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Code Issues Wiki Activity

Made PG config() functions const

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This commit is contained in:
Martin Budden 2017-01-07 11:38:51 +00:00
parent 9f2c90872e
commit b1fb59c464
20 changed files with 227 additions and 210 deletions
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14
src/main/blackbox/blackbox.c
View file

@ -956,20 +956,18 @@ static int gcd(int num, int denom)
static void validateBlackboxConfig() static void validateBlackboxConfig()
{ {
int div;
if (blackboxConfig()->rate_num == 0 || blackboxConfig()->rate_denom == 0 if (blackboxConfig()->rate_num == 0 || blackboxConfig()->rate_denom == 0
|| blackboxConfig()->rate_num >= blackboxConfig()->rate_denom) { || blackboxConfig()->rate_num >= blackboxConfig()->rate_denom) {
blackboxConfig()->rate_num = 1; blackboxConfigMutable()->rate_num = 1;
blackboxConfig()->rate_denom = 1; blackboxConfigMutable()->rate_denom = 1;
} else { } else {
/* Reduce the fraction the user entered as much as possible (makes the recorded/skipped frame pattern repeat /* Reduce the fraction the user entered as much as possible (makes the recorded/skipped frame pattern repeat
* itself more frequently) * itself more frequently)
*/ */
div = gcd(blackboxConfig()->rate_num, blackboxConfig()->rate_denom); const int div = gcd(blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
blackboxConfig()->rate_num /= div; blackboxConfigMutable()->rate_num /= div;
blackboxConfig()->rate_denom /= div; blackboxConfigMutable()->rate_denom /= div;
} }
// If we've chosen an unsupported device, change the device to serial // If we've chosen an unsupported device, change the device to serial
@ -985,7 +983,7 @@ static void validateBlackboxConfig()
break; break;
default: default:
blackboxConfig()->device = BLACKBOX_DEVICE_SERIAL; blackboxConfigMutable()->device = BLACKBOX_DEVICE_SERIAL;
} }
} }

8
src/main/cms/cms_menu_imu.c
View file

@ -441,7 +441,7 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self)
UNUSED(self); UNUSED(self);
masterConfig.profile[profileIndex].pidProfile.dterm_lpf_hz = cmsx_dterm_lpf_hz; masterConfig.profile[profileIndex].pidProfile.dterm_lpf_hz = cmsx_dterm_lpf_hz;
gyroConfig()->gyro_soft_lpf_hz = cmsx_gyroSoftLpf; gyroConfigMutable()->gyro_soft_lpf_hz = cmsx_gyroSoftLpf;
masterConfig.profile[profileIndex].pidProfile.yaw_p_limit = cmsx_yaw_p_limit; masterConfig.profile[profileIndex].pidProfile.yaw_p_limit = cmsx_yaw_p_limit;
masterConfig.profile[profileIndex].pidProfile.yaw_lpf_hz = cmsx_yaw_lpf_hz; masterConfig.profile[profileIndex].pidProfile.yaw_lpf_hz = cmsx_yaw_lpf_hz;
@ -487,9 +487,9 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self)
{ {
UNUSED(self); UNUSED(self);
gyroConfig()->gyroSync = cmsx_gyroSync; gyroConfigMutable()->gyroSync = cmsx_gyroSync;
gyroConfig()->gyroSyncDenominator = cmsx_gyroSyncDenom; gyroConfigMutable()->gyroSyncDenominator = cmsx_gyroSyncDenom;
gyroConfig()->gyro_lpf = cmsx_gyroLpf; gyroConfigMutable()->gyro_lpf = cmsx_gyroLpf;
return 0; return 0;
} }

16
src/main/config/config_master.h
View file

@ -53,21 +53,37 @@
#include "telemetry/telemetry.h" #include "telemetry/telemetry.h"
#define flight3DConfig(x) (&masterConfig.flight3DConfig) #define flight3DConfig(x) (&masterConfig.flight3DConfig)
#define flight3DConfigMutable(x) (&masterConfig.flight3DConfig)
#define servoConfig(x) (&masterConfig.servoConfig) #define servoConfig(x) (&masterConfig.servoConfig)
#define servoConfigMutable(x) (&masterConfig.servoConfig)
#define servoMixerConfig(x) (&masterConfig.servoMixerConfig) #define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
#define servoMixerConfigMutable(x) (&masterConfig.servoMixerConfig)
#define imuConfig(x) (&masterConfig.imuConfig) #define imuConfig(x) (&masterConfig.imuConfig)
#define imuConfigMutable(x) (&masterConfig.imuConfig)
#define batteryConfig(x) (&masterConfig.batteryConfig) #define batteryConfig(x) (&masterConfig.batteryConfig)
#define batteryConfigMutable(x) (&masterConfig.batteryConfig)
#define rcControlsConfig(x) (&masterConfig.rcControlsConfig) #define rcControlsConfig(x) (&masterConfig.rcControlsConfig)
#define rcControlsConfigMutable(x) (&masterConfig.rcControlsConfig)
#define gpsConfig(x) (&masterConfig.gpsConfig) #define gpsConfig(x) (&masterConfig.gpsConfig)
#define gpsConfigMutable(x) (&masterConfig.gpsConfig)
#define navConfig(x) (&masterConfig.navConfig) #define navConfig(x) (&masterConfig.navConfig)
#define navConfigMutable(x) (&masterConfig.navConfig)
#define armingConfig(x) (&masterConfig.armingConfig) #define armingConfig(x) (&masterConfig.armingConfig)
#define armingConfigMutable(x) (&masterConfig.armingConfig)
#define mixerConfig(x) (&masterConfig.mixerConfig) #define mixerConfig(x) (&masterConfig.mixerConfig)
#define mixerConfigMutable(x) (&masterConfig.mixerConfig)
#define serialConfig(x) (&masterConfig.serialConfig) #define serialConfig(x) (&masterConfig.serialConfig)
#define serialConfigMutable(x) (&masterConfig.serialConfig)
#define telemetryConfig(x) (&masterConfig.telemetryConfig) #define telemetryConfig(x) (&masterConfig.telemetryConfig)
#define telemetryConfigMutable(x) (&masterConfig.telemetryConfig)
#define osdProfile(x) (&masterConfig.osdProfile) #define osdProfile(x) (&masterConfig.osdProfile)
#define osdProfileMutable(x) (&masterConfig.osdProfile)
#define ledStripConfig(x) (&masterConfig.ledStripConfig) #define ledStripConfig(x) (&masterConfig.ledStripConfig)
#define ledStripConfigMutable(x) (&masterConfig.ledStripConfig)
#define pwmRxConfig(x) (&masterConfig.pwmRxConfig) #define pwmRxConfig(x) (&masterConfig.pwmRxConfig)
#define pwmRxConfigMutable(x) (&masterConfig.pwmRxConfig)
#define customServoMixer(i) (&masterConfig.customServoMixer[i]) #define customServoMixer(i) (&masterConfig.customServoMixer[i])
#define customServoMixerMutable(i) (&masterConfig.customServoMixer[i])
// System-wide // System-wide

