Copy profile to another profile (CLI, MSP and CMS)

src/main/cms/cms_menu_imu.c

@@ -391,6 +391,73 @@ static CMS_Menu cmsx_menuFilterPerProfile = {
     .entries = cmsx_menuFilterPerProfileEntries,
 };
 
+static uint8_t cmsx_dstPidProfile;
+static uint8_t cmsx_dstControlRateProfile;
+
+static const char * const cmsx_ProfileNames[] = {
+    "-",
+    "1",
+    "2",
+    "3"
+};
+
+static OSD_TAB_t cmsx_PidProfileTable = { &cmsx_dstPidProfile, 3, cmsx_ProfileNames };
+static OSD_TAB_t cmsx_ControlRateProfileTable = { &cmsx_dstControlRateProfile, 3, cmsx_ProfileNames };
+
+static long cmsx_menuCopyProfile_onEnter(void)
+{
+    cmsx_dstPidProfile = 0;
+    cmsx_dstControlRateProfile = 0;
+
+    return 0;
+}
+
+static long cmsx_CopyPidProfile(displayPort_t *pDisplay, const void *ptr)
+{
+    UNUSED(pDisplay);
+    UNUSED(ptr);
+
+    if (cmsx_dstPidProfile > 0) {
+        copyPidProfile(cmsx_dstPidProfile - 1, getCurrentPidProfileIndex());
+    }
+
+    return 0;
+}
+
+static long cmsx_CopyControlRateProfile(displayPort_t *pDisplay, const void *ptr)
+{
+    UNUSED(pDisplay);
+    UNUSED(ptr);
+
+    if (cmsx_dstControlRateProfile > 0) {
+        copyControlRateProfile(cmsx_dstControlRateProfile - 1, getCurrentControlRateProfileIndex());
+    }
+
+    return 0;
+}
+
+static OSD_Entry cmsx_menuCopyProfileEntries[] = 
+{
+    { "-- COPY PROFILE --", OME_Label, NULL, NULL, 0},
+    
+    { "CPY PID PROF TO",   OME_TAB,      NULL,                        &cmsx_PidProfileTable, 0 },
+    { "COPY PP",           OME_Funcall,  cmsx_CopyPidProfile,         NULL, 0 },
+    { "CPY RATE PROF TO",  OME_TAB,      NULL,                        &cmsx_ControlRateProfileTable, 0 },
+    { "COPY RP",           OME_Funcall,  cmsx_CopyControlRateProfile, NULL, 0 },
+
+    { "BACK", OME_Back, NULL, NULL, 0 },
+    { NULL, OME_END, NULL, NULL, 0 }
+};
+
+CMS_Menu cmsx_menuCopyProfile = {
+    .GUARD_text = "XCPY",
+    .GUARD_type = OME_MENU,
+    .onEnter = cmsx_menuCopyProfile_onEnter,
+    .onExit = NULL,
+    .onGlobalExit = NULL,
+    .entries = cmsx_menuCopyProfileEntries,
+};
+
 static OSD_Entry cmsx_menuImuEntries[] =
 {
     { "-- IMU --", OME_Label, NULL, NULL, 0},
@@ -404,6 +471,7 @@ static OSD_Entry cmsx_menuImuEntries[] =
     {"RATE",      OME_Submenu, cmsMenuChange,                 &cmsx_menuRateProfile,                                         0},
 
     {"FILT GLB",  OME_Submenu, cmsMenuChange,                 &cmsx_menuFilterGlobal,                                        0},
+    {"COPY PROF", OME_Submenu, cmsMenuChange,                 &cmsx_menuCopyProfile,                                         0},
 
     {"BACK", OME_Back, NULL, NULL, 0},
     {NULL, OME_END, NULL, NULL, 0}
@@ -417,4 +485,5 @@ CMS_Menu cmsx_menuImu = {
     .onGlobalExit = NULL,
     .entries = cmsx_menuImuEntries,
 };
+
 #endif // CMS

src/main/fc/cli.c

@@ -3266,6 +3266,44 @@ static void cliResource(char *cmdline)
 }
 #endif /* USE_RESOURCE_MGMT */
 
