Revise PID/Rate profile names to use get/set and eliminate extra PG's (#8231)

Revise PID/Rate profile names to use get/set and eliminate extra PG's

src/main/cli/cli.c

@@ -671,58 +671,9 @@ static const char *dumpPgValue(const clivalue_t *value, dumpFlags_t dumpMask, co
     return headingStr;
 }
 
-#ifdef USE_PROFILE_NAMES
-static void printRateProfileName(uint8_t dumpMask, const profileName_t *rateProfileNameConfig)
-{
-    const bool equalsDefault = strlen(rateProfileNameConfig->name) == 0;
-    cliDumpPrintLinef(dumpMask, equalsDefault, "rateprofile_name %s", equalsDefault ? emptyName : rateProfileNameConfig->name);
-}
-
-static void cliRateProfileName(char *cmdline)
-{
-    const unsigned int len = strlen(cmdline);
-    uint8_t profileIndex =  getCurrentControlRateProfileIndex();
-    if (len > 0) {
-        memset(rateProfileNameMutable()->profile[profileIndex].name, 0, ARRAYLEN(rateProfileNameMutable()->profile[profileIndex].name));
-        if (strncmp(cmdline, emptyName, len)) {
-            strncpy(rateProfileNameMutable()->profile[profileIndex].name, cmdline, MIN(len, MAX_PROFILE_NAME_LENGTH));
-        }
-    }
-    printRateProfileName(DUMP_MASTER, &rateProfileName()->profile[profileIndex]);
-}
-
-static void printPidProfileName(uint8_t dumpMask, const profileName_t *pidProfileNameConfig)
-{
-    const bool equalsDefault = strlen(pidProfileNameConfig->name) == 0;
-    cliDumpPrintLinef(dumpMask, equalsDefault, "profile_name %s", equalsDefault ? emptyName : pidProfileNameConfig->name);
-}
-
-static void cliPidProfileName(char *cmdline)
-{
-    const unsigned int len = strlen(cmdline);
-    uint8_t profileIndex =  getCurrentPidProfileIndex();
-    if (len > 0) {
-        memset(pidProfileNameMutable()->profile[profileIndex].name, 0, ARRAYLEN(pidProfileNameMutable()->profile[profileIndex].name));
-        if (strncmp(cmdline, emptyName, len)) {
-            strncpy(pidProfileNameMutable()->profile[profileIndex].name, cmdline, MIN(len, MAX_PROFILE_NAME_LENGTH));
-        }
-    }
-    printPidProfileName(DUMP_MASTER, &pidProfileName()->profile[profileIndex]);
-}
-#endif
-
 static void dumpAllValues(uint16_t valueSection, dumpFlags_t dumpMask, const char *headingStr)
 {
     headingStr = cliPrintSectionHeading(dumpMask, false, headingStr);
-#ifdef USE_PROFILE_NAMES
-    if (valueSection == PROFILE_VALUE) {
-        printPidProfileName(DUMP_MASTER, &pidProfileName()->profile[getPidProfileIndexToUse()]);
-    }
-
-    if (valueSection == PROFILE_RATE_VALUE) {
-        printRateProfileName(DUMP_MASTER, &rateProfileName()->profile[getRateProfileIndexToUse()]);
-    }
-#endif
 
     for (uint32_t i = 0; i < valueTableEntryCount; i++) {
         const clivalue_t *value = &valueTable[i];
@@ -5866,13 +5817,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("play_sound", NULL, "[<index>]", cliPlaySound),
 #endif
     CLI_COMMAND_DEF("profile", "change profile", "[<index>]", cliProfile),
-#ifdef USE_PROFILE_NAMES
-        CLI_COMMAND_DEF("profile_name", "name of pid profile", NULL, cliPidProfileName),
-#endif
     CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
-#ifdef USE_PROFILE_NAMES
-    CLI_COMMAND_DEF("rateprofile_name", "name of rate profile", NULL, cliRateProfileName),
-#endif
 #ifdef USE_RC_SMOOTHING_FILTER
     CLI_COMMAND_DEF("rc_smoothing_info", "show rc_smoothing operational settings", NULL, cliRcSmoothing),
 #endif // USE_RC_SMOOTHING_FILTER

src/main/cli/settings.c

@@ -620,8 +620,6 @@ const clivalue_t valueTable[] = {
 #ifdef USE_DYN_LPF
     { "dyn_lpf_gyro_min_hz",        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_min_hz) },
     { "dyn_lpf_gyro_max_hz",        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_max_hz) },
-    { "dyn_lpf_dterm_min_hz",       VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_min_hz) },
-    { "dyn_lpf_dterm_max_hz",       VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_max_hz) },
 #endif
     { "gyro_filter_debug_axis",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_FILTER_DEBUG }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_debug_axis) },
 
