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Merge pull request #1155 from martinbudden/inav_profile_controlrates_merge

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Inav profile controlrates merge
This commit is contained in:
Martin Budden 2017-01-24 10:07:11 +00:00 • committed by GitHub
commit 42f9f9507f
11 changed files with 120 additions and 200 deletions
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33
src/main/cms/cms_menu_imu.c
View file

@ -51,10 +51,6 @@ static uint8_t tmpProfileIndex;
static uint8_t profileIndex;
static char profileIndexString[] = " p";
static uint8_t tmpRateProfileIndex;
static uint8_t rateProfileIndex;
static char rateProfileIndexString[] = " r";
static void cmsx_ReadPidToArray(uint8_t *dst, int pidIndex)
{
dst[0] = pidProfile()->P8[pidIndex];
@ -71,14 +67,10 @@ static void cmsx_WritebackPidFromArray(uint8_t *src, int pidIndex)
static long cmsx_menuImu_onEnter(void)
{
profileIndex = getCurrentProfileIndex();
profileIndex = getConfigProfile();
tmpProfileIndex = profileIndex + 1;
profileIndexString[1] = '0' + tmpProfileIndex;
rateProfileIndex = getCurrentControlRateProfile();
tmpRateProfileIndex = rateProfileIndex + 1;
rateProfileIndexString[1] = '0' + tmpProfileIndex;
return 0;
}
@ -86,8 +78,7 @@ static long cmsx_menuImu_onExit(const OSD_Entry *self)
{
UNUSED(self);
setProfile(profileIndex);
changeControlRateProfile(rateProfileIndex); // XXX setControlRateProfile???
setConfigProfile(profileIndex);
return 0;
}
@ -103,17 +94,6 @@ static long cmsx_profileIndexOnChange(displayPort_t *displayPort, const void *pt
return 0;
}
static long cmsx_rateProfileIndexOnChange(displayPort_t *displayPort, const void *ptr)
{
UNUSED(displayPort);
UNUSED(ptr);
rateProfileIndex = tmpRateProfileIndex - 1;
rateProfileIndexString[1] = '0' + tmpProfileIndex;
return 0;
}
static uint8_t cmsx_pidRoll[3];
static uint8_t cmsx_pidPitch[3];
static uint8_t cmsx_pidYaw[3];
@ -288,7 +268,7 @@ static uint16_t cmsx_rateYaw;
static long cmsx_RateProfileRead(void)
{
memcpy(&rateProfile, controlRateProfiles(rateProfileIndex), sizeof(controlRateConfig_t));
memcpy(&rateProfile, controlRateProfiles(profileIndex), sizeof(controlRateConfig_t));
cmsx_rateRoll = DEKADEGREES_TO_DEGREES(rateProfile.rates[FD_ROLL]);
cmsx_ratePitch = DEKADEGREES_TO_DEGREES(rateProfile.rates[FD_PITCH]);
@ -305,14 +285,13 @@ static long cmsx_RateProfileWriteback(const OSD_Entry *self)
rateProfile.rates[FD_PITCH] = DEGREES_TO_DEKADEGREES(cmsx_ratePitch);
rateProfile.rates[FD_YAW] = DEGREES_TO_DEKADEGREES(cmsx_rateYaw);
memcpy((controlRateConfig_t *)controlRateProfiles(rateProfileIndex), &rateProfile, sizeof(controlRateConfig_t));
memcpy((controlRateConfig_t *)controlRateProfiles(profileIndex), &rateProfile, sizeof(controlRateConfig_t));
return 0;
}
static long cmsx_RateProfileOnEnter(void)
{
rateProfileIndexString[1] = '0' + tmpRateProfileIndex;
cmsx_RateProfileRead();
return 0;
@ -320,7 +299,7 @@ static long cmsx_RateProfileOnEnter(void)
static OSD_Entry cmsx_menuRateProfileEntries[] =
{
{ "-- RATE --", OME_Label, NULL, rateProfileIndexString, 0 },
{ "-- RATE --", OME_Label, NULL, profileIndexString, 0 },
#if 0
{ "RC RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t){ &rateProfile.rcRate8, 0, 255, 1, 10 }, 0 },
@ -528,7 +507,7 @@ static OSD_Entry cmsx_menuImuEntries[] =
{"FILT PP", OME_Submenu, cmsMenuChange, &cmsx_menuFilterPerProfile, 0},
// Rate profile dependent
{"RATE PROF", OME_UINT8, cmsx_rateProfileIndexOnChange, &(OSD_UINT8_t){ &tmpRateProfileIndex, 1, MAX_CONTROL_RATE_PROFILE_COUNT, 1}, 0},
{"RATE PROF", OME_UINT8, cmsx_profileIndexOnChange, &(OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_CONTROL_RATE_PROFILE_COUNT, 1}, 0},
{"RATE", OME_Submenu, cmsMenuChange, &cmsx_menuRateProfile, 0},
// Global

2
src/main/common/utils.h
View file

@ -23,6 +23,8 @@
#define ARRAYLEN(x) (sizeof(x) / sizeof((x)[0]))
#define ARRAYEND(x) (&(x)[ARRAYLEN(x)])
#define CONST_CAST(type, value) ((type)(value))
#define CONCAT_HELPER(x,y) x ## y
#define CONCAT(x,y) CONCAT_HELPER(x, y)

25
src/main/fc/config.c
View file

@ -95,7 +95,6 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
.currentControlRateProfileIndex = 0,
.current_profile_index = 0,
.debug_mode = DEBUG_NONE,
.i2c_overclock = 0,
@ -407,8 +406,7 @@ void resetConfigs(void)
createDefaultConfig();
setProfile(getCurrentProfileIndex());
setControlRateProfile(getCurrentProfileIndex());
setConfigProfile(getConfigProfile());
#ifdef LED_STRIP
reevaluateLedConfig();
#endif
@ -443,9 +441,7 @@ void readEEPROM(void)
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
}
setProfile(getCurrentProfileIndex());
pgActivateProfile(getCurrentProfileIndex());
setControlRateProfile(getCurrentProfileIndex());
setConfigProfile(getConfigProfile());
validateAndFixConfig();
activateConfig();
@ -483,27 +479,30 @@ void saveConfigAndNotify(void)
beeperConfirmationBeeps(1);
}
uint8_t getCurrentProfileIndex(void)
uint8_t getConfigProfile(void)
{
return systemConfig()->current_profile_index;
}
bool setProfile(uint8_t profileIndex)
bool setConfigProfile(uint8_t profileIndex)
{
bool ret = true; // return true if current_profile_index has changed
if (systemConfig()->current_profile_index == profileIndex) {
return false;
ret = false;
}
if (profileIndex >= MAX_PROFILE_COUNT) {// sanity check
profileIndex = 0;
}
pgActivateProfile(profileIndex);
systemConfigMutable()->current_profile_index = profileIndex;
// return true if current_profile_index has changed
return true;
// set the control rate profile to match
setControlRateProfile(profileIndex);
return ret;
}
void changeProfile(uint8_t profileIndex)
void setConfigProfileAndWriteEEPROM(uint8_t profileIndex)
{
if (setProfile(profileIndex)) {
if (setConfigProfile(profileIndex)) {
// profile has changed, so ensure current values saved before new profile is loaded
writeEEPROM();
readEEPROM();

7
src/main/fc/config.h
View file

@ -76,7 +76,6 @@ typedef enum {
typedef struct systemConfig_s {
uint16_t accTaskFrequency;
uint16_t attitudeTaskFrequency;
uint8_t currentControlRateProfileIndex;
uint8_t current_profile_index;
uint8_t asyncMode;
uint8_t debug_mode;
@ -115,9 +114,9 @@ void ensureEEPROMContainsValidData(void);
void saveConfigAndNotify(void);
void validateAndFixConfig(void);
uint8_t getCurrentProfileIndex(void);
bool setProfile(uint8_t profileIndex);
void changeProfile(uint8_t profileIndex);
uint8_t getConfigProfile(void);
bool setConfigProfile(uint8_t profileIndex);
void setConfigProfileAndWriteEEPROM(uint8_t profileIndex);
bool canSoftwareSerialBeUsed(void);
void applyAndSaveBoardAlignmentDelta(int16_t roll, int16_t pitch);

11
src/main/fc/controlrate_profile.c
View file

@ -52,17 +52,11 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
}
}
uint8_t getCurrentControlRateProfile(void)
{
return systemConfig()->currentControlRateProfileIndex;
}
void setControlRateProfile(uint8_t profileIndex)
{
if (profileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) {
profileIndex = MAX_CONTROL_RATE_PROFILE_COUNT - 1;
profileIndex = 0;
}
systemConfigMutable()->currentControlRateProfileIndex = profileIndex;
currentControlRateProfile = controlRateProfiles(profileIndex);
}
@ -73,9 +67,6 @@ void activateControlRateConfig(void)
void changeControlRateProfile(uint8_t profileIndex)
{
if (systemConfig()->currentControlRateProfileIndex == profileIndex) {
return;
}
setControlRateProfile(profileIndex);
activateControlRateConfig();
}

8
src/main/fc/fc_msp.c
View file

@ -562,7 +562,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#endif
sbufWriteU16(dst, packSensorStatus());
sbufWriteU32(dst, packFlightModeFlags());
sbufWriteU8(dst, getCurrentProfileIndex());
sbufWriteU8(dst, getConfigProfile());
sbufWriteU16(dst, averageSystemLoadPercent);
sbufWriteU16(dst, armingFlags);
sbufWriteU8(dst, getAccelerometerCalibrationAxisFlags());
@ -577,7 +577,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#endif
sbufWriteU16(dst, packSensorStatus());
sbufWriteU32(dst, packFlightModeFlags());
sbufWriteU8(dst, getCurrentProfileIndex());
sbufWriteU8(dst, getConfigProfile());
break;
case MSP_RAW_IMU:
@ -1280,9 +1280,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SELECT_SETTING:
if (!ARMING_FLAG(ARMED)) {
const uint8_t profileIndex = sbufReadU8(src);
setProfile(profileIndex);
writeEEPROM();
readEEPROM();
setConfigProfileAndWriteEEPROM(profileIndex);
}
break;

2
src/main/fc/mw.c
View file

@ -363,7 +363,7 @@ void processRx(timeUs_t currentTimeUs)
if (!cliMode) {
updateAdjustmentStates();
processRcAdjustments(currentControlRateProfile);
processRcAdjustments(CONST_CAST(controlRateConfig_t*, currentControlRateProfile));
}
bool canUseHorizonMode = true;

120
src/main/fc/rc_adjustments.c
View file

@ -47,7 +47,7 @@
PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 0);
uint8_t adjustmentStateMask = 0;
static uint8_t adjustmentStateMask = 0;
#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
@ -60,110 +60,94 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.adjustmentFunction = ADJUSTMENT_RC_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_RC_EXPO,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_YAW_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_YAW_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_YAW_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_YAW_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
.mode = ADJUSTMENT_MODE_SELECT,
.data = { .selectConfig = { .switchPositions = 3 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
},
{
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
#ifdef USE_INFLIGHT_PROFILE_ADJUSTMENT
}, {
.adjustmentFunction = ADJUSTMENT_PROFILE,
.mode = ADJUSTMENT_MODE_SELECT,
.data = { .selectConfig = { .switchPositions = 3 }}
#endif
}
};
#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
static adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
adjustmentState_t *adjustmentState = &adjustmentStates[index];
static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig)
{
adjustmentState_t * const adjustmentState = &adjustmentStates[index];
if (adjustmentState->config == adjustmentConfig) {
// already configured
@ -176,7 +160,8 @@ void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adj
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue)
{
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newValue);
@ -192,7 +177,8 @@ static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFu
}
#if 0
static void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
static void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue)
{
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newFloatValue);
@ -208,14 +194,14 @@ static void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustm
}
#endif
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue;
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
{
if (delta > 0) {
beeperConfirmationBeeps(2);
} else {
beeperConfirmationBeeps(1);
}
int newValue;
switch(adjustmentFunction) {
case ADJUSTMENT_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
@ -321,7 +307,8 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
};
}
void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
#ifdef USE_INFLIGHT_PROFILE_ADJUSTMENT
static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{
bool applied = false;
@ -339,30 +326,29 @@ void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
beeperConfirmationBeeps(position + 1);
}
}
#endif
#define RESET_FREQUENCY_2HZ (1000 / 2)
void processRcAdjustments(const controlRateConfig_t *controlRateConfig)
void processRcAdjustments(controlRateConfig_t *controlRateConfig)
{
uint8_t adjustmentIndex;
uint32_t now = millis();
const uint32_t now = millis();
bool canUseRxData = rxIsReceivingSignal();
const bool canUseRxData = rxIsReceivingSignal();
for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
for (int adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t * const adjustmentState = &adjustmentStates[adjustmentIndex];
if (!adjustmentState->config) {
continue;
}
uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
const uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
int32_t signedDiff = now - adjustmentState->timeoutAt;
bool canResetReadyStates = signedDiff >= 0L;
const int32_t signedDiff = now - adjustmentState->timeoutAt;
const bool canResetReadyStates = signedDiff >= 0L;
if (canResetReadyStates) {
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
@ -373,7 +359,7 @@ void processRcAdjustments(const controlRateConfig_t *controlRateConfig)
continue;
}
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
@ -392,12 +378,14 @@ void processRcAdjustments(const controlRateConfig_t *controlRateConfig)
}
// it is legitimate to adjust an otherwise const item here
applyStepAdjustment((controlRateConfig_t*)controlRateConfig, adjustmentFunction, delta);
applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
#ifdef USE_INFLIGHT_PROFILE_ADJUSTMENT
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
const uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
const uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
applySelectAdjustment(adjustmentFunction, position);
#endif
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
}
@ -411,7 +399,7 @@ void resetAdjustmentStates(void)
void updateAdjustmentStates(void)
{
for (int index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
const adjustmentRange_t *adjustmentRange = adjustmentRanges(index);
const adjustmentRange_t * const adjustmentRange = adjustmentRanges(index);
if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {

12
src/main/fc/rc_adjustments.h
View file

@ -21,6 +21,8 @@
#include "fc/rc_controls.h"
//#define USE_INFLIGHT_PROFILE_ADJUSTMENT - not currently enabled
typedef enum {
ADJUSTMENT_NONE = 0,
ADJUSTMENT_RC_RATE,
@ -34,7 +36,6 @@ typedef enum {
ADJUSTMENT_YAW_P,
ADJUSTMENT_YAW_I,
ADJUSTMENT_YAW_D,
ADJUSTMENT_RATE_PROFILE,
ADJUSTMENT_PITCH_RATE,
ADJUSTMENT_ROLL_RATE,
ADJUSTMENT_PITCH_P,
@ -43,10 +44,12 @@ typedef enum {
ADJUSTMENT_ROLL_P,
ADJUSTMENT_ROLL_I,
ADJUSTMENT_ROLL_D,
#ifdef USE_INFLIGHT_PROFILE_ADJUSTMENT
ADJUSTMENT_PROFILE,
#endif
ADJUSTMENT_FUNCTION_COUNT // must be last
} adjustmentFunction_e;
#define ADJUSTMENT_FUNCTION_COUNT 21
typedef enum {
ADJUSTMENT_MODE_STEP,
ADJUSTMENT_MODE_SELECT
@ -102,7 +105,6 @@ typedef struct adjustmentState_s {
PG_DECLARE_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges);
void resetAdjustmentStates(void);
void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
void updateAdjustmentStates(void);
struct controlRateConfig_s;
void processRcAdjustments(const struct controlRateConfig_s *controlRateConfig);
void processRcAdjustments(struct controlRateConfig_s *controlRateConfig);

2
src/main/fc/rc_controls.c
View file

@ -223,7 +223,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
i = 3;
if (i) {
changeProfile(i - 1);
setConfigProfileAndWriteEEPROM(i - 1);
return;
}

