mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 08:45:36 +03:00
ab0e1260be
Per user request. Apparently the previous max of 50% wasn't providing agressive enough launches for some users.
613 lines
21 KiB
C
613 lines
21 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the 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 this software.
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*
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* 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 USE_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 "pg/pg.h"
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#include "fc/config.h"
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#include "fc/core.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 uint16_t tempPidF[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 const char * const osdTableThrottleLimitType[] = {
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"OFF", "SCALE", "CLIP"
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};
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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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changePidProfile(pidProfileIndex);
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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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changeControlRateProfile(rateProfileIndex);
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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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tempPidF[i] = pidProfile->pid[i].F;
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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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pidProfile->pid[i].F = tempPidF[i];
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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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{ "ROLL F", OME_UINT16, NULL, &(OSD_UINT16_t){ &tempPidF[PID_ROLL], 0, 2000, 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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{ "PITCH F", OME_UINT16, NULL, &(OSD_UINT16_t){ &tempPidF[PID_PITCH], 0, 2000, 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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{ "YAW F", OME_UINT16, NULL, &(OSD_UINT16_t){ &tempPidF[PID_YAW], 0, 2000, 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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#ifdef CMS_MENU_DEBUG
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.GUARD_text = "XPID",
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.GUARD_type = OME_MENU,
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#endif
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.onEnter = cmsx_PidOnEnter,
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.onExit = cmsx_PidWriteback,
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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 R RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcRates[FD_ROLL], 1, CONTROL_RATE_CONFIG_RC_RATES_MAX, 1, 10 }, 0 },
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{ "RC P RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcRates[FD_PITCH], 1, CONTROL_RATE_CONFIG_RC_RATES_MAX, 1, 10 }, 0 },
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{ "RC Y RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcRates[FD_YAW], 1, CONTROL_RATE_CONFIG_RC_RATES_MAX, 1, 10 }, 0 },
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{ "ROLL SUPER", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rates[FD_ROLL], 0, 100, 1, 10 }, 0 },
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{ "PITCH SUPER", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rates[FD_PITCH], 0, 100, 1, 10 }, 0 },
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{ "YAW SUPER", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rates[FD_YAW], 0, 100, 1, 10 }, 0 },
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{ "RC R EXPO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcExpo[FD_ROLL], 0, 100, 1, 10 }, 0 },
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{ "RC P EXPO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcExpo[FD_PITCH], 0, 100, 1, 10 }, 0 },
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{ "RC Y EXPO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcExpo[FD_YAW], 0, 100, 1, 10 }, 0 },
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{ "THR MID", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.thrMid8, 0, 100, 1}, 0 },
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{ "THR EXPO", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.thrExpo8, 0, 100, 1}, 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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{ "THR LIM TYPE",OME_TAB, NULL, &(OSD_TAB_t) { &rateProfile.throttle_limit_type, THROTTLE_LIMIT_TYPE_COUNT - 1, osdTableThrottleLimitType}, 0 },
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{ "THR LIM %", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.throttle_limit_percent, 25, 100, 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_menuRateProfile = {
