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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 #ifndef BLACKBOX_PRINT_HEADER_LINE
#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) case __COUNTER__: \ #define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) \
blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \ case __COUNTER__: { \
break; blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \ } break // absence of semicolon on this line is what enforces the presence of a semicolon at the end of each input line
{__VA_ARGS__}; \
break; #define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) \
case __COUNTER__: { \
__VA_ARGS__; \
} break
#endif #endif
/** /**
@ -1707,20 +1710,20 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D_LPF, "%d", positionConfig()->altitude_d_lpf); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D_LPF, "%d", positionConfig()->altitude_d_lpf);
#ifndef USE_WING #ifndef USE_WING
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_LANDING_ALTITUDE, "%d", apConfig()->landing_altitude_m); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_LANDING_ALTITUDE_M, "%d", autopilotConfig()->landingAltitudeM);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_HOVER_THROTTLE, "%d", apConfig()->hover_throttle); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_HOVER_THROTTLE, "%d", autopilotConfig()->hoverThrottle);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MIN, "%d", apConfig()->throttle_min); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_THROTTLE_MIN, "%d", autopilotConfig()->throttleMin);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MAX, "%d", apConfig()->throttle_max); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_THROTTLE_MAX, "%d", autopilotConfig()->throttleMax);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_P, "%d", apConfig()->altitude_P); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_P, "%d", autopilotConfig()->altitudeP);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_I, "%d", apConfig()->altitude_I); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_I, "%d", autopilotConfig()->altitudeI);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D, "%d", apConfig()->altitude_D); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_D, "%d", autopilotConfig()->altitudeD);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_F, "%d", apConfig()->altitude_F); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_F, "%d", autopilotConfig()->altitudeF);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_P, "%d", apConfig()->position_P); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_P, "%d", autopilotConfig()->positionP);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_I, "%d", apConfig()->position_I); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_I, "%d", autopilotConfig()->positionI);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_D, "%d", apConfig()->position_D); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_D, "%d", autopilotConfig()->positionD);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_A, "%d", apConfig()->position_A); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_A, "%d", autopilotConfig()->positionA);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_CUTOFF, "%d", apConfig()->position_cutoff); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_CUTOFF, "%d", autopilotConfig()->positionCutoff);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_MAX_ANGLE, "%d", apConfig()->max_angle); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_MAX_ANGLE, "%d", autopilotConfig()->maxAngle);
#endif // !USE_WING #endif // !USE_WING
#ifdef USE_MAG #ifdef USE_MAG
@ -1793,38 +1796,38 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THRUST_LINEARIZATION, "%d", currentPidProfile->thrustLinearization); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THRUST_LINEARIZATION, "%d", currentPidProfile->thrustLinearization);
#ifdef USE_GPS #ifdef USE_GPS
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_PROVIDER, "%d", gpsConfig()->provider) 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_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_USE_3D_SPEED, "%d", gpsConfig()->gps_use_3d_speed);
#ifdef USE_GPS_RESCUE #ifdef USE_GPS_RESCUE
#ifndef USE_WING #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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_YAW_P, "%d", gpsRescueConfig()->yawP);
#ifdef USE_MAG #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_MAG
#endif // !USE_WING #endif // !USE_WING
#endif // USE_GPS_RESCUE #endif // USE_GPS_RESCUE
@ -1832,15 +1835,15 @@ static bool blackboxWriteSysinfo(void)
#ifdef USE_ALTITUDE_HOLD #ifdef USE_ALTITUDE_HOLD
#ifndef USE_WING #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_CLIMB_RATE, "%d", altHoldConfig()->climbRate);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND, "%d", altHoldConfig()->alt_hold_deadband); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND, "%d", altHoldConfig()->deadband);
#endif // !USE_WING #endif // !USE_WING
#endif // USE_ALTITUDE_HOLD #endif // USE_ALTITUDE_HOLD
#ifdef USE_POSITION_HOLD #ifdef USE_POSITION_HOLD
#ifndef USE_WING #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_WITHOUT_MAG, "%d", posHoldConfig()->posHoldWithoutMag);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND, "%d", posHoldConfig()->pos_hold_deadband); BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND, "%d", posHoldConfig()->deadband);
#endif // !USE_WING #endif // !USE_WING
#endif #endif

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

@ -1155,15 +1155,15 @@ const clivalue_t valueTable[] = {
#ifdef USE_ALTITUDE_HOLD #ifdef USE_ALTITUDE_HOLD
#ifndef USE_WING #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_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, alt_hold_deadband) }, { 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_WING
#endif // USE_ALTITUDE_HOLD #endif // USE_ALTITUDE_HOLD
#ifdef USE_POSITION_HOLD #ifdef USE_POSITION_HOLD
#ifndef USE_WING #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_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, pos_hold_deadband) }, { 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_WING
#endif // USE_POSITION_HOLD #endif // USE_POSITION_HOLD
@ -1918,20 +1918,20 @@ const clivalue_t valueTable[] = {
// PG_AUTOPILOT // PG_AUTOPILOT
#ifndef USE_WING #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_AP_LANDING_ALTITUDE_M, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, landingAltitudeM) },
{ PARAM_NAME_HOVER_THROTTLE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1100, 1700 }, PG_AUTOPILOT, offsetof(apConfig_t, hover_throttle) }, { PARAM_NAME_AP_HOVER_THROTTLE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1100, 1700 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, hoverThrottle) },
{ PARAM_NAME_THROTTLE_MIN, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1050, 1400 }, PG_AUTOPILOT, offsetof(apConfig_t, throttle_min) }, { PARAM_NAME_AP_THROTTLE_MIN, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1050, 1400 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, throttleMin) },
{ PARAM_NAME_THROTTLE_MAX, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1400, 2000 }, PG_AUTOPILOT, offsetof(apConfig_t, throttle_max) }, { PARAM_NAME_AP_THROTTLE_MAX, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1400, 2000 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, throttleMax) },
{ PARAM_NAME_ALTITUDE_P, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, altitude_P) }, { PARAM_NAME_AP_ALTITUDE_P, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeP) },
{ PARAM_NAME_ALTITUDE_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, altitude_I) }, { PARAM_NAME_AP_ALTITUDE_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeI) },
{ PARAM_NAME_ALTITUDE_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, altitude_D) }, { PARAM_NAME_AP_ALTITUDE_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeD) },
{ PARAM_NAME_ALTITUDE_F, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, altitude_F) }, { PARAM_NAME_AP_ALTITUDE_F, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeF) },
{ PARAM_NAME_POSITION_P, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, position_P) }, { PARAM_NAME_AP_POSITION_P, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, positionP) },
{ PARAM_NAME_POSITION_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, position_I) }, { PARAM_NAME_AP_POSITION_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, positionI) },
{ PARAM_NAME_POSITION_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, position_D) }, { PARAM_NAME_AP_POSITION_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, positionD) },
{ PARAM_NAME_POSITION_A, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(apConfig_t, position_A) }, { PARAM_NAME_AP_POSITION_A, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, positionA) },
{ PARAM_NAME_POSITION_CUTOFF, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 250 }, PG_AUTOPILOT, offsetof(apConfig_t, position_cutoff) }, { 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(apConfig_t, max_angle) }, { PARAM_NAME_AP_MAX_ANGLE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 70 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, maxAngle) },
#endif // !USE_WING #endif // !USE_WING
// PG_MODE_ACTIVATION_CONFIG // 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_descentDistanceM; //meters
static uint16_t gpsRescueConfig_descendRate; static uint16_t gpsRescueConfig_descendRate;
static uint8_t apConfig_landingAltitudeM; static uint8_t autopilotConfig_landingAltitudeM;
static uint16_t apConfig_throttleMin; static uint16_t autopilotConfig_throttleMin;
static uint16_t apConfig_throttleMax; static uint16_t autopilotConfig_throttleMax;
static uint16_t apConfig_hoverThrottle; static uint16_t autopilotConfig_hoverThrottle;
static uint8_t gpsRescueConfig_minSats; static uint8_t gpsRescueConfig_minSats;
static uint8_t gpsRescueConfig_allowArmingWithoutFix; 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_yawP;
static uint8_t gpsRescueConfig_velP, gpsRescueConfig_velI, gpsRescueConfig_velD; static uint8_t gpsRescueConfig_velP, gpsRescueConfig_velI, gpsRescueConfig_velD;
@ -75,10 +75,10 @@ static const void *cms_menuGpsRescuePidOnEnter(displayPort_t *pDisp)
{ {
UNUSED(pDisp); UNUSED(pDisp);
apConfig_altitude_P = apConfig()->altitude_P; autopilotConfig_altitude_P = autopilotConfig()->altitudeP;
apConfig_altitude_I = apConfig()->altitude_I; autopilotConfig_altitude_I = autopilotConfig()->altitudeI;
apConfig_altitude_D = apConfig()->altitude_D; autopilotConfig_altitude_D = autopilotConfig()->altitudeD;
apConfig_altitude_F = apConfig()->altitude_F; autopilotConfig_altitude_F = autopilotConfig()->altitudeF;
gpsRescueConfig_yawP = gpsRescueConfig()->yawP; gpsRescueConfig_yawP = gpsRescueConfig()->yawP;
@ -97,10 +97,10 @@ static const void *cms_menuGpsRescuePidOnExit(displayPort_t *pDisp, const OSD_En
UNUSED(pDisp); UNUSED(pDisp);
UNUSED(self); UNUSED(self);
apConfigMutable()->altitude_P = apConfig_altitude_P; autopilotConfigMutable()->altitudeP = autopilotConfig_altitude_P;
apConfigMutable()->altitude_I = apConfig_altitude_I; autopilotConfigMutable()->altitudeI = autopilotConfig_altitude_I;
apConfigMutable()->altitude_D = apConfig_altitude_D; autopilotConfigMutable()->altitudeD = autopilotConfig_altitude_D;
apConfigMutable()->altitude_F = apConfig_altitude_F; autopilotConfigMutable()->altitudeF = autopilotConfig_altitude_F;
gpsRescueConfigMutable()->yawP = gpsRescueConfig_yawP; gpsRescueConfigMutable()->yawP = gpsRescueConfig_yawP;
@ -118,10 +118,10 @@ const OSD_Entry cms_menuGpsRescuePidEntries[] =
{ {
{"--- GPS RESCUE PID---", OME_Label, NULL, NULL}, {"--- GPS RESCUE PID---", OME_Label, NULL, NULL},
{ "ALTITUDE P", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &apConfig_altitude_P, 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){ &apConfig_altitude_I, 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){ &apConfig_altitude_D, 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){ &apConfig_altitude_F, 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 } }, { "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_descentDistanceM = gpsRescueConfig()->descentDistanceM;
gpsRescueConfig_descendRate = gpsRescueConfig()->descendRate; gpsRescueConfig_descendRate = gpsRescueConfig()->descendRate;
apConfig_landingAltitudeM = apConfig()->landing_altitude_m; autopilotConfig_landingAltitudeM = autopilotConfig()->landingAltitudeM;
apConfig_throttleMin = apConfig()->throttle_min; autopilotConfig_throttleMin = autopilotConfig()->throttleMin;
apConfig_throttleMax = apConfig()->throttle_max; autopilotConfig_throttleMax = autopilotConfig()->throttleMax;
apConfig_hoverThrottle = apConfig()->hover_throttle; autopilotConfig_hoverThrottle = autopilotConfig()->hoverThrottle;
gpsRescueConfig_minSats = gpsRescueConfig()->minSats; gpsRescueConfig_minSats = gpsRescueConfig()->minSats;
gpsRescueConfig_allowArmingWithoutFix = gpsRescueConfig()->allowArmingWithoutFix; gpsRescueConfig_allowArmingWithoutFix = gpsRescueConfig()->allowArmingWithoutFix;
@ -190,11 +190,11 @@ static const void *cmsx_menuGpsRescueOnExit(displayPort_t *pDisp, const OSD_Entr
gpsRescueConfigMutable()->descentDistanceM = gpsRescueConfig_descentDistanceM; gpsRescueConfigMutable()->descentDistanceM = gpsRescueConfig_descentDistanceM;
gpsRescueConfigMutable()->descendRate = gpsRescueConfig_descendRate; gpsRescueConfigMutable()->descendRate = gpsRescueConfig_descendRate;
apConfigMutable()->landing_altitude_m = apConfig_landingAltitudeM; autopilotConfigMutable()->landingAltitudeM = autopilotConfig_landingAltitudeM;
apConfigMutable()->throttle_min = apConfig_throttleMin; autopilotConfigMutable()->throttleMin = autopilotConfig_throttleMin;
apConfigMutable()->throttle_max = apConfig_throttleMax; autopilotConfigMutable()->throttleMax = autopilotConfig_throttleMax;
apConfigMutable()->hover_throttle = apConfig_hoverThrottle; autopilotConfigMutable()->hoverThrottle = autopilotConfig_hoverThrottle;
gpsRescueConfigMutable()->minSats = gpsRescueConfig_minSats; gpsRescueConfigMutable()->minSats = gpsRescueConfig_minSats;
gpsRescueConfigMutable()->allowArmingWithoutFix = gpsRescueConfig_allowArmingWithoutFix; 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 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 } }, { "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 MIN", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &autopilotConfig_throttleMin, 1050, 1400, 1 } },
{ "THROTTLE MAX", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &apConfig_throttleMax, 1400, 2000, 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){ &apConfig_hoverThrottle, 1100, 1700, 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 } }, { "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 }, { "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_LPF "altitude_lpf"
#define PARAM_NAME_ALTITUDE_D_LPF "altitude_d_lpf" #define PARAM_NAME_ALTITUDE_D_LPF "altitude_d_lpf"
#define PARAM_NAME_HOVER_THROTTLE "hover_throttle" #define PARAM_NAME_AP_LANDING_ALTITUDE_M "ap_landing_altitude_m"
#define PARAM_NAME_LANDING_ALTITUDE "landing_altitude_m" #define PARAM_NAME_AP_HOVER_THROTTLE "ap_hover_throttle"
#define PARAM_NAME_THROTTLE_MIN "autopilot_throttle_min" #define PARAM_NAME_AP_THROTTLE_MIN "ap_throttle_min"
#define PARAM_NAME_THROTTLE_MAX "autopilot_throttle_max" #define PARAM_NAME_AP_THROTTLE_MAX "ap_throttle_max"
#define PARAM_NAME_ALTITUDE_P "autopilot_altitude_P" #define PARAM_NAME_AP_ALTITUDE_P "ap_altitude_p"
#define PARAM_NAME_ALTITUDE_I "autopilot_altitude_I" #define PARAM_NAME_AP_ALTITUDE_I "ap_altitude_i"
#define PARAM_NAME_ALTITUDE_D "autopilot_altitude_D" #define PARAM_NAME_AP_ALTITUDE_D "ap_altitude_d"
#define PARAM_NAME_ALTITUDE_F "autopilot_altitude_F" #define PARAM_NAME_AP_ALTITUDE_F "ap_altitude_f"
#define PARAM_NAME_POSITION_P "autopilot_position_P" #define PARAM_NAME_AP_POSITION_P "ap_position_p"
#define PARAM_NAME_POSITION_I "autopilot_position_I" #define PARAM_NAME_AP_POSITION_I "ap_position_i"
#define PARAM_NAME_POSITION_D "autopilot_position_D" #define PARAM_NAME_AP_POSITION_D "ap_position_d"
#define PARAM_NAME_POSITION_A "autopilot_position_A" #define PARAM_NAME_AP_POSITION_A "ap_position_a"
#define PARAM_NAME_POSITION_CUTOFF "autopilot_position_cutoff" #define PARAM_NAME_AP_POSITION_CUTOFF "ap_position_cutoff"
#define PARAM_NAME_AP_MAX_ANGLE "autopilot_max_angle" #define PARAM_NAME_AP_MAX_ANGLE "ap_max_angle"
#define PARAM_NAME_ANGLE_FEEDFORWARD "angle_feedforward" #define PARAM_NAME_ANGLE_FEEDFORWARD "angle_feedforward"
#define PARAM_NAME_ANGLE_FF_SMOOTHING_MS "angle_feedforward_smoothing_ms" #define PARAM_NAME_ANGLE_FF_SMOOTHING_MS "angle_feedforward_smoothing_ms"
@ -259,7 +259,7 @@
#ifdef USE_ALTITUDE_HOLD #ifdef USE_ALTITUDE_HOLD
#define PARAM_NAME_ALT_HOLD_DEADBAND "alt_hold_deadband" #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 #endif
#ifdef USE_POSITION_HOLD #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) void altHoldInit(void)
{ {
altHold.isActive = false; altHold.isActive = false;
altHold.deadband = altHoldConfig()->alt_hold_deadband / 100.0f; altHold.deadband = altHoldConfig()->deadband / 100.0f;
altHold.allowStickAdjustment = altHoldConfig()->alt_hold_deadband; altHold.allowStickAdjustment = altHoldConfig()->deadband;
altHold.maxVelocity = altHoldConfig()->alt_hold_adjust_rate * 10.0f; // 50 in CLI means 500cm/s altHold.maxVelocity = altHoldConfig()->climbRate * 10.0f; // 50 in CLI means 500cm/s
altHoldReset(); altHoldReset();
} }
@ -81,7 +81,7 @@ static void altHoldProcessTransitions(void) {
// ** the transition out of alt hold (exiting altHold) may be rough. Some notes... ** // ** 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 // 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 // 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 // it was removed primarily to simplify this PR
@ -101,8 +101,8 @@ static void altHoldUpdateTargetAltitude(void)