9
src/main/config/parameter_group.h
View file

@ -102,14 +102,16 @@ extern const uint8_t __pg_resetdata_end[];
// Declare system config // Declare system config
#define PG_DECLARE(_type, _name) \ #define PG_DECLARE(_type, _name) \
extern _type _name ## _System; \ extern _type _name ## _System; \
static inline _type* _name(void) { return &_name ## _System; } \ static inline const _type* _name(void) { return &_name ## _System; }\
static inline _type* _name ## Mutable(void) { return &_name ## _System; }\
struct _dummy \ struct _dummy \
/**/ /**/
// Declare system config array // Declare system config array
#define PG_DECLARE_ARR(_type, _size, _name) \ #define PG_DECLARE_ARR(_type, _size, _name) \
extern _type _name ## _SystemArray[_size]; \ extern _type _name ## _SystemArray[_size]; \
static inline _type* _name(int _index) { return &_name ## _SystemArray[_index]; } \ static inline const _type* _name(int _index) { return &_name ## _SystemArray[_index]; } \
static inline _type* _name ## Mutable(int _index) { return &_name ## _SystemArray[_index]; } \
static inline _type (* _name ## _arr(void))[_size] { return &_name ## _SystemArray; } \ static inline _type (* _name ## _arr(void))[_size] { return &_name ## _SystemArray; } \
struct _dummy \ struct _dummy \
/**/ /**/
@ -117,7 +119,8 @@ extern const uint8_t __pg_resetdata_end[];
// Declare profile config // Declare profile config
#define PG_DECLARE_PROFILE(_type, _name) \ #define PG_DECLARE_PROFILE(_type, _name) \
extern _type *_name ## _ProfileCurrent; \ extern _type *_name ## _ProfileCurrent; \
static inline _type* _name(void) { return _name ## _ProfileCurrent; } \ static inline const _type* _name(void) { return _name ## _ProfileCurrent; } \
static inline _type* _name ## Mutable(void) { return _name ## _ProfileCurrent; } \
struct _dummy \ struct _dummy \
/**/ /**/

28
src/main/fc/config.c
View file

@ -671,12 +671,12 @@ void validateAndFixConfig(void)
{ {
#ifdef USE_GYRO_NOTCH_1 #ifdef USE_GYRO_NOTCH_1
if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) { if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
gyroConfig()->gyro_soft_notch_hz_1 = 0; gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
} }
#endif #endif
#ifdef USE_GYRO_NOTCH_2 #ifdef USE_GYRO_NOTCH_2
if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) { if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
gyroConfig()->gyro_soft_notch_hz_2 = 0; gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
} }
#endif #endif
#ifdef USE_DTERM_NOTCH #ifdef USE_DTERM_NOTCH
@ -726,8 +726,8 @@ void validateAndFixConfig(void)
// There is a timer clash between PWM RX pins and motor output pins - this forces us to have same timer tick rate for these timers // There is a timer clash between PWM RX pins and motor output pins - this forces us to have same timer tick rate for these timers
// which is only possible when using brushless motors w/o oneshot (timer tick rate is PWM_TIMER_MHZ) // which is only possible when using brushless motors w/o oneshot (timer tick rate is PWM_TIMER_MHZ)
// On CC3D OneShot is incompatible with PWM RX // On CC3D OneShot is incompatible with PWM RX
motorConfig()->motorPwmProtocol = PWM_TYPE_STANDARD; motorConfigMutable()->motorPwmProtocol = PWM_TYPE_STANDARD;
motorConfig()->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE; motorConfigMutable()->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
#endif #endif
#endif #endif
@ -760,7 +760,7 @@ void validateAndFixConfig(void)
* When async processing mode is enabled, gyroSync has to be forced to "ON" * When async processing mode is enabled, gyroSync has to be forced to "ON"
*/ */
if (getAsyncMode() != ASYNC_MODE_NONE) { if (getAsyncMode() != ASYNC_MODE_NONE) {
gyroConfig()->gyroSync = 1; gyroConfigMutable()->gyroSync = 1;
} }
#endif #endif
@ -777,11 +777,11 @@ void validateAndFixConfig(void)
} }
if (gyroConfig()->gyroSyncDenominator < denominatorLimit) { if (gyroConfig()->gyroSyncDenominator < denominatorLimit) {
gyroConfig()->gyroSyncDenominator = denominatorLimit; gyroConfigMutable()->gyroSyncDenominator = denominatorLimit;
} }
if (gyroConfig()->looptime < 2000) { if (gyroConfig()->looptime < 2000) {
gyroConfig()->looptime = 2000; gyroConfigMutable()->looptime = 2000;
} }
} }
@ -855,7 +855,7 @@ void validateAndFixConfig(void)
* If provided predefined mixer setup is disabled, fallback to default one * If provided predefined mixer setup is disabled, fallback to default one
*/ */
if (!isMixerEnabled(mixerConfig()->mixerMode)) { if (!isMixerEnabled(mixerConfig()->mixerMode)) {
mixerConfig()->mixerMode = DEFAULT_MIXER; mixerConfigMutable()->mixerMode = DEFAULT_MIXER;
} }
#if defined(NAV) #if defined(NAV)
@ -865,26 +865,26 @@ void validateAndFixConfig(void)
/* Limitations of different protocols */ /* Limitations of different protocols */
#ifdef BRUSHED_MOTORS #ifdef BRUSHED_MOTORS
motorConfig()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 500, 32000); motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 500, 32000);
#else #else
switch (motorConfig()->motorPwmProtocol) { switch (motorConfig()->motorPwmProtocol) {
case PWM_TYPE_STANDARD: // Limited to 490 Hz case PWM_TYPE_STANDARD: // Limited to 490 Hz
motorConfig()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 490); motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 490);
break; break;
case PWM_TYPE_ONESHOT125: // Limited to 3900 Hz case PWM_TYPE_ONESHOT125: // Limited to 3900 Hz
motorConfig()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 3900); motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 3900);
break; break;
case PWM_TYPE_ONESHOT42: // 2-8 kHz case PWM_TYPE_ONESHOT42: // 2-8 kHz
motorConfig()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 8000); motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 8000);
break; break;
case PWM_TYPE_MULTISHOT: // 2-16 kHz case PWM_TYPE_MULTISHOT: // 2-16 kHz
motorConfig()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 16000); motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 16000);
break; break;
case PWM_TYPE_BRUSHED: // 500Hz - 32kHz case PWM_TYPE_BRUSHED: // 500Hz - 32kHz
motorConfig()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 500, 32000); motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 500, 32000);
break; break;
} }
#endif #endif

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

@ -214,7 +214,7 @@ void init(void)
// Spektrum satellite binding if enabled on startup. // Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup. // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit() // The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind(rxConfig()); spektrumBind(rxConfigMutable());
break; break;
} }
} }