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#ifdef CMS_MENU_DEBUG
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.GUARD_text = "MENURATE",
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.GUARD_type = OME_MENU,
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#endif
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.onEnter = cmsx_RateProfileOnEnter,
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.onExit = cmsx_RateProfileWriteback,
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.entries = cmsx_menuRateProfileEntries
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};
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#ifdef USE_LAUNCH_CONTROL
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static uint8_t cmsx_launchControlMode;
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static uint8_t cmsx_launchControlAllowTriggerReset;
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static uint8_t cmsx_launchControlThrottlePercent;
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static uint8_t cmsx_launchControlAngleLimit;
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static uint8_t cmsx_launchControlGain;
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static long cmsx_launchControlOnEnter(void)
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{
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const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
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cmsx_launchControlMode = pidProfile->launchControlMode;
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cmsx_launchControlAllowTriggerReset = pidProfile->launchControlAllowTriggerReset;
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cmsx_launchControlThrottlePercent = pidProfile->launchControlThrottlePercent;
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cmsx_launchControlAngleLimit = pidProfile->launchControlAngleLimit;
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cmsx_launchControlGain = pidProfile->launchControlGain;
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return 0;
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}
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static long cmsx_launchControlOnExit(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->launchControlMode = cmsx_launchControlMode;
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pidProfile->launchControlAllowTriggerReset = cmsx_launchControlAllowTriggerReset;
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pidProfile->launchControlThrottlePercent = cmsx_launchControlThrottlePercent;
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pidProfile->launchControlAngleLimit = cmsx_launchControlAngleLimit;
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pidProfile->launchControlGain = cmsx_launchControlGain;
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return 0;
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}
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static OSD_Entry cmsx_menuLaunchControlEntries[] = {
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{ "-- LAUNCH CONTROL --", OME_Label, NULL, pidProfileIndexString, 0 },
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{ "MODE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_launchControlMode, LAUNCH_CONTROL_MODE_COUNT - 1, osdLaunchControlModeNames}, 0 },
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{ "ALLOW RESET", OME_Bool, NULL, &cmsx_launchControlAllowTriggerReset, 0 },
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{ "TRIGGER THROTTLE", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlThrottlePercent, 0, LAUNCH_CONTROL_THROTTLE_TRIGGER_MAX, 1 } , 0 },
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{ "ANGLE LIMIT", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlAngleLimit, 0, 80, 1 } , 0 },
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{ "ITERM GAIN", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlGain, 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_menuLaunchControl = {
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#ifdef CMS_MENU_DEBUG
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.GUARD_text = "LAUNCH",
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.GUARD_type = OME_MENU,
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#endif
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.onEnter = cmsx_launchControlOnEnter,
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.onExit = cmsx_launchControlOnExit,
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.entries = cmsx_menuLaunchControlEntries,
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};
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#endif
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static uint8_t cmsx_feedForwardTransition;
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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 uint8_t cmsx_throttleBoost;
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static uint16_t cmsx_itermAcceleratorGain;
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static uint16_t cmsx_itermThrottleThreshold;
