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Menu restructuring

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- Created “OTHER PP” menu entry in PROFILE for “Other Per Profile”
items.
- Moved dterm set point weight and set point relax to OTHER PP.
- Added missing angle strength, horizon strength and transition.
This commit is contained in:
jflyper 2016-11-09 12:11:35 +09:00
parent 9c4bedb7d4
commit 99cc39dcc4
1 changed files with 64 additions and 16 deletions
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80
src/main/cms/cms_menu_imu.c
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@ -53,7 +53,7 @@
static uint8_t tmpProfileIndex; static uint8_t tmpProfileIndex;
static uint8_t profileIndex; static uint8_t profileIndex;
static char profileIndexString[] = " p"; static char profileIndexString[] = " p";
static uint8_t tempPid[4][3]; static uint8_t tempPid[3][3];
static uint8_t tmpRateProfileIndex; static uint8_t tmpRateProfileIndex;
static uint8_t rateProfileIndex; static uint8_t rateProfileIndex;
@ -109,9 +109,6 @@ static long cmsx_PidRead(void)
tempPid[i][1] = masterConfig.profile[profileIndex].pidProfile.I8[i]; tempPid[i][1] = masterConfig.profile[profileIndex].pidProfile.I8[i];
tempPid[i][2] = masterConfig.profile[profileIndex].pidProfile.D8[i]; tempPid[i][2] = masterConfig.profile[profileIndex].pidProfile.D8[i];
} }
tempPid[3][0] = masterConfig.profile[profileIndex].pidProfile.P8[PIDLEVEL];
tempPid[3][1] = masterConfig.profile[profileIndex].pidProfile.I8[PIDLEVEL];
tempPid[3][2] = masterConfig.profile[profileIndex].pidProfile.D8[PIDLEVEL];
return 0; return 0;
} }
@ -134,10 +131,6 @@ static long cmsx_PidWriteback(const OSD_Entry *self)
masterConfig.profile[profileIndex].pidProfile.D8[i] = tempPid[i][2]; masterConfig.profile[profileIndex].pidProfile.D8[i] = tempPid[i][2];
} }
masterConfig.profile[profileIndex].pidProfile.P8[PIDLEVEL] = tempPid[3][0];
masterConfig.profile[profileIndex].pidProfile.I8[PIDLEVEL] = tempPid[3][1];
masterConfig.profile[profileIndex].pidProfile.D8[PIDLEVEL] = tempPid[3][2];
return 0; return 0;
} }
@ -215,14 +208,12 @@ static OSD_Entry cmsx_menuRateProfileEntries[] =
{ "THRPID ATT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.dynThrPID, 0, 100, 1, 10}, 0 }, { "THRPID ATT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.dynThrPID, 0, 100, 1, 10}, 0 },
{ "TPA BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1000, 2000, 10}, 0 }, { "TPA BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1000, 2000, 10}, 0 },
{ "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &masterConfig.profile[0].pidProfile.dtermSetpointWeight, 0, 255, 1, 10 }, 0 },
{ "SETPT RLX", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &masterConfig.profile[0].pidProfile.setpointRelaxRatio, 0, 100, 1, 10 }, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 }, { "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 } { NULL, OME_END, NULL, NULL, 0 }
}; };
CMS_Menu cmsx_menuRateProfile = { static CMS_Menu cmsx_menuRateProfile = {
.GUARD_text = "MENURATE", .GUARD_text = "MENURATE",
.GUARD_type = OME_MENU, .GUARD_type = OME_MENU,
.onEnter = cmsx_RateProfileOnEnter, .onEnter = cmsx_RateProfileOnEnter,
@ -231,6 +222,62 @@ CMS_Menu cmsx_menuRateProfile = {
.entries = cmsx_menuRateProfileEntries .entries = cmsx_menuRateProfileEntries
}; };
static uint8_t cmsx_dtermSetpointWeight;
static uint8_t cmsx_setpointRelaxRatio;
