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Added PG config definitions 10

This commit is contained in:
Martin Budden 2017-02-27 08:33:13 +00:00
parent 7440c6c7a1
commit 9b62a4e38f
16 changed files with 153 additions and 125 deletions
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9
src/main/blackbox/blackbox.c
View File

@ -35,7 +35,6 @@
#include "common/maths.h"
#include "common/utils.h"
#include "config/config_master.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
@ -47,13 +46,18 @@
#include "drivers/pwm_output.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "io/beeper.h"
#include "io/gps.h"
#include "io/serial.h"
#include "rx/rx.h"
@ -371,7 +375,7 @@ static blackboxMainState_t* blackboxHistory[3];
static bool blackboxModeActivationConditionPresent = false;
/**
* Return true if it is safe to edit the Blackbox configuration in the emasterConfig.
* Return true if it is safe to edit the Blackbox configuration.
*/
bool blackboxMayEditConfig()
{
@ -1195,7 +1199,6 @@ static bool blackboxWriteSysinfo()
return false;
}
const profile_t *currentProfile = &masterConfig.profile[systemConfig()->current_profile_index];
const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile);
switch (xmitState.headerIndex) {
BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s", "Cleanflight");

14
src/main/config/config_master.h
View File

@ -91,7 +91,7 @@
#define throttleCorrectionConfig(x) (&masterConfig.throttleCorrectionConfig)
#define batteryConfig(x) (&masterConfig.batteryConfig)
#define rcControlsConfig(x) (&masterConfig.rcControlsConfig)
#define gpsProfile(x) (&masterConfig.gpsProfile)
#define navigationConfig(x) (&masterConfig.navigationConfig)
#define gpsConfig(x) (&masterConfig.gpsConfig)
#define rxConfig(x) (&masterConfig.rxConfig)
#define armingConfig(x) (&masterConfig.armingConfig)
@ -109,7 +109,7 @@
#define sonarConfig(x) (&masterConfig.sonarConfig)
#define ledStripConfig(x) (&masterConfig.ledStripConfig)
#define statusLedConfig(x) (&masterConfig.statusLedConfig)
#define osdConfig(x) (&masterConfig.osdProfile)
#define osdConfig(x) (&masterConfig.osdConfig)
#define vcdProfile(x) (&masterConfig.vcdProfile)
#define sdcardConfig(x) (&masterConfig.sdcardConfig)
#define blackboxConfig(x) (&masterConfig.blackboxConfig)
@ -143,7 +143,7 @@
#define throttleCorrectionConfigMutable(x) (&masterConfig.throttleCorrectionConfig)
#define batteryConfigMutable(x) (&masterConfig.batteryConfig)
#define rcControlsConfigMutable(x) (&masterConfig.rcControlsConfig)
#define gpsProfileMutable(x) (&masterConfig.gpsProfile)
#define navigationConfigMutable(x) (&masterConfig.navigationConfig)
#define gpsConfigMutable(x) (&masterConfig.gpsConfig)
#define rxConfigMutable(x) (&masterConfig.rxConfig)
#define armingConfigMutable(x) (&masterConfig.armingConfig)
@ -160,7 +160,7 @@
#define sonarConfigMutable(x) (&masterConfig.sonarConfig)
#define ledStripConfigMutable(x) (&masterConfig.ledStripConfig)
#define statusLedConfigMutable(x) (&masterConfig.statusLedConfig)
#define osdProfileMutable(x) (&masterConfig.osdProfile)
#define osdConfigMutable(x) (&masterConfig.osdConfig)
#define vcdProfileMutable(x) (&masterConfig.vcdProfile)
#define sdcardConfigMutable(x) (&masterConfig.sdcardConfig)
#define blackboxConfigMutable(x) (&masterConfig.blackboxConfig)
@ -178,7 +178,6 @@
#define beeperConfigMutable(x) (&masterConfig.beeperConfig)
#define transponderConfigMutable(x) (&masterConfig.transponderConfig)
#define osdConfig(x) (&masterConfig.osdProfile)
#define servoParams(i) (&servoProfile()->servoConf[i])
#define adjustmentRanges(i) (&adjustmentProfile()->adjustmentRanges[i])
#define rxFailsafeChannelConfigs(i) (&masterConfig.rxConfig.failsafe_channel_configurations[i])
@ -186,7 +185,6 @@
#define controlRateProfiles(i) (&masterConfig.controlRateProfile[i])
#define pidProfiles(i) (&masterConfig.profile[i].pidProfile)
#define osdConfigMutable(x) (&masterConfig.osdProfile)
#define servoParamsMutable(i) (&servoProfile()->servoConf[i])
#define adjustmentRangesMutable(i) (&masterConfig.adjustmentProfile.adjustmentRanges[i])
#define rxFailsafeChannelConfigsMutable(i) (&masterConfig.rxConfig.>failsafe_channel_configurations[i])
@ -242,7 +240,7 @@ typedef struct master_s {
rcControlsConfig_t rcControlsConfig;
#ifdef GPS
gpsProfile_t gpsProfile;
navigationConfig_t navigationConfig;
gpsConfig_t gpsConfig;
#endif
@ -290,7 +288,7 @@ typedef struct master_s {
#endif
#ifdef OSD
osd_profile_t osdProfile;
osdConfig_t osdConfig;
#endif
#ifdef USE_MAX7456

