mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-25 17:25:20 +03:00
Remove serial_cli.c's dependency on mw.h/board.h.
Rename yawdeadband to yaw_deadband to match other variables/cli commands. Fix a couple of usages of MAX_MOTORS where MAX_SUPPORTED_MOTORS should be used instead.
This commit is contained in:
Dominic Clifton
parent
bcc55abcc8
commit
a5f0999c26
12 changed files with 250 additions and 220 deletions
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@ -6,6 +6,8 @@ typedef struct batteryConfig_s {
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uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
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} batteryConfig_t;
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extern uint8_t vbat;
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extern uint8_t batteryCellCount;
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extern uint16_t batteryWarningVoltage;
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uint16_t batteryAdcToVoltage(uint16_t src);
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@ -1,4 +1,8 @@
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#include <stdint.h>
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#include <string.h>
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#include <math.h>
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#include "build_config.h"
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#include "maths.h"
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#ifdef REQUIRE_PRINTF_LONG_SUPPORT
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@ -85,3 +89,176 @@ char a2i(char ch, char **src, int base, int *nump)
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*nump = num;
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return ch;
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}
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#ifndef HAVE_ITOA_FUNCTION
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/*
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** The following two functions together make up an itoa()
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** implementation. Function i2a() is a 'private' function
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** called by the public itoa() function.
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**
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** itoa() takes three arguments:
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** 1) the integer to be converted,
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** 2) a pointer to a character conversion buffer,
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** 3) the radix for the conversion
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** which can range between 2 and 36 inclusive
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** range errors on the radix default it to base10
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** Code from http://groups.google.com/group/comp.lang.c/msg/66552ef8b04fe1ab?pli=1
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*/
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static char *_i2a(unsigned i, char *a, unsigned r)
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{
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if (i / r > 0)
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a = _i2a(i / r, a, r);
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*a = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"[i % r];
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return a + 1;
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}
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char *itoa(int i, char *a, int r)
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{
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if ((r < 2) || (r > 36))
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r = 10;
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if (i < 0) {
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*a = '-';
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*_i2a(-(unsigned)i, a + 1, r) = 0;
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} else
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*_i2a(i, a, r) = 0;
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return a;
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}
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#endif
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char *ftoa(float x, char *floatString)
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{
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int32_t value;
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char intString1[12];
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char intString2[12] = { 0, };
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char *decimalPoint = ".";
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uint8_t dpLocation;
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if (x > 0) // Rounding for x.xxx display format
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x += 0.0005f;
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else
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x -= 0.0005f;
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value = (int32_t) (x * 1000.0f); // Convert float * 1000 to an integer
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itoa(abs(value), intString1, 10); // Create string from abs of integer value
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if (value >= 0)
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intString2[0] = ' '; // Positive number, add a pad space
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else
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intString2[0] = '-'; // Negative number, add a negative sign
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if (strlen(intString1) == 1) {
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intString2[1] = '0';
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intString2[2] = '0';
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intString2[3] = '0';
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strcat(intString2, intString1);
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} else if (strlen(intString1) == 2) {
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intString2[1] = '0';
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intString2[2] = '0';
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strcat(intString2, intString1);
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} else if (strlen(intString1) == 3) {
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intString2[1] = '0';
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strcat(intString2, intString1);
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} else {
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strcat(intString2, intString1);
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}
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dpLocation = strlen(intString2) - 3;
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strncpy(floatString, intString2, dpLocation);
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floatString[dpLocation] = '\0';
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strcat(floatString, decimalPoint);
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strcat(floatString, intString2 + dpLocation);
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return floatString;
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}
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// Simple and fast atof (ascii to float) function.
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//
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// - Executes about 5x faster than standard MSCRT library atof().
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// - An attractive alternative if the number of calls is in the millions.
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// - Assumes input is a proper integer, fraction, or scientific format.
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// - Matches library atof() to 15 digits (except at extreme exponents).
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// - Follows atof() precedent of essentially no error checking.
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//
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// 09-May-2009 Tom Van Baak (tvb) www.LeapSecond.com
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#define white_space(c) ((c) == ' ' || (c) == '\t')
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#define valid_digit(c) ((c) >= '0' && (c) <= '9')
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float fastA2F(const char *p)
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{
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int frac = 0;
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float sign, value, scale;
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// Skip leading white space, if any.
