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Code Issues Wiki Activity

PID Controller Cleanup

Browse source 
Documentation Draft

add cli names

Cli name adaption

cli set numeric and string

correct names

change

Only PID1 and PID2

Add PID3
This commit is contained in:
borisbstyle 2015-06-13 23:50:45 +02:00
parent 83109dbf17
commit e347e7d4bf
6 changed files with 76 additions and 429 deletions
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67
src/main/io/serial_cli.c
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@ -186,6 +186,11 @@ static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT
{ RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
};
// sync this with pidControllerType_e
static const char * const pidControllers[] = {
"REWRITE", "LUXFLOAT", "MULTIWII23", NULL
};
#ifndef CJMCU
// sync this with sensors_e
static const char * const sensorTypeNames[] = {
@ -478,7 +483,7 @@ const clivalue_t valueTable[] = {
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_MAX },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidController, 0, 5 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidController, 1, 3 },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], 0, 200 },
@ -516,13 +521,10 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, 0, 200 },
{ "pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pterm_cut_hz, 0, 200 },
{ "gyro_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_cut_hz, 0, 200 },
{ "pid5_oldyw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pid5_oldyw, 0, 1 },
#ifdef GTUNE
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], 10, 200 },
{ "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], 10, 200 },
@ -1410,8 +1412,14 @@ static void dumpValues(uint16_t mask)
continue;
}
printf("set %s = ", valueTable[i].name);
cliPrintVar(value, 0);
if (strstr(valueTable[i].name, "pid_controller")) {
void *pidPtr= value->ptr;
pidPtr= ((uint8_t *)pidPtr) + (sizeof(profile_t) * masterConfig.current_profile_index);
cliPrint(pidControllers[*(uint8_t *)pidPtr-1]);
} else {
cliPrintVar(value, 0);
}
cliPrint("\r\n");
}
}
@ -2051,9 +2059,42 @@ static void cliSet(char *cmdline)
valuef = fastA2F(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
// ensure exact match when setting to prevent setting variables with shorter names
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
// ensure exact match when setting to prevent setting variables with shorter names
if (strstr(valueTable[i].name, "pid_controller")) {
int_float_value_t tmp;
tmp.int_value = 0;
bool pidControllerSet = false;
if (value) {
if (value >= valueTable[i].min && value <= valueTable[i].max) {
tmp.int_value = value;
cliSetVar(val, tmp);
printf("%s set to %s \r\n", valueTable[i].name, pidControllers[value - 1]);
pidControllerSet = true;
}
} else {
for (int pid = 0; pid < (PID_COUNT - 1); pid++) {
if (strstr(eqptr, pidControllers[pid])) {
tmp.int_value = pid + 1;
cliSetVar(val, tmp);
printf("%s set to %s \r\n", valueTable[i].name, pidControllers[pid]);
pidControllerSet = true;
}
}
}
if (!pidControllerSet) {
printf("Invalid Value! (Available PID Controllers: ");
for (int pid = 0; pid < (PID_COUNT - 1); pid++) {
printf(pidControllers[pid]);
printf(" ");
}
printf(")\r\n");
}
return;
} else if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
int_float_value_t tmp;
if (valueTable[i].type & VAR_FLOAT)
tmp.float_value = valuef;
@ -2085,7 +2126,15 @@ static void cliGet(char *cmdline)
if (strstr(valueTable[i].name, cmdline)) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
if (strstr(valueTable[i].name, "pid_controller")) {
void *pidPtr= val->ptr;
pidPtr= ((uint8_t *)pidPtr) + (sizeof(profile_t) * masterConfig.current_profile_index);
cliPrint(pidControllers[*(uint8_t *)pidPtr-1]);
} else {
cliPrintVar(val, 0);
}
cliPrint("\r\n");
matchedCommands++;