diff --git a/Makefile b/Makefile
index 898b6f42f7..8b8183ba4a 100644
--- a/Makefile
+++ b/Makefile
@@ -594,6 +594,7 @@ COMMON_SRC = \
fc/fc_rc.c \
fc/fc_msp.c \
fc/fc_tasks.c \
+ fc/rc_adjustments.c \
fc/rc_controls.c \
fc/runtime_config.c \
fc/cli.c \
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 21cf9d4218..7f75ffb4b4 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -35,6 +35,7 @@
#include "drivers/flash.h"
#include "drivers/display.h"
+#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "flight/failsafe.h"
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index e4eb8c3c10..86b2300b5c 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -890,10 +890,8 @@ void activateConfig(void)
{
resetAdjustmentStates();
- useRcControlsConfig(
- modeActivationProfile()->modeActivationConditions,
- ¤tProfile->pidProfile
- );
+ useRcControlsConfig(modeActivationProfile()->modeActivationConditions, ¤tProfile->pidProfile);
+ useAdjustmentConfig(¤tProfile->pidProfile);
#ifdef GPS
gpsUseProfile(&masterConfig.gpsProfile);
diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c
new file mode 100644
index 0000000000..69c04174b9
--- /dev/null
+++ b/src/main/fc/rc_adjustments.c
@@ -0,0 +1,456 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#include
+#include
+#include
+
+#include
+
+#include "platform.h"
+
+#include "blackbox/blackbox.h"
+
+#include "build/build_config.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/system.h"
+
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+#include "config/feature.h"
+#include "config/config_master.h"
+
+#include "flight/pid.h"
+
+#include "io/beeper.h"
+#include "io/motors.h"
+
+#include "fc/rc_adjustments.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "fc/config.h"
+
+#include "rx/rx.h"
+
+static pidProfile_t *pidProfile;
+
+static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue)
+{
+#ifndef BLACKBOX
+ UNUSED(adjustmentFunction);
+ UNUSED(newValue);
+#else
+ if (feature(FEATURE_BLACKBOX)) {
+ flightLogEvent_inflightAdjustment_t eventData;
+ eventData.adjustmentFunction = adjustmentFunction;
+ eventData.newValue = newValue;
+ eventData.floatFlag = false;
+ blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
+ }
+#endif
+}
+
+#if 0
+static void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue)
+{
+#ifndef BLACKBOX
+ UNUSED(adjustmentFunction);
+ UNUSED(newFloatValue);
+#else
+ if (feature(FEATURE_BLACKBOX)) {
+ flightLogEvent_inflightAdjustment_t eventData;
+ eventData.adjustmentFunction = adjustmentFunction;
+ eventData.newFloatValue = newFloatValue;
+ eventData.floatFlag = true;
+ blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
+ }
+#endif
+}
+#endif
+
+static uint8_t adjustmentStateMask = 0;
+
+#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
+#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
+
+#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
+
+// sync with adjustmentFunction_e
+static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
+ {
+ .adjustmentFunction = ADJUSTMENT_RC_RATE,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_RC_EXPO,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_YAW_RATE,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_YAW_P,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_YAW_I,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_YAW_D,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
+ .mode = ADJUSTMENT_MODE_SELECT,
+ .data = { .selectConfig = { .switchPositions = 3 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_PITCH_RATE,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_ROLL_RATE,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_PITCH_P,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_PITCH_I,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_PITCH_D,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_ROLL_P,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_ROLL_I,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_ROLL_D,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_D_SETPOINT,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ },
+ {
+ .adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION,
+ .mode = ADJUSTMENT_MODE_STEP,
+ .data = { .stepConfig = { .step = 1 }}
+ }
+};
+
+#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
+
+static adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
+
+static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig)
+{
+ adjustmentState_t *adjustmentState = &adjustmentStates[index];
+
+ if (adjustmentState->config == adjustmentConfig) {
+ // already configured
+ return;
+ }
+ adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
+ adjustmentState->config = adjustmentConfig;
+ adjustmentState->timeoutAt = 0;
+
+ MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
+}
+
+static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
+{
+ int newValue;
+
+ if (delta > 0) {
+ beeperConfirmationBeeps(2);
+ } else {
+ beeperConfirmationBeeps(1);
+ }
+ switch(adjustmentFunction) {
+ case ADJUSTMENT_RC_RATE:
+ newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in cli.c
+ controlRateConfig->rcRate8 = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
+ break;
+ case ADJUSTMENT_RC_EXPO:
+ newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
+ controlRateConfig->rcExpo8 = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
+ break;
+ case ADJUSTMENT_THROTTLE_EXPO:
+ newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
+ controlRateConfig->thrExpo8 = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
+ break;
+ case ADJUSTMENT_PITCH_ROLL_RATE:
+ case ADJUSTMENT_PITCH_RATE:
+ newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
+ controlRateConfig->rates[FD_PITCH] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
+ if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
+ break;
+ }
+ // follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
+ case ADJUSTMENT_ROLL_RATE:
+ newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
+ controlRateConfig->rates[FD_ROLL] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
+ break;
+ case ADJUSTMENT_YAW_RATE:
+ newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
+ controlRateConfig->rates[FD_YAW] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
+ break;
+ case ADJUSTMENT_PITCH_ROLL_P:
+ case ADJUSTMENT_PITCH_P:
+ newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
+ pidProfile->P8[PIDPITCH] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
+
+ if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
+ break;
+ }
+ // follow though for combined ADJUSTMENT_PITCH_ROLL_P
+ case ADJUSTMENT_ROLL_P:
+ newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
+ pidProfile->P8[PIDROLL] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
+ break;
+ case ADJUSTMENT_PITCH_ROLL_I:
+ case ADJUSTMENT_PITCH_I:
+ newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
+ pidProfile->I8[PIDPITCH] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
+
+ if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
+ break;
+ }
+ // follow though for combined ADJUSTMENT_PITCH_ROLL_I
+ case ADJUSTMENT_ROLL_I:
+ newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
+ pidProfile->I8[PIDROLL] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
+ break;
+ case ADJUSTMENT_PITCH_ROLL_D:
+ case ADJUSTMENT_PITCH_D:
+ newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
+ pidProfile->D8[PIDPITCH] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
+
+ if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
+ break;
+ }
+ // follow though for combined ADJUSTMENT_PITCH_ROLL_D
+ case ADJUSTMENT_ROLL_D:
+ newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
+ pidProfile->D8[PIDROLL] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
+ break;
+ case ADJUSTMENT_YAW_P:
+ newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
+ pidProfile->P8[PIDYAW] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
+ break;
+ case ADJUSTMENT_YAW_I:
+ newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
+ pidProfile->I8[PIDYAW] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
+ break;
+ case ADJUSTMENT_YAW_D:
+ newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
+ pidProfile->D8[PIDYAW] = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
+ break;
+ case ADJUSTMENT_RC_RATE_YAW:
+ newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in cli.c
+ controlRateConfig->rcYawRate8 = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
+ break;
+ case ADJUSTMENT_D_SETPOINT:
+ newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c
+ pidProfile->dtermSetpointWeight = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
+ break;
+ case ADJUSTMENT_D_SETPOINT_TRANSITION:
+ newValue = constrain((int)pidProfile->setpointRelaxRatio + delta, 0, 100); // FIXME magic numbers repeated in cli.c
+ pidProfile->setpointRelaxRatio = newValue;
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
+ break;
+ default:
+ break;
+ };
