Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-26 09:45:33 +03:00
Code Issues Wiki Activity

Completion of convertion to parameter groups

Browse source
This commit is contained in:
Martin Budden 2017-01-19 01:51:31 +00:00
parent 7e52c483ea
commit 1a7bcde5f3
19 changed files with 137 additions and 182 deletions
Download patch file Download diff file Expand all files Collapse all files

67
src/main/blackbox/blackbox.c
View file

@ -76,7 +76,6 @@
#include "flight/navigation_rewrite.h" #include "flight/navigation_rewrite.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h" #include "config/feature.h"
#include "blackbox.h" #include "blackbox.h"
@ -487,7 +486,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0: case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1: case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2: case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
return currentProfile->pidProfile.D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0; return pidProfile()->D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
case FLIGHT_LOG_FIELD_CONDITION_MAG: case FLIGHT_LOG_FIELD_CONDITION_MAG:
#ifdef MAG #ifdef MAG
@ -1376,42 +1375,42 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", currentControlRateProfile->rates[ROLL], BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", currentControlRateProfile->rates[ROLL],
currentControlRateProfile->rates[PITCH], currentControlRateProfile->rates[PITCH],
currentControlRateProfile->rates[YAW]); currentControlRateProfile->rates[YAW]);
BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDROLL], BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", pidProfile()->P8[PIDROLL],
currentProfile->pidProfile.I8[PIDROLL], pidProfile()->I8[PIDROLL],
currentProfile->pidProfile.D8[PIDROLL]); pidProfile()->D8[PIDROLL]);
BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDPITCH], BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", pidProfile()->P8[PIDPITCH],
currentProfile->pidProfile.I8[PIDPITCH], pidProfile()->I8[PIDPITCH],
currentProfile->pidProfile.D8[PIDPITCH]); pidProfile()->D8[PIDPITCH]);
BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDYAW], BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", pidProfile()->P8[PIDYAW],
currentProfile->pidProfile.I8[PIDYAW], pidProfile()->I8[PIDYAW],
currentProfile->pidProfile.D8[PIDYAW]); pidProfile()->D8[PIDYAW]);
BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDALT], BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", pidProfile()->P8[PIDALT],
currentProfile->pidProfile.I8[PIDALT], pidProfile()->I8[PIDALT],
currentProfile->pidProfile.D8[PIDALT]); pidProfile()->D8[PIDALT]);
BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDPOS], BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", pidProfile()->P8[PIDPOS],
currentProfile->pidProfile.I8[PIDPOS], pidProfile()->I8[PIDPOS],
currentProfile->pidProfile.D8[PIDPOS]); pidProfile()->D8[PIDPOS]);
BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDPOSR], BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", pidProfile()->P8[PIDPOSR],
currentProfile->pidProfile.I8[PIDPOSR], pidProfile()->I8[PIDPOSR],
currentProfile->pidProfile.D8[PIDPOSR]); pidProfile()->D8[PIDPOSR]);
BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDNAVR], BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", pidProfile()->P8[PIDNAVR],
currentProfile->pidProfile.I8[PIDNAVR], pidProfile()->I8[PIDNAVR],
currentProfile->pidProfile.D8[PIDNAVR]); pidProfile()->D8[PIDNAVR]);
BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDLEVEL], BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", pidProfile()->P8[PIDLEVEL],
currentProfile->pidProfile.I8[PIDLEVEL], pidProfile()->I8[PIDLEVEL],
currentProfile->pidProfile.D8[PIDLEVEL]); pidProfile()->D8[PIDLEVEL]);
BLACKBOX_PRINT_HEADER_LINE("magPID:%d", currentProfile->pidProfile.P8[PIDMAG]); BLACKBOX_PRINT_HEADER_LINE("magPID:%d", pidProfile()->P8[PIDMAG]);
BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDVEL], BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", pidProfile()->P8[PIDVEL],
currentProfile->pidProfile.I8[PIDVEL], pidProfile()->I8[PIDVEL],
currentProfile->pidProfile.D8[PIDVEL]); pidProfile()->D8[PIDVEL]);
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", currentProfile->pidProfile.yaw_p_limit); BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", pidProfile()->yaw_p_limit);
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(currentProfile->pidProfile.yaw_lpf_hz * 100.0f)); BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(pidProfile()->yaw_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", (int)(currentProfile->pidProfile.dterm_lpf_hz * 100.0f)); BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", (int)(pidProfile()->dterm_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("deadband:%d", rcControlsConfig()->deadband); BLACKBOX_PRINT_HEADER_LINE("deadband:%d", rcControlsConfig()->deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", rcControlsConfig()->yaw_deadband); BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", rcControlsConfig()->yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", gyroConfig()->gyro_lpf); BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", gyroConfig()->gyro_lpf);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", gyroConfig()->gyro_soft_lpf_hz); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", gyroConfig()->gyro_soft_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(currentProfile->pidProfile.acc_soft_lpf_hz * 100.0f)); BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(pidProfile()->acc_soft_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", accelerometerConfig()->acc_hardware); BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", accelerometerConfig()->acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", barometerConfig()->baro_hardware); BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", barometerConfig()->baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", compassConfig()->mag_hardware); BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", compassConfig()->mag_hardware);

2
src/main/cms/cms_menu_osd.c
View file

@ -16,6 +16,7 @@
*/ */
#include <stdbool.h> #include <stdbool.h>
#include <stddef.h>
#include <stdint.h> #include <stdint.h>
#include <ctype.h> #include <ctype.h>
@ -37,7 +38,6 @@
#include "fc/rc_controls.h" #include "fc/rc_controls.h"
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
#include "config/config_master.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/feature.h" #include "config/feature.h"

13
src/main/config/config_eeprom.c
View file

@ -28,7 +28,6 @@
#include "config/config_eeprom.h" #include "config/config_eeprom.h"
#include "config/config_streamer.h" #include "config/config_streamer.h"
#include "config/config_master.h"
#include "config/parameter_group.h" #include "config/parameter_group.h"
#include "drivers/system.h" #include "drivers/system.h"
@ -113,9 +112,6 @@ static bool scanEEPROM(void)
} }
chk = updateChecksum(chk, header, sizeof(*header)); chk = updateChecksum(chk, header, sizeof(*header));
p += sizeof(*header); p += sizeof(*header);
// include the transitional masterConfig record
chk = updateChecksum(chk, p, sizeof(masterConfig));
p += sizeof(masterConfig);
for (;;) { for (;;) {
const configRecord_t *record = (const configRecord_t *)p; const configRecord_t *record = (const configRecord_t *)p;
@ -149,7 +145,6 @@ static const configRecord_t *findEEPROM(const pgRegistry_t *reg, configRecordFla
{ {
const uint8_t *p = &__config_start; const uint8_t *p = &__config_start;
p += sizeof(configHeader_t); // skip header p += sizeof(configHeader_t); // skip header
p += sizeof(master_t); // skip the transitional master_t record
while (true) { while (true) {
const configRecord_t *record = (const configRecord_t *)p; const configRecord_t *record = (const configRecord_t *)p;
if (record->size == 0 if (record->size == 0
@ -170,11 +165,6 @@ static const configRecord_t *findEEPROM(const pgRegistry_t *reg, configRecordFla
// but each PG is loaded/initialized exactly once and in defined order. // but each PG is loaded/initialized exactly once and in defined order.
bool loadEEPROM(void) bool loadEEPROM(void)
{ {
// read in the transitional masterConfig record
const uint8_t *p = &__config_start;
p += sizeof(configHeader_t); // skip header
masterConfig = *(master_t*)p;
PG_FOREACH(reg) { PG_FOREACH(reg) {
configRecordFlags_e cls_start, cls_end; configRecordFlags_e cls_start, cls_end;
if (pgIsSystem(reg)) { if (pgIsSystem(reg)) {
@ -217,9 +207,6 @@ static bool writeSettingsToEEPROM(void)
config_streamer_write(&streamer, (uint8_t *)&header, sizeof(header)); config_streamer_write(&streamer, (uint8_t *)&header, sizeof(header));
chk = updateChecksum(chk, (uint8_t *)&header, sizeof(header)); chk = updateChecksum(chk, (uint8_t *)&header, sizeof(header));
// write the transitional masterConfig record
config_streamer_write(&streamer, (uint8_t *)&masterConfig, sizeof(masterConfig));
chk = updateChecksum(chk, (uint8_t *)&masterConfig, sizeof(masterConfig));
PG_FOREACH(reg) { PG_FOREACH(reg) {
const uint16_t regSize = pgSize(reg); const uint16_t regSize = pgSize(reg);
configRecord_t record = { configRecord_t record = {

