src/main/fc/controlrate_profile.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include "platform.h"
  22
  23 #include "common/axis.h"
  24
  25 #include "config/config_reset.h"
  26 #include "config/parameter_group.h"
  27 #include "config/parameter_group_ids.h"
  28
  29 #include "fc/config.h"
  30 #include "fc/controlrate_profile.h"
  31 #include "fc/rc_curves.h"
  32 #include "fc/settings.h"
  33
  34 const controlRateConfig_t *currentControlRateProfile;
  35
  36
  37 PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 4);
  38
  39 void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
  40 {
  41     for (int i = 0; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
  42         RESET_CONFIG(controlRateConfig_t, &instance[i],
  43             .throttle = {
  44                 .rcMid8 = SETTING_THR_MID_DEFAULT,
  45                 .rcExpo8 = SETTING_THR_EXPO_DEFAULT,
  46                 .dynPID = SETTING_TPA_RATE_DEFAULT,
  47                 .pa_breakpoint = SETTING_TPA_BREAKPOINT_DEFAULT,
  48                 .fixedWingTauMs = SETTING_FW_TPA_TIME_CONSTANT_DEFAULT
  49             },
  50
  51             .stabilized = {
  52                 .rcExpo8 = SETTING_RC_EXPO_DEFAULT,
  53                 .rcYawExpo8 = SETTING_RC_YAW_EXPO_DEFAULT,
  54                 .rates[FD_ROLL] = SETTING_ROLL_RATE_DEFAULT,
  55                 .rates[FD_PITCH] = SETTING_PITCH_RATE_DEFAULT,
  56                 .rates[FD_YAW] = SETTING_YAW_RATE_DEFAULT,
  57             },
  58
  59             .manual = {
  60                 .rcExpo8 = SETTING_MANUAL_RC_EXPO_DEFAULT,
  61                 .rcYawExpo8 = SETTING_MANUAL_RC_YAW_EXPO_DEFAULT,
  62                 .rates[FD_ROLL] = SETTING_MANUAL_ROLL_RATE_DEFAULT,
  63                 .rates[FD_PITCH] = SETTING_MANUAL_PITCH_RATE_DEFAULT,
  64                 .rates[FD_YAW] = SETTING_MANUAL_YAW_RATE_DEFAULT
  65             },
  66
  67             .misc = {
  68                 .fpvCamAngleDegrees = SETTING_FPV_MIX_DEGREES_DEFAULT
  69             },
  70         #ifdef USE_RATE_DYNAMICS
  71             .rateDynamics = {
  72                 .sensitivityCenter = SETTING_RATE_DYNAMICS_CENTER_SENSITIVITY_DEFAULT,
  73                 .sensitivityEnd = SETTING_RATE_DYNAMICS_END_SENSITIVITY_DEFAULT,
  74                 .correctionCenter = SETTING_RATE_DYNAMICS_CENTER_CORRECTION_DEFAULT,
  75                 .correctionEnd = SETTING_RATE_DYNAMICS_END_CORRECTION_DEFAULT,
  76                 .weightCenter = SETTING_RATE_DYNAMICS_CENTER_WEIGHT_DEFAULT,
  77                 .weightEnd = SETTING_RATE_DYNAMICS_END_WEIGHT_DEFAULT,
  78             }
  79         #endif
  80         );
  81     }
  82 }
  83
  84 void setControlRateProfile(uint8_t profileIndex)
  85 {
  86     if (profileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) {
  87         profileIndex = 0;
  88     }
  89     currentControlRateProfile = controlRateProfiles(profileIndex);
  90 }
  91
  92 void activateControlRateConfig(void)
  93 {
  94     generateThrottleCurve(currentControlRateProfile);
  95 }
  96
  97 void changeControlRateProfile(uint8_t profileIndex)
  98 {
  99     setControlRateProfile(profileIndex);
 100     activateControlRateConfig();
 101 }