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Added profile macros and index functions
This commit is contained in:
Martin Budden
parent
051c9cca48
commit
a3ad97b0a4
10 changed files with 123 additions and 132 deletions
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@ -612,15 +612,15 @@ static const clivalue_t valueTable[] = {
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{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoConfig, .config.lookup = { TABLE_OFF_ON } },
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{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoBaud, .config.lookup = { TABLE_OFF_ON } },
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{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOS], .config.minmax = { 0, 200 } },
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{ "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOS], .config.minmax = { 0, 200 } },
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{ "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOS], .config.minmax = { 0, 200 } },
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{ "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOSR], .config.minmax = { 0, 200 } },
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{ "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOSR], .config.minmax = { 0, 200 } },
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{ "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOSR], .config.minmax = { 0, 200 } },
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{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], .config.minmax = { 0, 200 } },
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{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDNAVR], .config.minmax = { 0, 200 } },
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{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], .config.minmax = { 0, 200 } },
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{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDPOS], .config.minmax = { 0, 200 } },
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{ "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDPOS], .config.minmax = { 0, 200 } },
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{ "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDPOS], .config.minmax = { 0, 200 } },
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{ "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDPOSR], .config.minmax = { 0, 200 } },
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{ "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDPOSR], .config.minmax = { 0, 200 } },
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{ "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDPOSR], .config.minmax = { 0, 200 } },
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{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDNAVR], .config.minmax = { 0, 200 } },
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{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDNAVR], .config.minmax = { 0, 200 } },
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{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDNAVR], .config.minmax = { 0, 200 } },
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{ "gps_wp_radius", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->gps_wp_radius, .config.minmax = { 0, 2000 } },
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{ "nav_controls_heading", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsProfile()->nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
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{ "nav_speed_min", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->nav_speed_min, .config.minmax = { 10, 2000 } },
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@ -714,8 +714,8 @@ static const clivalue_t valueTable[] = {
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{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &rcControlsConfig()->yaw_control_direction, .config.minmax = { -1, 1 } },
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{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1, 1 } },
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{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
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{ "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
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{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
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{ "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, &pidProfiles(0)->pidSumLimit, .config.minmax = { 0.1, 1.0 } },
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#ifdef USE_SERVOS
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{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &servoConfig()->dev.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
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@ -768,47 +768,47 @@ static const clivalue_t valueTable[] = {
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{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &compassConfig()->mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
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{ "mag_declination", VAR_INT16 | MASTER_VALUE, &compassConfig()->mag_declination, .config.minmax = { -18000, 18000 } },
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#endif
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{ "d_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
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{ "d_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 16000 } },
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{ "d_notch_hz", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0, 16000 } },
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{ "d_notch_cut", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 16000 } },
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{ "vbat_pid_gain", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
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{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
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{ "anti_gravity_thresh", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },
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{ "anti_gravity_gain", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermAcceleratorGain, .config.minmax = {1, 30 } },
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{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } },
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{ "d_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 254 } },
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{ "yaw_accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },
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{ "accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0.1f, 50.0f } },
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{ "d_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &pidProfiles(0)->dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
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{ "d_lowpass", VAR_INT16 | PROFILE_VALUE, &pidProfiles(0)->dterm_lpf_hz, .config.minmax = {0, 16000 } },
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{ "d_notch_hz", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->dterm_notch_hz, .config.minmax = { 0, 16000 } },
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{ "d_notch_cut", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->dterm_notch_cutoff, .config.minmax = { 1, 16000 } },
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{ "vbat_pid_gain", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &pidProfiles(0)->vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
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{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &pidProfiles(0)->pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
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{ "anti_gravity_thresh", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->itermThrottleThreshold, .config.minmax = {20, 1000 } },
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{ "anti_gravity_gain", VAR_FLOAT | PROFILE_VALUE, &pidProfiles(0)->itermAcceleratorGain, .config.minmax = {1, 30 } },
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{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->setpointRelaxRatio, .config.minmax = {0, 100 } },
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{ "d_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->dtermSetpointWeight, .config.minmax = {0, 254 } },
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{ "yaw_accel_limit", VAR_FLOAT | PROFILE_VALUE, &pidProfiles(0)->yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },
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{ "accel_limit", VAR_FLOAT | PROFILE_VALUE, &pidProfiles(0)->rateAccelLimit, .config.minmax = {0.1f, 50.0f } },
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{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermWindupPointPercent, .config.minmax = {30, 100 } },
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{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
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{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->itermWindupPointPercent, .config.minmax = {30, 100 } },
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{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->yaw_lpf_hz, .config.minmax = {0, 500 } },
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{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &pidConfig()->pid_process_denom, .config.minmax = { 1, MAX_PID_PROCESS_DENOM } },
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{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 } },
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{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 } },
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{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], .config.minmax = { 0, 200 } },
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{ "p_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[ROLL], .config.minmax = { 0, 200 } },
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{ "i_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[ROLL], .config.minmax = { 0, 200 } },
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{ "d_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[ROLL], .config.minmax = { 0, 200 } },
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{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[YAW], .config.minmax = { 0, 200 } },
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{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[YAW], .config.minmax = { 0, 200 } },
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{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[YAW], .config.minmax = { 0, 200 } },
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{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PITCH], .config.minmax = { 0, 200 } },
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{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PITCH], .config.minmax = { 0, 200 } },
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{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PITCH], .config.minmax = { 0, 200 } },
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{ "p_roll", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[ROLL], .config.minmax = { 0, 200 } },
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{ "i_roll", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[ROLL], .config.minmax = { 0, 200 } },
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{ "d_roll", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[ROLL], .config.minmax = { 0, 200 } },
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{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[YAW], .config.minmax = { 0, 200 } },
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{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[YAW], .config.minmax = { 0, 200 } },
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{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[YAW], .config.minmax = { 0, 200 } },
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{ "p_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], .config.minmax = { 0, 200 } },
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{ "i_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], .config.minmax = { 0, 200 } },
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{ "d_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDALT], .config.minmax = { 0, 200 } },
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{ "p_alt", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDALT], .config.minmax = { 0, 200 } },
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{ "i_alt", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDALT], .config.minmax = { 0, 200 } },
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{ "d_alt", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDALT], .config.minmax = { 0, 200 } },
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{ "p_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDLEVEL], .config.minmax = { 0, 200 } },
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{ "i_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDLEVEL], .config.minmax = { 0, 200 } },
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{ "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], .config.minmax = { 0, 200 } },
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{ "p_level", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDLEVEL], .config.minmax = { 0, 200 } },
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{ "i_level", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDLEVEL], .config.minmax = { 0, 200 } },
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{ "d_level", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDLEVEL], .config.minmax = { 0, 200 } },
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{ "p_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], .config.minmax = { 0, 200 } },
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{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 200 } },
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{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
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{ "p_vel", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDVEL], .config.minmax = { 0, 200 } },
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{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDVEL], .config.minmax = { 0, 200 } },
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{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDVEL], .config.minmax = { 0, 200 } },
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{ "level_sensitivity", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 10, 200 } },
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{ "level_limit", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelAngleLimit, .config.minmax = { 10, 120 } },
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{ "level_sensitivity", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->levelSensitivity, .config.minmax = { 10, 200 } },
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{ "level_limit", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->levelAngleLimit, .config.minmax = { 10, 120 } },
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#ifdef BLACKBOX
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{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &blackboxConfig()->rate_num, .config.minmax = { 1, 32 } },
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@ -1304,7 +1304,7 @@ static uint16_t getValueOffset(const clivalue_t *value)
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case PROFILE_VALUE:
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return value->offset;
