static void cliSet(char *cmdline)
{
uint32_t i;
uint32_t len;
const clivalue_t *val;
char *eqptr = NULL;
int32_t value = 0;
float valuef = 0;
len = strlen(cmdline);
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
cliPrint("Current settings: \r\n");
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
cliPrint("\r\n");
}
} else if ((eqptr = strstr(cmdline, "=")) != NULL) {
// has equal, set var
char *lastNonSpaceCharacter = eqptr;
while (*(lastNonSpaceCharacter - 1) == ' ') {
lastNonSpaceCharacter--;
}
uint8_t variableNameLength = lastNonSpaceCharacter - cmdline;
eqptr++;
len--;
value = atoi(eqptr);
valuef = fastA2F(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
// ensure exact match when setting to prevent setting variables with shorter names
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
int_float_value_t tmp;
if (valueTable[i].type & VAR_FLOAT)
tmp.float_value = valuef;
else
tmp.int_value = value;
cliSetVar(val, tmp);
printf("%s set to ", valueTable[i].name);
cliPrintVar(val, 0);
} else {
cliPrint("Value assignment out of range\r\n");
}
return;
}
}
cliPrint("Unknown variable name\r\n");
} else {
// no equals, check for matching variables.
cliGet(cmdline);
}
}
static void cliCMix(char *cmdline)
{
int i, check = 0;
int num_motors = 0;
uint8_t len;
char buf[16];
float mixsum[3];
char *ptr;
len = strlen(cmdline);
if (len == 0) {
cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
if (masterConfig.customMixer[i].throttle == 0.0f)
break;
num_motors++;
printf("#%d:\t", i + 1);
printf("%s\t", ftoa(masterConfig.customMixer[i].throttle, buf));
printf("%s\t", ftoa(masterConfig.customMixer[i].roll, buf));
printf("%s\t", ftoa(masterConfig.customMixer[i].pitch, buf));
printf("%s\r\n", ftoa(masterConfig.customMixer[i].yaw, buf));
}
mixsum[0] = mixsum[1] = mixsum[2] = 0.0f;
for (i = 0; i < num_motors; i++) {
mixsum[0] += masterConfig.customMixer[i].roll;
mixsum[1] += masterConfig.customMixer[i].pitch;
mixsum[2] += masterConfig.customMixer[i].yaw;
}
cliPrint("Sanity check:\t");
for (i = 0; i < 3; i++)
cliPrint(fabsf(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
cliPrint("\r\n");
return;
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
masterConfig.customMixer[i].throttle = 0.0f;
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = strchr(cmdline, ' ');
if (ptr) {
len = strlen(++ptr);
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrint("Invalid mixer type...\r\n");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i, masterConfig.customMixer);
printf("Loaded %s mix...\r\n", mixerNames[i]);
cliCMix("");
break;
}
}
}
} else {
ptr = cmdline;
i = atoi(ptr); // get motor number
if (--i < MAX_SUPPORTED_MOTORS) {
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMixer[i].throttle = fastA2F(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMixer[i].roll = fastA2F(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMixer[i].pitch = fastA2F(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMixer[i].yaw = fastA2F(++ptr);
check++;
}
if (check != 4) {
cliPrint("Wrong number of arguments, needs idx thr roll pitch yaw\r\n");
} else {
cliCMix("");
}
} else {
printf("Motor number must be between 1 and %d\r\n", MAX_SUPPORTED_MOTORS);
}
}
}