190
src/main/fc/fc_msp.c
View file

@ -1283,12 +1283,12 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break; break;
case MSP_SET_ARMING_CONFIG: case MSP_SET_ARMING_CONFIG:
armingConfig()->auto_disarm_delay = sbufReadU8(src); armingConfigMutable()->auto_disarm_delay = sbufReadU8(src);
armingConfig()->disarm_kill_switch = sbufReadU8(src); armingConfigMutable()->disarm_kill_switch = sbufReadU8(src);
break; break;
case MSP_SET_LOOP_TIME: case MSP_SET_LOOP_TIME:
gyroConfig()->looptime = sbufReadU16(src); gyroConfigMutable()->looptime = sbufReadU16(src);
break; break;
case MSP_SET_PID_CONTROLLER: case MSP_SET_PID_CONTROLLER:
@ -1379,37 +1379,37 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_MISC: case MSP_SET_MISC:
tmp = sbufReadU16(src); tmp = sbufReadU16(src);
if (tmp < 1600 && tmp > 1400) if (tmp < 1600 && tmp > 1400)
rxConfig()->midrc = tmp; rxConfigMutable()->midrc = tmp;
motorConfig()->minthrottle = sbufReadU16(src); motorConfigMutable()->minthrottle = sbufReadU16(src);
motorConfig()->maxthrottle = sbufReadU16(src); motorConfigMutable()->maxthrottle = sbufReadU16(src);
motorConfig()->mincommand = sbufReadU16(src); motorConfigMutable()->mincommand = sbufReadU16(src);
failsafeConfig()->failsafe_throttle = sbufReadU16(src); failsafeConfigMutable()->failsafe_throttle = sbufReadU16(src);
#ifdef GPS #ifdef GPS
gpsConfig()->provider = sbufReadU8(src); // gps_type gpsConfigMutable()->provider = sbufReadU8(src); // gps_type
sbufReadU8(src); // gps_baudrate sbufReadU8(src); // gps_baudrate
gpsConfig()->sbasMode = sbufReadU8(src); // gps_ubx_sbas gpsConfigMutable()->sbasMode = sbufReadU8(src); // gps_ubx_sbas
#else #else
sbufReadU8(src); // gps_type sbufReadU8(src); // gps_type
sbufReadU8(src); // gps_baudrate sbufReadU8(src); // gps_baudrate
sbufReadU8(src); // gps_ubx_sbas sbufReadU8(src); // gps_ubx_sbas
#endif #endif
batteryConfig()->multiwiiCurrentMeterOutput = sbufReadU8(src); batteryConfigMutable()->multiwiiCurrentMeterOutput = sbufReadU8(src);
rxConfig()->rssi_channel = sbufReadU8(src); rxConfigMutable()->rssi_channel = sbufReadU8(src);
sbufReadU8(src); sbufReadU8(src);
#ifdef MAG #ifdef MAG
compassConfig()->mag_declination = sbufReadU16(src) * 10; compassConfigMutable()->mag_declination = sbufReadU16(src) * 10;
#else #else
sbufReadU16(src); sbufReadU16(src);
#endif #endif
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended batteryConfigMutable()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break; break;
case MSP_SET_MOTOR: case MSP_SET_MOTOR:
@ -1461,16 +1461,16 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break; break;
case MSP_SET_3D: case MSP_SET_3D:
flight3DConfig()->deadband3d_low = sbufReadU16(src); flight3DConfigMutable()->deadband3d_low = sbufReadU16(src);
flight3DConfig()->deadband3d_high = sbufReadU16(src); flight3DConfigMutable()->deadband3d_high = sbufReadU16(src);
flight3DConfig()->neutral3d = sbufReadU16(src); flight3DConfigMutable()->neutral3d = sbufReadU16(src);
flight3DConfig()->deadband3d_throttle = sbufReadU16(src); flight3DConfigMutable()->deadband3d_throttle = sbufReadU16(src);
break; break;
case MSP_SET_RC_DEADBAND: case MSP_SET_RC_DEADBAND:
rcControlsConfig()->deadband = sbufReadU8(src); rcControlsConfigMutable()->deadband = sbufReadU8(src);
rcControlsConfig()->yaw_deadband = sbufReadU8(src); rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
rcControlsConfig()->alt_hold_deadband = sbufReadU8(src); rcControlsConfigMutable()->alt_hold_deadband = sbufReadU8(src);
break; break;
case MSP_SET_RESET_CURR_PID: case MSP_SET_RESET_CURR_PID:
@ -1478,36 +1478,36 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break; break;
case MSP_SET_SENSOR_ALIGNMENT: case MSP_SET_SENSOR_ALIGNMENT:
gyroConfig()->gyro_align = sbufReadU8(src); gyroConfigMutable()->gyro_align = sbufReadU8(src);
accelerometerConfig()->acc_align = sbufReadU8(src); accelerometerConfigMutable()->acc_align = sbufReadU8(src);
#ifdef MAG #ifdef MAG
compassConfig()->mag_align = sbufReadU8(src); compassConfigMutable()->mag_align = sbufReadU8(src);
#else #else
sbufReadU8(src); sbufReadU8(src);
#endif #endif
break; break;
case MSP_SET_ADVANCED_CONFIG: case MSP_SET_ADVANCED_CONFIG:
gyroConfig()->gyroSyncDenominator = sbufReadU8(src); gyroConfigMutable()->gyroSyncDenominator = sbufReadU8(src);
sbufReadU8(src); // BF: masterConfig.pid_process_denom sbufReadU8(src); // BF: masterConfig.pid_process_denom
sbufReadU8(src); // BF: motorConfig()->useUnsyncedPwm sbufReadU8(src); // BF: motorConfig()->useUnsyncedPwm
motorConfig()->motorPwmProtocol = sbufReadU8(src); motorConfigMutable()->motorPwmProtocol = sbufReadU8(src);
motorConfig()->motorPwmRate = sbufReadU16(src); motorConfigMutable()->motorPwmRate = sbufReadU16(src);
#ifdef USE_SERVOS #ifdef USE_SERVOS
servoConfig()->servoPwmRate = sbufReadU16(src); servoConfigMutable()->servoPwmRate = sbufReadU16(src);
#else #else
sbufReadU16(src); sbufReadU16(src);
#endif #endif
gyroConfig()->gyroSync = sbufReadU8(src); gyroConfigMutable()->gyroSync = sbufReadU8(src);
break; break;
case MSP_SET_FILTER_CONFIG : case MSP_SET_FILTER_CONFIG :
gyroConfig()->gyro_soft_lpf_hz = sbufReadU8(src); gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
currentProfile->pidProfile.dterm_lpf_hz = constrain(sbufReadU16(src), 0, 255); currentProfile->pidProfile.dterm_lpf_hz = constrain(sbufReadU16(src), 0, 255);
currentProfile->pidProfile.yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255); currentProfile->pidProfile.yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255);
