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https://github.com/betaflight/betaflight.git
synced 2025-07-17 21:35:44 +03:00
Added rx, arming, mixer, and airplane config() macros
This commit is contained in:
Martin Budden
parent
00338cb854
commit
c175d304c2
9 changed files with 168 additions and 163 deletions
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@ -686,17 +686,17 @@ typedef struct {
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} clivalue_t;
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const clivalue_t valueTable[] = {
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{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, .config.minmax = { 1200, 1700 } },
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{ "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_channel, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
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{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX } },
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{ "rc_interpolation", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcInterpolation, .config.lookup = { TABLE_RC_INTERPOLATION } },
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{ "rc_interpolation_interval", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rcInterpolationInterval, .config.minmax = { 1, 50 } },
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{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
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{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &rxConfig()->midrc, .config.minmax = { 1200, 1700 } },
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{ "min_check", VAR_UINT16 | MASTER_VALUE, &rxConfig()->mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "max_check", VAR_UINT16 | MASTER_VALUE, &rxConfig()->maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &rxConfig()->rssi_channel, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
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{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &rxConfig()->rssi_scale, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX } },
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{ "rc_interpolation", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rcInterpolation, .config.lookup = { TABLE_RC_INTERPOLATION } },
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{ "rc_interpolation_interval", VAR_UINT8 | MASTER_VALUE, &rxConfig()->rcInterpolationInterval, .config.minmax = { 1, 50 } },
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{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
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{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
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{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.fpvCamAngleDegrees, .config.minmax = { 0, 50 } },
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{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.max_aux_channel, .config.minmax = { 0, 13 } },
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{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, &rxConfig()->fpvCamAngleDegrees, .config.minmax = { 0, 50 } },
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{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, &rxConfig()->max_aux_channel, .config.minmax = { 0, 13 } },
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{ "debug_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.debug_mode, .config.lookup = { TABLE_DEBUG } },
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{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &motorConfig()->minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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@ -716,12 +716,12 @@ const clivalue_t valueTable[] = {
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{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &motorConfig()->motorPwmProtocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
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{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &motorConfig()->motorPwmRate, .config.minmax = { 200, 32000 } },
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{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.armingConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
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{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.armingConfig.gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } },
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{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.armingConfig.auto_disarm_delay, .config.minmax = { 0, 60 } },
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{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
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{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } },
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{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &armingConfig()->auto_disarm_delay, .config.minmax = { 0, 60 } },
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{ "small_angle", VAR_UINT8 | MASTER_VALUE, &imuConfig()->small_angle, .config.minmax = { 0, 180 } },
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{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &masterConfig.airplaneConfig.fixedwing_althold_dir, .config.minmax = { -1, 1 } },
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{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &airplaneConfig()->fixedwing_althold_dir, .config.minmax = { -1, 1 } },
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{ "reboot_character", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.reboot_character, .config.minmax = { 48, 126 } },
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@ -765,14 +765,14 @@ const clivalue_t valueTable[] = {
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#endif
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#ifdef SERIAL_RX
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{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
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{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
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#endif
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{ "sbus_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.sbus_inversion, .config.lookup = { TABLE_OFF_ON } },
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{ "sbus_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &rxConfig()->sbus_inversion, .config.lookup = { TABLE_OFF_ON } },
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#ifdef SPEKTRUM_BIND
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{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX} },
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{ "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind_autoreset, .config.minmax = { 0, 1} },
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{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &rxConfig()->spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX} },
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{ "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, &rxConfig()->spektrum_sat_bind_autoreset, .config.minmax = { 0, 1} },
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#endif
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#ifdef TELEMETRY
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@ -833,7 +833,7 @@ 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, &masterConfig.mixerConfig.yaw_motor_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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#ifdef USE_SERVOS
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@ -856,7 +856,7 @@ const clivalue_t valueTable[] = {
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{ "yaw_srate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_YAW], .config.minmax = { 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
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{ "tpa_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX} },
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{ "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX} },
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{ "airmode_activate_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.airModeActivateThreshold, .config.minmax = {1000, 2000 } },
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{ "airmode_activate_throttle", VAR_UINT16 | MASTER_VALUE, &rxConfig()->airModeActivateThreshold, .config.minmax = {1000, 2000 } },
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{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_delay, .config.minmax = { 0, 200 } },
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{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_off_delay, .config.minmax = { 0, 200 } },
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@ -865,8 +865,8 @@ const clivalue_t valueTable[] = {
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{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle_low_delay, .config.minmax = { 0, 300 } },
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{ "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_procedure, .config.lookup = { TABLE_FAILSAFE } },
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{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
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{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
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{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &rxConfig()->rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
