Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

ConfigFileIO/ConfigFileIO.cpp@38:83d06c294807, 2017-12-21 (annotated)

Committer:
tnhnrl
Date:
Thu Dec 21 17:05:35 2017 +0000
Revision:
38:83d06c294807
Parent:
21:38c8544db6f4
Child:
43:891baf306e0a
system time and BCE and Battery logger fixes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 17:7c16b5671d0e 1 #include "ConfigFileIO.hpp"
tnhnrl 17:7c16b5671d0e 2 #include "StaticDefs.hpp"
tnhnrl 17:7c16b5671d0e 3
tnhnrl 21:38c8544db6f4 4 //configuration file io, both to read, set, and save
tnhnrl 17:7c16b5671d0e 5
tnhnrl 17:7c16b5671d0e 6 ConfigFileIO::ConfigFileIO() {
tnhnrl 17:7c16b5671d0e 7 }
tnhnrl 17:7c16b5671d0e 8
tnhnrl 38:83d06c294807 9 void ConfigFileIO::saveBattData(float p_gain, float i_gain, float d_gain) {
tnhnrl 38:83d06c294807 10 ConfigFile write_Batt_txt; //write to the config file
tnhnrl 38:83d06c294807 11
tnhnrl 38:83d06c294807 12 char PGain_buffer[128];
tnhnrl 38:83d06c294807 13 sprintf(PGain_buffer,"# configuration file for battery mover parameters\n\n#Gains\nPGain");
tnhnrl 38:83d06c294807 14
tnhnrl 38:83d06c294807 15 char string_pgain[128];
tnhnrl 38:83d06c294807 16 sprintf(string_pgain, "%f", p_gain);
tnhnrl 38:83d06c294807 17 write_Batt_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 38:83d06c294807 18
tnhnrl 38:83d06c294807 19 char string_igain[128];
tnhnrl 38:83d06c294807 20 sprintf(string_igain, "%f", i_gain);
tnhnrl 38:83d06c294807 21 write_Batt_txt.setValue("IGain", string_igain);
tnhnrl 38:83d06c294807 22
tnhnrl 38:83d06c294807 23 char string_dgain[128];
tnhnrl 38:83d06c294807 24 sprintf(string_dgain, "%f", d_gain);
tnhnrl 38:83d06c294807 25 write_Batt_txt.setValue("DGain", string_dgain);
tnhnrl 38:83d06c294807 26
tnhnrl 38:83d06c294807 27 write_Batt_txt.setValue("\n#string pot parameters\nzeroCounts", "610");
tnhnrl 38:83d06c294807 28 write_Batt_txt.setValue("PistonTravelLimit", "73.0");
tnhnrl 38:83d06c294807 29 write_Batt_txt.setValue("slope", "0.12176");
tnhnrl 38:83d06c294807 30 write_Batt_txt.setValue("filterWn", "6.0");
tnhnrl 38:83d06c294807 31 write_Batt_txt.setValue("deadband", "0.5");
tnhnrl 38:83d06c294807 32
tnhnrl 38:83d06c294807 33 //SAVE THE DATA!