+static void cliCopyProfile(char *cmdline)
+{
+    if (isEmpty(cmdline)) {
+        cliShowParseError();
+    } else {
+        const int id = atoi(cmdline);           // id = target profile id
+        if (id < 0 || id > MAX_PROFILE_COUNT-1) {
+            cliPrintLinef("Invalid profile id, choose [0-%d]", MAX_PROFILE_COUNT-1);
+        } else {
+            if (id == getCurrentPidProfileIndex()) {
+                cliPrintLine("Can not overwrite current selected profile");
+            } else {
+                copyPidProfile(id, getCurrentPidProfileIndex());
+                cliPrintLinef("Copied profile settings from %d to %d", getCurrentPidProfileIndex(), id);
+            }
+        }
+    }
+}
+
+static void cliCopyRateProfile(char *cmdline)
+{
+    if (isEmpty(cmdline)) {
+        cliShowParseError();
+    } else {
+        const int id = atoi(cmdline);           // id = target rateprofile id
+        if (id < 0 || id > CONTROL_RATE_PROFILE_COUNT-1) {
+            cliPrintLinef("Invalid rateprofile id, choose [0-%d]", CONTROL_RATE_PROFILE_COUNT-1);
+        } else {
+            if (id == getCurrentControlRateProfileIndex()) {
+                cliPrintLine("Can not overwrite current selected rateprofile");
+            } else {
+                copyControlRateProfile(id, getCurrentControlRateProfileIndex());
+                cliPrintLinef("Copied rateprofile settings from %d to %d", getCurrentControlRateProfileIndex(), id);
+            }
+        }
+    }
+}
+
 static void backupConfigs(void)
 {
     // make copies of configs to do differencing
@@ -3564,6 +3602,8 @@ const clicmd_t cmdTable[] = {
 #ifdef VTX_CONTROL
     CLI_COMMAND_DEF("vtx", "vtx channels on switch", NULL, cliVtx),
 #endif
+    CLI_COMMAND_DEF("copyprofile", "copy current profile settings to another profile", "<id> : target profile id", cliCopyProfile),
+    CLI_COMMAND_DEF("copyrateprofile", "copy current rateprofile settings to another rateprofile", "<id> : target rate profile id", cliCopyRateProfile),
 };
 static void cliHelp(char *cmdline)
 {

src/main/fc/controlrate_profile.c

@@ -71,3 +71,11 @@ void changeControlRateProfile(uint8_t controlRateProfileIndex)
     setControlRateProfile(controlRateProfileIndex);
     generateThrottleCurve();
 }
+
+void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex) {
+    if ((dstControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT-1 && srcControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT-1)
+        && dstControlRateProfileIndex != srcControlRateProfileIndex
+    ) {
+        memcpy(controlRateProfilesMutable(dstControlRateProfileIndex), controlRateProfilesMutable(srcControlRateProfileIndex), sizeof(controlRateConfig_t));
+    }
+}

src/main/fc/controlrate_profile.h

@@ -41,3 +41,5 @@ extern controlRateConfig_t *currentControlRateProfile;
 
 void setControlRateProfile(uint8_t controlRateProfileIndex);
 void changeControlRateProfile(uint8_t controlRateProfileIndex);
+
+void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex);

src/main/fc/fc_msp.c

@@ -1299,6 +1299,18 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         }
         break;
 
+    case MSP_COPY_PROFILE:
+        value = sbufReadU8(src);        // 0 = pid profile, 1 = control rate profile
+        uint8_t dstProfileIndex = sbufReadU8(src);
+        uint8_t srcProfileIndex = sbufReadU8(src);
+        if (value == 0) {
+            copyPidProfile(dstProfileIndex, srcProfileIndex);
+        }
+        else if (value == 1) {
+            copyControlRateProfile(dstProfileIndex, srcProfileIndex);
+        }
+        break;
+
 #if defined(GPS) || defined(MAG)
     case MSP_SET_HEADING:
         magHold = sbufReadU16(src);

src/main/flight/pid.c

@@ -482,3 +482,11 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
         }
     }
 }
+
+void copyPidProfile(const uint8_t dstPidProfileIndex, const uint8_t srcPidProfileIndex) {
+    if ((dstPidProfileIndex < MAX_PROFILE_COUNT-1 && srcPidProfileIndex < MAX_PROFILE_COUNT-1)
+        && dstPidProfileIndex != srcPidProfileIndex
+    ) {
+        memcpy(pidProfilesMutable(dstPidProfileIndex), pidProfilesMutable(srcPidProfileIndex), sizeof(pidProfile_t));
+    }
+}

src/main/flight/pid.h

@@ -133,5 +133,6 @@ void pidSetItermAccelerator(float newItermAccelerator);
 void pidInitFilters(const pidProfile_t *pidProfile);
 void pidInitConfig(const pidProfile_t *pidProfile);
 void pidInit(const pidProfile_t *pidProfile);
+void copyPidProfile(const uint8_t dstPidProfileIndex, const uint8_t srcPidProfileIndex);
 
 #endif

src/main/msp/msp_protocol.h

@@ -223,6 +223,8 @@
 // External OSD displayport mode messages
 #define MSP_DISPLAYPORT                 182
 
+#define MSP_COPY_PROFILE                183
+
 #define MSP_BEEPER_CONFIG               184
 #define MSP_SET_BEEPER_CONFIG           185