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Implement tuning sliders, add to CMS, MSP

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IvoFPV 2019-10-11 18:43:10 +02:00 • committed by Michael Keller
parent 3f116fd103
commit cff19dc113
14 changed files with 443 additions and 35 deletions
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117
src/main/cms/cms_menu_imu.c
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@ -40,6 +40,7 @@
#include "common/utils.h"
#include "config/feature.h"
#include "config/tuning_sliders.h"
#include "drivers/pwm_output.h"
@ -228,6 +229,113 @@ static CMS_Menu cmsx_menuPid = {
.entries = cmsx_menuPidEntries
};
#ifdef USE_TUNING_SLIDERS
static uint8_t cmsx_slider_pids_mode;
static uint8_t cmsx_slider_master_multiplier;
static uint8_t cmsx_slider_roll_pitch_ratio;
static uint8_t cmsx_slider_i_gain;
static uint8_t cmsx_slider_pd_ratio;
static uint8_t cmsx_slider_pd_gain;
static uint8_t cmsx_slider_dmin_ratio;
static uint8_t cmsx_slider_ff_gain;
static uint8_t cmsx_slider_dterm_filter;
static uint8_t cmsx_slider_dterm_filter_multiplier;
static uint8_t cmsx_slider_gyro_filter;
static uint8_t cmsx_slider_gyro_filter_multiplier;
static const void *cmsx_slidersOnEnter(displayPort_t *pDisp)
{
UNUSED(pDisp);
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
cmsx_slider_pids_mode = pidProfile->slider_pids_mode;
cmsx_slider_master_multiplier = pidProfile->slider_master_multiplier;
cmsx_slider_roll_pitch_ratio = pidProfile->slider_roll_pitch_ratio;
cmsx_slider_i_gain = pidProfile->slider_i_gain;
cmsx_slider_pd_ratio = pidProfile->slider_pd_ratio;
cmsx_slider_pd_gain = pidProfile->slider_pd_gain;
cmsx_slider_dmin_ratio = pidProfile->slider_dmin_ratio;
cmsx_slider_ff_gain = pidProfile->slider_ff_gain;
cmsx_slider_dterm_filter = pidProfile->slider_dterm_filter;
cmsx_slider_dterm_filter_multiplier = pidProfile->slider_dterm_filter_multiplier;
cmsx_slider_gyro_filter = gyroConfig()->slider_gyro_filter;
cmsx_slider_gyro_filter_multiplier = gyroConfig()->slider_gyro_filter_multiplier;
return 0;
}
static const void *cmsx_slidersOnExit(displayPort_t *pDisp, const OSD_Entry *self)
{
UNUSED(pDisp);
UNUSED(self);
pidProfile_t *pidProfile = currentPidProfile;
pidProfile->slider_pids_mode = cmsx_slider_pids_mode;
pidProfile->slider_master_multiplier = cmsx_slider_master_multiplier;
pidProfile->slider_roll_pitch_ratio = cmsx_slider_roll_pitch_ratio;
pidProfile->slider_i_gain = cmsx_slider_i_gain;
pidProfile->slider_pd_ratio = cmsx_slider_pd_ratio;
pidProfile->slider_pd_gain = cmsx_slider_pd_gain;
pidProfile->slider_dmin_ratio = cmsx_slider_dmin_ratio;
pidProfile->slider_ff_gain = cmsx_slider_ff_gain;
pidProfile->slider_dterm_filter = cmsx_slider_dterm_filter;
pidProfile->slider_dterm_filter_multiplier = cmsx_slider_dterm_filter_multiplier;
gyroConfigMutable()->slider_gyro_filter = cmsx_slider_gyro_filter;
gyroConfigMutable()->slider_gyro_filter_multiplier = cmsx_slider_gyro_filter_multiplier;
return 0;
}
static const void *cmsx_applyTuningSliders(displayPort_t *pDisp, const void *self)
{
UNUSED(pDisp);
UNUSED(self);
applyTuningSliders(currentPidProfile);
return 0;
}
static const OSD_Entry cmsx_menuSlidersEntries[] =
{
{ "-- PID SLIDERS --", OME_Label, NULL, NULL, 0},
{ "PID SLIDERS", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_slider_pids_mode, PID_TUNING_SLIDERS_MODE_COUNT - 1, lookupTableSliderPidsMode }, 0 },
{ "MASTER MULT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_slider_master_multiplier, SLIDER_MIN, SLIDER_MAX, 1, 10 }, 0 },
{ "R/P RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_slider_roll_pitch_ratio, SLIDER_MIN, SLIDER_MAX, 1, 10 }, 0 },
{ "I GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_slider_i_gain, SLIDER_MIN, SLIDER_MAX, 1, 10 }, 0 },
{ "PD RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_slider_pd_ratio, SLIDER_MIN, SLIDER_MAX, 1, 10 }, 0 },
{ "PD GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_slider_pd_gain, SLIDER_MIN, SLIDER_MAX, 1, 10 }, 0 },
{ "DMIN RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_slider_dmin_ratio, SLIDER_MIN, SLIDER_MAX, 1, 10 }, 0 },
{ "FF GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_slider_ff_gain, SLIDER_MIN, SLIDER_MAX, 1, 10 }, 0 },
{ "-- FILTER SLIDERS --", OME_Label, NULL, NULL, 0},
{ "GYRO SLIDER", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_slider_gyro_filter, 1, lookupTableOffOn }, 0 },
{ "GYRO MULT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_slider_gyro_filter_multiplier, SLIDER_MIN, SLIDER_MAX, 1, 10 }, 0 },
{ "DTERM SLIDER", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_slider_dterm_filter, 1, lookupTableOffOn }, 0 },
{ "DTERM MULT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_slider_dterm_filter_multiplier, SLIDER_MIN, SLIDER_MAX, 1, 10 }, 0 },
{ "APPLY SLIDERS", OME_Funcall, cmsx_applyTuningSliders, NULL, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
};
static CMS_Menu cmsx_menuSliders = {
#ifdef CMS_MENU_DEBUG
.GUARD_text = "XSLIDER",
.GUARD_type = OME_MENU,
#endif
.onEnter = cmsx_slidersOnEnter,
.onExit = cmsx_slidersOnExit,
.entries = cmsx_menuSlidersEntries,
};
#endif // USE_TUNING_SLIDERS
//
// Rate & Expo
//
@ -344,7 +452,7 @@ static const OSD_Entry cmsx_menuLaunchControlEntries[] = {
{ "TRIGGER THROTTLE", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlThrottlePercent, 0, LAUNCH_CONTROL_THROTTLE_TRIGGER_MAX, 1 } , 0 },
{ "ANGLE LIMIT", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlAngleLimit, 0, 80, 1 } , 0 },
{ "ITERM GAIN", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlGain, 0, 200, 1 } , 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
};
@ -604,7 +712,7 @@ static const OSD_Entry cmsx_menuFilterGlobalEntries[] =
#ifdef USE_MULTI_GYRO
{ "GYRO TO USE", OME_TAB, NULL, &(OSD_TAB_t) { &gyroConfig_gyro_to_use, 2, osdTableGyroToUse}, REBOOT_REQUIRED },
#endif
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
};
@ -767,7 +875,7 @@ static const OSD_Entry cmsx_menuFilterPerProfileEntries[] =
{ "DTERM NF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_hz, 0, FILTER_FREQUENCY_MAX, 1 }, 0 },
{ "DTERM NFCO", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_cutoff, 0, FILTER_FREQUENCY_MAX, 1 }, 0 },
{ "YAW LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_lowpass_hz, 0, 500, 1 }, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
};
@ -864,6 +972,9 @@ static const OSD_Entry cmsx_menuImuEntries[] =
{"PID PROF", OME_UINT8, cmsx_profileIndexOnChange, &(OSD_UINT8_t){ &tmpPidProfileIndex, 1, PID_PROFILE_COUNT, 1}, 0},
{"PID", OME_Submenu, cmsMenuChange, &cmsx_menuPid, 0},
#ifdef USE_TUNING_SLIDERS
{"SLIDERS", OME_Submenu, cmsMenuChange, &cmsx_menuSliders, 0},
#endif
{"MISC PP", OME_Submenu, cmsMenuChange, &cmsx_menuProfileOther, 0},
{"FILT PP", OME_Submenu, cmsMenuChange, &cmsx_menuFilterPerProfile, 0},