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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_feedForwardTransition = pidProfile->feedForwardTransition;
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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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cmsx_itermAcceleratorGain = pidProfile->itermAcceleratorGain;
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cmsx_itermThrottleThreshold = pidProfile->itermThrottleThreshold;
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cmsx_throttleBoost = pidProfile->throttle_boost;
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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->feedForwardTransition = cmsx_feedForwardTransition;
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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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pidProfile->itermAcceleratorGain = cmsx_itermAcceleratorGain;
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pidProfile->itermThrottleThreshold = cmsx_itermThrottleThreshold;
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pidProfile->throttle_boost = cmsx_throttleBoost;
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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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{ "FF TRANS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_feedForwardTransition, 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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{ "AG GAIN", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermAcceleratorGain, 1000, 30000, 10 } , 0 },
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{ "AG THR", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermThrottleThreshold, 20, 1000, 1 } , 0 },
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#ifdef USE_THROTTLE_BOOST
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{ "THR BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_throttleBoost, 0, 100, 1 } , 0 },
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#endif
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#ifdef USE_LAUNCH_CONTROL
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{"LAUNCH CONTROL", OME_Submenu, cmsMenuChange, &cmsx_menuLaunchControl, 0 },
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#endif
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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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#ifdef CMS_MENU_DEBUG
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.GUARD_text = "XPROFOTHER",
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.GUARD_type = OME_MENU,
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#endif
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.onEnter = cmsx_profileOtherOnEnter,
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.onExit = cmsx_profileOtherOnExit,
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.entries = cmsx_menuProfileOtherEntries,
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};
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static uint16_t gyroConfig_gyro_lowpass_hz;
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static uint16_t gyroConfig_gyro_lowpass2_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_lowpass_hz = gyroConfig()->gyro_lowpass_hz;
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gyroConfig_gyro_lowpass2_hz = gyroConfig()->gyro_lowpass2_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_lowpass_hz = gyroConfig_gyro_lowpass_hz;
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gyroConfigMutable()->gyro_lowpass2_hz = gyroConfig_gyro_lowpass2_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;
|
|
gyroConfigMutable()->gyro_soft_notch_hz_2 = gyroConfig_gyro_soft_notch_hz_2;
|
|
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = gyroConfig_gyro_soft_notch_cutoff_2;
|
|
|
|
return 0;
|
|
}
|
|
|
|
static OSD_Entry cmsx_menuFilterGlobalEntries[] =
|
|
{
|
|
{ "-- FILTER GLB --", OME_Label, NULL, NULL, 0 },
|
|
|
|
{ "GYRO LPF", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz, 0, 16000, 1 }, 0 },
|
|
#ifdef USE_GYRO_LPF2
|
|
{ "GYRO LPF2", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz, 0, 16000, 1 }, 0 },
|
|
#endif
|
|
{ "GYRO NF1", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_soft_notch_hz_1, 0, 500, 1 }, 0 },
|
|
{ "GYRO NF1C", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_soft_notch_cutoff_1, 0, 500, 1 }, 0 },
|
|
{ "GYRO NF2", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_soft_notch_hz_2, 0, 500, 1 }, 0 },
|
|
{ "GYRO NF2C", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_soft_notch_cutoff_2, 0, 500, 1 }, 0 },
|
|
|
|
{ "BACK", OME_Back, NULL, NULL, 0 },
|
|
{ NULL, OME_END, NULL, NULL, 0 }
|
|
};
|
|
|
|
static CMS_Menu cmsx_menuFilterGlobal = {
|
|
#ifdef CMS_MENU_DEBUG
|
|
.GUARD_text = "XFLTGLB",
|
|
.GUARD_type = OME_MENU,
|
|
#endif
|
|
.onEnter = cmsx_menuGyro_onEnter,
|
|
.onExit = cmsx_menuGyro_onExit,
|
|
.entries = cmsx_menuFilterGlobalEntries,
|
|
};
|
|
|
|
static uint16_t cmsx_dterm_lowpass_hz;
|
