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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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76
src/main/fc/fc_msp.c
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@ -612,7 +612,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#endif
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
sbufWriteU32(dst, packFlightModeFlags());
sbufWriteU8(dst, getCurrentProfileIndex());
sbufWriteU8(dst, getCurrentPidProfileIndex());
sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
sbufWriteU8(dst, MAX_PROFILE_COUNT);
sbufWriteU8(dst, getCurrentControlRateProfileIndex());
@ -636,7 +636,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#endif
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
sbufWriteU32(dst, packFlightModeFlags());
sbufWriteU8(dst, getCurrentProfileIndex());
sbufWriteU8(dst, getCurrentPidProfileIndex());
sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
sbufWriteU16(dst, 0); // gyro cycle time
break;
@ -761,9 +761,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_PID:
for (int i = 0; i < PID_ITEM_COUNT; i++) {
sbufWriteU8(dst, currentProfile->pidProfile.P8[i]);
sbufWriteU8(dst, currentProfile->pidProfile.I8[i]);
sbufWriteU8(dst, currentProfile->pidProfile.D8[i]);
sbufWriteU8(dst, currentPidProfile->P8[i]);
sbufWriteU8(dst, currentPidProfile->I8[i]);
sbufWriteU8(dst, currentPidProfile->D8[i]);
}
break;
@ -1137,12 +1137,12 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_FILTER_CONFIG :
sbufWriteU8(dst, gyroConfig()->gyro_soft_lpf_hz);
sbufWriteU16(dst, currentProfile->pidProfile.dterm_lpf_hz);
sbufWriteU16(dst, currentProfile->pidProfile.yaw_lpf_hz);
sbufWriteU16(dst, currentPidProfile->dterm_lpf_hz);
sbufWriteU16(dst, currentPidProfile->yaw_lpf_hz);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_hz_1);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_1);
sbufWriteU16(dst, currentProfile->pidProfile.dterm_notch_hz);
sbufWriteU16(dst, currentProfile->pidProfile.dterm_notch_cutoff);
sbufWriteU16(dst, currentPidProfile->dterm_notch_hz);
sbufWriteU16(dst, currentPidProfile->dterm_notch_cutoff);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_hz_2);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_2);
break;
@ -1150,18 +1150,18 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_PID_ADVANCED:
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, currentProfile->pidProfile.yaw_p_limit);
sbufWriteU16(dst, currentPidProfile->yaw_p_limit);
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentProfile->pidProfile.vbatPidCompensation);
sbufWriteU8(dst, currentProfile->pidProfile.setpointRelaxRatio);
sbufWriteU8(dst, currentProfile->pidProfile.dtermSetpointWeight);
sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
sbufWriteU8(dst, currentPidProfile->dtermSetpointWeight);
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, (uint16_t)lrintf(currentProfile->pidProfile.rateAccelLimit * 10));
sbufWriteU16(dst, (uint16_t)lrintf(currentProfile->pidProfile.yawRateAccelLimit * 10));
sbufWriteU8(dst, currentProfile->pidProfile.levelAngleLimit);
sbufWriteU8(dst, currentProfile->pidProfile.levelSensitivity);
sbufWriteU16(dst, (uint16_t)lrintf(currentPidProfile->rateAccelLimit * 10));
sbufWriteU16(dst, (uint16_t)lrintf(currentPidProfile->yawRateAccelLimit * 10));
sbufWriteU8(dst, currentPidProfile->levelAngleLimit);
sbufWriteU8(dst, currentPidProfile->levelSensitivity);
break;
case MSP_SENSOR_CONFIG:
@ -1270,7 +1270,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (value >= MAX_PROFILE_COUNT) {