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while (white_space(*p) ) {
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p += 1;
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}
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// Get sign, if any.
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sign = 1.0f;
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if (*p == '-') {
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sign = -1.0f;
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p += 1;
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} else if (*p == '+') {
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p += 1;
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}
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// Get digits before decimal point or exponent, if any.
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value = 0.0f;
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while (valid_digit(*p)) {
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value = value * 10.0f + (*p - '0');
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p += 1;
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}
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// Get digits after decimal point, if any.
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if (*p == '.') {
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float pow10 = 10.0f;
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p += 1;
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while (valid_digit(*p)) {
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value += (*p - '0') / pow10;
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pow10 *= 10.0f;
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p += 1;
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}
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}
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// Handle exponent, if any.
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scale = 1.0f;
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if ((*p == 'e') || (*p == 'E')) {
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unsigned int expon;
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p += 1;
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// Get sign of exponent, if any.
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frac = 0;
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if (*p == '-') {
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frac = 1;
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p += 1;
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} else if (*p == '+') {
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p += 1;
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}
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// Get digits of exponent, if any.
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expon = 0;
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while (valid_digit(*p)) {
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expon = expon * 10 + (*p - '0');
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p += 1;
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}
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if (expon > 308)
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expon = 308;
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// Calculate scaling factor.
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// while (expon >= 50) { scale *= 1E50f; expon -= 50; }
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while (expon >= 8) { scale *= 1E8f; expon -= 8; }
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while (expon > 0) { scale *= 10.0f; expon -= 1; }
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}
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// Return signed and scaled floating point result.
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return sign * (frac ? (value / scale) : (value * scale));
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}
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@ -5,3 +5,9 @@ void li2a(long num, char *bf);
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void ui2a(unsigned int num, unsigned int base, int uc, char *bf);
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void i2a(int num, char *bf);
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char a2i(char ch, char **src, int base, int *nump);
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char *ftoa(float x, char *floatString);
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float fastA2F(const char *p);
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#ifndef HAVE_ITOA_FUNCTION
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char *itoa(int i, char *a, int r);
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#endif
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@ -345,7 +345,7 @@ static void resetConf(void)
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// Radio
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parseRcChannels("AETR1234", &masterConfig.rxConfig);
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currentProfile.deadband = 0;
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currentProfile.yawdeadband = 0;
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currentProfile.yaw_deadband = 0;
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currentProfile.alt_hold_throttle_neutral = 40;
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currentProfile.alt_hold_fast_change = 1;
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currentProfile.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
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@ -29,7 +29,7 @@ typedef struct profile_s {
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// Radio/ESC-related configuration
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uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
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uint8_t yawdeadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
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uint8_t yaw_deadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
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uint8_t alt_hold_throttle_neutral; // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
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uint8_t alt_hold_fast_change; // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_throttle_neutral; when enabled, altitude changes slowly proportional to stick movement
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uint16_t throttle_correction_angle; // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
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@ -8,13 +8,13 @@
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#include "flight_common.h"
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static uint8_t numberMotor = 0;
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int16_t motor[MAX_MOTORS];
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int16_t motor_disarmed[MAX_MOTORS];
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int16_t motor[MAX_SUPPORTED_MOTORS];
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int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
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int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
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static int useServo;
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static motorMixer_t currentMixer[MAX_MOTORS];
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static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
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static const motorMixer_t mixerTri[] = {
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{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
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@ -198,7 +198,7 @@ void mixerInit(void)
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if (masterConfig.mixerConfiguration == MULTITYPE_CUSTOM) {
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// load custom mixer into currentMixer
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for (i = 0; i < MAX_MOTORS; i++) {
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for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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// check if done
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if (masterConfig.customMixer[i].throttle == 0.0f)
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break;
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@ -239,7 +239,7 @@ void mixerResetMotors(void)
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{
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int i;
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// set disarmed motor values
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for (i = 0; i < MAX_MOTORS; i++)
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for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
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motor_disarmed[i] = feature(FEATURE_3D) ? masterConfig.neutral3d : masterConfig.mincommand;
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}
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@ -250,7 +250,7 @@ void mixerLoadMix(int index)
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// we're 1-based
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index++;
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// clear existing
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for (i = 0; i < MAX_MOTORS; i++)
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for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
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masterConfig.customMixer[i].throttle = 0.0f;
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// do we have anything here to begin with?