@@ -838,6 +836,9 @@ const clivalue_t valueTable[] = {
 #endif
 
 // PG_CONTROLRATE_PROFILES
+#ifdef USE_PROFILE_NAMES
+    { "rateprofile_name",           VAR_UINT8  | PROFILE_RATE_VALUE | MODE_STRING, .config.string = { 1, MAX_RATE_PROFILE_NAME_LENGTH, STRING_FLAGS_NONE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, profileName) },
+#endif
     { "thr_mid",                    VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
     { "thr_expo",                   VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
     { "rates_type",                 VAR_UINT8  | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RATES_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates_type) },
@@ -926,6 +927,13 @@ const clivalue_t valueTable[] = {
 #endif
 
 // PG_PID_PROFILE
+#ifdef USE_PROFILE_NAMES
+    { "profile_name",               VAR_UINT8  | PROFILE_VALUE | MODE_STRING, .config.string = { 1, MAX_PROFILE_NAME_LENGTH, STRING_FLAGS_NONE }, PG_PID_PROFILE, offsetof(pidProfile_t, profileName) },
+#endif
+#ifdef USE_DYN_LPF
+    { "dyn_lpf_dterm_min_hz",       VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_min_hz) },
+    { "dyn_lpf_dterm_max_hz",       VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_max_hz) },
+#endif
     { "dterm_lowpass_type",         VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },
     { "dterm_lowpass_hz",           VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lowpass_hz) },
     { "dterm_lowpass2_type",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter2_type) },

src/main/cms/cms_menu_imu.c

@@ -62,13 +62,13 @@
 //
 static uint8_t tmpPidProfileIndex;
 static uint8_t pidProfileIndex;
-static char pidProfileIndexString[] = " p";
+static char pidProfileIndexString[MAX_PROFILE_NAME_LENGTH + 5];
 static uint8_t tempPid[3][3];
 static uint16_t tempPidF[3];
 
 static uint8_t tmpRateProfileIndex;
 static uint8_t rateProfileIndex;
-static char rateProfileIndexString[] = " p-r";
+static char rateProfileIndexString[MAX_RATE_PROFILE_NAME_LENGTH + 5];
 static controlRateConfig_t rateProfile;
 
 static const char * const osdTableThrottleLimitType[] = {
@@ -81,6 +81,29 @@ static const char * const osdTableDynNotchRangeType[] = {
 };
 #endif
 
+static void setProfileIndexString(char *profileString, int profileIndex, char *profileName)
+{
+    int charIndex = 0;
+    profileString[charIndex++] = '1' + profileIndex;
+
+#ifdef USE_PROFILE_NAMES
+    const int profileNameLen = strlen(profileName);
+
+    if (profileNameLen > 0) {
+        profileString[charIndex++] = ' ';
+        profileString[charIndex++] = '(';
+        for (int i = 0; i < profileNameLen; i++) {
+            profileString[charIndex++] = toupper(profileName[i]);
+        }
+        profileString[charIndex++] = ')';
+    }
+#else
+    UNUSED(profileName);
+#endif
+
+    profileString[charIndex] = '\0';
+}
+
 static long cmsx_menuImu_onEnter(void)
 {
     pidProfileIndex = getCurrentPidProfileIndex();
@@ -140,7 +163,7 @@ static long cmsx_PidRead(void)
 
 static long cmsx_PidOnEnter(void)
 {
-    pidProfileIndexString[1] = '0' + tmpPidProfileIndex;
+    setProfileIndexString(pidProfileIndexString, pidProfileIndex, currentPidProfile->profileName);
     cmsx_PidRead();
 
     return 0;
@@ -217,8 +240,7 @@ static long cmsx_RateProfileWriteback(const OSD_Entry *self)
 
 static long cmsx_RateProfileOnEnter(void)
 {
-    rateProfileIndexString[1] = '0' + tmpPidProfileIndex;
+    setProfileIndexString(rateProfileIndexString, rateProfileIndex, controlRateProfilesMutable(rateProfileIndex)->profileName);
-    rateProfileIndexString[3] = '0' + tmpRateProfileIndex;
     cmsx_RateProfileRead();
 