tnhnrl 38:83d06c294807 34 pc().printf("Saving BATTERY MOVER PID data!");
tnhnrl 38:83d06c294807 35
tnhnrl 38:83d06c294807 36 if (!write_Batt_txt.write("/local/batt.txt")) {
tnhnrl 38:83d06c294807 37 pc().printf("\n\rERROR: (SAVE)Failure to write batt.txt file.");
tnhnrl 38:83d06c294807 38 }
tnhnrl 38:83d06c294807 39 else {
tnhnrl 38:83d06c294807 40 pc().printf("\n\rFile batt.txt successful written.\n\r");
tnhnrl 38:83d06c294807 41 }
tnhnrl 38:83d06c294807 42 }
tnhnrl 38:83d06c294807 43
tnhnrl 21:38c8544db6f4 44 void ConfigFileIO::savePitchData(float p_gain, float i_gain, float d_gain, int batt_zeroOffset) {
tnhnrl 21:38c8544db6f4 45 ConfigFile write_pitch_txt; //write to the config file
tnhnrl 21:38c8544db6f4 46
tnhnrl 21:38c8544db6f4 47 char PGain_buffer[128];
tnhnrl 21:38c8544db6f4 48 sprintf(PGain_buffer,"# pitch outer loop parameters\n\n#Gains\nPGain");
tnhnrl 21:38c8544db6f4 49
tnhnrl 21:38c8544db6f4 50 char string_pgain[128];
tnhnrl 21:38c8544db6f4 51 sprintf(string_pgain, "%f", p_gain);
tnhnrl 21:38c8544db6f4 52 write_pitch_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 21:38c8544db6f4 53
tnhnrl 21:38c8544db6f4 54 char string_igain[128];
tnhnrl 21:38c8544db6f4 55 sprintf(string_igain, "%f", i_gain);
tnhnrl 21:38c8544db6f4 56 write_pitch_txt.setValue("IGain", string_igain);
tnhnrl 17:7c16b5671d0e 57
tnhnrl 21:38c8544db6f4 58 char string_dgain[128];
tnhnrl 21:38c8544db6f4 59 sprintf(string_dgain, "%f", d_gain);
tnhnrl 21:38c8544db6f4 60 write_pitch_txt.setValue("DGain", string_dgain);
tnhnrl 21:38c8544db6f4 61
tnhnrl 21:38c8544db6f4 62 write_pitch_txt.setValue("\n#Pitch sensor filter parameters\nfilterWn", "6.0");
tnhnrl 21:38c8544db6f4 63 write_pitch_txt.setValue("deadband", "0.5");
tnhnrl 17:7c16b5671d0e 64
tnhnrl 21:38c8544db6f4 65 char string_zeroOffset[128];
tnhnrl 21:38c8544db6f4 66 sprintf(string_zeroOffset, "%d", batt_zeroOffset);
tnhnrl 21:38c8544db6f4 67 //bce setting was 41 mm during LASR experiments
tnhnrl 21:38c8544db6f4 68 write_pitch_txt.setValue("\n#Offset for neutral (default: 41)\nzeroOffset", string_zeroOffset);
tnhnrl 21:38c8544db6f4 69
tnhnrl 21:38c8544db6f4 70 //SAVE THE DATA!
tnhnrl 21:38c8544db6f4 71 pc().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 21:38c8544db6f4 72
tnhnrl 21:38c8544db6f4 73 if (!write_pitch_txt.write("/local/pitch.txt")) {
tnhnrl 21:38c8544db6f4 74 pc().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 17:7c16b5671d0e 75 }
tnhnrl 17:7c16b5671d0e 76 else {
tnhnrl 21:38c8544db6f4 77 pc().printf("\n\rFile pitch.txt successful written.\n\r");
tnhnrl 21:38c8544db6f4 78 }
tnhnrl 21:38c8544db6f4 79 }
tnhnrl 21:38c8544db6f4 80
tnhnrl 38:83d06c294807 81 void ConfigFileIO::saveBCEData(float p_gain, float i_gain, float d_gain) {
tnhnrl 38:83d06c294807 82 ConfigFile write_BCE_txt; //write to the config file
tnhnrl 38:83d06c294807 83
tnhnrl 38:83d06c294807 84 char PGain_buffer[128];
tnhnrl 38:83d06c294807 85 sprintf(PGain_buffer,"# configuration file for BCE parameters\n\n#Gains\nPGain");
tnhnrl 38:83d06c294807 86
tnhnrl 38:83d06c294807 87 char string_pgain[128];
tnhnrl 38:83d06c294807 88 sprintf(string_pgain, "%f", p_gain);