13
src/main/config/config_master.h
View file

@ -38,9 +38,6 @@
#include "io/osd.h" #include "io/osd.h"
#include "io/ledstrip.h" #include "io/ledstrip.h"
#define pwmRxConfig(x) (&masterConfig.pwmRxConfig)
#define pwmRxConfigMutable(x) (&masterConfig.pwmRxConfig)
// System-wide // System-wide
typedef struct master_s { typedef struct master_s {
@ -48,10 +45,6 @@ typedef struct master_s {
uint16_t size; uint16_t size;
uint8_t magic_be; // magic number, should be 0xBE uint8_t magic_be; // magic number, should be 0xBE
pwmRxConfig_t pwmRxConfig;
profile_t profile[MAX_PROFILE_COUNT];
uint8_t magic_ef; // magic number, should be 0xEF uint8_t magic_ef; // magic number, should be 0xEF
uint8_t chk; // XOR checksum uint8_t chk; // XOR checksum
/* /*
@ -60,7 +53,5 @@ typedef struct master_s {
*/ */
} master_t; } master_t;
extern master_t masterConfig; //extern master_t masterConfig;
extern const profile_t *currentProfile; //extern const profile_t *currentProfile;
void createDefaultConfig(master_t *config);

4
src/main/drivers/pwm_rx.c
View file

@ -127,9 +127,9 @@ void resetPPMDataReceivedState(void)
#define MIN_CHANNELS_BEFORE_PPM_FRAME_CONSIDERED_VALID 4 #define MIN_CHANNELS_BEFORE_PPM_FRAME_CONSIDERED_VALID 4
void pwmRxInit(const pwmRxConfig_t *pwmRxConfig) void pwmRxInit(inputFilteringMode_e inputFilteringModeToUse)
{ {
inputFilteringMode = pwmRxConfig->inputFilteringMode; inputFilteringMode = inputFilteringModeToUse;
} }
#ifdef DEBUG_PPM_ISR #ifdef DEBUG_PPM_ISR

6
src/main/drivers/pwm_rx.h
View file

@ -35,10 +35,6 @@ uint16_t ppmRead(uint8_t channel);
bool isPPMDataBeingReceived(void); bool isPPMDataBeingReceived(void);
void resetPPMDataReceivedState(void); void resetPPMDataReceivedState(void);
typedef struct pwmRxConfig_s { void pwmRxInit(inputFilteringMode_e inputFilteringMode);
inputFilteringMode_e inputFilteringMode;
} pwmRxConfig_t;
void pwmRxInit(const pwmRxConfig_t *pwmRxConfig);
bool isPWMDataBeingReceived(void); bool isPWMDataBeingReceived(void);