3
src/main/config/feature.c
View File

@ -21,7 +21,6 @@
#include "platform.h"
#include "config/config_master.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
@ -78,5 +77,3 @@ uint32_t featureMask(void)
{
return featureConfig()->enabledFeatures;
}

4
src/main/config/parameter_group_ids.h
View File

@ -94,7 +94,9 @@
#define PG_ADC_CONFIG 510
#define PG_SDCARD_CONFIG 511
#define PG_DISPLAY_PORT_MSP_CONFIG 512
#define PG_BETAFLIGHT_END 512
#define PG_DISPLAY_PORT_MAX7456_CONFIG 513
#define PG_VCD_CONFIG 514
#define PG_BETAFLIGHT_END 514
// OSD configuration (subject to change)

1
src/main/drivers/accgyro_spi_bmi160.c
View File

@ -54,7 +54,6 @@
#include "config/config_eeprom.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "fc/runtime_config.h"
#ifdef USE_ACCGYRO_BMI160

23
src/main/fc/cli.c
View File

@ -73,6 +73,7 @@ uint8_t cliMode = 0;
#include "fc/cli.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -621,11 +622,11 @@ static const clivalue_t valueTable[] = {
{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDNAVR], .config.minmax = { 0, 200 } },
{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDNAVR], .config.minmax = { 0, 200 } },
{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDNAVR], .config.minmax = { 0, 200 } },
{ "gps_wp_radius", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->gps_wp_radius, .config.minmax = { 0, 2000 } },
{ "nav_controls_heading", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsProfile()->nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
{ "nav_speed_min", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->nav_speed_min, .config.minmax = { 10, 2000 } },
{ "nav_speed_max", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->nav_speed_max, .config.minmax = { 10, 2000 } },
{ "nav_slew_rate", VAR_UINT8 | MASTER_VALUE, &gpsProfile()->nav_slew_rate, .config.minmax = { 0, 100 } },
{ "gps_wp_radius", VAR_UINT16 | MASTER_VALUE, &navigationConfig()->gps_wp_radius, .config.minmax = { 0, 2000 } },
{ "nav_controls_heading", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &navigationConfig()->nav_controls_heading, .config.lookup = { TABLE_OFF_ON } },
{ "nav_speed_min", VAR_UINT16 | MASTER_VALUE, &navigationConfig()->nav_speed_min, .config.minmax = { 10, 2000 } },
{ "nav_speed_max", VAR_UINT16 | MASTER_VALUE, &navigationConfig()->nav_speed_max, .config.minmax = { 10, 2000 } },
{ "nav_slew_rate", VAR_UINT8 | MASTER_VALUE, &navigationConfig()->nav_slew_rate, .config.minmax = { 0, 100 } },
#endif
#ifdef BEEPER
@ -927,7 +928,7 @@ static gpsConfig_t gpsConfigCopy;
#endif
#ifdef NAV
static positionEstimationConfig_t positionEstimationConfigCopy;
static navConfig_t navConfigCopy;
static navigationConfig_t navigationConfigCopy;
#endif
#ifdef TELEMETRY
static telemetryConfig_t telemetryConfigCopy;
@ -938,7 +939,7 @@ static adjustmentRange_t adjustmentRangesCopy[MAX_ADJUSTMENT_RANGE_COUNT];
static ledStripConfig_t ledStripConfigCopy;
#endif
#ifdef OSD
static osd_profile_t osdConfigCopy;
