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Updates to support parameter groups
This commit is contained in:
Martin Budden
parent
13ddcdb9cf
commit
aa561d542b
23 changed files with 338 additions and 322 deletions
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@ -408,7 +408,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
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case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
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case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
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case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
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return currentProfile->pidProfile.D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
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return currentPidProfile->D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
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case FLIGHT_LOG_FIELD_CONDITION_MAG:
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#ifdef MAG
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@ -1246,52 +1246,52 @@ static bool blackboxWriteSysinfo()
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BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", currentControlRateProfile->rates[ROLL],
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currentControlRateProfile->rates[PITCH],
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currentControlRateProfile->rates[YAW]);
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BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", currentProfile->pidProfile.P8[ROLL],
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currentProfile->pidProfile.I8[ROLL],
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currentProfile->pidProfile.D8[ROLL]);
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BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", currentProfile->pidProfile.P8[PITCH],
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currentProfile->pidProfile.I8[PITCH],
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currentProfile->pidProfile.D8[PITCH]);
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BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", currentProfile->pidProfile.P8[YAW],
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currentProfile->pidProfile.I8[YAW],
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currentProfile->pidProfile.D8[YAW]);
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BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDALT],
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currentProfile->pidProfile.I8[PIDALT],
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currentProfile->pidProfile.D8[PIDALT]);
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BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDPOS],
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currentProfile->pidProfile.I8[PIDPOS],
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currentProfile->pidProfile.D8[PIDPOS]);
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BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDPOSR],
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currentProfile->pidProfile.I8[PIDPOSR],
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currentProfile->pidProfile.D8[PIDPOSR]);
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BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDNAVR],
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currentProfile->pidProfile.I8[PIDNAVR],
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currentProfile->pidProfile.D8[PIDNAVR]);
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BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDLEVEL],
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currentProfile->pidProfile.I8[PIDLEVEL],
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currentProfile->pidProfile.D8[PIDLEVEL]);
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BLACKBOX_PRINT_HEADER_LINE("magPID:%d", currentProfile->pidProfile.P8[PIDMAG]);
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BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDVEL],
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currentProfile->pidProfile.I8[PIDVEL],
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currentProfile->pidProfile.D8[PIDVEL]);
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BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", currentProfile->pidProfile.dterm_filter_type);
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BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", currentProfile->pidProfile.dterm_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", currentProfile->pidProfile.yaw_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", currentProfile->pidProfile.dterm_notch_hz);
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", currentProfile->pidProfile.dterm_notch_cutoff);
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BLACKBOX_PRINT_HEADER_LINE("itermWindupPointPercent:%d", currentProfile->pidProfile.itermWindupPointPercent);
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BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", currentProfile->pidProfile.yaw_p_limit);
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BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", currentProfile->pidProfile.dterm_average_count);
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BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", currentProfile->pidProfile.vbatPidCompensation);
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BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", currentProfile->pidProfile.pidAtMinThrottle);
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BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", currentPidProfile->P8[ROLL],
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currentPidProfile->I8[ROLL],
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currentPidProfile->D8[ROLL]);
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BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", currentPidProfile->P8[PITCH],
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currentPidProfile->I8[PITCH],
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currentPidProfile->D8[PITCH]);
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BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", currentPidProfile->P8[YAW],
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currentPidProfile->I8[YAW],
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currentPidProfile->D8[YAW]);
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BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", currentPidProfile->P8[PIDALT],
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currentPidProfile->I8[PIDALT],
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currentPidProfile->D8[PIDALT]);
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BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", currentPidProfile->P8[PIDPOS],
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currentPidProfile->I8[PIDPOS],
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currentPidProfile->D8[PIDPOS]);
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BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", currentPidProfile->P8[PIDPOSR],
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currentPidProfile->I8[PIDPOSR],
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currentPidProfile->D8[PIDPOSR]);
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BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", currentPidProfile->P8[PIDNAVR],
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currentPidProfile->I8[PIDNAVR],
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currentPidProfile->D8[PIDNAVR]);
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BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", currentPidProfile->P8[PIDLEVEL],
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currentPidProfile->I8[PIDLEVEL],
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currentPidProfile->D8[PIDLEVEL]);
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BLACKBOX_PRINT_HEADER_LINE("magPID:%d", currentPidProfile->P8[PIDMAG]);
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BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", currentPidProfile->P8[PIDVEL],
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currentPidProfile->I8[PIDVEL],
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currentPidProfile->D8[PIDVEL]);
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BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", currentPidProfile->dterm_filter_type);
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BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", currentPidProfile->dterm_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", currentPidProfile->yaw_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", currentPidProfile->dterm_notch_hz);
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", currentPidProfile->dterm_notch_cutoff);
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BLACKBOX_PRINT_HEADER_LINE("itermWindupPointPercent:%d", currentPidProfile->itermWindupPointPercent);
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BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", currentPidProfile->yaw_p_limit);
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BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", currentPidProfile->dterm_average_count);
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BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", currentPidProfile->vbatPidCompensation);
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BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", currentPidProfile->pidAtMinThrottle);
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// Betaflight PID controller parameters
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BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold:%d", currentProfile->pidProfile.itermThrottleThreshold);
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BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain:%d", castFloatBytesToInt(currentProfile->pidProfile.itermAcceleratorGain));
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BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", currentProfile->pidProfile.setpointRelaxRatio);
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BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", currentProfile->pidProfile.dtermSetpointWeight);
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BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", castFloatBytesToInt(currentProfile->pidProfile.yawRateAccelLimit));
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BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", castFloatBytesToInt(currentProfile->pidProfile.rateAccelLimit));
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BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold:%d", currentPidProfile->itermThrottleThreshold);
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BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain:%d", castFloatBytesToInt(currentPidProfile->itermAcceleratorGain));
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BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", currentPidProfile->setpointRelaxRatio);
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BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", currentPidProfile->dtermSetpointWeight);
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BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", castFloatBytesToInt(currentPidProfile->yawRateAccelLimit));
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BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", castFloatBytesToInt(currentPidProfile->rateAccelLimit));
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// End of Betaflight controller parameters
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BLACKBOX_PRINT_HEADER_LINE("deadband:%d", rcControlsConfig()->deadband);
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