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Implement tuning sliders, add to CMS, MSP
This commit is contained in:
IvoFPV
Michael Keller
parent
3f116fd103
commit
cff19dc113
14 changed files with 443 additions and 35 deletions
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@ -33,6 +33,8 @@
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#include "common/utils.h"
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#include "common/time.h"
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#include "config/tuning_sliders.h"
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#include "drivers/adc.h"
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#include "drivers/bus_i2c.h"
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#include "drivers/bus_spi.h"
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@ -158,7 +160,7 @@ const char * const lookupTableRangefinderHardware[] = {
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};
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#endif
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static const char * const lookupTableOffOn[] = {
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const char * const lookupTableOffOn[] = {
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"OFF", "ON"
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};
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@ -500,6 +502,9 @@ static const char * const lookupTableOsdLogoOnArming[] = {
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"OFF", "ON", "FIRST_ARMING",
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};
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#endif
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const char * const lookupTableSliderPidsMode[] = {
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"OFF", "RP", "RPY",
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};
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static const char* const lookupTableMixerType[] = {
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"LEGACY", "LINEAR", "DYNAMIC",
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@ -627,6 +632,7 @@ const lookupTableEntry_t lookupTables[] = {
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LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
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#endif
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LOOKUP_TABLE_ENTRY(lookupTableMixerType),
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LOOKUP_TABLE_ENTRY(lookupTableSliderPidsMode),
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};
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#undef LOOKUP_TABLE_ENTRY
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@ -670,8 +676,8 @@ const clivalue_t valueTable[] = {
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{ "dyn_notch_max_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_max_hz) },
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#endif
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#ifdef USE_DYN_LPF
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{ "dyn_lpf_gyro_min_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_min_hz) },
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{ "dyn_lpf_gyro_max_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_max_hz) },
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{ "dyn_lpf_gyro_min_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, DYN_LPF_FILTER_FREQUENCY_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_min_hz) },
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{ "dyn_lpf_gyro_max_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, DYN_LPF_FILTER_FREQUENCY_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_max_hz) },
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{ "dyn_lpf_gyro_curve_expo", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 10 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_curve_expo) },
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#endif
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{ "gyro_filter_debug_axis", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_FILTER_DEBUG }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_debug_axis) },
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@ -1038,8 +1044,8 @@ const clivalue_t valueTable[] = {
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{ "profile_name", VAR_UINT8 | PROFILE_VALUE | MODE_STRING, .config.string = { 1, MAX_PROFILE_NAME_LENGTH, STRING_FLAGS_NONE }, PG_PID_PROFILE, offsetof(pidProfile_t, profileName) },
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#endif
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#ifdef USE_DYN_LPF
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{ "dyn_lpf_dterm_min_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_min_hz) },
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{ "dyn_lpf_dterm_max_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_max_hz) },
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{ "dyn_lpf_dterm_min_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, DYN_LPF_FILTER_FREQUENCY_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_min_hz) },
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{ "dyn_lpf_dterm_max_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, DYN_LPF_FILTER_FREQUENCY_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_max_hz) },
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{ "dyn_lpf_dterm_curve_expo", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 10 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_curve_expo) },
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#endif
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{ "dterm_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },
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@ -1092,18 +1098,18 @@ const clivalue_t valueTable[] = {
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{ "acro_trainer_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 25, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, acro_trainer_gain) },
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#endif // USE_ACRO_TRAINER
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{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].P) },
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{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].I) },
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{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].D) },
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{ "f_pitch", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 2000 },PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].F) },
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{ "p_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ROLL].P) },
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{ "i_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ROLL].I) },
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{ "d_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ROLL].D) },
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{ "f_roll", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 2000 },PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ROLL].F) },
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{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].P) },
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{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].I) },
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{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].D) },
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{ "f_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 2000 },PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].F) },
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{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, PID_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].P) },
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{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, PID_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].I) },
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{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, PID_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].D) },
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{ "f_pitch", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, F_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].F) },
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{ "p_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, PID_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ROLL].P) },
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{ "i_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, PID_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ROLL].I) },
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{ "d_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, PID_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ROLL].D) },
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{ "f_roll", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, F_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_ROLL].F) },
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{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, PID_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].P) },
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{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, PID_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].I) },
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{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, PID_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].D) },
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{ "f_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, F_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_YAW].F) },
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{ "angle_level_strength", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].P) },
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{ "horizon_level_strength", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].I) },
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@ -1127,9 +1133,9 @@ const clivalue_t valueTable[] = {
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#endif
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#ifdef USE_D_MIN
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{ "d_min_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_ROLL]) },
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{ "d_min_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_PITCH]) },
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{ "d_min_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_YAW]) },
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{ "d_min_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, D_MIN_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_ROLL]) },
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{ "d_min_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, D_MIN_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_PITCH]) },
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{ "d_min_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, D_MIN_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_YAW]) },
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{ "d_min_boost_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_gain) },
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{ "d_min_advance", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_advance) },
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#endif
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@ -1169,6 +1175,23 @@ const clivalue_t valueTable[] = {
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#endif
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{ "level_race_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, level_race_mode) },
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#ifdef USE_TUNING_SLIDERS
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{ "slider_pids_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SLIDER_PIDS_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_pids_mode) },
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{ "slider_master_multiplier", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SLIDER_MIN, SLIDER_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_master_multiplier) },
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{ "slider_roll_pitch_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SLIDER_MIN, SLIDER_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_roll_pitch_ratio) },
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{ "slider_i_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SLIDER_MIN, SLIDER_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_i_gain) },
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{ "slider_pd_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SLIDER_MIN, SLIDER_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_pd_ratio) },
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{ "slider_pd_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SLIDER_MIN, SLIDER_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_pd_gain) },
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{ "slider_dmin_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SLIDER_MIN, SLIDER_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_dmin_ratio) },
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{ "slider_ff_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SLIDER_MIN, SLIDER_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_ff_gain) },
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{ "slider_dterm_filter", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_dterm_filter) },
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{ "slider_dterm_filter_multiplier", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SLIDER_MIN, SLIDER_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, slider_dterm_filter_multiplier) },
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{ "slider_gyro_filter", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, slider_gyro_filter) },
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{ "slider_gyro_filter_multiplier", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SLIDER_MIN, SLIDER_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, slider_gyro_filter_multiplier) },
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#endif
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// PG_TELEMETRY_CONFIG
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#ifdef USE_TELEMETRY
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{ "tlm_inverted", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, telemetry_inverted) },
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@ -1183,7 +1206,7 @@ const clivalue_t valueTable[] = {
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{ "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, frsky_vfas_precision) },
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#endif // USE_TELEMETRY_FRSKY_HUB
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{ "hott_alarm_int", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 120 }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, hottAlarmSoundInterval) },
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{ "pid_in_tlm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, pidValuesAsTelemetry) },
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{ "pid_in_tlm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, pidValuesAsTelemetry) },
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{ "report_cell_voltage", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, report_cell_voltage) },
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#if defined(USE_TELEMETRY_IBUS)
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{ "ibus_sensor", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = IBUS_SENSOR_COUNT, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, flysky_sensors)},
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