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atbetaflight
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Merge branch 'master' into development

This commit is contained in:
borisbstyle 2016-08-11 09:05:52 +02:00
parent 38cb97de92 bf679b6ea7
commit 96bf7ea638
3 changed files with 42 additions and 23 deletions
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29
src/main/blackbox/blackbox.c
View File

@ -1213,18 +1213,34 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_filter_type);
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("deltaMethod:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidAtMinThrottle);
// Betaflight PID controller parameters
BLACKBOX_PRINT_HEADER_LINE("toleranceBand:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBand);
BLACKBOX_PRINT_HEADER_LINE("toleranceBandReduction:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBandReduction);
BLACKBOX_PRINT_HEADER_LINE("zeroCrossAllowanceCount:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.zeroCrossAllowanceCount);
BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain);
BLACKBOX_PRINT_HEADER_LINE("ptermSetpointWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.ptermSetpointWeight);
BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight);
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawRateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit);
// End of Betaflight controller parameters
BLACKBOX_PRINT_HEADER_LINE("deadband:%d", masterConfig.rcControlsConfig.deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", masterConfig.gyro_lpf);
BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d", masterConfig.gyro_soft_type);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d", (int)(masterConfig.gyro_soft_notch_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d", (int)(masterConfig.gyro_soft_notch_cutoff * 100.0f));
@ -1240,6 +1256,7 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", masterConfig.use_unsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", masterConfig.motor_pwm_protocol);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", masterConfig.motor_pwm_rate);
BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode);
BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);
default:

16
src/main/io/serial_cli.c
View File

@ -2306,16 +2306,18 @@ static void printConfig(char *cmdline, bool doDiff)
dumpMask = DUMP_RATES; // only
} else if ((options = checkCommand(cmdline, "all"))) {
dumpMask = DUMP_ALL; // all profiles and rates
} else {
options = cmdline;
}
master_t defaultConfig;
if (doDiff) {
dumpMask = dumpMask | DO_DIFF;
createDefaultConfig(&defaultConfig);
}
createDefaultConfig(&defaultConfig);
if (checkCommand(options, "commented")) {
dumpMask = dumpMask | DIFF_COMMENTED; // add unchanged values as comments for diff
if (checkCommand(cmdline, "commented")) {
dumpMask = dumpMask | DIFF_COMMENTED; // add unchanged values as comments for diff
}
}
if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
@ -2977,10 +2979,10 @@ static bool cliDumpPrintf(uint8_t dumpMask, bool equalsDefault, const char *form
va_end(va);
#ifdef USE_SLOW_SERIAL_CLI
delay(1);
delay(1);
#endif
return true;
return true;
}
return false;
@ -3210,7 +3212,7 @@ static void cliGet(char *cmdline)
val = &valueTable[i];
cliPrintf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
cliPrint("\n");
cliPrint("\r\n");
cliPrintVarRange(val);
cliPrint("\r\n");

20
src/main/target/SPARKY2/target.h
View File

@ -77,18 +77,18 @@
#define USE_VCP
#define VBUS_SENSING_PIN PA8
#define USE_USART1
#define USART1_RX_PIN PA10
#define USART1_TX_PIN PA9
#define USART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
#define USE_UART1
#define UART1_RX_PIN PA10
#define UART1_TX_PIN PA9
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
#define USE_USART3
#define USART3_RX_PIN PB11
#define USART3_TX_PIN PB10
#define USE_UART3
#define UART3_RX_PIN PB11
#define UART3_TX_PIN PB10
#define USE_USART6
#define USART6_RX_PIN PC7
#define USART6_TX_PIN PC6 //inverter
#define USE_UART6
#define UART6_RX_PIN PC7
#define UART6_TX_PIN PC6 //inverter
#define SERIAL_PORT_COUNT 4