static uint8_t applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{
uint8_t beeps = 0;
switch (adjustmentFunction) {
case ADJUSTMENT_RATE_PROFILE:
{
if (getCurrentControlRateProfileIndex() != position) {
changeControlRateProfile(position);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
beeps = position + 1;
}
break;
}
case ADJUSTMENT_HORIZON_STRENGTH:
{
uint8_t newValue = constrain(position, 0, 200); // FIXME magic numbers repeated in serial_cli.c
if (pidProfile->pid[PID_LEVEL].D != newValue) {
beeps = ((newValue - pidProfile->pid[PID_LEVEL].D) / 8) + 1;
pidProfile->pid[PID_LEVEL].D = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_HORIZON_STRENGTH, position);
}
break;
}
}
if (beeps) {
beeperConfirmationBeeps(beeps);
}
return position;
}
static void setAdjustment(uint8_t* ptr, float* ptrFP, uint8_t adjustment, int delta, float factor, uint8_t min, uint8_t max) {
if(ptrFP != 0 && IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
*ptrFP = constrainf((*ptrFP) + (delta / factor), PID_F_MIN, PID_F_MAX);
blackboxLogInflightAdjustmentEventFloat(adjustment, *ptrFP);
} else {
*ptr = constrain((int)(*ptr)+delta, min ,max);
blackboxLogInflightAdjustmentEvent(adjustment, *ptr);
}
}
static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{
bool applied = false;
switch (adjustmentFunction) {
case ADJUSTMENT_RATE_PROFILE:
if (getCurrentControlRateProfile() != position) {
changeControlRateProfile(position);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
applied = true;
}
break;
}
if (applied) {
beeperConfirmationBeeps(position + 1);
}
}
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
{
if (delta > 0) {
beeperConfirmationBeeps(2);
} else {
beeperConfirmationBeeps(1);
}
switch (adjustmentFunction) {
case ADJUSTMENT_RC_EXPO:
applyAdjustmentExpo(ADJUSTMENT_RC_EXPO, &controlRateConfig->stabilized.rcExpo8, delta);
break;
case ADJUSTMENT_RC_YAW_EXPO:
applyAdjustmentExpo(ADJUSTMENT_RC_YAW_EXPO, &controlRateConfig->stabilized.rcYawExpo8, delta);
break;
case ADJUSTMENT_MANUAL_RC_EXPO:
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_EXPO, &controlRateConfig->manual.rcExpo8, delta);
break;
case ADJUSTMENT_MANUAL_RC_YAW_EXPO:
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_YAW_EXPO, &controlRateConfig->manual.rcYawExpo8, delta);
break;
case ADJUSTMENT_THROTTLE_EXPO:
applyAdjustmentExpo(ADJUSTMENT_THROTTLE_EXPO, &controlRateConfig->throttle.rcExpo8, delta);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
applyAdjustmentU8(ADJUSTMENT_PITCH_RATE, &controlRateConfig->stabilized.rates[FD_PITCH], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
FALLTHROUGH;
case ADJUSTMENT_ROLL_RATE:
applyAdjustmentU8(ADJUSTMENT_ROLL_RATE, &controlRateConfig->stabilized.rates[FD_ROLL], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_PITCH_ROLL_RATE:
case ADJUSTMENT_MANUAL_ROLL_RATE:
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_ROLL_RATE, &controlRateConfig->manual.rates[FD_ROLL], delta);
if (adjustmentFunction == ADJUSTMENT_MANUAL_ROLL_RATE)
break;
// follow though for combined ADJUSTMENT_MANUAL_PITCH_ROLL_RATE
FALLTHROUGH;
case ADJUSTMENT_MANUAL_PITCH_RATE:
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_PITCH_RATE, &controlRateConfig->manual.rates[FD_PITCH], delta);
break;
case ADJUSTMENT_YAW_RATE:
applyAdjustmentU8(ADJUSTMENT_YAW_RATE, &controlRateConfig->stabilized.rates[FD_YAW], delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_YAW_RATE:
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_YAW_RATE, &controlRateConfig->manual.rates[FD_YAW], delta);
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
applyAdjustmentPID(ADJUSTMENT_PITCH_P, &pidBankMutable()->pid[PID_PITCH].P, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
FALLTHROUGH;
case ADJUSTMENT_ROLL_P:
applyAdjustmentPID(ADJUSTMENT_ROLL_P, &pidBankMutable()->pid[PID_ROLL].P, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
applyAdjustmentPID(ADJUSTMENT_PITCH_I, &pidBankMutable()->pid[PID_PITCH].I, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
FALLTHROUGH;
case ADJUSTMENT_ROLL_I:
applyAdjustmentPID(ADJUSTMENT_ROLL_I, &pidBankMutable()->pid[PID_ROLL].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
applyAdjustmentPID(ADJUSTMENT_PITCH_D, &pidBankMutable()->pid[PID_PITCH].D, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
FALLTHROUGH;
case ADJUSTMENT_ROLL_D:
applyAdjustmentPID(ADJUSTMENT_ROLL_D, &pidBankMutable()->pid[PID_ROLL].D, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_P:
applyAdjustmentPID(ADJUSTMENT_YAW_P, &pidBankMutable()->pid[PID_YAW].P, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_I:
applyAdjustmentPID(ADJUSTMENT_YAW_I, &pidBankMutable()->pid[PID_YAW].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_D:
applyAdjustmentPID(ADJUSTMENT_YAW_D, &pidBankMutable()->pid[PID_YAW].D, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_NAV_FW_CRUISE_THR:
applyAdjustmentU16(ADJUSTMENT_NAV_FW_CRUISE_THR, &navConfigMutable()->fw.cruise_throttle, delta, 1000, 2000);
break;
case ADJUSTMENT_NAV_FW_PITCH2THR:
applyAdjustmentU8(ADJUSTMENT_NAV_FW_PITCH2THR, &navConfigMutable()->fw.pitch_to_throttle, delta, 0, 100);
break;
case ADJUSTMENT_ROLL_BOARD_ALIGNMENT:
updateBoardAlignment(delta, 0);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_BOARD_ALIGNMENT, boardAlignment()->rollDeciDegrees);
break;
case ADJUSTMENT_PITCH_BOARD_ALIGNMENT:
updateBoardAlignment(0, delta);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_BOARD_ALIGNMENT, boardAlignment()->pitchDeciDegrees);
break;
case ADJUSTMENT_LEVEL_P:
applyAdjustmentPID(ADJUSTMENT_LEVEL_P, &pidBankMutable()->pid[PID_LEVEL].P, delta);
// TODO: Need to call something to take it into account?
break;
case ADJUSTMENT_LEVEL_I:
applyAdjustmentPID(ADJUSTMENT_LEVEL_I, &pidBankMutable()->pid[PID_LEVEL].I, delta);
// TODO: Need to call something to take it into account?
break;
case ADJUSTMENT_LEVEL_D:
applyAdjustmentPID(ADJUSTMENT_LEVEL_D, &pidBankMutable()->pid[PID_LEVEL].D, delta);
// TODO: Need to call something to take it into account?
break;
case ADJUSTMENT_POS_XY_P:
applyAdjustmentPID(ADJUSTMENT_POS_XY_P, &pidBankMutable()->pid[PID_POS_XY].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_XY_I:
applyAdjustmentPID(ADJUSTMENT_POS_XY_I, &pidBankMutable()->pid[PID_POS_XY].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_XY_D:
applyAdjustmentPID(ADJUSTMENT_POS_XY_D, &pidBankMutable()->pid[PID_POS_XY].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_Z_P:
applyAdjustmentPID(ADJUSTMENT_POS_Z_P, &pidBankMutable()->pid[PID_POS_Z].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_Z_I:
applyAdjustmentPID(ADJUSTMENT_POS_Z_I, &pidBankMutable()->pid[PID_POS_Z].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_POS_Z_D:
applyAdjustmentPID(ADJUSTMENT_POS_Z_D, &pidBankMutable()->pid[PID_POS_Z].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_HEADING_P:
applyAdjustmentPID(ADJUSTMENT_HEADING_P, &pidBankMutable()->pid[PID_HEADING].P, delta);
// TODO: navigationUsePIDs()?
break;
case ADJUSTMENT_VEL_XY_P:
applyAdjustmentPID(ADJUSTMENT_VEL_XY_P, &pidBankMutable()->pid[PID_VEL_XY].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_XY_I:
applyAdjustmentPID(ADJUSTMENT_VEL_XY_I, &pidBankMutable()->pid[PID_VEL_XY].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_XY_D:
applyAdjustmentPID(ADJUSTMENT_VEL_XY_D, &pidBankMutable()->pid[PID_VEL_XY].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_Z_P:
applyAdjustmentPID(ADJUSTMENT_VEL_Z_P, &pidBankMutable()->pid[PID_VEL_Z].P, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_Z_I:
applyAdjustmentPID(ADJUSTMENT_VEL_Z_I, &pidBankMutable()->pid[PID_VEL_Z].I, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_VEL_Z_D:
applyAdjustmentPID(ADJUSTMENT_VEL_Z_D, &pidBankMutable()->pid[PID_VEL_Z].D, delta);
navigationUsePIDs();
break;
case ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE:
applyAdjustmentU16(ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE, &mixerConfigMutable()->fwMinThrottleDownPitchAngle, delta, 0, FW_MIN_THROTTLE_DOWN_PITCH_ANGLE_MAX);
break;
default:
break;
};
}
static void applyAdjustmentU16(adjustmentFunction_e adjustmentFunction, uint16_t *val, int delta, int low, int high)
{
int newValue = constrain((int)(*val) + delta, low, high);
*val = newValue;
blackboxLogInflightAdjustmentEvent(adjustmentFunction, newValue);
}
void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue;
float newFloatValue;
if (delta > 0) {
beeperConfirmationBeeps(2);
} else {
beeperConfirmationBeeps(1);
}
switch(adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rcRate8 = newValue;
generatePitchRollCurve(controlRateConfig);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
break;
case ADJUSTMENT_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rcExpo8 = newValue;
generatePitchRollCurve(controlRateConfig);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
break;
case ADJUSTMENT_THROTTLE_EXPO:
newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->thrExpo8 = newValue;
generateThrottleCurve(controlRateConfig, escAndServoConfig);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
controlRateConfig->rates[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
case ADJUSTMENT_ROLL_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
controlRateConfig->rates[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
break;
case ADJUSTMENT_YAW_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
controlRateConfig->rates[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->P_f[PIDPITCH] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDPITCH] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_P, newFloatValue);
} else {
newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
}
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
case ADJUSTMENT_ROLL_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->P_f[PIDROLL] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDROLL] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_P, newFloatValue);
} else {
newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
}
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->I_f[PIDPITCH] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I_f[PIDPITCH] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_I, newFloatValue);
} else {
newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
}
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
case ADJUSTMENT_ROLL_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->I_f[PIDROLL] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I_f[PIDROLL] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_I, newFloatValue);
} else {
newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
}
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->D_f[PIDPITCH] + (float)(delta / 1000.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D_f[PIDPITCH] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_D, newFloatValue);
} else {
newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D8[PIDPITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
}
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
case ADJUSTMENT_ROLL_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->D_f[PIDROLL] + (float)(delta / 1000.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D_f[PIDROLL] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_D, newFloatValue);
} else {
newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D8[PIDROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
}
break;
case ADJUSTMENT_YAW_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->P_f[PIDYAW] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDYAW] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_P, newFloatValue);
} else {
newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
}
break;
case ADJUSTMENT_YAW_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->I_f[PIDYAW] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I_f[PIDYAW] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_I, newFloatValue);
} else {
newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
}
break;
