Merge pull request cleanflight#2503 from martinbudden/bf_pg_configs8

Added PG config definitions 8
rcjetpilot · Feb 27, 2017 · a98a799 · a98a799
2 parents 3be6441 + 7ae57eb
commit a98a799
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Showing 10 changed files with 78 additions and 16 deletions.
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
@@ -403,7 +403,7 @@ static OSD_Entry cmsx_menuImuEntries[] =
     {"MISC PP",   OME_Submenu, cmsMenuChange,                 &cmsx_menuProfileOther,                                        0},
     {"FILT PP",   OME_Submenu, cmsMenuChange,                 &cmsx_menuFilterPerProfile,                                    0},
 
-    {"RATE PROF", OME_UINT8,   cmsx_rateProfileIndexOnChange, &(OSD_UINT8_t){ &tmpRateProfileIndex, 1, MAX_RATEPROFILES, 1}, 0},
+    {"RATE PROF", OME_UINT8,   cmsx_rateProfileIndexOnChange, &(OSD_UINT8_t){ &tmpRateProfileIndex, 1, CONTROL_RATE_PROFILE_COUNT, 1}, 0},
     {"RATE",      OME_Submenu, cmsMenuChange,                 &cmsx_menuRateProfile,                                         0},
 
     {"FILT GLB",  OME_Submenu, cmsMenuChange,                 &cmsx_menuFilterGlobal,                                        0},

diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
@@ -309,7 +309,7 @@ typedef struct master_s {
 #endif
 
     profile_t profile[MAX_PROFILE_COUNT];
-    controlRateConfig_t controlRateProfile[MAX_RATEPROFILES];
+    controlRateConfig_t controlRateProfile[CONTROL_RATE_PROFILE_COUNT];
 
     modeActivationProfile_t modeActivationProfile;
     adjustmentProfile_t adjustmentProfile;

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
@@ -3422,7 +3422,7 @@ static void cliRateProfile(char *cmdline)
         return;
     } else {
         const int i = atoi(cmdline);
-        if (i >= 0 && i < MAX_RATEPROFILES) {
+        if (i >= 0 && i < CONTROL_RATE_PROFILE_COUNT) {
             changeControlRateProfile(i);
             cliRateProfile("");
         }
@@ -3451,7 +3451,7 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, const master_
 
 static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, const master_t *defaultConfig)
 {
-    if (rateProfileIndex >= MAX_RATEPROFILES) {
+    if (rateProfileIndex >= CONTROL_RATE_PROFILE_COUNT) {
         // Faulty values
         return;
     }
@@ -4136,7 +4136,7 @@ static void printConfig(char *cmdline, bool doDiff)
             cliProfile("");
 
             const uint8_t controlRateProfileIndexSave = getCurrentControlRateProfileIndex();
-            for (uint32_t rateIndex = 0; rateIndex < MAX_RATEPROFILES; rateIndex++) {
+            for (uint32_t rateIndex = 0; rateIndex < CONTROL_RATE_PROFILE_COUNT; rateIndex++) {
                 cliDumpRateProfile(rateIndex, dumpMask, &defaultConfig);
             }
             changeControlRateProfile(controlRateProfileIndexSave);

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
@@ -181,6 +181,7 @@ static void resetControlRateProfile(controlRateConfig_t *controlRateConfig)
 }
 #endif
 
+#ifndef USE_PARAMETER_GROUPS
 static void resetPidProfile(pidProfile_t *pidProfile)
 {
     pidProfile->P8[ROLL] = 44;
@@ -231,11 +232,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->itermThrottleThreshold = 350;
     pidProfile->itermAcceleratorGain = 1.0f;
 }
+#endif
 
+#ifndef USE_PARAMETER_GROUPS
 void resetProfile(profile_t *profile)
 {
     resetPidProfile(&profile->pidProfile);
 }
+#endif
 
 #ifdef GPS
 void resetGpsProfile(gpsProfile_t *gpsProfile)
@@ -1011,13 +1015,10 @@ void createDefaultConfig(master_t *config)
     resetSerialPinConfig(&config->serialPinConfig);
 
     resetSerialConfig(&config->serialConfig);
-#endif
-
 
     for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
         resetProfile(&config->profile[ii]);
     }
-#ifndef USE_PARAMETER_GROUPS
     for (int ii = 0; ii < CONTROL_RATE_PROFILE_COUNT; ++ii) {
         resetControlRateProfile(&config->controlRateProfile[ii]);
     }

diff --git a/src/main/fc/config.h b/src/main/fc/config.h
@@ -30,12 +30,6 @@
 #include "drivers/sound_beeper.h"
 #include "drivers/vcd.h"
 
-#if FLASH_SIZE <= 128
-#define MAX_PROFILE_COUNT 2
-#else
-#define MAX_PROFILE_COUNT 3
-#endif
-#define MAX_RATEPROFILES 3
 #define MAX_NAME_LENGTH 16
 
 typedef enum {

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -1275,7 +1275,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         } else {
             value = value & ~RATEPROFILE_MASK;
 
