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Rateprofiles added to profiles

This commit is contained in:
KiteAnton 2016-02-20 12:50:13 +01:00
parent 0d2bf3184c
commit 076ac6d0e7
6 changed files with 86 additions and 26 deletions
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2
src/main/blackbox/blackbox.c
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@ -1136,7 +1136,7 @@ static bool blackboxWriteSysinfo()
blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
break;
case 4:
blackboxPrintfHeaderLine("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile.rcRate8);
blackboxPrintfHeaderLine("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8);
break;
case 5:
blackboxPrintfHeaderLine("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle);

28
src/main/config/config.c
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@ -350,7 +350,8 @@ uint8_t getCurrentProfile(void)
static void setProfile(uint8_t profileIndex)
{
currentProfile = &masterConfig.profile[profileIndex];
currentControlRateProfile = &currentProfile->controlRateProfile;
currentControlRateProfileIndex = currentProfile->activeRateProfile;
currentControlRateProfile = &currentProfile->controlRateProfile[currentControlRateProfileIndex];
}
uint8_t getCurrentControlRateProfile(void)
@ -358,8 +359,15 @@ uint8_t getCurrentControlRateProfile(void)
return currentControlRateProfileIndex;
}
static void setControlRateProfile(uint8_t profileIndex) {
currentControlRateProfileIndex = profileIndex;
masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
}
controlRateConfig_t *getControlRateConfig(uint8_t profileIndex) {
return &masterConfig.profile[profileIndex].controlRateProfile;
return &masterConfig.profile[profileIndex].controlRateProfile[masterConfig.profile[profileIndex].activeRateProfile];
}
uint16_t getCurrentMinthrottle(void)
@ -490,9 +498,11 @@ static void resetConf(void)
masterConfig.emf_avoidance = 0;
resetPidProfile(&currentProfile->pidProfile);
resetControlRateConfig(&masterConfig.profile[0].controlRateProfile);
uint8_t rI;
for (rI = 0; rI<MAX_RATEPROFILES; rI++) {
resetControlRateConfig(&masterConfig.profile[0].controlRateProfile[rI]);
}
resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
masterConfig.mag_declination = 0;
@ -1006,6 +1016,14 @@ void changeProfile(uint8_t profileIndex)
beeperConfirmationBeeps(profileIndex + 1);
}
void changeControlRateProfile(uint8_t profileIndex) {
if (profileIndex > MAX_RATEPROFILES) {
profileIndex = MAX_RATEPROFILES - 1;
}
setControlRateProfile(profileIndex);
activateControlRateConfig();
}
void handleOneshotFeatureChangeOnRestart(void)
{
// Shutdown PWM on all motors prior to soft restart

3
src/main/config/config.h
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@ -18,6 +18,7 @@
#pragma once
#define MAX_PROFILE_COUNT 2
#define MAX_RATEPROFILES 3
#define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
typedef enum {
@ -67,7 +68,7 @@ uint8_t getCurrentProfile(void);
void changeProfile(uint8_t profileIndex);
uint8_t getCurrentControlRateProfile(void);
void changeControlRateProfile(uint8_t profileIndex);
bool canSoftwareSerialBeUsed(void);
uint16_t getCurrentMinthrottle(void);

3
src/main/config/config_profile.h
View File

@ -19,5 +19,6 @@
typedef struct profile_s {
pidProfile_t pidProfile;
controlRateConfig_t controlRateProfile;
uint8_t activeRateProfile;
controlRateConfig_t controlRateProfile[MAX_RATEPROFILES];
} profile_t;

11
src/main/io/rc_controls.c
View File

@ -651,7 +651,6 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
};
}
/* Is this needed ?
void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{
bool applied = false;
@ -659,7 +658,7 @@ void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
switch(adjustmentFunction) {
case ADJUSTMENT_RATE_PROFILE:
if (getCurrentControlRateProfile() != position) {
changeProfile(position); // Is this safe to change profile "in flight" ?
changeControlRateProfile(position);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
applied = true;
}
@ -670,7 +669,7 @@ void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
beeperConfirmationBeeps(position + 1);
}
}
*/
#define RESET_FREQUENCY_2HZ (1000 / 2)
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig)
@ -724,10 +723,10 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
//uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions); TODO - cleanup
//uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth; TODO - cleanup
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
// applySelectAdjustment(adjustmentFunction, position);
applySelectAdjustment(adjustmentFunction, position);
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
}

65
src/main/io/serial_cli.c
View File

@ -113,6 +113,7 @@ static void cliFeature(char *cmdline);
static void cliMotor(char *cmdline);
static void cliPlaySound(char *cmdline);
static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
static void cliReboot(void);
static void cliSave(char *cmdline);
static void cliSerial(char *cmdline);
@ -279,6 +280,7 @@ const clicmd_t cmdTable[] = {
"[<index>]\r\n", cliPlaySound),
CLI_COMMAND_DEF("profile", "change profile",
"[<index>]", cliProfile),
CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
@ -470,7 +472,7 @@ typedef enum {
// value section
MASTER_VALUE = (0 << VALUE_SECTION_OFFSET),
PROFILE_VALUE = (1 << VALUE_SECTION_OFFSET),
PROFILE_RATE_VALUE = (2 << VALUE_SECTION_OFFSET),
// value mode
MODE_DIRECT = (0 << VALUE_MODE_OFFSET),
MODE_LOOKUP = (1 << VALUE_MODE_OFFSET)
@ -634,16 +636,17 @@ const clivalue_t valueTable[] = {
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
#endif
{ "rc_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.rcRate8, .config.minmax = { 0, 250 } },
{ "rc_expo", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.rcExpo8, .config.minmax = { 0, 100 } },
{ "rc_yaw_expo", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.rcYawExpo8, .config.minmax = { 0, 100 } },
{ "thr_mid", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.thrMid8, .config.minmax = { 0, 100 } },
{ "thr_expo", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.thrExpo8, .config.minmax = { 0, 100 } },
{ "roll_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.rates[FD_ROLL], .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
{ "pitch_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.rates[FD_PITCH], .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
{ "yaw_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.rates[FD_YAW], .config.minmax = { 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
{ "tpa_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX} },
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].controlRateProfile.tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX} },
{ "rateProfile", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].activeRateProfile, .config.minmax = { 0, MAX_RATEPROFILES } },
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 250 } },
{ "rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0, 100 } },
{ "rc_yaw_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0, 100 } },
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0, 100 } },
{ "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrExpo8, .config.minmax = { 0, 100 } },
{ "roll_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_ROLL], .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
{ "pitch_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_PITCH], .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
{ "yaw_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_YAW], .config.minmax = { 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
{ "tpa_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX} },
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX} },
{ "acro_plus_factor", VAR_UINT8 | PROFILE_VALUE, &masterConfig.rxConfig.acroPlusFactor, .config.minmax = {1, 100 } },
{ "acro_plus_offset", VAR_UINT8 | PROFILE_VALUE, &masterConfig.rxConfig.acroPlusOffset, .config.minmax = {1, 90 } },
@ -1678,9 +1681,10 @@ static void dumpValues(uint16_t valueSection)
typedef enum {
DUMP_MASTER = (1 << 0),
DUMP_PROFILE = (1 << 1),
DUMP_RATES = (1 << 2),
} dumpFlags_e;
#define DUMP_ALL (DUMP_MASTER | DUMP_PROFILE)
#define DUMP_ALL (DUMP_MASTER | DUMP_PROFILE | DUMP_RATES)
static const char* const sectionBreak = "\r\n";
@ -1704,6 +1708,9 @@ static void cliDump(char *cmdline)
if (strcasecmp(cmdline, "profile") == 0) {
dumpMask = DUMP_PROFILE; // only
}
if (strcasecmp(cmdline, "rates") == 0) {
dumpMask = DUMP_RATES;
}
if (dumpMask & DUMP_MASTER) {
@ -1842,7 +1849,19 @@ static void cliDump(char *cmdline)
printSectionBreak();
dumpValues(PROFILE_VALUE);
dumpValues(PROFILE_RATE_VALUE);
}
if (dumpMask & DUMP_RATES) {
cliPrint("\r\n# dump rates\r\n");
cliPrint("\r\n# rateprofile\r\n");
cliRateProfile("");
printSectionBreak();
dumpValues(PROFILE_RATE_VALUE);
}
}
void cliEnter(serialPort_t *serialPort)
@ -2138,6 +2157,21 @@ static void cliProfile(char *cmdline)
}
}
static void cliRateProfile(char *cmdline) {
int i;
if (isEmpty(cmdline)) {
cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfile());
return;
} else {
i = atoi(cmdline);
if (i >= 0 && i < MAX_RATEPROFILES) {
changeControlRateProfile(i);
cliRateProfile("");
}
}
}
static void cliReboot(void) {
cliPrint("\r\nRebooting");
bufWriterFlush(cliWriter);
@ -2200,6 +2234,10 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
}
if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
}
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
value = *(uint8_t *)ptr;
@ -2249,6 +2287,9 @@ static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
if ((var->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
}
if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
}
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8: