Added controlrateConfig parameter group

Makefile

@@ -471,7 +471,6 @@ COMMON_SRC = \
             build/assert.c \
             $(TARGET_DIR_SRC) \
             main.c \
-            fc/mw.c \
             common/encoding.c \
             common/filter.c \
             common/maths.c \
@@ -482,8 +481,6 @@ COMMON_SRC = \
             config/config_eeprom.c \
             config/config_streamer.c \
             config/parameter_group.c \
-            fc/config.c \
-            fc/runtime_config.c \
             drivers/logging.c \
             drivers/adc.c \
             drivers/buf_writer.c \
@@ -516,12 +513,16 @@ COMMON_SRC = \
             flight/mixer.c \
             flight/servos.c \
             flight/pid.c \
+            fc/config.c \
+            fc/controlrate_profile.c \
             fc/fc_init.c \
             fc/fc_tasks.c \
             fc/fc_hardfaults.c \
             fc/fc_msp.c \
+            fc/mw.c \
             fc/rc_controls.c \
             fc/rc_curves.c \
+            fc/runtime_config.c \
             fc/serial_cli.c \
             io/beeper.c \
             io/serial.c \

src/main/blackbox/blackbox.c

@@ -53,6 +53,7 @@
 #include "sensors/battery.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 

src/main/cms/cms_menu_imu.c

@@ -36,15 +36,18 @@
 #include "cms/cms_menu_imu.h"
 
 #include "common/axis.h"
-#include "io/gimbal.h"
+
 #include "flight/pid.h"
 #include "flight/mixer.h"
 #include "flight/servos.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
+#include "io/gimbal.h"
+
 #include "sensors/gyro.h"
 
 #include "config/config_profile.h"
@@ -295,7 +298,7 @@ static uint16_t cmsx_rateYaw;
 
 static long cmsx_RateProfileRead(void)
 {
-    memcpy(&rateProfile, &masterConfig.controlRateProfiles[rateProfileIndex], sizeof(controlRateConfig_t));
+    memcpy(&rateProfile, controlRateProfiles(rateProfileIndex), sizeof(controlRateConfig_t));
 
     cmsx_rateRoll  = DEKADEGREES_TO_DEGREES(rateProfile.rates[FD_ROLL]);
     cmsx_ratePitch = DEKADEGREES_TO_DEGREES(rateProfile.rates[FD_PITCH]);
@@ -312,7 +315,7 @@ 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(&masterConfig.controlRateProfiles[rateProfileIndex], &rateProfile, sizeof(controlRateConfig_t));
+    memcpy((controlRateConfig_t *)controlRateProfiles(rateProfileIndex), &rateProfile, sizeof(controlRateConfig_t));
 
     return 0;
 }
@@ -329,6 +332,8 @@ static OSD_Entry cmsx_menuRateProfileEntries[] =
 {
     { "-- RATE --", OME_Label, NULL, rateProfileIndexString, 0 },
 
+//!!TODO - fix up CMS menu entries to use parameter groups
+/*
 #if 0
     { "RC RATE",     OME_FLOAT,  NULL, &(OSD_FLOAT_t){ &rateProfile.rcRate8,    0, 255, 1, 10 }, 0 },
     { "RC YAW RATE", OME_FLOAT,  NULL, &(OSD_FLOAT_t){ &rateProfile.rcYawRate8, 0, 255, 1, 10 }, 0 },
@@ -346,7 +351,7 @@ static OSD_Entry cmsx_menuRateProfileEntries[] =
 
     { "THRPID ATT",  OME_UINT8,  NULL, &(OSD_UINT8_t){ &rateProfile.dynThrPID,  0, 100, 1 },     0 },
     { "TPA BRKPT",   OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1000, 2000, 10}, 0 },
-
+*/
     { "BACK", OME_Back, NULL, NULL, 0 },
     { NULL, OME_END, NULL, NULL, 0 }
 };

src/main/config/config_master.h

@@ -145,7 +145,6 @@ typedef struct master_s {
 
     profile_t profile[MAX_PROFILE_COUNT];
     uint8_t current_profile_index;
-    controlRateConfig_t controlRateProfiles[MAX_CONTROL_RATE_PROFILE_COUNT];
 
     uint32_t beeper_off_flags;
     uint32_t preferred_beeper_off_flags;
@@ -162,6 +161,5 @@ typedef struct master_s {
 
 extern master_t masterConfig;
 extern profile_t *currentProfile;
-extern controlRateConfig_t *currentControlRateProfile;
 
 void createDefaultConfig(master_t *config);

