void activateConfig(void)
{
#ifndef USE_OSD_SLAVE
initRcProcessing();
resetAdjustmentStates();
pidInit(currentPidProfile);
useRcControlsConfig(currentPidProfile);
useAdjustmentConfig(currentPidProfile);
#ifdef USE_NAV
gpsUsePIDs(currentPidProfile);
#endif
failsafeReset();
setAccelerationTrims(&accelerometerConfigMutable()->accZero);
accInitFilters();
imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
#endif // USE_OSD_SLAVE
}
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;
}
