src/main/fc/controlrate_profile.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #include "common/axis.h"
  28
  29 #include "config/config_reset.h"
  30 #include "pg/pg.h"
  31 #include "pg/pg_ids.h"
  32
  33 #include "config/config.h"
  34 #include "fc/controlrate_profile.h"
  35 #include "fc/rc.h"
  36 #include "fc/rc_controls.h"
  37
  38 controlRateConfig_t *currentControlRateProfile;
  39
  40 PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 4);
  41
  42 void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
  43 {
  44     for (int i = 0; i < CONTROL_RATE_PROFILE_COUNT; i++) {
  45         RESET_CONFIG(controlRateConfig_t, &controlRateConfig[i],
  46             .thrMid8 = 50,
  47             .thrExpo8 = 0,
  48             .dynThrPID = 65,
  49             .tpa_breakpoint = 1350,
  50             .rates_type = RATES_TYPE_ACTUAL,
  51             .rcRates[FD_ROLL] = 7,
  52             .rcRates[FD_PITCH] = 7,
  53             .rcRates[FD_YAW] = 7,
  54             .rcExpo[FD_ROLL] = 0,
  55             .rcExpo[FD_PITCH] = 0,
  56             .rcExpo[FD_YAW] = 0,
  57             .rates[FD_ROLL] = 67,
  58             .rates[FD_PITCH] = 67,
  59             .rates[FD_YAW] = 67,
  60             .throttle_limit_type = THROTTLE_LIMIT_TYPE_OFF,
  61             .throttle_limit_percent = 100,
  62             .rate_limit[FD_ROLL] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
  63             .rate_limit[FD_PITCH] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
  64             .rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
  65             .tpaMode = TPA_MODE_D,
  66             .profileName = { 0 },
  67             .quickRatesRcExpo = 0,
  68             .levelExpo[FD_ROLL] = 0,
  69             .levelExpo[FD_PITCH] = 0,
  70         );
  71     }
  72 }
  73
  74 const ratesSettingsLimits_t ratesSettingLimits[RATES_TYPE_COUNT] = {
  75     [RATES_TYPE_BETAFLIGHT] = { 255, 100, 100 },
  76     [RATES_TYPE_RACEFLIGHT] = { 200, 255, 100 },
  77     [RATES_TYPE_KISS]       = { 255,  99, 100 },
  78     [RATES_TYPE_ACTUAL]     = { 200, 200, 100 },
  79     [RATES_TYPE_QUICK]      = { 255, 200, 100 },
  80 };
  81
  82 void loadControlRateProfile(void)
  83 {
  84     currentControlRateProfile = controlRateProfilesMutable(systemConfig()->activeRateProfile);
  85 }
  86
  87 void changeControlRateProfile(uint8_t controlRateProfileIndex)
  88 {
  89     if (controlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT) {
  90         systemConfigMutable()->activeRateProfile = controlRateProfileIndex;
  91     }
  92
  93     loadControlRateProfile();
  94     initRcProcessing();
  95 }
  96
  97 void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex) {
  98     if ((dstControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT && srcControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT)
  99         && dstControlRateProfileIndex != srcControlRateProfileIndex
 100     ) {
 101         memcpy(controlRateProfilesMutable(dstControlRateProfileIndex), controlRateProfiles(srcControlRateProfileIndex), sizeof(controlRateConfig_t));
 102     }
 103 }