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Code Issues Wiki Activity

Pid Controller Cleanup

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Correction to dump
This commit is contained in:
borisbstyle 2015-10-23 00:39:15 +02:00
parent d076a60eb5
commit d685b4d6d8
5 changed files with 62 additions and 507 deletions
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64
src/main/io/serial_cli.c
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@ -186,6 +186,11 @@ static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT
{ RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
};
// sync this with pidControllerType_e
static const char * const pidControllers[] = {
"REWRITE", "LUXFLOAT", NULL
};
#ifndef CJMCU
// sync this with sensors_e
static const char * const sensorTypeNames[] = {
@ -476,7 +481,7 @@ const clivalue_t valueTable[] = {
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_MAX },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidController, 0, 5 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidController, 1, 2 },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], 0, 200 },
@ -514,11 +519,8 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, 0, 200 },
{ "pid5_oldyw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pid5_oldyw, 0, 1 },
#ifdef GTUNE
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], 10, 200 },
{ "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], 10, 200 },
@ -1409,7 +1411,13 @@ static void dumpValues(uint16_t mask)
}
printf("set %s = ", valueTable[i].name);
cliPrintVar(value, 0);
if (strstr(valueTable[i].name, "pid_controller")) {
cliPrint(pidControllers[*(uint8_t *)valueTable[i].ptr -1]);
} else {
cliPrintVar(value, 0);
}
cliPrint("\r\n");
}
}
@ -2049,9 +2057,42 @@ static void cliSet(char *cmdline)
valuef = fastA2F(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
// ensure exact match when setting to prevent setting variables with shorter names
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
// ensure exact match when setting to prevent setting variables with shorter names
if (strstr(valueTable[i].name, "pid_controller")) {
int_float_value_t tmp;
tmp.int_value = 0;
bool pidControllerSet = false;
if (value) {
if (value >= valueTable[i].min && value <= valueTable[i].max) {
tmp.int_value = value;
cliSetVar(val, tmp);
printf("%s set to %s \r\n", valueTable[i].name, pidControllers[value - 1]);
pidControllerSet = true;
}
} else {
for (int pid = 0; pid < (PID_COUNT - 1); pid++) {
if (strstr(eqptr, pidControllers[pid])) {
tmp.int_value = pid + 1;
cliSetVar(val, tmp);
printf("%s set to %s \r\n", valueTable[i].name, pidControllers[pid]);
pidControllerSet = true;
}
}
}
if (!pidControllerSet) {
printf("Invalid Value! (Available PID Controllers: ");
for (int pid = 0; pid < (PID_COUNT - 1); pid++) {
printf(pidControllers[pid]);
printf(" ");
}
printf(")\r\n");
}
return;
} else if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
int_float_value_t tmp;
if (valueTable[i].type & VAR_FLOAT)
tmp.float_value = valuef;
@ -2073,6 +2114,7 @@ static void cliSet(char *cmdline)
}
}
static void cliGet(char *cmdline)
{
uint32_t i;
@ -2083,7 +2125,13 @@ static void cliGet(char *cmdline)
if (strstr(valueTable[i].name, cmdline)) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
if (strstr(valueTable[i].name, "pid_controller")) {
cliPrint(pidControllers[*(uint8_t *)valueTable[i].ptr - 1]);
} else {
cliPrintVar(val, 0);
}
cliPrint("\r\n");
matchedCommands++;