Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 12:25:20 +03:00
Code Issues Wiki Activity

Revise PID/Rate profile names to use get/set and eliminate extra PG's

Browse source 
Removes the custom CLI commands to update or display the PID and Rate profile names. Moves the storage into the pidProfile and controlRateProfile PG's.

Names can now be set with:
set profile_name = NAME
set rate_profile_name = NAME

Also added profile name display to the profile and rate CMS menus.
This commit is contained in:
Bruce Luckcuck 2019-05-07 15:33:57 -04:00
parent 67d1f720ff
commit f5bc673ada
11 changed files with 57 additions and 116 deletions
Download patch file Download diff file Expand all files Collapse all files

55
src/main/cli/cli.c
View file

@ -671,58 +671,9 @@ static const char *dumpPgValue(const clivalue_t *value, dumpFlags_t dumpMask, co
return headingStr;
}
#ifdef USE_PROFILE_NAMES
static void printRateProfileName(uint8_t dumpMask, const profileName_t *rateProfileNameConfig)
{
const bool equalsDefault = strlen(rateProfileNameConfig->name) == 0;
cliDumpPrintLinef(dumpMask, equalsDefault, "rateprofile_name %s", equalsDefault ? emptyName : rateProfileNameConfig->name);
}
static void cliRateProfileName(char *cmdline)
{
const unsigned int len = strlen(cmdline);
uint8_t profileIndex = getCurrentControlRateProfileIndex();
if (len > 0) {
memset(rateProfileNameMutable()->profile[profileIndex].name, 0, ARRAYLEN(rateProfileNameMutable()->profile[profileIndex].name));
if (strncmp(cmdline, emptyName, len)) {
strncpy(rateProfileNameMutable()->profile[profileIndex].name, cmdline, MIN(len, MAX_PROFILE_NAME_LENGTH));
}
}
printRateProfileName(DUMP_MASTER, &rateProfileName()->profile[profileIndex]);
}
static void printPidProfileName(uint8_t dumpMask, const profileName_t *pidProfileNameConfig)
{
const bool equalsDefault = strlen(pidProfileNameConfig->name) == 0;
cliDumpPrintLinef(dumpMask, equalsDefault, "profile_name %s", equalsDefault ? emptyName : pidProfileNameConfig->name);
}
static void cliPidProfileName(char *cmdline)
{
const unsigned int len = strlen(cmdline);
uint8_t profileIndex = getCurrentPidProfileIndex();
if (len > 0) {
memset(pidProfileNameMutable()->profile[profileIndex].name, 0, ARRAYLEN(pidProfileNameMutable()->profile[profileIndex].name));
if (strncmp(cmdline, emptyName, len)) {
strncpy(pidProfileNameMutable()->profile[profileIndex].name, cmdline, MIN(len, MAX_PROFILE_NAME_LENGTH));
}
}
printPidProfileName(DUMP_MASTER, &pidProfileName()->profile[profileIndex]);
}
#endif
static void dumpAllValues(uint16_t valueSection, dumpFlags_t dumpMask, const char *headingStr)
{
headingStr = cliPrintSectionHeading(dumpMask, false, headingStr);
#ifdef USE_PROFILE_NAMES
if (valueSection == PROFILE_VALUE) {
printPidProfileName(DUMP_MASTER, &pidProfileName()->profile[getPidProfileIndexToUse()]);
}
if (valueSection == PROFILE_RATE_VALUE) {
printRateProfileName(DUMP_MASTER, &rateProfileName()->profile[getRateProfileIndexToUse()]);
}
#endif
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
const clivalue_t *value = &valueTable[i];
@ -5864,13 +5815,7 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("play_sound", NULL, "[<index>]", cliPlaySound),
#endif
CLI_COMMAND_DEF("profile", "change profile", "[<index>]", cliProfile),
#ifdef USE_PROFILE_NAMES
CLI_COMMAND_DEF("profile_name", "name of pid profile", NULL, cliPidProfileName),
#endif
CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
#ifdef USE_PROFILE_NAMES
CLI_COMMAND_DEF("rateprofile_name", "name of rate profile", NULL, cliRateProfileName),
#endif
#ifdef USE_RC_SMOOTHING_FILTER
CLI_COMMAND_DEF("rc_smoothing_info", "show rc_smoothing operational settings", NULL, cliRcSmoothing),
#endif // USE_RC_SMOOTHING_FILTER

12
src/main/cli/settings.c
View file

@ -619,8 +619,6 @@ const clivalue_t valueTable[] = {
#ifdef USE_DYN_LPF
{ "dyn_lpf_gyro_min_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_min_hz) },
{ "dyn_lpf_gyro_max_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_lpf_gyro_max_hz) },
{ "dyn_lpf_dterm_min_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_min_hz) },
{ "dyn_lpf_dterm_max_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_max_hz) },
#endif
{ "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) },
@ -837,6 +835,9 @@ const clivalue_t valueTable[] = {
#endif
// PG_CONTROLRATE_PROFILES
#ifdef USE_PROFILE_NAMES
{ "rateprofile_name", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_STRING, .config.string = { 1, MAX_RATE_PROFILE_NAME_LENGTH, STRING_FLAGS_NONE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, profileName) },
#endif
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
{ "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
{ "rates_type", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RATES_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates_type) },
@ -925,6 +926,13 @@ const clivalue_t valueTable[] = {
#endif
// PG_PID_PROFILE
#ifdef USE_PROFILE_NAMES
{ "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) },
#endif
#ifdef USE_DYN_LPF
{ "dyn_lpf_dterm_min_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_min_hz) },
{ "dyn_lpf_dterm_max_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_max_hz) },
#endif
{ "dterm_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },
{ "dterm_lowpass_hz", VAR_INT16 | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lowpass_hz) },
{ "dterm_lowpass2_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter2_type) },

34
src/main/cms/cms_menu_imu.c
View file

@ -62,13 +62,13 @@
//
static uint8_t tmpPidProfileIndex;
static uint8_t pidProfileIndex;
static char pidProfileIndexString[] = " p";
static char pidProfileIndexString[MAX_PROFILE_NAME_LENGTH + 5];
static uint8_t tempPid[3][3];
static uint16_t tempPidF[3];
static uint8_t tmpRateProfileIndex;
static uint8_t rateProfileIndex;
static char rateProfileIndexString[] = " p-r";
static char rateProfileIndexString[MAX_RATE_PROFILE_NAME_LENGTH + 5];
static controlRateConfig_t rateProfile;
static const char * const osdTableThrottleLimitType[] = {
@ -81,6 +81,29 @@ static const char * const osdTableDynNotchRangeType[] = {
};
#endif
static void setProfileIndexString(char *profileString, int profileIndex, char *profileName)
{
int charIndex = 0;
profileString[charIndex++] = '1' + profileIndex;
#ifdef USE_PROFILE_NAMES
const int profileNameLen = strlen(profileName);
if (profileNameLen > 0) {
profileString[charIndex++] = ' ';
profileString[charIndex++] = '(';
for (int i = 0; i < profileNameLen; i++) {
profileString[charIndex++] = toupper(profileName[i]);
}
profileString[charIndex++] = ')';
}
#else
UNUSED(profileName);
#endif
profileString[charIndex] = '\0';
}
static long cmsx_menuImu_onEnter(void)
{
pidProfileIndex = getCurrentPidProfileIndex();
@ -140,7 +163,7 @@ static long cmsx_PidRead(void)
static long cmsx_PidOnEnter(void)
{
pidProfileIndexString[1] = '0' + tmpPidProfileIndex;
setProfileIndexString(pidProfileIndexString, pidProfileIndex, currentPidProfile->profileName);
cmsx_PidRead();
return 0;
@ -217,8 +240,7 @@ static long cmsx_RateProfileWriteback(const OSD_Entry *self)
static long cmsx_RateProfileOnEnter(void)
{
rateProfileIndexString[1] = '0' + tmpPidProfileIndex;
rateProfileIndexString[3] = '0' + tmpRateProfileIndex;
setProfileIndexString(rateProfileIndexString, rateProfileIndex, controlRateProfilesMutable(rateProfileIndex)->profileName);
cmsx_RateProfileRead();
return 0;
@ -337,7 +359,7 @@ static uint8_t cmsx_d_min_advance;
static long cmsx_profileOtherOnEnter(void)
{
pidProfileIndexString[1] = '0' + tmpPidProfileIndex;
setProfileIndexString(pidProfileIndexString, pidProfileIndex, currentPidProfile->profileName);
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);

20
src/main/fc/config.c
View file

@ -87,10 +87,6 @@ PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
.displayName = { 0 },
);
PG_REGISTER_WITH_RESET_FN(rateProfileNameConfig_t, rateProfileName, PG_RATE_PROFILE_NAMES_CONFIG, 1);
PG_REGISTER_WITH_RESET_FN(pidProfileNameConfig_t, pidProfileName, PG_PID_PROFILE_NAMES_CONFIG, 1);
PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
@ -126,22 +122,6 @@ uint16_t getCurrentMinthrottle(void)
return motorConfig()->minthrottle;
}
void pgResetFn_rateProfileName(rateProfileNameConfig_t *rateProfileName)
{
for (int i = 0; i < CONTROL_RATE_PROFILE_COUNT; i++) {
tfp_sprintf(rateProfileName->profile[i].name, "RATE %u", i+1, MAX_PROFILE_NAME_LENGTH);
}
}
void pgResetFn_pidProfileName(pidProfileNameConfig_t *pidProfileName)
{
for (int i = 0; i < PID_PROFILE_COUNT; i++) {
tfp_sprintf(pidProfileName->profile[i].name, "PID %u", i+1, MAX_PROFILE_NAME_LENGTH);
}
}
void resetConfigs(void)
{
pgResetAll();

16
src/main/fc/config.h
View file

@ -36,22 +36,6 @@ typedef struct pilotConfig_s {
PG_DECLARE(pilotConfig_t, pilotConfig);
typedef struct profileName_s {
char name[MAX_PROFILE_NAME_LENGTH + 1];
} profileName_t;
typedef struct rateProfileNameConfig_s {
profileName_t profile[CONTROL_RATE_PROFILE_COUNT];
} rateProfileNameConfig_t;
PG_DECLARE(rateProfileNameConfig_t, rateProfileName);
typedef struct pidProfileNameConfig_s {
profileName_t profile[PID_PROFILE_COUNT];
} pidProfileNameConfig_t;
PG_DECLARE(pidProfileNameConfig_t, pidProfileName);
typedef struct systemConfig_s {
uint8_t pidProfileIndex;
uint8_t activeRateProfile;

3
src/main/fc/controlrate_profile.c
View file

@ -37,7 +37,7 @@
controlRateConfig_t *currentControlRateProfile;
PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 1);
PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 2);
void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
{
@ -63,6 +63,7 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
.rate_limit[FD_PITCH] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
.rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
.tpaMode = TPA_MODE_D,
.profileName = { 0 },
);
}
}

4
src/main/fc/controlrate_profile.h
View file

@ -36,12 +36,13 @@ typedef enum {
THROTTLE_LIMIT_TYPE_COUNT // must be the last entry
} throttleLimitType_e;
typedef enum {
TPA_MODE_PD,
TPA_MODE_D
} tpaMode_e;
#define MAX_RATE_PROFILE_NAME_LENGTH 8u
typedef struct controlRateConfig_s {
uint8_t thrMid8;
uint8_t thrExpo8;
@ -55,6 +56,7 @@ typedef struct controlRateConfig_s {
uint8_t throttle_limit_percent; // Sets the maximum pilot commanded throttle limit
uint16_t rate_limit[3]; // Sets the maximum rate for the axes
uint8_t tpaMode; // Controls which PID terms TPA effects
char profileName[MAX_RATE_PROFILE_NAME_LENGTH + 1]; // Descriptive name for rate profile
} controlRateConfig_t;
PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);

3
src/main/flight/pid.c
View file

@ -128,7 +128,7 @@ static FAST_RAM_ZERO_INIT float airmodeThrottleOffsetLimit;
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 10);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 11);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -204,6 +204,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.motor_output_limit = 100,
.auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
.transient_throttle_limit = 15,
.profileName = { 0 },
);
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;

3
src/main/flight/pid.h
View file

@ -100,6 +100,8 @@ typedef enum {
ITERM_RELAX_SETPOINT
} itermRelaxType_e;
#define MAX_PROFILE_NAME_LENGTH 8u
typedef struct pidProfile_s {
uint16_t yaw_lowpass_hz; // Additional yaw filter when yaw axis too noisy
uint16_t dterm_lowpass_hz; // Delta Filter in hz
@ -168,6 +170,7 @@ typedef struct pidProfile_s {
uint8_t motor_output_limit; // Upper limit of the motor output (percent)
int8_t auto_profile_cell_count; // Cell count for this profile to be used with if auto PID profile switching is used
uint8_t transient_throttle_limit; // Maximum DC component of throttle change to mix into throttle to prevent airmode mirroring noise
char profileName[MAX_PROFILE_NAME_LENGTH + 1]; // Descriptive name for profile
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);

21
src/main/osd/osd_elements.c
View file

@ -68,6 +68,7 @@
#include "drivers/vtx_common.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
@ -650,15 +651,13 @@ static void osdElementDisplayName(osdElementParms_t *element)
#ifdef USE_PROFILE_NAMES
static void osdElementRateProfileName(osdElementParms_t *element)
{
uint8_t rateProfileIndex = getCurrentControlRateProfileIndex();
if (strlen(rateProfileName()->profile[rateProfileIndex].name) == 0) {
tfp_sprintf(element->buff, "RATE_%u", rateProfileIndex);
if (strlen(currentControlRateProfile->profileName) == 0) {
tfp_sprintf(element->buff, "RATE_%u", getCurrentControlRateProfileIndex() + 1);
} else {
unsigned i;
for (i = 0; i < MAX_PROFILE_NAME_LENGTH; i++) {
if (rateProfileName()->profile[rateProfileIndex].name[i]) {
element->buff[i] = toupper((unsigned char)rateProfileName()->profile[rateProfileIndex].name[i]);
if (currentControlRateProfile->profileName[i]) {
element->buff[i] = toupper((unsigned char)currentControlRateProfile->profileName[i]);
} else {
break;
}
@ -669,15 +668,13 @@ static void osdElementRateProfileName(osdElementParms_t *element)
static void osdElementPidProfileName(osdElementParms_t *element)
{
uint8_t pidProfileIndex = getCurrentPidProfileIndex();
if (strlen(pidProfileName()->profile[pidProfileIndex].name) == 0) {
tfp_sprintf(element->buff, "PID_%u", pidProfileIndex);
if (strlen(currentPidProfile->profileName) == 0) {
tfp_sprintf(element->buff, "PID_%u", getCurrentPidProfileIndex() + 1);
} else {
unsigned i;
for (i = 0; i < MAX_PROFILE_NAME_LENGTH; i++) {
if (pidProfileName()->profile[pidProfileIndex].name[i]) {
element->buff[i] = toupper((unsigned char)pidProfileName()->profile[pidProfileIndex].name[i]);
if (currentPidProfile->profileName[i]) {
element->buff[i] = toupper((unsigned char)currentPidProfile->profileName[i]);
} else {
break;
}

2
src/main/pg/pg_ids.h
View file

@ -81,8 +81,6 @@
#define PG_GPS_RESCUE 55 // struct OK
#define PG_POSITION 56
#define PG_VTX_IO_CONFIG 57
#define PG_RATE_PROFILE_NAMES_CONFIG 58
#define PG_PID_PROFILE_NAMES_CONFIG 59
// Driver configuration
#define PG_DRIVER_PWM_RX_CONFIG 100 // does not exist in betaflight