mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-14 20:10:18 +03:00
Split config_storage.h into config_master.h and config_profile.h to
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
parent
dab04de35e
commit
f8d0dd98f7
18 changed files with 677 additions and 672 deletions
282
src/serial_cli.c
282
src/serial_cli.c
|
|
@ -122,117 +122,117 @@ typedef struct {
|
|||
} clivalue_t;
|
||||
|
||||
const clivalue_t valueTable[] = {
|
||||
{ "looptime", VAR_UINT16, &mcfg.looptime, 0, 9000 },
|
||||
{ "emf_avoidance", VAR_UINT8, &mcfg.emfAvoidance, 0, 1 },
|
||||
{ "midrc", VAR_UINT16, &mcfg.rxConfig.midrc, 1200, 1700 },
|
||||
{ "minthrottle", VAR_UINT16, &mcfg.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "maxthrottle", VAR_UINT16, &mcfg.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "mincommand", VAR_UINT16, &mcfg.mincommand, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "mincheck", VAR_UINT16, &mcfg.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "maxcheck", VAR_UINT16, &mcfg.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "deadband3d_low", VAR_UINT16, &mcfg.deadband3d_low, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "deadband3d_high", VAR_UINT16, &mcfg.deadband3d_high, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "neutral3d", VAR_UINT16, &mcfg.neutral3d, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "deadband3d_throttle", VAR_UINT16, &mcfg.deadband3d_throttle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "motor_pwm_rate", VAR_UINT16, &mcfg.motor_pwm_rate, 50, 32000 },
|
||||
{ "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 },
|
||||
{ "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 },
|
||||
{ "flaps_speed", VAR_UINT8, &mcfg.flaps_speed, 0, 100 },
|
||||
{ "fixedwing_althold_dir", VAR_INT8, &mcfg.fixedwing_althold_dir, -1, 1 },
|
||||
{ "reboot_character", VAR_UINT8, &mcfg.serialConfig.reboot_character, 48, 126 },
|
||||
{ "serial_baudrate", VAR_UINT32, &mcfg.serialConfig.port1_baudrate, 1200, 115200 },
|
||||
{ "softserial_baudrate", VAR_UINT32, &mcfg.serialConfig.softserial_baudrate, 1200, 19200 },
|
||||
{ "softserial_1_inverted", VAR_UINT8, &mcfg.serialConfig.softserial_1_inverted, 0, 1 },
|
||||
{ "softserial_2_inverted", VAR_UINT8, &mcfg.serialConfig.softserial_2_inverted, 0, 1 },
|
||||
{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, GPS_HARDWARE_MAX },
|
||||
{ "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, 0, GPS_BAUD_MAX },
|
||||
{ "serialrx_type", VAR_UINT8, &mcfg.rxConfig.serialrx_type, 0, 3 },
|
||||
{ "telemetry_provider", VAR_UINT8, &mcfg.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
|
||||
{ "telemetry_port", VAR_UINT8, &mcfg.telemetry_port, 0, TELEMETRY_PORT_MAX },
|
||||
{ "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 },
|
||||
{ "vbatscale", VAR_UINT8, &mcfg.batteryConfig.vbatscale, 10, 200 },
|
||||
{ "vbatmaxcellvoltage", VAR_UINT8, &mcfg.batteryConfig.vbatmaxcellvoltage, 10, 50 },
|
||||
{ "vbatmincellvoltage", VAR_UINT8, &mcfg.batteryConfig.vbatmincellvoltage, 10, 50 },
|
||||
{ "power_adc_channel", VAR_UINT8, &mcfg.power_adc_channel, 0, 9 },
|
||||
{ "align_gyro", VAR_UINT8, &mcfg.gyro_align, 0, 8 },
|
||||
{ "align_acc", VAR_UINT8, &mcfg.acc_align, 0, 8 },
|
||||
{ "align_mag", VAR_UINT8, &mcfg.mag_align, 0, 8 },
|
||||
{ "align_board_roll", VAR_INT16, &mcfg.boardAlignment.rollDegrees, -180, 360 },
|
||||
{ "align_board_pitch", VAR_INT16, &mcfg.boardAlignment.pitchDegrees, -180, 360 },
|
||||
{ "align_board_yaw", VAR_INT16, &mcfg.boardAlignment.yawDegrees, -180, 360 },
|
||||
{ "yaw_control_direction", VAR_INT8, &mcfg.yaw_control_direction, -1, 1 },
|
||||
{ "acc_hardware", VAR_UINT8, &mcfg.acc_hardware, 0, 5 },
|
||||
{ "max_angle_inclination", VAR_UINT16, &mcfg.max_angle_inclination, 100, 900 },
|
||||
{ "moron_threshold", VAR_UINT8, &mcfg.moron_threshold, 0, 128 },
|
||||
{ "gyro_lpf", VAR_UINT16, &mcfg.gyro_lpf, 0, 256 },
|
||||
{ "gyro_cmpf_factor", VAR_UINT16, &mcfg.gyro_cmpf_factor, 100, 1000 },
|
||||
{ "gyro_cmpfm_factor", VAR_UINT16, &mcfg.gyro_cmpfm_factor, 100, 1000 },
|
||||
{ "pid_controller", VAR_UINT8, &cfg.pidController, 0, 1 },
|
||||
{ "deadband", VAR_UINT8, &cfg.deadband, 0, 32 },
|
||||
{ "yawdeadband", VAR_UINT8, &cfg.yawdeadband, 0, 100 },
|
||||
{ "alt_hold_throttle_neutral", VAR_UINT8, &cfg.alt_hold_throttle_neutral, 1, 250 },
|
||||
{ "alt_hold_fast_change", VAR_UINT8, &cfg.alt_hold_fast_change, 0, 1 },
|
||||
{ "throttle_correction_value", VAR_UINT8, &cfg.throttle_correction_value, 0, 150 },
|
||||
{ "throttle_correction_angle", VAR_UINT16, &cfg.throttle_correction_angle, 1, 900 },
|
||||
{ "rc_rate", VAR_UINT8, &cfg.controlRateConfig.rcRate8, 0, 250 },
|
||||
{ "rc_expo", VAR_UINT8, &cfg.controlRateConfig.rcExpo8, 0, 100 },
|
||||
{ "thr_mid", VAR_UINT8, &cfg.controlRateConfig.thrMid8, 0, 100 },
|
||||
{ "thr_expo", VAR_UINT8, &cfg.controlRateConfig.thrExpo8, 0, 100 },
|
||||
{ "roll_pitch_rate", VAR_UINT8, &cfg.controlRateConfig.rollPitchRate, 0, 100 },
|
||||
{ "yawrate", VAR_UINT8, &cfg.controlRateConfig.yawRate, 0, 100 },
|
||||
{ "tparate", VAR_UINT8, &cfg.dynThrPID, 0, 100},
|
||||
{ "tpa_breakpoint", VAR_UINT16, &cfg.tpaBreakPoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
|
||||
{ "failsafe_delay", VAR_UINT8, &cfg.failsafeConfig.failsafe_delay, 0, 200 },
|
||||
{ "failsafe_off_delay", VAR_UINT8, &cfg.failsafeConfig.failsafe_off_delay, 0, 200 },
|
||||
{ "failsafe_throttle", VAR_UINT16, &cfg.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
|
||||
{ "failsafe_detect_threshold", VAR_UINT16, &cfg.failsafeConfig.failsafe_detect_threshold, 100, PWM_RANGE_MAX },
|
||||
{ "rssi_aux_channel", VAR_INT8, &mcfg.rssi_aux_channel, 0, 4 },
|
||||
{ "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
|
||||
{ "tri_unarmed_servo", VAR_INT8, &cfg.tri_unarmed_servo, 0, 1 },
|
||||
{ "gimbal_flags", VAR_UINT8, &cfg.gimbal_flags, 0, 255},
|
||||
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
|
||||
{ "accxy_deadband", VAR_UINT8, &cfg.accxy_deadband, 0, 100 },
|
||||
{ "accz_deadband", VAR_UINT8, &cfg.accz_deadband, 0, 100 },
|
||||
{ "acc_unarmedcal", VAR_UINT8, &cfg.acc_unarmedcal, 0, 1 },
|
||||
{ "acc_trim_pitch", VAR_INT16, &cfg.angleTrim[PITCH], -300, 300 },
|
||||
{ "acc_trim_roll", VAR_INT16, &cfg.angleTrim[ROLL], -300, 300 },
|
||||
{ "baro_tab_size", VAR_UINT8, &cfg.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
|
||||
{ "baro_noise_lpf", VAR_FLOAT, &cfg.baro_noise_lpf, 0, 1 },
|
||||
{ "baro_cf_vel", VAR_FLOAT, &cfg.baro_cf_vel, 0, 1 },
|
||||
{ "baro_cf_alt", VAR_FLOAT, &cfg.baro_cf_alt, 0, 1 },
|
||||
{ "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
|
||||
{ "gps_pos_p", VAR_UINT8, &cfg.P8[PIDPOS], 0, 200 },
|
||||
{ "gps_pos_i", VAR_UINT8, &cfg.I8[PIDPOS], 0, 200 },
|
||||
{ "gps_pos_d", VAR_UINT8, &cfg.D8[PIDPOS], 0, 200 },
|
||||
{ "gps_posr_p", VAR_UINT8, &cfg.P8[PIDPOSR], 0, 200 },
|
||||
{ "gps_posr_i", VAR_UINT8, &cfg.I8[PIDPOSR], 0, 200 },
|
||||
{ "gps_posr_d", VAR_UINT8, &cfg.D8[PIDPOSR], 0, 200 },
|
||||
{ "gps_nav_p", VAR_UINT8, &cfg.P8[PIDNAVR], 0, 200 },
|
||||
{ "gps_nav_i", VAR_UINT8, &cfg.I8[PIDNAVR], 0, 200 },
|
||||
{ "gps_nav_d", VAR_UINT8, &cfg.D8[PIDNAVR], 0, 200 },
|
||||
{ "gps_wp_radius", VAR_UINT16, &cfg.gps_wp_radius, 0, 2000 },
|
||||
{ "nav_controls_heading", VAR_UINT8, &cfg.nav_controls_heading, 0, 1 },
|
||||
{ "nav_speed_min", VAR_UINT16, &cfg.nav_speed_min, 10, 2000 },
|
||||
{ "nav_speed_max", VAR_UINT16, &cfg.nav_speed_max, 10, 2000 },
|
||||
{ "nav_slew_rate", VAR_UINT8, &cfg.nav_slew_rate, 0, 100 },
|
||||
{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200 },
|
||||
{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200 },
|
||||
{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200 },
|
||||
{ "p_roll", VAR_UINT8, &cfg.P8[ROLL], 0, 200 },
|
||||
{ "i_roll", VAR_UINT8, &cfg.I8[ROLL], 0, 200 },
|
||||
{ "d_roll", VAR_UINT8, &cfg.D8[ROLL], 0, 200 },
|
||||
{ "p_yaw", VAR_UINT8, &cfg.P8[YAW], 0, 200 },
|
||||
{ "i_yaw", VAR_UINT8, &cfg.I8[YAW], 0, 200 },
|
||||
{ "d_yaw", VAR_UINT8, &cfg.D8[YAW], 0, 200 },
|
||||
{ "p_alt", VAR_UINT8, &cfg.P8[PIDALT], 0, 200 },
|
||||
{ "i_alt", VAR_UINT8, &cfg.I8[PIDALT], 0, 200 },
|
||||
{ "d_alt", VAR_UINT8, &cfg.D8[PIDALT], 0, 200 },
|
||||
{ "p_level", VAR_UINT8, &cfg.P8[PIDLEVEL], 0, 200 },
|
||||
{ "i_level", VAR_UINT8, &cfg.I8[PIDLEVEL], 0, 200 },
|
||||
{ "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200 },
|
||||
{ "p_vel", VAR_UINT8, &cfg.P8[PIDVEL], 0, 200 },
|
||||
{ "i_vel", VAR_UINT8, &cfg.I8[PIDVEL], 0, 200 },
|
||||
{ "d_vel", VAR_UINT8, &cfg.D8[PIDVEL], 0, 200 },
|
||||
{ "looptime", VAR_UINT16, &masterConfig.looptime, 0, 9000 },
|
||||
{ "emf_avoidance", VAR_UINT8, &masterConfig.emfAvoidance, 0, 1 },
|
||||
{ "midrc", VAR_UINT16, &masterConfig.rxConfig.midrc, 1200, 1700 },
|
||||
{ "minthrottle", VAR_UINT16, &masterConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "maxthrottle", VAR_UINT16, &masterConfig.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "mincommand", VAR_UINT16, &masterConfig.mincommand, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "mincheck", VAR_UINT16, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "maxcheck", VAR_UINT16, &masterConfig.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "deadband3d_low", VAR_UINT16, &masterConfig.deadband3d_low, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "deadband3d_high", VAR_UINT16, &masterConfig.deadband3d_high, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "neutral3d", VAR_UINT16, &masterConfig.neutral3d, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "deadband3d_throttle", VAR_UINT16, &masterConfig.deadband3d_throttle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
|
||||
{ "motor_pwm_rate", VAR_UINT16, &masterConfig.motor_pwm_rate, 50, 32000 },
|
||||
{ "servo_pwm_rate", VAR_UINT16, &masterConfig.servo_pwm_rate, 50, 498 },
|
||||
{ "retarded_arm", VAR_UINT8, &masterConfig.retarded_arm, 0, 1 },
|
||||
{ "flaps_speed", VAR_UINT8, &masterConfig.flaps_speed, 0, 100 },
|
||||
{ "fixedwing_althold_dir", VAR_INT8, &masterConfig.fixedwing_althold_dir, -1, 1 },
|
||||
{ "reboot_character", VAR_UINT8, &masterConfig.serialConfig.reboot_character, 48, 126 },
|
||||
{ "serial_baudrate", VAR_UINT32, &masterConfig.serialConfig.port1_baudrate, 1200, 115200 },
|
||||
{ "softserial_baudrate", VAR_UINT32, &masterConfig.serialConfig.softserial_baudrate, 1200, 19200 },
|
||||
{ "softserial_1_inverted", VAR_UINT8, &masterConfig.serialConfig.softserial_1_inverted, 0, 1 },
|
||||
{ "softserial_2_inverted", VAR_UINT8, &masterConfig.serialConfig.softserial_2_inverted, 0, 1 },
|
||||
{ "gps_type", VAR_UINT8, &masterConfig.gps_type, 0, GPS_HARDWARE_MAX },
|
||||
{ "gps_baudrate", VAR_INT8, &masterConfig.gps_baudrate, 0, GPS_BAUD_MAX },
|
||||
{ "serialrx_type", VAR_UINT8, &masterConfig.rxConfig.serialrx_type, 0, 3 },
|
||||
{ "telemetry_provider", VAR_UINT8, &masterConfig.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
|
||||
{ "telemetry_port", VAR_UINT8, &masterConfig.telemetry_port, 0, TELEMETRY_PORT_MAX },
|
||||
{ "telemetry_switch", VAR_UINT8, &masterConfig.telemetry_switch, 0, 1 },
|
||||
{ "vbatscale", VAR_UINT8, &masterConfig.batteryConfig.vbatscale, 10, 200 },
|
||||
{ "vbatmaxcellvoltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },
|
||||
{ "vbatmincellvoltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmincellvoltage, 10, 50 },
|
||||
{ "power_adc_channel", VAR_UINT8, &masterConfig.power_adc_channel, 0, 9 },
|
||||
{ "align_gyro", VAR_UINT8, &masterConfig.gyro_align, 0, 8 },
|
||||
{ "align_acc", VAR_UINT8, &masterConfig.acc_align, 0, 8 },
|
||||
{ "align_mag", VAR_UINT8, &masterConfig.mag_align, 0, 8 },
|
||||
{ "align_board_roll", VAR_INT16, &masterConfig.boardAlignment.rollDegrees, -180, 360 },
|
||||
{ "align_board_pitch", VAR_INT16, &masterConfig.boardAlignment.pitchDegrees, -180, 360 },
|
||||
{ "align_board_yaw", VAR_INT16, &masterConfig.boardAlignment.yawDegrees, -180, 360 },
|
||||
{ "yaw_control_direction", VAR_INT8, &masterConfig.yaw_control_direction, -1, 1 },
