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Rearrange PID array to be array of PIDs

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This commit is contained in:
Martin Budden 2017-05-05 00:27:59 +01:00
parent a50192f71c
commit 71546410de
21 changed files with 224 additions and 236 deletions
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42
src/main/cms/cms_menu_imu.c
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@ -109,9 +109,9 @@ static long cmsx_PidRead(void)
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
for (uint8_t i = 0; i < 3; i++) {
tempPid[i][0] = pidProfile->P8[i];
tempPid[i][1] = pidProfile->I8[i];
tempPid[i][2] = pidProfile->D8[i];
tempPid[i][0] = pidProfile->pid[i].P;
tempPid[i][1] = pidProfile->pid[i].I;
tempPid[i][2] = pidProfile->pid[i].D;
}
return 0;
@ -131,9 +131,9 @@ static long cmsx_PidWriteback(const OSD_Entry *self)
pidProfile_t *pidProfile = currentPidProfile;
for (uint8_t i = 0; i < 3; i++) {
pidProfile->P8[i] = tempPid[i][0];
pidProfile->I8[i] = tempPid[i][1];
pidProfile->D8[i] = tempPid[i][2];
pidProfile->pid[i].P = tempPid[i][0];
pidProfile->pid[i].I = tempPid[i][1];
pidProfile->pid[i].D = tempPid[i][2];
}
pidInitConfig(currentPidProfile);
@ -144,17 +144,17 @@ static OSD_Entry cmsx_menuPidEntries[] =
{
{ "-- PID --", OME_Label, NULL, pidProfileIndexString, 0},
{ "ROLL P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDROLL][0], 0, 200, 1 }, 0 },
{ "ROLL I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDROLL][1], 0, 200, 1 }, 0 },
{ "ROLL D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDROLL][2], 0, 200, 1 }, 0 },
{ "ROLL P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_ROLL][0], 0, 200, 1 }, 0 },
{ "ROLL I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_ROLL][1], 0, 200, 1 }, 0 },
{ "ROLL D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_ROLL][2], 0, 200, 1 }, 0 },
{ "PITCH P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDPITCH][0], 0, 200, 1 }, 0 },
{ "PITCH I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDPITCH][1], 0, 200, 1 }, 0 },
{ "PITCH D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDPITCH][2], 0, 200, 1 }, 0 },
{ "PITCH P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_PITCH][0], 0, 200, 1 }, 0 },
{ "PITCH I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_PITCH][1], 0, 200, 1 }, 0 },
{ "PITCH D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_PITCH][2], 0, 200, 1 }, 0 },
{ "YAW P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDYAW][0], 0, 200, 1 }, 0 },
{ "YAW I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDYAW][1], 0, 200, 1 }, 0 },
{ "YAW D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDYAW][2], 0, 200, 1 }, 0 },
{ "YAW P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_YAW][0], 0, 200, 1 }, 0 },
{ "YAW I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_YAW][1], 0, 200, 1 }, 0 },
{ "YAW D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_YAW][2], 0, 200, 1 }, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
@ -242,9 +242,9 @@ static long cmsx_profileOtherOnEnter(void)
cmsx_dtermSetpointWeight = pidProfile->dtermSetpointWeight;
cmsx_setpointRelaxRatio = pidProfile->setpointRelaxRatio;
cmsx_angleStrength = pidProfile->P8[PIDLEVEL];
cmsx_horizonStrength = pidProfile->I8[PIDLEVEL];
cmsx_horizonTransition = pidProfile->D8[PIDLEVEL];
cmsx_angleStrength = pidProfile->pid[PID_LEVEL].P;
cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D;
return 0;
}
@ -258,9 +258,9 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
pidProfile->setpointRelaxRatio = cmsx_setpointRelaxRatio;
pidInitConfig(currentPidProfile);
pidProfile->P8[PIDLEVEL] = cmsx_angleStrength;
pidProfile->I8[PIDLEVEL] = cmsx_horizonStrength;
pidProfile->D8[PIDLEVEL] = cmsx_horizonTransition;
pidProfile->pid[PID_LEVEL].P = cmsx_angleStrength;
pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
pidProfile->pid[PID_LEVEL].D = cmsx_horizonTransition;
return 0;
}