Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

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Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

Global/ConfigFileWrapper/ConfigFileWrapper.cpp@2:969dfa4f2436, 2015-04-01 (annotated)

Committer:
joe4465
Date:
Wed Apr 01 11:19:21 2015 +0000
Revision:
2:969dfa4f2436
Parent:
ConfigFileWrapper/ConfigFileWrapper.cpp@0:c6a85bb2a827 
Altitude hold with 2 PID's working. Exported to offline compiler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 0:c6a85bb2a827 1 #include "ConfigFileWrapper.h"
joe4465 0:c6a85bb2a827 2
joe4465 2:969dfa4f2436 3 ConfigFileWrapper::ConfigFileWrapper()
joe4465 0:c6a85bb2a827 4 {
joe4465 0:c6a85bb2a827 5 _str = new char[1024];
joe4465 0:c6a85bb2a827 6 loadSettings();
joe4465 0:c6a85bb2a827 7
joe4465 2:969dfa4f2436 8 DEBUG("Config file wrapper initialised\r\n");
joe4465 0:c6a85bb2a827 9 }
joe4465 0:c6a85bb2a827 10
joe4465 2:969dfa4f2436 11 ConfigFileWrapper::~ConfigFileWrapper(){}
joe4465 2:969dfa4f2436 12
joe4465 2:969dfa4f2436 13 PidWrapper::PidParameter ConfigFileWrapper::getYawRateParameters()
joe4465 0:c6a85bb2a827 14 {
joe4465 0:c6a85bb2a827 15 return _yawRateParameters;
joe4465 0:c6a85bb2a827 16 }
joe4465 0:c6a85bb2a827 17
joe4465 2:969dfa4f2436 18 PidWrapper::PidParameter ConfigFileWrapper::getPitchRateParameters()
joe4465 0:c6a85bb2a827 19 {
joe4465 0:c6a85bb2a827 20 return _pitchRateParameters;
joe4465 0:c6a85bb2a827 21 }
joe4465 0:c6a85bb2a827 22
joe4465 2:969dfa4f2436 23 PidWrapper::PidParameter ConfigFileWrapper::getRollRateParameters()
joe4465 0:c6a85bb2a827 24 {
joe4465 0:c6a85bb2a827 25 return _rollRateParameters;
joe4465 0:c6a85bb2a827 26 }
joe4465 0:c6a85bb2a827 27
joe4465 2:969dfa4f2436 28 PidWrapper::PidParameter ConfigFileWrapper::getYawStabParameters()
joe4465 0:c6a85bb2a827 29 {
joe4465 0:c6a85bb2a827 30 return _yawStabParameters;
joe4465 0:c6a85bb2a827 31 }
joe4465 0:c6a85bb2a827 32
joe4465 2:969dfa4f2436 33 PidWrapper::PidParameter ConfigFileWrapper::getPitchStabParameters()
joe4465 0:c6a85bb2a827 34 {
joe4465 0:c6a85bb2a827 35 return _pitchStabParameters;
joe4465 0:c6a85bb2a827 36 }
joe4465 0:c6a85bb2a827 37
joe4465 2:969dfa4f2436 38 PidWrapper::PidParameter ConfigFileWrapper::getRollStabParameters()
joe4465 0:c6a85bb2a827 39 {
joe4465 0:c6a85bb2a827 40 return _rollStabParameters;
joe4465 0:c6a85bb2a827 41 }
joe4465 0:c6a85bb2a827 42
joe4465 2:969dfa4f2436 43 PidWrapper::PidParameter ConfigFileWrapper::getAltitudeRateParameters()
joe4465 2:969dfa4f2436 44 {
joe4465 2:969dfa4f2436 45 return _altitudeRateParameters;
joe4465 2:969dfa4f2436 46 }
joe4465 2:969dfa4f2436 47
joe4465 2:969dfa4f2436 48 PidWrapper::PidParameter ConfigFileWrapper::getAltitudeStabParameters()
joe4465 0:c6a85bb2a827 49 {
joe4465 2:969dfa4f2436 50 return _altitudeStabParameters;
joe4465 2:969dfa4f2436 51 }
joe4465 2:969dfa4f2436 52
joe4465 2:969dfa4f2436 53 bool ConfigFileWrapper::setYawRateParameters(PidWrapper::PidParameter pidParameters)
joe4465 2:969dfa4f2436 54 {
joe4465 2:969dfa4f2436 55 _yawRateParameters = pidParameters;
joe4465 0:c6a85bb2a827 56 return true;
joe4465 0:c6a85bb2a827 57 }
joe4465 0:c6a85bb2a827 58
joe4465 2:969dfa4f2436 59 bool ConfigFileWrapper::setPitchRateParameters(PidWrapper::PidParameter pidParameters)
joe4465 0:c6a85bb2a827 60 {
joe4465 2:969dfa4f2436 61 _pitchRateParameters = pidParameters;
joe4465 0:c6a85bb2a827 62 return true;
joe4465 0:c6a85bb2a827 63 }
joe4465 0:c6a85bb2a827 64
joe4465 2:969dfa4f2436 65 bool ConfigFileWrapper::setRollRateParameters(PidWrapper::PidParameter pidParameters)
joe4465 2:969dfa4f2436 66 {
joe4465 2:969dfa4f2436 67 _rollRateParameters = pidParameters;
joe4465 2:969dfa4f2436 68 return true;
joe4465 2:969dfa4f2436 69 }
joe4465 2:969dfa4f2436 70
joe4465 2:969dfa4f2436 71 bool ConfigFileWrapper::setYawStabParameters(PidWrapper::PidParameter pidParameters)
joe4465 0:c6a85bb2a827 72 {
joe4465 2:969dfa4f2436 73 _yawStabParameters = pidParameters;
joe4465 2:969dfa4f2436 74 return true;
joe4465 2:969dfa4f2436 75 }
joe4465 2:969dfa4f2436 76
joe4465 2:969dfa4f2436 77 bool ConfigFileWrapper::setPitchStabParameters(PidWrapper::PidParameter pidParameters)
joe4465 2:969dfa4f2436 78 {
joe4465 2:969dfa4f2436 79 _pitchStabParameters = pidParameters;
joe4465 0:c6a85bb2a827 80 return true;
joe4465 0:c6a85bb2a827 81 }
joe4465 0:c6a85bb2a827 82
joe4465 2:969dfa4f2436 83 bool ConfigFileWrapper::setRollStabParameters(PidWrapper::PidParameter pidParameters)
joe4465 2:969dfa4f2436 84 {
joe4465 2:969dfa4f2436 85 _rollStabParameters = pidParameters;
joe4465 2:969dfa4f2436 86 return true;
joe4465 2:969dfa4f2436 87 }
joe4465 2:969dfa4f2436 88
joe4465 2:969dfa4f2436 89 bool ConfigFileWrapper::setAltitudeRateParameters(PidWrapper::PidParameter pidParameters)
joe4465 0:c6a85bb2a827 90 {
joe4465 2:969dfa4f2436 91 _altitudeRateParameters = pidParameters;
joe4465 2:969dfa4f2436 92 return true;
joe4465 2:969dfa4f2436 93 }
joe4465 2:969dfa4f2436 94
joe4465 2:969dfa4f2436 95 bool ConfigFileWrapper::setAltitudeStabParameters(PidWrapper::PidParameter pidParameters)
joe4465 2:969dfa4f2436 96 {
joe4465 2:969dfa4f2436 97 _altitudeStabParameters = pidParameters;
joe4465 0:c6a85bb2a827 98 return true;
joe4465 0:c6a85bb2a827 99 }
joe4465 0:c6a85bb2a827 100
joe4465 2:969dfa4f2436 101 float ConfigFileWrapper::getAccelZeroPitch()
joe4465 2:969dfa4f2436 102 {
joe4465 2:969dfa4f2436 103 return _accelZeroPitch;
joe4465 2:969dfa4f2436 104 }
joe4465 2:969dfa4f2436 105
joe4465 2:969dfa4f2436 106 float ConfigFileWrapper::getAccelZeroRoll()
joe4465 0:c6a85bb2a827 107 {
joe4465 2:969dfa4f2436 108 return _accelZeroRoll;
joe4465 2:969dfa4f2436 109 }
joe4465 2:969dfa4f2436 110
joe4465 2:969dfa4f2436 111 bool ConfigFileWrapper::setAccelZeroPitch(float value)
joe4465 2:969dfa4f2436 112 {
joe4465 2:969dfa4f2436 113 _accelZeroPitch = value;
joe4465 0:c6a85bb2a827 114 return true;
joe4465 0:c6a85bb2a827 115 }
joe4465 0:c6a85bb2a827 116
joe4465 2:969dfa4f2436 117 bool ConfigFileWrapper::setAccelZeroRoll(float value)
joe4465 0:c6a85bb2a827 118 {
joe4465 2:969dfa4f2436 119 _accelZeroRoll = value;
joe4465 0:c6a85bb2a827 120 return true;
joe4465 0:c6a85bb2a827 121 }
joe4465 0:c6a85bb2a827 122
joe4465 2:969dfa4f2436 123 void ConfigFileWrapper::convertToCharArray(double number)
joe4465 0:c6a85bb2a827 124 {
joe4465 0:c6a85bb2a827 125 sprintf(_str, "%1.8f", number );
joe4465 0:c6a85bb2a827 126 }
joe4465 0:c6a85bb2a827 127
joe4465 0:c6a85bb2a827 128 void ConfigFileWrapper::convertToCharArray(int number)
joe4465 0:c6a85bb2a827 129 {
joe4465 0:c6a85bb2a827 130 sprintf(_str, "%d", number );
joe4465 0:c6a85bb2a827 131 }
joe4465 0:c6a85bb2a827 132
joe4465 0:c6a85bb2a827 133 void ConfigFileWrapper::loadSettings()
joe4465 0:c6a85bb2a827 134 {
joe4465 0:c6a85bb2a827 135 char value[BUFSIZ];
joe4465 0:c6a85bb2a827 136
joe4465 2:969dfa4f2436 137 DEBUG("Loading settings from config file\n\r");
joe4465 2:969dfa4f2436 138
joe4465 0:c6a85bb2a827 139 //Read a configuration file from a mbed.
joe4465 2:969dfa4f2436 140 LocalFileSystem local("local");
joe4465 2:969dfa4f2436 141 if (!_configFile.read("/local/CONFIG.CFG"))
joe4465 0:c6a85bb2a827 142 {
joe4465 0:c6a85bb2a827 143 DEBUG("Config file does not exist\n\r");
joe4465 2:969dfa4f2436 144 return;
joe4465 0:c6a85bb2a827 145 }
joe4465 0:c6a85bb2a827 146 else
joe4465 0:c6a85bb2a827 147 {
joe4465 0:c6a85bb2a827 148 //Get values
joe4465 0:c6a85bb2a827 149 if (_configFile.getValue("yawRatePIDControllerP", &value[0], sizeof(value))) _yawRateParameters.p = atof(value);
joe4465 0:c6a85bb2a827 150 else DEBUG("Failed to get value for yawRatePIDControllerP\n\r");
joe4465 0:c6a85bb2a827 151
joe4465 0:c6a85bb2a827 152 if (_configFile.getValue("yawRatePIDControllerI", &value[0], sizeof(value))) _yawRateParameters.i = atof(value);
joe4465 0:c6a85bb2a827 153 else DEBUG("Failed to get value for yawRatePIDControllerI\n\r");
joe4465 0:c6a85bb2a827 154
joe4465 0:c6a85bb2a827 155 if (_configFile.getValue("yawRatePIDControllerD", &value[0], sizeof(value))) _yawRateParameters.d = atof(value);
joe4465 0:c6a85bb2a827 156 else DEBUG("Failed to get value for yawRatePIDControllerD\n\r");
joe4465 0:c6a85bb2a827 157
joe4465 0:c6a85bb2a827 158 if (_configFile.getValue("pitchRatePIDControllerP", &value[0], sizeof(value))) _pitchRateParameters.p = atof(value);
joe4465 0:c6a85bb2a827 159 else DEBUG("Failed to get value for pitchRatePIDControllerP\n\r");
joe4465 0:c6a85bb2a827 160
joe4465 0:c6a85bb2a827 161 if (_configFile.getValue("pitchRatePIDControllerI", &value[0], sizeof(value))) _pitchRateParameters.i = atof(value);
joe4465 0:c6a85bb2a827 162 else DEBUG("Failed to get value for pitchRatePIDControllerI\n\r");
joe4465 0:c6a85bb2a827 163
joe4465 0:c6a85bb2a827 164 if (_configFile.getValue("pitchRatePIDControllerD", &value[0], sizeof(value))) _pitchRateParameters.d = atof(value);
joe4465 0:c6a85bb2a827 165 else DEBUG("Failed to get value for pitchRatePIDControllerD\n\r");
joe4465 0:c6a85bb2a827 166
joe4465 0:c6a85bb2a827 167 if (_configFile.getValue("rollRatePIDControllerP", &value[0], sizeof(value))) _rollRateParameters.p = atof(value);
joe4465 0:c6a85bb2a827 168 else DEBUG("Failed to get value for rollRatePIDControllerP\n\r");
joe4465 0:c6a85bb2a827 169
joe4465 0:c6a85bb2a827 170 if (_configFile.getValue("rollRatePIDControllerI", &value[0], sizeof(value))) _rollRateParameters.i = atof(value);
joe4465 0:c6a85bb2a827 171 else DEBUG("Failed to get value for rollRatePIDControllerI\n\r");
joe4465 0:c6a85bb2a827 172
joe4465 0:c6a85bb2a827 173 if (_configFile.getValue("rollRatePIDControllerD", &value[0], sizeof(value))) _rollRateParameters.d = atof(value);
joe4465 0:c6a85bb2a827 174 else DEBUG("Failed to get value for rollRatePIDControllerD\n\r");
joe4465 0:c6a85bb2a827 175
joe4465 0:c6a85bb2a827 176 if (_configFile.getValue("yawStabPIDControllerP", &value[0], sizeof(value))) _yawStabParameters.p = atof(value);
joe4465 0:c6a85bb2a827 177 else DEBUG("Failed to get value for yawStabPIDControllerP\n\r");
joe4465 0:c6a85bb2a827 178
joe4465 0:c6a85bb2a827 179 if (_configFile.getValue("yawStabPIDControllerI", &value[0], sizeof(value))) _yawStabParameters.i = atof(value);
joe4465 0:c6a85bb2a827 180 else DEBUG("Failed to get value for yawStabPIDControllerI\n\r");
joe4465 0:c6a85bb2a827 181
joe4465 0:c6a85bb2a827 182 if (_configFile.getValue("yawStabPIDControllerD", &value[0], sizeof(value))) _yawStabParameters.d = atof(value);
joe4465 0:c6a85bb2a827 183 else DEBUG("Failed to get value for yawStabPIDControllerD\n\r");
joe4465 0:c6a85bb2a827 184
joe4465 0:c6a85bb2a827 185 if (_configFile.getValue("pitchStabPIDControllerP", &value[0], sizeof(value))) _pitchStabParameters.p = atof(value);
joe4465 0:c6a85bb2a827 186 else DEBUG("Failed to get value for pitchStabPIDControllerP\n\r");
joe4465 0:c6a85bb2a827 187
joe4465 0:c6a85bb2a827 188 if (_configFile.getValue("pitchStabPIDControllerI", &value[0], sizeof(value))) _pitchStabParameters.i = atof(value);
joe4465 0:c6a85bb2a827 189 else DEBUG("Failed to get value for pitchStabPIDControllerI\n\r");
joe4465 0:c6a85bb2a827 190
joe4465 0:c6a85bb2a827 191 if (_configFile.getValue("pitchStabPIDControllerD", &value[0], sizeof(value))) _pitchStabParameters.d = atof(value);
joe4465 0:c6a85bb2a827 192 else DEBUG("Failed to get value for pitchStabPIDControllerD\n\r");
joe4465 0:c6a85bb2a827 193
joe4465 0:c6a85bb2a827 194 if (_configFile.getValue("rollStabPIDControllerP", &value[0], sizeof(value))) _rollStabParameters.p = atof(value);
joe4465 0:c6a85bb2a827 195 else DEBUG("Failed to get value for rollStabPIDControllerP\n\r");
joe4465 0:c6a85bb2a827 196
joe4465 0:c6a85bb2a827 197 if (_configFile.getValue("rollStabPIDControllerI", &value[0], sizeof(value))) _rollStabParameters.i = atof(value);
joe4465 0:c6a85bb2a827 198 else DEBUG("Failed to get value for rollStabPIDControllerI\n\r");
joe4465 0:c6a85bb2a827 199
joe4465 0:c6a85bb2a827 200 if (_configFile.getValue("rollStabPIDControllerD", &value[0], sizeof(value))) _rollStabParameters.d = atof(value);
joe4465 0:c6a85bb2a827 201 else DEBUG("Failed to get value for rollStabPIDControllerD\n\r");
joe4465 2:969dfa4f2436 202
joe4465 2:969dfa4f2436 203 if (_configFile.getValue("altitudeRatePIDControllerP", &value[0], sizeof(value))) _altitudeRateParameters.p = atof(value);
joe4465 2:969dfa4f2436 204 else DEBUG("Failed to get value for altitudeRatePIDControllerP\n\r");
joe4465 2:969dfa4f2436 205
joe4465 2:969dfa4f2436 206 if (_configFile.getValue("altitudeRatePIDControllerI", &value[0], sizeof(value))) _altitudeRateParameters.i = atof(value);
joe4465 2:969dfa4f2436 207 else DEBUG("Failed to get value for altitudeRatePIDControllerI\n\r");
joe4465 2:969dfa4f2436 208
joe4465 2:969dfa4f2436 209 if (_configFile.getValue("altitudeRatePIDControllerD", &value[0], sizeof(value))) _altitudeRateParameters.d = atof(value);
joe4465 2:969dfa4f2436 210 else DEBUG("Failed to get value for altitudeRatePIDControllerD\n\r");
joe4465 2:969dfa4f2436 211
joe4465 2:969dfa4f2436 212 if (_configFile.getValue("altitudeStabPIDControllerP", &value[0], sizeof(value))) _altitudeStabParameters.p = atof(value);
joe4465 2:969dfa4f2436 213 else DEBUG("Failed to get value for altitudeStabPIDControllerP\n\r");
joe4465 2:969dfa4f2436 214
joe4465 2:969dfa4f2436 215 if (_configFile.getValue("altitudeStabPIDControllerI", &value[0], sizeof(value))) _altitudeStabParameters.i = atof(value);
joe4465 2:969dfa4f2436 216 else DEBUG("Failed to get value for altitudeStabPIDControllerI\n\r");
joe4465 2:969dfa4f2436 217
joe4465 2:969dfa4f2436 218 if (_configFile.getValue("altitudeStabPIDControllerD", &value[0], sizeof(value))) _altitudeStabParameters.d = atof(value);
joe4465 2:969dfa4f2436 219 else DEBUG("Failed to get value for altitudeStabPIDControllerD\n\r");
joe4465 2:969dfa4f2436 220
joe4465 2:969dfa4f2436 221 if (_configFile.getValue("accelZeroPitch", &value[0], sizeof(value))) _accelZeroPitch = atof(value);
joe4465 2:969dfa4f2436 222 else DEBUG("Failed to get value for accelZeroPitch\n\r");
joe4465 2:969dfa4f2436 223
joe4465 2:969dfa4f2436 224 if (_configFile.getValue("accelZeroRoll", &value[0], sizeof(value))) _accelZeroRoll = atof(value);
joe4465 2:969dfa4f2436 225 else DEBUG("Failed to get value for accelZeroRoll\n\r");
joe4465 0:c6a85bb2a827 226
joe4465 0:c6a85bb2a827 227 /*if (_configFile.getValue("zeroPitch", &value[0], sizeof(value))) _zeroValues[1] = atof(value);
joe4465 0:c6a85bb2a827 228 else DEBUG("Failed to get value for zero pitch\n\r");
joe4465 0:c6a85bb2a827 229
joe4465 0:c6a85bb2a827 230 if (_configFile.getValue("zeroRoll", &value[0], sizeof(value))) _zeroValues[2] = atof(value);
joe4465 0:c6a85bb2a827 231 else printf("Failed to get value for zero roll\n\r");*/
joe4465 0:c6a85bb2a827 232 }
joe4465 0:c6a85bb2a827 233
joe4465 0:c6a85bb2a827 234 DEBUG("Finished loading settings from config file\n\r");
joe4465 0:c6a85bb2a827 235 }
joe4465 2:969dfa4f2436 236
joe4465 2:969dfa4f2436 237 bool ConfigFileWrapper::saveSettings()
joe4465 2:969dfa4f2436 238 {
joe4465 2:969dfa4f2436 239 DEBUG("Writing settings to config file\n\r");
joe4465 2:969dfa4f2436 240
joe4465 2:969dfa4f2436 241 LocalFileSystem local("local");
joe4465 2:969dfa4f2436 242 if (!_configFile.read("/local/CONFIG.CFG"))
joe4465 2:969dfa4f2436 243 {
joe4465 2:969dfa4f2436 244 DEBUG("Config file does not exist\n\r");
joe4465 2:969dfa4f2436 245 return false;
joe4465 2:969dfa4f2436 246 }
joe4465 2:969dfa4f2436 247 else
joe4465 2:969dfa4f2436 248 {
joe4465 2:969dfa4f2436 249 //Write values
joe4465 2:969dfa4f2436 250 convertToCharArray(_yawRateParameters.p);
joe4465 2:969dfa4f2436 251 if (!_configFile.setValue("yawRatePIDControllerP", _str)) DEBUG("Failed to write value for yawRatePIDControllerP\n\r");
joe4465 2:969dfa4f2436 252
joe4465 2:969dfa4f2436 253 convertToCharArray(_yawRateParameters.i);
joe4465 2:969dfa4f2436 254 if (!_configFile.setValue("yawRatePIDControllerI", _str)) DEBUG("Failed to write value for yawRatePIDControllerI\n\r");
joe4465 2:969dfa4f2436 255
joe4465 2:969dfa4f2436 256 convertToCharArray(_yawRateParameters.d);
joe4465 2:969dfa4f2436 257 if (!_configFile.setValue("yawRatePIDControllerD", _str)) DEBUG("Failed to write value for yawRatePIDControllerD\n\r");
joe4465 2:969dfa4f2436 258
joe4465 2:969dfa4f2436 259 convertToCharArray(_pitchRateParameters.p);
joe4465 2:969dfa4f2436 260 if (!_configFile.setValue("pitchRatePIDControllerP", _str)) DEBUG("Failed to write value for pitchRatePIDControllerP\n\r");
joe4465 2:969dfa4f2436 261
joe4465 2:969dfa4f2436 262 convertToCharArray(_pitchRateParameters.i);
joe4465 2:969dfa4f2436 263 if (!_configFile.setValue("pitchRatePIDControllerI", _str)) DEBUG("Failed to write value for pitchRatePIDControllerI\n\r");
joe4465 2:969dfa4f2436 264
joe4465 2:969dfa4f2436 265 convertToCharArray(_pitchRateParameters.d);
joe4465 2:969dfa4f2436 266 if (!_configFile.setValue("pitchRatePIDControllerD", _str)) DEBUG("Failed to write value for pitchRatePIDControllerD\n\r");
joe4465 2:969dfa4f2436 267
joe4465 2:969dfa4f2436 268 convertToCharArray(_rollRateParameters.p);
joe4465 2:969dfa4f2436 269 if (!_configFile.setValue("rollRatePIDControllerP", _str)) DEBUG("Failed to write value for rollRatePIDControllerP\n\r");
joe4465 2:969dfa4f2436 270
joe4465 2:969dfa4f2436 271 convertToCharArray(_rollRateParameters.i);
joe4465 2:969dfa4f2436 272 if (!_configFile.setValue("rollRatePIDControllerI", _str)) DEBUG("Failed to write value for rollRatePIDControllerI\n\r");
joe4465 2:969dfa4f2436 273
joe4465 2:969dfa4f2436 274 convertToCharArray(_rollRateParameters.d);
joe4465 2:969dfa4f2436 275 if (!_configFile.setValue("rollRatePIDControllerD", _str)) DEBUG("Failed to write value for rollRatePIDControllerD\n\r");
joe4465 2:969dfa4f2436 276
joe4465 2:969dfa4f2436 277 convertToCharArray(_yawStabParameters.p);
joe4465 2:969dfa4f2436 278 if (!_configFile.setValue("yawStabPIDControllerP", _str)) DEBUG("Failed to write value for yawStabPIDControllerP\n\r");
joe4465 2:969dfa4f2436 279
joe4465 2:969dfa4f2436 280 convertToCharArray(_yawStabParameters.i);
joe4465 2:969dfa4f2436 281 if (!_configFile.setValue("yawStabPIDControllerI", _str)) DEBUG("Failed to write value for yawStabPIDControllerI\n\r");
joe4465 2:969dfa4f2436 282
joe4465 2:969dfa4f2436 283 convertToCharArray(_yawStabParameters.d);
joe4465 2:969dfa4f2436 284 if (!_configFile.setValue("yawStabPIDControllerD", _str)) DEBUG("Failed to write value for yawStabPIDControllerD\n\r");
joe4465 2:969dfa4f2436 285
joe4465 2:969dfa4f2436 286 convertToCharArray(_pitchStabParameters.p);
joe4465 2:969dfa4f2436 287 if (!_configFile.setValue("pitchStabPIDControllerP", _str)) DEBUG("Failed to write value for pitchStabPIDControllerP\n\r");
joe4465 2:969dfa4f2436 288
joe4465 2:969dfa4f2436 289 convertToCharArray(_pitchStabParameters.i);
joe4465 2:969dfa4f2436 290 if (!_configFile.setValue("pitchStabPIDControllerI", _str)) DEBUG("Failed to write value for pitchStabPIDControllerI\n\r");
joe4465 2:969dfa4f2436 291
joe4465 2:969dfa4f2436 292 convertToCharArray(_pitchStabParameters.d);
joe4465 2:969dfa4f2436 293 if (!_configFile.setValue("pitchStabPIDControllerD", _str)) DEBUG("Failed to write value for pitchStabPIDControllerD\n\r");
joe4465 2:969dfa4f2436 294
joe4465 2:969dfa4f2436 295 convertToCharArray(_rollStabParameters.p);
joe4465 2:969dfa4f2436 296 if (!_configFile.setValue("rollStabPIDControllerP", _str)) DEBUG("Failed to write value for rollStabPIDControllerP\n\r");
joe4465 2:969dfa4f2436 297
joe4465 2:969dfa4f2436 298 convertToCharArray(_rollStabParameters.i);
joe4465 2:969dfa4f2436 299 if (!_configFile.setValue("rollStabPIDControllerI", _str)) DEBUG("Failed to write value for _rollStabPIDControllerI\n\r");
joe4465 2:969dfa4f2436 300
joe4465 2:969dfa4f2436 301 convertToCharArray(_rollStabParameters.d);
joe4465 2:969dfa4f2436 302 if (!_configFile.setValue("rollStabPIDControllerD", _str)) DEBUG("Failed to write value for rollStabPIDControllerD\n\r");
joe4465 2:969dfa4f2436 303
joe4465 2:969dfa4f2436 304 convertToCharArray(_altitudeRateParameters.p);
joe4465 2:969dfa4f2436 305 if (!_configFile.setValue("altitudeRatePIDControllerP", _str)) DEBUG("Failed to write value for altitudeRatePIDControllerP\n\r");
joe4465 2:969dfa4f2436 306
joe4465 2:969dfa4f2436 307 convertToCharArray(_altitudeRateParameters.i);
joe4465 2:969dfa4f2436 308 if (!_configFile.setValue("altitudeRatePIDControllerI", _str)) DEBUG("Failed to write value for altitudeRatePIDControllerI\n\r");
joe4465 2:969dfa4f2436 309
joe4465 2:969dfa4f2436 310 convertToCharArray(_altitudeRateParameters.d);
joe4465 2:969dfa4f2436 311 if (!_configFile.setValue("altitudeRatePIDControllerD", _str)) DEBUG("Failed to write value for altitudeRatePIDControllerD\n\r");
joe4465 2:969dfa4f2436 312
joe4465 2:969dfa4f2436 313 convertToCharArray(_altitudeStabParameters.p);
joe4465 2:969dfa4f2436 314 if (!_configFile.setValue("altitudeStabPIDControllerP", _str)) DEBUG("Failed to write value for altitudeStabPIDControllerP\n\r");
joe4465 2:969dfa4f2436 315
joe4465 2:969dfa4f2436 316 convertToCharArray(_altitudeStabParameters.i);
joe4465 2:969dfa4f2436 317 if (!_configFile.setValue("altitudeStabPIDControllerI", _str)) DEBUG("Failed to write value for altitudeStabPIDControllerI\n\r");
joe4465 2:969dfa4f2436 318
joe4465 2:969dfa4f2436 319 convertToCharArray(_altitudeStabParameters.d);
joe4465 2:969dfa4f2436 320 if (!_configFile.setValue("altitudeStabPIDControllerD", _str)) DEBUG("Failed to write value for altitudeStabPIDControllerD\n\r");
joe4465 2:969dfa4f2436 321
joe4465 2:969dfa4f2436 322 convertToCharArray(_accelZeroPitch);
joe4465 2:969dfa4f2436 323 if (!_configFile.setValue("accelZeroPitch", _str)) DEBUG("Failed to write value for accelZeroPitch\n\r");
joe4465 2:969dfa4f2436 324
joe4465 2:969dfa4f2436 325 convertToCharArray(_accelZeroRoll);
joe4465 2:969dfa4f2436 326 if (!_configFile.setValue("accelZeroRoll", _str)) DEBUG("Failed to write value for accelZeroRoll\n\r");
joe4465 2:969dfa4f2436 327
joe4465 2:969dfa4f2436 328
joe4465 2:969dfa4f2436 329 //convertToCharArray(_zeroValues[1]);
joe4465 2:969dfa4f2436 330 //if (!_configFile.setValue("_zeroPitch", _str)) DEBUG("Failed to write value for zero pitch\n\r");
joe4465 2:969dfa4f2436 331
joe4465 2:969dfa4f2436 332 //convertToCharArray(_zeroValues[2]);
joe4465 2:969dfa4f2436 333 //if (!_configFile.setValue("_zeroRoll", _str)) DEBUG("Failed to write value for zero roll\n\r");
joe4465 2:969dfa4f2436 334
joe4465 2:969dfa4f2436 335 if (!_configFile.write("/local/CONFIG.CFG"))
joe4465 2:969dfa4f2436 336 {
joe4465 2:969dfa4f2436 337 DEBUG("Failure to write settings to configuration file.\n\r");
joe4465 2:969dfa4f2436 338 return false;
joe4465 2:969dfa4f2436 339 }
joe4465 2:969dfa4f2436 340 else
joe4465 2:969dfa4f2436 341 {
joe4465 2:969dfa4f2436 342 DEBUG("Successfully wrote settings to configuration file.\n\r");
joe4465 2:969dfa4f2436 343 return true;
joe4465 2:969dfa4f2436 344 }
joe4465 2:969dfa4f2436 345 }
joe4465 2:969dfa4f2436 346 }