void activateControlRateConfig(void)
{
generatePitchRollCurve(currentControlRateProfile);
generateYawCurve(currentControlRateProfile);
generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig);
}
void activateControlRateConfig(void)
{
generatePitchRollCurve();
generateYawCurve();
generateThrottleCurve();
}
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 = (int)controlRateConfig->rcRate8 + delta;
controlRateConfig->rcRate8 = constrain(newValue, 0, 250); // FIXME magic numbers repeated in serial_cli.c
generatePitchRollCurve(controlRateConfig);
break;
case ADJUSTMENT_RC_EXPO:
newValue = (int)controlRateConfig->rcExpo8 + delta;
controlRateConfig->rcExpo8 = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
generatePitchRollCurve(controlRateConfig);
break;
case ADJUSTMENT_THROTTLE_EXPO:
newValue = (int)controlRateConfig->thrExpo8 + delta;
controlRateConfig->thrExpo8 = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
generateThrottleCurve(controlRateConfig, escAndServoConfig);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
newValue = (int)controlRateConfig->rates[FD_PITCH] + delta;
controlRateConfig->rates[FD_PITCH] = constrain(newValue, 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:
newValue = (int)controlRateConfig->rates[FD_ROLL] + delta;
controlRateConfig->rates[FD_ROLL] = constrain(newValue, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
break;
case ADJUSTMENT_YAW_RATE:
newValue = (int)controlRateConfig->rates[FD_YAW] + delta;
controlRateConfig->rates[FD_YAW] = constrain(newValue, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
break;
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->P_f[PIDPITCH] + (float)(delta / 10.0f);
pidProfile->P_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDPITCH] + delta;
pidProfile->P8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
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 = pidProfile->P_f[PIDROLL] + (float)(delta / 10.0f);
pidProfile->P_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDROLL] + delta;
pidProfile->P8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_PITCH_ROLL_I:
case ADJUSTMENT_PITCH_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->I_f[PIDPITCH] + (float)(delta / 100.0f);
pidProfile->I_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDPITCH] + delta;
pidProfile->I8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
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 = pidProfile->I_f[PIDROLL] + (float)(delta / 100.0f);
pidProfile->I_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDROLL] + delta;
pidProfile->I8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->D_f[PIDPITCH] + (float)(delta / 1000.0f);
pidProfile->D_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDPITCH] + delta;
pidProfile->D8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
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 = pidProfile->D_f[PIDROLL] + (float)(delta / 1000.0f);
pidProfile->D_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDROLL] + delta;
pidProfile->D8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_YAW_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->P_f[PIDYAW] + (float)(delta / 10.0f);
pidProfile->P_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDYAW] + delta;
pidProfile->P8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_YAW_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->I_f[PIDYAW] + (float)(delta / 100.0f);
pidProfile->I_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDYAW] + delta;
pidProfile->I8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_YAW_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = pidProfile->D_f[PIDYAW] + (float)(delta / 1000.0f);
pidProfile->D_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDYAW] + delta;
pidProfile->D8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
default:
break;
};
}
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;
};
}
