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, 6);
  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             .rates_type = RATES_TYPE_ACTUAL,
  49             .rcRates[FD_ROLL] = 7,
  50             .rcRates[FD_PITCH] = 7,
  51             .rcRates[FD_YAW] = 7,
  52             .rcExpo[FD_ROLL] = 0,
  53             .rcExpo[FD_PITCH] = 0,
  54             .rcExpo[FD_YAW] = 0,
  55             .rates[FD_ROLL] = 67,
  56             .rates[FD_PITCH] = 67,
  57             .rates[FD_YAW] = 67,
  58             .throttle_limit_type = THROTTLE_LIMIT_TYPE_OFF,
  59             .throttle_limit_percent = 100,
  60             .rate_limit[FD_ROLL] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
  61             .rate_limit[FD_PITCH] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
  62             .rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
  63             .profileName = { 0 },
  64             .quickRatesRcExpo = 0,
  65         );
  66     }
  67 }
  68
  69 const ratesSettingsLimits_t ratesSettingLimits[RATES_TYPE_COUNT] = {
  70     [RATES_TYPE_BETAFLIGHT] = { 255, 100, 100 },
  71     [RATES_TYPE_RACEFLIGHT] = { 200, 255, 100 },
  72     [RATES_TYPE_KISS]       = { 255,  99, 100 },
  73     [RATES_TYPE_ACTUAL]     = { 200, 200, 100 },
  74     [RATES_TYPE_QUICK]      = { 255, 200, 100 },
  75 };
  76
  77 void loadControlRateProfile(void)
  78 {
  79     currentControlRateProfile = controlRateProfilesMutable(systemConfig()->activeRateProfile);
  80 }
  81
  82 void changeControlRateProfile(uint8_t controlRateProfileIndex)
  83 {
  84     if (controlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT) {
  85         systemConfigMutable()->activeRateProfile = controlRateProfileIndex;
  86     }
  87
  88     loadControlRateProfile();
  89     initRcProcessing();
  90 }
  91
  92 void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex)
  93 {
  94     if ((dstControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT && srcControlRateProfileIndex < CONTROL_RATE_PROFILE_COUNT)
  95         && dstControlRateProfileIndex != srcControlRateProfileIndex
  96     ) {
  97         memcpy(controlRateProfilesMutable(dstControlRateProfileIndex), controlRateProfiles(srcControlRateProfileIndex), sizeof(controlRateConfig_t));
  98     }
  99 }