+}
+
+static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
+{
+ bool applied = false;
+
+ switch(adjustmentFunction) {
+ case ADJUSTMENT_RATE_PROFILE:
+ if (getCurrentControlRateProfile() != position) {
+ changeControlRateProfile(position);
+ blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
+ applied = true;
+ }
+ break;
+ }
+
+ if (applied) {
+ beeperConfirmationBeeps(position + 1);
+ }
+}
+
+#define RESET_FREQUENCY_2HZ (1000 / 2)
+
+void processRcAdjustments(controlRateConfig_t *controlRateConfig)
+{
+ const uint32_t now = millis();
+
+ const bool canUseRxData = rxIsReceivingSignal();
+
+ for (int adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
+ adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
+
+ if (!adjustmentState->config) {
+ continue;
+ }
+ const uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
+ if (adjustmentFunction == ADJUSTMENT_NONE) {
+ continue;
+ }
+
+ const int32_t signedDiff = now - adjustmentState->timeoutAt;
+ const bool canResetReadyStates = signedDiff >= 0L;
+
+ if (canResetReadyStates) {
+ adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
+ MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
+ }
+
+ if (!canUseRxData) {
+ continue;
+ }
+
+ const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
+
+ if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
+ int delta;
+ if (rcData[channelIndex] > rxConfig()->midrc + 200) {
+ delta = adjustmentState->config->data.stepConfig.step;
+ } else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
+ delta = 0 - adjustmentState->config->data.stepConfig.step;
+ } else {
+ // returning the switch to the middle immediately resets the ready state
+ MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
+ adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
+ continue;
+ }
+ if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
+ continue;
+ }
+
+ applyStepAdjustment(controlRateConfig,adjustmentFunction,delta);
+ pidInitConfig(pidProfile);
+ } else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
+ const uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
+ const uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
+ applySelectAdjustment(adjustmentFunction, position);
+ }
+ MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
+ }
+}
+
+void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
+{
+ for (int index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
+ adjustmentRange_t *adjustmentRange = &adjustmentRanges[index];
+ if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
+ const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
+ configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
+ }
+ }
+}
+
+void resetAdjustmentStates(void)
+{
+ memset(adjustmentStates, 0, sizeof(adjustmentStates));
+}
+
+void useAdjustmentConfig(pidProfile_t *pidProfileToUse)
+{
+ pidProfile = pidProfileToUse;
+}
diff --git a/src/main/fc/rc_adjustments.h b/src/main/fc/rc_adjustments.h
new file mode 100644
index 0000000000..ad3fc47451
--- /dev/null
+++ b/src/main/fc/rc_adjustments.h
@@ -0,0 +1,116 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#pragma once
+
+#include
+#include "config/parameter_group.h"
+#include "fc/rc_controls.h"
+
+typedef enum {
+ ADJUSTMENT_NONE = 0,
+ ADJUSTMENT_RC_RATE,
+ ADJUSTMENT_RC_EXPO,
+ ADJUSTMENT_THROTTLE_EXPO,
+ ADJUSTMENT_PITCH_ROLL_RATE,
+ ADJUSTMENT_YAW_RATE,
+ ADJUSTMENT_PITCH_ROLL_P,
+ ADJUSTMENT_PITCH_ROLL_I,
+ ADJUSTMENT_PITCH_ROLL_D,
+ ADJUSTMENT_YAW_P,
+ ADJUSTMENT_YAW_I,
+ ADJUSTMENT_YAW_D,
+ ADJUSTMENT_RATE_PROFILE,
+ ADJUSTMENT_PITCH_RATE,
+ ADJUSTMENT_ROLL_RATE,
+ ADJUSTMENT_PITCH_P,
+ ADJUSTMENT_PITCH_I,
+ ADJUSTMENT_PITCH_D,
+ ADJUSTMENT_ROLL_P,
+ ADJUSTMENT_ROLL_I,
+ ADJUSTMENT_ROLL_D,
+ ADJUSTMENT_RC_RATE_YAW,
+ ADJUSTMENT_D_SETPOINT,
+ ADJUSTMENT_D_SETPOINT_TRANSITION,
+ ADJUSTMENT_FUNCTION_COUNT
+} adjustmentFunction_e;
+
+
+typedef enum {
+ ADJUSTMENT_MODE_STEP,
+ ADJUSTMENT_MODE_SELECT
+} adjustmentMode_e;
+
+typedef struct adjustmentStepConfig_s {
+ uint8_t step;
+} adjustmentStepConfig_t;
+
+typedef struct adjustmentSelectConfig_s {
+ uint8_t switchPositions;
+} adjustmentSelectConfig_t;
+
+typedef union adjustmentConfig_u {
+ adjustmentStepConfig_t stepConfig;
+ adjustmentSelectConfig_t selectConfig;
+} adjustmentData_t;
+
+typedef struct adjustmentConfig_s {
+ uint8_t adjustmentFunction;
+ uint8_t mode;
+ adjustmentData_t data;
+} adjustmentConfig_t;
+
+typedef struct adjustmentRange_s {
+ // when aux channel is in range...
