Merge branch 'master' into development
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commit
96bf7ea638
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@ -1213,18 +1213,34 @@ static bool blackboxWriteSysinfo()
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BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
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BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
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BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
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BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
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BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
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BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
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BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_filter_type);
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BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("deltaMethod:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
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BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
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BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
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BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
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BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
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BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
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BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidAtMinThrottle);
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// Betaflight PID controller parameters
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BLACKBOX_PRINT_HEADER_LINE("toleranceBand:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBand);
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BLACKBOX_PRINT_HEADER_LINE("toleranceBandReduction:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBandReduction);
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BLACKBOX_PRINT_HEADER_LINE("zeroCrossAllowanceCount:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.zeroCrossAllowanceCount);
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BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain);
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BLACKBOX_PRINT_HEADER_LINE("ptermSetpointWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.ptermSetpointWeight);
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BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight);
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BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawRateAccelLimit);
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BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit);
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// End of Betaflight controller parameters
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BLACKBOX_PRINT_HEADER_LINE("deadband:%d", masterConfig.rcControlsConfig.deadband);
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BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", masterConfig.gyro_lpf);
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BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d", masterConfig.gyro_soft_type);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d", (int)(masterConfig.gyro_soft_notch_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d", (int)(masterConfig.gyro_soft_notch_cutoff * 100.0f));
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@ -1240,6 +1256,7 @@ static bool blackboxWriteSysinfo()
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BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", masterConfig.use_unsyncedPwm);
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BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", masterConfig.motor_pwm_protocol);
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BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", masterConfig.motor_pwm_rate);
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BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode);
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BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);
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default:
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@ -2306,17 +2306,19 @@ static void printConfig(char *cmdline, bool doDiff)
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dumpMask = DUMP_RATES; // only
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} else if ((options = checkCommand(cmdline, "all"))) {
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dumpMask = DUMP_ALL; // all profiles and rates
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} else {
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options = cmdline;
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}
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master_t defaultConfig;
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if (doDiff) {
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dumpMask = dumpMask | DO_DIFF;
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createDefaultConfig(&defaultConfig);
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}
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if (checkCommand(options, "commented")) {
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if (checkCommand(cmdline, "commented")) {
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dumpMask = dumpMask | DIFF_COMMENTED; // add unchanged values as comments for diff
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}
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}
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if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
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cliPrint("\r\n# version\r\n");
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@ -3210,7 +3212,7 @@ static void cliGet(char *cmdline)
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val = &valueTable[i];
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cliPrintf("%s = ", valueTable[i].name);
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cliPrintVar(val, 0);
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cliPrint("\n");
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cliPrint("\r\n");
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cliPrintVarRange(val);
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cliPrint("\r\n");
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@ -77,18 +77,18 @@
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#define USE_VCP
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#define VBUS_SENSING_PIN PA8
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#define USE_USART1
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#define USART1_RX_PIN PA10
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#define USART1_TX_PIN PA9
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#define USART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
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#define USE_UART1
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#define UART1_RX_PIN PA10
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#define UART1_TX_PIN PA9
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#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
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#define USE_USART3
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#define USART3_RX_PIN PB11
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#define USART3_TX_PIN PB10
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#define USE_UART3
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#define UART3_RX_PIN PB11
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#define UART3_TX_PIN PB10
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#define USE_USART6
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#define USART6_RX_PIN PC7
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#define USART6_TX_PIN PC6 //inverter
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#define USE_UART6
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#define UART6_RX_PIN PC7
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#define UART6_TX_PIN PC6 //inverter
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#define SERIAL_PORT_COUNT 4
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