src/main/config/config_reset.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include <string.h>
+
 #ifndef __UNIQL
 # define __UNIQL_CONCAT2(x,y) x ## y
 # define __UNIQL_CONCAT(x,y) __UNIQL_CONCAT2(x,y)

src/main/config/parameter_group_ids.h

@@ -27,7 +27,7 @@
 //#define PG_SENSOR_TRIMS 9 -- NOT USED in iNav
 #define PG_GYRO_CONFIG 10
 #define PG_BATTERY_CONFIG 11
-//#define PG_CONTROL_RATE_PROFILES 12
+#define PG_CONTROL_RATE_PROFILES 12
 //#define PG_SERIAL_CONFIG 13
 //#define PG_PID_PROFILE 14
 //#define PG_GTUNE_CONFIG 15

src/main/fc/config.c

@@ -45,8 +45,6 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "fc/rc_controls.h"
-#include "fc/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 #include "io/osd.h"
@@ -64,6 +62,9 @@
 #include "flight/navigation_rewrite.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 
 #include "config/config_eeprom.h"
@@ -84,9 +85,6 @@
 master_t masterConfig;                 // master config struct with data independent from profiles
 profile_t *currentProfile;
 
-static uint8_t currentControlRateProfileIndex = 0;
-controlRateConfig_t *currentControlRateProfile;
-
 void resetPidProfile(pidProfile_t *pidProfile)
 {
     pidProfile->P8[ROLL] = 40;
@@ -280,24 +278,6 @@ void resetSerialConfig(serialConfig_t *serialConfig)
     serialConfig->reboot_character = 'R';
 }
 
-static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
-{
-    controlRateConfig->rcExpo8 = 70;
-    controlRateConfig->thrMid8 = 50;
-    controlRateConfig->thrExpo8 = 0;
-    controlRateConfig->dynThrPID = 0;
-    controlRateConfig->rcYawExpo8 = 20;
-    controlRateConfig->tpa_breakpoint = 1500;
-
-    for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
-        if (axis == FD_YAW) {
-            controlRateConfig->rates[axis] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT;
-        } else {
-            controlRateConfig->rates[axis] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
-        }
-    }
-
-}
 
 void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
 {
@@ -429,8 +409,6 @@ void createDefaultConfig(master_t *config)
 
     resetPidProfile(&config->profile[0].pidProfile);
 
-    resetControlRateConfig(&config->controlRateProfiles[0]);
-
     // for (int i = 0; i < CHECKBOXITEMS; i++)
     //     cfg.activate[i] = 0;
 
@@ -558,11 +536,6 @@ void createDefaultConfig(master_t *config)
         memcpy(&config->profile[i], &config->profile[0], sizeof(profile_t));
     }
 
-    // copy first control rate config into remaining profile
-    for (int i = 1; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
-        memcpy(&config->controlRateProfiles[i], &config->controlRateProfiles[0], sizeof(controlRateConfig_t));
-    }
-
     for (int i = 1; i < MAX_PROFILE_COUNT; i++) {
         config->profile[i].defaultRateProfileIndex = i % MAX_CONTROL_RATE_PROFILE_COUNT;
     }
@@ -582,11 +555,6 @@ void resetConfigs(void)
 #endif
 }
 
-static void activateControlRateConfig(void)
-{
-    generateThrottleCurve(currentControlRateProfile);
-}
-
 static void activateConfig(void)
 {
     activateControlRateConfig();
@@ -926,26 +894,6 @@ void changeProfile(uint8_t profileIndex)
     beeperConfirmationBeeps(profileIndex + 1);
 }
 
-uint8_t getCurrentControlRateProfile(void)
-{
-    return currentControlRateProfileIndex;
-}
-
-void setControlRateProfile(uint8_t profileIndex)
-{
-    currentControlRateProfileIndex = profileIndex;
-    currentControlRateProfile = &masterConfig.controlRateProfiles[profileIndex];
-}
-
-void changeControlRateProfile(uint8_t profileIndex)
-{
-    if (profileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) {
-        profileIndex = MAX_CONTROL_RATE_PROFILE_COUNT - 1;
-    }
-    setControlRateProfile(profileIndex);
-    activateControlRateConfig();
-}
-
 void persistentFlagClearAll()
 {
     masterConfig.persistentFlags = 0;

src/main/fc/config.h

@@ -21,7 +21,6 @@
 #include <stdbool.h>
 
 #define MAX_PROFILE_COUNT 3
-#define MAX_CONTROL_RATE_PROFILE_COUNT 3
 #define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
 #define MAX_NAME_LENGTH 16
 