static osdConfig_t osdConfigCopy;
#endif
static systemConfig_t systemConfigCopy;
#ifdef BEEPER
@ -1221,8 +1222,8 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
ret.defaultConfig = positionEstimationConfig();
break;
case PG_NAV_CONFIG:
ret.currentConfig = &navConfigCopy;
ret.defaultConfig = navConfig();
ret.currentConfig = &navigationConfigCopy;
ret.defaultConfig = navigationConfig();
break;
#endif
#ifdef TELEMETRY
@ -1375,7 +1376,7 @@ void *getValuePointer(const clivalue_t *value)
return ptr;
}
#endif
#endif // USE_PARAMETER_GROUPS
static void *getDefaultPointer(void *valuePointer, const master_t *defaultConfig)
{
@ -3148,7 +3149,7 @@ static void cliMap(char *cmdline)
cliShowParseError();
return;
}
parseRcChannels(cmdline, &masterConfig.rxConfig);
parseRcChannels(cmdline, rxConfigMutable());
}
cliPrint("Map: ");
uint32_t i;

27
src/main/fc/config.c
View File

@ -156,6 +156,9 @@ PG_RESET_TEMPLATE(sdcardConfig_t, sdcardConfig,
);
#endif
// no template required since defaults are zero
PG_REGISTER(vcdProfile_t, vcdProfile, PG_VCD_CONFIG, 0);
#ifndef USE_PARAMETER_GROUPS
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -253,15 +256,15 @@ void resetProfile(profile_t *profile)
}
#ifdef GPS
void resetGpsProfile(gpsProfile_t *gpsProfile)
void resetNavigationConfig(navigationConfig_t *navigationConfig)
{
gpsProfile->gps_wp_radius = 200;
gpsProfile->gps_lpf = 20;
gpsProfile->nav_slew_rate = 30;
gpsProfile->nav_controls_heading = 1;
gpsProfile->nav_speed_min = 100;
gpsProfile->nav_speed_max = 300;
gpsProfile->ap_mode = 40;
navigationConfig->gps_wp_radius = 200;
navigationConfig->gps_lpf = 20;
navigationConfig->nav_slew_rate = 30;
navigationConfig->nav_controls_heading = 1;
navigationConfig->nav_speed_min = 100;
navigationConfig->nav_speed_max = 300;
navigationConfig->ap_mode = 40;
}
#endif
@ -741,6 +744,7 @@ void resetMixerConfig(mixerConfig_t *mixerConfig)
}
#endif
#ifndef USE_PARAMETER_GROUPS
#ifdef USE_MAX7456
void resetMax7456Config(vcdProfile_t *pVcdProfile)
{
@ -750,7 +754,6 @@ void resetMax7456Config(vcdProfile_t *pVcdProfile)
}
#endif
#ifndef USE_PARAMETER_GROUPS
void resetDisplayPortProfile(displayPortProfile_t *pDisplayPortProfile)
{
pDisplayPortProfile->colAdjust = 0;
@ -842,6 +845,7 @@ void createDefaultConfig(master_t *config)
intFeatureSet(DEFAULT_FEATURES, featuresPtr);
#endif
#ifndef USE_PARAMETER_GROUPS
#ifdef USE_MSP_DISPLAYPORT
resetDisplayPortProfile(&config->displayPortProfileMsp);
#endif
@ -854,8 +858,9 @@ void createDefaultConfig(master_t *config)
#endif
#ifdef OSD
osdResetConfig(&config->osdProfile);
osdResetConfig(&config->osdConfig);
#endif
#endif // USE_PARAMETER_GROUPS
#ifdef BOARD_HAS_VOLTAGE_DIVIDER
// only enable the VBAT feature by default if the board has a voltage divider otherwise
@ -1089,7 +1094,7 @@ void createDefaultConfig(master_t *config)
#ifndef USE_PARAMETER_GROUPS
#ifdef GPS
resetGpsProfile(&config->gpsProfile);
resetNavigationConfig(&config->navigationConfig);
#endif
#endif

