Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 14:25:20 +03:00
Code Issues Wiki Activity

Merge pull request #8196 from McGiverGim/add_dmin_gain_adv_cms

Browse source 
Add D_MIN Gain and Advance to CMS
This commit is contained in:
Michael Keller 2019-05-07 20:06:14 +12:00 • committed by GitHub
commit ea3da333d4
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 11 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

14
src/main/cms/cms_menu_imu.c
View file

@ -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 },