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418 lines
14 KiB
C
418 lines
14 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Menu contents for PID, RATES, RC preview, misc
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// Should be part of the relevant .c file.
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <ctype.h>
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#include "platform.h"
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#ifdef CMS
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#include "build/version.h"
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#include "cms/cms.h"
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#include "cms/cms_types.h"
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#include "cms/cms_menu_imu.h"
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#include "common/utils.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "flight/pid.h"
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#include "sensors/gyro.h"
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//
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// PID
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//
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static uint8_t tmpPidProfileIndex;
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static uint8_t pidProfileIndex;
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static char pidProfileIndexString[] = " p";
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static uint8_t tempPid[3][3];
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static uint8_t tmpRateProfileIndex;
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static uint8_t rateProfileIndex;
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static char rateProfileIndexString[] = " p-r";
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static controlRateConfig_t rateProfile;
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static long cmsx_menuImu_onEnter(void)
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{
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pidProfileIndex = getCurrentPidProfileIndex();
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tmpPidProfileIndex = pidProfileIndex + 1;
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rateProfileIndex = getCurrentControlRateProfileIndex();
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tmpRateProfileIndex = rateProfileIndex + 1;
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return 0;
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}
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static long cmsx_menuImu_onExit(const OSD_Entry *self)
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{
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UNUSED(self);
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changePidProfile(pidProfileIndex);
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changeControlRateProfile(rateProfileIndex);
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return 0;
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}
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static long cmsx_profileIndexOnChange(displayPort_t *displayPort, const void *ptr)
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{
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UNUSED(displayPort);
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UNUSED(ptr);
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pidProfileIndex = tmpPidProfileIndex - 1;
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return 0;
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}
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static long cmsx_rateProfileIndexOnChange(displayPort_t *displayPort, const void *ptr)
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{
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UNUSED(displayPort);
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UNUSED(ptr);
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rateProfileIndex = tmpRateProfileIndex - 1;
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return 0;
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}
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static long cmsx_PidRead(void)
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{
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const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
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for (uint8_t i = 0; i < 3; i++) {
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tempPid[i][0] = pidProfile->pid[i].P;
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tempPid[i][1] = pidProfile->pid[i].I;
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tempPid[i][2] = pidProfile->pid[i].D;
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}
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return 0;
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}
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static long cmsx_PidOnEnter(void)
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{
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pidProfileIndexString[1] = '0' + tmpPidProfileIndex;
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cmsx_PidRead();
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return 0;
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}
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static long cmsx_PidWriteback(const OSD_Entry *self)
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{
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UNUSED(self);
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pidProfile_t *pidProfile = currentPidProfile;
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for (uint8_t i = 0; i < 3; i++) {
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pidProfile->pid[i].P = tempPid[i][0];
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pidProfile->pid[i].I = tempPid[i][1];
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pidProfile->pid[i].D = tempPid[i][2];
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}
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pidInitConfig(currentPidProfile);
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return 0;
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}
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static OSD_Entry cmsx_menuPidEntries[] =
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{
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{ "-- PID --", OME_Label, NULL, pidProfileIndexString, 0},
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{ "ROLL P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_ROLL][0], 0, 200, 1 }, 0 },
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{ "ROLL I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_ROLL][1], 0, 200, 1 }, 0 },
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{ "ROLL D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_ROLL][2], 0, 200, 1 }, 0 },
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{ "PITCH P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_PITCH][0], 0, 200, 1 }, 0 },
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{ "PITCH I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_PITCH][1], 0, 200, 1 }, 0 },
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{ "PITCH D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_PITCH][2], 0, 200, 1 }, 0 },
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{ "YAW P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_YAW][0], 0, 200, 1 }, 0 },
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{ "YAW I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_YAW][1], 0, 200, 1 }, 0 },
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{ "YAW D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_YAW][2], 0, 200, 1 }, 0 },
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{ "BACK", OME_Back, NULL, NULL, 0 },
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{ NULL, OME_END, NULL, NULL, 0 }
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};
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static CMS_Menu cmsx_menuPid = {
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.GUARD_text = "XPID",
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.GUARD_type = OME_MENU,
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.onEnter = cmsx_PidOnEnter,
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.onExit = cmsx_PidWriteback,
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.onGlobalExit = NULL,
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.entries = cmsx_menuPidEntries
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};
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//
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// Rate & Expo
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//
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static long cmsx_RateProfileRead(void)
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{
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memcpy(&rateProfile, controlRateProfiles(rateProfileIndex), sizeof(controlRateConfig_t));
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return 0;
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}
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static long cmsx_RateProfileWriteback(const OSD_Entry *self)
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{
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UNUSED(self);
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memcpy(controlRateProfilesMutable(rateProfileIndex), &rateProfile, sizeof(controlRateConfig_t));
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return 0;
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}
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static long cmsx_RateProfileOnEnter(void)
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{
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rateProfileIndexString[1] = '0' + tmpPidProfileIndex;
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rateProfileIndexString[3] = '0' + tmpRateProfileIndex;
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cmsx_RateProfileRead();
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return 0;
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}
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static OSD_Entry cmsx_menuRateProfileEntries[] =
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{
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{ "-- RATE --", OME_Label, NULL, rateProfileIndexString, 0 },
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{ "RC RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcRate8, 0, 255, 1, 10 }, 0 },
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{ "RC YAW RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcYawRate8, 0, 255, 1, 10 }, 0 },
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{ "ROLL SUPER", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rates[0], 0, 100, 1, 10 }, 0 },
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{ "PITCH SUPER", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rates[1], 0, 100, 1, 10 }, 0 },
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{ "YAW SUPER", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rates[2], 0, 100, 1, 10 }, 0 },
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{ "RC EXPO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcExpo8, 0, 100, 1, 10 }, 0 },
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{ "RC YAW EXP", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcYawExpo8, 0, 100, 1, 10 }, 0 },
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{ "THRPID ATT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.dynThrPID, 0, 100, 1, 10}, 0 },
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{ "TPA BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1000, 2000, 10}, 0 },
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{ "BACK", OME_Back, NULL, NULL, 0 },
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{ NULL, OME_END, NULL, NULL, 0 }
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};
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static CMS_Menu cmsx_menuRateProfile = {
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.GUARD_text = "MENURATE",
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.GUARD_type = OME_MENU,
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.onEnter = cmsx_RateProfileOnEnter,
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.onExit = cmsx_RateProfileWriteback,
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.onGlobalExit = NULL,
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.entries = cmsx_menuRateProfileEntries
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};
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static uint8_t cmsx_dtermSetpointWeight;
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static uint8_t cmsx_setpointRelaxRatio;
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static uint8_t cmsx_angleStrength;
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static uint8_t cmsx_horizonStrength;
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static uint8_t cmsx_horizonTransition;
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static long cmsx_profileOtherOnEnter(void)
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{
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pidProfileIndexString[1] = '0' + tmpPidProfileIndex;
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const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