|
static uint16_t cmsx_dterm_lowpass2_hz;
|
|
static uint16_t cmsx_dterm_notch_hz;
|
|
static uint16_t cmsx_dterm_notch_cutoff;
|
|
static uint16_t cmsx_yaw_lowpass_hz;
|
|
|
|
static long cmsx_FilterPerProfileRead(void)
|
|
{
|
|
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
|
|
|
|
cmsx_dterm_lowpass_hz = pidProfile->dterm_lowpass_hz;
|
|
cmsx_dterm_lowpass2_hz = pidProfile->dterm_lowpass2_hz;
|
|
cmsx_dterm_notch_hz = pidProfile->dterm_notch_hz;
|
|
cmsx_dterm_notch_cutoff = pidProfile->dterm_notch_cutoff;
|
|
cmsx_yaw_lowpass_hz = pidProfile->yaw_lowpass_hz;
|
|
|
|
return 0;
|
|
}
|
|
|
|
static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self)
|
|
{
|
|
UNUSED(self);
|
|
|
|
pidProfile_t *pidProfile = currentPidProfile;
|
|
|
|
pidProfile->dterm_lowpass_hz = cmsx_dterm_lowpass_hz;
|
|
pidProfile->dterm_lowpass2_hz = cmsx_dterm_lowpass2_hz;
|
|
pidProfile->dterm_notch_hz = cmsx_dterm_notch_hz;
|
|
pidProfile->dterm_notch_cutoff = cmsx_dterm_notch_cutoff;
|
|
pidProfile->yaw_lowpass_hz = cmsx_yaw_lowpass_hz;
|
|
|
|
return 0;
|
|
}
|
|
|
|
static OSD_Entry cmsx_menuFilterPerProfileEntries[] =
|
|
{
|
|
{ "-- FILTER PP --", OME_Label, NULL, NULL, 0 },
|
|
|
|
{ "DTERM LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass_hz, 0, 500, 1 }, 0 },
|
|
{ "DTERM LPF2", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz, 0, 500, 1 }, 0 },
|
|
{ "DTERM NF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_hz, 0, 500, 1 }, 0 },
|
|
{ "DTERM NFCO", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_cutoff, 0, 500, 1 }, 0 },
|
|
{ "YAW LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_lowpass_hz, 0, 500, 1 }, 0 },
|
|
|
|
{ "BACK", OME_Back, NULL, NULL, 0 },
|
|
{ NULL, OME_END, NULL, NULL, 0 }
|
|
};
|
|
|
|
static CMS_Menu cmsx_menuFilterPerProfile = {
|
|
#ifdef CMS_MENU_DEBUG
|
|
.GUARD_text = "XFLTPP",
|
|
.GUARD_type = OME_MENU,
|
|
#endif
|
|
.onEnter = cmsx_FilterPerProfileRead,
|
|
.onExit = cmsx_FilterPerProfileWriteback,
|
|
.entries = cmsx_menuFilterPerProfileEntries,
|
|
};
|
|
|
|
#ifdef USE_EXTENDED_CMS_MENUS
|
|
|
|
static uint8_t cmsx_dstPidProfile;
|
|
static uint8_t cmsx_dstControlRateProfile;
|
|
|
|
static const char * const cmsx_ProfileNames[] = {
|
|
"-",
|
|
"1",
|
|
"2",
|
|
"3"
|
|
};
|
|
|
|
static OSD_TAB_t cmsx_PidProfileTable = { &cmsx_dstPidProfile, 3, cmsx_ProfileNames };
|
|
static OSD_TAB_t cmsx_ControlRateProfileTable = { &cmsx_dstControlRateProfile, 3, cmsx_ProfileNames };
|
|
|
|
static long cmsx_menuCopyProfile_onEnter(void)
|
|
{
|
|
cmsx_dstPidProfile = 0;
|
|
cmsx_dstControlRateProfile = 0;
|
|
|
|
return 0;
|
|
}
|
|
|
|
static long cmsx_CopyPidProfile(displayPort_t *pDisplay, const void *ptr)
|
|
{
|
|
UNUSED(pDisplay);
|
|
UNUSED(ptr);
|
|
|
|
if (cmsx_dstPidProfile > 0) {
|
|
pidCopyProfile(cmsx_dstPidProfile - 1, getCurrentPidProfileIndex());
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static long cmsx_CopyControlRateProfile(displayPort_t *pDisplay, const void *ptr)
|
|
{
|
|
UNUSED(pDisplay);
|
|
UNUSED(ptr);
|
|
|
|
if (cmsx_dstControlRateProfile > 0) {
|
|
copyControlRateProfile(cmsx_dstControlRateProfile - 1, getCurrentControlRateProfileIndex());
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static OSD_Entry cmsx_menuCopyProfileEntries[] =
|
|
{
|
|
{ "-- COPY PROFILE --", OME_Label, NULL, NULL, 0},
|
|
|
|
{ "CPY PID PROF TO", OME_TAB, NULL, &cmsx_PidProfileTable, 0 },
|
|
{ "COPY PP", OME_Funcall, cmsx_CopyPidProfile, NULL, 0 },
|
|
{ "CPY RATE PROF TO", OME_TAB, NULL, &cmsx_ControlRateProfileTable, 0 },
|
|
{ "COPY RP", OME_Funcall, cmsx_CopyControlRateProfile, NULL, 0 },
|
|
|
|
{ "BACK", OME_Back, NULL, NULL, 0 },
|
|
{ NULL, OME_END, NULL, NULL, 0 }
|
|
};
|
|
|
|
CMS_Menu cmsx_menuCopyProfile = {
|
|
#ifdef CMS_MENU_DEBUG
|
|
.GUARD_text = "XCPY",
|
|
.GUARD_type = OME_MENU,
|
|
#endif
|
|
.onEnter = cmsx_menuCopyProfile_onEnter,
|
|
.onExit = NULL,
|
|
.entries = cmsx_menuCopyProfileEntries,
|
|
};
|
|
|
|
#endif
|
|
|
|
static OSD_Entry cmsx_menuImuEntries[] =
|
|
{
|
|
{ "-- PROFILE --", OME_Label, NULL, NULL, 0},
|
|
|
|
{"PID PROF", OME_UINT8, cmsx_profileIndexOnChange, &(OSD_UINT8_t){ &tmpPidProfileIndex, 1, MAX_PROFILE_COUNT, 1}, 0},
|
|
{"PID", OME_Submenu, cmsMenuChange, &cmsx_menuPid, 0},
|
|
{"MISC PP", OME_Submenu, cmsMenuChange, &cmsx_menuProfileOther, 0},
|
|
{"FILT PP", OME_Submenu, cmsMenuChange, &cmsx_menuFilterPerProfile, 0},
|
|
|
|
{"RATE PROF", OME_UINT8, cmsx_rateProfileIndexOnChange, &(OSD_UINT8_t){ &tmpRateProfileIndex, 1, CONTROL_RATE_PROFILE_COUNT, 1}, 0},
|
|
{"RATE", OME_Submenu, cmsMenuChange, &cmsx_menuRateProfile, 0},
|
|
|
|
{"FILT GLB", OME_Submenu, cmsMenuChange, &cmsx_menuFilterGlobal, 0},
|
|
#ifdef USE_EXTENDED_CMS_MENUS
|
|
{"COPY PROF", OME_Submenu, cmsMenuChange, &cmsx_menuCopyProfile, 0},
|
|
#endif /* USE_EXTENDED_CMS_MENUS */
|
|
|
|
{"BACK", OME_Back, NULL, NULL, 0},
|
|
{NULL, OME_END, NULL, NULL, 0}
|
|
};
|
|
|
|
CMS_Menu cmsx_menuImu = {
|
|
#ifdef CMS_MENU_DEBUG
|
|
.GUARD_text = "XIMU",
|
|
.GUARD_type = OME_MENU,
|
|
#endif
|
|
.onEnter = cmsx_menuImu_onEnter,
|
|
.onExit = cmsx_menuImu_onExit,
|
|
.entries = cmsx_menuImuEntries,
|
|
};
|
|
|
|
#endif // CMS
|