31
src/main/fc/config.c
View file

@ -32,7 +32,6 @@
#include "config/config_eeprom.h" #include "config/config_eeprom.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h" #include "config/feature.h"
#include "config/parameter_group.h" #include "config/parameter_group.h"
#include "config/parameter_group_ids.h" #include "config/parameter_group_ids.h"
@ -84,9 +83,6 @@
#define BRUSHED_MOTORS_PWM_RATE 16000 #define BRUSHED_MOTORS_PWM_RATE 16000
#define BRUSHLESS_MOTORS_PWM_RATE 400 #define BRUSHLESS_MOTORS_PWM_RATE 400
master_t masterConfig; // master config struct with data independent from profiles
const profile_t *currentProfile;
PG_REGISTER(profileSelection_t, profileSelection, PG_PROFILE_SELECTION, 0); PG_REGISTER(profileSelection_t, profileSelection, PG_PROFILE_SELECTION, 0);
PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0); PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
@ -97,7 +93,8 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
.accTaskFrequency = ACC_TASK_FREQUENCY_DEFAULT, .accTaskFrequency = ACC_TASK_FREQUENCY_DEFAULT,
.attitudeTaskFrequency = ATTITUDE_TASK_FREQUENCY_DEFAULT, .attitudeTaskFrequency = ATTITUDE_TASK_FREQUENCY_DEFAULT,
.asyncMode = ASYNC_MODE_NONE, .asyncMode = ASYNC_MODE_NONE,
.throttle_tilt_compensation_strength = 0 // 0-100, 0 - disabled .throttle_tilt_compensation_strength = 0, // 0-100, 0 - disabled
.pwmRxInputFilteringMode = INPUT_FILTERING_DISABLED
); );
PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0); PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
@ -159,16 +156,9 @@ uint16_t getCurrentMinthrottle(void)
} }
// Default settings // Default settings
void createDefaultConfig(master_t *config) void createDefaultConfig(void)
{ {
// Clear all configuration // Clear all configuration
memset(config, 0, sizeof(master_t));
config->version = EEPROM_CONF_VERSION;
config->pwmRxConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
// Radio // Radio
#ifdef RX_CHANNELS_TAER #ifdef RX_CHANNELS_TAER
parseRcChannels("TAER1234"); parseRcChannels("TAER1234");
@ -185,15 +175,6 @@ void createDefaultConfig(master_t *config)
#if defined(TARGET_CONFIG) #if defined(TARGET_CONFIG)
targetConfiguration(); targetConfiguration();
#endif #endif
// copy first profile into remaining profile
for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
memcpy(&config->profile[i], &config->profile[0], sizeof(profile_t));
}
for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
config->profile[i].defaultRateProfileIndex = i % MAX_CONTROL_RATE_PROFILE_COUNT;
}
} }
void resetConfigs(void) void resetConfigs(void)
@ -201,7 +182,7 @@ void resetConfigs(void)
pgResetAll(MAX_PROFILE_COUNT); pgResetAll(MAX_PROFILE_COUNT);
pgActivateProfile(0); pgActivateProfile(0);
createDefaultConfig(&masterConfig); createDefaultConfig();
setProfile(getCurrentProfileIndex()); setProfile(getCurrentProfileIndex());
setControlRateProfile(getCurrentProfileIndex()); setControlRateProfile(getCurrentProfileIndex());
@ -248,7 +229,7 @@ void validateAndFixConfig(void)
} }
#endif #endif
#ifdef USE_DTERM_NOTCH #ifdef USE_DTERM_NOTCH
if (pidProfile()->dterm_soft_notch_cutoff >= currentProfile->pidProfile.dterm_soft_notch_hz) { if (pidProfile()->dterm_soft_notch_cutoff >= pidProfile()->dterm_soft_notch_hz) {
pidProfileMutable()->dterm_soft_notch_hz = 0; pidProfileMutable()->dterm_soft_notch_hz = 0;
} }
#endif #endif
@ -523,7 +504,7 @@ void setProfile(uint8_t profileIndex)
profileIndex = 0; profileIndex = 0;
} }
profileSelectionMutable()->current_profile_index = profileIndex; profileSelectionMutable()->current_profile_index = profileIndex;
currentProfile = &masterConfig.profile[profileIndex]; //!!! currentProfile = &masterConfig.profile[profileIndex];
} }
void changeProfile(uint8_t profileIndex) void changeProfile(uint8_t profileIndex)

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

@ -20,8 +20,8 @@
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#include "common/time.h" #include "common/time.h"
#include "config/parameter_group.h" #include "config/parameter_group.h"
#include "drivers/pwm_rx.h"
#define MAX_PROFILE_COUNT 3 #define MAX_PROFILE_COUNT 3
#define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500 #define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
@ -86,6 +86,7 @@ typedef struct systemConfig_s {
uint8_t debug_mode; uint8_t debug_mode;
uint8_t i2c_overclock; // Overclock i2c Bus for faster IMU readings uint8_t i2c_overclock; // Overclock i2c Bus for faster IMU readings
uint8_t throttle_tilt_compensation_strength; // the correction that will be applied at throttle_correction_angle. uint8_t throttle_tilt_compensation_strength; // the correction that will be applied at throttle_correction_angle.
inputFilteringMode_e pwmRxInputFilteringMode;
char name[MAX_NAME_LENGTH + 1]; char name[MAX_NAME_LENGTH + 1];
} systemConfig_t; } systemConfig_t;
@ -127,6 +128,7 @@ void applyAndSaveBoardAlignmentDelta(int16_t roll, int16_t pitch);
uint16_t getCurrentMinthrottle(void); uint16_t getCurrentMinthrottle(void);
void createDefaultConfig(void);
void resetConfigs(void); void resetConfigs(void);
void targetConfiguration(void); void targetConfiguration(void);

5
src/main/fc/fc_init.c
View file

@ -114,7 +114,6 @@
#include "config/config_eeprom.h" #include "config/config_eeprom.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h" #include "config/feature.h"
#include "config/parameter_group.h" #include "config/parameter_group.h"
#include "config/parameter_group_ids.h" #include "config/parameter_group_ids.h"
@ -314,7 +313,7 @@ void init(void)
pwm_params.enablePWMOutput = feature(FEATURE_PWM_OUTPUT_ENABLE); pwm_params.enablePWMOutput = feature(FEATURE_PWM_OUTPUT_ENABLE);
#if defined(USE_RX_PWM) || defined(USE_RX_PPM) #if defined(USE_RX_PWM) || defined(USE_RX_PPM)
pwmRxInit(pwmRxConfig()); pwmRxInit(systemConfig()->pwmRxInputFilteringMode);
#endif #endif
#ifdef USE_PMW_SERVO_DRIVER #ifdef USE_PMW_SERVO_DRIVER
@ -499,7 +498,7 @@ void init(void)
flashLedsAndBeep(); flashLedsAndBeep();
#ifdef USE_DTERM_NOTCH #ifdef USE_DTERM_NOTCH
pidInitFilters(&currentProfile->pidProfile); pidInitFilters(pidProfile());
#endif #endif
imuInit(); imuInit();

4
src/main/fc/fc_msp.c
View file

@ -58,7 +58,6 @@
#include "config/config_eeprom.h" #include "config/config_eeprom.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h" #include "config/feature.h"
@ -67,6 +66,7 @@
#include "io/gps.h" #include "io/gps.h"
#include "io/gimbal.h" #include "io/gimbal.h"
#include "io/ledstrip.h" #include "io/ledstrip.h"
#include "io/osd.h"
#include "io/serial.h" #include "io/serial.h"
#include "io/serial_4way.h" #include "io/serial_4way.h"
@ -1539,7 +1539,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef USE_DTERM_NOTCH #ifdef USE_DTERM_NOTCH
pidProfileMutable()->dterm_soft_notch_hz = constrain(sbufReadU16(src), 0, 500); pidProfileMutable()->dterm_soft_notch_hz = constrain(sbufReadU16(src), 0, 500);
pidProfileMutable()->dterm_soft_notch_cutoff = constrain(sbufReadU16(src), 1, 500); pidProfileMutable()->dterm_soft_notch_cutoff = constrain(sbufReadU16(src), 1, 500);
pidInitFilters(&currentProfile->pidProfile); pidInitFilters(pidProfile());
#endif #endif
#ifdef USE_GYRO_NOTCH_2 #ifdef USE_GYRO_NOTCH_2
gyroConfigMutable()->gyro_soft_notch_hz_2 = constrain(sbufReadU16(src), 0, 500); gyroConfigMutable()->gyro_soft_notch_hz_2 = constrain(sbufReadU16(src), 0, 500);

5
src/main/fc/mw.c
View file

@ -77,7 +77,6 @@
#include "flight/navigation_rewrite.h" #include "flight/navigation_rewrite.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h" #include "config/feature.h"
// June 2013 V2.2-dev // June 2013 V2.2-dev
@ -670,10 +669,10 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
} }
// Update PID coefficients // Update PID coefficients
updatePIDCoefficients(&currentProfile->pidProfile, currentControlRateProfile, motorConfig()); updatePIDCoefficients(pidProfile(), currentControlRateProfile, motorConfig());
// Calculate stabilisation // Calculate stabilisation
pidController(&currentProfile->pidProfile, currentControlRateProfile, rxConfig()); pidController(pidProfile(), currentControlRateProfile, rxConfig());
#ifdef HIL #ifdef HIL
if (hilActive) { if (hilActive) {

