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radioControl.c
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radioControl.c
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/******************************************************************************
The radioControl.c in RaspberryPilot project is placed under the MIT license
Copyright (c) 2016 jellyice1986 (Tung-Cheng Wu)
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
******************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <pthread.h>
#include <unistd.h>
#include <fcntl.h>
#include <wiringSerial.h>
#include "cJSON.h"
#include "commonLib.h"
#include "flyControler.h"
#include "pid.h"
#include "motorControl.h"
#include "systemControl.h"
#include "attitudeUpdate.h"
#include "radioControl.h"
#include "altHold.h"
#include "securityMechanism.h"
static int serialFd;
static pthread_t radioThreadId;
static pthread_t transmitThreadId;
static bool logIsEnable;
static unsigned long rev_success = 0;
static unsigned long rev_drop = 0;
void *radioReceiveThread(void *arg);
void *radioTransmitThread(void *arg);
bool processRadioMessages(int fd, char *buf, short lenth);
bool extractPacketInfo(char *buf, int lenth,
char container[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]);
bool checkLogIsEnable();
void setLogIsEnable(bool v);
bool checkPacketFieldIsValid(char *buf, short lenth);
unsigned int hexStringToInt(char * hexString, unsigned int len);
unsigned short getChecksum(char *buf, unsigned int len);
bool validPacket(char *buf, short lenth,char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]);
void radioEnableFlySystem(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]);
void radioControlMotion(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]);
void radioHaltPi(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]);
void radioSetupFactor(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]);
void radioSetupPid(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]);
void radioSetupMagnetCalModeStatus(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]);
bool radioSaveMagnetCalModeResult(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]);
#define CHECK_RECEIVER_PERIOD 0
/**
* init paramtes and states for radio
*
* @param
* void
*
* @return
* void
*
*/
bool radioControlInit() {
serialFd = 0;
if ((serialFd = serialOpen("/dev/ttyAMA0", SERIAL_BAUDRATE)) < 0) {
_DEBUG(DEBUG_NORMAL, "Unable to open serial device: %s\n",
strerror(errno));
return false;
}
serialFlush(serialFd);
if (pthread_create(&transmitThreadId, NULL, radioTransmitThread,
&serialFd)) {
_DEBUG(DEBUG_NORMAL, "transmitThreadId create failed\n");
return false;
} else {
_DEBUG(DEBUG_NORMAL, "start transmiting...\n");
}
if (pthread_create(&radioThreadId, NULL, radioReceiveThread, &serialFd)) {
_DEBUG(DEBUG_NORMAL, "radioThreadId create failed\n");
return false;
} else {
_DEBUG(DEBUG_NORMAL, "start reveiveing...\n");
}
return true;
}
/**
* close radio
*
* @param
* void
*
* @return
* bool
*
*/
void closeRadio() {
serialClose(serialFd);
}
/**
* check whether we should send more log to remote controler or not
*
* @param
* void
*
* @return
* bool
*
*/