tnhnrl 38:83d06c294807 89 write_BCE_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 38:83d06c294807 90
tnhnrl 38:83d06c294807 91 char string_igain[128];
tnhnrl 38:83d06c294807 92 sprintf(string_igain, "%f", i_gain);
tnhnrl 38:83d06c294807 93 write_BCE_txt.setValue("IGain", string_igain);
tnhnrl 38:83d06c294807 94
tnhnrl 38:83d06c294807 95 char string_dgain[128];
tnhnrl 38:83d06c294807 96 sprintf(string_dgain, "%f", d_gain);
tnhnrl 38:83d06c294807 97 write_BCE_txt.setValue("DGain", string_dgain);
tnhnrl 38:83d06c294807 98
tnhnrl 38:83d06c294807 99 write_BCE_txt.setValue("\n#string pot parameters\nzeroCounts", "253");
tnhnrl 38:83d06c294807 100 write_BCE_txt.setValue("PistonTravelLimit", "320.0");
tnhnrl 38:83d06c294807 101 write_BCE_txt.setValue("slope", "0.12176");
tnhnrl 38:83d06c294807 102 write_BCE_txt.setValue("filterWn", "6.0");
tnhnrl 38:83d06c294807 103 write_BCE_txt.setValue("deadband", "0.5");
tnhnrl 38:83d06c294807 104
tnhnrl 38:83d06c294807 105 //SAVE THE DATA!
tnhnrl 38:83d06c294807 106 pc().printf("Saving BCE PID data!");
tnhnrl 38:83d06c294807 107
tnhnrl 38:83d06c294807 108 if (!write_BCE_txt.write("/local/bce.txt")) {
tnhnrl 38:83d06c294807 109 pc().printf("\n\rERROR: (SAVE)Failure to write bce.txt file.");
tnhnrl 38:83d06c294807 110 }
tnhnrl 38:83d06c294807 111 else {
tnhnrl 38:83d06c294807 112 pc().printf("\n\rFile bce.txt successful written.\n\r");
tnhnrl 38:83d06c294807 113 }
tnhnrl 38:83d06c294807 114 }
tnhnrl 38:83d06c294807 115
tnhnrl 21:38c8544db6f4 116 void ConfigFileIO::saveDepthData(float p_gain, float i_gain, float d_gain, int bce_zeroOffset) {
tnhnrl 21:38c8544db6f4 117 ConfigFile write_depth_txt; //write to the config file
tnhnrl 21:38c8544db6f4 118
tnhnrl 21:38c8544db6f4 119 char PGain_buffer[128];
tnhnrl 21:38c8544db6f4 120 sprintf(PGain_buffer,"# depth outer loop parameters\n\n#Gains\nPGain");
tnhnrl 21:38c8544db6f4 121
tnhnrl 21:38c8544db6f4 122 char string_pgain[128];
tnhnrl 21:38c8544db6f4 123 sprintf(string_pgain, "%f", p_gain);
tnhnrl 21:38c8544db6f4 124 write_depth_txt.setValue(PGain_buffer, string_pgain);
tnhnrl 21:38c8544db6f4 125
tnhnrl 21:38c8544db6f4 126 char string_igain[128];
tnhnrl 21:38c8544db6f4 127 sprintf(string_igain, "%f", i_gain);
tnhnrl 21:38c8544db6f4 128 write_depth_txt.setValue("IGain", string_igain);
tnhnrl 17:7c16b5671d0e 129
tnhnrl 21:38c8544db6f4 130 char string_dgain[128];
tnhnrl 21:38c8544db6f4 131 sprintf(string_dgain, "%f", d_gain);
tnhnrl 21:38c8544db6f4 132 write_depth_txt.setValue("DGain", string_dgain);
tnhnrl 21:38c8544db6f4 133
tnhnrl 21:38c8544db6f4 134 write_depth_txt.setValue("\n#Depth sensor filter parameters\nfilterWn", "6.0");
tnhnrl 21:38c8544db6f4 135 write_depth_txt.setValue("deadband", "0.5");
tnhnrl 17:7c16b5671d0e 136
tnhnrl 21:38c8544db6f4 137 char string_zeroOffset[128];
tnhnrl 21:38c8544db6f4 138 sprintf(string_zeroOffset, "%d", bce_zeroOffset);
tnhnrl 21:38c8544db6f4 139 //bce setting was 240 mm during LASR experiments
tnhnrl 21:38c8544db6f4 140 write_depth_txt.setValue("\n#Offset for neutral (default: 240)\nzeroOffset", string_zeroOffset);
tnhnrl 21:38c8544db6f4 141
tnhnrl 21:38c8544db6f4 142 //SAVE THE DATA!
