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Code Issues Wiki Activity

CLI fixes, emergency landing controller fixes

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-11-26 17:32:58 +10:00
parent 51d7babbdd
commit 472ab7694c
4 changed files with 22 additions and 8 deletions
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25
src/main/io/serial_cli.c
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@ -361,6 +361,16 @@ static const char * const lookupTableFailsafeProcedure[] = {
"SET-THR", "RTH"
};
#ifdef NAV
static const char * const lookupTableNavControlMode[] = {
"ATTI", "CRUISE"
};
static const char * const lookupTableNavRthAltMode[] = {
"CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST"
};
#endif
typedef struct lookupTableEntry_s {
const char * const *values;
const uint8_t valueCount;
@ -382,6 +392,10 @@ typedef enum {
TABLE_PID_CONTROLLER,
TABLE_SERIAL_RX,
TABLE_FAILSAFE_PROCEDURE,
#ifdef NAV
TABLE_NAV_USER_CTL_MODE,
TABLE_NAV_RTH_ALT_MODE,
#endif
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
@ -400,6 +414,10 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
{ lookupTableFailsafeProcedure, sizeof(lookupTableFailsafeProcedure) / sizeof(char *) },
#ifdef NAV
{ lookupTableNavControlMode, sizeof(lookupTableNavControlMode) / sizeof(char *) },
{ lookupTableNavRthAltMode, sizeof(lookupTableNavRthAltMode) / sizeof(char *) },
#endif
};
#define VALUE_TYPE_OFFSET 0
@ -523,7 +541,6 @@ const clivalue_t valueTable[] = {
{ "inav_gps_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.inav.gps_delay_ms, .config.minmax = { 0, 500 }, 0 },
{ "inav_w_z_baro_p", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_baro_p, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_z_baro_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_baro_v, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_z_gps_p", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_gps_p, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_z_gps_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_gps_v, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_xy_gps_p", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_xy_gps_p, .config.minmax = { 0, 10 }, 0 },
@ -531,14 +548,14 @@ const clivalue_t valueTable[] = {
{ "inav_w_xy_dr_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_xy_dr_v, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_z_res_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_res_v, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_xy_res_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_xy_res_v, .config.minmax = { 0, 10 }, 0 },
{ "inav_w_acc_bias", VAR_FLOAT | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.inav.w_acc_bias, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "inav_w_acc_bias", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_acc_bias, .config.minmax = { 0, 1 }, 0 },
{ "inav_max_eph_epv", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.max_eph_epv, .config.minmax = { 0, 9999 }, 0 },
{ "inav_baro_epv", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.baro_epv, .config.minmax = { 0, 9999 }, 0 },
{ "nav_use_midrc_for_althold", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.use_midrc_for_althold, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "nav_throttle_tilt_comp", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.throttle_tilt_comp, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "nav_user_control_mode", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.flags.user_control_mode, .config.minmax = { 0, 1 }, 0 },
{ "nav_user_control_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.user_control_mode, .config.lookup = { TABLE_NAV_USER_CTL_MODE }, 0 },
{ "nav_dterm_cut_hz", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.dterm_cut_hz, .config.minmax = { 0, 100 }, 0 },
{ "nav_wp_radius", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.waypoint_radius, .config.minmax = { 100, 2000 }, 0 },
{ "nav_max_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.max_speed, .config.minmax = { 10, 2000 }, 0 },
@ -547,7 +564,7 @@ const clivalue_t valueTable[] = {
{ "pos_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.pos_hold_deadband, .config.minmax = { 10, 250 }, 0 },
{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.alt_hold_deadband, .config.minmax = { 10, 250 }, 0 },
{ "nav_min_rth_distance", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.min_rth_distance, .config.minmax = { 0, 5000 }, 0 },
{ "nav_rth_alt_mode", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.flags.rth_alt_control_style, .config.minmax = { 0, 4 }, 0 },
{ "nav_rth_alt_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.rth_alt_control_style, .config.lookup = { TABLE_NAV_RTH_ALT_MODE }, 0 },
{ "nav_rth_altitude", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.rth_altitude, .config.minmax = { 100, 10000 }, 0 },
{ "nav_mc_hover_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.mc_hover_throttle, .config.minmax = { 1000, 2000 }, 0 },
{ "nav_fw_cruise_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_cruise_throttle, .config.minmax = { 1000, 2000 }, 0 },