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Move TPA to PID profile

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This commit is contained in:
Mark Haslinghuis 2022-08-07 01:10:17 +02:00
parent d1bf5db33e
commit f7547192b1
11 changed files with 59 additions and 42 deletions
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10
src/main/cms/cms_menu_imu.c
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@ -246,6 +246,8 @@ static uint8_t cmsx_simplified_dterm_filter;
static uint8_t cmsx_simplified_dterm_filter_multiplier;
static uint8_t cmsx_simplified_gyro_filter;
static uint8_t cmsx_simplified_gyro_filter_multiplier;
static uint8_t cmsx_tpa_rate;
static uint16_t cmsx_tpa_breakpoint;
static const void *cmsx_simplifiedTuningOnEnter(displayPort_t *pDisp)
{
@ -410,8 +412,6 @@ static const OSD_Entry cmsx_menuRateProfileEntries[] =
{ "THR MID", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.thrMid8, 0, 100, 1} },
{ "THR EXPO", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.thrExpo8, 0, 100, 1} },
{ "THRPID ATT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.tpa_rate, 0, 100, 1, 10} },
{ "TPA BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1000, 2000, 10} },
{ "THR LIM TYPE",OME_TAB, NULL, &(OSD_TAB_t) { &rateProfile.throttle_limit_type, THROTTLE_LIMIT_TYPE_COUNT - 1, osdTableThrottleLimitType} },
{ "THR LIM %", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.throttle_limit_percent, 25, 100, 1} },
@ -625,6 +625,9 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
pidProfile->vbat_sag_compensation = cmsx_vbat_sag_compensation;
#endif
pidProfile->tpa_rate = cmsx_tpa_rate;
pidProfile->tpa_breakpoint = cmsx_tpa_breakpoint;
initEscEndpoints();
return NULL;
}
@ -675,6 +678,9 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "VBAT_SAG_COMP", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_vbat_sag_compensation, 0, 150, 1 } },
#endif
{ "THRPID ATT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_tpa_rate, 0, 100, 1, 10} },
{ "TPA BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_tpa_breakpoint, 1000, 2000, 10} },
{ "BACK", OME_Back, NULL, NULL },
{ NULL, OME_END, NULL, NULL}
};