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Merge pull request #2553 from martinbudden/bf_pg_cli3 

PG CLI additions 3
This commit is contained in:
Martin Budden 2017-03-05 09:34:22 +00:00 committed by GitHub
parent c3cf2a9450 45ceef787b
commit f445d27fd6
1 changed files with 75 additions and 7 deletions
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82
src/main/fc/cli.c
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@ -619,29 +619,40 @@ static const clivalue_t valueTable[] = {
// PG_SERVO_CONFIG // PG_SERVO_CONFIG
#ifdef USE_SERVOS #ifdef USE_SERVOS
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_SERVO_CONFIG, offsetof(servoConfig_t, dev.servoCenterPulse) }, { "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_SERVO_CONFIG, offsetof(servoConfig_t, dev.servoCenterPulse) },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SERVO_CONFIG, offsetof(servoConfig_t, tri_unarmed_servo) },
{ "servo_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 400}, PG_SERVO_CONFIG, offsetof(servoConfig_t, servo_lowpass_freq) },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50, 498 }, PG_SERVO_CONFIG, offsetof(servoConfig_t, dev.servoPwmRate) }, { "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50, 498 }, PG_SERVO_CONFIG, offsetof(servoConfig_t, dev.servoPwmRate) },
{ "servo_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 400}, PG_SERVO_CONFIG, offsetof(servoConfig_t, servo_lowpass_freq) },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SERVO_CONFIG, offsetof(servoConfig_t, tri_unarmed_servo) },
#endif #endif
// PG_CONTROLRATE_PROFILE // PG_CONTROLRATE_PROFILES
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 255 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRate8) },
{ "rc_rate_yaw", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 255 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcYawRate8) },
{ "rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo8) },
{ "rc_yaw_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcYawExpo8) },
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
{ "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
{ "roll_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_ROLL]) },
{ "pitch_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_PITCH]) },
{ "yaw_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
{ "tpa_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, dynThrPID) },
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
// PG_SERIAL_CONFIG // PG_SERIAL_CONFIG
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 48, 126 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, reboot_character) }, { "reboot_character", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 48, 126 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, reboot_character) },
{ "serial_update_rate_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 100, 2000 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, serial_update_rate_hz) }, { "serial_update_rate_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 100, 2000 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, serial_update_rate_hz) },
// PG_IMU_CONFIG // PG_IMU_CONFIG
{ "small_angle", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 180 }, PG_IMU_CONFIG, offsetof(imuConfig_t, small_angle) },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_kp) },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_ki) },
{ "accxy_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_IMU_CONFIG, offsetof(imuConfig_t, accDeadband.xy) }, { "accxy_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_IMU_CONFIG, offsetof(imuConfig_t, accDeadband.xy) },
{ "accz_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_IMU_CONFIG, offsetof(imuConfig_t, accDeadband.z) }, { "accz_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_IMU_CONFIG, offsetof(imuConfig_t, accDeadband.z) },
{ "acc_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_IMU_CONFIG, offsetof(imuConfig_t, acc_unarmedcal) }, { "acc_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_IMU_CONFIG, offsetof(imuConfig_t, acc_unarmedcal) },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_kp) },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 32000 }, PG_IMU_CONFIG, offsetof(imuConfig_t, dcm_ki) },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 180 }, PG_IMU_CONFIG, offsetof(imuConfig_t, small_angle) },
// PG_ARMING_CONFIG // PG_ARMING_CONFIG
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 60 }, PG_ARMING_CONFIG, offsetof(armingConfig_t, auto_disarm_delay) },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, disarm_kill_switch) }, { "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, disarm_kill_switch) },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, gyro_cal_on_first_arm) }, { "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_ARMING_CONFIG, offsetof(armingConfig_t, gyro_cal_on_first_arm) },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 60 }, PG_ARMING_CONFIG, offsetof(armingConfig_t, auto_disarm_delay) },
// PG_GPS_CONFIG // PG_GPS_CONFIG
@ -653,8 +664,65 @@ static const clivalue_t valueTable[] = {
#endif #endif
// PG_RC_CONTROLS_CONFIG // PG_RC_CONTROLS_CONFIG
{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 250 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_deadband) },
{ "alt_hold_fast_change", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_fast_change) },
{ "deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 2 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, deadband) },
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, .config.minmax = { -1, 1 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_direction) },
// PG_PID_PROFILE // PG_PID_PROFILE
{ "d_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },
{ "d_lowpass", VAR_INT16 | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf_hz) },
{ "d_notch_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_hz) },
{ "d_notch_cut", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_cutoff) },
{ "vbat_pid_gain", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, vbatPidCompensation) },
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
{ "anti_gravity_thresh", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
{ "anti_gravity_gain", VAR_FLOAT | PROFILE_VALUE, .config.minmax = { 1, 30 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, setpointRelaxRatio) },
{ "d_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 254 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
{ "yaw_accel_limit", VAR_FLOAT | PROFILE_VALUE, .config.minmax = { 0.1f, 50.0f }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
{ "accel_limit", VAR_FLOAT | PROFILE_VALUE, .config.minmax = { 0.1f, 50.0f }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
{ "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) },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },
{ "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]) },
{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, D8[PITCH]) },
{ "p_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[ROLL]) },
{ "i_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[ROLL]) },
{ "d_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, D8[ROLL]) },
{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[YAW]) },
{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[YAW]) },
{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, D8[YAW]) },
{ "p_alt", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PIDALT]) },
{ "i_alt", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[PIDALT]) },
{ "d_alt", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, D8[PIDALT]) },
{ "p_level", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PIDLEVEL]) },
{ "i_level", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[PIDLEVEL]) },
{ "d_level", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, D8[PIDLEVEL]) },
{ "p_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PIDVEL]) },
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[PIDVEL]) },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, D8[PIDVEL]) },
{ "level_sensitivity", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 10, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, levelSensitivity) },
{ "level_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 10, 120 }, PG_PID_PROFILE, offsetof(pidProfile_t, levelAngleLimit) },
#ifdef GPS
{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PIDPOS]) },
{ "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[PIDPOS]) },
{ "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, D8[PIDPOS]) },
{ "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PIDPOSR]) },
{ "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[PIDPOSR]) },
{ "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, D8[PIDPOSR]) },
{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PIDNAVR]) },
{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[PIDNAVR]) },
{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, D8[PIDNAVR]) },
#endif
// PG_TELEMETRY_CONFIG // PG_TELEMETRY_CONFIG
#ifdef TELEMETRY #ifdef TELEMETRY