Added PG config definitions 6

Makefile

@@ -596,6 +596,7 @@ COMMON_SRC = \
             drivers/system.c \
             drivers/timer.c \
             fc/config.c \
+            fc/controlrate_profile.c \
             fc/fc_init.c \
             fc/fc_dispatch.c \
             fc/fc_hardfaults.c \

src/main/config/config_master.h

@@ -38,6 +38,7 @@
 #include "drivers/serial.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/fc_core.h"

src/main/fc/cli.c

@@ -944,7 +944,7 @@ static systemConfig_t systemConfigCopy;
 #ifdef BEEPER
 static beeperDevConfig_t beeperDevConfigCopy;
 #endif
-static controlRateConfig_t controlRateProfilesCopy[MAX_CONTROL_RATE_PROFILE_COUNT];
+static controlRateConfig_t controlRateProfilesCopy[CONTROL_RATE_PROFILE_COUNT];
 static pidProfile_t pidProfileCopy[MAX_PROFILE_COUNT];
 #endif // USE_PARAMETER_GROUPS
 

src/main/fc/config.c

@@ -127,8 +127,6 @@ PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONF
 master_t masterConfig;                 // master config struct with data independent from profiles
 profile_t *currentProfile;
 
-controlRateConfig_t *currentControlRateProfile;
-
 #ifndef USE_PARAMETER_GROUPS
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -148,7 +146,6 @@ static void resetCompassConfig(compassConfig_t* compassConfig)
     compassConfig->interruptTag = IO_TAG_NONE;
 #endif
 }
-#endif
 
 static void resetControlRateProfile(controlRateConfig_t *controlRateConfig)
 {
@@ -165,6 +162,7 @@ static void resetControlRateProfile(controlRateConfig_t *controlRateConfig)
         controlRateConfig->rates[axis] = 70;
     }
 }
+#endif
 
 static void resetPidProfile(pidProfile_t *pidProfile)
 {
@@ -768,14 +766,6 @@ uint8_t getCurrentControlRateProfileIndex(void)
     return systemConfigMutable()->activeRateProfile;
 }
 
-static void setControlRateProfile(uint8_t controlRateProfileIndex)
-{
-    if (controlRateProfileIndex < MAX_CONTROL_RATE_PROFILE_COUNT) {
-        systemConfigMutable()->activeRateProfile = controlRateProfileIndex;
-        currentControlRateProfile = controlRateProfilesMutable(controlRateProfileIndex);
-    }
-}
-
 uint16_t getCurrentMinthrottle(void)
 {
     return motorConfig()->minthrottle;
@@ -993,9 +983,11 @@ void createDefaultConfig(master_t *config)
     for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
         resetProfile(&config->profile[ii]);
     }
-    for (int ii = 0; ii < MAX_CONTROL_RATE_PROFILE_COUNT; ++ii) {
+#ifndef USE_PARAMETER_GROUPS
+    for (int ii = 0; ii < CONTROL_RATE_PROFILE_COUNT; ++ii) {
         resetControlRateProfile(&config->controlRateProfile[ii]);
     }
+#endif
 
     config->compassConfig.mag_declination = 0;
 
@@ -1363,15 +1355,6 @@ void changeProfile(uint8_t profileIndex)
     beeperConfirmationBeeps(profileIndex + 1);
 }
 
-void changeControlRateProfile(uint8_t profileIndex)
-{
-    if (profileIndex >= MAX_RATEPROFILES) {
-        profileIndex = MAX_RATEPROFILES - 1;
-    }
-    setControlRateProfile(profileIndex);
-    generateThrottleCurve();
-}
-
 void beeperOffSet(uint32_t mask)
 {
     beeperConfigMutable()->beeper_off_flags |= mask;

src/main/fc/config.h

@@ -89,8 +89,6 @@ PG_DECLARE(serialPinConfig_t, serialPinConfig);
 
 struct profile_s;
 extern struct profile_s *currentProfile;
-struct controlRateConfig_s;
-extern struct controlRateConfig_s *currentControlRateProfile;
 
 void beeperOffSet(uint32_t mask);
 void beeperOffSetAll(uint8_t beeperCount);