if (altHold.allowStickAdjustment && calculateThrottleStatus() != THROTTLE_LOW) { if (altHold.allowStickAdjustment && calculateThrottleStatus() != THROTTLE_LOW) {
const float rcThrottle = rcCommand[THROTTLE]; const float rcThrottle = rcCommand[THROTTLE];
const float lowThreshold = apConfig()->hover_throttle - altHold.deadband * (apConfig()->hover_throttle - PWM_RANGE_MIN); const float lowThreshold = autopilotConfig()->hoverThrottle - altHold.deadband * (autopilotConfig()->hoverThrottle - PWM_RANGE_MIN);
const float highThreshold = apConfig()->hover_throttle + altHold.deadband * (PWM_RANGE_MAX - apConfig()->hover_throttle); const float highThreshold = autopilotConfig()->hoverThrottle + altHold.deadband * (PWM_RANGE_MAX - autopilotConfig()->hoverThrottle);
if (rcThrottle < lowThreshold) { if (rcThrottle < lowThreshold) {
stickFactor = scaleRangef(rcThrottle, PWM_RANGE_MIN, lowThreshold, -1.0f, 0.0f); stickFactor = scaleRangef(rcThrottle, PWM_RANGE_MIN, lowThreshold, -1.0f, 0.0f);
@ -136,7 +136,7 @@ static void altHoldUpdateTargetAltitude(void)
static void altHoldUpdate(void) static void altHoldUpdate(void)
{ {
// check if the user has changed the target altitude using sticks // check if the user has changed the target altitude using sticks
if (altHoldConfig()->alt_hold_adjust_rate) { if (altHoldConfig()->climbRate) {
altHoldUpdateTargetAltitude(); altHoldUpdateTargetAltitude();
} }
altitudeControl(altHold.targetAltitudeCm, taskIntervalSeconds, altHold.targetVelocity); 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) void autopilotInit(void)
{ {
const apConfig_t *cfg = apConfig(); const autopilotConfig_t *cfg = autopilotConfig();
ap.sticksActive = false; ap.sticksActive = false;
ap.maxAngle = cfg->max_angle; ap.maxAngle = cfg->maxAngle;
altitudePidCoeffs.Kp = cfg->altitude_P * ALTITUDE_P_SCALE; altitudePidCoeffs.Kp = cfg->altitudeP * ALTITUDE_P_SCALE;
altitudePidCoeffs.Ki = cfg->altitude_I * ALTITUDE_I_SCALE; altitudePidCoeffs.Ki = cfg->altitudeI * ALTITUDE_I_SCALE;
altitudePidCoeffs.Kd = cfg->altitude_D * ALTITUDE_D_SCALE; altitudePidCoeffs.Kd = cfg->altitudeD * ALTITUDE_D_SCALE;
altitudePidCoeffs.Kf = cfg->altitude_F * ALTITUDE_F_SCALE; altitudePidCoeffs.Kf = cfg->altitudeF * ALTITUDE_F_SCALE;
positionPidCoeffs.Kp = cfg->position_P * POSITION_P_SCALE; positionPidCoeffs.Kp = cfg->positionP * POSITION_P_SCALE;
positionPidCoeffs.Ki = cfg->position_I * POSITION_I_SCALE; positionPidCoeffs.Ki = cfg->positionI * POSITION_I_SCALE;
positionPidCoeffs.Kd = cfg->position_D * POSITION_D_SCALE; positionPidCoeffs.Kd = cfg->positionD * POSITION_D_SCALE;
positionPidCoeffs.Kf = cfg->position_A * POSITION_A_SCALE; // Kf used for acceleration positionPidCoeffs.Kf = cfg->positionA * POSITION_A_SCALE; // Kf used for acceleration
// initialise filters with approximate filter gains; location isn't used at this point. // 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 ap.upsampleLpfGain = pt3FilterGain(UPSAMPLING_CUTOFF_HZ, 0.01f); // 5Hz, assuming 100Hz task rate at init
resetUpsampleFilters(); resetUpsampleFilters();
// Initialise PT1 filters for velocity and acceleration in earth frame axes // 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 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++) { for (unsigned i = 0; i < ARRAYLEN(ap.efAxis); i++) {
resetEFAxisFilters(&ap.efAxis[i], vaGain); 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 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; float throttleOffset = altitudeP + altitudeI - altitudeD + altitudeF + hoverOffset;
const float tiltMultiplier = 1.0f / fmaxf(getCosTiltAngle(), 0.5f); const float tiltMultiplier = 1.0f / fmaxf(getCosTiltAngle(), 0.5f);
@ -203,7 +202,7 @@ void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAl
throttleOffset *= tiltMultiplier; throttleOffset *= tiltMultiplier;
float newThrottle = PWM_RANGE_MIN + throttleOffset; 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 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); 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) bool isBelowLandingAltitude(void)
{ {
return getAltitudeCm() < 100.0f * apConfig()->landing_altitude_m; return getAltitudeCm() < 100.0f * autopilotConfig()->landingAltitudeM;
} }
float getAutopilotThrottle(void) float getAutopilotThrottle(void)

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

@ -630,7 +630,7 @@ static void descend(bool newGpsData)
{ {
if (newGpsData) { if (newGpsData) {
// consider landing area to be a circle half landing height around home, to avoid overshooting home point // 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); 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 // 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 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 // 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 #endif

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

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

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

@ -1530,9 +1530,9 @@ case MSP_NAME:
sbufWriteU16(dst, gpsRescueConfig()->returnAltitudeM); sbufWriteU16(dst, gpsRescueConfig()->returnAltitudeM);
sbufWriteU16(dst, gpsRescueConfig()->descentDistanceM); sbufWriteU16(dst, gpsRescueConfig()->descentDistanceM);
sbufWriteU16(dst, gpsRescueConfig()->groundSpeedCmS); sbufWriteU16(dst, gpsRescueConfig()->groundSpeedCmS);
sbufWriteU16(dst, apConfig()->throttle_min); sbufWriteU16(dst, autopilotConfig()->throttleMin);
sbufWriteU16(dst, apConfig()->throttle_max); sbufWriteU16(dst, autopilotConfig()->throttleMax);
sbufWriteU16(dst, apConfig()->hover_throttle); sbufWriteU16(dst, autopilotConfig()->hoverThrottle);
sbufWriteU8(dst, gpsRescueConfig()->sanityChecks); sbufWriteU8(dst, gpsRescueConfig()->sanityChecks);
sbufWriteU8(dst, gpsRescueConfig()->minSats); sbufWriteU8(dst, gpsRescueConfig()->minSats);
@ -1548,9 +1548,9 @@ case MSP_NAME:
break; break;
case MSP_GPS_RESCUE_PIDS: case MSP_GPS_RESCUE_PIDS:
sbufWriteU16(dst, apConfig()->altitude_P); sbufWriteU16(dst, autopilotConfig()->altitudeP);
sbufWriteU16(dst, apConfig()->altitude_I); sbufWriteU16(dst, autopilotConfig()->altitudeI);
sbufWriteU16(dst, apConfig()->altitude_D); sbufWriteU16(dst, autopilotConfig()->altitudeD);
// altitude_F not implemented yet // altitude_F not implemented yet
sbufWriteU16(dst, gpsRescueConfig()->velP); sbufWriteU16(dst, gpsRescueConfig()->velP);
sbufWriteU16(dst, gpsRescueConfig()->velI); sbufWriteU16(dst, gpsRescueConfig()->velI);
@ -1797,7 +1797,7 @@ case MSP_NAME:
sbufWriteU8(dst, rcControlsConfig()->deadband); sbufWriteU8(dst, rcControlsConfig()->deadband);
sbufWriteU8(dst, rcControlsConfig()->yaw_deadband); sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
#if defined(USE_POSITION_HOLD) && !defined(USE_WING) #if defined(USE_POSITION_HOLD) && !defined(USE_WING)
sbufWriteU8(dst, posHoldConfig()->pos_hold_deadband); sbufWriteU8(dst, posHoldConfig()->deadband);
#else #else
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
#endif #endif
@ -2901,9 +2901,9 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
gpsRescueConfigMutable()->returnAltitudeM = sbufReadU16(src); gpsRescueConfigMutable()->returnAltitudeM = sbufReadU16(src);
gpsRescueConfigMutable()->descentDistanceM = sbufReadU16(src); gpsRescueConfigMutable()->descentDistanceM = sbufReadU16(src);
gpsRescueConfigMutable()->groundSpeedCmS = sbufReadU16(src); gpsRescueConfigMutable()->groundSpeedCmS = sbufReadU16(src);
apConfigMutable()->throttle_min = sbufReadU16(src); autopilotConfigMutable()->throttleMin = sbufReadU16(src);
apConfigMutable()->throttle_max = sbufReadU16(src); autopilotConfigMutable()->throttleMax = sbufReadU16(src);
apConfigMutable()->hover_throttle = sbufReadU16(src); autopilotConfigMutable()->hoverThrottle = sbufReadU16(src);
gpsRescueConfigMutable()->sanityChecks = sbufReadU8(src); gpsRescueConfigMutable()->sanityChecks = sbufReadU8(src);
gpsRescueConfigMutable()->minSats = sbufReadU8(src); gpsRescueConfigMutable()->minSats = sbufReadU8(src);
if (sbufBytesRemaining(src) >= 6) { if (sbufBytesRemaining(src) >= 6) {
@ -2924,9 +2924,9 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
break; break;
case MSP_SET_GPS_RESCUE_PIDS: case MSP_SET_GPS_RESCUE_PIDS:
apConfigMutable()->altitude_P = sbufReadU16(src); autopilotConfigMutable()->altitudeP = sbufReadU16(src);
apConfigMutable()->altitude_I = sbufReadU16(src); autopilotConfigMutable()->altitudeI = sbufReadU16(src);
apConfigMutable()->altitude_D = sbufReadU16(src); autopilotConfigMutable()->altitudeD = sbufReadU16(src);
// altitude_F not included in msp yet // altitude_F not included in msp yet
gpsRescueConfigMutable()->velP = sbufReadU16(src); gpsRescueConfigMutable()->velP = sbufReadU16(src);
gpsRescueConfigMutable()->velI = 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()->deadband = sbufReadU8(src);
rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src); rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
#if defined(USE_POSITION_HOLD) && !defined(USE_WING) #if defined(USE_POSITION_HOLD) && !defined(USE_WING)
posHoldConfigMutable()->pos_hold_deadband = sbufReadU8(src); posHoldConfigMutable()->deadband = sbufReadU8(src);
#else #else
sbufReadU8(src); sbufReadU8(src);
#endif #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_REGISTER_WITH_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig, PG_ALTHOLD_CONFIG, 4);
PG_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig, PG_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig,
.alt_hold_adjust_rate = 50, // max vertical velocity change at full/zero throttle. 50 means 5 m/s .climbRate = 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 .deadband = 20, // throttle deadband in percent of stick travel
); );
#endif #endif

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

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

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

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

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

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

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

@ -30,9 +30,9 @@
#include "autopilot.h" #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 #endif // USE_WING

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

@ -27,10 +27,10 @@
#include "pg/pg.h" #include "pg/pg.h"
typedef struct apConfig_s { typedef struct autopilotConfig_s {
uint8_t dummy; uint8_t dummy;
} apConfig_t; } autopilotConfig_t;
PG_DECLARE(apConfig_t, apConfig); PG_DECLARE(autopilotConfig_t, autopilotConfig);
#endif // USE_WING #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_REGISTER_WITH_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig, PG_POSHOLD_CONFIG, 0);
PG_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig, PG_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig,
.pos_hold_without_mag = false, // position hold within this percentage stick deflection .posHoldWithoutMag = 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 .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 #endif

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

@ -28,8 +28,8 @@
#include "pg/pg.h" #include "pg/pg.h"
typedef struct posHoldConfig_s { typedef struct posHoldConfig_s {
bool pos_hold_without_mag; bool posHoldWithoutMag;
uint8_t pos_hold_deadband; uint8_t deadband;
} posHoldConfig_t; } posHoldConfig_t;
PG_DECLARE(posHoldConfig_t, posHoldConfig); 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(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
PG_REGISTER(altHoldConfig_t, altHoldConfig, PG_ALTHOLD_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(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 0); PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 0);
PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 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(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0); PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 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]; float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint16_t averageSystemLoadPercent = 0; 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(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
PG_REGISTER(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 0); PG_REGISTER(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 0);
PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_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, PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
.enabledFeatures = 0 .enabledFeatures = 0