     return 0;
@@ -337,7 +359,7 @@ static uint8_t  cmsx_d_min_advance;
 
 static long cmsx_profileOtherOnEnter(void)
 {
-    pidProfileIndexString[1] = '0' + tmpPidProfileIndex;
+    setProfileIndexString(pidProfileIndexString, pidProfileIndex, currentPidProfile->profileName);
 
     const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
 

src/main/fc/config.c

@@ -87,10 +87,6 @@ PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
     .displayName = { 0 },
 );
 
-PG_REGISTER_WITH_RESET_FN(rateProfileNameConfig_t, rateProfileName, PG_RATE_PROFILE_NAMES_CONFIG, 1);
-
-PG_REGISTER_WITH_RESET_FN(pidProfileNameConfig_t, pidProfileName, PG_PID_PROFILE_NAMES_CONFIG, 1);
-
 PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
 
 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
@@ -126,22 +122,6 @@ uint16_t getCurrentMinthrottle(void)
     return motorConfig()->minthrottle;
 }
 
-void pgResetFn_rateProfileName(rateProfileNameConfig_t *rateProfileName)
-{
-
-    for (int i = 0; i < CONTROL_RATE_PROFILE_COUNT; i++) {
-        tfp_sprintf(rateProfileName->profile[i].name, "RATE %u", i+1, MAX_PROFILE_NAME_LENGTH);
-    }
-}
-
-void pgResetFn_pidProfileName(pidProfileNameConfig_t *pidProfileName)
-{
-
-    for (int i = 0; i < PID_PROFILE_COUNT; i++) {
-        tfp_sprintf(pidProfileName->profile[i].name, "PID %u", i+1, MAX_PROFILE_NAME_LENGTH);
-    }
-}
-
 void resetConfigs(void)
 {
     pgResetAll();

src/main/fc/config.h

@@ -36,22 +36,6 @@ typedef struct pilotConfig_s {
 
 PG_DECLARE(pilotConfig_t, pilotConfig);
 
-typedef struct profileName_s {
-    char name[MAX_PROFILE_NAME_LENGTH + 1];
-} profileName_t;
-
-typedef struct rateProfileNameConfig_s {
-    profileName_t profile[CONTROL_RATE_PROFILE_COUNT];
-} rateProfileNameConfig_t;
-
-PG_DECLARE(rateProfileNameConfig_t, rateProfileName);
-
-typedef struct pidProfileNameConfig_s {
-    profileName_t profile[PID_PROFILE_COUNT];
-} pidProfileNameConfig_t;
-
-PG_DECLARE(pidProfileNameConfig_t, pidProfileName);
-
 typedef struct systemConfig_s {
     uint8_t pidProfileIndex;
     uint8_t activeRateProfile;

src/main/fc/controlrate_profile.c

@@ -37,7 +37,7 @@
 
 controlRateConfig_t *currentControlRateProfile;
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 1);
+PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 2);
 
 void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
 {
@@ -63,6 +63,7 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
             .rate_limit[FD_PITCH] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
             .rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
             .tpaMode = TPA_MODE_D,
+            .profileName = { 0 },
         );
     }
 }

src/main/fc/controlrate_profile.h

@@ -36,12 +36,13 @@ typedef enum {
     THROTTLE_LIMIT_TYPE_COUNT   // must be the last entry
 } throttleLimitType_e;
 
-
 typedef enum {
     TPA_MODE_PD,
     TPA_MODE_D
 } tpaMode_e;
 
+#define MAX_RATE_PROFILE_NAME_LENGTH 8u
+
 typedef struct controlRateConfig_s {
     uint8_t thrMid8;
     uint8_t thrExpo8;
@@ -55,6 +56,7 @@ typedef struct controlRateConfig_s {
     uint8_t throttle_limit_percent;         // Sets the maximum pilot commanded throttle limit
     uint16_t rate_limit[3];                 // Sets the maximum rate for the axes
     uint8_t tpaMode;                        // Controls which PID terms TPA effects
+    char profileName[MAX_RATE_PROFILE_NAME_LENGTH + 1]; // Descriptive name for rate profile
 } controlRateConfig_t;
 
 PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);

src/main/flight/pid.c

@@ -128,7 +128,7 @@ static FAST_RAM_ZERO_INIT float airmodeThrottleOffsetLimit;
 
 #define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 10);
+PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 11);
 
 void resetPidProfile(pidProfile_t *pidProfile)
 {
@@ -204,6 +204,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .motor_output_limit = 100,
         .auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
         .transient_throttle_limit = 15,
+        .profileName = { 0 },
     );
 #ifndef USE_D_MIN
     pidProfile->pid[PID_ROLL].D = 30;

src/main/flight/pid.h

@@ -100,6 +100,8 @@ typedef enum {
     ITERM_RELAX_SETPOINT
 } itermRelaxType_e;
 
+#define MAX_PROFILE_NAME_LENGTH 8u
+
 typedef struct pidProfile_s {
     uint16_t yaw_lowpass_hz;                // Additional yaw filter when yaw axis too noisy
     uint16_t dterm_lowpass_hz;              // Delta Filter in hz
@@ -168,6 +170,7 @@ typedef struct pidProfile_s {
     uint8_t motor_output_limit;             // Upper limit of the motor output (percent)
     int8_t auto_profile_cell_count;         // Cell count for this profile to be used with if auto PID profile switching is used
     uint8_t transient_throttle_limit;       // Maximum DC component of throttle change to mix into throttle to prevent airmode mirroring noise
+    char profileName[MAX_PROFILE_NAME_LENGTH + 1]; // Descriptive name for profile
 } pidProfile_t;
 
 PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);

src/main/osd/osd_elements.c

@@ -68,6 +68,7 @@
 #include "drivers/vtx_common.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/core.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
@@ -650,15 +651,13 @@ static void osdElementDisplayName(osdElementParms_t *element)
 #ifdef USE_PROFILE_NAMES
 static void osdElementRateProfileName(osdElementParms_t *element)
 {
-    uint8_t rateProfileIndex = getCurrentControlRateProfileIndex();
+    if (strlen(currentControlRateProfile->profileName) == 0) {
-
+        tfp_sprintf(element->buff, "RATE_%u", getCurrentControlRateProfileIndex() + 1);
-    if (strlen(rateProfileName()->profile[rateProfileIndex].name) == 0) {
-        tfp_sprintf(element->buff, "RATE_%u", rateProfileIndex);
     } else {
         unsigned i;
         for (i = 0; i < MAX_PROFILE_NAME_LENGTH; i++) {
-            if (rateProfileName()->profile[rateProfileIndex].name[i]) {
+            if (currentControlRateProfile->profileName[i]) {
-                element->buff[i] = toupper((unsigned char)rateProfileName()->profile[rateProfileIndex].name[i]);
+                element->buff[i] = toupper((unsigned char)currentControlRateProfile->profileName[i]);
             } else {
                 break;
             }
@@ -669,15 +668,13 @@ static void osdElementRateProfileName(osdElementParms_t *element)
 
 static void osdElementPidProfileName(osdElementParms_t *element)
 {
-    uint8_t pidProfileIndex = getCurrentPidProfileIndex();
+    if (strlen(currentPidProfile->profileName) == 0) {
-
+        tfp_sprintf(element->buff, "PID_%u", getCurrentPidProfileIndex() + 1);
-    if (strlen(pidProfileName()->profile[pidProfileIndex].name) == 0) {
-        tfp_sprintf(element->buff, "PID_%u", pidProfileIndex);
     } else {
         unsigned i;
         for (i = 0; i < MAX_PROFILE_NAME_LENGTH; i++) {
-            if (pidProfileName()->profile[pidProfileIndex].name[i]) {
+            if (currentPidProfile->profileName[i]) {
-                element->buff[i] = toupper((unsigned char)pidProfileName()->profile[pidProfileIndex].name[i]);
+                element->buff[i] = toupper((unsigned char)currentPidProfile->profileName[i]);
             } else {
                 break;
             }

src/main/pg/pg_ids.h

@@ -81,8 +81,6 @@
 #define PG_GPS_RESCUE 55 // struct OK
 #define PG_POSITION 56
 #define PG_VTX_IO_CONFIG 57
-#define PG_RATE_PROFILE_NAMES_CONFIG 58
-#define PG_PID_PROFILE_NAMES_CONFIG  59
 
 // Driver configuration
 #define PG_DRIVER_PWM_RX_CONFIG 100 // does not exist in betaflight