From 6b79eecc43035574ca990b42d54606d16d3f3574 Mon Sep 17 00:00:00 2001
From: Nicola De Pasquale <ndp7c7c0@gmail.com>
Date: Tue, 21 May 2019 11:50:49 +0200
Subject: [PATCH] add gps rescue altitude mode to CMS

ground speed is expressed in cm/s

requested changes

added new line

add newline
---
 src/main/cli/settings.c            |  2 +-
 src/main/cli/settings.h            |  2 ++
 src/main/cms/cms_menu_gps_rescue.c | 11 ++++++++---
 3 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 3c39418d01..d3cb69fe61 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -356,7 +356,7 @@ static const char * const lookupTableThrottleLimitType[] = {
 static const char * const lookupTableRescueSanityType[] = {
     "RESCUE_SANITY_OFF", "RESCUE_SANITY_ON", "RESCUE_SANITY_FS_ONLY"
 };
-static const char * const lookupTableRescueAltitudeMode[] = {
+const char * const lookupTableRescueAltitudeMode[] = {
     "MAX_ALT", "FIXED_ALT", "CURRENT_ALT"
 };
 #endif
diff --git a/src/main/cli/settings.h b/src/main/cli/settings.h
index 8c34482a3a..c74f9fd762 100644
--- a/src/main/cli/settings.h
+++ b/src/main/cli/settings.h
@@ -242,3 +242,5 @@ extern const char * const lookupTableMagHardware[];
 extern const char * const lookupTableRangefinderHardware[];
 
 extern const char * const lookupTableLedstripColors[];
+
+extern const char * const lookupTableRescueAltitudeMode[];
diff --git a/src/main/cms/cms_menu_gps_rescue.c b/src/main/cms/cms_menu_gps_rescue.c
index f678f40381..38e3654932 100644
--- a/src/main/cms/cms_menu_gps_rescue.c
+++ b/src/main/cms/cms_menu_gps_rescue.c
@@ -27,6 +27,8 @@
 
 #ifdef USE_CMS_GPS_RESCUE_MENU
 
+#include "cli/settings.h"
+
 #include "cms/cms.h"
 #include "cms/cms_types.h"
 #include "cms/cms_menu_gps_rescue.h"
@@ -53,6 +55,7 @@ static uint16_t gpsRescueConfig_velP, gpsRescueConfig_velI, gpsRescueConfig_velD
 static uint16_t gpsRescueConfig_yawP;
 static uint16_t gpsRescueConfig_targetLandingAltitudeM;
 static uint16_t gpsRescueConfig_targetLandingDistanceM;
+static uint8_t gpsRescueConfig_altitudeMode;
 
 static long cms_menuGpsRescuePidOnEnter(void)
 {
@@ -130,6 +133,7 @@ static long cmsx_menuGpsRescueOnEnter(void)
     gpsRescueConfig_allowArmingWithoutFix = gpsRescueConfig()->allowArmingWithoutFix;
     gpsRescueConfig_targetLandingDistanceM = gpsRescueConfig()->targetLandingDistanceM;
     gpsRescueConfig_targetLandingAltitudeM = gpsRescueConfig()->targetLandingAltitudeM;
+    gpsRescueConfig_altitudeMode = gpsRescueConfig()->altitudeMode;
 
     return 0;
 }
@@ -151,7 +155,7 @@ static long cmsx_menuGpsRescueOnExit(const OSD_Entry *self)
     gpsRescueConfigMutable()->allowArmingWithoutFix = gpsRescueConfig_allowArmingWithoutFix;
     gpsRescueConfigMutable()->targetLandingDistanceM = gpsRescueConfig_targetLandingDistanceM;
     gpsRescueConfigMutable()->targetLandingAltitudeM = gpsRescueConfig_targetLandingAltitudeM;
-
+    gpsRescueConfigMutable()->altitudeMode = gpsRescueConfig_altitudeMode;
     return 0;
 }
 
@@ -162,16 +166,17 @@ const OSD_Entry cmsx_menuGpsRescueEntries[] =
     { "ANGLE",             OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_angle, 0, 200 ,1 }, 0 },
     { "MIN DIST HOME   M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_minRescueDth, 50, 1000 ,1 }, 0 },
     { "INITAL ALT      M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_initialAltitudeM, 20, 100, 1 }, 0 },
+    { "ALTITUDE MODE"    , OME_TAB, NULL, &(OSD_TAB_t) { &gpsRescueConfig_altitudeMode, 2, lookupTableRescueAltitudeMode}, 0 },
     { "DESCENT DIST    M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_descentDistanceM, 30, 500, 1 }, 0 },
     { "LANDING ALT     M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_targetLandingAltitudeM, 3, 10, 1 }, 0 },
     { "LANDING DIST    M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_targetLandingDistanceM, 5, 15, 1 }, 0 },
-    { "GROUND SPEED  C/M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_rescueGroundspeed, 30, 3000, 1 }, 0 },
+    { "GROUND SPEED CM/S", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_rescueGroundspeed, 30, 3000, 1 }, 0 },
     { "THROTTLE MIN",      OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleMin, 1000, 2000, 1 }, 0 },
     { "THROTTLE MAX",      OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleMax, 1000, 2000, 1 }, 0 },
     { "THROTTLE HOV",      OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleHover, 1000, 2000, 1 }, 0 },
     { "ARM WITHOUT FIX",   OME_Bool,  NULL, &gpsRescueConfig_allowArmingWithoutFix, 0 },
     { "MIN SATELITES",     OME_UINT8, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_minSats, 5, 50, 1 }, 0 },
-    { "GPS RESCUE PID",   OME_Submenu, cmsMenuChange, &cms_menuGpsRescuePid, 0},
+    { "GPS RESCUE PID",    OME_Submenu, cmsMenuChange, &cms_menuGpsRescuePid, 0},
 
     {"BACK", OME_Back, NULL, NULL, 0},
     {NULL, OME_END, NULL, NULL, 0}