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Apply CMS simplified tuning settings on exit if there are changes.

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This commit is contained in:
Joeri Capens 2021-10-02 14:37:21 +02:00
parent 64d1694105
commit e42c3f2b7f
1 changed files with 33 additions and 44 deletions
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77
src/main/cms/cms_menu_imu.c
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@ -280,54 +280,46 @@ static const void *cmsx_simplifiedTuningOnExit(displayPort_t *pDisp, const OSD_E
pidProfile_t *pidProfile = currentPidProfile;
pidProfile->simplified_pids_mode = cmsx_simplified_pids_mode;
pidProfile->simplified_master_multiplier = cmsx_simplified_master_multiplier;
pidProfile->simplified_roll_pitch_ratio = cmsx_simplified_roll_pitch_ratio;
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_d_gain = cmsx_simplified_d_gain;
pidProfile->simplified_pi_gain = cmsx_simplified_pi_gain;
const bool anySettingChanged = pidProfile->simplified_pids_mode != cmsx_simplified_pids_mode
|| pidProfile->simplified_master_multiplier != cmsx_simplified_master_multiplier
|| pidProfile->simplified_roll_pitch_ratio != cmsx_simplified_roll_pitch_ratio
|| pidProfile->simplified_i_gain != cmsx_simplified_i_gain
|| pidProfile->simplified_d_gain != cmsx_simplified_d_gain
|| pidProfile->simplified_pi_gain != cmsx_simplified_pi_gain
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
|| pidProfile->simplified_dmin_ratio != cmsx_simplified_dmin_ratio
#endif
pidProfile->simplified_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_pitch_pi_gain = cmsx_simplified_pitch_pi_gain;
|| pidProfile->simplified_feedforward_gain != cmsx_simplified_feedforward_gain
|| pidProfile->simplified_pitch_pi_gain != cmsx_simplified_pitch_pi_gain
|| pidProfile->simplified_dterm_filter != cmsx_simplified_dterm_filter
|| pidProfile->simplified_dterm_filter_multiplier != cmsx_simplified_dterm_filter_multiplier
|| gyroConfigMutable()->simplified_gyro_filter != cmsx_simplified_gyro_filter
|| gyroConfigMutable()->simplified_gyro_filter_multiplier != cmsx_simplified_gyro_filter_multiplier;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
gyroConfigMutable()->simplified_gyro_filter = cmsx_simplified_gyro_filter;
gyroConfigMutable()->simplified_gyro_filter_multiplier = cmsx_simplified_gyro_filter_multiplier;
if (anySettingChanged) {
pidProfile->simplified_pids_mode = cmsx_simplified_pids_mode;
pidProfile->simplified_master_multiplier = cmsx_simplified_master_multiplier;
pidProfile->simplified_roll_pitch_ratio = cmsx_simplified_roll_pitch_ratio;
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_d_gain = cmsx_simplified_d_gain;
pidProfile->simplified_pi_gain = cmsx_simplified_pi_gain;
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
#endif
pidProfile->simplified_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_pitch_pi_gain = cmsx_simplified_pitch_pi_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
gyroConfigMutable()->simplified_gyro_filter = cmsx_simplified_gyro_filter;
gyroConfigMutable()->simplified_gyro_filter_multiplier = cmsx_simplified_gyro_filter_multiplier;
applySimplifiedTuning(currentPidProfile);
}
return 0;
}
static const void *cmsx_applySimplifiedTuning(displayPort_t *pDisp, const void *self)
{
UNUSED(pDisp);
UNUSED(self);
pidProfile_t *pidProfile = currentPidProfile;
pidProfile->simplified_master_multiplier = cmsx_simplified_master_multiplier;
pidProfile->simplified_pids_mode = cmsx_simplified_pids_mode;
pidProfile->simplified_roll_pitch_ratio = cmsx_simplified_roll_pitch_ratio;
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_d_gain = cmsx_simplified_d_gain;
pidProfile->simplified_pi_gain = cmsx_simplified_pi_gain;
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
#endif
pidProfile->simplified_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_pitch_pi_gain = cmsx_simplified_pitch_pi_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
gyroConfigMutable()->simplified_gyro_filter = cmsx_simplified_gyro_filter;
gyroConfigMutable()->simplified_gyro_filter_multiplier = cmsx_simplified_gyro_filter_multiplier;
applySimplifiedTuning(currentPidProfile);
return MENU_CHAIN_BACK;
}
static const OSD_Entry cmsx_menuSimplifiedTuningEntries[] =
{
{ "-- SIMPLIFIED PID --", OME_Label, NULL, NULL, 0},
@ -353,9 +345,6 @@ static const OSD_Entry cmsx_menuSimplifiedTuningEntries[] =
{ "DTERM TUNING", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_simplified_dterm_filter, 1, lookupTableOffOn }, 0 },
{ "DTERM MULT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_dterm_filter_multiplier, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "-- GENERAL --", OME_Label, NULL, NULL, 0},
{ "APPLY TUNING", OME_Funcall, cmsx_applySimplifiedTuning, NULL, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }
};