopilotConfig_altitude_I = autopilotConfig()->altitudeI;
autopilotConfig_altitude_D = autopilotConfig()->altitudeD;
autopilotConfig_altitude_F = autopilotConfig()->altitudeF;
gpsRescueConfig_yawP = gpsRescueConfig()->yawP;
@ -97,10 +97,10 @@ static const void *cms_menuGpsRescuePidOnExit(displayPort_t *pDisp, const OSD_En
UNUSED(pDisp);
UNUSED(self);
apConfigMutable()->altitude_P = apConfig_altitude_P;
apConfigMutable()->altitude_I = apConfig_altitude_I;
apConfigMutable()->altitude_D = apConfig_altitude_D;
apConfigMutable()->altitude_F = apConfig_altitude_F;
autopilotConfigMutable()->altitudeP = autopilotConfig_altitude_P;
autopilotConfigMutable()->altitudeI = autopilotConfig_altitude_I;
autopilotConfigMutable()->altitudeD = autopilotConfig_altitude_D;
autopilotConfigMutable()->altitudeF = autopilotConfig_altitude_F;
gpsRescueConfigMutable()->yawP = gpsRescueConfig_yawP;
@ -118,10 +118,10 @@ const OSD_Entry cms_menuGpsRescuePidEntries[] =
{
{"--- GPS RESCUE PID---", OME_Label, NULL, NULL},
{ "ALTITUDE P", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &apConfig_altitude_P, 0, 200, 1 } },
{ "ALTITUDE I", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &apConfig_altitude_I, 0, 200, 1 } },
{ "ALTITUDE D", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &apConfig_altitude_D, 0, 200, 1 } },
{ "ALTITUDE F", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &apConfig_altitude_F, 0, 200, 1 } },
{ "ALTITUDE P", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_P, 0, 200, 1 } },
{ "ALTITUDE I", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_I, 0, 200, 1 } },
{ "ALTITUDE D", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_D, 0, 200, 1 } },
{ "ALTITUDE F", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_F, 0, 200, 1 } },
{ "YAW P", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_yawP, 0, 200, 1 } },
@ -162,11 +162,11 @@ static const void *cmsx_menuGpsRescueOnEnter(displayPort_t *pDisp)
gpsRescueConfig_descentDistanceM = gpsRescueConfig()->descentDistanceM;
gpsRescueConfig_descendRate = gpsRescueConfig()->descendRate;
apConfig_landingAltitudeM = apConfig()->landing_altitude_m;
autopilotConfig_landingAltitudeM = autopilotConfig()->landingAltitudeM;
apConfig_throttleMin = apConfig()->throttle_min;
apConfig_throttleMax = apConfig()->throttle_max;
apConfig_hoverThrottle = apConfig()->hover_throttle;
autopilotConfig_throttleMin = autopilotConfig()->throttleMin;
autopilotConfig_throttleMax = autopilotConfig()->throttleMax;
autopilotConfig_hoverThrottle = autopilotConfig()->hoverThrottle;
gpsRescueConfig_minSats = gpsRescueConfig()->minSats;
gpsRescueConfig_allowArmingWithoutFix = gpsRescueConfig()->allowArmingWithoutFix;
@ -190,11 +190,11 @@ static const void *cmsx_menuGpsRescueOnExit(displayPort_t *pDisp, const OSD_Entr
gpsRescueConfigMutable()->descentDistanceM = gpsRescueConfig_descentDistanceM;
gpsRescueConfigMutable()->descendRate = gpsRescueConfig_descendRate;
apConfigMutable()->landing_altitude_m = apConfig_landingAltitudeM;
autopilotConfigMutable()->landingAltitudeM = autopilotConfig_landingAltitudeM;
apConfigMutable()->throttle_min = apConfig_throttleMin;
apConfigMutable()->throttle_max = apConfig_throttleMax;
apConfigMutable()->hover_throttle = apConfig_hoverThrottle;
autopilotConfigMutable()->throttleMin = autopilotConfig_throttleMin;
autopilotConfigMutable()->throttleMax = autopilotConfig_throttleMax;
autopilotConfigMutable()->hoverThrottle = autopilotConfig_hoverThrottle;
gpsRescueConfigMutable()->minSats = gpsRescueConfig_minSats;
gpsRescueConfigMutable()->allowArmingWithoutFix = gpsRescueConfig_allowArmingWithoutFix;
@ -217,11 +217,11 @@ const OSD_Entry cmsx_menuGpsRescueEntries[] =
{ "DESCENT DIST M", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_descentDistanceM, 5, 500, 1 } },
{ "DESCENT RATE CM/S", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_descendRate, 25, 500, 1 } },
{ "LANDING ALT M", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t) { &apConfig_landingAltitudeM, 1, 15, 1 } },
{ "LANDING ALT M", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t) { &autopilotConfig_landingAltitudeM, 1, 15, 1 } },
{ "THROTTLE MIN", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &apConfig_throttleMin, 1050, 1400, 1 } },
{ "THROTTLE MAX", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &apConfig_throttleMax, 1400, 2000, 1 } },
{ "THROTTLE HOV", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &apConfig_hoverThrottle, 1100, 1700, 1 } },
{ "THROTTLE MIN", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &autopilotConfig_throttleMin, 1050, 1400, 1 } },
{ "THROTTLE MAX", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &autopilotConfig_throttleMax, 1400, 2000, 1 } },
{ "THROTTLE HOV", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &autopilotConfig_hoverThrottle, 1100, 1700, 1 } },
{ "SATS REQUIRED", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_minSats, 5, 50, 1 } },
{ "ARM WITHOUT FIX", OME_Bool | REBOOT_REQUIRED, NULL, &gpsRescueConfig_allowArmingWithoutFix },

30
src/main/fc/parameter_names.h
View file

@ -161,20 +161,20 @@
#define PARAM_NAME_ALTITUDE_LPF "altitude_lpf"
#define PARAM_NAME_ALTITUDE_D_LPF "altitude_d_lpf"
#define PARAM_NAME_HOVER_THROTTLE "hover_throttle"
#define PARAM_NAME_LANDING_ALTITUDE "landing_altitude_m"
#define PARAM_NAME_THROTTLE_MIN "autopilot_throttle_min"
#define PARAM_NAME_THROTTLE_MAX "autopilot_throttle_max"
#define PARAM_NAME_ALTITUDE_P "autopilot_altitude_P"
#define PARAM_NAME_ALTITUDE_I "autopilot_altitude_I"
#define PARAM_NAME_ALTITUDE_D "autopilot_altitude_D"
#define PARAM_NAME_ALTITUDE_F "autopilot_altitude_F"
#define PARAM_NAME_POSITION_P "autopilot_position_P"
#define PARAM_NAME_POSITION_I "autopilot_position_I"
#define PARAM_NAME_POSITION_D "autopilot_position_D"
#define PARAM_NAME_POSITION_A "autopilot_position_A"
#define PARAM_NAME_POSITION_CUTOFF "autopilot_position_cutoff"
#define PARAM_NAME_AP_MAX_ANGLE "autopilot_max_angle"
#define PARAM_NAME_AP_LANDING_ALTITUDE_M "ap_landing_altitude_m"
#define PARAM_NAME_AP_HOVER_THROTTLE "ap_hover_throttle"
#define PARAM_NAME_AP_THROTTLE_MIN "ap_throttle_min"
#define PARAM_NAME_AP_THROTTLE_MAX "ap_throttle_max"
#define PARAM_NAME_AP_ALTITUDE_P "ap_altitude_p"
#define PARAM_NAME_AP_ALTITUDE_I "ap_altitude_i"
#define PARAM_NAME_AP_ALTITUDE_D "ap_altitude_d"
#define PARAM_NAME_AP_ALTITUDE_F "ap_altitude_f"
#define PARAM_NAME_AP_POSITION_P "ap_position_p"
#define PARAM_NAME_AP_POSITION_I "ap_position_i"
#define PARAM_NAME_AP_POSITION_D "ap_position_d"
#define PARAM_NAME_AP_POSITION_A "ap_position_a"
#define PARAM_NAME_AP_POSITION_CUTOFF "ap_position_cutoff"
#define PARAM_NAME_AP_MAX_ANGLE "ap_max_angle"
#define PARAM_NAME_ANGLE_FEEDFORWARD "angle_feedforward"
#define PARAM_NAME_ANGLE_FF_SMOOTHING_MS "angle_feedforward_smoothing_ms"
@ -259,7 +259,7 @@
#ifdef USE_ALTITUDE_HOLD
#define PARAM_NAME_ALT_HOLD_DEADBAND "alt_hold_deadband"
#define PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE "alt_hold_throttle_response"
#define PARAM_NAME_ALT_HOLD_CLIMB_RATE "alt_hold_climb_rate"
#endif
#ifdef USE_POSITION_HOLD