84
src/main/fc/serial_cli.c
View file

@ -45,7 +45,6 @@ uint8_t cliMode = 0;
#include "config/config_eeprom.h" #include "config/config_eeprom.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h" #include "config/feature.h"
#include "config/parameter_group.h" #include "config/parameter_group.h"
#include "config/parameter_group_ids.h" #include "config/parameter_group_ids.h"
@ -488,7 +487,6 @@ typedef union {
cliMinMaxConfig_t minmax; cliMinMaxConfig_t minmax;
} cliValueConfig_t; } cliValueConfig_t;
#ifdef USE_PARAMETER_GROUPS
typedef struct { typedef struct {
const char *name; const char *name;
const uint8_t type; // see cliValueFlag_e const uint8_t type; // see cliValueFlag_e
@ -863,22 +861,9 @@ static const clivalue_t valueTable[] = {
#endif #endif
{ "throttle_tilt_comp_str", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, throttle_tilt_compensation_strength) }, { "throttle_tilt_comp_str", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, throttle_tilt_compensation_strength) },
{ "mode_range_logic_operator", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_AUX_OPERATOR }, PG_MODE_ACTIVATION_OPERATOR_CONFIG, offsetof(modeActivationOperatorConfig_t, modeActivationOperator) }, { "mode_range_logic_operator", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_AUX_OPERATOR }, PG_MODE_ACTIVATION_OPERATOR_CONFIG, offsetof(modeActivationOperatorConfig_t, modeActivationOperator) },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, pwmRxInputFilteringMode) },
}; };
#else
typedef struct {
const char *name;
const uint8_t type; // see cliValueFlag_e
void *ptr;
const cliValueConfig_t config;
} clivalue_t;
const clivalue_t valueTable[] = {
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &pwmRxConfig()->inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
};
#endif
static void cliPrint(const char *str) static void cliPrint(const char *str)
{ {
while (*str) { while (*str) {
@ -1306,31 +1291,8 @@ static void restoreConfigs(void)
#endif #endif
} }
static void *getDefaultPointer(const void *valuePointer, const master_t *defaultConfig) static void dumpValues(uint16_t valueSection, uint8_t dumpMask)
{ {
return ((uint8_t *)valuePointer) - (uint32_t)&masterConfig + (uint32_t)defaultConfig;
}
static bool valueEqualsDefault(const clivalue_t *value, const master_t *defaultConfig)
{
const void *ptr = getValuePointer(value);
const void *ptrDefault = getDefaultPointer(ptr, defaultConfig);
return valuePtrEqualsDefault(value->type, ptr, ptrDefault);
}
static void cliPrintVarDefault(const clivalue_t *var, uint32_t full, const master_t *defaultConfig)
{
void *ptr = getValuePointer(var);
void *defaultPtr = getDefaultPointer(ptr, defaultConfig);
printValuePointer(var, defaultPtr, full);
}
static void dumpValues(uint16_t valueSection, uint8_t dumpMask, const master_t *defaultConfig)
{
const char *format = "set %s = ";
#ifdef USE_PARAMETER_GROUPS
if (valueSection == MASTER_VALUE) { if (valueSection == MASTER_VALUE) {
// gyroConfig() has been set to default, gyroConfigCopy contains current value // gyroConfig() has been set to default, gyroConfigCopy contains current value
dumpPgValues(MASTER_VALUE, dumpMask, PG_GYRO_CONFIG, &gyroConfigCopy, gyroConfig()); dumpPgValues(MASTER_VALUE, dumpMask, PG_GYRO_CONFIG, &gyroConfigCopy, gyroConfig());
@ -1376,21 +1338,6 @@ static void dumpValues(uint16_t valueSection, uint8_t dumpMask, const master_t *
#endif #endif
return; return;
} }
#endif
for (uint32_t i = 0; i < ARRAYLEN(valueTable); i++) {
const clivalue_t *value = &valueTable[i];
if ((value->type & VALUE_SECTION_MASK) == valueSection) {
const bool equalsDefault = valueEqualsDefault(value, defaultConfig);
if (cliDefaultPrintf(dumpMask, equalsDefault, format, valueTable[i].name)) {
cliPrintVarDefault(value, 0, defaultConfig);
cliPrint("\r\n");
}
if (cliDumpPrintf(dumpMask, equalsDefault, format, valueTable[i].name)) {
cliPrintVar(value, 0);
cliPrint("\r\n");
}
}
}
cliPrint("\r\n"); cliPrint("\r\n");
} }
@ -3165,7 +3112,7 @@ static void cliRateProfile(char *cmdline)
} }
} }
static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, const master_t *defaultConfig) static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask)
{ {
if (profileIndex >= MAX_PROFILE_COUNT) { if (profileIndex >= MAX_PROFILE_COUNT) {
// Faulty values // Faulty values
