void ossimAdjustableParameterInterface::setAdjustment(const ossimAdjustmentInfo& adj, bool notify)
{
setAdjustment(theCurrentAdjustment, adj, notify);
}
void GtkAdjustmentWatcher::setHorizontalAdjustment(GtkAdjustment* newAdjustment)
{
setAdjustment(this, m_horizontalAdjustment, newAdjustment);
}
void GtkAdjustmentWatcher::setVerticalAdjustment(GtkAdjustment* newAdjustment)
{
setAdjustment(this, m_verticalAdjustment, newAdjustment);
}
void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
if (delta > 0) {
beeperConfirmationBeeps(2);
} else {
beeperConfirmationBeeps(1);
}
switch(adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
setAdjustment(&controlRateConfig->rcRate8,0,ADJUSTMENT_RC_RATE,delta,0,RC_RATE_MIN,RC_RATE_MAX);
generatePitchRollCurve(controlRateConfig);
break;
case ADJUSTMENT_RC_EXPO:
setAdjustment(&controlRateConfig->rcExpo8,0,ADJUSTMENT_RC_EXPO,delta,0,EXPO_MIN,EXPO_MAX);
generatePitchRollCurve(controlRateConfig);
break;
case ADJUSTMENT_THROTTLE_EXPO:
setAdjustment(&controlRateConfig->thrExpo8,0,ADJUSTMENT_THROTTLE_EXPO,delta,0,EXPO_MIN,EXPO_MAX);
generateThrottleCurve(controlRateConfig, escAndServoConfig);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
setAdjustment(&controlRateConfig->rates[FD_PITCH],0,ADJUSTMENT_PITCH_RATE,delta,0,0,CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
case ADJUSTMENT_ROLL_RATE:
setAdjustment(&controlRateConfig->rates[FD_ROLL],0,ADJUSTMENT_ROLL_RATE,delta,0,0,CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
break;
case ADJUSTMENT_YAW_RATE:
setAdjustment(&controlRateConfig->rates[FD_YAW],0,ADJUSTMENT_YAW_RATE,delta,0,0,CONTROL_RATE_CONFIG_YAW_RATE_MAX);
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
setAdjustment(&pidProfile->P8[PIDPITCH],&pidProfile->P_f[PIDPITCH],ADJUSTMENT_PITCH_P,delta,10.0f,PID_MIN,PID_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
case ADJUSTMENT_ROLL_P:
setAdjustment(&pidProfile->P8[PIDROLL],&pidProfile->P_f[PIDROLL],ADJUSTMENT_ROLL_P,delta,10.0f,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
setAdjustment(&pidProfile->I8[PIDPITCH],&pidProfile->I_f[PIDPITCH],ADJUSTMENT_PITCH_I,delta,100.0f,PID_MIN,PID_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
case ADJUSTMENT_ROLL_I:
setAdjustment(&pidProfile->I8[PIDROLL],&pidProfile->I_f[PIDROLL],ADJUSTMENT_ROLL_I,delta,100.0f,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
setAdjustment(&pidProfile->D8[PIDPITCH],&pidProfile->D_f[PIDPITCH],ADJUSTMENT_PITCH_D,delta,1000.0f,PID_MIN,PID_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
case ADJUSTMENT_ROLL_D:
setAdjustment(&pidProfile->D8[PIDROLL],&pidProfile->D_f[PIDROLL],ADJUSTMENT_ROLL_D,delta,1000.0f,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_YAW_P:
setAdjustment(&pidProfile->P8[PIDYAW],&pidProfile->P_f[PIDYAW],ADJUSTMENT_YAW_P,delta,10.0f,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_YAW_I:
setAdjustment(&pidProfile->I8[PIDYAW],&pidProfile->I_f[PIDYAW],ADJUSTMENT_YAW_I,delta,100.0f,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_YAW_D:
setAdjustment(&pidProfile->D8[PIDYAW],&pidProfile->D_f[PIDYAW],ADJUSTMENT_YAW_D,delta,1000.0f,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_LEVEL_P:
setAdjustment(&pidProfile->P8[PIDLEVEL],&pidProfile->A_level,ADJUSTMENT_LEVEL_P,delta,10.0f,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_LEVEL_I:
setAdjustment(&pidProfile->I8[PIDLEVEL],&pidProfile->H_level,ADJUSTMENT_LEVEL_I,delta,10.0f,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_LEVEL_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
setAdjustment(&pidProfile->H_sensitivity,0,ADJUSTMENT_LEVEL_D,delta,0,PID_MIN,PID_MAX);
} else {
setAdjustment(&pidProfile->D8[PIDLEVEL],0,ADJUSTMENT_LEVEL_D,delta,0,PID_MIN,PID_MAX);
}
break;
case ADJUSTMENT_ALT_P:
setAdjustment(&pidProfile->P8[PIDALT],0,ADJUSTMENT_ALT_P,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_ALT_I:
setAdjustment(&pidProfile->I8[PIDALT],0,ADJUSTMENT_ALT_I,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_ALT_D:
setAdjustment(&pidProfile->D8[PIDALT],0,ADJUSTMENT_ALT_D,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_POS_P:
setAdjustment(&pidProfile->P8[PIDPOS],0,ADJUSTMENT_POS_P,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_POS_I:
setAdjustment(&pidProfile->I8[PIDPOS],0,ADJUSTMENT_POS_I,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_POSR_P:
setAdjustment(&pidProfile->P8[PIDPOSR],0,ADJUSTMENT_POSR_P,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_POSR_I:
setAdjustment(&pidProfile->I8[PIDPOSR],0,ADJUSTMENT_POSR_I,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_POSR_D:
setAdjustment(&pidProfile->D8[PIDPOSR],0,ADJUSTMENT_POSR_D,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_NAVR_P:
setAdjustment(&pidProfile->P8[PIDNAVR],0,ADJUSTMENT_NAVR_P,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_NAVR_I:
setAdjustment(&pidProfile->I8[PIDNAVR],0,ADJUSTMENT_NAVR_I,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_NAVR_D:
setAdjustment(&pidProfile->D8[PIDNAVR],0,ADJUSTMENT_NAVR_D,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_MAG_P:
setAdjustment(&pidProfile->P8[PIDMAG],0,ADJUSTMENT_MAG_P,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_VEL_P:
setAdjustment(&pidProfile->P8[PIDVEL],0,ADJUSTMENT_VEL_P,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_VEL_I:
setAdjustment(&pidProfile->I8[PIDVEL],0,ADJUSTMENT_VEL_I,delta,0,PID_MIN,PID_MAX);
break;
case ADJUSTMENT_VEL_D:
setAdjustment(&pidProfile->D8[PIDVEL],0,ADJUSTMENT_VEL_D,delta,0,PID_MIN,PID_MAX);
break;
default:
break;
};
}