@@ -99,10 +98,6 @@ void changeProfile(uint8_t profileIndex);
 struct pidProfile_s;
 void resetPidProfile(struct pidProfile_s *pidProfile);
 
-void setControlRateProfile(uint8_t profileIndex);
-void changeControlRateProfile(uint8_t profileIndex);
-uint8_t getCurrentControlRateProfile(void);
-
 bool canSoftwareSerialBeUsed(void);
 void applyAndSaveBoardAlignmentDelta(int16_t roll, int16_t pitch);
 

src/main/fc/controlrate_profile.c

@@ -0,0 +1,78 @@
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "common/axis.h"
+
+#include "config/config_reset.h"
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+
+#include "fc/controlrate_profile.h"
+#include "fc/rc_curves.h"
+
+static uint8_t currentControlRateProfileIndex = 0;
+const controlRateConfig_t *currentControlRateProfile;
+
+
+PG_REGISTER_ARR_WITH_RESET_FN(const controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 0);
+
+void pgResetFn_controlRateProfiles(const controlRateConfig_t *instance)
+{
+    for (int i = 0; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
+        RESET_CONFIG(const controlRateConfig_t, ((controlRateConfig_t*)&instance[i]),
+            .rcExpo8 = 70,
+            .thrMid8 = 50,
+            .thrExpo8 = 0,
+            .dynThrPID = 0,
+            .rcYawExpo8 = 20,
+            .tpa_breakpoint = 1500,
+            .rates[FD_ROLL] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
+            .rates[FD_PITCH] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT,
+            .rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT
+        );
+    }
+}
+
+uint8_t getCurrentControlRateProfile(void)
+{
+    return currentControlRateProfileIndex;
+}
+
+void setControlRateProfile(uint8_t profileIndex)
+{
+    currentControlRateProfileIndex = profileIndex;
+    currentControlRateProfile = controlRateProfiles(profileIndex);
+}
+
+void activateControlRateConfig(void)
+{
+    generateThrottleCurve(currentControlRateProfile);
+}
+
+void changeControlRateProfile(uint8_t profileIndex)
+{
+    if (profileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) {
+        profileIndex = MAX_CONTROL_RATE_PROFILE_COUNT - 1;
+    }
+    setControlRateProfile(profileIndex);
+    activateControlRateConfig();
+}

src/main/fc/controlrate_profile.h

@@ -0,0 +1,60 @@
+/*
+ * 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/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#include "config/parameter_group.h"
+
+#define MAX_CONTROL_RATE_PROFILE_COUNT 3
+/*
+Max and min available values for rates are now stored as absolute
+tenths of degrees-per-second [dsp/10]
+That means, max. rotation rate 180 equals 1800dps
+
+New defaults of 200dps for pitch,roll and yaw are more less
+equivalent of rates 0 from previous versions of iNav, Cleanflight, Baseflight
+and so on.
+*/
+#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX  180
+#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN  6
+#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT  20
+#define CONTROL_RATE_CONFIG_YAW_RATE_MAX         180
+#define CONTROL_RATE_CONFIG_YAW_RATE_MIN         2
+#define CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT     20
+
+#define CONTROL_RATE_CONFIG_TPA_MAX              100
+
+typedef struct controlRateConfig_s {
+    uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
+    uint8_t rcExpo8;
+    uint8_t thrMid8;
+    uint8_t thrExpo8;
+    uint8_t rates[3];
+    uint8_t dynThrPID;
+    uint8_t rcYawExpo8;
+} controlRateConfig_t;
+
+PG_DECLARE_ARR(const controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
+
+extern const controlRateConfig_t *currentControlRateProfile;
+
+void setControlRateProfile(uint8_t profileIndex);
+void changeControlRateProfile(uint8_t profileIndex);
+void activateControlRateConfig(void);
+uint8_t getCurrentControlRateProfile(void);

src/main/fc/fc_msp.c

@@ -43,6 +43,7 @@
 #include "drivers/system.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/fc_msp.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
@@ -1349,23 +1350,24 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
     case MSP_SET_RC_TUNING:
         if (dataSize >= 10) {
             sbufReadU8(src); //Read rcRate8, kept for protocol compatibility reasons
-            currentControlRateProfile->rcExpo8 = sbufReadU8(src);
+            // need to cast away const to set controlRateProfile
+            ((controlRateConfig_t*)currentControlRateProfile)->rcExpo8 = sbufReadU8(src);
             for (int i = 0; i < 3; i++) {
                 rate = sbufReadU8(src);
                 if (i == FD_YAW) {
-                    currentControlRateProfile->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
+                    ((controlRateConfig_t*)currentControlRateProfile)->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
                 }
                 else {
-                    currentControlRateProfile->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
+                    ((controlRateConfig_t*)currentControlRateProfile)->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
                 }
             }
             rate = sbufReadU8(src);
-            currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
+            ((controlRateConfig_t*)currentControlRateProfile)->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
-            currentControlRateProfile->thrMid8 = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->thrMid8 = sbufReadU8(src);
-            currentControlRateProfile->thrExpo8 = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->thrExpo8 = sbufReadU8(src);
-            currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->tpa_breakpoint = sbufReadU16(src);
             if (dataSize >= 11) {
-                currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
+                ((controlRateConfig_t*)currentControlRateProfile)->rcYawExpo8 = sbufReadU8(src);
             }
 