bool checkLogIsEnable() {
return logIsEnable;
}
/**
* whether we should send more log to remote controler or not
*
* @param
* v
*
* @return
* void
*
*/
void setLogIsEnable(bool v) {
logIsEnable = v;
}
void printPayload(unsigned char *payload, unsigned int len) {
int j = 0;
for (j = 0; j < len; j++) {
_DEBUG(DEBUG_NORMAL, "%x ", *(payload + j));
}
_DEBUG(DEBUG_NORMAL, "\n");
}
/**
* transmit packets to remot controler
*
* @param arg
* file descriptor of tty of raspberry pi
*
* @return
* void
*
*/
void *radioTransmitThread(void *arg) {
char message[150];
short magCalRawData[9];
int fd = *(int *) arg;
while (!getLeaveFlyControlerFlag()) {
if(magnetCalibrationIsEnable()){
pthread_mutex_lock(&controlMotorMutex);
getMagnetCalibrationRawData(magCalRawData);
pthread_mutex_unlock(&controlMotorMutex);
snprintf(message, sizeof(message), "@2:%d:%d:%d:%d:%d:%d:%d:%d:%d#",
magCalRawData[0],magCalRawData[1],magCalRawData[2],
magCalRawData[3],magCalRawData[4],magCalRawData[5],
magCalRawData[6],magCalRawData[7],magCalRawData[8]);
}else{
if (checkLogIsEnable()) {
snprintf(message, sizeof(message),
"@1:%d:%d:%d:%d:%d:%d:%d:%d:%d:%d:%d:%d:%d:%d:%d:%d#",
(int) getRoll(), (int) getPitch(), (int) getYaw(),
(int) getCurrentAltHoldAltitude(),
(int) getPidSp(&rollAttitudePidSettings),
(int) getPidSp(&pitchAttitudePidSettings),
(int) (getYawCenterPoint()
+ getPidSp(&yawAttitudePidSettings)),
(int) getPidSp(&altHoldAltSettings), (int) getRollGyro(),
(int) getPitchGyro(), (int) getYawGyro(),
getThrottlePowerLevel(), getMotorPowerLevelCCW1(),
getMotorPowerLevelCW1(), getMotorPowerLevelCCW2(),
getMotorPowerLevelCW2());
}else{
snprintf(message, sizeof(message), "@1:%d:%d:%d:%d#", (int) getRoll(),
(int) getPitch(), (int) getYaw(),
(int) getCurrentAltHoldAltitude());
}
}
if ('#' != message[strlen(message) - 1]) {
_DEBUG(DEBUG_NORMAL, "invilid package\n");
} else {
serialPuts(fd, message);
increasePacketCounter();
memset(message, '\0', sizeof(message));
}
usleep(TRANSMIT_TIMER);
}
pthread_exit((void *) 0);
}
/**
* reveive packets from remot controler
*
* @param arg
* file descriptor of tty of raspberry pi
*
* @return
* void
*
*/
void *radioReceiveThread(void *arg) {
int fd = *(int *) arg;
int readBytes=0;
char serialBuf[1024];
char buf[512];
char getChar;
unsigned char count = 0;
short i = 0;
memset(buf, '\0', sizeof(buf));
memset(serialBuf, '\0', sizeof(serialBuf));
while (!getLeaveFlyControlerFlag()) {
if (serialDataAvail(fd)) {
if (!(readBytes=read(fd, serialBuf, sizeof(serialBuf))))
goto ignore;
for (i = 0; i < readBytes ; i++) {
getChar = *(serialBuf + i);
if (getChar == '@') {
resetPacketCounter();
if (count != 0) {
_DEBUG(DEBUG_RADIO_RX_FAIL,
"invilid: '#' is lost, buf=%s \n", buf);
rev_drop++;
}
*buf = getChar;
count = 1;
} else if ((getChar == '#') && (*buf == '@')
&& (count < sizeof(buf))) {
*(buf + count) = getChar;
*(buf + count+1) = '\0';
processRadioMessages(fd, buf, count + 1);
count = 0;
} else {
if (*buf == '@' && (count < sizeof(buf))) {
*(buf + count) = getChar;
count++;
} else {
if (count != 0) {
rev_drop++;
_DEBUG(DEBUG_RADIO_RX_FAIL,
"invilid: bufer overflow buf=%s getChar=%c\n",
buf, getChar);
}
count = 0;
}
}
}
} else {
usleep(RECEIVE_TIMER);
}
