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Code Issues Wiki Activity

Optional SUPER EXPO for yaw // Optional always Iterm reset // Rework Iterm reset

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This commit is contained in:
borisbstyle 2016-04-27 22:09:17 +02:00
parent afd5f8b542
commit 86c2e12c07
6 changed files with 46 additions and 18 deletions
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11
src/main/io/serial_cli.c
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@ -440,6 +440,10 @@ static const char * const lookupTableDebug[] = {
"AIRMODE"
};
static const char * const lookupTableSuperExpoYaw[] = {
"OFF", "ON", "ALWAYS"
};
typedef struct lookupTableEntry_s {
const char * const *values;
const uint8_t valueCount;
@ -466,6 +470,7 @@ typedef enum {
TABLE_MAG_HARDWARE,
TABLE_DELTA_METHOD,
TABLE_DEBUG,
TABLE_SUPEREXPO_YAW,
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
@ -488,7 +493,8 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableBaroHardware, sizeof(lookupTableBaroHardware) / sizeof(char *) },
{ lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
{ lookupDeltaMethod, sizeof(lookupDeltaMethod) / sizeof(char *) },
{ lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) }
{ lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) }
};
#define VALUE_TYPE_OFFSET 0
@ -688,6 +694,8 @@ const clivalue_t valueTable[] = {
{ "tpa_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX} },
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX} },
{ "super_expo_factor", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.superExpoFactor, .config.minmax = {1, 100 } },
{ "super_expo_factor_yaw", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.superExpoFactorYaw, .config.minmax = {1, 100 } },
{ "super_expo_yaw", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.superExpoYawMode, .config.lookup = { TABLE_SUPEREXPO_YAW } },
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_delay, .config.minmax = { 0, 200 } },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_off_delay, .config.minmax = { 0, 200 } },
@ -722,6 +730,7 @@ const clivalue_t valueTable[] = {
{ "pid_delta_method", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
{ "dterm_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "dterm_differentiator", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_differentiator, .config.lookup = { TABLE_OFF_ON } },
{ "iterm_always_reset", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetAlways, .config.lookup = { TABLE_OFF_ON } },
{ "iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } },
{ "yaw_iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } },
{ "yaw_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },