Example PR for the example code #102
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rotorflight
commented
Apr 23, 2024
| // CLI access to the new parameter. | ||
| // The VAR_ type must match the definition | ||
| // Profile parameters also need PROFILE_VALUE | ||
| { "example_parameter", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 2500 }, PG_PID_PROFILE, offsetof(pidProfile_t, example_parameter) }, |
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Every CLI parameter needs a line like this.
rotorflight
commented
Apr 23, 2024
| @@ -174,6 +174,8 @@ typedef struct pidProfile_s { | |||
| uint8_t cyclic_cross_coupling_ratio; | |||
| uint8_t cyclic_cross_coupling_cutoff; | |||
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| uint16_t example_parameter; // A new parameter in the profile | |||
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This is the config storage for the parameter.
rotorflight
commented
Apr 23, 2024
| @@ -87,6 +87,7 @@ void resetPidProfile(pidProfile_t *pidProfile) | |||
| .cyclic_cross_coupling_gain = 25, | |||
| .cyclic_cross_coupling_ratio = 0, | |||
| .cyclic_cross_coupling_cutoff = 15, | |||
| .example_parameter = 100, // Default value for the new parameter | |||
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Each parameter should have a default value defined.
rotorflight
commented
Apr 23, 2024
| @@ -120,6 +120,8 @@ typedef struct pid_s { | |||
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| float collective; | |||
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| float exampleFloat; // Active value to be used in PID | |||
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Usually parameters are not used directly from the config storage variable, but copied to a local "runtime" variable.
This is important specifically with PID parameters.
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Closing this. It can be still looked at. |
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This is an example PR, for showing how the reviews are done.
NOT TO BE MERGED!