14
src/main/flight/alt_hold_multirotor.c
View file

@ -62,9 +62,9 @@ static void altHoldReset(void)
void altHoldInit(void)
{
altHold.isActive = false;
altHold.deadband = altHoldConfig()->alt_hold_deadband / 100.0f;
altHold.allowStickAdjustment = altHoldConfig()->alt_hold_deadband;
altHold.maxVelocity = altHoldConfig()->alt_hold_adjust_rate * 10.0f; // 50 in CLI means 500cm/s
altHold.deadband = altHoldConfig()->deadband / 100.0f;
altHold.allowStickAdjustment = altHoldConfig()->deadband;
altHold.maxVelocity = altHoldConfig()->climbRate * 10.0f; // 50 in CLI means 500cm/s
altHoldReset();
}
@ -81,7 +81,7 @@ static void altHoldProcessTransitions(void) {
// ** the transition out of alt hold (exiting altHold) may be rough. Some notes... **
// The original PR had a gradual transition from hold throttle to pilot control throttle
// using !(altHoldRequested && altHold.isAltHoldActive) to run an exit function
// using !(altHoldRequested && altHold.isActive) to run an exit function
// a cross-fade factor was sent to mixer.c based on time since the flight mode request was terminated
// it was removed primarily to simplify this PR
@ -101,8 +101,8 @@ static void altHoldUpdateTargetAltitude(void)
if (altHold.allowStickAdjustment && calculateThrottleStatus() != THROTTLE_LOW) {
const float rcThrottle = rcCommand[THROTTLE];
const float lowThreshold = apConfig()->hover_throttle - altHold.deadband * (apConfig()->hover_throttle - PWM_RANGE_MIN);
const float highThreshold = apConfig()->hover_throttle + altHold.deadband * (PWM_RANGE_MAX - apConfig()->hover_throttle);
const float lowThreshold = autopilotConfig()->hoverThrottle - altHold.deadband * (autopilotConfig()->hoverThrottle - PWM_RANGE_MIN);
const float highThreshold = autopilotConfig()->hoverThrottle + altHold.deadband * (PWM_RANGE_MAX - autopilotConfig()->hoverThrottle);
if (rcThrottle < lowThreshold) {
stickFactor = scaleRangef(rcThrottle, PWM_RANGE_MIN, lowThreshold, -1.0f, 0.0f);
@ -136,7 +136,7 @@ static void altHoldUpdateTargetAltitude(void)
static void altHoldUpdate(void)
{
// check if the user has changed the target altitude using sticks
if (altHoldConfig()->alt_hold_adjust_rate) {
if (altHoldConfig()->climbRate) {
altHoldUpdateTargetAltitude();
}
altitudeControl(altHold.targetAltitudeCm, taskIntervalSeconds, altHold.targetVelocity);

