From 728b596e1b6a0f4f37fe68c54b3ca5d502a2e645 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Thu, 9 Mar 2017 19:02:47 +0000
Subject: [PATCH] Minor fixes to parameter groups

---
 src/main/fc/cli.c    |  6 ++++--
 src/main/fc/config.c | 13 +++++++++----
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 9821de073..704b186e0 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -204,7 +204,7 @@ static const char * const sensorTypeNames[] = {
 
 #define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
 
-static const char * const sensorHardwareNames[4][15] = {
+static const char * const sensorHardwareNames[4][16] = {
     { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "ICM20608G", "ICM20602", "BMI160", "FAKE", NULL },
     { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "ICM20689", "MPU9250", "ICM20608G", "ICM20602", "BMI160", "FAKE", NULL },
     { "", "None", "BMP085", "MS5611", "BMP280", NULL },
@@ -736,7 +736,8 @@ static const clivalue_t valueTable[] = {
 
     { "iterm_windup",               VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
     { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lpf_hz) },
-    { "pidsum_limit",               VAR_FLOAT  | PROFILE_VALUE, .config.minmax = { 0.1, 1.0 }, PG_PID_CONFIG, offsetof(pidProfile_t, pidSumLimit) },
+    { "pidsum_limit",               VAR_FLOAT  | PROFILE_VALUE, .config.minmax = { 0.1, 1.0 }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimit) },
+    { "pidsum_limit_yaw",           VAR_FLOAT  | PROFILE_VALUE, .config.minmax = { 0.1, 1.0 }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimitYaw) },
 
     { "p_pitch",                    VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PITCH]) },
     { "i_pitch",                    VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[PITCH]) },
@@ -1510,6 +1511,7 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
     case PG_THROTTLE_CORRECTION_CONFIG:
         ret.currentConfig = &throttleCorrectionConfigCopy;
         ret.defaultConfig = throttleCorrectionConfig();
+        break;
     case PG_FAILSAFE_CONFIG:
         ret.currentConfig = &failsafeConfigCopy;
         ret.defaultConfig = failsafeConfig();
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index b93395afb..51dd00128 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -1270,6 +1270,10 @@ void validateAndFixConfig(void)
     if (!isSerialConfigValid(serialConfig)) {
         resetSerialConfig(serialConfig);
     }
+#else
+    if (!isSerialConfigValid(serialConfig())) {
+        pgResetFn_serialPinConfig(serialConfigMutable());
+    }
 #endif
 
     // Prevent invalid notch cutoff
@@ -1373,13 +1377,14 @@ void readEEPROM(void)
         failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
     }
 
-//    pgActivateProfile(getCurrentPidProfileIndex());
-//    setControlRateProfile(rateProfileSelection()->defaultRateProfileIndex);
+    if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {// sanity check
+        systemConfigMutable()->activeRateProfile = 0;
+    }
+    setControlRateProfile(systemConfig()->activeRateProfile);
 
-    if (systemConfig()->pidProfileIndex > MAX_PROFILE_COUNT - 1) {// sanity check
+    if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) {// sanity check
         systemConfigMutable()->pidProfileIndex = 0;
     }
-
     setPidProfile(systemConfig()->pidProfileIndex);
 
     validateAndFixConfig();