@ -3175,10 +3122,10 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, const master_
cliPrintHashLine("profile"); cliPrintHashLine("profile");
cliProfile(""); cliProfile("");
cliPrint("\r\n"); cliPrint("\r\n");
dumpValues(PROFILE_VALUE, dumpMask, defaultConfig); dumpValues(PROFILE_VALUE, dumpMask);
} }
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, const master_t *defaultConfig) static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask)
{ {
if (rateProfileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) { if (rateProfileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) {
// Faulty values // Faulty values
@ -3188,7 +3135,7 @@ static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, const
cliPrintHashLine("rateprofile"); cliPrintHashLine("rateprofile");
cliRateProfile(""); cliRateProfile("");
cliPrint("\r\n"); cliPrint("\r\n");
dumpValues(CONTROL_RATE_VALUE, dumpMask, defaultConfig); dumpValues(CONTROL_RATE_VALUE, dumpMask);
} }
static void cliSave(char *cmdline) static void cliSave(char *cmdline)
@ -3382,7 +3329,7 @@ static void cliStatus(char *cmdline)
#endif #endif
cliPrintf("Stack size: %d, Stack address: 0x%x\r\n", stackTotalSize(), stackHighMem()); cliPrintf("Stack size: %d, Stack address: 0x%x\r\n", stackTotalSize(), stackHighMem());
cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", (uint16_t)cycleTime, i2cErrorCounter, sizeof(master_t)); cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", (uint16_t)cycleTime, i2cErrorCounter, PG_REGISTRY_SIZE);
#ifdef USE_SDCARD #ifdef USE_SDCARD
cliSdInfo(NULL); cliSdInfo(NULL);
@ -3475,8 +3422,7 @@ static void printConfig(char *cmdline, bool doDiff)
dumpMask = dumpMask | DO_DIFF; dumpMask = dumpMask | DO_DIFF;
} }
static master_t defaultConfig; createDefaultConfig();
createDefaultConfig(&defaultConfig);
backupConfigs(); backupConfigs();
#ifdef USE_PARAMETER_GROUPS #ifdef USE_PARAMETER_GROUPS
@ -3563,12 +3509,12 @@ static void printConfig(char *cmdline, bool doDiff)
printRxFail(dumpMask, rxFailsafeChannelConfigsCopy, rxFailsafeChannelConfigs(0)); printRxFail(dumpMask, rxFailsafeChannelConfigsCopy, rxFailsafeChannelConfigs(0));
cliPrintHashLine("master"); cliPrintHashLine("master");
dumpValues(MASTER_VALUE, dumpMask, &defaultConfig); dumpValues(MASTER_VALUE, dumpMask);
if (dumpMask & DUMP_ALL) { if (dumpMask & DUMP_ALL) {
const uint8_t activeProfile = getCurrentProfileIndex(); const uint8_t activeProfile = getCurrentProfileIndex();
for (uint32_t profileCount=0; profileCount<MAX_PROFILE_COUNT;profileCount++) { for (uint32_t profileCount=0; profileCount<MAX_PROFILE_COUNT;profileCount++) {
cliDumpProfile(profileCount, dumpMask, &defaultConfig); cliDumpProfile(profileCount, dumpMask);
} }
changeProfile(activeProfile); changeProfile(activeProfile);
@ -3577,24 +3523,24 @@ static void printConfig(char *cmdline, bool doDiff)
uint8_t currentRateIndex = getCurrentControlRateProfile(); uint8_t currentRateIndex = getCurrentControlRateProfile();
for (uint32_t rateCount = 0; rateCount<MAX_CONTROL_RATE_PROFILE_COUNT; rateCount++) { for (uint32_t rateCount = 0; rateCount<MAX_CONTROL_RATE_PROFILE_COUNT; rateCount++) {
cliDumpRateProfile(rateCount, dumpMask, &defaultConfig); cliDumpRateProfile(rateCount, dumpMask);
} }
changeControlRateProfile(currentRateIndex); changeControlRateProfile(currentRateIndex);
cliPrintHashLine("restore original rateprofile selection"); cliPrintHashLine("restore original rateprofile selection");
cliRateProfile(""); cliRateProfile("");
cliPrintHashLine("save configuration\r\nsave"); cliPrintHashLine("save configuration\r\nsave");
} else { } else {
cliDumpProfile(getCurrentProfileIndex(), dumpMask, &defaultConfig); cliDumpProfile(getCurrentProfileIndex(), dumpMask);
cliDumpRateProfile(getCurrentControlRateProfile(), dumpMask, &defaultConfig); cliDumpRateProfile(getCurrentControlRateProfile(), dumpMask);
} }
} }
if (dumpMask & DUMP_PROFILE) { if (dumpMask & DUMP_PROFILE) {
cliDumpProfile(getCurrentProfileIndex(), dumpMask, &defaultConfig); cliDumpProfile(getCurrentProfileIndex(), dumpMask);
} }
if (dumpMask & DUMP_RATES) { if (dumpMask & DUMP_RATES) {
cliDumpRateProfile(getCurrentControlRateProfile(), dumpMask, &defaultConfig); cliDumpRateProfile(getCurrentControlRateProfile(), dumpMask);
} }
// restore configs from copies // restore configs from copies
restoreConfigs(); restoreConfigs();

1
src/main/flight/servos.c
View file

@ -60,7 +60,6 @@
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/feature.h" #include "config/feature.h"
#include "config/config_master.h"
extern const mixer_t mixers[]; extern const mixer_t mixers[];

2
src/main/io/displayport_max7456.c
View file

@ -24,8 +24,6 @@
#include "common/utils.h" #include "common/utils.h"
#include "config/config_master.h"
#include "drivers/display.h" #include "drivers/display.h"
#include "drivers/max7456.h" #include "drivers/max7456.h"

1
src/main/io/ledstrip.c
View file

@ -73,7 +73,6 @@
#include "flight/imu.h" #include "flight/imu.h"
#include "flight/navigation_rewrite.h" #include "flight/navigation_rewrite.h"
#include "config/config_master.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/feature.h" #include "config/feature.h"

10
src/main/io/osd.c
View file

@ -48,7 +48,6 @@
#include "common/utils.h" #include "common/utils.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h" #include "config/feature.h"
#include "config/parameter_group.h" #include "config/parameter_group.h"
#include "config/parameter_group_ids.h" #include "config/parameter_group_ids.h"
@ -361,22 +360,19 @@ static void osdDrawSingleElement(uint8_t item)
case OSD_ROLL_PIDS: case OSD_ROLL_PIDS:
{ {
const pidProfile_t *pidProfile = &currentProfile->pidProfile; sprintf(buff, "ROL %3d %3d %3d", pidProfile()->P8[PIDROLL], pidProfile()->I8[PIDROLL], pidProfile()->D8[PIDROLL]);
sprintf(buff, "ROL %3d %3d %3d", pidProfile->P8[PIDROLL], pidProfile->I8[PIDROLL], pidProfile->D8[PIDROLL]);
break; break;
} }
case OSD_PITCH_PIDS: case OSD_PITCH_PIDS:
{ {
const pidProfile_t *pidProfile = &currentProfile->pidProfile; sprintf(buff, "PIT %3d %3d %3d", pidProfile()->P8[PIDPITCH], pidProfile()->I8[PIDPITCH], pidProfile()->D8[PIDPITCH]);
sprintf(buff, "PIT %3d %3d %3d", pidProfile->P8[PIDPITCH], pidProfile->I8[PIDPITCH], pidProfile->D8[PIDPITCH]);
break; break;
} }
case OSD_YAW_PIDS: case OSD_YAW_PIDS:
{ {
const pidProfile_t *pidProfile = &currentProfile->pidProfile; sprintf(buff, "YAW %3d %3d %3d", pidProfile()->P8[PIDYAW], pidProfile()->I8[PIDYAW], pidProfile()->D8[PIDYAW]);
sprintf(buff, "YAW %3d %3d %3d", pidProfile->P8[PIDYAW], pidProfile->I8[PIDYAW], pidProfile->D8[PIDYAW]);
break; break;
} }

64
src/main/target/ALIENFLIGHTF3/config.c Normal file
View file

@ -0,0 +1,64 @@
/*
* 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 <http://www.gnu.org/licenses/>.
*/
#include <stdint.h>
#include <platform.h>
#include "common/axis.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "io/serial.h"
#include "rx/rx.h"
#include "sensors/battery.h"
// alternative defaults settings for BlueJayF4 targets
void targetConfiguration(void)
{
// alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
batteryConfigMutable()->vbatscale = 20;
rxConfigMutable()->spektrum_sat_bind = 5;
motorConfigMutable()->minthrottle = 1000;
motorConfigMutable()->maxthrottle = 2000;
motorConfigMutable()->motorPwmRate = 32000;
pidProfileMutable()->P8[ROLL] = 36;
pidProfileMutable()->P8[PITCH] = 36;
failsafeConfigMutable()->failsafe_delay = 2;
failsafeConfigMutable()->failsafe_off_delay = 0;
controlRateProfilesMutable(0)->rates[FD_PITCH] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
controlRateProfilesMutable(0)->rates[FD_ROLL] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
controlRateProfilesMutable(0)->rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT;
parseRcChannels("TAER1234");
*customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
*customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
*customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
*customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
*customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
*customMotorMixerMutable(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
*customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
*customMotorMixerMutable(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
}

2
src/main/telemetry/crsf.c
View file

@ -40,6 +40,7 @@
#include "io/gps.h" #include "io/gps.h"
#include "io/serial.h" #include "io/serial.h"
#include "fc/config.h"
#include "fc/rc_controls.h" #include "fc/rc_controls.h"
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
@ -53,7 +54,6 @@
#include "config/feature.h" #include "config/feature.h"
//#include "config/config.h" //#include "config/config.h"
#include "config/config_master.h"
#define CRSF_CYCLETIME_US 100000 // 100ms, 10 Hz #define CRSF_CYCLETIME_US 100000 // 100ms, 10 Hz

1
src/main/telemetry/mavlink.c
View file

@ -69,7 +69,6 @@
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
#include "config/config_profile.h" #include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h" #include "config/feature.h"
#include "fc/mw.h" #include "fc/mw.h"