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cmsx_dtermSetpointWeight = pidProfile->dtermSetpointWeight;
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cmsx_setpointRelaxRatio = pidProfile->setpointRelaxRatio;
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cmsx_angleStrength = pidProfile->pid[PID_LEVEL].P;
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cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
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cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D;
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return 0;
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}
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static long cmsx_profileOtherOnExit(const OSD_Entry *self)
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{
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UNUSED(self);
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pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
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pidProfile->dtermSetpointWeight = cmsx_dtermSetpointWeight;
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pidProfile->setpointRelaxRatio = cmsx_setpointRelaxRatio;
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pidInitConfig(currentPidProfile);
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pidProfile->pid[PID_LEVEL].P = cmsx_angleStrength;
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pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
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pidProfile->pid[PID_LEVEL].D = cmsx_horizonTransition;
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return 0;
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}
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static OSD_Entry cmsx_menuProfileOtherEntries[] = {
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{ "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
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{ "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_dtermSetpointWeight, 0, 255, 1, 10 }, 0 },
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{ "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 },
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{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },
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{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 },
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{ "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } , 0 },
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{ "BACK", OME_Back, NULL, NULL, 0 },
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{ NULL, OME_END, NULL, NULL, 0 }
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};
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static CMS_Menu cmsx_menuProfileOther = {
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.GUARD_text = "XPROFOTHER",
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.GUARD_type = OME_MENU,
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.onEnter = cmsx_profileOtherOnEnter,
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.onExit = cmsx_profileOtherOnExit,
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.onGlobalExit = NULL,
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.entries = cmsx_menuProfileOtherEntries,
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};
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static uint8_t gyroConfig_gyro_soft_lpf_hz;
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static uint16_t gyroConfig_gyro_soft_notch_hz_1;
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static uint16_t gyroConfig_gyro_soft_notch_cutoff_1;
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static uint16_t gyroConfig_gyro_soft_notch_hz_2;
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static uint16_t gyroConfig_gyro_soft_notch_cutoff_2;
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static long cmsx_menuGyro_onEnter(void)
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{
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gyroConfig_gyro_soft_lpf_hz = gyroConfig()->gyro_soft_lpf_hz;
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gyroConfig_gyro_soft_notch_hz_1 = gyroConfig()->gyro_soft_notch_hz_1;
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gyroConfig_gyro_soft_notch_cutoff_1 = gyroConfig()->gyro_soft_notch_cutoff_1;
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gyroConfig_gyro_soft_notch_hz_2 = gyroConfig()->gyro_soft_notch_hz_2;
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gyroConfig_gyro_soft_notch_cutoff_2 = gyroConfig()->gyro_soft_notch_cutoff_2;
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return 0;
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}
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static long cmsx_menuGyro_onExit(const OSD_Entry *self)
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{
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UNUSED(self);
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gyroConfigMutable()->gyro_soft_lpf_hz = gyroConfig_gyro_soft_lpf_hz;
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gyroConfigMutable()->gyro_soft_notch_hz_1 = gyroConfig_gyro_soft_notch_hz_1;
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gyroConfigMutable()->gyro_soft_notch_cutoff_1 = gyroConfig_gyro_soft_notch_cutoff_1;
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gyroConfigMutable()->gyro_soft_notch_hz_2 = gyroConfig_gyro_soft_notch_hz_2;
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gyroConfigMutable()->gyro_soft_notch_cutoff_2 = gyroConfig_gyro_soft_notch_cutoff_2;
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return 0;
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}
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static OSD_Entry cmsx_menuFilterGlobalEntries[] =
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{
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{ "-- FILTER GLB --", OME_Label, NULL, NULL, 0 },
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{ "GYRO LPF", OME_UINT8, NULL, &(OSD_UINT8_t) { &gyroConfig_gyro_soft_lpf_hz, 0, 255, 1 }, 0 },
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{ "GYRO NF1", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_soft_notch_hz_1, 0, 500, 1 }, 0 },
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{ "GYRO NF1C", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_soft_notch_cutoff_1, 0, 500, 1 }, 0 },
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{ "GYRO NF2", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_soft_notch_hz_2, 0, 500, 1 }, 0 },
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{ "GYRO NF2C", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_soft_notch_cutoff_2, 0, 500, 1 }, 0 },
