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

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Revise PID/Rate profile names to use get/set and eliminate extra PG's
This commit is contained in:
Michael Keller 2019-05-10 09:30:55 +12:00 • committed by GitHub
commit a27a695fa1
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GPG key ID: 4AEE18F83AFDEB23
11 changed files with 57 additions and 116 deletions
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55
src/main/cli/cli.c
View file

@ -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

12
src/main/cli/settings.c
View file

@ -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) },

34
src/main/cms/cms_menu_imu.c
View file

@ -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;
rateProfileIndexString[3] = '0' + tmpRateProfileIndex;
setProfileIndexString(rateProfileIndexString, rateProfileIndex, controlRateProfilesMutable(rateProfileIndex)->profileName);
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);

20
src/main/fc/config.c
View file

@ -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();

16
src/main/fc/config.h
View file

@ -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;

3
src/main/fc/controlrate_profile.c
View file

@ -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 },
);
}
}

4
src/main/fc/controlrate_profile.h
View file

@ -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);

3
src/main/flight/pid.c
View file

@ -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;

3
src/main/flight/pid.h
View file

@ -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);

21
src/main/osd/osd_elements.c
View file

@ -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(rateProfileName()->profile[rateProfileIndex].name) == 0) {
tfp_sprintf(element->buff, "RATE_%u", rateProfileIndex);
if (strlen(currentControlRateProfile->profileName) == 0) {
tfp_sprintf(element->buff, "RATE_%u", getCurrentControlRateProfileIndex() + 1);
} else {
unsigned i;
for (i = 0; i < MAX_PROFILE_NAME_LENGTH; i++) {
if (rateProfileName()->profile[rateProfileIndex].name[i]) {
element->buff[i] = toupper((unsigned char)rateProfileName()->profile[rateProfileIndex].name[i]);
if (currentControlRateProfile->profileName[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(pidProfileName()->profile[pidProfileIndex].name) == 0) {
tfp_sprintf(element->buff, "PID_%u", pidProfileIndex);
if (strlen(currentPidProfile->profileName) == 0) {
tfp_sprintf(element->buff, "PID_%u", getCurrentPidProfileIndex() + 1);
} else {
unsigned i;
for (i = 0; i < MAX_PROFILE_NAME_LENGTH; i++) {
if (pidProfileName()->profile[pidProfileIndex].name[i]) {
element->buff[i] = toupper((unsigned char)pidProfileName()->profile[pidProfileIndex].name[i]);
if (currentPidProfile->profileName[i]) {
element->buff[i] = toupper((unsigned char)currentPidProfile->profileName[i]);
} else {
break;
}

2
src/main/pg/pg_ids.h
View file

@ -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