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Added PG config definitions 8

This commit is contained in:
Martin Budden 2017-02-26 17:50:30 +00:00
parent 3be6441e74
commit 7ae57eb8cf
10 changed files with 78 additions and 16 deletions
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2
src/main/cms/cms_menu_imu.c
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@ -403,7 +403,7 @@ static OSD_Entry cmsx_menuImuEntries[] =
{"MISC PP", OME_Submenu, cmsMenuChange, &cmsx_menuProfileOther, 0},
{"FILT PP", OME_Submenu, cmsMenuChange, &cmsx_menuFilterPerProfile, 0},
{"RATE PROF", OME_UINT8, cmsx_rateProfileIndexOnChange, &(OSD_UINT8_t){ &tmpRateProfileIndex, 1, MAX_RATEPROFILES, 1}, 0},
{"RATE PROF", OME_UINT8, cmsx_rateProfileIndexOnChange, &(OSD_UINT8_t){ &tmpRateProfileIndex, 1, CONTROL_RATE_PROFILE_COUNT, 1}, 0},
{"RATE", OME_Submenu, cmsMenuChange, &cmsx_menuRateProfile, 0},
{"FILT GLB", OME_Submenu, cmsMenuChange, &cmsx_menuFilterGlobal, 0},

2
src/main/config/config_master.h
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@ -309,7 +309,7 @@ typedef struct master_s {
#endif
profile_t profile[MAX_PROFILE_COUNT];
controlRateConfig_t controlRateProfile[MAX_RATEPROFILES];
controlRateConfig_t controlRateProfile[CONTROL_RATE_PROFILE_COUNT];
modeActivationProfile_t modeActivationProfile;
adjustmentProfile_t adjustmentProfile;

6
src/main/fc/cli.c
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@ -3422,7 +3422,7 @@ static void cliRateProfile(char *cmdline)
return;
} else {
const int i = atoi(cmdline);
if (i >= 0 && i < MAX_RATEPROFILES) {
if (i >= 0 && i < CONTROL_RATE_PROFILE_COUNT) {
changeControlRateProfile(i);
cliRateProfile("");
}
@ -3451,7 +3451,7 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, const master_
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, const master_t *defaultConfig)
{
if (rateProfileIndex >= MAX_RATEPROFILES) {
if (rateProfileIndex >= CONTROL_RATE_PROFILE_COUNT) {
// Faulty values
return;
}
@ -4136,7 +4136,7 @@ static void printConfig(char *cmdline, bool doDiff)
cliProfile("");
const uint8_t controlRateProfileIndexSave = getCurrentControlRateProfileIndex();
for (uint32_t rateIndex = 0; rateIndex < MAX_RATEPROFILES; rateIndex++) {
for (uint32_t rateIndex = 0; rateIndex < CONTROL_RATE_PROFILE_COUNT; rateIndex++) {
cliDumpRateProfile(rateIndex, dumpMask, &defaultConfig);
}
changeControlRateProfile(controlRateProfileIndexSave);

7
src/main/fc/config.c
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@ -181,6 +181,7 @@ static void resetControlRateProfile(controlRateConfig_t *controlRateConfig)
}
#endif
#ifndef USE_PARAMETER_GROUPS
static void resetPidProfile(pidProfile_t *pidProfile)
{
pidProfile->P8[ROLL] = 44;
@ -231,11 +232,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->itermThrottleThreshold = 350;
pidProfile->itermAcceleratorGain = 1.0f;
}
#endif
#ifndef USE_PARAMETER_GROUPS
void resetProfile(profile_t *profile)
{
resetPidProfile(&profile->pidProfile);
}
#endif
#ifdef GPS
void resetGpsProfile(gpsProfile_t *gpsProfile)
@ -1011,13 +1015,10 @@ void createDefaultConfig(master_t *config)
resetSerialPinConfig(&config->serialPinConfig);
resetSerialConfig(&config->serialConfig);
#endif
for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
resetProfile(&config->profile[ii]);
}
#ifndef USE_PARAMETER_GROUPS
for (int ii = 0; ii < CONTROL_RATE_PROFILE_COUNT; ++ii) {
resetControlRateProfile(&config->controlRateProfile[ii]);
}

6
src/main/fc/config.h
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@ -30,12 +30,6 @@
#include "drivers/sound_beeper.h"
#include "drivers/vcd.h"
#if FLASH_SIZE <= 128
#define MAX_PROFILE_COUNT 2
#else
#define MAX_PROFILE_COUNT 3
#endif
#define MAX_RATEPROFILES 3
#define MAX_NAME_LENGTH 16
typedef enum {