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{ "BACK", OME_Back, NULL, NULL, 0 },
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{ NULL, OME_END, NULL, NULL, 0 }
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};
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static CMS_Menu cmsx_menuFilterGlobal = {
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.GUARD_text = "XFLTGLB",
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.GUARD_type = OME_MENU,
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.onEnter = cmsx_menuGyro_onEnter,
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.onExit = cmsx_menuGyro_onExit,
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.onGlobalExit = NULL,
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.entries = cmsx_menuFilterGlobalEntries,
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};
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static uint16_t cmsx_dterm_lpf_hz;
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static uint16_t cmsx_dterm_notch_hz;
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static uint16_t cmsx_dterm_notch_cutoff;
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static uint16_t cmsx_yaw_lpf_hz;
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static long cmsx_FilterPerProfileRead(void)
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{
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const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
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cmsx_dterm_lpf_hz = pidProfile->dterm_lpf_hz;
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cmsx_dterm_notch_hz = pidProfile->dterm_notch_hz;
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cmsx_dterm_notch_cutoff = pidProfile->dterm_notch_cutoff;
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cmsx_yaw_lpf_hz = pidProfile->yaw_lpf_hz;
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return 0;
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}
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static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self)
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{
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UNUSED(self);
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pidProfile_t *pidProfile = currentPidProfile;
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pidProfile->dterm_lpf_hz = cmsx_dterm_lpf_hz;
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pidProfile->dterm_notch_hz = cmsx_dterm_notch_hz;
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pidProfile->dterm_notch_cutoff = cmsx_dterm_notch_cutoff;
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pidProfile->yaw_lpf_hz = cmsx_yaw_lpf_hz;
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return 0;
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}
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static OSD_Entry cmsx_menuFilterPerProfileEntries[] =
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{
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{ "-- FILTER PP --", OME_Label, NULL, NULL, 0 },
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{ "DTERM LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lpf_hz, 0, 500, 1 }, 0 },
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{ "DTERM NF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_hz, 0, 500, 1 }, 0 },
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{ "DTERM NFCO", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_cutoff, 0, 500, 1 }, 0 },
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{ "YAW LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_lpf_hz, 0, 500, 1 }, 0 },
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{ "BACK", OME_Back, NULL, NULL, 0 },
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{ NULL, OME_END, NULL, NULL, 0 }
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};
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static CMS_Menu cmsx_menuFilterPerProfile = {
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.GUARD_text = "XFLTPP",
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.GUARD_type = OME_MENU,
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.onEnter = cmsx_FilterPerProfileRead,
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.onExit = cmsx_FilterPerProfileWriteback,
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.onGlobalExit = NULL,
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.entries = cmsx_menuFilterPerProfileEntries,
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};
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static OSD_Entry cmsx_menuImuEntries[] =
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{
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{ "-- IMU --", OME_Label, NULL, NULL, 0},
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{"PID PROF", OME_UINT8, cmsx_profileIndexOnChange, &(OSD_UINT8_t){ &tmpPidProfileIndex, 1, MAX_PROFILE_COUNT, 1}, 0},
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{"PID", OME_Submenu, cmsMenuChange, &cmsx_menuPid, 0},
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{"MISC PP", OME_Submenu, cmsMenuChange, &cmsx_menuProfileOther, 0},
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{"FILT PP", OME_Submenu, cmsMenuChange, &cmsx_menuFilterPerProfile, 0},
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{"RATE PROF", OME_UINT8, cmsx_rateProfileIndexOnChange, &(OSD_UINT8_t){ &tmpRateProfileIndex, 1, CONTROL_RATE_PROFILE_COUNT, 1}, 0},
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{"RATE", OME_Submenu, cmsMenuChange, &cmsx_menuRateProfile, 0},
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{"FILT GLB", OME_Submenu, cmsMenuChange, &cmsx_menuFilterGlobal, 0},
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{"BACK", OME_Back, NULL, NULL, 0},
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{NULL, OME_END, NULL, NULL, 0}
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};
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CMS_Menu cmsx_menuImu = {
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.GUARD_text = "XIMU",
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.GUARD_type = OME_MENU,
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.onEnter = cmsx_menuImu_onEnter,
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.onExit = cmsx_menuImu_onExit,
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.onGlobalExit = NULL,
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.entries = cmsx_menuImuEntries,
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};
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#endif // CMS
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