Allow inflight adjustment of pitch/roll (linked) and yaw PID settings.

src/main/config/config.c

@@ -70,7 +70,7 @@ void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
 void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse,
         escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse,
         airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
-void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse);
+void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
 
 #define FLASH_TO_RESERVE_FOR_CONFIG 0x800
 
@@ -433,7 +433,7 @@ void activateConfig(void)
 
     generatePitchRollCurve(&currentProfile->controlRateConfig);
     generateThrottleCurve(&currentProfile->controlRateConfig, &masterConfig.escAndServoConfig);
-    useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig);
+    useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);
 
     useGyroConfig(&masterConfig.gyroConfig);
 #ifdef TELEMETRY

src/main/io/rc_controls.c

@@ -47,6 +47,7 @@
 #include "io/rc_curves.h"
 
 static escAndServoConfig_t *escAndServoConfig;
+static pidProfile_t *pidProfile;
 
 static bool isUsingSticksToArm = true;
 
@@ -289,8 +290,31 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
     {
         .adjustmentFunction = ADJUSTMENT_YAW_RATE,
         .step = 1
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
+        .step = 1
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
+        .step = 1
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
+        .step = 1
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_YAW_P,
+        .step = 1
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_YAW_I,
+        .step = 1
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_YAW_D,
+        .step = 1
     }
-
 };
 
 #define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
@@ -352,6 +376,36 @@ void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentF
             newValue = (int)controlRateConfig->yawRate + delta;
             controlRateConfig->yawRate = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
             break;
+        case ADJUSTMENT_PITCH_ROLL_P:
+            newValue = (int)pidProfile->P8[PIDPITCH] + delta;
+            pidProfile->P8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            newValue = (int)pidProfile->P8[PIDROLL] + delta;
+            pidProfile->P8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            break;
+        case ADJUSTMENT_PITCH_ROLL_I:
+            newValue = (int)pidProfile->I8[PIDPITCH] + delta;
+            pidProfile->I8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            newValue = (int)pidProfile->I8[PIDROLL] + delta;
+            pidProfile->I8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            break;
+        case ADJUSTMENT_PITCH_ROLL_D:
+            newValue = (int)pidProfile->D8[PIDPITCH] + delta;
+            pidProfile->D8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            newValue = (int)pidProfile->D8[PIDROLL] + delta;
+            pidProfile->D8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            break;
+        case ADJUSTMENT_YAW_P:
+            newValue = (int)pidProfile->P8[PIDYAW] + delta;
+            pidProfile->P8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            break;
+        case ADJUSTMENT_YAW_I:
+            newValue = (int)pidProfile->I8[PIDYAW] + delta;
+            pidProfile->I8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            break;
+        case ADJUSTMENT_YAW_D:
+            newValue = (int)pidProfile->D8[PIDYAW] + delta;
+            pidProfile->D8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
+            break;
         default:
             break;
     };
@@ -420,11 +474,12 @@ void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
     }
 }
 
-void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse)
+void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse)
 {
     uint8_t index;
 
     escAndServoConfig = escAndServoConfigToUse;
+    pidProfile = pidProfileToUse;
 
     for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
         modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];

src/main/io/rc_controls.h

@@ -140,9 +140,15 @@ typedef enum {
     ADJUSTMENT_THROTTLE_EXPO,
     ADJUSTMENT_PITCH_ROLL_RATE,
     ADJUSTMENT_YAW_RATE,
+    ADJUSTMENT_PITCH_ROLL_P,
+    ADJUSTMENT_PITCH_ROLL_I,
+    ADJUSTMENT_PITCH_ROLL_D,
+    ADJUSTMENT_YAW_P,
+    ADJUSTMENT_YAW_I,
+    ADJUSTMENT_YAW_D,
 } adjustmentFunction_e;
 
-#define ADJUSTMENT_FUNCTION_COUNT 6
+#define ADJUSTMENT_FUNCTION_COUNT 12
 
 typedef struct adjustmentConfig_s {
     uint8_t adjustmentFunction;