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Add D_MIN Gain and Advance to CMS

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This commit is contained in:
Miguel Angel Mulero Martinez 2019-05-06 10:27:43 +02:00
parent 77ef37bad0
commit c542b0a367
1 changed files with 11 additions and 3 deletions
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14
src/main/cms/cms_menu_imu.c
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@ -331,6 +331,8 @@ static uint8_t cmsx_motorOutputLimit;
static int8_t cmsx_autoProfileCellCount;
#ifdef USE_D_MIN
static uint8_t cmsx_d_min[XYZ_AXIS_COUNT];
static uint8_t cmsx_d_min_gain;
static uint8_t cmsx_d_min_advance;
#endif
static long cmsx_profileOtherOnEnter(void)
@ -356,6 +358,8 @@ static long cmsx_profileOtherOnEnter(void)
for (unsigned i = 0; i < XYZ_AXIS_COUNT; i++) {
cmsx_d_min[i] = pidProfile->d_min[i];
}
cmsx_d_min_gain = pidProfile->d_min_gain;
cmsx_d_min_advance = pidProfile->d_min_advance;
#endif
return 0;
@ -384,6 +388,8 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
for (unsigned i = 0; i < XYZ_AXIS_COUNT; i++) {
pidProfile->d_min[i] = cmsx_d_min[i];
}
pidProfile->d_min_gain = cmsx_d_min_gain;
pidProfile->d_min_advance = cmsx_d_min_advance;
#endif
initEscEndpoints();
@ -410,9 +416,11 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "AUTO CELL CNT", OME_INT8, NULL, &(OSD_INT8_t) { &cmsx_autoProfileCellCount, AUTO_PROFILE_CELL_COUNT_CHANGE, MAX_AUTO_DETECT_CELL_COUNT, 1}, 0 },
#ifdef USE_D_MIN
{ "D_MIN_ROLL", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min[FD_ROLL], 0, 100, 1 }, 0 },
{ "D_MIN_PITCH", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min[FD_PITCH], 0, 100, 1 }, 0 },
{ "D_MIN_YAW", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min[FD_YAW], 0, 100, 1 }, 0 },
{ "D_MIN ROLL", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min[FD_ROLL], 0, 100, 1 }, 0 },
{ "D_MIN PITCH", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min[FD_PITCH], 0, 100, 1 }, 0 },
{ "D_MIN YAW", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min[FD_YAW], 0, 100, 1 }, 0 },
{ "D_MIN GAIN", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min_gain, 0, 100, 1 }, 0 },
{ "D_MIN ADV", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min_advance, 0, 200, 1 }, 0 },
#endif
{ "BACK", OME_Back, NULL, NULL, 0 },