From 64b21a3a6bf23be4deb255e22230b303fd351cb7 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 24 Jun 2026 06:42:09 +0300
Subject: [PATCH] Show default parameter values in `p` command output Also move
 float comparing logic to a distinct util function.

---
 flix/parameters.ino | 13 ++++++++++---
 flix/util.h         |  6 ++++++
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/flix/parameters.ino b/flix/parameters.ino
index 57c53df..973fde0 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -20,6 +20,7 @@ struct Parameter {
 	const char *name; // max length is 15
 	bool integer;
 	union { float *f; int *i; }; // pointer to the variable
+	float inital; // default value
 	float cache; // what's stored in flash
 	void (*callback)(); // called after parameter change
 	Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
@@ -137,6 +138,7 @@ void setupParameters() {
 		if (!storage.isKey(parameter.name)) {
 			storage.putFloat(parameter.name, parameter.getValue()); // store default value
 		}
+		parameter.inital = parameter.getValue();
 		parameter.setValue(storage.getFloat(parameter.name, 0));
 		parameter.cache = parameter.getValue();
 	}
@@ -183,8 +185,7 @@ void syncParameters() {
 	if (motorsActive()) return; // don't use flash while flying, it may cause a delay
 
 	for (auto &parameter : parameters) {
-		if (parameter.getValue() == parameter.cache) continue; // no change
-		if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN
+		if (floatEquals(parameter.getValue(), parameter.cache)) continue; // no change
 
 		storage.putFloat(parameter.name, parameter.getValue());
 		parameter.cache = parameter.getValue(); // update cache
@@ -192,9 +193,15 @@ void syncParameters() {
 }
 
 void printParameters(const char *filter) {
+	print("Name             Value          [Default]\n");
 	for (auto &parameter : parameters) {
 		if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
-		print("%s = %g\n", parameter.name, parameter.getValue());
+
+		if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed
+			print("%-15s  %-13g\n", parameter.name, parameter.getValue());
+		} else {
+			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.inital);
+		}
 	}
 }
 
diff --git a/flix/util.h b/flix/util.h
index aa9e705..4db65a4 100644
--- a/flix/util.h
+++ b/flix/util.h
@@ -23,6 +23,12 @@ bool valid(float x) {
 	return isfinite(x);
 }
 
+bool floatEquals(float a, float b, float epsilon = 0) {
+	if (isnan(a) && isnan(b)) return true;
+	if (a == b) return true;
+	return fabsf(a - b) <= epsilon;
+}
+
 // Wrap angle to [-PI, PI)
 float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);