Work continues on the quadcopter using Cleanflight on a NAZE32 flight controller.
Command line interface – backup
Cleanflight-configurator is a great tool, but it is not comprehensive, and its backups do not include parameters not set by the GUI.
To supplement Cleanflight-configurator, I have written an expect script to take a backup using the command line interface.
#!/usr/bin/expect
package require Expect
encoding system iso8859-1
if {[lindex $argv 0] == ""} {
set port {\\.\COM20}
# set port /dev/ttyUSB0
} else {
set port [lindex $argv 0]
}
set baud 115200
send_tty "Open port $port\n";
set com [open $port r+]
fconfigure $com -mode $baud,n,8,1 -encoding binary -buffering none -translation binary
set spawned [spawn -open $com]
set timeout 2
set newTime [clock seconds]
set dumpfile [clock format $newTime -format CfCliBu-%Y%m%d%H%M%S.txt]
set fh [open $dumpfile w]
after 1000;
send "#\n";
expect {
"#" {send "rateprofile 0\n";}
}
after 200;
expect {
"rateprofile" {send "profile 0\n";}
}
after 200;
expect {
"profile" {send "dump\n";}
}
expect "# dump\n";
expect {
"\n" { puts -nonewline $fh "$expect_out(buffer)"; exp_continue}
eof {}
timeout {}
}
close $fh
exit
Under Activestate TCL for Windows, expect scripts are run at the Windows command prompt by the command tclsh scriptname.expect. Under Linux, just make them executable and invoke them.
Command line interface – restore
Of course, that begs a method of restoring the backup, but given that Cleanflight does not really provide backwards compatibility, blind restoration of a backup from an earlier version is potentially dangerous. For that reason, I restore only changes from defaults which I manually accumulate in a file.
#!/usr/bin/expect
package require Expect
encoding system iso8859-1
if {[lindex $argv 0] == ""} {
set port {\\.\COM20}
# set port /dev/ttyUSB0
} else {
set port [lindex $argv 0]
}
set timeout 5 ; #BT is slow to open
set baud 115200
send_tty "Open port $port\n";
set com [open $port r+]
fconfigure $com -mode $baud,n,8,1 -encoding binary -buffering none -translation binary
#fconfigure $com -mode $baud,n,8,1 -buffering none -translation binary
set spawned [spawn -open $com]
set infile [open "CfCliCmd.txt" r]
after 1000
send "#\n"
expect {
"Rebooting" {}
"Invalid" {}
"#" {
if { [gets $infile line] >= 0 } then {
if [ regexp {^(#|$)} $line matchresult ] then {
send_tty "~$line\n"; #echo skipped line
send "#\n"; # cause another # prompt
} else {
send "$line\n"
}
after 500 ;
exp_continue
}
}
}
close $infile
exit
An example set of commands to apply:
set gyro_lpf = 42HZ set blackbox_rate_num = 1 set blackbox_rate_denom = 2 save
Bulk rename of Cleanflight-configurator backups
The default backup naming convention in Cleanflight-configurator leaves much to be desired, so I have created a script to batch rename files using AdvancedRenamer.
@echo off rem batch file to rename default filenames from cleanflight config backup rem Owen Duffy 20160612 set BATDIR=%~dp0 SET ProgFiles86Root=%ProgramFiles(x86)% IF NOT "%ProgFiles86Root%"=="" GOTO win64 SET ProgFiles86Root=%ProgramFiles% :win64 set ARENC=Advanced Renamer\arenc rem fileu -l -a -f c:\OpenSSL-Win32 "1 2" lib*2.dll rem "%ProgFiles86Root%\%ARENC%" "%ProgFiles86Root%\%ARENC%" -e %BATDIR%CleanflightBackupRename.aren -p . -msk "cleanflight_backup_*.txt"
… and the CleanflightBackupRename.aren file contents:
[header] type=preset application=Advanced Renamer 3.72 application_version=3720000 batchmode=rename [namecollision] separator=_ pattern= rule=fail [methods] method0000=methodname:"renumber"; active:"1"; numberposition:"1"; change:"relative"; newnumber:"0"; skip:"1"; zeropad:"manual"; numberlength:"2"; applyto:"name"; negativenumbers:"0"; method0001=methodname:"renumber"; active:"1"; numberposition:"2"; change:"relative"; newnumber:"0"; skip:"1"; zeropad:"manual"; numberlength:"2"; applyto:"name"; negativenumbers:"0"; method0002=methodname:"renumber"; active:"1"; numberposition:"3"; change:"relative"; newnumber:"0"; skip:"1"; zeropad:"manual"; numberlength:"4"; applyto:"name"; negativenumbers:"0"; method0003=methodname:"renumber"; active:"1"; numberposition:"4"; change:"relative"; newnumber:"0"; skip:"1"; zeropad:"manual"; numberlength:"2"; applyto:"name"; negativenumbers:"0"; method0004=methodname:"renumber"; active:"1"; numberposition:"5"; change:"relative"; newnumber:"0"; skip:"1"; zeropad:"manual"; numberlength:"2"; applyto:"name"; negativenumbers:"0"; method0005=methodname:"replace"; active:"1"; replace:"(\d+)\.(\d+)\.(\d+)\.(\d+)\.(\d+)"; replacewith:"\3\1\2\4\5"; casesensitive:"0"; regularexpressions:"1"; applyto:"name"; occurrence:"0"; method0006=methodname:"replace"; active:"1"; replace:"cleanflight_backup_"; replacewith:"Q21-"; casesensitive:"0"; regularexpressions:"0"; applyto:"name"; occurrence:"0";
Double clicking on CfBuBuRen.bat in Windows explorer will run the rename on all files with the default filename. The renamed files collate in date order.