+ uint8_t auxChannelIndex;
+ channelRange_t range;
+
+ // ..then apply the adjustment function to the auxSwitchChannel ...
+ uint8_t adjustmentFunction;
+ uint8_t auxSwitchChannelIndex;
+
+ // ... via slot
+ uint8_t adjustmentIndex;
+} adjustmentRange_t;
+
+#define ADJUSTMENT_INDEX_OFFSET 1
+
+typedef struct adjustmentState_s {
+ uint8_t auxChannelIndex;
+ const adjustmentConfig_t *config;
+ uint32_t timeoutAt;
+} adjustmentState_t;
+
+
+#ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
+#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
+#endif
+
+#define MAX_ADJUSTMENT_RANGE_COUNT 15
+
+PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
+
+typedef struct adjustmentProfile_s {
+ adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
+} adjustmentProfile_t;
+
+void resetAdjustmentStates(void);
+void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
+struct controlRateConfig_s;
+void processRcAdjustments(struct controlRateConfig_s *controlRateConfig);
+struct pidProfile_s;
+void useAdjustmentConfig(struct pidProfile_s *pidProfileToUse);
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 2f09eed281..d6108b5482 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -74,37 +74,6 @@ bool isAirmodeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
}
-void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
-#ifndef BLACKBOX
-#define UNUSED(x) (void)(x)
- UNUSED(adjustmentFunction);
- UNUSED(newValue);
-#else
- if (feature(FEATURE_BLACKBOX)) {
- flightLogEvent_inflightAdjustment_t eventData;
- eventData.adjustmentFunction = adjustmentFunction;
- eventData.newValue = newValue;
- eventData.floatFlag = false;
- blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
- }
-#endif
-}
-
-void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
-#ifndef BLACKBOX
- UNUSED(adjustmentFunction);
- UNUSED(newFloatValue);
-#else
- if (feature(FEATURE_BLACKBOX)) {
- flightLogEvent_inflightAdjustment_t eventData;
- eventData.adjustmentFunction = adjustmentFunction;
- eventData.newFloatValue = newFloatValue;
- eventData.floatFlag = true;
- blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
- }
-#endif
-}
-
bool isUsingSticksForArming(void)
{
return isUsingSticksToArm;
@@ -358,371 +327,6 @@ void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
}
}
-uint8_t adjustmentStateMask = 0;
-
-#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
-#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
-
-#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
-
-// sync with adjustmentFunction_e
-static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
- {
- .adjustmentFunction = ADJUSTMENT_RC_RATE,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_RC_EXPO,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_YAW_RATE,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_YAW_P,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_YAW_I,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_YAW_D,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
- .mode = ADJUSTMENT_MODE_SELECT,
- .data = { .selectConfig = { .switchPositions = 3 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_PITCH_RATE,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_ROLL_RATE,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_PITCH_P,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_PITCH_I,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_PITCH_D,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_ROLL_P,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_ROLL_I,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_ROLL_D,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_D_SETPOINT,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- },
- {
- .adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION,
- .mode = ADJUSTMENT_MODE_STEP,
- .data = { .stepConfig = { .step = 1 }}
- }
-};
-
-#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
-
-adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
-
-static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
- adjustmentState_t *adjustmentState = &adjustmentStates[index];
-
- if (adjustmentState->config == adjustmentConfig) {
- // already configured
- return;
- }
- adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
- adjustmentState->config = adjustmentConfig;
- adjustmentState->timeoutAt = 0;
-
- MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
-}
-
-static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
- int newValue;
-
- if (delta > 0) {
- beeperConfirmationBeeps(2);
- } else {
- beeperConfirmationBeeps(1);
- }
- switch(adjustmentFunction) {
- case ADJUSTMENT_RC_RATE:
- newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in cli.c
- controlRateConfig->rcRate8 = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
- break;
- case ADJUSTMENT_RC_EXPO:
- newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
- controlRateConfig->rcExpo8 = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
- break;
- case ADJUSTMENT_THROTTLE_EXPO:
- newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
- controlRateConfig->thrExpo8 = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
- break;
- case ADJUSTMENT_PITCH_ROLL_RATE:
- case ADJUSTMENT_PITCH_RATE:
- newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
- controlRateConfig->rates[FD_PITCH] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
- if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
- break;
- }
- // follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
- case ADJUSTMENT_ROLL_RATE:
- newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
- controlRateConfig->rates[FD_ROLL] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
- break;
- case ADJUSTMENT_YAW_RATE:
- newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
- controlRateConfig->rates[FD_YAW] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
- break;
- case ADJUSTMENT_PITCH_ROLL_P:
- case ADJUSTMENT_PITCH_P:
- newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
- pidProfile->P8[PIDPITCH] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
-
- if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
- break;
- }
- // follow though for combined ADJUSTMENT_PITCH_ROLL_P
- case ADJUSTMENT_ROLL_P:
- newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
- pidProfile->P8[PIDROLL] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
- break;
- case ADJUSTMENT_PITCH_ROLL_I:
- case ADJUSTMENT_PITCH_I:
- newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
- pidProfile->I8[PIDPITCH] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
-
- if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
- break;
- }
- // follow though for combined ADJUSTMENT_PITCH_ROLL_I
- case ADJUSTMENT_ROLL_I:
- newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
- pidProfile->I8[PIDROLL] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
- break;
- case ADJUSTMENT_PITCH_ROLL_D:
- case ADJUSTMENT_PITCH_D:
- newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
- pidProfile->D8[PIDPITCH] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
-
- if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
- break;
- }
- // follow though for combined ADJUSTMENT_PITCH_ROLL_D
- case ADJUSTMENT_ROLL_D:
- newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
- pidProfile->D8[PIDROLL] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
- break;
- case ADJUSTMENT_YAW_P:
- newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
- pidProfile->P8[PIDYAW] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
- break;
- case ADJUSTMENT_YAW_I:
- newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
- pidProfile->I8[PIDYAW] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
- break;
- case ADJUSTMENT_YAW_D:
- newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
- pidProfile->D8[PIDYAW] = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
- break;
- case ADJUSTMENT_RC_RATE_YAW:
- newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in cli.c
- controlRateConfig->rcYawRate8 = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
- break;
- case ADJUSTMENT_D_SETPOINT:
- newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c
- pidProfile->dtermSetpointWeight = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
- break;
- case ADJUSTMENT_D_SETPOINT_TRANSITION:
- newValue = constrain((int)pidProfile->setpointRelaxRatio + delta, 0, 100); // FIXME magic numbers repeated in cli.c
- pidProfile->setpointRelaxRatio = newValue;
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
- break;
- default:
- break;
- };
-}
-
-static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
-{
- bool applied = false;
-
- switch(adjustmentFunction) {
- case ADJUSTMENT_RATE_PROFILE:
- if (getCurrentControlRateProfile() != position) {
- changeControlRateProfile(position);
- blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
- applied = true;
- }
- break;
- }
-
- if (applied) {
- beeperConfirmationBeeps(position + 1);
- }
-}
-
-#define RESET_FREQUENCY_2HZ (1000 / 2)
-
-void processRcAdjustments(controlRateConfig_t *controlRateConfig)
-{
- uint8_t adjustmentIndex;
- uint32_t now = millis();
-
- bool canUseRxData = rxIsReceivingSignal();
-
-
- for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
- adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
-
- if (!adjustmentState->config) {
- continue;
- }
- uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
- if (adjustmentFunction == ADJUSTMENT_NONE) {
- continue;
- }
-
- int32_t signedDiff = now - adjustmentState->timeoutAt;
- bool canResetReadyStates = signedDiff >= 0L;
-