2
src/main/fc/fc_msp.c
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@ -1275,7 +1275,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
} else {
value = value & ~RATEPROFILE_MASK;
if (value >= MAX_RATEPROFILES) {
if (value >= CONTROL_RATE_PROFILE_COUNT) {
value = 0;
}
changeControlRateProfile(value);

59
src/main/flight/pid.c
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@ -17,6 +17,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include <platform.h>
@ -30,6 +31,7 @@
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "config/config_reset.h"
#include "fc/fc_core.h"
#include "fc/fc_rc.h"
@ -71,6 +73,63 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT
);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 0);
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)
{
for (int i = 0; i < MAX_PROFILE_COUNT; i++) {
RESET_CONFIG(const pidProfile_t, &pidProfiles[i],
.P8[ROLL] = 44,
.I8[ROLL] = 40,
.D8[ROLL] = 20,
.P8[PITCH] = 58,
.I8[PITCH] = 50,
.D8[PITCH] = 22,
.P8[YAW] = 70,
.I8[YAW] = 45,
.D8[YAW] = 20,
.P8[PIDALT] = 50,
.I8[PIDALT] = 0,
.D8[PIDALT] = 0,
.P8[PIDPOS] = 15, // POSHOLD_P * 100,
.I8[PIDPOS] = 0, // POSHOLD_I * 100,
.D8[PIDPOS] = 0,
.P8[PIDPOSR] = 34, // POSHOLD_RATE_P * 10,
.I8[PIDPOSR] = 14, // POSHOLD_RATE_I * 100,
.D8[PIDPOSR] = 53, // POSHOLD_RATE_D * 1000,
.P8[PIDNAVR] = 25, // NAV_P * 10,
.I8[PIDNAVR] = 33, // NAV_I * 100,
.D8[PIDNAVR] = 83, // NAV_D * 1000,
.P8[PIDLEVEL] = 50,
.I8[PIDLEVEL] = 50,
.D8[PIDLEVEL] = 100,
.P8[PIDMAG] = 40,
.P8[PIDVEL] = 55,
.I8[PIDVEL] = 55,
.D8[PIDVEL] = 75,
.yaw_p_limit = YAW_P_LIMIT_MAX,
.pidSumLimit = PIDSUM_LIMIT,
.yaw_lpf_hz = 0,
.itermWindupPointPercent = 50,
.dterm_filter_type = FILTER_BIQUAD,
.dterm_lpf_hz = 100, // filtering ON by default
.dterm_notch_hz = 260,
.dterm_notch_cutoff = 160,
.vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.levelSensitivity = 55,
.setpointRelaxRatio = 20,
.dtermSetpointWeight = 100,
.yawRateAccelLimit = 10.0f,
.rateAccelLimit = 0.0f,
.itermThrottleThreshold = 350,
.itermAcceleratorGain = 1.0f
);
}
}
void pidSetTargetLooptime(uint32_t pidLooptime)
{
targetPidLooptime = pidLooptime;

6
src/main/flight/pid.h
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@ -87,6 +87,12 @@ typedef struct pidProfile_s {
} pidProfile_t;
//PG_DECLARE_PROFILE(pidProfile_t, pidProfile);
#if FLASH_SIZE <= 128
#define MAX_PROFILE_COUNT 2
#else
#define MAX_PROFILE_COUNT 3
#endif
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
typedef struct pidConfig_s {
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate

1
src/main/io/dashboard.c
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@ -48,6 +48,7 @@
#include "config/parameter_group_ids.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"

3
src/main/target/NAZE/config.c
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@ -26,6 +26,7 @@
#include "drivers/io.h"
#include "fc/rc_controls.h"
#include "fc/controlrate_profile.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
@ -72,7 +73,7 @@ void targetConfiguration(master_t *config)
config->profile[profileId].pidProfile.P8[PIDLEVEL] = 30;
config->profile[profileId].pidProfile.D8[PIDLEVEL] = 30;
for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) {
for (int rateProfileId = 0; rateProfileId < CONTROL_RATE_PROFILE_COUNT; rateProfileId++) {
config->controlRateProfile[rateProfileId].rcRate8 = 100;
config->controlRateProfile[rateProfileId].rcYawRate8 = 110;
config->controlRateProfile[rateProfileId].rcExpo8 = 0;