This script works with iNav (version 2.2 as of writing), and can be used to interpret a command-line settings dump from the drone and convert it to C-style code for use in target/YOUR_TARGET/config.c This script uses settings.yaml located in the src/main/fc directory to translate from CLI names to source code names.
The output is not guaranteed to compile and may need some hand-holding to work properly. This is intended to save a huge amount of time in looking up configuration struct names.
~$ ./cli2config.py -h
usage: cli2config.py [-h] [-inyaml SETTINGS.YAML] [-c] [-t TABSIZE]
[-s START_COL] [--force-spaces]
infile outfile
This script converts 'set settingname = value' lines from iNav CLI dumps into
C commands that can be inserted into a target's config.c file.
positional arguments:
infile input text dump from CLI
outfile C command output file
optional arguments:
-h, --help show this help message and exit
-inyaml SETTINGS.YAML
settings.yaml file. Looks in current directory by
default.
-c, --comments adds the cli command string as a comment in output
-t TABSIZE, --tabsize TABSIZE
sets tab size (default is 8)
-s START_COL, --start-col START_COL
column location to start comments if possible. Make
sure this is a multiple of --tabsize
--force-spaces forces spaces to be used instead of tabs
This is intended to help iNav hardware target developers create custom default
setups. YOUR MILEAGE MAY VARY -- this is not guaranteed to produce correct
code, but to save time chasing down config value names. Currently it does not
handle any other dump commands besides 'set'.
CLI
# dump
# INAV/YOUR_TARGET 2.1.0 May 6 2019 / 00:04:57 (5f5aa57)
# GCC-7.3.1 20180622 (release) [ARM/embedded-7-branch revision 261907]
mmix reset
mmix 0 1.000 -1.000 1.000 -1.000
mmix 1 1.000 -1.000 -1.000 1.000
mmix 2 1.000 1.000 1.000 1.000
mmix 3 1.000 1.000 -1.000 -1.000
smix reset
servo 0 1000 2000 1500 100
servo 1 1000 2000 1500 100
servo 2 1000 2000 1500 100
servo 3 1000 2000 1500 100
servo 4 1000 2000 1500 100
servo 5 1000 2000 1500 100
servo 6 1000 2000 1500 100
servo 7 1000 2000 1500 100
feature -THR_VBAT_COMP
feature -VBAT
feature -TX_PROF_SEL
feature -BAT_PROF_AUTOSWITCH
feature -MOTOR_STOP
.
.
.
set looptime = 1000
set gyro_sync = ON
set align_gyro = DEFAULT
set gyro_hardware_lpf = 42HZ
set gyro_lpf_hz = 60
set moron_threshold = 32
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 1
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 1
set gyro_stage2_lowpass_hz = 0
set vbat_adc_channel = 1
set rssi_adc_channel = 3
set current_adc_channel = 2
set airspeed_adc_channel = 0
set acc_notch_hz = 0
set acc_notch_cutoff = 1
set align_acc = DEFAULT
set acc_hardware = MPU6000
set acc_lpf_hz = 15
set acczero_x = 45
set acczero_y = -25
set acczero_z = -174
set accgain_x = 4097
set accgain_y = 4102
set accgain_z = 4034
set rangefinder_hardware = BENEWAKE
set rangefinder_median_filter = OFF
set opflow_hardware = MSP
set opflow_scale = 1.000
set align_opflow = CW0
.
.
.
~$ ./cli2config.py cli_dump2.txt outfile.txt -s 64 -c -t 8
(Remember to sudo chmod +x cli2config.py if you want to use it this way)
gyroConfigMutable()->gyroSync = true; // set gyro_sync = ON
gyroConfigMutable()->gyro_align = DEFAULT; // set align_gyro = DEFAULT
gyroConfigMutable()->gyro_lpf = 42HZ; // set gyro_hardware_lpf = 42HZ
gyroConfigMutable()->gyro_soft_lpf_hz = 60; // set gyro_lpf_hz = 60
gyroConfigMutable()->gyroMovementCalibrationThreshold = 32; // set moron_threshold = 32
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0; // set gyro_notch1_hz = 0
gyroConfigMutable()->gyro_soft_notch_cutoff_1 = 1; // set gyro_notch1_cutoff = 1
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0; // set gyro_notch2_hz = 0
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = 1; // set gyro_notch2_cutoff = 1
gyroConfigMutable()->gyro_stage2_lowpass_hz = 0; // set gyro_stage2_lowpass_hz = 0
adcChannelConfigMutable()->adcFunctionChannel[ADC_BATTERY] = 1; // set vbat_adc_channel = 1
adcChannelConfigMutable()->adcFunctionChannel[ADC_RSSI] = 3; // set rssi_adc_channel = 3
adcChannelConfigMutable()->adcFunctionChannel[ADC_CURRENT] = 2; // set current_adc_channel = 2
adcChannelConfigMutable()->adcFunctionChannel[ADC_AIRSPEED] = 0;// set airspeed_adc_channel = 0
accelerometerConfigMutable()->acc_align = DEFAULT; // set align_acc = DEFAULT
accelerometerConfigMutable()->accZero.raw[X] = 45; // set acczero_x = 45
accelerometerConfigMutable()->accZero.raw[Y] = -25; // set acczero_y = -25
accelerometerConfigMutable()->accZero.raw[Z] = -174; // set acczero_z = -174
accelerometerConfigMutable()->accGain.raw[X] = 4097; // set accgain_x = 4097
accelerometerConfigMutable()->accGain.raw[Y] = 4102; // set accgain_y = 4102
accelerometerConfigMutable()->accGain.raw[Z] = 4034; // set accgain_z = 4034
rangefinderConfigMutable()->use_median_filtering = false; // set rangefinder_median_filter = OFF
opticalFlowConfigMutable()->opflow_align = CW0; // set align_opflow = CW0
.
.
.set looptime = 1000is not handled because of missing information in the settings.yaml file. There may be other settings with this issue as well.- Only
setcommands are interpreted - Some questionable constants may be used-- this script generally assumes that non-numeric setting labels and their named C constants are the same, but that may vary.