2
src/main/fc/fc_init.c
View File

@ -464,7 +464,7 @@ void init(void)
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit();
navigationInit(&currentProfile->pidProfile);
navigationInit();
}
#endif

16
src/main/fc/fc_rc.c
View File

@ -28,22 +28,26 @@
#include "common/utils.h"
#include "common/filter.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/fc_core.h"
#include "fc/fc_rc.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "fc/fc_rc.h"
#include "fc/fc_core.h"
#include "rx/rx.h"
#include "scheduler/scheduler.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h"
static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
static float throttlePIDAttenuation;

4
src/main/fc/rc_adjustments.c
View File

@ -36,17 +36,17 @@
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "config/feature.h"
#include "config/config_master.h"
#include "flight/pid.h"
#include "io/beeper.h"
#include "io/motors.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/fc_rc.h"
#include "fc/config.h"
#include "rx/rx.h"

29
src/main/flight/navigation.c
View File

@ -31,6 +31,7 @@
#include "common/maths.h"
#include "common/time.h"
#include "config/config_profile.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
@ -56,9 +57,9 @@
#include "sensors/sensors.h"
PG_REGISTER_WITH_RESET_TEMPLATE(gpsProfile_t, gpsProfile, PG_NAVIGATION_CONFIG, 0);
PG_REGISTER_WITH_RESET_TEMPLATE(navigationConfig_t, navigationConfig, PG_NAVIGATION_CONFIG, 0);
PG_RESET_TEMPLATE(gpsProfile_t, gpsProfile,
PG_RESET_TEMPLATE(navigationConfig_t, navigationConfig,
.gps_wp_radius = 200,
.gps_lpf = 20,
.nav_slew_rate = 30,
@ -85,9 +86,9 @@ static int16_t nav_rated[2]; // Adding a rate controller to the na
navigationMode_e nav_mode = NAV_MODE_NONE; // Navigation mode
// When using PWM input GPS usage reduces number of available channels by 2 - see pwm_common.c/pwmInit()
void navigationInit(pidProfile_t *pidProfile)
void navigationInit(void)
{
gpsUsePIDs(pidProfile);
gpsUsePIDs(&currentProfile->pidProfile);
}
@ -167,7 +168,7 @@ static int32_t get_D(int32_t input, float *dt, PID *pid, PID_PARAM *pid_param)
// Low pass filter cut frequency for derivative calculation
// Set to "1 / ( 2 * PI * gps_lpf )
float pidFilter = (1.0f / (2.0f * M_PIf * (float)gpsProfile()->gps_lpf));
float pidFilter = (1.0f / (2.0f * M_PIf * (float)navigationConfig()->gps_lpf));
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
pid->derivative = pid->last_derivative + (*dt / (pidFilter + *dt)) * (pid->derivative - pid->last_derivative);
@ -331,13 +332,13 @@ void onGpsNewData(void)
break;
case NAV_MODE_WP:
speed = GPS_calc_desired_speed(gpsProfile()->nav_speed_max, NAV_SLOW_NAV); // slow navigation
speed = GPS_calc_desired_speed(navigationConfig()->nav_speed_max, NAV_SLOW_NAV); // slow navigation
// use error as the desired rate towards the target
// Desired output is in nav_lat and nav_lon where 1deg inclination is 100
GPS_calc_nav_rate(speed);
// Tail control
if (gpsProfile()->nav_controls_heading) {
if (navigationConfig()->nav_controls_heading) {
if (NAV_TAIL_FIRST) {
magHold = wrap_18000(nav_bearing - 18000) / 100;
} else {
@ -345,7 +346,7 @@ void onGpsNewData(void)
}
}
// Are we there yet ?(within x meters of the destination)
if ((wp_distance <= gpsProfile()->gps_wp_radius) || check_missed_wp()) { // if yes switch to poshold mode
if ((wp_distance <= navigationConfig()->gps_wp_radius) || check_missed_wp()) { // if yes switch to poshold mode
