Merge pull request #144 from rtlopez/dump-load-fix

CLI load config dump fix
rtlopez · Jan 13, 2025 · ef36cd9 · ef36cd9
2 parents 0459e88 + ce0f10f
commit ef36cd9
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Showing 3 changed files with 14 additions and 7 deletions.
diff --git a/lib/Espfc/src/Cli.h b/lib/Espfc/src/Cli.h
@@ -307,8 +307,8 @@ class Cli
           if(args[3]) ac.ch = String(args[3]).toInt();
           if(args[4]) ac.min = String(args[4]).toInt();
           if(args[5]) ac.max = String(args[5]).toInt();
-          if(args[6]) ac.max = String(args[6]).toInt();
-          if(args[7]) ac.max = String(args[7]).toInt();
+          if(args[6]) ac.logicMode = String(args[6]).toInt();
+          if(args[7]) ac.linkId = String(args[7]).toInt();
         }
 
         void write(MixerEntry& ac, const char ** args) const
@@ -713,9 +713,11 @@ class Cli
         Param(PSTR("blackbox_rate"), &c.blackboxPdenom),
         Param(PSTR("blackbox_mask"), &c.blackboxFieldsDisabledMask),
 
+        Param(PSTR("model_name"), PARAM_STRING, &c.modelName[0], NULL, MODEL_NAME_LEN),
+
 #ifdef ESPFC_SERIAL_SOFT_0_WIFI
-        Param(PSTR("wifi_ssid"), PARAM_STRING, &c.wireless.ssid[0], NULL, 32),
-        Param(PSTR("wifi_pass"), PARAM_STRING, &c.wireless.pass[0], NULL, 32),
+        Param(PSTR("wifi_ssid"), PARAM_STRING, &c.wireless.ssid[0], NULL, WirelessConfig::MAX_LEN),
+        Param(PSTR("wifi_pass"), PARAM_STRING, &c.wireless.pass[0], NULL, WirelessConfig::MAX_LEN),
         Param(PSTR("wifi_tcp_port"), &c.wireless.port),
 #endif
 
@@ -989,10 +991,12 @@ class Cli
         //s.print(F("# "));
         //printVersion(s);
         //s.println();
+        s.println(F("defaults"));
         for(size_t i = 0; _params[i].name; ++i)
         {
           print(_params[i], s);
         }
+        s.println(F("save"));
       }
       else if(strcmp_P(cmd.args[0], PSTR("cal")) == 0)
       {
@@ -1122,7 +1126,8 @@ class Cli
       else if(strcmp_P(cmd.args[0], PSTR("save")) == 0)
       {
         _model.save();
-        s.println(F("OK"));
+        s.println(F("# Saved, type reboot to apply changes"));
+        s.println();
       }
       else if(strcmp_P(cmd.args[0], PSTR("eeprom")) == 0)
       {

diff --git a/lib/Espfc/src/Control/Pid.h b/lib/Espfc/src/Control/Pid.h
@@ -12,7 +12,7 @@
 #define PTERM_SCALE (PTERM_SCALE_BETAFLIGHT * RAD_TO_DEG * 0.001f) // ~ 0.00183 = 0.032029f * 57.29 / 1000
 #define ITERM_SCALE (ITERM_SCALE_BETAFLIGHT * RAD_TO_DEG * 0.001f) // ~ 0.014f
 #define DTERM_SCALE (DTERM_SCALE_BETAFLIGHT * RAD_TO_DEG * 0.001f) // ~ 0.0000303f
-#define FTERM_SCALE (FTERM_SCALE_BETAFLIGHT * RAD_TO_DEG * 0.001f) //
+#define FTERM_SCALE (FTERM_SCALE_BETAFLIGHT * RAD_TO_DEG * 0.001f) // ~ 0.00000788f
 
 #define LEVEL_PTERM_SCALE 0.1f    // 1/10
 #define LEVEL_ITERM_SCALE 0.1f    // 1/10

diff --git a/lib/Espfc/src/ModelConfig.h b/lib/Espfc/src/ModelConfig.h
@@ -864,7 +864,7 @@ class ModelConfig
       pid[FC_PID_ROLL]  = { .P = 42, .I = 85, .D = 24, .F = 72 };
       pid[FC_PID_PITCH] = { .P = 46, .I = 90, .D = 26, .F = 76 };
       pid[FC_PID_YAW]   = { .P = 45, .I = 90, .D =  0, .F = 72 };
-      pid[FC_PID_LEVEL] = { .P = 55, .I =  0, .D =  0, .F = 0 };
+      pid[FC_PID_LEVEL] = { .P = 45, .I =  0, .D =  0, .F = 0 };
 
       pid[FC_PID_ALT]   = { .P = 0, .I =  0, .D =  0, .F = 0 };
       pid[FC_PID_POS]   = { .P = 0, .I =  0, .D =  0, .F = 0 };  // POSHOLD_P * 100, POSHOLD_I * 100,
@@ -896,6 +896,8 @@ class ModelConfig
         conditions[i].ch = AXIS_AUX_1 + 0;
         conditions[i].min = 900;
         conditions[i].max = 900;
+        conditions[i].logicMode = 0;
+        conditions[i].linkId = 0;
       }
 
       // actuator config - pid scaling