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pid slider support with changed defaults

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This commit is contained in:
ctzsnooze 2021-09-26 15:05:05 +10:00
parent a2bbd31c9c
commit 90a2057179
10 changed files with 82 additions and 66 deletions
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42
src/main/cms/cms_menu_imu.c
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@ -234,12 +234,13 @@ static uint8_t cmsx_simplified_pids_mode;
static uint8_t cmsx_simplified_master_multiplier;
static uint8_t cmsx_simplified_roll_pitch_ratio;
static uint8_t cmsx_simplified_i_gain;
static uint8_t cmsx_simplified_pd_ratio;
static uint8_t cmsx_simplified_pd_gain;
static uint8_t cmsx_simplified_d_gain;
static uint8_t cmsx_simplified_pi_gain;
#ifdef USE_D_MIN
static uint8_t cmsx_simplified_dmin_ratio;
#endif
static uint8_t cmsx_simplified_feedforward_gain;
static uint8_t cmsx_simplified_pitch_pi_gain;
static uint8_t cmsx_simplified_dterm_filter;
static uint8_t cmsx_simplified_dterm_filter_multiplier;
@ -256,12 +257,13 @@ static const void *cmsx_simplifiedTuningOnEnter(displayPort_t *pDisp)
cmsx_simplified_master_multiplier = pidProfile->simplified_master_multiplier;
cmsx_simplified_roll_pitch_ratio = pidProfile->simplified_roll_pitch_ratio;
cmsx_simplified_i_gain = pidProfile->simplified_i_gain;
cmsx_simplified_pd_ratio = pidProfile->simplified_pd_ratio;
cmsx_simplified_pd_gain = pidProfile->simplified_pd_gain;
cmsx_simplified_d_gain = pidProfile->simplified_d_gain;
cmsx_simplified_pi_gain = pidProfile->simplified_pi_gain;
#ifdef USE_D_MIN
cmsx_simplified_dmin_ratio = pidProfile->simplified_dmin_ratio;
#endif
cmsx_simplified_feedforward_gain = pidProfile->simplified_feedforward_gain;
cmsx_simplified_pitch_pi_gain = pidProfile->simplified_pitch_pi_gain;
cmsx_simplified_dterm_filter = pidProfile->simplified_dterm_filter;
cmsx_simplified_dterm_filter_multiplier = pidProfile->simplified_dterm_filter_multiplier;
@ -282,12 +284,13 @@ static const void *cmsx_simplifiedTuningOnExit(displayPort_t *pDisp, const OSD_E
pidProfile->simplified_master_multiplier = cmsx_simplified_master_multiplier;
pidProfile->simplified_roll_pitch_ratio = cmsx_simplified_roll_pitch_ratio;
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_pd_ratio = cmsx_simplified_pd_ratio;
pidProfile->simplified_pd_gain = cmsx_simplified_pd_gain;
pidProfile->simplified_d_gain = cmsx_simplified_d_gain;
pidProfile->simplified_pi_gain = cmsx_simplified_pi_gain;
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
#endif
pidProfile->simplified_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_pitch_pi_gain = cmsx_simplified_pitch_pi_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
@ -303,17 +306,17 @@ static const void *cmsx_applySimplifiedTuning(displayPort_t *pDisp, const void *
UNUSED(self);
pidProfile_t *pidProfile = currentPidProfile;
pidProfile->simplified_pids_mode = cmsx_simplified_pids_mode;
pidProfile->simplified_master_multiplier = cmsx_simplified_master_multiplier;
pidProfile->simplified_pids_mode = cmsx_simplified_pids_mode;
pidProfile->simplified_roll_pitch_ratio = cmsx_simplified_roll_pitch_ratio;
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_pd_ratio = cmsx_simplified_pd_ratio;
pidProfile->simplified_pd_gain = cmsx_simplified_pd_gain;
pidProfile->simplified_d_gain = cmsx_simplified_d_gain;
pidProfile->simplified_pi_gain = cmsx_simplified_pi_gain;
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
#endif
pidProfile->simplified_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_pitch_pi_gain = cmsx_simplified_pitch_pi_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
@ -330,15 +333,20 @@ static const OSD_Entry cmsx_menuSimplifiedTuningEntries[] =
{ "-- SIMPLIFIED PID --", OME_Label, NULL, NULL, 0},
{ "PID TUNING", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_simplified_pids_mode, PID_SIMPLIFIED_TUNING_MODE_COUNT - 1, lookupTableSimplifiedTuningPidsMode }, 0 },
{ "MASTER MULT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_master_multiplier, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "R/P RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_roll_pitch_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "I GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_i_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "PD RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pd_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "PD GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pd_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#ifdef USE_D_MIN
{ "DMIN RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_dmin_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#endif
{ "-- BASIC --", OME_Label, NULL, NULL, 0},
{ "PI GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pi_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "D GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_d_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "FF GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_feedforward_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "-- EXPERT --", OME_Label, NULL, NULL, 0},
{ "I GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_i_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#ifdef USE_D_MIN
{ "D_MAX GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_dmin_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#endif
{ "PITCH D GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_roll_pitch_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "PITCH PI GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pitch_pi_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "-- SIMPLIFIED FILTER --", OME_Label, NULL, NULL, 0},
{ "GYRO TUNING", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_simplified_gyro_filter, 1, lookupTableOffOn }, 0 },
{ "GYRO MULT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_gyro_filter_multiplier, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },