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Code Issues Wiki Activity

Split config_storage.h into config_master.h and config_profile.h to

Browse source 
separate concerns and help reduce and clarify dependencies.

cfg and mcfg are too similarly named and are not obvious.  Renamed cfg
to currentProfile and mcfg to masterConfig.  This will increase source
code line length somewhat but that's ok; lines of code doing too much
are now easier to spot.
This commit is contained in:
Dominic Clifton 2014-04-21 23:08:25 +01:00
parent dab04de35e
commit f8d0dd98f7
18 changed files with 677 additions and 672 deletions
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44
src/gps_common.c
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@ -93,7 +93,7 @@ void gpsInit(uint8_t baudrateIndex)
gpsData.lastMessage = millis();
gpsData.errors = 0;
// only RX is needed for NMEA-style GPS
if (mcfg.gps_type == GPS_NMEA)
if (masterConfig.gps_type == GPS_NMEA)
mode = MODE_RX;
gpsSetPIDs();
@ -105,7 +105,7 @@ void gpsInit(uint8_t baudrateIndex)
void gpsInitHardware(void)
{
switch (mcfg.gps_type) {
switch (masterConfig.gps_type) {
case GPS_NMEA:
// nothing to do, just set baud rate and try receiving some stuff and see if it parses
serialSetBaudRate(serialPorts.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
@ -203,7 +203,7 @@ void gpsThread(void)
static bool gpsNewFrame(uint8_t c)
{
switch (mcfg.gps_type) {
switch (masterConfig.gps_type) {
case GPS_NMEA: // NMEA
case GPS_MTK_NMEA: // MTK in NMEA mode
return gpsNewFrameNMEA(c);
@ -312,11 +312,11 @@ static int32_t get_D(int32_t input, float *dt, PID *pid, PID_PARAM *pid_param)
pid->derivative = (input - pid->last_input) / *dt;
// Low pass filter cut frequency for derivative calculation
// Set to "1 / ( 2 * PI * gps_lpf )"
#define PID_FILTER (1.0f / (2.0f * M_PI * (float)cfg.gps_lpf))
// Set to "1 / ( 2 * PI * gps_lpf )
float pidFilter = (1.0f / (2.0f * M_PI * (float)currentProfile.gps_lpf));
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
pid->derivative = pid->last_derivative + (*dt / (PID_FILTER + *dt)) * (pid->derivative - pid->last_derivative);
pid->derivative = pid->last_derivative + (*dt / (pidFilter + *dt)) * (pid->derivative - pid->last_derivative);
// update state
pid->last_input = input;
pid->last_derivative = pid->derivative;
@ -471,13 +471,13 @@ static void gpsNewData(uint16_t c)
break;
case NAV_MODE_WP:
speed = GPS_calc_desired_speed(cfg.nav_speed_max, NAV_SLOW_NAV); // slow navigation
speed = GPS_calc_desired_speed(currentProfile.nav_speed_max, NAV_SLOW_NAV); // slow navigation
// use error as the desired rate towards the target
// Desired output is in nav_lat and nav_lon where 1deg inclination is 100
GPS_calc_nav_rate(speed);
// Tail control
if (cfg.nav_controls_heading) {
if (currentProfile.nav_controls_heading) {
if (NAV_TAIL_FIRST) {
magHold = wrap_18000(nav_bearing - 18000) / 100;
} else {
@ -485,7 +485,7 @@ static void gpsNewData(uint16_t c)
}
}
// Are we there yet ?(within x meters of the destination)
if ((wp_distance <= cfg.gps_wp_radius) || check_missed_wp()) { // if yes switch to poshold mode
if ((wp_distance <= currentProfile.gps_wp_radius) || check_missed_wp()) { // if yes switch to poshold mode
nav_mode = NAV_MODE_POSHOLD;
if (NAV_SET_TAKEOFF_HEADING) {
magHold = nav_takeoff_bearing;
@ -528,18 +528,18 @@ void GPS_reset_nav(void)
// Get the relevant P I D values and set the PID controllers
void gpsSetPIDs(void)
{
posholdPID_PARAM.kP = (float)cfg.P8[PIDPOS] / 100.0f;
posholdPID_PARAM.kI = (float)cfg.I8[PIDPOS] / 100.0f;
posholdPID_PARAM.kP = (float)currentProfile.P8[PIDPOS] / 100.0f;
posholdPID_PARAM.kI = (float)currentProfile.I8[PIDPOS] / 100.0f;
posholdPID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
poshold_ratePID_PARAM.kP = (float)cfg.P8[PIDPOSR] / 10.0f;
poshold_ratePID_PARAM.kI = (float)cfg.I8[PIDPOSR] / 100.0f;
poshold_ratePID_PARAM.kD = (float)cfg.D8[PIDPOSR] / 1000.0f;
poshold_ratePID_PARAM.kP = (float)currentProfile.P8[PIDPOSR] / 10.0f;
poshold_ratePID_PARAM.kI = (float)currentProfile.I8[PIDPOSR] / 100.0f;
poshold_ratePID_PARAM.kD = (float)currentProfile.D8[PIDPOSR] / 1000.0f;
poshold_ratePID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
navPID_PARAM.kP = (float)cfg.P8[PIDNAVR] / 10.0f;
navPID_PARAM.kI = (float)cfg.I8[PIDNAVR] / 100.0f;
navPID_PARAM.kD = (float)cfg.D8[PIDNAVR] / 1000.0f;
navPID_PARAM.kP = (float)currentProfile.P8[PIDNAVR] / 10.0f;
navPID_PARAM.kI = (float)currentProfile.I8[PIDNAVR] / 100.0f;
navPID_PARAM.kD = (float)currentProfile.D8[PIDNAVR] / 1000.0f;
navPID_PARAM.Imax = POSHOLD_RATE_IMAX * 100;
}
@ -597,7 +597,7 @@ void GPS_set_next_wp(int32_t *lat, int32_t *lon)
nav_bearing = target_bearing;
GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &GPS_coord[LAT], &GPS_coord[LON]);
original_target_bearing = target_bearing;
waypoint_speed_gov = cfg.nav_speed_min;
waypoint_speed_gov = currentProfile.nav_speed_min;
}
////////////////////////////////////////////////////////////////////////////////////
@ -773,7 +773,7 @@ static int16_t GPS_calc_desired_speed(int16_t max_speed, bool _slow)
max_speed = min(max_speed, wp_distance / 2);
} else {
max_speed = min(max_speed, wp_distance);
max_speed = max(max_speed, cfg.nav_speed_min); // go at least 100cm/s
max_speed = max(max_speed, currentProfile.nav_speed_min); // go at least 100cm/s
}
// limit the ramp up of the speed
@ -1273,9 +1273,9 @@ void updateGpsState(void)
{
float sin_yaw_y = sinf(heading * 0.0174532925f);
float cos_yaw_x = cosf(heading * 0.0174532925f);
if (cfg.nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -cfg.nav_slew_rate, cfg.nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -cfg.nav_slew_rate, cfg.nav_slew_rate);
if (currentProfile.nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -currentProfile.nav_slew_rate, currentProfile.nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -currentProfile.nav_slew_rate, currentProfile.nav_slew_rate);
GPS_angle[ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
GPS_angle[PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
} else {