Fix missing PID gains updates

src/main/cms/cms_menu_imu.c

@@ -150,6 +150,8 @@ static long cmsx_PidWriteback(const OSD_Entry *self)
     cmsx_WritebackPidFromArray(cmsx_pidPitch, PIDPITCH);
     cmsx_WritebackPidFromArray(cmsx_pidYaw, PIDYAW);
 
+    schedulePidGainsUpdate();
+
     return 0;
 }
 
@@ -203,6 +205,8 @@ static long cmsx_menuPidAltMag_onExit(const OSD_Entry *self)
     cmsx_WritebackPidFromArray(cmsx_pidVel, PIDVEL);
     masterConfig.profile[profileIndex].pidProfile.P8[PIDMAG] = cmsx_pidMag[0];
 
+    navigationUsePIDs(&masterConfig.profile[profileIndex].pidProfile);
+
     return 0;
 }
 
@@ -251,6 +255,8 @@ static long cmsx_menuPidGpsnav_onExit(const OSD_Entry *self)
     cmsx_WritebackPidFromArray(cmsx_pidPosR, PIDPOSR);
     cmsx_WritebackPidFromArray(cmsx_pidNavR, PIDNAVR);
 
+    navigationUsePIDs(&masterConfig.profile[profileIndex].pidProfile);
+
     return 0;
 }
 

src/main/fc/fc_msp.c

@@ -1198,12 +1198,13 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP_SET_PID:
-        signalRequiredPIDCoefficientsUpdate();
         for (int i = 0; i < PID_ITEM_COUNT; i++) {
             currentProfile->pidProfile.P8[i] = sbufReadU8(src);
             currentProfile->pidProfile.I8[i] = sbufReadU8(src);
             currentProfile->pidProfile.D8[i] = sbufReadU8(src);
         }
+        schedulePidGainsUpdate();
+        navigationUsePIDs(&currentProfile->pidProfile);
         break;
 
     case MSP_SET_MODE_RANGE:
@@ -1269,7 +1270,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
                 currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
             }
 
-            signalRequiredPIDCoefficientsUpdate();
+            schedulePidGainsUpdate();
         } else {
             return MSP_RESULT_ERROR;
         }

src/main/fc/rc_controls.c

@@ -531,7 +531,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             controlRateConfig->rates[FD_PITCH] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
             if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
-                signalRequiredPIDCoefficientsUpdate();
+                schedulePidGainsUpdate();
                 break;
             }
             // follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
@@ -539,13 +539,13 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
             controlRateConfig->rates[FD_ROLL] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
-            signalRequiredPIDCoefficientsUpdate();
+            schedulePidGainsUpdate();
             break;
         case ADJUSTMENT_YAW_RATE:
             newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
             controlRateConfig->rates[FD_YAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
-            signalRequiredPIDCoefficientsUpdate();
+            schedulePidGainsUpdate();
             break;
         case ADJUSTMENT_PITCH_ROLL_P:
         case ADJUSTMENT_PITCH_P:
@@ -553,7 +553,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             pidProfile->P8[PIDPITCH] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
             if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
-                signalRequiredPIDCoefficientsUpdate();
+                schedulePidGainsUpdate();
                 break;
             }
             // follow though for combined ADJUSTMENT_PITCH_ROLL_P
@@ -561,7 +561,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->P8[PIDROLL] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
-            signalRequiredPIDCoefficientsUpdate();
+            schedulePidGainsUpdate();
             break;
         case ADJUSTMENT_PITCH_ROLL_I:
         case ADJUSTMENT_PITCH_I:
@@ -569,7 +569,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             pidProfile->I8[PIDPITCH] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
             if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
-                signalRequiredPIDCoefficientsUpdate();
+                schedulePidGainsUpdate();
                 break;
             }
             // follow though for combined ADJUSTMENT_PITCH_ROLL_I
@@ -577,7 +577,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->I8[PIDROLL] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
-            signalRequiredPIDCoefficientsUpdate();
+            schedulePidGainsUpdate();
             break;
         case ADJUSTMENT_PITCH_ROLL_D:
         case ADJUSTMENT_PITCH_D:
@@ -585,7 +585,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             pidProfile->D8[PIDPITCH] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
             if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
-                signalRequiredPIDCoefficientsUpdate();
+                schedulePidGainsUpdate();
                 break;
             }
             // follow though for combined ADJUSTMENT_PITCH_ROLL_D
@@ -593,25 +593,25 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->D8[PIDROLL] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
-            signalRequiredPIDCoefficientsUpdate();
+            schedulePidGainsUpdate();
             break;
         case ADJUSTMENT_YAW_P:
             newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->P8[PIDYAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
-            signalRequiredPIDCoefficientsUpdate();
+            schedulePidGainsUpdate();
             break;
         case ADJUSTMENT_YAW_I:
             newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->I8[PIDYAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
-            signalRequiredPIDCoefficientsUpdate();
+            schedulePidGainsUpdate();
             break;
         case ADJUSTMENT_YAW_D:
             newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->D8[PIDYAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
-            signalRequiredPIDCoefficientsUpdate();
+            schedulePidGainsUpdate();
             break;
         default:
             break;

src/main/flight/pid.c

@@ -82,7 +82,7 @@ int16_t magHoldTargetHeading;
 static pt1Filter_t magHoldRateFilter;
 
 // Thrust PID Attenuation factor. 0.0f means fully attenuated, 1.0f no attenuation is applied
-static bool shouldUpdatePIDCoeffs = false;
+static bool pidGainsUpdateRequired = false;
 static float tpaFactor;
 int16_t axisPID[FLIGHT_DYNAMICS_INDEX_COUNT];
 
@@ -152,9 +152,9 @@ FP-PID has been rescaled to match LuxFloat (and MWRewrite) from Cleanflight 1.13
 #define FP_PID_LEVEL_P_MULTIPLIER   65.6f
 #define FP_PID_YAWHOLD_P_MULTIPLIER 80.0f
 
-void signalRequiredPIDCoefficientsUpdate(void)
+void schedulePidGainsUpdate(void)
 {
-    shouldUpdatePIDCoeffs = true;
+    pidGainsUpdateRequired = true;
 }
 
 void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, const struct motorConfig_s *motorConfig)
@@ -164,11 +164,11 @@ void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConf
     // Check if throttle changed
     if (rcCommand[THROTTLE] != prevThrottle) {
         prevThrottle = rcCommand[THROTTLE];
-        signalRequiredPIDCoefficientsUpdate();
+        pidGainsUpdateRequired = true;
     }
 
     // If nothing changed - don't waste time recalculating coefficients
-    if (!shouldUpdatePIDCoeffs) {
+    if (!pidGainsUpdateRequired) {
         return;
     }
 
@@ -235,7 +235,7 @@ void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConf
         }
     }
 
-    shouldUpdatePIDCoeffs = false;
+    pidGainsUpdateRequired = false;
 }
 
 static void pidApplyHeadingLock(const pidProfile_t *pidProfile, pidState_t *pidState)

src/main/flight/pid.h

@@ -87,7 +87,7 @@ struct controlRateConfig_s;
 struct motorConfig_s;
 struct rxConfig_s;
 
-void signalRequiredPIDCoefficientsUpdate(void);
+void schedulePidGainsUpdate(void);
 void updatePIDCoefficients(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct motorConfig_s *motorConfig);
 void pidController(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct rxConfig_s *rxConfig);