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Add antigravity config to the CMS

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Added the antigravity gain and threshold to the CMS menu.
This commit is contained in:
Miguel Angel Mulero Martinez 2017-09-28 17:40:23 +02:00
parent ceb6f70aa9
commit 05fb653a8e
1 changed files with 20 additions and 10 deletions
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30
src/main/cms/cms_menu_imu.c
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@ -228,11 +228,13 @@ static CMS_Menu cmsx_menuRateProfile = {
.entries = cmsx_menuRateProfileEntries .entries = cmsx_menuRateProfileEntries
}; };
static uint8_t cmsx_dtermSetpointWeight; static uint8_t cmsx_dtermSetpointWeight;
static uint8_t cmsx_setpointRelaxRatio; static uint8_t cmsx_setpointRelaxRatio;
static uint8_t cmsx_angleStrength; static uint8_t cmsx_angleStrength;
static uint8_t cmsx_horizonStrength; static uint8_t cmsx_horizonStrength;
static uint8_t cmsx_horizonTransition; static uint8_t cmsx_horizonTransition;
static uint16_t cmsx_itermAcceleratorGain;
static uint16_t cmsx_itermThrottleThreshold;
static long cmsx_profileOtherOnEnter(void) static long cmsx_profileOtherOnEnter(void)
{ {
@ -246,6 +248,9 @@ static long cmsx_profileOtherOnEnter(void)
cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I; cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D; cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D;
cmsx_itermAcceleratorGain = pidProfile->itermAcceleratorGain;
cmsx_itermThrottleThreshold = pidProfile->itermThrottleThreshold;
return 0; return 0;
} }
@ -262,17 +267,22 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength; pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
pidProfile->pid[PID_LEVEL].D = cmsx_horizonTransition; pidProfile->pid[PID_LEVEL].D = cmsx_horizonTransition;
pidProfile->itermAcceleratorGain = cmsx_itermAcceleratorGain;
pidProfile->itermThrottleThreshold = cmsx_itermThrottleThreshold;
return 0; return 0;
} }
static OSD_Entry cmsx_menuProfileOtherEntries[] = { static OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 }, { "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
{ "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_dtermSetpointWeight, 0, 255, 1, 10 }, 0 }, { "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_dtermSetpointWeight, 0, 255, 1, 10 }, 0 },
{ "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 }, { "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 },
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 }, { "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 }, { "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 },
{ "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } , 0 }, { "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } , 0 },
{ "AG GAIN", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermAcceleratorGain, 1000, 30000, 1 } , 0 },
{ "AG THR", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermThrottleThreshold, 20, 1000, 1 } , 0 },
{ "BACK", OME_Back, NULL, NULL, 0 }, { "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 } { NULL, OME_END, NULL, NULL, 0 }