case ADJUSTMENT_YAW_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->D_f[PIDYAW] + (float)(delta / 1000.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D_f[PIDYAW] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_D, newFloatValue);
} else {
newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D8[PIDYAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
}
break;
default:
break;
};
}
static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
{
beeperConfirmationBeeps(delta > 0 ? 2 : 1);
int newValue;
switch (adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
case ADJUSTMENT_ROLL_RC_RATE:
newValue = constrain((int)controlRateConfig->rcRates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_RC_RATES_MAX);
controlRateConfig->rcRates[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RC_RATE, newValue);
if (adjustmentFunction == ADJUSTMENT_ROLL_RC_RATE) {
break;
}
// fall through for combined ADJUSTMENT_RC_EXPO
FALLTHROUGH;
case ADJUSTMENT_PITCH_RC_RATE:
newValue = constrain((int)controlRateConfig->rcRates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_RC_RATES_MAX);
controlRateConfig->rcRates[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RC_RATE, newValue);
break;
case ADJUSTMENT_RC_EXPO:
case ADJUSTMENT_ROLL_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX);
controlRateConfig->rcExpo[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RC_EXPO, newValue);
if (adjustmentFunction == ADJUSTMENT_ROLL_RC_EXPO) {
break;
}
// fall through for combined ADJUSTMENT_RC_EXPO
FALLTHROUGH;
case ADJUSTMENT_PITCH_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX);
controlRateConfig->rcExpo[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RC_EXPO, newValue);
break;
case ADJUSTMENT_THROTTLE_EXPO:
newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
controlRateConfig->thrExpo8 = newValue;
initRcProcessing();
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_RATE_MAX);
controlRateConfig->rates[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
break;
}
// fall through for combined ADJUSTMENT_PITCH_ROLL_RATE
FALLTHROUGH;
case ADJUSTMENT_ROLL_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_RATE_MAX);
controlRateConfig->rates[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
break;
case ADJUSTMENT_YAW_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_RATE_MAX);
controlRateConfig->rates[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
newValue = constrain((int)pidProfile->pid[PID_PITCH].P + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->pid[PID_PITCH].P = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
break;
}
// fall through for combined ADJUSTMENT_PITCH_ROLL_P
FALLTHROUGH;
case ADJUSTMENT_ROLL_P:
newValue = constrain((int)pidProfile->pid[PID_ROLL].P + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->pid[PID_ROLL].P = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
newValue = constrain((int)pidProfile->pid[PID_PITCH].I + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->pid[PID_PITCH].I = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
break;
}
// fall through for combined ADJUSTMENT_PITCH_ROLL_I
FALLTHROUGH;
case ADJUSTMENT_ROLL_I:
newValue = constrain((int)pidProfile->pid[PID_ROLL].I + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->pid[PID_ROLL].I = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
newValue = constrain((int)pidProfile->pid[PID_PITCH].D + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->pid[PID_PITCH].D = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
break;
}
// fall through for combined ADJUSTMENT_PITCH_ROLL_D
FALLTHROUGH;
case ADJUSTMENT_ROLL_D:
newValue = constrain((int)pidProfile->pid[PID_ROLL].D + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->pid[PID_ROLL].D = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
break;
case ADJUSTMENT_YAW_P:
newValue = constrain((int)pidProfile->pid[PID_YAW].P + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->pid[PID_YAW].P = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
break;
case ADJUSTMENT_YAW_I:
newValue = constrain((int)pidProfile->pid[PID_YAW].I + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->pid[PID_YAW].I = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
break;
case ADJUSTMENT_YAW_D:
newValue = constrain((int)pidProfile->pid[PID_YAW].D + delta, 0, 200); // FIXME magic numbers repeated in cli.c
pidProfile->pid[PID_YAW].D = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
break;
case ADJUSTMENT_RC_RATE_YAW:
newValue = constrain((int)controlRateConfig->rcRates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_RC_RATES_MAX);
controlRateConfig->rcRates[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break;
case ADJUSTMENT_D_SETPOINT:
newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c
pidProfile->dtermSetpointWeight = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
break;
case ADJUSTMENT_D_SETPOINT_TRANSITION:
newValue = constrain((int)pidProfile->setpointRelaxRatio + delta, 1, 100); // FIXME magic numbers repeated in cli.c
pidProfile->setpointRelaxRatio = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
break;
default:
newValue = -1;
break;
};
return newValue;
}