- if (canResetReadyStates) {
- adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
- MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
- }
-
- if (!canUseRxData) {
- continue;
- }
-
- uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
-
- if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
- int delta;
- if (rcData[channelIndex] > rxConfig()->midrc + 200) {
- delta = adjustmentState->config->data.stepConfig.step;
- } else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
- delta = 0 - adjustmentState->config->data.stepConfig.step;
- } else {
- // returning the switch to the middle immediately resets the ready state
- MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
- adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
- continue;
- }
- if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
- continue;
- }
-
- applyStepAdjustment(controlRateConfig,adjustmentFunction,delta);
- pidInitConfig(pidProfile);
- } else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
- uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
- uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
-
- applySelectAdjustment(adjustmentFunction, position);
- }
- MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
- }
-}
-
-void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
-{
- uint8_t index;
-
- for (index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
- adjustmentRange_t *adjustmentRange = &adjustmentRanges[index];
-
- if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
-
- const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
-
- configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
- }
- }
-}
-
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
return MIN(ABS(rcData[axis] - midrc), 500);
}
@@ -733,8 +337,3 @@ void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditio
isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
}
-
-void resetAdjustmentStates(void)
-{
- memset(adjustmentStates, 0, sizeof(adjustmentStates));
-}
diff --git a/src/main/fc/rc_controls.h b/src/main/fc/rc_controls.h
index 24024da319..ce92e6b477 100644
--- a/src/main/fc/rc_controls.h
+++ b/src/main/fc/rc_controls.h
@@ -204,104 +204,11 @@ void processRcStickPositions(throttleStatus_e throttleStatus);
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
-
-typedef enum {
- ADJUSTMENT_NONE = 0,
- ADJUSTMENT_RC_RATE,
- ADJUSTMENT_RC_EXPO,
- ADJUSTMENT_THROTTLE_EXPO,
- ADJUSTMENT_PITCH_ROLL_RATE,
- ADJUSTMENT_YAW_RATE,
- ADJUSTMENT_PITCH_ROLL_P,
- ADJUSTMENT_PITCH_ROLL_I,
- ADJUSTMENT_PITCH_ROLL_D,
- ADJUSTMENT_YAW_P,
- ADJUSTMENT_YAW_I,
- ADJUSTMENT_YAW_D,
- ADJUSTMENT_RATE_PROFILE,
- ADJUSTMENT_PITCH_RATE,
- ADJUSTMENT_ROLL_RATE,
- ADJUSTMENT_PITCH_P,
- ADJUSTMENT_PITCH_I,
- ADJUSTMENT_PITCH_D,
- ADJUSTMENT_ROLL_P,
- ADJUSTMENT_ROLL_I,
- ADJUSTMENT_ROLL_D,
- ADJUSTMENT_RC_RATE_YAW,
- ADJUSTMENT_D_SETPOINT,
- ADJUSTMENT_D_SETPOINT_TRANSITION,
- ADJUSTMENT_FUNCTION_COUNT
-} adjustmentFunction_e;
-
-
-typedef enum {
- ADJUSTMENT_MODE_STEP,
- ADJUSTMENT_MODE_SELECT
-} adjustmentMode_e;
-
-typedef struct adjustmentStepConfig_s {
- uint8_t step;
-} adjustmentStepConfig_t;
-
-typedef struct adjustmentSelectConfig_s {
- uint8_t switchPositions;
-} adjustmentSelectConfig_t;
-
-typedef union adjustmentConfig_u {
- adjustmentStepConfig_t stepConfig;
- adjustmentSelectConfig_t selectConfig;
-} adjustmentData_t;
-
-typedef struct adjustmentConfig_s {
- uint8_t adjustmentFunction;
- uint8_t mode;
- adjustmentData_t data;
-} adjustmentConfig_t;
-
-typedef struct adjustmentRange_s {
- // when aux channel is in range...
- uint8_t auxChannelIndex;
- channelRange_t range;
-
- // ..then apply the adjustment function to the auxSwitchChannel ...
- uint8_t adjustmentFunction;
- uint8_t auxSwitchChannelIndex;
-
- // ... via slot
- uint8_t adjustmentIndex;
-} adjustmentRange_t;
-
-#define ADJUSTMENT_INDEX_OFFSET 1
-
-typedef struct adjustmentState_s {
- uint8_t auxChannelIndex;
- const adjustmentConfig_t *config;
- uint32_t timeoutAt;
-} adjustmentState_t;
-
-
-#ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
-#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
-#endif
-
-#define MAX_ADJUSTMENT_RANGE_COUNT 15
-
-PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
-
-typedef struct adjustmentProfile_s {
- adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
-} adjustmentProfile_t;
-
bool isAirmodeActive(void);
-void resetAdjustmentStates(void);
-void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
-struct rxConfig_s;
-void processRcAdjustments(controlRateConfig_t *controlRateConfig);
bool isUsingSticksForArming(void);
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
struct pidProfile_s;
-struct motorConfig_s;
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, struct pidProfile_s *pidProfileToUse);