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add itermrelax to cms

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This commit is contained in:
IvoFPV 2019-08-07 20:02:29 +02:00
parent 09c98513b8
commit 596222055d
4 changed files with 34 additions and 4 deletions
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4
src/main/cli/settings.c
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@ -372,10 +372,10 @@ static const char * const lookupTableVideoSystem[] = {
#endif // USE_MAX7456
#if defined(USE_ITERM_RELAX)
static const char * const lookupTableItermRelax[] = {
const char * const lookupTableItermRelax[] = {
"OFF", "RP", "RPY", "RP_INC", "RPY_INC"
};
static const char * const lookupTableItermRelaxType[] = {
const char * const lookupTableItermRelaxType[] = {
"GYRO", "SETPOINT"
};
#endif

4
src/main/cli/settings.h
View file

@ -245,3 +245,7 @@ extern const char * const lookupTableRangefinderHardware[];
extern const char * const lookupTableLedstripColors[];
extern const char * const lookupTableRescueAltitudeMode[];
extern const char * const lookupTableItermRelax[];
extern const char * const lookupTableItermRelaxType[];

24
src/main/cms/cms_menu_imu.c
View file

@ -57,6 +57,7 @@
#include "sensors/battery.h"
#include "sensors/gyro.h"
#include "cli/settings.h"
//
// PID
@ -365,6 +366,12 @@ static uint8_t cmsx_d_min_gain;
static uint8_t cmsx_d_min_advance;
#endif
#ifdef USE_ITERM_RELAX
static uint8_t cmsx_iterm_relax;
static uint8_t cmsx_iterm_relax_type;
static uint8_t cmsx_iterm_relax_cutoff;
#endif
static long cmsx_profileOtherOnEnter(void)
{
setProfileIndexString(pidProfileIndexString, pidProfileIndex, currentPidProfile->profileName);
@ -392,6 +399,12 @@ static long cmsx_profileOtherOnEnter(void)
cmsx_d_min_advance = pidProfile->d_min_advance;
#endif
#ifdef USE_ITERM_RELAX
cmsx_iterm_relax = pidProfile->iterm_relax;
cmsx_iterm_relax_type = pidProfile->iterm_relax_type;
cmsx_iterm_relax_cutoff = pidProfile->iterm_relax_cutoff;
#endif
return 0;
}
@ -422,6 +435,12 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
pidProfile->d_min_advance = cmsx_d_min_advance;
#endif
#ifdef USE_ITERM_RELAX
pidProfile->iterm_relax = cmsx_iterm_relax;
pidProfile->iterm_relax_type = cmsx_iterm_relax_type;
pidProfile->iterm_relax_cutoff = cmsx_iterm_relax_cutoff;
#endif
initEscEndpoints();
return 0;
}
@ -438,6 +457,11 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
#ifdef USE_THROTTLE_BOOST
{ "THR BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_throttleBoost, 0, 100, 1 } , 0 },
#endif
#ifdef USE_ITERM_RELAX
{ "I_RELAX", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_iterm_relax, ITERM_RELAX_COUNT - 1, lookupTableItermRelax }, 0 },
{ "I_RELAX TYPE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_iterm_relax_type, ITERM_RELAX_TYPE_COUNT - 1, lookupTableItermRelaxType }, 0 },
{ "I_RELAX CUTOFF", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_iterm_relax_cutoff, 1, 100, 1 }, 0 },
#endif
#ifdef USE_LAUNCH_CONTROL
{"LAUNCH CONTROL", OME_Submenu, cmsMenuChange, &cmsx_menuLaunchControl, 0 },
#endif

6
src/main/flight/pid.h
View file

@ -92,12 +92,14 @@ typedef enum {
ITERM_RELAX_RP,
ITERM_RELAX_RPY,
ITERM_RELAX_RP_INC,
ITERM_RELAX_RPY_INC
ITERM_RELAX_RPY_INC,
ITERM_RELAX_COUNT,
} itermRelax_e;
typedef enum {
ITERM_RELAX_GYRO,
ITERM_RELAX_SETPOINT
ITERM_RELAX_SETPOINT,
ITERM_RELAX_TYPE_COUNT,
} itermRelaxType_e;
#define MAX_PROFILE_NAME_LENGTH 8u