ignore: ;
}
pthread_exit((void *) 0);
}
/**
* extract info from a received packet
*
* @param buf
* packet
*
* @param lenth
* lentg of packet
*
* @param container
* packet info container
*
* @return
* bool
*
*/
bool extractPacketInfo(char *buf, int lenth,
char container[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]) {
int i = 0;
char *token = NULL;
char cmd[lenth];
for (i = 1; (buf[i] != '#') && (i < lenth); i++) {
cmd[i - 1] = buf[i];
}
cmd[i - 1] = '\0';
//_DEBUG(DEBUG_NORMAL,"cmd=%s buf=%s lenth=%d\n",cmd,buf,lenth);
i = 1;
token = strtok(cmd, ":");
strcpy(container[0], token);
if (token == NULL)
return false;
do {
token = strtok(NULL, ":");
if (token == NULL) {
break;
} else {
strcpy(container[i], token);
i++;
}
} while (true);
return true;
}
/**
* get packet dropped rate
*
* @param
* void
*
* @return
* float
*/
void getPacketDropRate() {
_DEBUG(DEBUG_NORMAL, "rev_ok/drop = %ld/%ld\n", rev_success, rev_drop);
}
/**
* check whether packet is valid or not
*
* @param buf
* received packet
*
* @param lenth
* packet size
*
* @return
* bool
*/
bool checkPacketFieldIsValid(char *buf, short lenth) {
int i, j = 0;
int count = 0;
int count2 = 0;
//_DEBUG(DEBUG_NORMAL, "length=%d %s \n",lenth,buf);
//check header
i = atoi(buf + 1);
if (!(i > HEADER_BEGIN && i < HEADER_END)) {
_DEBUG(DEBUG_RADIO_RX_FAIL, "invilid header: length=%d %s\n", lenth,
buf);
return false;
}
//check packet field
for (j = 0; j < lenth; j++) {
if (*(buf + j) == ':') {
count++;
}
}
switch (i) {
case HEADER_ENABLE_FLY_SYSTEM:
count2 = ENABLE_FLY_SYSTEM_FIWLD_END - 1;
break;
case HEADER_CONTROL_MOTION:
count2 = CONTROL_MOTION_END - 1;
break;
case HEADER_HALT_PI:
count2 = HALT_PI_END - 1;
break;
case HEADER_SETUP_FACTOR:
count2 = SETUP_FACTOR_END - 1;
break;
case HEADER_SETUP_PID:
count2 = SETUP_PID_END - 1;
break;
case MAGNET_CALIBRATION_START:
count2 = MAGNET_CALIBRATION_START_END -1 ;
break;
case MAGNET_CALIBRATION_RESULT:
count2 = MAGNET_CALIBRATION_RESULT_END - 1;
break;
default:
count2 = -1;
}
if (count2 != count) {
_DEBUG(DEBUG_RADIO_RX_FAIL,
"invilid field: length=%d %s count2=%d count=%d\n", lenth, buf,
count2, count);
return false;
}
return true;
}
/**
* convert a string to int
*
* @param hexString
* String
*
* @param len
* length of payload
*
* @return
* a number
*/
unsigned int hexStringToInt(char * hexString, unsigned int len) {
int i = 0;
unsigned int result = 0;
char hexTable[] = "0123456789ABCDEF";
char *charPointer;
for (i = 0; i < len; i++) {
charPointer = strchr(hexTable, hexString[i]);
if (NULL == charPointer) {
result = 0x0;
break;
}
result = (result << 4) + (charPointer - hexTable);
}
//_DEBUG(DEBUG_NORMAL,"%s %x\n",__func__,result);
return result;
}
/**
* calculate checksum from a payload
*
* @param buf
* payload
*
* @param len
* length of payload
*
* @return
* checksum
*/
unsigned short getChecksum(char *buf, unsigned int len) {
int i;
unsigned int checksunm = 0;
for (i = 0; i < len; i = i + 2) {
checksunm += ((*(buf + i) & 0xFF) << 8)
| ((i + 1 < len) ? (*(buf + i + 1) & 0xFF) : 0x00);
checksunm = (checksunm & 0xFFFF) + (checksunm >> 16);
}
//_DEBUG(DEBUG_NORMAL,"%s %x\n",__func__,checksunm);
return (unsigned short) (checksunm & 0xFFFF);
}
/**
* get index of checksum
*
* @param header
* packet header
*
* @return
* index
*/
unsigned short getChecksumFieldIndex(unsigned int header) {
unsigned short ret = 0;
switch (header) {
case HEADER_ENABLE_FLY_SYSTEM:
ret = ENABLE_FLY_SYSTEM_CHECKSUM;
break;
case HEADER_CONTROL_MOTION:
ret = CONTROL_MOTION_CHECKSUM;
break;
case HEADER_HALT_PI:
ret = HALT_PI_CHECKSUM;
break;
case HEADER_SETUP_FACTOR:
ret = SETUP_FACTOR_CHECKSUM;
break;
case HEADER_SETUP_PID:
ret = SETUP_PID_CHECKSUM;
break;
case MAGNET_CALIBRATION_START:
ret = MAGNET_CALIBRATION_START_CHECKSUM;
break;
case MAGNET_CALIBRATION_RESULT:
ret = MAGNET_CALIBRATION_RESULT_CHECKSUM;
break;
default:
_DEBUG(DEBUG_NORMAL, "%s can't find index, header=%d\n", __func__,
header);
ret = -1;
}
return ret;
}
/**
* Decode a received packet
*
* @param buf
* received packet
*
* @param lenth
* packet size
*/
bool processRadioMessages(int fd, char *buf, short lenth) {
//_DEBUG(DEBUG_NORMAL,"%s\n",buf);
char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH];
if(!validPacket(buf, lenth, packet)){
return false;
}
#if CHECK_RECEIVER_PERIOD
struct timeval tv;
static struct timeval tv_last;
gettimeofday(&tv,NULL);
_DEBUG("duration=%ld us\n", GET_USEC_TIMEDIFF(tv,tv_last));
UPDATE_LAST_TIME(tv,tv_last);
#endif
switch (atoi(packet[0])) {
case HEADER_ENABLE_FLY_SYSTEM:
// Enable or disable fly syatem
radioEnableFlySystem(packet);
break;
case HEADER_CONTROL_MOTION:
//control packet
radioControlMotion(packet);
break;
case HEADER_HALT_PI:
//halt raspberry pi
radioHaltPi(packet);
break;
case HEADER_SETUP_FACTOR:
//setup factor
radioSetupFactor(packet);
break;
case HEADER_OlED_DISPLAY:
// oled control, doesn't exist anymore
break;
case HEADER_SETUP_PID:
//setup pid parameters
radioSetupPid(packet);
break;
case MAGNET_CALIBRATION_START:
//setup status of Magnet calobration mode
radioSetupMagnetCalModeStatus(packet);
break;
case MAGNET_CALIBRATION_RESULT:
//save magnet calibration result
if(radioSaveMagnetCalModeResult(packet)){
_DEBUG(DEBUG_NORMAL, "Save magnet calibration data successfully\n");
}else{
_DEBUG(DEBUG_NORMAL, "Save magnet calibration data unsuccessfully\n");
}
break;
default:
_DEBUG(DEBUG_NORMAL, "unknow packet\n");
}
return true;
}
/**
* check whether packet is valid
*
* @param packet
* received packet
*
* @return
* bool
*/
bool validPacket(char *buf, short lenth,char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]){
if (!(checkPacketFieldIsValid(buf, lenth)
&& extractPacketInfo(buf, lenth, packet))) {
_DEBUG(DEBUG_RADIO_RX_FAIL, "invilid field: %s\n", buf);
rev_drop++;
return false;
} else if (!(getChecksum(buf, lenth - 5)
== (unsigned short) hexStringToInt(
*(packet + getChecksumFieldIndex(atoi(*packet))), 4))) {
rev_drop++;
_DEBUG(DEBUG_RADIO_RX_FAIL,
"invilid checksum: %s getChecksum=0x%x hexStringToInt=0x%x\n",
buf, getChecksum(buf, lenth - 5),
(unsigned short) hexStringToInt(
*(packet + getChecksumFieldIndex(atoi(*packet))), 4));
return false;
}
rev_success++;
return true;
}
/**
* setup system
*
* @param packet
* received packet
*
* @return
* void
*/
void radioEnableFlySystem(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]){