             schedulePidGainsUpdate();

src/main/fc/mw.c

@@ -46,6 +46,7 @@
 #include "sensors/battery.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "fc/runtime_config.h"

src/main/fc/rc_controls.c

@@ -34,6 +34,7 @@
 #include "drivers/system.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/mw.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
@@ -502,7 +503,7 @@ void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adj
     MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
 }
 
-void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
+static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
     int newValue;
 
     if (delta > 0) {
@@ -638,7 +639,7 @@ void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
 
 #define RESET_FREQUENCY_2HZ (1000 / 2)
 
-void processRcAdjustments(controlRateConfig_t *controlRateConfig)
+void processRcAdjustments(const controlRateConfig_t *controlRateConfig)
 {
     uint8_t adjustmentIndex;
     uint32_t now = millis();
@@ -687,7 +688,8 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig)
                 continue;
             }
 
-            applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
+            // it is legitimate to adjust an otherwise const item here
+            applyStepAdjustment((controlRateConfig_t*)controlRateConfig, adjustmentFunction, delta);
         } 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;

src/main/fc/rc_controls.h

@@ -103,23 +103,6 @@ typedef enum {
 #define MIN_MODE_RANGE_STEP 0
 #define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
 
-/*
-Max and min available values for rates are now stored as absolute
-tenths of degrees-per-second [dsp/10]
-That means, max. rotation rate 180 equals 1800dps
-
-New defaults of 200dps for pitch,roll and yaw are more less
-equivalent of rates 0 from previous versions of iNav, Cleanflight, Baseflight
-and so on.
-*/
-#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX  180
-#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN  6
-#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT  20
-#define CONTROL_RATE_CONFIG_YAW_RATE_MAX         180
-#define CONTROL_RATE_CONFIG_YAW_RATE_MIN         2
-#define CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT     20
-
-#define CONTROL_RATE_CONFIG_TPA_MAX              100
 
 // steps are 25 apart
 // a value of 0 corresponds to a channel value of 900 or less
@@ -143,16 +126,6 @@ typedef enum {
     MODE_OPERATOR_AND
 } modeActivationOperator_e;
 
-typedef struct controlRateConfig_s {
-    uint8_t rcExpo8;
-    uint8_t thrMid8;
-    uint8_t thrExpo8;
-    uint8_t rates[3];
-    uint8_t dynThrPID;
-    uint8_t rcYawExpo8;
-    uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
-} controlRateConfig_t;
-
 extern int16_t rcCommand[4];
 
 typedef struct rcControlsConfig_s {
@@ -260,7 +233,8 @@ typedef struct adjustmentState_s {
 void resetAdjustmentStates(void);
 void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
-void processRcAdjustments(controlRateConfig_t *controlRateConfig);
+struct controlRateConfig_s;
+void processRcAdjustments(const struct controlRateConfig_s *controlRateConfig);
 
 bool isUsingSticksForArming(void);
 bool isUsingNavigationModes(void);

src/main/fc/rc_curves.c

@@ -20,12 +20,14 @@
 
 #include "platform.h"
 
-#include "rx/rx.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 
 #include "flight/mixer.h"
 
+#include "rx/rx.h"
+
 
 #define PITCH_LOOKUP_LENGTH 7
 #define YAW_LOOKUP_LENGTH 7
@@ -34,7 +36,7 @@
 static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];    // lookup table for expo & mid THROTTLE
 int16_t lookupThrottleRCMid;                         // THROTTLE curve mid point
 
-void generateThrottleCurve(controlRateConfig_t *controlRateConfig)
+void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
 {
     lookupThrottleRCMid = motorConfig()->minthrottle + (int32_t)(motorConfig()->maxthrottle - motorConfig()->minthrottle) * controlRateConfig->thrMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
 

src/main/fc/rc_curves.h

@@ -18,7 +18,7 @@
 #pragma once
 
 struct controlRateConfig_s;
-void generateThrottleCurve(struct controlRateConfig_s *controlRateConfig);
+void generateThrottleCurve(const struct controlRateConfig_s *controlRateConfig);
 
 int16_t rcLookup(int32_t stickDeflection, uint8_t expo);
 int16_t rcLookupThrottle(int32_t tmp);

src/main/fc/serial_cli.c

@@ -66,6 +66,7 @@ uint8_t cliMode = 0;
 #include "drivers/timer.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 #include "fc/serial_cli.h"
@@ -623,6 +624,21 @@ static const clivalue_t valueTable[] = {
     { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_SERVO_CONFIG, offsetof(servoConfig_t, servoCenterPulse) },
     { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50,  498 }, PG_SERVO_CONFIG, offsetof(servoConfig_t, servoPwmRate) },
 #endif
+
+// PG_CONTROLRATE_PROFILE
+    { "rc_expo",                    VAR_UINT8  | CONTROL_RATE_VALUE, .config.minmax = { 0,  100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo8) },
+    { "rc_yaw_expo",                VAR_UINT8  | CONTROL_RATE_VALUE, .config.minmax = { 0,  100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcYawExpo8) },
+    { "thr_mid",                    VAR_UINT8  | CONTROL_RATE_VALUE, .config.minmax = { 0,  100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
+    { "thr_expo",                   VAR_UINT8  | CONTROL_RATE_VALUE, .config.minmax = { 0,  100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
+
+    // New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
+    // Rate 180 (1800dps) is max. value gyro can measure reliably
+    { "roll_rate",                  VAR_UINT8  | CONTROL_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_ROLL]) },
+    { "pitch_rate",                 VAR_UINT8  | CONTROL_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_PITCH]) },
+    { "yaw_rate",                   VAR_UINT8  | CONTROL_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_YAW_RATE_MIN,  CONTROL_RATE_CONFIG_YAW_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
+
+    { "tpa_rate",                   VAR_UINT8  | CONTROL_RATE_VALUE, .config.minmax = { 0,  CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, dynThrPID) },
+    { "tpa_breakpoint",             VAR_UINT16 | CONTROL_RATE_VALUE, .config.minmax = { PWM_RANGE_MIN,  PWM_RANGE_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
 };
 
 #else
@@ -783,22 +799,6 @@ const clivalue_t valueTable[] = {
 
     { "mode_range_logic_operator",  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.modeActivationOperator, .config.lookup = { TABLE_AUX_OPERATOR } },
     { "default_rate_profile",       VAR_UINT8  | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0,  MAX_CONTROL_RATE_PROFILE_COUNT - 1 } },
-    { "rc_expo",                    VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, .config.minmax = { 0,  100 } },
-    { "rc_yaw_expo",                VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, .config.minmax = { 0,  100 } },
-    { "thr_mid",                    VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, .config.minmax = { 0,  100 } },
-    { "thr_expo",                   VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, .config.minmax = { 0,  100 } },
-
-    /*
-    New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
-    Rate 180 (1800dps) is max. value gyro can measure reliably
-    */
-    { "roll_rate",                  VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, },
-    { "pitch_rate",                 VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, },
-    { "yaw_rate",                   VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], .config.minmax = { CONTROL_RATE_CONFIG_YAW_RATE_MIN,  CONTROL_RATE_CONFIG_YAW_RATE_MAX }, },
-
-    { "tpa_rate",                   VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, .config.minmax = { 0,  CONTROL_RATE_CONFIG_TPA_MAX}, },
-    { "tpa_breakpoint",             VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN,  PWM_RANGE_MAX}, },
-
 
     { "p_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0,  200 }, },
     { "i_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0,  200 }, },

src/main/flight/navigation_rewrite_fixedwing.c

@@ -42,6 +42,7 @@
 #include "flight/navigation_rewrite_private.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/runtime_config.h"
 
 // If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind
@@ -55,10 +56,6 @@ static bool isPitchAdjustmentValid = false;
 static bool isRollAdjustmentValid = false;
 static float throttleSpeedAdjustment = 0;
 
-/*-----------------------------------------------------------
- * Backdoor to MW
- *-----------------------------------------------------------*/
-extern controlRateConfig_t *currentControlRateProfile;
 
 /*-----------------------------------------------------------
  * Altitude controller

src/main/flight/pid.c

@@ -31,6 +31,7 @@
 #include "config/config_master.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 

src/main/io/dashboard.c

@@ -38,6 +38,7 @@
 #include "common/typeconversion.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/runtime_config.h"
 #include "fc/rc_controls.h"