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case PROFILE_RATE_VALUE:
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return value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfile();
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return value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex();
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}
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return 0;
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}
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@ -1318,7 +1318,7 @@ static void *getValuePointer(const clivalue_t *value)
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case PROFILE_VALUE:
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return rec->address + value->offset;
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case PROFILE_RATE_VALUE:
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return rec->address + value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfile();
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return rec->address + value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex();
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}
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return NULL;
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}
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@ -1370,7 +1370,7 @@ void *getValuePointer(const clivalue_t *value)
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}
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if ((value->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * systemConfig()->current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * systemConfig()->current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex());
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}
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return ptr;
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@ -3402,7 +3402,7 @@ static void cliPlaySound(char *cmdline)
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static void cliProfile(char *cmdline)
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{
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if (isEmpty(cmdline)) {
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cliPrintf("profile %d\r\n", getCurrentProfile());
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cliPrintf("profile %d\r\n", getCurrentProfileIndex());
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return;
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} else {
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const int i = atoi(cmdline);
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@ -3418,7 +3418,7 @@ static void cliProfile(char *cmdline)
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static void cliRateProfile(char *cmdline)
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{
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if (isEmpty(cmdline)) {
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cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfile());
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cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfileIndex());
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return;
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} else {
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const int i = atoi(cmdline);
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@ -4127,38 +4127,36 @@ static void printConfig(char *cmdline, bool doDiff)
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dumpValues(MASTER_VALUE, dumpMask, &defaultConfig);
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if (dumpMask & DUMP_ALL) {
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const uint8_t activeProfile = systemConfig()->current_profile_index;
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for (uint32_t profileCount=0; profileCount<MAX_PROFILE_COUNT;profileCount++) {
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cliDumpProfile(profileCount, dumpMask, &defaultConfig);
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const uint8_t currentRateIndex = systemConfig()->activeRateProfile;
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for (uint32_t rateCount = 0; rateCount < MAX_RATEPROFILES; rateCount++) {
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cliDumpRateProfile(rateCount, dumpMask, &defaultConfig);
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}
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changeControlRateProfile(currentRateIndex);
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cliPrintHashLine("restore original rateprofile selection");
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cliRateProfile("");
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const uint8_t profileIndexSave = getCurrentProfileIndex();
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for (uint32_t profileIndex = 0; profileIndex < MAX_PROFILE_COUNT; profileIndex++) {
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cliDumpProfile(profileIndex, dumpMask, &defaultConfig);
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}
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changeProfile(activeProfile);
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changeProfile(profileIndexSave);
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cliPrintHashLine("restore original profile selection");
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cliProfile("");
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const uint8_t controlRateProfileIndexSave = getCurrentControlRateProfileIndex();
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for (uint32_t rateIndex = 0; rateIndex < MAX_RATEPROFILES; rateIndex++) {
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cliDumpRateProfile(rateIndex, dumpMask, &defaultConfig);
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}
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changeControlRateProfile(controlRateProfileIndexSave);
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cliPrintHashLine("restore original rateprofile selection");
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cliRateProfile("");
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cliPrintHashLine("save configuration");
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cliPrint("save");
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} else {
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cliDumpProfile(systemConfig()->current_profile_index, dumpMask, &defaultConfig);
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cliDumpRateProfile(systemConfig()->activeRateProfile, dumpMask, &defaultConfig);
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cliDumpProfile(getCurrentProfileIndex(), dumpMask, &defaultConfig);
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cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask, &defaultConfig);
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}
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}
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if (dumpMask & DUMP_PROFILE) {
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cliDumpProfile(systemConfig()->current_profile_index, dumpMask, &defaultConfig);
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cliDumpProfile(getCurrentProfileIndex(), dumpMask, &defaultConfig);
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}
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if (dumpMask & DUMP_RATES) {
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cliDumpRateProfile(systemConfig()->activeRateProfile, dumpMask, &defaultConfig);
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cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask, &defaultConfig);
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}
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#ifdef USE_PARAMETER_GROUPS
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// restore configs from copies
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