nav_mode = NAV_MODE_POSHOLD;
if (NAV_SET_TAKEOFF_HEADING) {
magHold = nav_takeoff_bearing;
@ -435,7 +436,7 @@ void GPS_set_next_wp(int32_t *lat, int32_t *lon)
nav_bearing = target_bearing;
GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &GPS_coord[LAT], &GPS_coord[LON]);
original_target_bearing = target_bearing;
waypoint_speed_gov = gpsProfile()->nav_speed_min;
waypoint_speed_gov = navigationConfig()->nav_speed_min;
}
////////////////////////////////////////////////////////////////////////////////////
@ -614,7 +615,7 @@ static uint16_t GPS_calc_desired_speed(uint16_t max_speed, bool _slow)
max_speed = MIN(max_speed, wp_distance / 2);
} else {
max_speed = MIN(max_speed, wp_distance);
max_speed = MAX(max_speed, gpsProfile()->nav_speed_min); // go at least 100cm/s
max_speed = MAX(max_speed, navigationConfig()->nav_speed_min); // go at least 100cm/s
}
// limit the ramp up of the speed
@ -651,9 +652,9 @@ void updateGpsStateForHomeAndHoldMode(void)
{
float sin_yaw_y = sin_approx(DECIDEGREES_TO_DEGREES(attitude.values.yaw) * 0.0174532925f);
float cos_yaw_x = cos_approx(DECIDEGREES_TO_DEGREES(attitude.values.yaw) * 0.0174532925f);
if (gpsProfile()->nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -gpsProfile()->nav_slew_rate, gpsProfile()->nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -gpsProfile()->nav_slew_rate, gpsProfile()->nav_slew_rate);
if (navigationConfig()->nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -navigationConfig()->nav_slew_rate, navigationConfig()->nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -navigationConfig()->nav_slew_rate, navigationConfig()->nav_slew_rate);
GPS_angle[AI_ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
GPS_angle[AI_PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
} else {
@ -697,7 +698,7 @@ void updateGpsWaypointsAndMode(void)
// process HOLD mode
//
if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(gpsProfile()->ap_mode)) {
if (IS_RC_MODE_ACTIVE(BOXGPSHOLD) && areSticksInApModePosition(navigationConfig()->ap_mode)) {
if (!FLIGHT_MODE(GPS_HOLD_MODE)) {
// Transition to HOLD mode

9
src/main/flight/navigation.h
View File

@ -26,7 +26,7 @@ typedef enum {
// FIXME ap_mode is badly named, it's a value that is compared to rcCommand, not a flag at it's name implies.
typedef struct gpsProfile_s {
typedef struct navigationConfig_s {
uint16_t gps_wp_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
uint8_t gps_lpf; // Low pass filter cut frequency for derivative calculation (default 20Hz)
uint8_t nav_slew_rate; // Adds a rate control to nav output, will smoothen out nav angle spikes
@ -34,9 +34,9 @@ typedef struct gpsProfile_s {
uint16_t nav_speed_min; // cm/sec
uint16_t nav_speed_max; // cm/sec
uint16_t ap_mode; // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
} gpsProfile_t;
} navigationConfig_t;
PG_DECLARE(gpsProfile_t, gpsProfile);
PG_DECLARE(navigationConfig_t, navigationConfig);
extern int16_t GPS_angle[ANGLE_INDEX_COUNT]; // it's the angles that must be applied for GPS correction
@ -48,8 +48,7 @@ extern int16_t GPS_directionToHome; // direction to home or hol point in
extern navigationMode_e nav_mode; // Navigation mode
struct pidProfile_s;
void navigationInit(struct pidProfile_s *pidProfile);
void navigationInit(void);
void GPS_reset_home_position(void);
void GPS_reset_nav(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);