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{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &rxConfig()->rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
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{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorSelectionConfig()->acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
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{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, &accelerometerConfig()->acc_lpf_hz, .config.minmax = { 0, 400 } },
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@ -1080,7 +1080,7 @@ static void printRxFail(uint8_t dumpMask, master_t *defaultConfig)
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bool equalsDefault;
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bool requireValue;
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for (uint32_t channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) {
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channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[channel];
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channelFailsafeConfiguration = &rxConfig()->failsafe_channel_configurations[channel];
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channelFailsafeConfigurationDefault = &defaultConfig->rxConfig.failsafe_channel_configurations[channel];
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equalsDefault = channelFailsafeConfiguration->mode == channelFailsafeConfigurationDefault->mode
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&& channelFailsafeConfiguration->step == channelFailsafeConfigurationDefault->step;
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@ -1126,7 +1126,7 @@ static void cliRxFail(char *cmdline)
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channel = atoi(ptr++);
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if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[channel];
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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig()->failsafe_channel_configurations[channel];
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uint16_t value;
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rxFailsafeChannelType_e type = (channel < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_TYPE_FLIGHT : RX_FAILSAFE_TYPE_AUX;
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@ -1672,7 +1672,7 @@ static void printRxRange(uint8_t dumpMask, master_t *defaultConfig)
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rxChannelRangeConfiguration_t *channelRangeConfigurationDefault;
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bool equalsDefault;
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for (uint32_t i = 0; i < NON_AUX_CHANNEL_COUNT; i++) {
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channelRangeConfiguration = &masterConfig.rxConfig.channelRanges[i];
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channelRangeConfiguration = &rxConfig()->channelRanges[i];
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channelRangeConfigurationDefault = &defaultConfig->rxConfig.channelRanges[i];
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equalsDefault = channelRangeConfiguration->min == channelRangeConfigurationDefault->min
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&& channelRangeConfiguration->max == channelRangeConfigurationDefault->max;
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@ -1698,7 +1698,7 @@ static void cliRxRange(char *cmdline)
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if (isEmpty(cmdline)) {
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printRxRange(DUMP_MASTER, NULL);
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} else if (strcasecmp(cmdline, "reset") == 0) {
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resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
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resetAllRxChannelRangeConfigurations(rxConfig()->channelRanges);
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} else {
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ptr = cmdline;
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i = atoi(ptr);
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@ -1722,7 +1722,7 @@ static void cliRxRange(char *cmdline)
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} else if (rangeMin < PWM_PULSE_MIN || rangeMin > PWM_PULSE_MAX || rangeMax < PWM_PULSE_MIN || rangeMax > PWM_PULSE_MAX) {
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cliShowParseError();
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} else {
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rxChannelRangeConfiguration_t *channelRangeConfiguration = &masterConfig.rxConfig.channelRanges[i];
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rxChannelRangeConfiguration_t *channelRangeConfiguration = &rxConfig()->channelRanges[i];
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channelRangeConfiguration->min = rangeMin;
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channelRangeConfiguration->max = rangeMax;
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}
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@ -2602,9 +2602,9 @@ static void printMap(uint8_t dumpMask, master_t *defaultConfig)
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char bufDefault[16];
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uint32_t i;
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for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
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buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
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buf[rxConfig()->rcmap[i]] = rcChannelLetters[i];
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bufDefault[defaultConfig->rxConfig.rcmap[i]] = rcChannelLetters[i];
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equalsDefault = equalsDefault && (masterConfig.rxConfig.rcmap[i] == defaultConfig->rxConfig.rcmap[i]);
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equalsDefault = equalsDefault && (rxConfig()->rcmap[i] == defaultConfig->rxConfig.rcmap[i]);
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}
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buf[i] = '\0';
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@ -2635,7 +2635,7 @@ static void cliMap(char *cmdline)
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cliPrint("Map: ");
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uint32_t i;
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for (i = 0; i < 8; i++)
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out[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
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out[rxConfig()->rcmap[i]] = rcChannelLetters[i];
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out[i] = '\0';
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cliPrintf("%s\r\n", out);
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}
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@ -2788,10 +2788,10 @@ static void printConfig(char *cmdline, bool doDiff)
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#ifndef CLI_MINIMAL_VERBOSITY
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cliPrint("\r\n# mixer\r\n");
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#endif
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const bool equalsDefault = masterConfig.mixerConfig.mixerMode == defaultConfig.mixerConfig.mixerMode;
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const bool equalsDefault = mixerConfig()->mixerMode == defaultConfig.mixerConfig.mixerMode;
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const char *formatMixer = "mixer %s\r\n";
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cliDefaultPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[defaultConfig.mixerConfig.mixerMode - 1]);
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cliDumpPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[masterConfig.mixerConfig.mixerMode - 1]);
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cliDumpPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig()->mixerMode - 1]);
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cliDumpPrintf(dumpMask, masterConfig.customMotorMixer[0].throttle == 0.0f, "\r\nmmix reset\r\n\r\n");
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@ -3086,7 +3086,7 @@ static void cliMixer(char *cmdline)
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len = strlen(cmdline);
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if (len == 0) {
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cliPrintf("Mixer: %s\r\n", mixerNames[masterConfig.mixerConfig.mixerMode - 1]);
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cliPrintf("Mixer: %s\r\n", mixerNames[mixerConfig()->mixerMode - 1]);
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return;
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} else if (strncasecmp(cmdline, "list", len) == 0) {
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cliPrint("Available mixers: ");
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@ -3105,7 +3105,7 @@ static void cliMixer(char *cmdline)
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return;
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}
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if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
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masterConfig.mixerConfig.mixerMode = i + 1;
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mixerConfig()->mixerMode = i + 1;
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break;
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}
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}
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