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Enforce limits from setting.yaml in RC adjustments and add the possibility of defining constants in settings.yaml (#6878)

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Michel Pastor 2021-04-24 15:44:01 +02:00 • committed by GitHub
parent 8c24f58d92
commit ab93221dd4
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6 changed files with 126 additions and 121 deletions
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14
src/main/fc/fc_msp.c
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@ -1799,14 +1799,14 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
for (int i = 0; i < 3; i++) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
}
else {
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
}
}
tmp_u8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = MIN(tmp_u8, CONTROL_RATE_CONFIG_TPA_MAX);
((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = MIN(tmp_u8, SETTING_TPA_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->throttle.rcMid8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.rcExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.pa_breakpoint = sbufReadU16(src);
@ -1836,9 +1836,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
for (uint8_t i = 0; i < 3; ++i) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
} else {
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
}
}
@ -1848,9 +1848,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
for (uint8_t i = 0; i < 3; ++i) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
} else {
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
}
}