96
src/main/fc/serial_cli.c
View file

@ -679,10 +679,6 @@ static const clivalue_t valueTable[] = {
{ "pos_hold_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 10, 250 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, pos_hold_deadband) },
{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 10, 250 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_deadband) },
#ifdef USE_SERVOS
//!! { "fw_iterm_throw_limit", VAR_INT16 | PROFILE_VALUE, .config.minmax = { FW_ITERM_THROW_LIMIT_MIN, FW_ITERM_THROW_LIMIT_MAX}, PG_PID_PROFILE, offsetof(pidProfile_t, alt_hold_deadband) },
#endif
// PG_PID_PROFILE
// { "default_rate_profile", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, PG_PID_CONFIG, offsetof(pidProfile_t, defaultRateProfileIndex) },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PITCH]) },
@ -705,7 +701,9 @@ static const clivalue_t valueTable[] = {
{ "dterm_lpf_hz", VAR_UINT8 | PROFILE_VALUE, .config.minmax = {0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf_hz) },
{ "yaw_lpf_hz", VAR_UINT8 | PROFILE_VALUE, .config.minmax = {0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lpf_hz) },
{ "dterm_setpoint_weight", VAR_FLOAT | PROFILE_VALUE, .config.minmax = {0, 2 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_setpoint_weight) },
#ifdef USE_SERVOS
{ "fw_iterm_throw_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { FW_ITERM_THROW_LIMIT_MIN, FW_ITERM_THROW_LIMIT_MAX}, PG_PID_PROFILE, offsetof(pidProfile_t, fixedWingItermThrowLimit) },
#endif
#ifdef USE_DTERM_NOTCH
{ "dterm_notch_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmax = {0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_soft_notch_hz) },
{ "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, .config.minmax = {1, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_soft_notch_cutoff) },
@ -1221,6 +1219,12 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
ret.currentConfig = &ledStripConfigCopy;
ret.defaultConfig = ledStripConfig();
break;
#endif
#ifdef OSD
case PG_OSD_CONFIG:
ret.currentConfig = &osdConfigCopy;
ret.defaultConfig = osdConfig();
break;
#endif
case PG_SYSTEM_CONFIG:
ret.currentConfig = &systemConfigCopy;
@ -1235,7 +1239,7 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
ret.defaultConfig = controlRateProfiles(0);
break;
case PG_PID_PROFILE:
ret.currentConfig = &pidProfileCopy[getCurrentProfileIndex()];
ret.currentConfig = &pidProfileCopy[getConfigProfile()];
ret.defaultConfig = pidProfile();
break;
case PG_RX_FAILSAFE_CHANNEL_CONFIG:
@ -1284,11 +1288,10 @@ static uint16_t getValueOffset(const clivalue_t *value)
{
switch (value->type & VALUE_SECTION_MASK) {
case MASTER_VALUE:
return value->offset;
case CONTROL_RATE_VALUE:
return value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfile();
case PROFILE_VALUE:
return value->offset;
case CONTROL_RATE_VALUE:
return value->offset + sizeof(controlRateConfig_t) * getConfigProfile();
}
return 0;
}
@ -1299,11 +1302,10 @@ static void *getValuePointer(const clivalue_t *value)
switch (value->type & VALUE_SECTION_MASK) {
case MASTER_VALUE:
case PROFILE_VALUE:
return rec->address + value->offset;
case CONTROL_RATE_VALUE:
return rec->address + value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfile();
case PROFILE_VALUE:
return *rec->ptr + value->offset;
return rec->address + value->offset + sizeof(controlRateConfig_t) * getConfigProfile();
}
return NULL;
}
@ -3086,52 +3088,27 @@ static void cliPlaySound(char *cmdline)
static void cliProfile(char *cmdline)
{
if (isEmpty(cmdline)) {
cliPrintf("profile %d\r\n", getCurrentProfileIndex());
cliPrintf("profile %d\r\n", getConfigProfile());
return;
} else {
const int i = atoi(cmdline);
const int i = atoi(cmdline) - 1; // make CLI index 1-based
if (i >= 0 && i < MAX_PROFILE_COUNT) {
changeProfile(i);
setConfigProfileAndWriteEEPROM(i);
cliProfile("");
}
}
}
static void cliRateProfile(char *cmdline)
{
if (isEmpty(cmdline)) {
cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfile());
return;
} else {