src/main/fc/controlrate_profile.c

@@ -0,0 +1,73 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#include "common/axis.h"
+
+#include "config/config_reset.h"
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+
+#include "fc/config.h"
+#include "fc/controlrate_profile.h"
+#include "fc/fc_rc.h"
+
+controlRateConfig_t *currentControlRateProfile;
+
+
+PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 0);
+
+void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
+{
+    for (int i = 0; i < CONTROL_RATE_PROFILE_COUNT; i++) {
+        RESET_CONFIG(const controlRateConfig_t, &controlRateConfig[i],
+            .rcRate8 = 100,
+            .rcYawRate8 = 100,
+            .rcExpo8 = 0,
+            .thrMid8 = 50,
+            .thrExpo8 = 0,
+            .dynThrPID = 10,
+            .rcYawExpo8 = 0,
+            .tpa_breakpoint = 1650,
+            .rates[FD_ROLL] = 70,
+            .rates[FD_PITCH] = 70,
+            .rates[FD_YAW] = 70
+        );
+    }
+}
+
+void setControlRateProfile(uint8_t controlRateProfileIndex)
+{
+    if (controlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT) {
+        systemConfigMutable()->activeRateProfile = controlRateProfileIndex;
+        currentControlRateProfile = controlRateProfilesMutable(controlRateProfileIndex);
+    }
+}
+
+void changeControlRateProfile(uint8_t controlRateProfileIndex)
+{
+    if (controlRateProfileIndex >= CONTROL_RATE_PROFILE_COUNT) {
+        controlRateProfileIndex = CONTROL_RATE_PROFILE_COUNT - 1;
+    }
+    setControlRateProfile(controlRateProfileIndex);
+    generateThrottleCurve();
+}

src/main/fc/controlrate_profile.h

@@ -0,0 +1,43 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#include "config/parameter_group.h"
+
+
+typedef struct controlRateConfig_s {
+    uint8_t rcRate8;
+    uint8_t rcYawRate8;
+    uint8_t rcExpo8;
+    uint8_t thrMid8;
+    uint8_t thrExpo8;
+    uint8_t rates[3];
+    uint8_t dynThrPID;
+    uint8_t rcYawExpo8;
+    uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
+} controlRateConfig_t;
+
+#define CONTROL_RATE_PROFILE_COUNT  3
+PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
+
+extern controlRateConfig_t *currentControlRateProfile;
+
+void setControlRateProfile(uint8_t controlRateProfileIndex);
+void changeControlRateProfile(uint8_t controlRateProfileIndex);

src/main/fc/fc_core.c

@@ -47,6 +47,7 @@
 
 #include "fc/cli.h"
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/fc_core.h"
 #include "fc/fc_rc.h"
 #include "fc/rc_adjustments.h"

src/main/fc/rc_controls.h

@@ -151,21 +151,6 @@ typedef struct modeActivationProfile_s {
 
 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 
-typedef struct controlRateConfig_s {
-    uint8_t rcRate8;
-    uint8_t rcYawRate8;
-    uint8_t rcExpo8;
-    uint8_t thrMid8;
-    uint8_t thrExpo8;
-    uint8_t rates[3];
-    uint8_t dynThrPID;
-    uint8_t rcYawExpo8;
-    uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
-} controlRateConfig_t;
-
-#define MAX_CONTROL_RATE_PROFILE_COUNT 3
-PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
-
 extern int16_t rcCommand[4];
 
 typedef struct rcControlsConfig_s {

src/main/telemetry/smartport.c

@@ -21,21 +21,31 @@
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
-#include "drivers/system.h"
-#include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/compass.h"
+#include "drivers/sensor.h"
+#include "drivers/system.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
+#include "fc/fc_msp.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
-#include "fc/fc_msp.h"
+
+#include "flight/altitudehold.h"
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/navigation.h"
 
 #include "io/beeper.h"
 #include "io/motors.h"
 #include "io/gps.h"
 #include "io/serial.h"
 
+#include "msp/msp.h"
+
 #include "sensors/boardalignment.h"
 #include "sensors/sensors.h"
 #include "sensors/battery.h"
@@ -44,23 +54,13 @@
 #include "sensors/compass.h"
 #include "sensors/gyro.h"
 
-#include "flight/pid.h"
-#include "flight/imu.h"
-#include "flight/mixer.h"
-#include "flight/failsafe.h"
-#include "flight/navigation.h"
-#include "flight/altitudehold.h"
-
 #include "rx/rx.h"
 #include "rx/msp.h"
 
 #include "telemetry/telemetry.h"
 #include "telemetry/smartport.h"
 
-#include "msp/msp.h"
-
 extern profile_t *currentProfile;
-extern controlRateConfig_t *currentControlRateProfile;
 
 enum
 {