mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 22:35:23 +03:00
86 lines
2.8 KiB
C
86 lines
2.8 KiB
C
/*
|
|
* This file is part of Cleanflight and Betaflight.
|
|
*
|
|
* Cleanflight and Betaflight are free software. You can redistribute
|
|
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
|
|
* 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 this software.
|
|
*
|
|
* If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
#include <string.h>
|
|
|
|
#include "platform.h"
|
|
|
|
#include "common/axis.h"
|
|
|
|
#include "config/config_reset.h"
|
|
#include "pg/pg.h"
|
|
#include "pg/pg_ids.h"
|
|
|
|
#include "fc/config.h"
|
|
#include "fc/controlrate_profile.h"
|
|
#include "fc/fc_rc.h"
|
|
|
|
controlRateConfig_t *currentControlRateProfile;
|
|
|
|
PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 1);
|
|
|
|
void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
|
|
{
|
|
for (int i = 0; i < CONTROL_RATE_PROFILE_COUNT; i++) {
|
|
RESET_CONFIG(controlRateConfig_t, &controlRateConfig[i],
|
|
.thrMid8 = 50,
|
|
.thrExpo8 = 0,
|
|
.dynThrPID = 10,
|
|
.tpa_breakpoint = 1650,
|
|
.rates_type = RATES_TYPE_BETAFLIGHT,
|
|
.rcRates[FD_ROLL] = 100,
|
|
.rcRates[FD_PITCH] = 100,
|
|
.rcRates[FD_YAW] = 100,
|
|
.rcExpo[FD_ROLL] = 0,
|
|
.rcExpo[FD_PITCH] = 0,
|
|
.rcExpo[FD_YAW] = 0,
|
|
.rates[FD_ROLL] = 70,
|
|
.rates[FD_PITCH] = 70,
|
|
.rates[FD_YAW] = 70,
|
|
.throttle_limit_type = THROTTLE_LIMIT_TYPE_OFF,
|
|
.throttle_limit_percent = 100
|
|
);
|
|
}
|
|
}
|
|
|
|
void loadControlRateProfile(void)
|
|
{
|
|
currentControlRateProfile = controlRateProfilesMutable(systemConfig()->activeRateProfile);
|
|
}
|
|
|
|
void changeControlRateProfile(uint8_t controlRateProfileIndex)
|
|
{
|
|
if (controlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT) {
|
|
systemConfigMutable()->activeRateProfile = controlRateProfileIndex;
|
|
}
|
|
|
|
loadControlRateProfile();
|
|
initRcProcessing();
|
|
}
|
|
|
|
void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex) {
|
|
if ((dstControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT && srcControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT)
|
|
&& dstControlRateProfileIndex != srcControlRateProfileIndex
|
|
) {
|
|
memcpy(controlRateProfilesMutable(dstControlRateProfileIndex), controlRateProfilesMutable(srcControlRateProfileIndex), sizeof(controlRateConfig_t));
|
|
}
|
|
}
|