-            if (value >= MAX_RATEPROFILES) {
+            if (value >= CONTROL_RATE_PROFILE_COUNT) {
                 value = 0;
             }
             changeControlRateProfile(value);

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -17,6 +17,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <string.h>
 #include <math.h>
 
 #include <platform.h>
@@ -30,6 +31,7 @@
 
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
+#include "config/config_reset.h"
 
 #include "fc/fc_core.h"
 #include "fc/fc_rc.h"
@@ -71,6 +73,63 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
     .pid_process_denom = PID_PROCESS_DENOM_DEFAULT
 );
 
+PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 0);
+
+void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)
+{
+    for (int i = 0; i < MAX_PROFILE_COUNT; i++) {
+        RESET_CONFIG(const pidProfile_t, &pidProfiles[i],
+            .P8[ROLL] = 44,
+            .I8[ROLL] = 40,
+            .D8[ROLL] = 20,
+            .P8[PITCH] = 58,
+            .I8[PITCH] = 50,
+            .D8[PITCH] = 22,
+            .P8[YAW] = 70,
+            .I8[YAW] = 45,
+            .D8[YAW] = 20,
+            .P8[PIDALT] = 50,
+            .I8[PIDALT] = 0,
+            .D8[PIDALT] = 0,
+            .P8[PIDPOS] = 15,   // POSHOLD_P * 100,
+            .I8[PIDPOS] = 0,    // POSHOLD_I * 100,
+            .D8[PIDPOS] = 0,
+            .P8[PIDPOSR] = 34,  // POSHOLD_RATE_P * 10,
+            .I8[PIDPOSR] = 14,  // POSHOLD_RATE_I * 100,
+            .D8[PIDPOSR] = 53,  // POSHOLD_RATE_D * 1000,
+            .P8[PIDNAVR] = 25,  // NAV_P * 10,
+            .I8[PIDNAVR] = 33,  // NAV_I * 100,
+            .D8[PIDNAVR] = 83,  // NAV_D * 1000,
+            .P8[PIDLEVEL] = 50,
+            .I8[PIDLEVEL] = 50,
+            .D8[PIDLEVEL] = 100,
+            .P8[PIDMAG] = 40,
+            .P8[PIDVEL] = 55,
+            .I8[PIDVEL] = 55,
+            .D8[PIDVEL] = 75,
+
+            .yaw_p_limit = YAW_P_LIMIT_MAX,
+            .pidSumLimit = PIDSUM_LIMIT,
+            .yaw_lpf_hz = 0,
+            .itermWindupPointPercent = 50,
+            .dterm_filter_type = FILTER_BIQUAD,
+            .dterm_lpf_hz = 100,    // filtering ON by default
+            .dterm_notch_hz = 260,
+            .dterm_notch_cutoff = 160,
+            .vbatPidCompensation = 0,
+            .pidAtMinThrottle = PID_STABILISATION_ON,
+            .levelAngleLimit = 55,
+            .levelSensitivity = 55,
+            .setpointRelaxRatio = 20,
+            .dtermSetpointWeight = 100,
+            .yawRateAccelLimit = 10.0f,
+            .rateAccelLimit = 0.0f,
+            .itermThrottleThreshold = 350,
+            .itermAcceleratorGain = 1.0f
+        );
+    }
+}
+
 void pidSetTargetLooptime(uint32_t pidLooptime)
 {
     targetPidLooptime = pidLooptime;

diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
@@ -87,6 +87,12 @@ typedef struct pidProfile_s {
 } pidProfile_t;
 
 //PG_DECLARE_PROFILE(pidProfile_t, pidProfile);
+#if FLASH_SIZE <= 128
+#define MAX_PROFILE_COUNT 2
+#else
+#define MAX_PROFILE_COUNT 3
+#endif
+PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
 
 typedef struct pidConfig_s {
     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate

diff --git a/src/main/io/dashboard.c b/src/main/io/dashboard.c
@@ -48,6 +48,7 @@
 #include "config/parameter_group_ids.h"
 
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 

diff --git a/src/main/target/NAZE/config.c b/src/main/target/NAZE/config.c
@@ -26,6 +26,7 @@
 #include "drivers/io.h"
 
 #include "fc/rc_controls.h"
+#include "fc/controlrate_profile.h"
 
 #include "flight/failsafe.h"
 #include "flight/mixer.h"
@@ -72,7 +73,7 @@ void targetConfiguration(master_t *config)
         config->profile[profileId].pidProfile.P8[PIDLEVEL] = 30;
         config->profile[profileId].pidProfile.D8[PIDLEVEL] = 30;
 
-        for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) {
+        for (int rateProfileId = 0; rateProfileId < CONTROL_RATE_PROFILE_COUNT; rateProfileId++) {
             config->controlRateProfile[rateProfileId].rcRate8 = 100;
             config->controlRateProfile[rateProfileId].rcYawRate8 = 110;
             config->controlRateProfile[rateProfileId].rcExpo8 = 0;