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);
}
}
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;
};
}