|
||||
{ "acc_hardware", VAR_UINT8, &masterConfig.acc_hardware, 0, 5 },
|
||||
{ "max_angle_inclination", VAR_UINT16, &masterConfig.max_angle_inclination, 100, 900 },
|
||||
{ "moron_threshold", VAR_UINT8, &masterConfig.moron_threshold, 0, 128 },
|
||||
{ "gyro_lpf", VAR_UINT16, &masterConfig.gyro_lpf, 0, 256 },
|
||||
{ "gyro_cmpf_factor", VAR_UINT16, &masterConfig.gyro_cmpf_factor, 100, 1000 },
|
||||
{ "gyro_cmpfm_factor", VAR_UINT16, &masterConfig.gyro_cmpfm_factor, 100, 1000 },
|
||||
{ "pid_controller", VAR_UINT8, ¤tProfile.pidController, 0, 1 },
|
||||
{ "deadband", VAR_UINT8, ¤tProfile.deadband, 0, 32 },
|
||||
{ "yawdeadband", VAR_UINT8, ¤tProfile.yawdeadband, 0, 100 },
|
||||
{ "alt_hold_throttle_neutral", VAR_UINT8, ¤tProfile.alt_hold_throttle_neutral, 1, 250 },
|
||||
{ "alt_hold_fast_change", VAR_UINT8, ¤tProfile.alt_hold_fast_change, 0, 1 },
|
||||
{ "throttle_correction_value", VAR_UINT8, ¤tProfile.throttle_correction_value, 0, 150 },
|
||||
{ "throttle_correction_angle", VAR_UINT16, ¤tProfile.throttle_correction_angle, 1, 900 },
|
||||
{ "rc_rate", VAR_UINT8, ¤tProfile.controlRateConfig.rcRate8, 0, 250 },
|
||||
{ "rc_expo", VAR_UINT8, ¤tProfile.controlRateConfig.rcExpo8, 0, 100 },
|
||||
{ "thr_mid", VAR_UINT8, ¤tProfile.controlRateConfig.thrMid8, 0, 100 },
|
||||
{ "thr_expo", VAR_UINT8, ¤tProfile.controlRateConfig.thrExpo8, 0, 100 },
|
||||
{ "roll_pitch_rate", VAR_UINT8, ¤tProfile.controlRateConfig.rollPitchRate, 0, 100 },
|
||||
{ "yawrate", VAR_UINT8, ¤tProfile.controlRateConfig.yawRate, 0, 100 },
|
||||
{ "tparate", VAR_UINT8, ¤tProfile.dynThrPID, 0, 100},
|
||||
{ "tpa_breakpoint", VAR_UINT16, ¤tProfile.tpaBreakPoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
|
||||
{ "failsafe_delay", VAR_UINT8, ¤tProfile.failsafeConfig.failsafe_delay, 0, 200 },
|
||||
{ "failsafe_off_delay", VAR_UINT8, ¤tProfile.failsafeConfig.failsafe_off_delay, 0, 200 },
|
||||
{ "failsafe_throttle", VAR_UINT16, ¤tProfile.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
|
||||
{ "failsafe_detect_threshold", VAR_UINT16, ¤tProfile.failsafeConfig.failsafe_detect_threshold, 100, PWM_RANGE_MAX },
|
||||
{ "rssi_aux_channel", VAR_INT8, &masterConfig.rssi_aux_channel, 0, 4 },
|
||||
{ "yaw_direction", VAR_INT8, ¤tProfile.yaw_direction, -1, 1 },
|
||||
{ "tri_unarmed_servo", VAR_INT8, ¤tProfile.tri_unarmed_servo, 0, 1 },
|
||||
{ "gimbal_flags", VAR_UINT8, ¤tProfile.gimbal_flags, 0, 255},
|
||||
{ "acc_lpf_factor", VAR_UINT8, ¤tProfile.acc_lpf_factor, 0, 250 },
|
||||
{ "accxy_deadband", VAR_UINT8, ¤tProfile.accxy_deadband, 0, 100 },
|
||||
{ "accz_deadband", VAR_UINT8, ¤tProfile.accz_deadband, 0, 100 },
|
||||
{ "acc_unarmedcal", VAR_UINT8, ¤tProfile.acc_unarmedcal, 0, 1 },
|
||||
{ "acc_trim_pitch", VAR_INT16, ¤tProfile.angleTrim[PITCH], -300, 300 },
|
||||
{ "acc_trim_roll", VAR_INT16, ¤tProfile.angleTrim[ROLL], -300, 300 },
|
||||
{ "baro_tab_size", VAR_UINT8, ¤tProfile.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
|
||||
{ "baro_noise_lpf", VAR_FLOAT, ¤tProfile.baro_noise_lpf, 0, 1 },
|
||||
{ "baro_cf_vel", VAR_FLOAT, ¤tProfile.baro_cf_vel, 0, 1 },
|
||||
{ "baro_cf_alt", VAR_FLOAT, ¤tProfile.baro_cf_alt, 0, 1 },
|
||||
{ "mag_declination", VAR_INT16, ¤tProfile.mag_declination, -18000, 18000 },
|
||||
{ "gps_pos_p", VAR_UINT8, ¤tProfile.P8[PIDPOS], 0, 200 },
|
||||
{ "gps_pos_i", VAR_UINT8, ¤tProfile.I8[PIDPOS], 0, 200 },
|
||||
{ "gps_pos_d", VAR_UINT8, ¤tProfile.D8[PIDPOS], 0, 200 },
|
||||
{ "gps_posr_p", VAR_UINT8, ¤tProfile.P8[PIDPOSR], 0, 200 },
|
||||
{ "gps_posr_i", VAR_UINT8, ¤tProfile.I8[PIDPOSR], 0, 200 },
|
||||
{ "gps_posr_d", VAR_UINT8, ¤tProfile.D8[PIDPOSR], 0, 200 },
|
||||
{ "gps_nav_p", VAR_UINT8, ¤tProfile.P8[PIDNAVR], 0, 200 },
|
||||
{ "gps_nav_i", VAR_UINT8, ¤tProfile.I8[PIDNAVR], 0, 200 },
|
||||
{ "gps_nav_d", VAR_UINT8, ¤tProfile.D8[PIDNAVR], 0, 200 },
|
||||
{ "gps_wp_radius", VAR_UINT16, ¤tProfile.gps_wp_radius, 0, 2000 },
|
||||
{ "nav_controls_heading", VAR_UINT8, ¤tProfile.nav_controls_heading, 0, 1 },
|
||||
{ "nav_speed_min", VAR_UINT16, ¤tProfile.nav_speed_min, 10, 2000 },
|
||||
{ "nav_speed_max", VAR_UINT16, ¤tProfile.nav_speed_max, 10, 2000 },
|
||||
{ "nav_slew_rate", VAR_UINT8, ¤tProfile.nav_slew_rate, 0, 100 },
|
||||
{ "p_pitch", VAR_UINT8, ¤tProfile.P8[PITCH], 0, 200 },
|
||||
{ "i_pitch", VAR_UINT8, ¤tProfile.I8[PITCH], 0, 200 },
|
||||
{ "d_pitch", VAR_UINT8, ¤tProfile.D8[PITCH], 0, 200 },
|
||||
{ "p_roll", VAR_UINT8, ¤tProfile.P8[ROLL], 0, 200 },
|
||||
{ "i_roll", VAR_UINT8, ¤tProfile.I8[ROLL], 0, 200 },
|
||||
{ "d_roll", VAR_UINT8, ¤tProfile.D8[ROLL], 0, 200 },
|
||||
{ "p_yaw", VAR_UINT8, ¤tProfile.P8[YAW], 0, 200 },
|
||||
{ "i_yaw", VAR_UINT8, ¤tProfile.I8[YAW], 0, 200 },
|
||||
{ "d_yaw", VAR_UINT8, ¤tProfile.D8[YAW], 0, 200 },
|
||||
{ "p_alt", VAR_UINT8, ¤tProfile.P8[PIDALT], 0, 200 },
|
||||
{ "i_alt", VAR_UINT8, ¤tProfile.I8[PIDALT], 0, 200 },
|
||||
{ "d_alt", VAR_UINT8, ¤tProfile.D8[PIDALT], 0, 200 },
|
||||
{ "p_level", VAR_UINT8, ¤tProfile.P8[PIDLEVEL], 0, 200 },
|
||||
{ "i_level", VAR_UINT8, ¤tProfile.I8[PIDLEVEL], 0, 200 },
|
||||
{ "d_level", VAR_UINT8, ¤tProfile.D8[PIDLEVEL], 0, 200 },
|
||||
{ "p_vel", VAR_UINT8, ¤tProfile.P8[PIDVEL], 0, 200 },
|
||||
{ "i_vel", VAR_UINT8, ¤tProfile.I8[PIDVEL], 0, 200 },
|
||||
{ "d_vel", VAR_UINT8, ¤tProfile.D8[PIDVEL], 0, 200 },
|
||||
};
|
||||
|
||||
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
|
||||
|
|
@ -447,14 +447,14 @@ static void cliAux(char *cmdline)
|
|||
if (len == 0) {
|
||||
// print out aux channel settings
|
||||
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
|
||||
printf("aux %u %u\r\n", i, cfg.activate[i]);
|
||||
printf("aux %u %u\r\n", i, currentProfile.activate[i]);
|
||||
} else {
|
||||
ptr = cmdline;
|
||||
i = atoi(ptr);
|
||||
if (i < CHECKBOX_ITEM_COUNT) {
|
||||
ptr = strchr(cmdline, ' ');
|
||||
val = atoi(ptr);
|
||||
cfg.activate[i] = val;
|
||||
currentProfile.activate[i] = val;
|
||||
} else {
|
||||
printf("Invalid Feature index: must be < %u\r\n", CHECKBOX_ITEM_COUNT);
|
||||
}
|
||||
|
|
@ -475,20 +475,20 @@ static void cliCMix(char *cmdline)
|
|||
if (len == 0) {
|
||||
cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
|
||||
for (i = 0; i < MAX_MOTORS; i++) {
|
||||
if (mcfg.customMixer[i].throttle == 0.0f)
|
||||
if (masterConfig.customMixer[i].throttle == 0.0f)
|
||||
break;
|
||||
num_motors++;
|
||||
printf("#%d:\t", i + 1);
|
||||
printf("%s\t", ftoa(mcfg.customMixer[i].throttle, buf));
|
||||
printf("%s\t", ftoa(mcfg.customMixer[i].roll, buf));
|
||||
printf("%s\t", ftoa(mcfg.customMixer[i].pitch, buf));
|
||||
printf("%s\r\n", ftoa(mcfg.customMixer[i].yaw, buf));
|
||||
printf("%s\t", ftoa(masterConfig.customMixer[i].throttle, buf));
|
||||
printf("%s\t", ftoa(masterConfig.customMixer[i].roll, buf));
|
||||
printf("%s\t", ftoa(masterConfig.customMixer[i].pitch, buf));
|
||||
printf("%s\r\n", ftoa(masterConfig.customMixer[i].yaw, buf));
|
||||
}
|
||||
mixsum[0] = mixsum[1] = mixsum[2] = 0.0f;
|
||||
for (i = 0; i < num_motors; i++) {
|
||||
mixsum[0] += mcfg.customMixer[i].roll;
|
||||
mixsum[1] += mcfg.customMixer[i].pitch;
|
||||
mixsum[2] += mcfg.customMixer[i].yaw;
|
||||
mixsum[0] += masterConfig.customMixer[i].roll;
|
||||
mixsum[1] += masterConfig.customMixer[i].pitch;
|
||||
mixsum[2] += masterConfig.customMixer[i].yaw;
|
||||
}
|
||||
cliPrint("Sanity check:\t");
|
||||
for (i = 0; i < 3; i++)
|
||||
|
|
@ -498,7 +498,7 @@ static void cliCMix(char *cmdline)
|
|||
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
|
||||
// erase custom mixer
|
||||
for (i = 0; i < MAX_MOTORS; i++)
|
||||
mcfg.customMixer[i].throttle = 0.0f;
|
||||
masterConfig.customMixer[i].throttle = 0.0f;
|
||||
} else if (strncasecmp(cmdline, "load", 4) == 0) {
|
||||
ptr = strchr(cmdline, ' ');
|
||||
if (ptr) {
|
||||
|
|
@ -522,22 +522,22 @@ static void cliCMix(char *cmdline)
|
|||
if (--i < MAX_MOTORS) {
|
||||
ptr = strchr(ptr, ' ');
|
||||
if (ptr) {
|
||||
mcfg.customMixer[i].throttle = _atof(++ptr);
|
||||
masterConfig.customMixer[i].throttle = _atof(++ptr);
|
||||
check++;
|
||||
}
|
||||
ptr = strchr(ptr, ' ');
|
||||
if (ptr) {
|
||||
mcfg.customMixer[i].roll = _atof(++ptr);
|
||||
masterConfig.customMixer[i].roll = _atof(++ptr);
|
||||
check++;
|
||||
}
|
||||
ptr = strchr(ptr, ' ');
|
||||
if (ptr) {
|
||||
mcfg.customMixer[i].pitch = _atof(++ptr);
|
||||
masterConfig.customMixer[i].pitch = _atof(++ptr);
|
||||
check++;
|
||||
}
|
||||
ptr = strchr(ptr, ' ');
|
||||
if (ptr) {
|
||||
mcfg.customMixer[i].yaw = _atof(++ptr);
|
||||
masterConfig.customMixer[i].yaw = _atof(++ptr);
|
||||
check++;
|
||||
}
|
||||
if (check != 4) {
|
||||
|
|
@ -565,17 +565,17 @@ static void cliDump(char *cmdline)
|
|||
cliAux("");
|
||||
|
||||
// print out current motor mix
|
||||
printf("mixer %s\r\n", mixerNames[mcfg.mixerConfiguration - 1]);
|
||||
printf("mixer %s\r\n", mixerNames[masterConfig.mixerConfiguration - 1]);
|
||||
|
||||
// print custom mix if exists
|
||||
if (mcfg.customMixer[0].throttle != 0.0f) {
|
||||
if (masterConfig.customMixer[0].throttle != 0.0f) {
|
||||
for (i = 0; i < MAX_MOTORS; i++) {
|
||||
if (mcfg.customMixer[i].throttle == 0.0f)
|
||||
if (masterConfig.customMixer[i].throttle == 0.0f)
|
||||
break;
|
||||
thr = mcfg.customMixer[i].throttle;
|
||||
roll = mcfg.customMixer[i].roll;
|
||||
pitch = mcfg.customMixer[i].pitch;
|
||||
yaw = mcfg.customMixer[i].yaw;
|
||||
thr = masterConfig.customMixer[i].throttle;
|
||||
roll = masterConfig.customMixer[i].roll;
|
||||
pitch = masterConfig.customMixer[i].pitch;
|
||||
yaw = masterConfig.customMixer[i].yaw;
|
||||
printf("cmix %d", i + 1);
|
||||
if (thr < 0)
|
||||
printf(" ");
|
||||
|
|
@ -609,7 +609,7 @@ static void cliDump(char *cmdline)
|
|||
|
||||
// print RC MAPPING
|
||||
for (i = 0; i < 8; i++)
|
||||
buf[mcfg.rxConfig.rcmap[i]] = rcChannelLetters[i];
|
||||
buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
|
||||
buf[i] = '\0';
|
||||
printf("map %s\r\n", buf);
|
||||
|
||||
|
|
@ -725,11 +725,11 @@ static void cliMap(char *cmdline)
|
|||
cliPrint("Must be any order of AETR1234\r\n");
|
||||
return;
|
||||
}
|
||||
parseRcChannels(cmdline, &mcfg.rxConfig);
|
||||
parseRcChannels(cmdline, &masterConfig.rxConfig);
|
||||
}
|
||||
cliPrint("Current assignment: ");
|
||||
for (i = 0; i < 8; i++)
|
||||
out[mcfg.rxConfig.rcmap[i]] = rcChannelLetters[i];
|
||||
out[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
|
||||
out[i] = '\0';
|
||||
printf("%s\r\n", out);
|
||||
}
|
||||
|
|
@ -742,7 +742,7 @@ static void cliMixer(char *cmdline)
|
|||
len = strlen(cmdline);
|
||||
|
||||
if (len == 0) {
|
||||
printf("Current mixer: %s\r\n", mixerNames[mcfg.mixerConfiguration - 1]);
|
||||
printf("Current mixer: %s\r\n", mixerNames[masterConfig.mixerConfiguration - 1]);
|
||||
return;
|
||||
} else if (strncasecmp(cmdline, "list", len) == 0) {
|
||||
cliPrint("Available mixers: ");
|
||||
|
|
@ -761,7 +761,7 @@ static void cliMixer(char *cmdline)
|
|||
break;
|
||||
}
|
||||
if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
|
||||
mcfg.mixerConfiguration = i + 1;
|
||||
masterConfig.mixerConfiguration = i + 1;
|
||||
printf("Mixer set to %s\r\n", mixerNames[i]);
|
||||
break;
|
||||
}
|
||||
|
|
@ -821,12 +821,12 @@ static void cliProfile(char *cmdline)
|
|||
|
||||
len = strlen(cmdline);
|
||||
if (len == 0) {
|
||||
printf("Current profile: %d\r\n", mcfg.current_profile);
|
||||
printf("Current profile: %d\r\n", masterConfig.current_profile);
|
||||
return;
|
||||
} else {
|
||||
i = atoi(cmdline);
|
||||
if (i >= 0 && i <= 2) {
|
||||
mcfg.current_profile = i;
|
||||
masterConfig.current_profile = i;
|
||||
writeEEPROM();
|
||||
readEEPROM();
|
||||
cliProfile("");
|
||||
|
|
@ -843,7 +843,7 @@ static void cliReboot(void) {
|
|||
static void cliSave(char *cmdline)
|
||||
{
|
||||
cliPrint("Saving...");
|
||||
copyCurrentProfileToProfileSlot(mcfg.current_profile);
|
||||
copyCurrentProfileToProfileSlot(masterConfig.current_profile);
|
||||
writeEEPROM();
|
||||
cliReboot();
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue