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Updates to support parameter groups

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This commit is contained in:
Martin Budden 2017-03-05 06:33:25 +00:00
parent 13ddcdb9cf
commit aa561d542b
23 changed files with 338 additions and 322 deletions
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73
src/main/fc/config.c
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@ -94,8 +94,10 @@
#include "telemetry/telemetry.h"
#ifndef USE_PARAMETER_GROUPS
master_t masterConfig; // master config struct with data independent from profiles
profile_t *currentProfile;
#endif
pidProfile_t *currentPidProfile;
#ifndef DEFAULT_FEATURES
#define DEFAULT_FEATURES 0
@ -116,8 +118,8 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
.current_profile_index = 0,
//!!TODO.activeRateProfile = 0,
.pidProfileIndex = 0,
.activeRateProfile = 0,
.debug_mode = DEBUG_MODE,
.task_statistics = true,
.name = { 0 }
@ -197,7 +199,7 @@ static void resetControlRateProfile(controlRateConfig_t *controlRateConfig)
#endif
#ifndef USE_PARAMETER_GROUPS
static void resetPidProfile(pidProfile_t *pidProfile)
void resetPidProfile(pidProfile_t *pidProfile)
{
pidProfile->P8[ROLL] = 44;
pidProfile->I8[ROLL] = 40;
@ -807,16 +809,17 @@ void resetFlashConfig(flashConfig_t *flashConfig)
#endif
#endif
uint8_t getCurrentProfileIndex(void)
uint8_t getCurrentPidProfileIndex(void)
{
return systemConfig()->current_profile_index;
return systemConfig()->pidProfileIndex;
}
static void setProfile(uint8_t profileIndex)
static void setPidProfile(uint8_t pidProfileIndex)
{
if (profileIndex < MAX_PROFILE_COUNT) {
systemConfigMutable()->current_profile_index = profileIndex;
currentProfile = &masterConfig.profile[profileIndex];
if (pidProfileIndex < MAX_PROFILE_COUNT) {
systemConfigMutable()->pidProfileIndex = pidProfileIndex;
currentPidProfile = pidProfilesMutable(pidProfileIndex);
pidInit(); // re-initialise pid controller to re-initialise filters and config
}
}
@ -830,7 +833,7 @@ uint16_t getCurrentMinthrottle(void)
return motorConfig()->minthrottle;
}
#ifndef USE_PARAMETER_GROUPS
void createDefaultConfig(master_t *config)
{
// Clear all configuration
@ -872,7 +875,7 @@ void createDefaultConfig(master_t *config)
// global settings
#ifndef USE_PARAMETER_GROUPS
config->systemConfig.current_profile_index = 0; // default profile
config->systemConfig.pidProfileIndex = 0; // default profile
config->systemConfig.debug_mode = DEBUG_MODE;
config->systemConfig.task_statistics = true;
#endif
@ -1089,7 +1092,7 @@ void createDefaultConfig(master_t *config)
#endif
// Channel forwarding;
config->channelForwardingConfig.startChannel = AUX1;
config->servoConfig.channelForwardingStartChannel = AUX1;
#endif
#ifndef USE_PARAMETER_GROUPS
@ -1154,14 +1157,17 @@ void createDefaultConfig(master_t *config)
targetConfiguration(config);
#endif
}
#endif
void resetConfigs(void)
{
#ifndef USE_PARAMETER_GROUPS
createDefaultConfig(&masterConfig);
#endif
pgResetAll(MAX_PROFILE_COUNT);
pgActivateProfile(0);
setProfile(0);
setPidProfile(0);
setControlRateProfile(0);
#ifdef LED_STRIP
@ -1175,24 +1181,20 @@ void activateConfig(void)
resetAdjustmentStates();
useRcControlsConfig(modeActivationConditions(0), &currentProfile->pidProfile);
useAdjustmentConfig(&currentProfile->pidProfile);
useRcControlsConfig(modeActivationConditions(0), currentPidProfile);
useAdjustmentConfig(currentPidProfile);
#ifdef GPS
gpsUsePIDs(&currentProfile->pidProfile);
gpsUsePIDs(currentPidProfile);
#endif
failsafeReset();
setAccelerationTrims(&accelerometerConfigMutable()->accZero);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
#ifdef USE_SERVOS
servoUseConfigs(&masterConfig.channelForwardingConfig);
#endif
imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
configureAltitudeHold(&currentProfile->pidProfile);
configureAltitudeHold(currentPidProfile);
}
void validateAndFixConfig(void)
@ -1262,15 +1264,19 @@ void validateAndFixConfig(void)
#endif
// Prevent invalid notch cutoff
if (currentProfile->pidProfile.dterm_notch_cutoff >= currentProfile->pidProfile.dterm_notch_hz) {
currentProfile->pidProfile.dterm_notch_hz = 0;
if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) {
currentPidProfile->dterm_notch_hz = 0;
}
validateAndFixGyroConfig();
#if defined(TARGET_VALIDATECONFIG)
#ifdef USE_PARAMETER_GROUPS
targetValidateConfiguration();
#else
targetValidateConfiguration(&masterConfig);
#endif
#endif
}
void validateAndFixGyroConfig(void)
@ -1358,14 +1364,14 @@ void readEEPROM(void)
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
}
// pgActivateProfile(getCurrentProfileIndex());
// pgActivateProfile(getCurrentPidProfileIndex());
// setControlRateProfile(rateProfileSelection()->defaultRateProfileIndex);
if (systemConfig()->current_profile_index > MAX_PROFILE_COUNT - 1) {// sanity check
systemConfigMutable()->current_profile_index = 0;
if (systemConfig()->pidProfileIndex > MAX_PROFILE_COUNT - 1) {// sanity check
systemConfigMutable()->pidProfileIndex = 0;
}
setProfile(systemConfig()->current_profile_index);
setPidProfile(systemConfig()->pidProfileIndex);
validateAndFixConfig();
activateConfig();
@ -1403,15 +1409,16 @@ void saveConfigAndNotify(void)
beeperConfirmationBeeps(1);
}
void changeProfile(uint8_t profileIndex)
void changePidProfile(uint8_t pidProfileIndex)
{
if (profileIndex >= MAX_PROFILE_COUNT) {
profileIndex = MAX_PROFILE_COUNT - 1;
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
pidProfileIndex = MAX_PROFILE_COUNT - 1;
}
systemConfigMutable()->current_profile_index = profileIndex;
systemConfigMutable()->pidProfileIndex = pidProfileIndex;
currentPidProfile = pidProfilesMutable(pidProfileIndex);
writeEEPROM();
readEEPROM();
beeperConfirmationBeeps(profileIndex + 1);
beeperConfirmationBeeps(pidProfileIndex + 1);
}
void beeperOffSet(uint32_t mask)