From 596222055d37a200b754b4168193721cf277f786 Mon Sep 17 00:00:00 2001
From: IvoFPV <ogzerr1@gmail.com>
Date: Wed, 7 Aug 2019 20:02:29 +0200
Subject: [PATCH] add itermrelax to cms

---
 src/main/cli/settings.c     |  4 ++--
 src/main/cli/settings.h     |  4 ++++
 src/main/cms/cms_menu_imu.c | 24 ++++++++++++++++++++++++
 src/main/flight/pid.h       |  6 ++++--
 4 files changed, 34 insertions(+), 4 deletions(-)

diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index ba3616f12b..5db6041b86 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -372,10 +372,10 @@ static const char * const lookupTableVideoSystem[] = {
 #endif // USE_MAX7456
 
 #if defined(USE_ITERM_RELAX)
-static const char * const lookupTableItermRelax[] = {
+const char * const lookupTableItermRelax[] = {
     "OFF", "RP", "RPY", "RP_INC", "RPY_INC"
 };
-static const char * const lookupTableItermRelaxType[] = {
+const char * const lookupTableItermRelaxType[] = {
     "GYRO", "SETPOINT"
 };
 #endif
diff --git a/src/main/cli/settings.h b/src/main/cli/settings.h
index b6a888dc5d..57eb9bdaf0 100644
--- a/src/main/cli/settings.h
+++ b/src/main/cli/settings.h
@@ -245,3 +245,7 @@ extern const char * const lookupTableRangefinderHardware[];
 extern const char * const lookupTableLedstripColors[];
 
 extern const char * const lookupTableRescueAltitudeMode[];
+
+extern const char * const lookupTableItermRelax[];
+
+extern const char * const lookupTableItermRelaxType[];
\ No newline at end of file
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 8bb55aad31..17fd081048 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -57,6 +57,7 @@
 #include "sensors/battery.h"
 #include "sensors/gyro.h"
 
+#include "cli/settings.h"
 
 //
 // PID
@@ -365,6 +366,12 @@ static uint8_t  cmsx_d_min_gain;
 static uint8_t  cmsx_d_min_advance;
 #endif
 
+#ifdef USE_ITERM_RELAX
+static uint8_t cmsx_iterm_relax;
+static uint8_t cmsx_iterm_relax_type;
+static uint8_t cmsx_iterm_relax_cutoff;
+#endif
+
 static long cmsx_profileOtherOnEnter(void)
 {
     setProfileIndexString(pidProfileIndexString, pidProfileIndex, currentPidProfile->profileName);
@@ -392,6 +399,12 @@ static long cmsx_profileOtherOnEnter(void)
     cmsx_d_min_advance = pidProfile->d_min_advance;
 #endif
 
+#ifdef USE_ITERM_RELAX
+    cmsx_iterm_relax = pidProfile->iterm_relax;
+    cmsx_iterm_relax_type = pidProfile->iterm_relax_type;
+    cmsx_iterm_relax_cutoff = pidProfile->iterm_relax_cutoff;
+#endif
+
     return 0;
 }
 
@@ -422,6 +435,12 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
     pidProfile->d_min_advance = cmsx_d_min_advance;
 #endif
 
+#ifdef USE_ITERM_RELAX
+    pidProfile->iterm_relax = cmsx_iterm_relax;
+    pidProfile->iterm_relax_type = cmsx_iterm_relax_type;
+    pidProfile->iterm_relax_cutoff = cmsx_iterm_relax_cutoff;
+#endif
+
     initEscEndpoints();
     return 0;
 }
@@ -438,6 +457,11 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
 #ifdef USE_THROTTLE_BOOST
     { "THR BOOST",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_throttleBoost,          0,    100,   1  }   , 0 },
 #endif
+#ifdef USE_ITERM_RELAX
+    { "I_RELAX",         OME_TAB,    NULL, &(OSD_TAB_t)     { &cmsx_iterm_relax,        ITERM_RELAX_COUNT - 1,      lookupTableItermRelax       }, 0 },
+    { "I_RELAX TYPE",    OME_TAB,    NULL, &(OSD_TAB_t)     { &cmsx_iterm_relax_type,   ITERM_RELAX_TYPE_COUNT - 1, lookupTableItermRelaxType   }, 0 },
+    { "I_RELAX CUTOFF",  OME_UINT8,  NULL, &(OSD_UINT8_t)   { &cmsx_iterm_relax_cutoff, 1, 100, 1 }, 0 },
+#endif
 #ifdef USE_LAUNCH_CONTROL
     {"LAUNCH CONTROL", OME_Submenu, cmsMenuChange, &cmsx_menuLaunchControl, 0 },
 #endif
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 3dbfdf575d..3ccdf51c95 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -92,12 +92,14 @@ typedef enum {
     ITERM_RELAX_RP,
     ITERM_RELAX_RPY,
     ITERM_RELAX_RP_INC,
-    ITERM_RELAX_RPY_INC
+    ITERM_RELAX_RPY_INC,
+    ITERM_RELAX_COUNT,
 } itermRelax_e;
 
 typedef enum {
     ITERM_RELAX_GYRO,
-    ITERM_RELAX_SETPOINT
+    ITERM_RELAX_SETPOINT,
+    ITERM_RELAX_TYPE_COUNT,
 } itermRelaxType_e;
 
 #define MAX_PROFILE_NAME_LENGTH 8u