static uint8_t cmsx_angleStrength;
static uint8_t cmsx_horizonStrength;
static uint8_t cmsx_horizonTransition;
static long cmsx_profileOtherOnEnter(void)
{
profileIndexString[1] = '0' + tmpProfileIndex;
cmsx_dtermSetpointWeight = masterConfig.profile[profileIndex].pidProfile.dtermSetpointWeight;
cmsx_setpointRelaxRatio = masterConfig.profile[profileIndex].pidProfile.setpointRelaxRatio;
cmsx_angleStrength = masterConfig.profile[profileIndex].pidProfile.P8[PIDLEVEL];
cmsx_horizonStrength = masterConfig.profile[profileIndex].pidProfile.I8[PIDLEVEL];
cmsx_horizonTransition = masterConfig.profile[profileIndex].pidProfile.D8[PIDLEVEL];
return 0;
}
static long cmsx_profileOtherOnExit(const OSD_Entry *self)
{
UNUSED(self);
masterConfig.profile[profileIndex].pidProfile.dtermSetpointWeight = cmsx_dtermSetpointWeight;
masterConfig.profile[profileIndex].pidProfile.setpointRelaxRatio = cmsx_setpointRelaxRatio;
masterConfig.profile[profileIndex].pidProfile.P8[PIDLEVEL] = cmsx_angleStrength;
masterConfig.profile[profileIndex].pidProfile.I8[PIDLEVEL] = cmsx_horizonStrength;
masterConfig.profile[profileIndex].pidProfile.D8[PIDLEVEL] = cmsx_horizonTransition;
return 0;
}
static OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "-- OTHER PP --", OME_Label, NULL, profileIndexString, 0 },
{ "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_dtermSetpointWeight, 0, 255, 1, 10 }, 0 },
{ "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 },
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 },
{ "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } , 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
};
static CMS_Menu cmsx_menuProfileOther = {
.GUARD_text = "XPROFOTHER",
.GUARD_type = OME_MENU,
.onEnter = cmsx_profileOtherOnEnter,
.onExit = cmsx_profileOtherOnExit,
.onGlobalExit = NULL,
.entries = cmsx_menuProfileOtherEntries,
};
static OSD_Entry cmsx_menuFilterGlobalEntries[] = static OSD_Entry cmsx_menuFilterGlobalEntries[] =
{ {
{ "-- FILTER GLB --", OME_Label, NULL, NULL, 0 }, { "-- FILTER GLB --", OME_Label, NULL, NULL, 0 },
@ -311,15 +358,16 @@ static OSD_Entry cmsx_menuImuEntries[] =
{ {
{ "-- IMU --", OME_Label, NULL, NULL, 0}, { "-- IMU --", OME_Label, NULL, NULL, 0},
{"PID PROF", OME_UINT8, cmsx_profileIndexOnChange, &(OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_PROFILE_COUNT, 1}, 0}, {"PID PROF", OME_UINT8, cmsx_profileIndexOnChange, &(OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_PROFILE_COUNT, 1}, 0},
{"PID", OME_Submenu, cmsMenuChange, &cmsx_menuPid, 0}, {"PID", OME_Submenu, cmsMenuChange, &cmsx_menuPid, 0},
{"OTHER PP", OME_Submenu, cmsMenuChange, &cmsx_menuProfileOther, 0},
{"RATE PROF", OME_UINT8, cmsx_rateProfileIndexOnChange, &(OSD_UINT8_t){ &tmpRateProfileIndex, 1, MAX_RATEPROFILES, 1}, 0}, {"RATE PROF", OME_UINT8, cmsx_rateProfileIndexOnChange, &(OSD_UINT8_t){ &tmpRateProfileIndex, 1, MAX_RATEPROFILES, 1}, 0},
{"RATE", OME_Submenu, cmsMenuChange, &cmsx_menuRateProfile, 0}, {"RATE", OME_Submenu, cmsMenuChange, &cmsx_menuRateProfile, 0},
{"FLT PP", OME_Submenu, cmsMenuChange, &cmsx_menuFilterPerProfile, 0}, {"FLT PP", OME_Submenu, cmsMenuChange, &cmsx_menuFilterPerProfile, 0},
{"FLT GLB", OME_Submenu, cmsMenuChange, &cmsx_menuFilterGlobal, 0}, {"FLT GLB", OME_Submenu, cmsMenuChange, &cmsx_menuFilterGlobal, 0},
{"BACK", OME_Back, NULL, NULL, 0}, {"BACK", OME_Back, NULL, NULL, 0},
{NULL, OME_END, NULL, NULL, 0} {NULL, OME_END, NULL, NULL, 0}