112
src/main/flight/pid.c
View File

@ -29,9 +29,10 @@
#include "common/maths.h"
#include "common/filter.h"
#include "config/config_reset.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "config/config_reset.h"
#include "config/config_profile.h"
#include "fc/fc_core.h"
#include "fc/fc_rc.h"
@ -75,61 +76,72 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 0);
void resetPidProfile(pidProfile_t *pidProfile)
{
RESET_CONFIG(const pidProfile_t, pidProfile,
.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 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
);
resetPidProfile(&pidProfiles[i]);
}
}
#ifdef USE_PARAMETER_GROUPS
void resetProfile(profile_t *profile)
{
resetPidProfile(&profile->pidProfile);
}
#endif
void pidSetTargetLooptime(uint32_t pidLooptime)
{
targetPidLooptime = pidLooptime;

5
src/main/io/displayport_max7456.c
View File

@ -34,9 +34,10 @@
#include "io/displayport_max7456.h"
#include "io/osd.h"
displayPort_t max7456DisplayPort; // Referenced from osd.c
displayPort_t max7456DisplayPort;
extern uint16_t refreshTimeout;
// no template required since defaults are zero
PG_REGISTER(displayPortProfile_t, displayPortProfileMax7456, PG_DISPLAY_PORT_MAX7456_CONFIG, 0);
static int grab(displayPort_t *displayPort)
{

9
src/main/io/osd.c
View File

@ -44,7 +44,6 @@
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/config_master.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
@ -135,6 +134,8 @@ static displayPort_t *osdDisplayPort;
#define AH_SIDEBAR_WIDTH_POS 7
#define AH_SIDEBAR_HEIGHT_POS 3
PG_REGISTER_WITH_RESET_FN(osdConfig_t, osdConfig, PG_OSD_CONFIG, 0);
/**
* Gets the correct altitude symbol for the current unit system
*/
@ -471,7 +472,11 @@ void osdDrawElements(void)
#endif // GPS
}
void osdResetConfig(osd_profile_t *osdProfile)
#ifdef USE_PARAMETER_GROUPS
void pgResetFn_osdConfig(osdConfig_t *osdProfile)
#else
void osdResetConfig(osdConfig_t *osdProfile)
#endif
{
osdProfile->item_pos[OSD_RSSI_VALUE] = OSD_POS(22, 0);
osdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 0) | VISIBLE_FLAG;

11
src/main/io/osd.h
View File

@ -56,7 +56,7 @@ typedef enum {
OSD_UNIT_METRIC
} osd_unit_e;
typedef struct osd_profile_s {
typedef struct osdConfig_s {
uint16_t item_pos[OSD_ITEM_COUNT];
// Alarms
@ -66,13 +66,14 @@ typedef struct osd_profile_s {
uint16_t alt_alarm;
osd_unit_e units;
} osd_profile_t;
} osdConfig_t;
// !!TODO change to osdConfig_t
PG_DECLARE(osd_profile_t, osdConfig);
extern uint16_t refreshTimeout;
PG_DECLARE(osdConfig_t, osdConfig);
struct displayPort_s;
void osdInit(struct displayPort_s *osdDisplayPort);
void osdResetConfig(osd_profile_t *osdProfile);
void osdResetConfig(osdConfig_t *osdProfile);
void osdResetAlarms(void);
void osdUpdate(timeUs_t currentTimeUs);