From c542b0a367c411c58b6d4b08342667676381cfc0 Mon Sep 17 00:00:00 2001 From: Miguel Angel Mulero Martinez Date: Mon, 6 May 2019 10:27:43 +0200 Subject: [PATCH] Add D_MIN Gain and Advance to CMS --- src/main/cms/cms_menu_imu.c | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c index 13e296f3e5..0ed8763716 100644 --- a/src/main/cms/cms_menu_imu.c +++ b/src/main/cms/cms_menu_imu.c @@ -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 },