const int i = atoi(cmdline);
if (i >= 0 && i < MAX_CONTROL_RATE_PROFILE_COUNT) {
changeControlRateProfile(i);
cliRateProfile("");
}
}
}
static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask)
{
if (profileIndex >= MAX_PROFILE_COUNT) {
// Faulty values
return;
}
setProfile(profileIndex);
setConfigProfile(profileIndex);
cliPrintHashLine("profile");
cliPrintf("profile %d\r\n\r\n", getCurrentProfileIndex());
cliPrintf("profile %d\r\n\r\n", getConfigProfile());
dumpAllValues(PROFILE_VALUE, dumpMask);
}
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask)
{
if (rateProfileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) {
// Faulty values
return;
}
changeControlRateProfile(rateProfileIndex);
cliPrintHashLine("rateprofile");
cliPrintf("rateprofile %d\r\n\r\n", getCurrentControlRateProfile());
dumpAllValues(CONTROL_RATE_VALUE, dumpMask);
}
@ -3140,7 +3117,7 @@ static void cliSave(char *cmdline)
UNUSED(cmdline);
cliPrint("Saving");
//copyCurrentProfileToProfileSlot(getCurrentProfileIndex();
//copyCurrentProfileToProfileSlot(getConfigProfile();
writeEEPROM();
cliReboot();
}
@ -3462,8 +3439,6 @@ static void printConfig(const char *cmdline, bool doDiff)
dumpMask = DUMP_MASTER; // only
} else if ((options = checkCommand(cmdline, "profile"))) {
dumpMask = DUMP_PROFILE; // only
} else if ((options = checkCommand(cmdline, "rates"))) {
dumpMask = DUMP_RATES; // only
} else if ((options = checkCommand(cmdline, "all"))) {
dumpMask = DUMP_ALL; // all profiles and rates
} else {
@ -3474,14 +3449,12 @@ static void printConfig(const char *cmdline, bool doDiff)
dumpMask = dumpMask | DO_DIFF;
}
const int currentProfileIndexSave = getCurrentProfileIndex();
const int currentControlRateProfileSave = getCurrentControlRateProfile();
const int currentProfileIndexSave = getConfigProfile();
backupConfigs();
// reset all configs to defaults to do differencing
resetConfigs();
// restore the profile indices, since they should not be reset for proper comparison
setProfile(currentProfileIndexSave);
setControlRateProfile(currentControlRateProfileSave);
setConfigProfile(currentProfileIndexSave);
if (checkCommand(options, "showdefaults")) {
dumpMask = dumpMask | SHOW_DEFAULTS; // add default values as comments for changed values
@ -3563,34 +3536,24 @@ static void printConfig(const char *cmdline, bool doDiff)
dumpAllValues(MASTER_VALUE, dumpMask);
if (dumpMask & DUMP_ALL) {
const int activeProfile = getCurrentProfileIndex();
// dump all profiles
const int currentProfileIndexSave = getConfigProfile();
for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
cliDumpProfile(ii, dumpMask);
}
setProfile(activeProfile);
setConfigProfile(currentProfileIndexSave);
cliPrintHashLine("restore original profile selection");
cliPrintf("profile %d\r\n", getCurrentProfileIndex());
cliPrintf("profile %d\r\n", currentProfileIndexSave);
const int currentRateIndex = getCurrentControlRateProfile();
for (int ii = 0; ii < MAX_CONTROL_RATE_PROFILE_COUNT; ++ii) {
cliDumpRateProfile(ii, dumpMask);
}
changeControlRateProfile(currentRateIndex);
cliPrintHashLine("restore original rateprofile selection");
cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfile());
cliPrintHashLine("save configuration\r\nsave");
} else {
cliDumpProfile(getCurrentProfileIndex(), dumpMask);
cliDumpRateProfile(getCurrentControlRateProfile(), dumpMask);
// dump just the current profile
cliDumpProfile(getConfigProfile(), dumpMask);
}
}
if (dumpMask & DUMP_PROFILE) {
cliDumpProfile(getCurrentProfileIndex(), dumpMask);
}
if (dumpMask & DUMP_RATES) {
cliDumpRateProfile(getCurrentControlRateProfile(), dumpMask);
cliDumpProfile(getConfigProfile(), dumpMask);
}
// restore configs from copies
restoreConfigs();
@ -3694,7 +3657,6 @@ const clicmd_t cmdTable[] = {
#endif
CLI_COMMAND_DEF("profile", "change profile",
"[<index>]", cliProfile),
CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
#if !defined(SKIP_TASK_STATISTICS) && !defined(SKIP_CLI_RESOURCES)
CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
#endif