Merge pull request #855 from blckmn/betaflight

small cleanup for serial_cli and fix for warning when skip float pid not defined

src/main/flight/pid.c

@@ -66,9 +66,10 @@ uint8_t PIDweight[3];
 static int32_t errorGyroI[3];
 static float errorGyroIf[3];
 
-#ifdef SKIP_PID_FLOAT
+
 static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
         const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
+#ifdef SKIP_PID_FLOAT
 pidControllerFuncPtr pid_controller = pidLegacy; // which pid controller are we using
 #else
 static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
@@ -107,6 +108,7 @@ const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 static pt1Filter_t deltaFilter[3];
 static pt1Filter_t yawFilter;
 
+#ifndef SKIP_PID_FLOAT
 // Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage. Based on 2DOF reference design (matlab)
 static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
          const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
@@ -302,6 +304,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
 #endif
     }
 }
+#endif
 
 // Legacy pid controller betaflight evolved pid rewrite based on 2.9 releae. Good for fastest cycletimes for those who believe in that. Don't expect much development in the future
 static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,

src/main/io/serial_cli.c

@@ -826,7 +826,7 @@ const clivalue_t valueTable[] = {
     { "pid_max_velocity",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocity, .config.minmax = {0, 2000 } },
     { "pid_max_velocity_yaw",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocityYaw, .config.minmax = {0, 2000 } },
 
-	{ "iterm_ignore_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
+    { "iterm_ignore_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
     { "pid_process_denom",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.pid_process_denom, .config.minmax = { 1,  8 } },
@@ -2009,11 +2009,6 @@ static void dumpValues(uint16_t valueSection)
         cliPrintf("set %s = ", valueTable[i].name);
         cliPrintVar(value, 0);
         cliPrint("\r\n");
-
-#ifdef USE_SLOW_SERIAL_CLI
-        delay(2);
-#endif
-
     }
 }
 
@@ -2058,7 +2053,7 @@ static void cliDump(char *cmdline)
         cliPrint("\r\n# version\r\n");
         cliVersion(NULL);
 
-	printSectionBreak();
+        printSectionBreak();
         cliPrint("\r\n# name\r\n");
         cliName(NULL);
 
@@ -2089,9 +2084,6 @@ static void cliDump(char *cmdline)
             if (yaw < 0)
                 cliWrite(' ');
             cliPrintf("%s\r\n", ftoa(yaw, buf));
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
 
 #ifdef USE_SERVOS
@@ -2113,10 +2105,6 @@ static void cliDump(char *cmdline)
                 masterConfig.customServoMixer[i].max,
                 masterConfig.customServoMixer[i].box
             );
-
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
 
 #endif
@@ -2128,18 +2116,12 @@ static void cliDump(char *cmdline)
             if (featureNames[i] == NULL)
                 break;
             cliPrintf("feature -%s\r\n", featureNames[i]);
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
         for (i = 0; ; i++) {  // reenable what we want.
             if (featureNames[i] == NULL)
                 break;
             if (mask & (1 << i))
                 cliPrintf("feature %s\r\n", featureNames[i]);
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
 
 #ifdef BEEPER
@@ -2194,9 +2176,6 @@ static void cliDump(char *cmdline)
             for (channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
                 if (servoDirection(i, channel) < 0) {
                     cliPrintf("smix reverse %d %d r\r\n", i , channel);
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
                 }
             }
         }
@@ -2227,9 +2206,6 @@ static void cliDump(char *cmdline)
                 cliPrint("\r\n# restore original rateprofile selection\r\n");
                 changeControlRateProfile(currentRateIndex);
                 cliRateProfile("");
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
             }
 
             cliPrint("\r\n# restore original profile selection\r\n");
@@ -2710,6 +2686,10 @@ static void cliPrint(const char *str)
 {
     while (*str)
         bufWriterAppend(cliWriter, *str++);
+
+#ifdef USE_SLOW_SERIAL_CLI
+    delay(1);
+#endif
 }
 
 static void cliPutp(void *p, char ch)
@@ -2723,6 +2703,10 @@ static void cliPrintf(const char *fmt, ...)
     va_start(va, fmt);
     tfp_format(cliWriter, cliPutp, fmt, va);
     va_end(va);
+
+#ifdef USE_SLOW_SERIAL_CLI
+    delay(1);
+#endif
 }
 
 static void cliWrite(uint8_t ch)
@@ -2856,10 +2840,6 @@ static void cliSet(char *cmdline)
             cliPrintf("%s = ", valueTable[i].name);
             cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
             cliPrint("\r\n");
-
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
     } else if ((eqptr = strstr(cmdline, "=")) != NULL) {
         // has equals