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@ -59,3 +59,9 @@ typedef struct servoParam_t {
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bool isMixerUsingServos(void);
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void mixerInit(void);
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void writeAllMotors(int16_t mc);
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void mixerLoadMix(int index);
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void mixerResetMotors(void);
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// from mixer.c
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extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
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6
src/mw.c
6
src/mw.c
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@ -84,9 +84,9 @@ void annexCode(void)
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prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.rollPitchRate * tmp / 500;
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prop1 = (uint16_t)prop1 * prop2 / 100;
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} else { // YAW
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if (currentProfile.yawdeadband) {
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if (tmp > currentProfile.yawdeadband) {
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tmp -= currentProfile.yawdeadband;
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if (currentProfile.yaw_deadband) {
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if (tmp > currentProfile.yaw_deadband) {
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tmp -= currentProfile.yaw_deadband;
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} else {
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tmp = 0;
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}
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3
src/mw.h
3
src/mw.h
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@ -51,10 +51,9 @@ extern int32_t BaroPID;
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extern int32_t vario;
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extern int16_t throttleAngleCorrection;
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extern int16_t headFreeModeHold;
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extern int16_t motor[MAX_MOTORS];
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extern int16_t motor[MAX_SUPPORTED_MOTORS];
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extern int16_t servo[MAX_SERVOS];
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extern uint16_t rssi; // range: [0;1023]
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extern uint8_t vbat;
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extern int16_t telemTemperature1; // gyro sensor temperature
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extern uint8_t toggleBeep;
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@ -18,6 +18,8 @@ typedef enum {
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#define MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT 8
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#define MAX_SUPPORTED_RC_CHANNEL_COUNT (18)
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extern const char rcChannelLetters[];
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extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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typedef struct rxConfig_s {
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248
src/serial_cli.c
248
src/serial_cli.c
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@ -1,16 +1,42 @@
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdarg.h>
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#include <string.h>
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#include <math.h>
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#include <ctype.h>
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#include "board.h"
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#include "mw.h"
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#include "platform.h"
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#include "common/axis.h"
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#include "common/printf.h"
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#include "common/typeconversion.h"
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#include "drivers/system_common.h"
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#include "drivers/accgyro_common.h"
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#include "drivers/serial_common.h"
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#include "drivers/bus_i2c.h"
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#include "serial_common.h"
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#include "flight_common.h"
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#include "flight_mixer.h"
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#include "rc_controls.h"
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#include "boardalignment.h"
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#include "telemetry_common.h"
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#include "gps_common.h"
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#include "rx_common.h"
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#include "battery.h"
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#include "sensors_common.h"
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#include "sensors_acceleration.h"
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#include "sensors_gyro.h"
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#include "sensors_barometer.h"
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#include "failsafe.h"
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#include "runtime_config.h"
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#include "config.h"
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#include "config_profile.h"
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#include "config_master.h"
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#include "serial_cli.h"
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// we unset this on 'exit'
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extern uint8_t cliMode;
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@ -31,14 +57,7 @@ static void cliSet(char *cmdline);
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static void cliStatus(char *cmdline);
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static void cliVersion(char *cmdline);
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// from sensors.c
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extern uint8_t batteryCellCount;
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// from config.c RC Channel mapping
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extern const char rcChannelLetters[];
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// from mixer.c
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extern int16_t motor_disarmed[MAX_MOTORS];
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uint16_t cycleTime; // FIXME dependency on mw.c
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// signal that we're in cli mode
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uint8_t cliMode = 0;
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@ -47,9 +66,6 @@ uint8_t cliMode = 0;
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static char cliBuffer[48];
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static uint32_t bufferIndex = 0;
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static float _atof(const char *p);
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static char *ftoa(float x, char *floatString);
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// sync this with MultiType enum from mw.h
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static const char * const mixerNames[] = {
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"TRI", "QUADP", "QUADX", "BI",
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@ -169,7 +185,7 @@ const clivalue_t valueTable[] = {
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{ "gyro_cmpfm_factor", VAR_UINT16, &masterConfig.gyro_cmpfm_factor, 100, 1000 },
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{ "pid_controller", VAR_UINT8, ¤tProfile.pidController, 0, 1 },
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{ "deadband", VAR_UINT8, ¤tProfile.deadband, 0, 32 },
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{ "yawdeadband", VAR_UINT8, ¤tProfile.yawdeadband, 0, 100 },
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{ "yawdeadband", VAR_UINT8, ¤tProfile.yaw_deadband, 0, 100 },
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{ "alt_hold_throttle_neutral", VAR_UINT8, ¤tProfile.alt_hold_throttle_neutral, 1, 250 },
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{ "alt_hold_fast_change", VAR_UINT8, ¤tProfile.alt_hold_fast_change, 0, 1 },
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{ "throttle_correction_value", VAR_UINT8, ¤tProfile.throttle_correction_value, 0, 150 },
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@ -248,184 +264,6 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full);
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static void cliPrint(const char *str);
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static void cliWrite(uint8_t ch);
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#ifndef HAVE_ITOA_FUNCTION
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/*
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** The following two functions together make up an itoa()
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** implementation. Function i2a() is a 'private' function
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** called by the public itoa() function.
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**
|
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** itoa() takes three arguments:
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** 1) the integer to be converted,
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** 2) a pointer to a character conversion buffer,
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** 3) the radix for the conversion
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** which can range between 2 and 36 inclusive
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** range errors on the radix default it to base10
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** Code from http://groups.google.com/group/comp.lang.c/msg/66552ef8b04fe1ab?pli=1
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*/
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static char *i2a(unsigned i, char *a, unsigned r)
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{
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if (i / r > 0)
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a = i2a(i / r, a, r);
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*a = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"[i % r];
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return a + 1;
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}
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char *itoa(int i, char *a, int r)
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{
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||||
if ((r < 2) || (r > 36))
|
||||
r = 10;
|
||||
if (i < 0) {
|
||||
*a = '-';
|
||||
*i2a(-(unsigned)i, a + 1, r) = 0;
|
||||
} else
|
||||
*i2a(i, a, r) = 0;
|
||||
return a;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// String to Float Conversion
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
// Simple and fast atof (ascii to float) function.
|
||||
//
|
||||
// - Executes about 5x faster than standard MSCRT library atof().
|
||||
// - An attractive alternative if the number of calls is in the millions.
|
||||
// - Assumes input is a proper integer, fraction, or scientific format.
|
||||
// - Matches library atof() to 15 digits (except at extreme exponents).
|
||||
// - Follows atof() precedent of essentially no error checking.
|
||||
//
|
||||
// 09-May-2009 Tom Van Baak (tvb) www.LeapSecond.com
|
||||
//
|
||||
#define white_space(c) ((c) == ' ' || (c) == '\t')
|
||||
#define valid_digit(c) ((c) >= '0' && (c) <= '9')
|
||||
static float _atof(const char *p)
|
||||
{
|
||||
int frac = 0;
|
||||
float sign, value, scale;
|
||||
|
||||
// Skip leading white space, if any.
|
||||
while (white_space(*p) ) {
|
||||
p += 1;
|
||||
}
|
||||
|
||||
// Get sign, if any.
|
||||
sign = 1.0f;
|
||||
if (*p == '-') {
|
||||
sign = -1.0f;
|
||||
p += 1;
|
||||
|
||||
} else if (*p == '+') {
|
||||
p += 1;
|
||||
}
|
||||
|
||||
// Get digits before decimal point or exponent, if any.
|
||||
value = 0.0f;
|
||||
while (valid_digit(*p)) {
|
||||
value = value * 10.0f + (*p - '0');
|
||||
p += 1;
|
||||
}
|
||||
|
||||
// Get digits after decimal point, if any.
|
||||
if (*p == '.') {
|
||||
float pow10 = 10.0f;
|
||||
p += 1;
|
||||
|
||||
while (valid_digit(*p)) {
|
||||
value += (*p - '0') / pow10;
|
||||
pow10 *= 10.0f;
|
||||
p += 1;
|
||||
}
|
||||
}
|
||||
|
||||
// Handle exponent, if any.
|
||||
scale = 1.0f;
|
||||
if ((*p == 'e') || (*p == 'E')) {
|
||||
unsigned int expon;
|
||||
p += 1;
|
||||
|
||||
// Get sign of exponent, if any.
|
||||
frac = 0;
|
||||
if (*p == '-') {
|
||||
frac = 1;
|
||||
p += 1;
|
||||
|
||||
} else if (*p == '+') {
|
||||
p += 1;
|
||||
}
|
||||
|
||||
// Get digits of exponent, if any.
|
||||
expon = 0;
|
||||
while (valid_digit(*p)) {
|
||||
expon = expon * 10 + (*p - '0');
|
||||
p += 1;
|
||||
}
|
||||
if (expon > 308)
|
||||
expon = 308;
|
||||
|
||||
// Calculate scaling factor.
|
||||
// while (expon >= 50) { scale *= 1E50f; expon -= 50; }
|
||||
while (expon >= 8) { scale *= 1E8f; expon -= 8; }
|
||||
while (expon > 0) { scale *= 10.0f; expon -= 1; }
|
||||
}
|
||||
|
||||
// Return signed and scaled floating point result.
|
||||
return sign * (frac ? (value / scale) : (value * scale));
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
// FTOA
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
static char *ftoa(float x, char *floatString)
|
||||
{
|
||||
int32_t value;
|
||||
char intString1[12];
|
||||
char intString2[12] = { 0, };
|
||||
char *decimalPoint = ".";
|
||||
uint8_t dpLocation;
|
||||
|
||||
if (x > 0) // Rounding for x.xxx display format
|
||||
x += 0.0005f;
|
||||
else
|
||||
x -= 0.0005f;
|
||||
|
||||
value = (int32_t) (x * 1000.0f); // Convert float * 1000 to an integer
|
||||
|
||||
itoa(abs(value), intString1, 10); // Create string from abs of integer value
|
||||
|
||||
if (value >= 0)
|
||||
intString2[0] = ' '; // Positive number, add a pad space
|
||||
else
|
||||
intString2[0] = '-'; // Negative number, add a negative sign
|
||||
|
||||
if (strlen(intString1) == 1) {
|
||||
intString2[1] = '0';
|
||||
intString2[2] = '0';
|
||||
intString2[3] = '0';
|
||||
strcat(intString2, intString1);
|
||||
} else if (strlen(intString1) == 2) {
|
||||
intString2[1] = '0';
|
||||
intString2[2] = '0';
|
||||
strcat(intString2, intString1);
|
||||
} else if (strlen(intString1) == 3) {
|
||||
intString2[1] = '0';
|
||||
strcat(intString2, intString1);
|
||||
} else {
|
||||
strcat(intString2, intString1);
|
||||
}
|
||||
|
||||
dpLocation = strlen(intString2) - 3;
|
||||
|
||||
strncpy(floatString, intString2, dpLocation);
|
||||
floatString[dpLocation] = '\0';
|
||||
strcat(floatString, decimalPoint);
|
||||
strcat(floatString, intString2 + dpLocation);
|
||||
|
||||
return floatString;
|
||||
}
|
||||
|
||||
static void cliPrompt(void)
|
||||
{
|
||||
cliPrint("\r\n# ");
|
||||
|
|
@ -474,7 +312,7 @@ static void cliCMix(char *cmdline)
|
|||
|
||||
if (len == 0) {
|
||||
cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
|
||||
for (i = 0; i < MAX_MOTORS; i++) {
|
||||
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
|
||||
if (masterConfig.customMixer[i].throttle == 0.0f)
|
||||
break;
|
||||
num_motors++;
|
||||
|
|
@ -497,7 +335,7 @@ static void cliCMix(char *cmdline)
|
|||
return;
|
||||
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
|
||||
// erase custom mixer
|
||||
for (i = 0; i < MAX_MOTORS; i++)
|
||||
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
|
||||
masterConfig.customMixer[i].throttle = 0.0f;
|
||||
} else if (strncasecmp(cmdline, "load", 4) == 0) {
|
||||
ptr = strchr(cmdline, ' ');
|
||||
|
|
@ -519,25 +357,25 @@ static void cliCMix(char *cmdline)
|
|||
} else {
|
||||
ptr = cmdline;
|
||||
i = atoi(ptr); // get motor number
|
||||
if (--i < MAX_MOTORS) {
|
||||
if (--i < MAX_SUPPORTED_MOTORS) {
|
||||
ptr = strchr(ptr, ' ');
|
||||
if (ptr) {
|
||||
masterConfig.customMixer[i].throttle = _atof(++ptr);
|
||||
masterConfig.customMixer[i].throttle = fastA2F(++ptr);
|
||||
check++;
|
||||
}
|
||||
ptr = strchr(ptr, ' ');
|
||||
if (ptr) {
|
||||
masterConfig.customMixer[i].roll = _atof(++ptr);
|
||||
masterConfig.customMixer[i].roll = fastA2F(++ptr);
|
||||
check++;
|
||||
}
|
||||
ptr = strchr(ptr, ' ');
|
||||
if (ptr) {
|
||||
masterConfig.customMixer[i].pitch = _atof(++ptr);
|
||||
masterConfig.customMixer[i].pitch = fastA2F(++ptr);
|
||||
check++;
|
||||
}
|
||||
ptr = strchr(ptr, ' ');
|
||||
if (ptr) {
|
||||
masterConfig.customMixer[i].yaw = _atof(++ptr);
|
||||
masterConfig.customMixer[i].yaw = fastA2F(++ptr);
|
||||
check++;
|
||||
}
|
||||
if (check != 4) {
|
||||
|
|
@ -546,7 +384,7 @@ static void cliCMix(char *cmdline)
|
|||
cliCMix("");
|
||||
}
|
||||
} else {
|
||||
printf("Motor number must be between 1 and %d\r\n", MAX_MOTORS);
|
||||
printf("Motor number must be between 1 and %d\r\n", MAX_SUPPORTED_MOTORS);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -569,7 +407,7 @@ static void cliDump(char *cmdline)
|
|||
|
||||
// print custom mix if exists
|
||||
if (masterConfig.customMixer[0].throttle != 0.0f) {
|
||||
for (i = 0; i < MAX_MOTORS; i++) {
|
||||
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
|
||||
if (masterConfig.customMixer[i].throttle == 0.0f)
|
||||
break;
|
||||
thr = masterConfig.customMixer[i].throttle;
|
||||
|
|
@ -795,8 +633,8 @@ static void cliMotor(char *cmdline)
|
|||
pch = strtok(NULL, " ");
|
||||
}
|
||||
|
||||
if (motor_index < 0 || motor_index >= MAX_MOTORS) {
|
||||
printf("No such motor, use a number [0, %d]\r\n", MAX_MOTORS);
|
||||
if (motor_index < 0 || motor_index >= MAX_SUPPORTED_MOTORS) {
|
||||
printf("No such motor, use a number [0, %d]\r\n", MAX_SUPPORTED_MOTORS);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -952,7 +790,7 @@ static void cliSet(char *cmdline)
|
|||
eqptr++;
|
||||
len--;
|
||||
value = atoi(eqptr);
|
||||
valuef = _atof(eqptr);
|
||||
valuef = fastA2F(eqptr);
|
||||
for (i = 0; i < VALUE_COUNT; i++) {
|
||||
val = &valueTable[i];
|
||||
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
|
||||
|
|
|
|||
|
|
@ -108,7 +108,7 @@ static uint8_t availableBoxes[CHECKBOX_ITEM_COUNT];
|
|||
// this is the number of filled indexes in above array
|
||||
static uint8_t numberBoxItems = 0;
|
||||
// from mixer.c
|
||||
extern int16_t motor_disarmed[MAX_MOTORS];
|
||||
extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
|
||||
|
||||
static const char pidnames[] =
|
||||
"ROLL;"
|
||||
|
|
@ -348,7 +348,7 @@ static void evaluateCommand(void)
|
|||
headSerialReply(0);
|
||||
break;
|
||||
case MSP_SET_MOTOR:
|
||||
for (i = 0; i < 8; i++)
|
||||
for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
|
||||
motor_disarmed[i] = read16();
|
||||
headSerialReply(0);
|
||||
break;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue