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add angle limit to 'pid profile other' cms menu

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This commit is contained in:
Spencer Graffunder 2022-01-08 22:07:25 -06:00
parent 1ceb80d11f
commit 412adf8b62
1 changed files with 5 additions and 0 deletions
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5
src/main/cms/cms_menu_imu.c
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@ -500,6 +500,7 @@ static CMS_Menu cmsx_menuLaunchControl = {
static uint8_t cmsx_angleStrength;
static uint8_t cmsx_horizonStrength;
static uint8_t cmsx_horizonTransition;
static uint8_t cmsx_levelAngleLimit;
static uint8_t cmsx_throttleBoost;
static uint8_t cmsx_thrustLinearization;
static uint16_t cmsx_itermAcceleratorGain;
@ -541,6 +542,7 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
cmsx_angleStrength = pidProfile->pid[PID_LEVEL].P;
cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D;
cmsx_levelAngleLimit = pidProfile->levelAngleLimit;
cmsx_itermAcceleratorGain = pidProfile->itermAcceleratorGain;
cmsx_itermThrottleThreshold = pidProfile->itermThrottleThreshold;
@ -590,6 +592,7 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
pidProfile->pid[PID_LEVEL].P = cmsx_angleStrength;
pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
pidProfile->pid[PID_LEVEL].D = cmsx_horizonTransition;
pidProfile->levelAngleLimit = cmsx_levelAngleLimit;
pidProfile->itermAcceleratorGain = cmsx_itermAcceleratorGain;
pidProfile->itermThrottleThreshold = cmsx_itermThrottleThreshold;
@ -642,6 +645,8 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } },
{ "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } },
{ "ANGLE LIMIT", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_levelAngleLimit, 10, 90, 1 } },
{ "AG GAIN", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermAcceleratorGain, ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX, 10 } },
{ "AG THR", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermThrottleThreshold, 20, 1000, 1 } },
#ifdef USE_THROTTLE_BOOST