29
src/main/flight/autopilot_multirotor.c
View file

@ -138,23 +138,22 @@ void resetPositionControl(const gpsLocation_t *initialTargetLocation, unsigned t
void autopilotInit(void)
{
const apConfig_t *cfg = apConfig();
const autopilotConfig_t *cfg = autopilotConfig();
ap.sticksActive = false;
ap.maxAngle = cfg->max_angle;
altitudePidCoeffs.Kp = cfg->altitude_P * ALTITUDE_P_SCALE;
altitudePidCoeffs.Ki = cfg->altitude_I * ALTITUDE_I_SCALE;
altitudePidCoeffs.Kd = cfg->altitude_D * ALTITUDE_D_SCALE;
altitudePidCoeffs.Kf = cfg->altitude_F * ALTITUDE_F_SCALE;
positionPidCoeffs.Kp = cfg->position_P * POSITION_P_SCALE;
positionPidCoeffs.Ki = cfg->position_I * POSITION_I_SCALE;
positionPidCoeffs.Kd = cfg->position_D * POSITION_D_SCALE;
positionPidCoeffs.Kf = cfg->position_A * POSITION_A_SCALE; // Kf used for acceleration
ap.maxAngle = cfg->maxAngle;
altitudePidCoeffs.Kp = cfg->altitudeP * ALTITUDE_P_SCALE;
altitudePidCoeffs.Ki = cfg->altitudeI * ALTITUDE_I_SCALE;
altitudePidCoeffs.Kd = cfg->altitudeD * ALTITUDE_D_SCALE;
altitudePidCoeffs.Kf = cfg->altitudeF * ALTITUDE_F_SCALE;
positionPidCoeffs.Kp = cfg->positionP * POSITION_P_SCALE;
positionPidCoeffs.Ki = cfg->positionI * POSITION_I_SCALE;
positionPidCoeffs.Kd = cfg->positionD * POSITION_D_SCALE;
positionPidCoeffs.Kf = cfg->positionA * POSITION_A_SCALE; // Kf used for acceleration
// initialise filters with approximate filter gains; location isn't used at this point.
ap.upsampleLpfGain = pt3FilterGain(UPSAMPLING_CUTOFF_HZ, 0.01f); // 5Hz, assuming 100Hz task rate at init
resetUpsampleFilters();
// Initialise PT1 filters for velocity and acceleration in earth frame axes
ap.vaLpfCutoff = cfg->position_cutoff * 0.01f;
ap.vaLpfCutoff = cfg->positionCutoff * 0.01f;
const float vaGain = pt1FilterGain(ap.vaLpfCutoff, 0.1f); // assume 10Hz GPS connection at start; value is overwritten before first filter use
for (unsigned i = 0; i < ARRAYLEN(ap.efAxis); i++) {
resetEFAxisFilters(&ap.efAxis[i], vaGain);
@ -193,7 +192,7 @@ void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAl
const float altitudeF = targetAltitudeStep * altitudePidCoeffs.Kf;
const float hoverOffset = apConfig()->hover_throttle - PWM_RANGE_MIN;
const float hoverOffset = autopilotConfig()->hoverThrottle - PWM_RANGE_MIN;
float throttleOffset = altitudeP + altitudeI - altitudeD + altitudeF + hoverOffset;
const float tiltMultiplier = 1.0f / fmaxf(getCosTiltAngle(), 0.5f);
@ -203,7 +202,7 @@ void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAl
throttleOffset *= tiltMultiplier;
float newThrottle = PWM_RANGE_MIN + throttleOffset;
newThrottle = constrainf(newThrottle, apConfig()->throttle_min, apConfig()->throttle_max);
newThrottle = constrainf(newThrottle, autopilotConfig()->throttleMin, autopilotConfig()->throttleMax);
DEBUG_SET(DEBUG_AUTOPILOT_ALTITUDE, 0, lrintf(newThrottle)); // normal range 1000-2000 but is before constraint
newThrottle = scaleRangef(newThrottle, MAX(rxConfig()->mincheck, PWM_RANGE_MIN), PWM_RANGE_MAX, 0.0f, 1.0f);
@ -386,7 +385,7 @@ bool positionControl(void)
bool isBelowLandingAltitude(void)
{
return getAltitudeCm() < 100.0f * apConfig()->landing_altitude_m;
return getAltitudeCm() < 100.0f * autopilotConfig()->landingAltitudeM;
}
float getAutopilotThrottle(void)

2
src/main/flight/gps_rescue_multirotor.c
View file

@ -630,7 +630,7 @@ static void descend(bool newGpsData)
{
if (newGpsData) {
// consider landing area to be a circle half landing height around home, to avoid overshooting home point
const float distanceToLandingAreaM = rescueState.sensor.distanceToHomeM - (0.5f * apConfig()->landing_altitude_m);
const float distanceToLandingAreaM = rescueState.sensor.distanceToHomeM - (0.5f * autopilotConfig()->landingAltitudeM);
const float proximityToLandingArea = constrainf(distanceToLandingAreaM / rescueState.intent.descentDistanceM, 0.0f, 1.0f);
// increase the velocity lowpass filter cutoff for more aggressive responses when descending, especially close to home

2
src/main/flight/pid.c
View file

@ -586,7 +586,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
angleLimit = 85.0f; // allow autopilot to use whatever angle it needs to stop
}
// limit pilot requested angle to half the autopilot angle to avoid excess speed and chaotic stops
angleLimit = fminf(0.5f * apConfig()->max_angle, angleLimit);
angleLimit = fminf(0.5f * autopilotConfig()->maxAngle, angleLimit);
}
#endif

6
src/main/flight/pos_hold_multirotor.c
View file

@ -51,8 +51,8 @@ static posHoldState_t posHold;
void posHoldInit(void)
{
posHold.deadband = posHoldConfig()->pos_hold_deadband * 0.01f;
posHold.useStickAdjustment = posHoldConfig()->pos_hold_deadband;
posHold.deadband = posHoldConfig()->deadband * 0.01f;
posHold.useStickAdjustment = posHoldConfig()->deadband;
}
static void posHoldCheckSticks(void)
@ -73,7 +73,7 @@ static bool sensorsOk(void)
#ifdef USE_MAG
!compassIsHealthy() &&
#endif
(!posHoldConfig()->pos_hold_without_mag || !canUseGPSHeading)) {
(!posHoldConfig()->posHoldWithoutMag || !canUseGPSHeading)) {
return false;
}
return true;

28
src/main/msp/msp.c
View file

@ -1530,9 +1530,9 @@ case MSP_NAME:
sbufWriteU16(dst, gpsRescueConfig()->returnAltitudeM);
sbufWriteU16(dst, gpsRescueConfig()->descentDistanceM);
sbufWriteU16(dst, gpsRescueConfig()->groundSpeedCmS);
sbufWriteU16(dst, apConfig()->throttle_min);
sbufWriteU16(dst, apConfig()->throttle_max);
sbufWriteU16(dst, apConfig()->hover_throttle);
sbufWriteU16(dst, autopilotConfig()->throttleMin);
sbufWriteU16(dst, autopilotConfig()->throttleMax);
sbufWriteU16(dst, autopilotConfig()->hoverThrottle);
sbufWriteU8(dst, gpsRescueConfig()->sanityChecks);
sbufWriteU8(dst, gpsRescueConfig()->minSats);
@ -1548,9 +1548,9 @@ case MSP_NAME:
break;
case MSP_GPS_RESCUE_PIDS:
sbufWriteU16(dst, apConfig()->altitude_P);
sbufWriteU16(dst, apConfig()->altitude_I);
sbufWriteU16(dst, apConfig()->altitude_D);
sbufWriteU16(dst, autopilotConfig()->altitudeP);
sbufWriteU16(dst, autopilotConfig()->altitudeI);
sbufWriteU16(dst, autopilotConfig()->altitudeD);
// altitude_F not implemented yet
sbufWriteU16(dst, gpsRescueConfig()->velP);
sbufWriteU16(dst, gpsRescueConfig()->velI);
@ -1797,7 +1797,7 @@ case MSP_NAME:
sbufWriteU8(dst, rcControlsConfig()->deadband);
sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
#if defined(USE_POSITION_HOLD) && !defined(USE_WING)
sbufWriteU8(dst, posHoldConfig()->pos_hold_deadband);
sbufWriteU8(dst, posHoldConfig()->deadband);
#else
sbufWriteU8(dst, 0);
#endif
@ -2901,9 +2901,9 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
gpsRescueConfigMutable()->returnAltitudeM = sbufReadU16(src);
gpsRescueConfigMutable()->descentDistanceM = sbufReadU16(src);
gpsRescueConfigMutable()->groundSpeedCmS = sbufReadU16(src);
apConfigMutable()->throttle_min = sbufReadU16(src);
apConfigMutable()->throttle_max = sbufReadU16(src);
apConfigMutable()->hover_throttle = sbufReadU16(src);
autopilotConfigMutable()->throttleMin = sbufReadU16(src);
autopilotConfigMutable()->throttleMax = sbufReadU16(src);
autopilotConfigMutable()->hoverThrottle = sbufReadU16(src);
gpsRescueConfigMutable()->sanityChecks = sbufReadU8(src);
gpsRescueConfigMutable()->minSats = sbufReadU8(src);
if (sbufBytesRemaining(src) >= 6) {
@ -2924,9 +2924,9 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
break;
case MSP_SET_GPS_RESCUE_PIDS:
apConfigMutable()->altitude_P = sbufReadU16(src);
apConfigMutable()->altitude_I = sbufReadU16(src);
apConfigMutable()->altitude_D = sbufReadU16(src);
autopilotConfigMutable()->altitudeP = sbufReadU16(src);
autopilotConfigMutable()->altitudeI = sbufReadU16(src);
autopilotConfigMutable()->altitudeD = sbufReadU16(src);
// altitude_F not included in msp yet
gpsRescueConfigMutable()->velP = sbufReadU16(src);
gpsRescueConfigMutable()->velI = sbufReadU16(src);
@ -2990,7 +2990,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
rcControlsConfigMutable()->deadband = sbufReadU8(src);
rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
#if defined(USE_POSITION_HOLD) && !defined(USE_WING)
posHoldConfigMutable()->pos_hold_deadband = sbufReadU8(src);
posHoldConfigMutable()->deadband = sbufReadU8(src);
#else
sbufReadU8(src);
#endif

4
src/main/pg/alt_hold_multirotor.c
View file

@ -35,8 +35,8 @@
PG_REGISTER_WITH_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig, PG_ALTHOLD_CONFIG, 4);
PG_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig,
.alt_hold_adjust_rate = 50, // max vertical velocity change at full/zero throttle. 50 means 5 m/s
.alt_hold_deadband = 20, // throttle deadband in percent of stick travel
.climbRate = 50, // max vertical velocity change at full/zero throttle. 50 means 5 m/s
.deadband = 20, // throttle deadband in percent of stick travel
);
#endif

4
src/main/pg/alt_hold_multirotor.h
View file

@ -28,8 +28,8 @@
#include "pg/pg.h"
typedef struct altHoldConfig_s {
uint8_t alt_hold_adjust_rate;
uint8_t alt_hold_deadband;
uint8_t climbRate;
uint8_t deadband;
} altHoldConfig_t;
PG_DECLARE(altHoldConfig_t, altHoldConfig);

32
src/main/pg/autopilot_multirotor.c
View file

@ -30,23 +30,23 @@
#include "autopilot.h"
PG_REGISTER_WITH_RESET_TEMPLATE(apConfig_t, apConfig, PG_AUTOPILOT, 2);
PG_REGISTER_WITH_RESET_TEMPLATE(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 2);
PG_RESET_TEMPLATE(apConfig_t, apConfig,
.landing_altitude_m = 4,
.hover_throttle = 1275,
.throttle_min = 1100,
.throttle_max = 1700,
.altitude_P = 15,
.altitude_I = 15,
.altitude_D = 15,
.altitude_F = 15,
.position_P = 30,
.position_I = 30,
.position_D = 30,
.position_A = 30,
.position_cutoff = 80,
.max_angle = 50,
PG_RESET_TEMPLATE(autopilotConfig_t, autopilotConfig,
.landingAltitudeM = 4,
.hoverThrottle = 1275,
.throttleMin = 1100,
.throttleMax = 1700,
.altitudeP = 15,
.altitudeI = 15,
.altitudeD = 15,
.altitudeF = 15,
.positionP = 30,
.positionI = 30,
.positionD = 30,
.positionA = 30,
.positionCutoff = 80,
.maxAngle = 50,
);
#endif // !USE_WING

34
src/main/pg/autopilot_multirotor.h
View file

@ -27,23 +27,23 @@
#include "pg/pg.h"
typedef struct apConfig_s {
uint8_t landing_altitude_m; // altitude below which landing behaviours can change, metres
uint16_t hover_throttle; // value used at the start of a rescue or position hold
uint16_t throttle_min;
uint16_t throttle_max;
uint8_t altitude_P;
uint8_t altitude_I;
uint8_t altitude_D;
uint8_t altitude_F;
uint8_t position_P;
uint8_t position_I;
uint8_t position_D;
uint8_t position_A;
uint8_t position_cutoff;
uint8_t max_angle;
} apConfig_t;
typedef struct autopilotConfig_s {
uint8_t landingAltitudeM; // altitude below which landing behaviours can change, metres
uint16_t hoverThrottle; // value used at the start of a rescue or position hold
uint16_t throttleMin;
uint16_t throttleMax;
uint8_t altitudeP;
uint8_t altitudeI;
uint8_t altitudeD;
uint8_t altitudeF;
uint8_t positionP;
uint8_t positionI;
uint8_t positionD;
uint8_t positionA;
uint8_t positionCutoff;
uint8_t maxAngle;
} autopilotConfig_t;
PG_DECLARE(apConfig_t, apConfig);
PG_DECLARE(autopilotConfig_t, autopilotConfig);
#endif // !USE_WING

4
src/main/pg/autopilot_wing.c
View file

@ -30,9 +30,9 @@
#include "autopilot.h"
PG_REGISTER_WITH_RESET_TEMPLATE(apConfig_t, apConfig, PG_AUTOPILOT, 2);
PG_REGISTER_WITH_RESET_TEMPLATE(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 2);
PG_RESET_TEMPLATE(apConfig_t, apConfig,
PG_RESET_TEMPLATE(autopilotConfig_t, autopilotConfig,
);
#endif // USE_WING

6
src/main/pg/autopilot_wing.h
View file

@ -27,10 +27,10 @@
#include "pg/pg.h"
typedef struct apConfig_s {
typedef struct autopilotConfig_s {
uint8_t dummy;
} apConfig_t;
} autopilotConfig_t;
PG_DECLARE(apConfig_t, apConfig);
PG_DECLARE(autopilotConfig_t, autopilotConfig);
#endif // USE_WING

4
src/main/pg/pos_hold_multirotor.c
View file

@ -35,8 +35,8 @@
PG_REGISTER_WITH_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig, PG_POSHOLD_CONFIG, 0);
PG_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig,
.pos_hold_without_mag = false, // position hold within this percentage stick deflection
.pos_hold_deadband = 5, // deadband in percent of stick travel for roll and pitch. Must be non-zero, and exceeded, for target location to be changed with sticks
.posHoldWithoutMag = false, // position hold within this percentage stick deflection
.deadband = 5, // deadband in percent of stick travel for roll and pitch. Must be non-zero, and exceeded, for target location to be changed with sticks
);
#endif

4
src/main/pg/pos_hold_multirotor.h
View file

@ -28,8 +28,8 @@
#include "pg/pg.h"
typedef struct posHoldConfig_s {
bool pos_hold_without_mag;
uint8_t pos_hold_deadband;
bool posHoldWithoutMag;
uint8_t deadband;
} posHoldConfig_t;
PG_DECLARE(posHoldConfig_t, posHoldConfig);

2
src/test/unit/althold_unittest.cc
View file

@ -50,7 +50,7 @@ extern "C" {
PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
PG_REGISTER(altHoldConfig_t, altHoldConfig, PG_ALTHOLD_CONFIG, 0);
PG_REGISTER(apConfig_t, apConfig, PG_AUTOPILOT, 0);
PG_REGISTER(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 0);
PG_REGISTER(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 0);
PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);

2
src/test/unit/arming_prevention_unittest.cc
View file

@ -79,7 +79,7 @@ extern "C" {
PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 0);
PG_REGISTER(apConfig_t, apConfig, PG_AUTOPILOT, 0);
PG_REGISTER(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 0);
float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint16_t averageSystemLoadPercent = 0;

2
src/test/unit/flight_imu_unittest.cc
View file

@ -75,7 +75,7 @@ extern "C" {
PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
PG_REGISTER(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 0);
PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
PG_REGISTER(apConfig_t, apConfig, PG_AUTOPILOT, 0);
PG_REGISTER(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 0);
PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
.enabledFeatures = 0