#ifdef USE_GYRO_NOTCH_1 #ifdef USE_GYRO_NOTCH_1
gyroConfig()->gyro_soft_notch_hz_1 = constrain(sbufReadU16(src), 0, 500); gyroConfigMutable()->gyro_soft_notch_hz_1 = constrain(sbufReadU16(src), 0, 500);
gyroConfig()->gyro_soft_notch_cutoff_1 = constrain(sbufReadU16(src), 1, 500); gyroConfigMutable()->gyro_soft_notch_cutoff_1 = constrain(sbufReadU16(src), 1, 500);
#endif #endif
#ifdef USE_DTERM_NOTCH #ifdef USE_DTERM_NOTCH
currentProfile->pidProfile.dterm_soft_notch_hz = constrain(sbufReadU16(src), 0, 500); currentProfile->pidProfile.dterm_soft_notch_hz = constrain(sbufReadU16(src), 0, 500);
@ -1515,8 +1515,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
pidInitFilters(&currentProfile->pidProfile); pidInitFilters(&currentProfile->pidProfile);
#endif #endif
#ifdef USE_GYRO_NOTCH_2 #ifdef USE_GYRO_NOTCH_2
gyroConfig()->gyro_soft_notch_hz_2 = constrain(sbufReadU16(src), 0, 500); gyroConfigMutable()->gyro_soft_notch_hz_2 = constrain(sbufReadU16(src), 0, 500);
gyroConfig()->gyro_soft_notch_cutoff_2 = constrain(sbufReadU16(src), 1, 500); gyroConfigMutable()->gyro_soft_notch_cutoff_2 = constrain(sbufReadU16(src), 1, 500);
#endif #endif
//BF: masterConfig.gyro_soft_notch_hz_1 = read16(); //BF: masterConfig.gyro_soft_notch_hz_1 = read16();
//BF: masterConfig.gyro_soft_notch_cutoff_1 = read16(); //BF: masterConfig.gyro_soft_notch_cutoff_1 = read16();
@ -1558,14 +1558,14 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU16(src); sbufReadU16(src);
#endif #endif
#ifdef MAG #ifdef MAG
compassConfig()->mag_hold_rate_limit = sbufReadU8(src); compassConfigMutable()->mag_hold_rate_limit = sbufReadU8(src);
sbufReadU8(src); //MAG_HOLD_ERROR_LPF_FREQ sbufReadU8(src); //MAG_HOLD_ERROR_LPF_FREQ
#else #else
sbufReadU8(src); sbufReadU8(src);
sbufReadU8(src); sbufReadU8(src);
#endif #endif
mixerConfig()->yaw_jump_prevention_limit = sbufReadU16(src); mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
gyroConfig()->gyro_lpf = sbufReadU8(src); gyroConfigMutable()->gyro_lpf = sbufReadU8(src);
currentProfile->pidProfile.acc_soft_lpf_hz = sbufReadU8(src); currentProfile->pidProfile.acc_soft_lpf_hz = sbufReadU8(src);
sbufReadU8(src); //reserved sbufReadU8(src); //reserved
sbufReadU8(src); //reserved sbufReadU8(src); //reserved
@ -1574,19 +1574,19 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break; break;
case MSP_SET_SENSOR_CONFIG: case MSP_SET_SENSOR_CONFIG:
accelerometerConfig()->acc_hardware = sbufReadU8(src); accelerometerConfigMutable()->acc_hardware = sbufReadU8(src);
#ifdef BARO #ifdef BARO
barometerConfig()->baro_hardware = sbufReadU8(src); barometerConfigMutable()->baro_hardware = sbufReadU8(src);
#else #else
sbufReadU8(src); sbufReadU8(src);
#endif #endif
#ifdef MAG #ifdef MAG
compassConfig()->mag_hardware = sbufReadU8(src); compassConfigMutable()->mag_hardware = sbufReadU8(src);
#else #else
sbufReadU8(src); sbufReadU8(src);
#endif #endif
#ifdef PITOT #ifdef PITOT
pitotmeterConfig()->pitot_hardware = sbufReadU8(src); pitotmeterConfigMutable()->pitot_hardware = sbufReadU8(src);
#else #else
sbufReadU8(src); sbufReadU8(src);
#endif #endif
@ -1596,14 +1596,14 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef NAV #ifdef NAV
case MSP_SET_NAV_POSHOLD: case MSP_SET_NAV_POSHOLD:
navConfig()->general.flags.user_control_mode = sbufReadU8(src); navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
navConfig()->general.max_speed = sbufReadU16(src); navConfigMutable()->general.max_speed = sbufReadU16(src);
navConfig()->general.max_climb_rate = sbufReadU16(src); navConfigMutable()->general.max_climb_rate = sbufReadU16(src);
navConfig()->general.max_manual_speed = sbufReadU16(src); navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
navConfig()->general.max_manual_climb_rate = sbufReadU16(src); navConfigMutable()->general.max_manual_climb_rate = sbufReadU16(src);
navConfig()->mc.max_bank_angle = sbufReadU8(src); navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
navConfig()->general.flags.use_thr_mid_for_althold = sbufReadU8(src); navConfigMutable()->general.flags.use_thr_mid_for_althold = sbufReadU8(src);
navConfig()->mc.hover_throttle = sbufReadU16(src); navConfigMutable()->mc.hover_throttle = sbufReadU16(src);
break; break;
#endif #endif
@ -1636,9 +1636,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_BLACKBOX_CONFIG: case MSP_SET_BLACKBOX_CONFIG:
// Don't allow config to be updated while Blackbox is logging // Don't allow config to be updated while Blackbox is logging
if (blackboxMayEditConfig()) { if (blackboxMayEditConfig()) {
blackboxConfig()->device = sbufReadU8(src); blackboxConfigMutable()->device = sbufReadU8(src);
blackboxConfig()->rate_num = sbufReadU8(src); blackboxConfigMutable()->rate_num = sbufReadU8(src);
blackboxConfig()->rate_denom = sbufReadU8(src); blackboxConfigMutable()->rate_denom = sbufReadU8(src);
} }
break; break;
#endif #endif
@ -1743,40 +1743,40 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break; break;
case MSP_SET_BOARD_ALIGNMENT: case MSP_SET_BOARD_ALIGNMENT:
boardAlignment()->rollDeciDegrees = sbufReadU16(src); boardAlignmentMutable()->rollDeciDegrees = sbufReadU16(src);
boardAlignment()->pitchDeciDegrees = sbufReadU16(src); boardAlignmentMutable()->pitchDeciDegrees = sbufReadU16(src);
boardAlignment()->yawDeciDegrees = sbufReadU16(src); boardAlignmentMutable()->yawDeciDegrees = sbufReadU16(src);
break; break;
case MSP_SET_VOLTAGE_METER_CONFIG: case MSP_SET_VOLTAGE_METER_CONFIG:
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended batteryConfigMutable()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break; break;