tnhnrl 21:38c8544db6f4 143 pc().printf("Saving Buoyancy Engine Neutral Buoyancy Positions!");
tnhnrl 21:38c8544db6f4 144
tnhnrl 21:38c8544db6f4 145 if (!write_depth_txt.write("/local/depth.txt")) {
tnhnrl 21:38c8544db6f4 146 pc().printf("\n\rERROR: (SAVE)Failure to write depth.txt file.");
tnhnrl 17:7c16b5671d0e 147 }
tnhnrl 17:7c16b5671d0e 148 else {
tnhnrl 21:38c8544db6f4 149 pc().printf("\n\rFile depth.txt successful written.\n\r");
tnhnrl 17:7c16b5671d0e 150 }
tnhnrl 17:7c16b5671d0e 151 }
tnhnrl 17:7c16b5671d0e 152
tnhnrl 21:38c8544db6f4 153 int ConfigFileIO::load_BCE_config() {
tnhnrl 21:38c8544db6f4 154 ConfigFile cfg;
tnhnrl 21:38c8544db6f4 155 int count = 0;
tnhnrl 21:38c8544db6f4 156 if (!cfg.read("/local/bce.txt")) {
tnhnrl 21:38c8544db6f4 157 error("File Read Error");
tnhnrl 21:38c8544db6f4 158 }
tnhnrl 21:38c8544db6f4 159 char value[BUFSIZ];
tnhnrl 21:38c8544db6f4 160
tnhnrl 21:38c8544db6f4 161 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 21:38c8544db6f4 162 bce().setControllerP(atof(value));
tnhnrl 21:38c8544db6f4 163 count++;
tnhnrl 21:38c8544db6f4 164 }
tnhnrl 21:38c8544db6f4 165 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 21:38c8544db6f4 166 bce().setControllerI(atof(value));
tnhnrl 21:38c8544db6f4 167 count++;
tnhnrl 21:38c8544db6f4 168 }
tnhnrl 21:38c8544db6f4 169 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 21:38c8544db6f4 170 bce().setControllerD(atof(value));
tnhnrl 21:38c8544db6f4 171 count++;
tnhnrl 17:7c16b5671d0e 172 }
tnhnrl 21:38c8544db6f4 173 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 21:38c8544db6f4 174 bce().setZeroCounts(atoi(value));
tnhnrl 21:38c8544db6f4 175 count++;
tnhnrl 21:38c8544db6f4 176 }
tnhnrl 21:38c8544db6f4 177 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 178 bce().setTravelLimit(atof(value));
tnhnrl 21:38c8544db6f4 179 count++;
tnhnrl 21:38c8544db6f4 180 }
tnhnrl 21:38c8544db6f4 181 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 182 bce().setPotSlope(atof(value));
tnhnrl 21:38c8544db6f4 183 count++;
tnhnrl 21:38c8544db6f4 184 }
tnhnrl 21:38c8544db6f4 185 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 186 bce().setFilterFrequency(atof(value));
tnhnrl 21:38c8544db6f4 187 count++;
tnhnrl 21:38c8544db6f4 188 }
tnhnrl 21:38c8544db6f4 189 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 190 bce().setDeadband(atof(value));
tnhnrl 21:38c8544db6f4 191 count++;
tnhnrl 21:38c8544db6f4 192 }
tnhnrl 17:7c16b5671d0e 193
tnhnrl 21:38c8544db6f4 194 return count;
tnhnrl 17:7c16b5671d0e 195 }
tnhnrl 17:7c16b5671d0e 196
tnhnrl 21:38c8544db6f4 197 int ConfigFileIO::load_BATT_config() {
tnhnrl 21:38c8544db6f4 198 ConfigFile cfg;
tnhnrl 21:38c8544db6f4 199 int count = 0;
tnhnrl 21:38c8544db6f4 200 if (!cfg.read("/local/batt.txt")) {
tnhnrl 21:38c8544db6f4 201 error("File Read Error");
tnhnrl 21:38c8544db6f4 202 }
tnhnrl 21:38c8544db6f4 203 char value[BUFSIZ];
tnhnrl 21:38c8544db6f4 204
tnhnrl 21:38c8544db6f4 205
tnhnrl 21:38c8544db6f4 206 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 21:38c8544db6f4 207 batt().setControllerP(atof(value));
tnhnrl 21:38c8544db6f4 208 count++;
tnhnrl 21:38c8544db6f4 209 }
tnhnrl 21:38c8544db6f4 210 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 21:38c8544db6f4 211 batt().setControllerI(atof(value));
tnhnrl 21:38c8544db6f4 212 count++;
tnhnrl 21:38c8544db6f4 213 }
tnhnrl 21:38c8544db6f4 214 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 21:38c8544db6f4 215 batt().setControllerD(atof(value));
tnhnrl 21:38c8544db6f4 216 count++;
tnhnrl 21:38c8544db6f4 217 }
tnhnrl 21:38c8544db6f4 218 if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
tnhnrl 21:38c8544db6f4 219 batt().setZeroCounts(atoi(value));
tnhnrl 21:38c8544db6f4 220 count++;
tnhnrl 21:38c8544db6f4 221 }
tnhnrl 21:38c8544db6f4 222 if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 223 batt().setTravelLimit(atof(value));
tnhnrl 21:38c8544db6f4 224 count++;
tnhnrl 21:38c8544db6f4 225 }
tnhnrl 21:38c8544db6f4 226 if (cfg.getValue("slope", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 227 batt().setPotSlope(atof(value));
tnhnrl 21:38c8544db6f4 228 count++;
tnhnrl 21:38c8544db6f4 229 }
tnhnrl 21:38c8544db6f4 230 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 231 batt().setFilterFrequency(atof(value));
tnhnrl 21:38c8544db6f4 232 count++;
tnhnrl 21:38c8544db6f4 233 }
tnhnrl 21:38c8544db6f4 234 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 235 batt().setDeadband(atof(value));
tnhnrl 21:38c8544db6f4 236 count++;
tnhnrl 21:38c8544db6f4 237 }
tnhnrl 21:38c8544db6f4 238
tnhnrl 21:38c8544db6f4 239 return count;
tnhnrl 21:38c8544db6f4 240 }
tnhnrl 17:7c16b5671d0e 241
tnhnrl 21:38c8544db6f4 242 int ConfigFileIO::load_DEPTH_config() {
tnhnrl 21:38c8544db6f4 243 ConfigFile cfg;
tnhnrl 21:38c8544db6f4 244 int count = 0;
tnhnrl 21:38c8544db6f4 245 if (!cfg.read("/local/depth.txt")) {
tnhnrl 21:38c8544db6f4 246 error("File Read Error");
tnhnrl 21:38c8544db6f4 247 }
tnhnrl 21:38c8544db6f4 248 char value[BUFSIZ];
tnhnrl 21:38c8544db6f4 249
tnhnrl 21:38c8544db6f4 250 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 21:38c8544db6f4 251 depthLoop().setControllerP(atof(value));
tnhnrl 21:38c8544db6f4 252 count++;
tnhnrl 21:38c8544db6f4 253 }
tnhnrl 21:38c8544db6f4 254 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 21:38c8544db6f4 255 depthLoop().setControllerI(atof(value));
tnhnrl 21:38c8544db6f4 256 count++;
tnhnrl 21:38c8544db6f4 257 }
tnhnrl 21:38c8544db6f4 258 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 21:38c8544db6f4 259 depthLoop().setControllerD(atof(value));
tnhnrl 21:38c8544db6f4 260 count++;
tnhnrl 21:38c8544db6f4 261 }
tnhnrl 21:38c8544db6f4 262 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 263 depthLoop().setFilterFrequency(atof(value));
tnhnrl 21:38c8544db6f4 264 count++;
tnhnrl 21:38c8544db6f4 265 }
tnhnrl 21:38c8544db6f4 266 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 267 depthLoop().setDeadband(atof(value));
tnhnrl 21:38c8544db6f4 268 count++;
tnhnrl 21:38c8544db6f4 269 }
tnhnrl 21:38c8544db6f4 270 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 271 depthLoop().setOutputOffset(atof(value));
tnhnrl 21:38c8544db6f4 272 count++;
tnhnrl 21:38c8544db6f4 273 }
tnhnrl 21:38c8544db6f4 274 return count;
tnhnrl 21:38c8544db6f4 275 }
tnhnrl 17:7c16b5671d0e 276
tnhnrl 21:38c8544db6f4 277 int ConfigFileIO::load_PITCH_config() {
tnhnrl 21:38c8544db6f4 278 ConfigFile cfg;
tnhnrl 21:38c8544db6f4 279 int count = 0;
tnhnrl 21:38c8544db6f4 280 if (!cfg.read("/local/pitch.txt")){
tnhnrl 21:38c8544db6f4 281 error("File Read Error");
tnhnrl 21:38c8544db6f4 282 }
tnhnrl 21:38c8544db6f4 283 char value[BUFSIZ];
tnhnrl 21:38c8544db6f4 284
tnhnrl 21:38c8544db6f4 285 if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
tnhnrl 21:38c8544db6f4 286 pitchLoop().setControllerP(atof(value));
tnhnrl 21:38c8544db6f4 287 count++;
tnhnrl 21:38c8544db6f4 288 }
tnhnrl 21:38c8544db6f4 289 if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
tnhnrl 21:38c8544db6f4 290 pitchLoop().setControllerI(atof(value));
tnhnrl 21:38c8544db6f4 291 count++;
tnhnrl 21:38c8544db6f4 292 }
tnhnrl 21:38c8544db6f4 293 if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
tnhnrl 21:38c8544db6f4 294 pitchLoop().setControllerD(atof(value));
tnhnrl 21:38c8544db6f4 295 count++;
tnhnrl 21:38c8544db6f4 296 }
tnhnrl 21:38c8544db6f4 297 if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 298 pitchLoop().setFilterFrequency(atof(value));
tnhnrl 21:38c8544db6f4 299 count++;
tnhnrl 21:38c8544db6f4 300 }
tnhnrl 21:38c8544db6f4 301 if (cfg.getValue("deadband", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 302 pitchLoop().setDeadband(atof(value));
tnhnrl 21:38c8544db6f4 303 count++;
tnhnrl 21:38c8544db6f4 304 }
tnhnrl 21:38c8544db6f4 305
tnhnrl 21:38c8544db6f4 306 if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
tnhnrl 21:38c8544db6f4 307 pitchLoop().setOutputOffset(atof(value));
tnhnrl 21:38c8544db6f4 308 count++;
tnhnrl 21:38c8544db6f4 309 }
tnhnrl 21:38c8544db6f4 310 return count;
tnhnrl 21:38c8544db6f4 311 }