if (1 == atoi(packet[ENABLE_FLY_SYSTEM_FIWLD_ISENABLE])) {
_DEBUG(DEBUG_NORMAL, "Enable Flysystem\n");
enableFlySystem();
motorInit();
} else {
_DEBUG(DEBUG_NORMAL, "Disable Flysystem\n");
disenableFlySystem();
}
getPacketDropRate();
}
/**
* control motion
*
* @param packet
* received packet
*
* @return
* void
*/
void radioControlMotion(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]){
short parameter = 0;
float rollSpShift = 0;
float pitchSpShift = 0;
float yawShiftValue = 0;
float throttlePercentage = 0.f;
rollSpShift = atof(packet[CONTROL_MOTION_ROLL_SP_SHIFT]);
pitchSpShift = atof(packet[CONTROL_MOTION_PITCH_SP_SHIFT]);
yawShiftValue = atof(packet[CONTROL_MOTION_YAW_SHIFT_VALUE]);
throttlePercentage = atof(packet[CONTROL_MOTION_THROTTLE]);
throttlePercentage = throttlePercentage * 0.01f;
parameter = getMinPowerLevel()
+ (int) (throttlePercentage
* (float) (getMaxPowerLeve() - getMinPowerLevel()));
if (parameter > getMaxPowerLeve() || parameter < getMinPowerLevel()) {
_DEBUG(DEBUG_NORMAL, "invilid throttle level\n");
return;
}
if (true == flySystemIsEnable()) {
pthread_mutex_lock(&controlMotorMutex);
setThrottlePowerLevel(parameter);
if(getEnableAltHold() && getAltHoldIsReady()){
updateTargetAltitude(throttlePercentage);
}
if (getMinPowerLevel() == parameter) {
resetPidRecord(&rollAttitudePidSettings);
resetPidRecord(&pitchAttitudePidSettings);
resetPidRecord(&yawAttitudePidSettings);
resetPidRecord(&rollRatePidSettings);
resetPidRecord(&pitchRatePidSettings);
resetPidRecord(&yawRatePidSettings);
resetPidRecord(&verticalAccelPidSettings);
resetPidRecord(&altHoldAltSettings);
resetPidRecord(&altHoldlSpeedSettings);
setYawCenterPoint(0.f);
setPidSp(&yawAttitudePidSettings, 321.0);
} else {
if (getPidSp(&yawAttitudePidSettings) == 321.0) {
_DEBUG(DEBUG_NORMAL, "START Flying\n");
setYawCenterPoint(getYaw());
setPidSp(&yawAttitudePidSettings, 0);
}
setPidSp(&rollAttitudePidSettings,rollSpShift);
setPidSp(&pitchAttitudePidSettings,pitchSpShift);
setYawCenterPoint(getYawCenterPoint() + (yawShiftValue * 4));
//_DEBUG(DEBUG_NORMAL,"setYawCenterPoint=%f\n",getYawCenterPoint());
}
pthread_mutex_unlock(&controlMotorMutex);
}
}
/**
* Halt Pi
*
* @param packet
* received packet
*
* @return
* void
*/
void radioHaltPi(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]){
pthread_mutex_lock(&controlMotorMutex);
setThrottlePowerLevel(0);
setupAllMotorPoewrLevel(0, 0, 0, 0);
disenableFlySystem();
setLeaveFlyControlerFlag(true);
pthread_mutex_unlock(&controlMotorMutex);
system("sudo halt");
}
/**
* Setup factor
*
* @param packet
* received packet
*
* @return
* void
*/
void radioSetupFactor(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]){
short parameter = 0;
/***/
parameter = atoi(packet[SETUP_FACTOR_VERTICAL_HOLD_ENABLE]);
setEnableAltHold((bool) parameter);
_DEBUG(DEBUG_NORMAL, "Enable aAltHold: %s\n", getEnableAltHold()==true?"true":"false");
/***/
parameter = atoi(packet[SETUP_FACTOR_LOG_ENABLED]);
setLogIsEnable(parameter);
_DEBUG(DEBUG_NORMAL, "checkLogIsEnable: %s\n", checkLogIsEnable()==true?"true":"false");
/***/
}
/**
* Setup factor
*
* @param packet
* received packet
*
* @return
* void
*/
void radioSetupPid(char packet[PACKET_FIELD_NUM][PACKET_FIELD_LENGTH]){
float parameterF = 0;
//attitude Roll P gain
parameterF = atof(packet[SETUP_PID_ATTITUDE_ROLL_P]);
setPGain(&rollAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Roll P Gain=%4.6f\n",
getPGain(&rollAttitudePidSettings));
//attitude Roll I gain
parameterF = atof(packet[SETUP_PID_ATTITUDE_ROLL_I]);
setIGain(&rollAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Roll I Gain=%4.6f\n",
getIGain(&rollAttitudePidSettings));
//attitude Roll I outputLimit
parameterF = atof(packet[SETUP_PID_ATTITUDE_ROLL_I_LIMIT]);
setILimit(&rollAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Roll I Output Limit=%4.6f\n",
getILimit(&rollAttitudePidSettings));
//attitude Roll D gain
parameterF = atof(packet[SETUP_PID_ATTITUDE_ROLL_D]);
setDGain(&rollAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Roll D Gain=%4.6f\n",
getDGain(&rollAttitudePidSettings));
//attitude Roll DB
parameterF = atof(packet[SETUP_PID_ATTITUDE_ROLL_DB]);
setPidDeadBand(&rollAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Roll DB=%4.6f\n",
getPidDeadBand(&rollAttitudePidSettings));
//attitude Pitch P gain
parameterF = atof(packet[SETUP_PID_ATTITUDE_PITCH_P]);
setPGain(&pitchAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Pitch P Gain=%4.6f\n",
getPGain(&pitchAttitudePidSettings));
//attitude Pitch I gain
parameterF = atof(packet[SETUP_PID_ATTITUDE_PITCH_I]);
setIGain(&pitchAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Pitch I Gain=%4.6f\n",
getIGain(&pitchAttitudePidSettings));
//attitude Pitch I outputLimit
parameterF = atof(packet[SETUP_PID_ATTITUDE_PITCH_I_LIMIT]);
setILimit(&pitchAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Pitch I Output Limit=%4.6f\n",
getILimit(&pitchAttitudePidSettings));
//attitude Pitch D gain
parameterF = atof(packet[SETUP_PID_ATTITUDE_PITCH_D]);
setDGain(&pitchAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Pitch D Gain=%4.6f\n",
getDGain(&pitchAttitudePidSettings));
//attitude Pitch DB
parameterF = atof(packet[SETUP_PID_ATTITUDE_PITCH_DB]);
setPidDeadBand(&pitchAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Pitch DB=%4.6f\n",
getPidDeadBand(&pitchAttitudePidSettings));
//attitude Yaw P gain
parameterF = atof(packet[SETUP_PID_ATTITUDE_YAW_P]);
setPGain(&yawAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Yaw P Gain=%4.6f\n",
getPGain(&yawAttitudePidSettings));
//attitude Yaw I gain
parameterF = atof(packet[SETUP_PID_ATTITUDE_YAW_I]);
setIGain(&yawAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Yaw I Gain=%4.6f\n",
getIGain(&yawAttitudePidSettings));
//attitude Yaw I outputLimit
parameterF = atof(packet[SETUP_PID_ATTITUDE_YAW_I_LIMIT]);
setILimit(&yawAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Yaw I Output Limit=%4.6f\n",
getILimit(&yawAttitudePidSettings));
//attitude Yaw D gain
parameterF = atof(packet[SETUP_PID_ATTITUDE_YAW_D]);
setDGain(&yawAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Yaw D Gain=%4.6f\n",
getDGain(&yawAttitudePidSettings));
//attitude Yaw DB
parameterF = atof(packet[SETUP_PID_ATTITUDE_YAW_DB]);
setPidDeadBand(&yawAttitudePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Attitude Yaw DB=%4.6f\n",
getPidDeadBand(&yawAttitudePidSettings));
//Rate Roll P gain
parameterF = atof(packet[SETUP_PID_RATE_ROLL_P]);
setPGain(&rollRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Roll P Gain=%4.6f\n",
getPGain(&rollRatePidSettings));
//Rate Roll I gain
parameterF = atof(packet[SETUP_PID_RATE_ROLL_I]);
setIGain(&rollRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Roll I Gain=%4.6f\n",
getIGain(&rollRatePidSettings));
//Rate Roll I outputLimit
parameterF = atof(packet[SETUP_PID_RATE_ROLL_I_LIMIT]);
setILimit(&rollRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Roll I Output Limit=%4.6f\n",
getILimit(&rollRatePidSettings));
//Rate Roll D gain
parameterF = atof(packet[SETUP_PID_RATE_ROLL_D]);
setDGain(&rollRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Roll D Gain=%4.6f\n",
getDGain(&rollRatePidSettings));
//Rate Roll DB
parameterF = atof(packet[SETUP_PID_RATE_ROLL_DB]);
setPidDeadBand(&rollRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Roll DB=%4.6f\n",
getPidDeadBand(&rollRatePidSettings));
//Rate Pitch P gain
parameterF = atof(packet[SETUP_PID_RATE_PITCH_P]);
setPGain(&pitchRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Pitch P Gain=%4.6f\n",
getPGain(&pitchRatePidSettings));
//Rate Pitch I gain
parameterF = atof(packet[SETUP_PID_RATE_PITCH_I]);
setIGain(&pitchRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Pitch I Gain=%4.6f\n",
getIGain(&pitchRatePidSettings));
//Rate Pitch I outputLimit
parameterF = atof(packet[SETUP_PID_RATE_PITCH_I_LIMIT]);
setILimit(&pitchRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Pitch I Output Limit=%4.6f\n",
getILimit(&pitchRatePidSettings));
//Rate Pitch D gain
parameterF = atof(packet[SETUP_PID_RATE_PITCH_D]);
setDGain(&pitchRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Pitch D Gain=%4.6f\n",
getDGain(&pitchRatePidSettings));
//Rate Pitch DB
parameterF = atof(packet[SETUP_PID_RATE_PITCH_DB]);
setPidDeadBand(&pitchRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Pitch DB=%4.6f\n",
getPidDeadBand(&pitchRatePidSettings));
//Rate Yaw P gain
parameterF = atof(packet[SETUP_PID_RATE_YAW_P]);
setPGain(&yawRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Yaw P Gain=%4.6f\n",
getPGain(&yawRatePidSettings));
//Rate Yaw I gain
parameterF = atof(packet[SETUP_PID_RATE_YAW_I]);
setIGain(&yawRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Yaw I Gain=%4.6f\n",
getIGain(&yawRatePidSettings));
//Rate Yaw I outputLimit
parameterF = atof(packet[SETUP_PID_RATE_YAW_I_LIMIT]);
setILimit(&yawRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Yaw I Output Limit=%4.6f\n",
getILimit(&yawRatePidSettings));
//Rate Yaw D gain
parameterF = atof(packet[SETUP_PID_RATE_YAW_D]);
setDGain(&yawRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Yaw D Gain=%4.6f\n",
getDGain(&yawRatePidSettings));
//Rate Yaw DB
parameterF = atof(packet[SETUP_PID_RATE_YAW_DB]);
setPidDeadBand(&yawRatePidSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Rate Yaw DB=%4.6f\n",
getPidDeadBand(&yawRatePidSettings));
//Vertical Height P gain
parameterF = atof(packet[SETUP_PID_VERTICAL_HEIGHT_P]);
setPGain(&altHoldAltSettings, parameterF);
_DEBUG(DEBUG_NORMAL, "Vertical Height P Gain=%4.6f\n",