case MSP_SET_CURRENT_METER_CONFIG: case MSP_SET_CURRENT_METER_CONFIG:
batteryConfig()->currentMeterScale = sbufReadU16(src); batteryConfigMutable()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src); batteryConfigMutable()->currentMeterOffset = sbufReadU16(src);
batteryConfig()->currentMeterType = sbufReadU8(src); batteryConfigMutable()->currentMeterType = sbufReadU8(src);
batteryConfig()->batteryCapacity = sbufReadU16(src); batteryConfigMutable()->batteryCapacity = sbufReadU16(src);
break; break;
#ifndef USE_QUAD_MIXER_ONLY #ifndef USE_QUAD_MIXER_ONLY
case MSP_SET_MIXER: case MSP_SET_MIXER:
mixerConfig()->mixerMode = sbufReadU8(src); mixerConfigMutable()->mixerMode = sbufReadU8(src);
break; break;
#endif #endif
case MSP_SET_RX_CONFIG: case MSP_SET_RX_CONFIG:
rxConfig()->serialrx_provider = sbufReadU8(src); rxConfigMutable()->serialrx_provider = sbufReadU8(src);
rxConfig()->maxcheck = sbufReadU16(src); rxConfigMutable()->maxcheck = sbufReadU16(src);
rxConfig()->midrc = sbufReadU16(src); rxConfigMutable()->midrc = sbufReadU16(src);
rxConfig()->mincheck = sbufReadU16(src); rxConfigMutable()->mincheck = sbufReadU16(src);
rxConfig()->spektrum_sat_bind = sbufReadU8(src); rxConfigMutable()->spektrum_sat_bind = sbufReadU8(src);
if (dataSize > 8) { if (dataSize > 8) {
rxConfig()->rx_min_usec = sbufReadU16(src); rxConfigMutable()->rx_min_usec = sbufReadU16(src);
rxConfig()->rx_max_usec = sbufReadU16(src); rxConfigMutable()->rx_max_usec = sbufReadU16(src);
} }
if (dataSize > 12) { if (dataSize > 12) {
// for compatibility with betaflight // for compatibility with betaflight
@ -1785,45 +1785,45 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU16(src); sbufReadU16(src);
} }
if (dataSize > 16) { if (dataSize > 16) {
rxConfig()->rx_spi_protocol = sbufReadU8(src); rxConfigMutable()->rx_spi_protocol = sbufReadU8(src);
} }
if (dataSize > 17) { if (dataSize > 17) {
rxConfig()->rx_spi_id = sbufReadU32(src); rxConfigMutable()->rx_spi_id = sbufReadU32(src);
} }
if (dataSize > 21) { if (dataSize > 21) {
rxConfig()->rx_spi_rf_channel_count = sbufReadU8(src); rxConfigMutable()->rx_spi_rf_channel_count = sbufReadU8(src);
} }
break; break;
case MSP_SET_FAILSAFE_CONFIG: case MSP_SET_FAILSAFE_CONFIG:
failsafeConfig()->failsafe_delay = sbufReadU8(src); failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);
failsafeConfig()->failsafe_off_delay = sbufReadU8(src); failsafeConfigMutable()->failsafe_off_delay = sbufReadU8(src);
failsafeConfig()->failsafe_throttle = sbufReadU16(src); failsafeConfigMutable()->failsafe_throttle = sbufReadU16(src);
failsafeConfig()->failsafe_kill_switch = sbufReadU8(src); failsafeConfigMutable()->failsafe_kill_switch = sbufReadU8(src);
failsafeConfig()->failsafe_throttle_low_delay = sbufReadU16(src); failsafeConfigMutable()->failsafe_throttle_low_delay = sbufReadU16(src);
failsafeConfig()->failsafe_procedure = sbufReadU8(src); failsafeConfigMutable()->failsafe_procedure = sbufReadU8(src);
if (dataSize > 8) { if (dataSize > 8) {
failsafeConfig()->failsafe_recovery_delay = sbufReadU8(src); failsafeConfigMutable()->failsafe_recovery_delay = sbufReadU8(src);
} }
break; break;
case MSP_SET_RXFAIL_CONFIG: case MSP_SET_RXFAIL_CONFIG:
i = sbufReadU8(src); i = sbufReadU8(src);
if (i < MAX_SUPPORTED_RC_CHANNEL_COUNT) { if (i < MAX_SUPPORTED_RC_CHANNEL_COUNT) {
rxFailsafeChannelConfigs(i)->mode = sbufReadU8(src); rxFailsafeChannelConfigsMutable(i)->mode = sbufReadU8(src);
rxFailsafeChannelConfigs(i)->step = CHANNEL_VALUE_TO_RXFAIL_STEP(sbufReadU16(src)); rxFailsafeChannelConfigsMutable(i)->step = CHANNEL_VALUE_TO_RXFAIL_STEP(sbufReadU16(src));
} else { } else {
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
} }
break; break;
case MSP_SET_RSSI_CONFIG: case MSP_SET_RSSI_CONFIG:
rxConfig()->rssi_channel = sbufReadU8(src); rxConfigMutable()->rssi_channel = sbufReadU8(src);
break; break;
case MSP_SET_RX_MAP: case MSP_SET_RX_MAP:
for (int i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) { for (int i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
rxConfig()->rcmap[i] = sbufReadU8(src); rxConfigMutable()->rcmap[i] = sbufReadU8(src);
} }
break; break;
@ -1831,20 +1831,20 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef USE_QUAD_MIXER_ONLY #ifdef USE_QUAD_MIXER_ONLY
sbufReadU8(src); // mixerMode ignored sbufReadU8(src); // mixerMode ignored
#else #else
mixerConfig()->mixerMode = sbufReadU8(src); // mixerMode mixerConfigMutable()->mixerMode = sbufReadU8(src); // mixerMode
#endif #endif
featureClearAll(); featureClearAll();
featureSet(sbufReadU32(src)); // features bitmap featureSet(sbufReadU32(src)); // features bitmap
rxConfig()->serialrx_provider = sbufReadU8(src); // serialrx_type rxConfigMutable()->serialrx_provider = sbufReadU8(src); // serialrx_type
boardAlignment()->rollDeciDegrees = sbufReadU16(src); // board_align_roll boardAlignmentMutable()->rollDeciDegrees = sbufReadU16(src); // board_align_roll
boardAlignment()->pitchDeciDegrees = sbufReadU16(src); // board_align_pitch boardAlignmentMutable()->pitchDeciDegrees = sbufReadU16(src); // board_align_pitch
boardAlignment()->yawDeciDegrees = sbufReadU16(src); // board_align_yaw boardAlignmentMutable()->yawDeciDegrees = sbufReadU16(src); // board_align_yaw
batteryConfig()->currentMeterScale = sbufReadU16(src); batteryConfigMutable()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src); batteryConfigMutable()->currentMeterOffset = sbufReadU16(src);
break; break;
case MSP_SET_CF_SERIAL_CONFIG: case MSP_SET_CF_SERIAL_CONFIG:

46
src/main/fc/serial_cli.c
View file

@ -1048,7 +1048,7 @@ static bool valuePtrEqualsDefault(uint8_t type, const void *ptr, const void *ptr
} }
#ifdef USE_PARAMETER_GROUPS #ifdef USE_PARAMETER_GROUPS
static void dumpPgValues(uint16_t valueSection, uint8_t dumpMask, pgn_t pgn, void *currentConfig, void *defaultConfig) static void dumpPgValues(uint16_t valueSection, uint8_t dumpMask, pgn_t pgn, const void *currentConfig, const void *defaultConfig)
{ {
const char *format = "set %s = "; const char *format = "set %s = ";
for (uint32_t i = 0; i < ARRAYLEN(valueTable); i++) { for (uint32_t i = 0; i < ARRAYLEN(valueTable); i++) {
@ -1129,31 +1129,31 @@ static void backupConfigs(void)
static void restoreConfigs(void) static void restoreConfigs(void)
{ {
*gyroConfig() = gyroConfigCopy; *gyroConfigMutable() = gyroConfigCopy;
*accelerometerConfig() = accelerometerConfigCopy; *accelerometerConfigMutable() = accelerometerConfigCopy;
#ifdef MAG #ifdef MAG
*compassConfig() = compassConfigCopy; *compassConfigMutable() = compassConfigCopy;
#endif #endif
#ifdef BARO #ifdef BARO
*barometerConfig() = barometerConfigCopy; *barometerConfigMutable() = barometerConfigCopy;
#endif #endif
#ifdef PITOT #ifdef PITOT
*pitotmeterConfig() = pitotmeterConfigCopy; *pitotmeterConfigMutable() = pitotmeterConfigCopy;
#endif #endif
*rxConfig() = rxConfigCopy; *rxConfigMutable() = rxConfigCopy;
for (int ii = 0; ii < MAX_SUPPORTED_RC_CHANNEL_COUNT; ++ii) { for (int ii = 0; ii < MAX_SUPPORTED_RC_CHANNEL_COUNT; ++ii) {
*rxFailsafeChannelConfigs(ii) = rxFailsafeChannelConfigsCopy[ii]; *rxFailsafeChannelConfigsMutable(ii) = rxFailsafeChannelConfigsCopy[ii];
} }
for (int ii = 0; ii < NON_AUX_CHANNEL_COUNT; ++ii) { for (int ii = 0; ii < NON_AUX_CHANNEL_COUNT; ++ii) {
*rxChannelRangeConfigs(ii) = rxChannelRangeConfigsCopy[ii]; *rxChannelRangeConfigsMutable(ii) = rxChannelRangeConfigsCopy[ii];
} }
*motorConfig() = motorConfigCopy; *motorConfigMutable() = motorConfigCopy;
*boardAlignment() = boardAlignmentCopy; *boardAlignmentMutable() = boardAlignmentCopy;
#ifdef USE_SERVOS #ifdef USE_SERVOS
*gimbalConfig() = gimbalConfigCopy; *gimbalConfigMutable() = gimbalConfigCopy;
#endif #endif
for (int ii = 0; ii < MAX_SUPPORTED_MOTORS; ++ii) { for (int ii = 0; ii < MAX_SUPPORTED_MOTORS; ++ii) {
*customMotorMixer(ii) = customMotorMixerCopy[ii]; *customMotorMixerMutable(ii) = customMotorMixerCopy[ii];
} }
} }
@ -1381,7 +1381,8 @@ static void cliRxFail(char *cmdline)
channel = atoi(ptr++); channel = atoi(ptr++);
if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT)) { if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigs(channel); // const cast
rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigsMutable(channel);
uint16_t value; uint16_t value;
rxFailsafeChannelType_e type = (channel < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_TYPE_FLIGHT : RX_FAILSAFE_TYPE_AUX; rxFailsafeChannelType_e type = (channel < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_TYPE_FLIGHT : RX_FAILSAFE_TYPE_AUX;
@ -1849,8 +1850,9 @@ static void cliMotorMix(char *cmdline)
printMotorMix(DUMP_MASTER, customMotorMixer(0), NULL); printMotorMix(DUMP_MASTER, customMotorMixer(0), NULL);
} else if (strncasecmp(cmdline, "reset", 5) == 0) { } else if (strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer // erase custom mixer
for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
customMotorMixer(i)->throttle = 0.0f; customMotorMixerMutable(i)->throttle = 0.0f;
}
} else if (strncasecmp(cmdline, "load", 4) == 0) { } else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = nextArg(cmdline); ptr = nextArg(cmdline);
if (ptr) { if (ptr) {
@ -1861,7 +1863,7 @@ static void cliMotorMix(char *cmdline)
break; break;
} }
if (strncasecmp(ptr, mixerNames[i], len) == 0) { if (strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i, customMotorMixer(0)); mixerLoadMix(i, customMotorMixerMutable(0));
cliPrintf("Loaded %s\r\n", mixerNames[i]); cliPrintf("Loaded %s\r\n", mixerNames[i]);
cliMotorMix(""); cliMotorMix("");
break; break;
@ -1874,22 +1876,22 @@ static void cliMotorMix(char *cmdline)
if (i < MAX_SUPPORTED_MOTORS) { if (i < MAX_SUPPORTED_MOTORS) {
ptr = nextArg(ptr); ptr = nextArg(ptr);
if (ptr) { if (ptr) {
customMotorMixer(i)->throttle = fastA2F(ptr); customMotorMixerMutable(i)->throttle = fastA2F(ptr);
check++; check++;
} }
ptr = nextArg(ptr); ptr = nextArg(ptr);
if (ptr) { if (ptr) {
customMotorMixer(i)->roll = fastA2F(ptr); customMotorMixerMutable(i)->roll = fastA2F(ptr);
check++; check++;
} }
ptr = nextArg(ptr); ptr = nextArg(ptr);
if (ptr) { if (ptr) {
customMotorMixer(i)->pitch = fastA2F(ptr); customMotorMixerMutable(i)->pitch = fastA2F(ptr);
check++; check++;
} }
ptr = nextArg(ptr); ptr = nextArg(ptr);
if (ptr) { if (ptr) {
customMotorMixer(i)->yaw = fastA2F(ptr); customMotorMixerMutable(i)->yaw = fastA2F(ptr);
check++; check++;
} }
if (check != 4) { if (check != 4) {
@ -1958,7 +1960,7 @@ static void cliRxRange(char *cmdline)
} else if (rangeMin < PWM_PULSE_MIN || rangeMin > PWM_PULSE_MAX || rangeMax < PWM_PULSE_MIN || rangeMax > PWM_PULSE_MAX) { } else if (rangeMin < PWM_PULSE_MIN || rangeMin > PWM_PULSE_MAX || rangeMax < PWM_PULSE_MIN || rangeMax > PWM_PULSE_MAX) {
cliShowParseError(); cliShowParseError();
} else { } else {
rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigs(i); rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigsMutable(i);
channelRangeConfig->min = rangeMin; channelRangeConfig->min = rangeMin;
channelRangeConfig->max = rangeMax; channelRangeConfig->max = rangeMax;
} }

2
src/main/flight/mixer.c
View file

@ -340,7 +340,7 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
// we're 1-based // we're 1-based
index++; index++;
// clear existing // clear existing
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++)
customMixers[i].throttle = 0.0f; customMixers[i].throttle = 0.0f;
// do we have anything here to begin with? // do we have anything here to begin with?

24
src/main/flight/navigation_rewrite.c
View file

@ -2473,32 +2473,32 @@ void updateWaypointsAndNavigationMode(void)
/*----------------------------------------------------------- /*-----------------------------------------------------------
* NAV main control functions * NAV main control functions
*-----------------------------------------------------------*/ *-----------------------------------------------------------*/
void navigationUseConfig(navConfig_t *navConfigToUse) void navigationUseConfig(const navConfig_t *navConfigToUse)
{ {
posControl.navConfig = navConfigToUse; posControl.navConfig = navConfigToUse;
} }
void navigationUseRcControlsConfig(rcControlsConfig_t *initialRcControlsConfig) void navigationUseRcControlsConfig(const rcControlsConfig_t *initialRcControlsConfig)
{ {
posControl.rcControlsConfig = initialRcControlsConfig; posControl.rcControlsConfig = initialRcControlsConfig;
} }
void navigationUseFlight3DConfig(flight3DConfig_t * initialFlight3DConfig) void navigationUseFlight3DConfig(const flight3DConfig_t * initialFlight3DConfig)
{ {
posControl.flight3DConfig = initialFlight3DConfig; posControl.flight3DConfig = initialFlight3DConfig;
} }
void navigationUseRxConfig(rxConfig_t * initialRxConfig) void navigationUseRxConfig(const rxConfig_t * initialRxConfig)
{ {
posControl.rxConfig = initialRxConfig; posControl.rxConfig = initialRxConfig;
} }
void navigationUsemotorConfig(motorConfig_t * initialmotorConfig) void navigationUsemotorConfig(const motorConfig_t * initialmotorConfig)
{ {
posControl.motorConfig = initialmotorConfig; posControl.motorConfig = initialmotorConfig;
} }
void navigationUsePIDs(pidProfile_t *initialPidProfile) void navigationUsePIDs(const pidProfile_t *initialPidProfile)
{ {
posControl.pidProfile = initialPidProfile; posControl.pidProfile = initialPidProfile;
@ -2539,12 +2539,12 @@ void navigationUsePIDs(pidProfile_t *initialPidProfile)
(float)posControl.pidProfile->D8[PIDALT] / 100.0f); (float)posControl.pidProfile->D8[PIDALT] / 100.0f);
} }
void navigationInit(navConfig_t *initialnavConfig, void navigationInit(const navConfig_t *initialnavConfig,
pidProfile_t *initialPidProfile, const pidProfile_t *initialPidProfile,
rcControlsConfig_t *initialRcControlsConfig, const rcControlsConfig_t *initialRcControlsConfig,
rxConfig_t * initialRxConfig, const rxConfig_t * initialRxConfig,
flight3DConfig_t * initialFlight3DConfig, const flight3DConfig_t * initialFlight3DConfig,
motorConfig_t * initialmotorConfig) const motorConfig_t * initialmotorConfig)
{ {
/* Initial state */ /* Initial state */
posControl.navState = NAV_STATE_IDLE; posControl.navState = NAV_STATE_IDLE;

24
src/main/flight/navigation_rewrite.h
View file

@ -233,18 +233,18 @@ typedef struct {
navWaypointActions_e activeWpAction; navWaypointActions_e activeWpAction;
} navSystemStatus_t; } navSystemStatus_t;
void navigationUsePIDs(pidProfile_t *pidProfile); void navigationUsePIDs(const pidProfile_t *pidProfile);
void navigationUseConfig(navConfig_t *navConfigToUse); void navigationUseConfig(const navConfig_t *navConfigToUse);
void navigationUseRcControlsConfig(rcControlsConfig_t *initialRcControlsConfig); void navigationUseRcControlsConfig(const rcControlsConfig_t *initialRcControlsConfig);
void navigationUseRxConfig(rxConfig_t * initialRxConfig); void navigationUseRxConfig(const rxConfig_t * initialRxConfig);
void navigationUsemotorConfig(motorConfig_t * initialmotorConfig); void navigationUsemotorConfig(const motorConfig_t * initialmotorConfig);
void navigationUseFlight3DConfig(flight3DConfig_t * initialFlight3DConfig); void navigationUseFlight3DConfig(const flight3DConfig_t * initialFlight3DConfig);
void navigationInit(navConfig_t *initialnavConfig, void navigationInit(const navConfig_t *initialnavConfig,
pidProfile_t *initialPidProfile, const pidProfile_t *initialPidProfile,
rcControlsConfig_t *initialRcControlsConfig, const rcControlsConfig_t *initialRcControlsConfig,
rxConfig_t * initialRxConfig, const rxConfig_t * initialRxConfig,
flight3DConfig_t * initialFlight3DConfig, const flight3DConfig_t * initialFlight3DConfig,
motorConfig_t * initialmotorConfig); const motorConfig_t * initialmotorConfig);
/* Navigation system updates */ /* Navigation system updates */
void updateWaypointsAndNavigationMode(void); void updateWaypointsAndNavigationMode(void);

12
src/main/flight/navigation_rewrite_private.h
View file

@ -286,12 +286,12 @@ typedef struct {
/* Internals */ /* Internals */
int16_t rcAdjustment[4]; int16_t rcAdjustment[4];
navConfig_t * navConfig; const navConfig_t * navConfig;
rcControlsConfig_t * rcControlsConfig; const rcControlsConfig_t * rcControlsConfig;
pidProfile_t * pidProfile; const pidProfile_t * pidProfile;
rxConfig_t * rxConfig; const rxConfig_t * rxConfig;
flight3DConfig_t * flight3DConfig; const flight3DConfig_t * flight3DConfig;
motorConfig_t * motorConfig; const motorConfig_t * motorConfig;
} navigationPosControl_t; } navigationPosControl_t;
extern navigationPosControl_t posControl; extern navigationPosControl_t posControl;

14
src/main/rx/rx.c
View file

@ -122,8 +122,8 @@ void resetAllRxChannelRangeConfigurations(void)
{ {
// set default calibration to full range and 1:1 mapping // set default calibration to full range and 1:1 mapping
for (int i = 0; i < NON_AUX_CHANNEL_COUNT; i++) { for (int i = 0; i < NON_AUX_CHANNEL_COUNT; i++) {
rxChannelRangeConfigs(i)->min = PWM_RANGE_MIN; rxChannelRangeConfigsMutable(i)->min = PWM_RANGE_MIN;
rxChannelRangeConfigs(i)->max = PWM_RANGE_MAX; rxChannelRangeConfigsMutable(i)->max = PWM_RANGE_MAX;
} }
} }
@ -523,7 +523,7 @@ static uint16_t getRxfailValue(uint8_t channel)
} }
} }
STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, rxChannelRangeConfig_t *range) STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range)
{ {
// Avoid corruption of channel with a value of PPM_RCVR_TIMEOUT // Avoid corruption of channel with a value of PPM_RCVR_TIMEOUT
if (sample == PPM_RCVR_TIMEOUT) { if (sample == PPM_RCVR_TIMEOUT) {
@ -639,12 +639,10 @@ void calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
void parseRcChannels(const char *input) void parseRcChannels(const char *input)
{ {
const char *c, *s; for (const char *c = input; *c; c++) {
const char *s = strchr(rcChannelLetters, *c);
for (c = input; *c; c++) {
s = strchr(rcChannelLetters, *c);
if (s && (s < rcChannelLetters + MAX_MAPPABLE_RX_INPUTS)) if (s && (s < rcChannelLetters + MAX_MAPPABLE_RX_INPUTS))
rxConfig()->rcmap[s - rcChannelLetters] = c - input; rxConfigMutable()->rcmap[s - rcChannelLetters] = c - input;
} }
} }

4
src/main/sensors/acceleration.c
View file

@ -358,7 +358,7 @@ void performAcclerationCalibration(void)
sensorCalibrationSolveForOffset(&calState, accTmp); sensorCalibrationSolveForOffset(&calState, accTmp);
for (int axis = 0; axis < 3; axis++) { for (int axis = 0; axis < 3; axis++) {
accelerometerConfig()->accZero.raw[axis] = lrintf(accTmp[axis]); accelerometerConfigMutable()->accZero.raw[axis] = lrintf(accTmp[axis]);
} }
/* Not we can offset our accumulated averages samples and calculate scale factors and calculate gains */ /* Not we can offset our accumulated averages samples and calculate scale factors and calculate gains */
@ -375,7 +375,7 @@ void performAcclerationCalibration(void)
sensorCalibrationSolveForScale(&calState, accTmp); sensorCalibrationSolveForScale(&calState, accTmp);
for (int axis = 0; axis < 3; axis++) { for (int axis = 0; axis < 3; axis++) {
accelerometerConfig()->accGain.raw[axis] = lrintf(accTmp[axis] * 4096); accelerometerConfigMutable()->accGain.raw[axis] = lrintf(accTmp[axis] * 4096);
} }
saveConfigAndNotify(); saveConfigAndNotify();

4
src/main/sensors/boardalignment.c
View file

@ -63,8 +63,8 @@ void updateBoardAlignment(int16_t roll, int16_t pitch)
const float sinAlignYaw = sin_approx(DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees)); const float sinAlignYaw = sin_approx(DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees));
const float cosAlignYaw = cos_approx(DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees)); const float cosAlignYaw = cos_approx(DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees));
boardAlignment()->rollDeciDegrees += -sinAlignYaw * pitch + cosAlignYaw * roll; boardAlignmentMutable()->rollDeciDegrees += -sinAlignYaw * pitch + cosAlignYaw * roll;
boardAlignment()->pitchDeciDegrees += cosAlignYaw * pitch + sinAlignYaw * roll; boardAlignmentMutable()->pitchDeciDegrees += cosAlignYaw * pitch + sinAlignYaw * roll;
initBoardAlignment(); initBoardAlignment();
} }

4
src/main/sensors/compass.c
View file

@ -294,7 +294,7 @@ void compassUpdate(timeUs_t currentTimeUs)
calStartedAt = currentTimeUs; calStartedAt = currentTimeUs;
for (int axis = 0; axis < 3; axis++) { for (int axis = 0; axis < 3; axis++) {
compassConfig()->magZero.raw[axis] = 0; compassConfigMutable()->magZero.raw[axis] = 0;
magPrev[axis] = 0; magPrev[axis] = 0;
} }
@ -333,7 +333,7 @@ void compassUpdate(timeUs_t currentTimeUs)
sensorCalibrationSolveForOffset(&calState, magZerof); sensorCalibrationSolveForOffset(&calState, magZerof);
for (int axis = 0; axis < 3; axis++) { for (int axis = 0; axis < 3; axis++) {
compassConfig()->magZero.raw[axis] = lrintf(magZerof[axis]); compassConfigMutable()->magZero.raw[axis] = lrintf(magZerof[axis]);
} }
calStartedAt = 0; calStartedAt = 0;

8
src/main/sensors/initialisation.c
View file

@ -78,25 +78,25 @@ bool sensorsAutodetect(void)
#endif #endif
if (accelerometerConfig()->acc_hardware == ACC_AUTODETECT) { if (accelerometerConfig()->acc_hardware == ACC_AUTODETECT) {
accelerometerConfig()->acc_hardware = detectedSensors[SENSOR_INDEX_ACC]; accelerometerConfigMutable()->acc_hardware = detectedSensors[SENSOR_INDEX_ACC];
eepromUpdatePending = true; eepromUpdatePending = true;
} }
#ifdef BARO #ifdef BARO
if (barometerConfig()->baro_hardware == BARO_AUTODETECT) { if (barometerConfig()->baro_hardware == BARO_AUTODETECT) {
barometerConfig()->baro_hardware = detectedSensors[SENSOR_INDEX_BARO]; barometerConfigMutable()->baro_hardware = detectedSensors[SENSOR_INDEX_BARO];
eepromUpdatePending = true; eepromUpdatePending = true;
} }
#endif #endif
if (compassConfig()->mag_hardware == MAG_AUTODETECT) { if (compassConfig()->mag_hardware == MAG_AUTODETECT) {
compassConfig()->mag_hardware = detectedSensors[SENSOR_INDEX_MAG]; compassConfigMutable()->mag_hardware = detectedSensors[SENSOR_INDEX_MAG];
eepromUpdatePending = true; eepromUpdatePending = true;
} }
#ifdef PITOT #ifdef PITOT
if (pitotmeterConfig()->pitot_hardware == PITOT_AUTODETECT) { if (pitotmeterConfig()->pitot_hardware == PITOT_AUTODETECT) {
pitotmeterConfig()->pitot_hardware = detectedSensors[SENSOR_INDEX_PITOT]; pitotmeterConfigMutable()->pitot_hardware = detectedSensors[SENSOR_INDEX_PITOT];
eepromUpdatePending = true; eepromUpdatePending = true;
} }
#endif #endif

4
src/main/target/BLUEJAYF4/config.c
View file

@ -34,7 +34,7 @@ void targetConfiguration(master_t *config)
{ {
(void)config; (void)config;
if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) { if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
gyroConfig()->gyro_align = CW180_DEG; gyroConfigMutable()->gyro_align = CW180_DEG;
accelerometerConfig()->acc_align = CW180_DEG; accelerometerConfigMutable()->acc_align = CW180_DEG;
} }
} }

4
src/main/target/COLIBRI/config.c
View file

@ -72,10 +72,10 @@
#include "config/config_master.h" #include "config/config_master.h"
void targetConfiguration(struct master_s *config) void targetConfiguration(master_t *config)
{ {
config->mixerConfig.mixerMode = MIXER_HEX6X; config->mixerConfig.mixerMode = MIXER_HEX6X;
rxConfig()->serialrx_provider = 2; rxConfigMutable()->serialrx_provider = 2;
featureSet(FEATURE_RX_SERIAL); featureSet(FEATURE_RX_SERIAL);
config->serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL; config->serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
} }

20
src/main/target/COLIBRI_RACE/config.c
View file

@ -72,18 +72,18 @@
#include "config/config_master.h" #include "config/config_master.h"
void targetConfiguration(struct master_s *config) void targetConfiguration(master_t *config)
{ {
gyroConfig()->looptime = 1000; gyroConfigMutable()->looptime = 1000;
rxConfig()->rcmap[0] = 1; rxConfigMutable()->rcmap[0] = 1;
rxConfig()->rcmap[1] = 2; rxConfigMutable()->rcmap[1] = 2;
rxConfig()->rcmap[2] = 3; rxConfigMutable()->rcmap[2] = 3;
rxConfig()->rcmap[3] = 0; rxConfigMutable()->rcmap[3] = 0;
rxConfig()->rcmap[4] = 4; rxConfigMutable()->rcmap[4] = 4;
rxConfig()->rcmap[5] = 5; rxConfigMutable()->rcmap[5] = 5;
rxConfig()->rcmap[6] = 6; rxConfigMutable()->rcmap[6] = 6;
rxConfig()->rcmap[7] = 7; rxConfigMutable()->rcmap[7] = 7;
featureSet(FEATURE_VBAT); featureSet(FEATURE_VBAT);
featureSet(FEATURE_LED_STRIP); featureSet(FEATURE_LED_STRIP);