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Updates to support parameter groups

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This commit is contained in:
Martin Budden 2017-03-05 06:33:25 +00:00
parent 13ddcdb9cf
commit aa561d542b
23 changed files with 338 additions and 322 deletions
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44
src/main/cms/cms_menu_imu.c
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@ -52,9 +52,9 @@
//
// PID
//
static uint8_t tmpProfileIndex;
static uint8_t profileIndex;
static char profileIndexString[] = " p";
static uint8_t tmpPidProfileIndex;
static uint8_t pidProfileIndex;
static char pidProfileIndexString[] = " p";
static uint8_t tempPid[3][3];
static uint8_t tmpRateProfileIndex;
@ -64,10 +64,10 @@ static controlRateConfig_t rateProfile;
static long cmsx_menuImu_onEnter(void)
{
profileIndex = getCurrentProfileIndex();
tmpProfileIndex = profileIndex + 1;
pidProfileIndex = getCurrentPidProfileIndex();
tmpPidProfileIndex = pidProfileIndex + 1;
rateProfileIndex = systemConfig()->activeRateProfile;
rateProfileIndex = getCurrentControlRateProfileIndex();
tmpRateProfileIndex = rateProfileIndex + 1;
return 0;
@ -77,7 +77,7 @@ static long cmsx_menuImu_onExit(const OSD_Entry *self)
{
UNUSED(self);
changeProfile(profileIndex);
changePidProfile(pidProfileIndex);
changeControlRateProfile(rateProfileIndex);
return 0;
@ -88,7 +88,7 @@ static long cmsx_profileIndexOnChange(displayPort_t *displayPort, const void *pt
UNUSED(displayPort);
UNUSED(ptr);
profileIndex = tmpProfileIndex - 1;
pidProfileIndex = tmpPidProfileIndex - 1;
return 0;
}
@ -106,7 +106,7 @@ static long cmsx_rateProfileIndexOnChange(displayPort_t *displayPort, const void
static long cmsx_PidRead(void)
{
const pidProfile_t *pidProfile = pidProfiles(profileIndex);
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];
@ -118,7 +118,7 @@ static long cmsx_PidRead(void)
static long cmsx_PidOnEnter(void)
{
profileIndexString[1] = '0' + tmpProfileIndex;
pidProfileIndexString[1] = '0' + tmpPidProfileIndex;
cmsx_PidRead();
return 0;
@ -128,20 +128,20 @@ static long cmsx_PidWriteback(const OSD_Entry *self)
{
UNUSED(self);
pidProfile_t *pidProfile = pidProfilesMutable(profileIndex);
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];
}
pidInitConfig(&currentProfile->pidProfile);
pidInitConfig(currentPidProfile);
return 0;
}
static OSD_Entry cmsx_menuPidEntries[] =
{
{ "-- PID --", OME_Label, NULL, profileIndexString, 0},
{ "-- 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 },
@ -190,7 +190,7 @@ static long cmsx_RateProfileWriteback(const OSD_Entry *self)
static long cmsx_RateProfileOnEnter(void)
{
rateProfileIndexString[1] = '0' + tmpProfileIndex;
rateProfileIndexString[1] = '0' + tmpPidProfileIndex;
rateProfileIndexString[3] = '0' + tmpRateProfileIndex;
cmsx_RateProfileRead();
@ -235,9 +235,9 @@ static uint8_t cmsx_horizonTransition;
static long cmsx_profileOtherOnEnter(void)
{
profileIndexString[1] = '0' + tmpProfileIndex;
pidProfileIndexString[1] = '0' + tmpPidProfileIndex;
const pidProfile_t *pidProfile = pidProfiles(profileIndex);
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
cmsx_dtermSetpointWeight = pidProfile->dtermSetpointWeight;
cmsx_setpointRelaxRatio = pidProfile->setpointRelaxRatio;
@ -252,10 +252,10 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
{
UNUSED(self);
pidProfile_t *pidProfile = pidProfilesMutable(profileIndex);
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->dtermSetpointWeight = cmsx_dtermSetpointWeight;
pidProfile->setpointRelaxRatio = cmsx_setpointRelaxRatio;
pidInitConfig(&currentProfile->pidProfile);
pidInitConfig(currentPidProfile);
pidProfile->P8[PIDLEVEL] = cmsx_angleStrength;
pidProfile->I8[PIDLEVEL] = cmsx_horizonStrength;
@ -265,7 +265,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
}
static OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "-- OTHER PP --", OME_Label, NULL, profileIndexString, 0 },
{ "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 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 },
@ -347,7 +347,7 @@ static uint16_t cmsx_yaw_p_limit;
static long cmsx_FilterPerProfileRead(void)
{
const pidProfile_t *pidProfile = pidProfiles(profileIndex);
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
cmsx_dterm_lpf_hz = pidProfile->dterm_lpf_hz;
cmsx_dterm_notch_hz = pidProfile->dterm_notch_hz;
cmsx_dterm_notch_cutoff = pidProfile->dterm_notch_cutoff;
@ -361,7 +361,7 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self)
{
UNUSED(self);
pidProfile_t *pidProfile = pidProfilesMutable(profileIndex);
pidProfile_t *pidProfile = currentPidProfile;
pidProfile->dterm_lpf_hz = cmsx_dterm_lpf_hz;
pidProfile->dterm_notch_hz = cmsx_dterm_notch_hz;
pidProfile->dterm_notch_cutoff = cmsx_dterm_notch_cutoff;
@ -398,7 +398,7 @@ static OSD_Entry cmsx_menuImuEntries[] =
{
{ "-- 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){ &tmpPidProfileIndex, 1, MAX_PROFILE_COUNT, 1}, 0},
{"PID", OME_Submenu, cmsMenuChange, &cmsx_menuPid, 0},
{"MISC PP", OME_Submenu, cmsMenuChange, &cmsx_menuProfileOther, 0},
{"FILT PP", OME_Submenu, cmsMenuChange, &cmsx_menuFilterPerProfile, 0},