value = 0;
}
changeProfile(value);
changePidProfile(value);
}
} else {
value = value & ~RATEPROFILE_MASK;
@ -1320,11 +1320,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_PID:
for (int i = 0; i < PID_ITEM_COUNT; i++) {
currentProfile->pidProfile.P8[i] = sbufReadU8(src);
currentProfile->pidProfile.I8[i] = sbufReadU8(src);
currentProfile->pidProfile.D8[i] = sbufReadU8(src);
currentPidProfile->P8[i] = sbufReadU8(src);
currentPidProfile->I8[i] = sbufReadU8(src);
currentPidProfile->D8[i] = sbufReadU8(src);
}
pidInitConfig(&currentProfile->pidProfile);
pidInitConfig(currentPidProfile);
break;
case MSP_SET_MODE_RANGE:
@ -1339,7 +1339,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
mac->range.startStep = sbufReadU8(src);
mac->range.endStep = sbufReadU8(src);
useRcControlsConfig(modeActivationConditions(0), &currentProfile->pidProfile);
useRcControlsConfig(modeActivationConditions(0), currentPidProfile);
} else {
return MSP_RESULT_ERROR;
}
@ -1481,7 +1481,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_RESET_CURR_PID:
resetProfile(currentProfile);
resetPidProfile(currentPidProfile);
break;
case MSP_SET_SENSOR_ALIGNMENT:
gyroConfigMutable()->gyro_align = sbufReadU8(src);
@ -1518,13 +1518,13 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_FILTER_CONFIG:
gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
currentProfile->pidProfile.dterm_lpf_hz = sbufReadU16(src);
currentProfile->pidProfile.yaw_lpf_hz = sbufReadU16(src);
currentPidProfile->dterm_lpf_hz = sbufReadU16(src);
currentPidProfile->yaw_lpf_hz = sbufReadU16(src);
if (dataSize > 5) {
gyroConfigMutable()->gyro_soft_notch_hz_1 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_1 = sbufReadU16(src);
currentProfile->pidProfile.dterm_notch_hz = sbufReadU16(src);
currentProfile->pidProfile.dterm_notch_cutoff = sbufReadU16(src);
currentPidProfile->dterm_notch_hz = sbufReadU16(src);
currentPidProfile->dterm_notch_cutoff = sbufReadU16(src);
}
if (dataSize > 13) {
gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src);
@ -1534,27 +1534,27 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
validateAndFixGyroConfig();
gyroInitFilters();
// reinitialize the PID filters with the new values
pidInitFilters(&currentProfile->pidProfile);
pidInitFilters(currentPidProfile);
break;
case MSP_SET_PID_ADVANCED:
sbufReadU16(src);
sbufReadU16(src);
currentProfile->pidProfile.yaw_p_limit = sbufReadU16(src);
currentPidProfile->yaw_p_limit = sbufReadU16(src);
sbufReadU8(src); // reserved
currentProfile->pidProfile.vbatPidCompensation = sbufReadU8(src);
currentProfile->pidProfile.setpointRelaxRatio = sbufReadU8(src);
currentProfile->pidProfile.dtermSetpointWeight = sbufReadU8(src);
currentPidProfile->vbatPidCompensation = sbufReadU8(src);
currentPidProfile->setpointRelaxRatio = sbufReadU8(src);
currentPidProfile->dtermSetpointWeight = sbufReadU8(src);
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved
currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src) / 10.0f;
currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src) / 10.0f;
currentPidProfile->rateAccelLimit = sbufReadU16(src) / 10.0f;
currentPidProfile->yawRateAccelLimit = sbufReadU16(src) / 10.0f;
if (dataSize > 17) {
currentProfile->pidProfile.levelAngleLimit = sbufReadU8(src);
currentProfile->pidProfile.levelSensitivity = sbufReadU8(src);
currentPidProfile->levelAngleLimit = sbufReadU8(src);
currentPidProfile->levelSensitivity = sbufReadU8(src);
}
pidInitConfig(&currentProfile->pidProfile);
pidInitConfig(currentPidProfile);
break;
case MSP_SET_SENSOR_CONFIG: