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Added ability to get/set PID constants. Passes regression tests, and is backwards-compatible. Does not support setpoints, because they will be set via a different interface

Revert "Revert "Merge branch 'master' of git.ece.iastate.edu:danc/MicroCART_17-18 into batch-setpid""

This reverts commit 16eb40ff.

Yes, this is a revert-revert. Brendan broke all the things.

This reverts commit c9fdacfd

see cb_setparam, cb_getparam

- Realised that controller value may get confused with the actual value of the PID terms in the controller. To avoid this confusion in the future I have refactored things referencing the PID constant to now be called "control_parameter"
- There are quite a few instances of variables that changed.
- Sorry Jake

I was not copying the float value into the array correctly.
Hopefully I have it right now... will check with eric when he gets back from making tea.

- the desired format is in the comment above the funciton
- format should be controller ID, controller value ID, controller value
- should now be sending the data in the correct format

changed getcontrol to respond with the same message ID that was received from groundstation in the original getcontrol command

- FIXME: there are still a few issues making it so that setting and getting setpoints may not work

- added some comments in commands.c/h about usage of the file
- added a MAX_CONTROLLER_ID and MAX_CONTROL_VAL_ID to the enums in commands.h
- implemented cb_set_control in callbacks.c to work with the new parameter struct
- changes the parameter_struct to now contain an array of pid_controllers instead of a bunch of random PID_t members
- the new parameter_struct array can now be accessed by controller ID as defined in commands.h

- removed every use of the "subtype" term
- made the "type" term 16 bits
- made sure that every reference to a message type is 16 bits and used correctly
- simplified commands enum names
- implemented setcontrol callback function that switch on the controller and P, I, D, setpoint value to be set and then set them
- partly implemented getcontrol callback function
- NOTE: setpoint is a double. this causes some problems..
- TODO: add setpoints for rate controllers
- TODO: figure out what message ID I should send back when I get a getpid command

- Added a comment saying that we may not need the ID parameter on the MessageType Struct anymore.
- Removed calls of the nature: "MessageTypes[TYPE_ID].ID" and replaced them with "TYPE_ID" because it is the same thing..
- Added function comments in callbacks.c
- Simplified the callbacks.c by having a more generic setval, getval, respval callback function instead of a billion of them for each PID value.

there is now no such thing as a message sub type. There is only a message type.
this simplifies the commands struct greatly.
the commands.c file was aprox 1400 lines and now it is about 150...

jpbush authored 8 years ago and dawehr committed 8 years ago

also reorganized the ordering of the commands in commands.c
added a enum for message types and subtype but this will get removed on the next commit