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Implement parameters subsystem

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* Unified parameters storage.
* Store parameters in flash on the hardware.
* Store parameters in text file in simulation.
* Work with parameters in command line.
* Support parameters in MAVLink for working with parameters in QGC.
This commit is contained in:
Oleg Kalachev
2024-12-23 13:00:02 +03:00
parent 28f6cfff60
commit ae349fb73c
15 changed files with 320 additions and 91 deletions
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98
flix/cli.ino
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@@ -19,8 +19,10 @@ const char* motd =
"|__| |_______||__| /__/ \\__\\\n\n"
"Commands:\n\n"
"help - show help\n"
"show - show all parameters\n"
"<name> <value> - set parameter\n"
"p - show all parameters\n"
"p <name> - show parameter\n"
"p <name> <value> - set parameter\n"
"preset - reset parameters\n"
"ps - show pitch/roll/yaw\n"
"psq - show attitude quaternion\n"
"imu - show IMU data\n"
@@ -34,36 +36,22 @@ const char* motd =
"reset - reset drone's state\n"
"reboot - reboot the drone\n";
const struct Param {
const char* name;
float* value;
float* value2;
} params[] = {
{"rp", &rollRatePID.p, &pitchRatePID.p},
{"ri", &rollRatePID.i, &pitchRatePID.i},
{"rd", &rollRatePID.d, &pitchRatePID.d},
{"ap", &rollPID.p, &pitchPID.p},
{"ai", &rollPID.i, &pitchPID.i},
{"ad", &rollPID.d, &pitchPID.d},
{"yp", &yawRatePID.p, nullptr},
{"yi", &yawRatePID.i, nullptr},
{"yd", &yawRatePID.d, nullptr},
{"lpr", &ratesFilter.alpha, nullptr},
{"lpd", &rollRatePID.lpf.alpha, &pitchRatePID.lpf.alpha},
{"ss", &loopRate, nullptr},
{"dt", &dt, nullptr},
{"t", &t, nullptr},
};
void doCommand(String& command, String& value) {
void doCommand(String& command, String& arg0, String& arg1) {
if (command == "help" || command == "motd") {
Serial.println(motd);
} else if (command == "show") {
showTable();
} else if (command == "p" && arg0 == "") {
printParameters();
} else if (command == "p" && arg0 != "" && arg1 == "") {
Serial.printf("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
} else if (command == "p") {
bool success = setParameter(arg0.c_str(), arg1.toFloat());
if (success) {
Serial.printf("%s = %g\n", arg0.c_str(), arg1.toFloat());
} else {
Serial.printf("Parameter not found: %s\n", arg0.c_str());
}
} else if (command == "preset") {
resetParameters();
} else if (command == "ps") {
Vector a = attitude.toEulerZYX();
Serial.printf("roll: %f pitch: %f yaw: %f\n", a.x * RAD_TO_DEG, a.y * RAD_TO_DEG, a.z * RAD_TO_DEG);
@@ -106,32 +94,13 @@ void doCommand(String& command, String& value) {
attitude = Quaternion();
} else if (command == "reboot") {
ESP.restart();
} else if (command == "") {
// do nothing
} else {
float val = value.toFloat();
// TODO: on error returns 0, check invalid value
for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
if (command == params[i].name) {
*params[i].value = val;
if (params[i].value2 != nullptr) *params[i].value2 = val;
Serial.print(command);
Serial.print(" = ");
Serial.println(val, 4);
return;
}
}
Serial.println("Invalid command: " + command);
}
}
void showTable() {
for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
Serial.print(params[i].name);
Serial.print(" ");
Serial.println(*params[i].value, 5);
}
}
void cliTestMotor(uint8_t n) {
Serial.printf("Testing motor %d\n", n);
motors[n] = 1;
@@ -145,9 +114,7 @@ void cliTestMotor(uint8_t n) {
void parseInput() {
static bool showMotd = true;
static String command;
static String value;
static bool parsingCommand = true;
static String input;
if (showMotd) {
Serial.println(motd);
@@ -157,16 +124,21 @@ void parseInput() {
while (Serial.available()) {
char c = Serial.read();
if (c == '\n') {
parsingCommand = true;
if (!command.isEmpty()) {
doCommand(command, value);
}
command.clear();
value.clear();
} else if (c == ' ') {
parsingCommand = false;
char chars[input.length() + 1];
input.toCharArray(chars, input.length() + 1);
String command = stringToken(chars, " ");
String arg0 = stringToken(NULL, " ");
String arg1 = stringToken(NULL, "");
doCommand(command, arg0, arg1);
input.clear();
} else {
(parsingCommand ? command : value) += c;
input += c;
}
}
}
// Helper function for parsing input
String stringToken(char* str, const char* delim) {
char* token = strtok(str, delim);
return token == NULL ? "" : token;
}