Menu tidy
This commit is contained in:
jflyper
parent
0c57456ae7
commit
31b6e7e024
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@ -69,18 +69,18 @@ static long cmsx_Blackbox_FeatureWriteback(void)
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return 0;
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}
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static OSD_UINT8_t entryBlackboxRateDenom = {&masterConfig.blackbox_rate_denom,1,32,1};
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static OSD_Entry cmsx_menuBlackboxEntries[] =
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{
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{"--- BLACKBOX ---", OME_Label, NULL, NULL, 0},
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{"ENABLED", OME_Bool, NULL, &cmsx_FeatureBlackbox, 0},
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{"RATE DENOM", OME_UINT8, NULL, &entryBlackboxRateDenom, 0},
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{ "-- BLACKBOX --", OME_Label, NULL, NULL, 0},
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{ "ENABLED", OME_Bool, NULL, &cmsx_FeatureBlackbox, 0 },
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{ "RATE DENOM", OME_UINT8, NULL, &(OSD_UINT8_t){ &masterConfig.blackbox_rate_denom,1,32,1 }, 0 },
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#ifdef USE_FLASHFS
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{"ERASE FLASH", OME_Submenu, cmsx_EraseFlash, NULL, 0},
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{ "ERASE FLASH", OME_Submenu, cmsx_EraseFlash, NULL, 0 },
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#endif // USE_FLASHFS
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{"BACK", OME_Back, NULL, NULL, 0},
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{NULL, OME_END, NULL, NULL, 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_menuBlackbox = {
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@ -31,34 +31,39 @@
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#include "config/config_master.h"
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#include "config/feature.h"
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static OSD_UINT8_t entryPidProfile = {&masterConfig.current_profile_index, 0, MAX_PROFILE_COUNT, 1};
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//
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// PID
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//
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static uint8_t pidProfileIndex;
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static uint8_t tempPid[4][3];
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static OSD_UINT8_t entryRollP = {&tempPid[PIDROLL][0], 10, 150, 1};
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static OSD_UINT8_t entryRollI = {&tempPid[PIDROLL][1], 1, 150, 1};
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static OSD_UINT8_t entryRollD = {&tempPid[PIDROLL][2], 0, 150, 1};
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static long cmsx_menuImu_onEnter(void)
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{
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pidProfileIndex = masterConfig.current_profile_index + 1;
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static OSD_UINT8_t entryPitchP = {&tempPid[PIDPITCH][0], 10, 150, 1};
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static OSD_UINT8_t entryPitchI = {&tempPid[PIDPITCH][1], 1, 150, 1};
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static OSD_UINT8_t entryPitchD = {&tempPid[PIDPITCH][2], 0, 150, 1};
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return 0;
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}
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static OSD_UINT8_t entryYawP = {&tempPid[PIDYAW][0], 10, 150, 1};
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static OSD_UINT8_t entryYawI = {&tempPid[PIDYAW][1], 1, 150, 1};
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static OSD_UINT8_t entryYawD = {&tempPid[PIDYAW][2], 0, 150, 1};
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static long cmsx_menuImu_onExit(OSD_Entry *self)
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{
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UNUSED(self);
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masterConfig.current_profile_index = pidProfileIndex - 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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uint8_t i;
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for (i = 0; i < 3; i++) {
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tempPid[i][0] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[i];
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tempPid[i][1] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[i];
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tempPid[i][2] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[i];
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for (uint8_t i = 0; i < 3; i++) {
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tempPid[i][0] = masterConfig.profile[pidProfileIndex].pidProfile.P8[i];
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tempPid[i][1] = masterConfig.profile[pidProfileIndex].pidProfile.I8[i];
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tempPid[i][2] = masterConfig.profile[pidProfileIndex].pidProfile.D8[i];
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}
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tempPid[3][0] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL];
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tempPid[3][1] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL];
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tempPid[3][2] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL];
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tempPid[3][0] = masterConfig.profile[pidProfileIndex].pidProfile.P8[PIDLEVEL];
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tempPid[3][1] = masterConfig.profile[pidProfileIndex].pidProfile.I8[PIDLEVEL];
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tempPid[3][2] = masterConfig.profile[pidProfileIndex].pidProfile.D8[PIDLEVEL];
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return 0;
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}
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@ -67,42 +72,41 @@ static long cmsx_PidWriteback(OSD_Entry *self)
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{
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UNUSED(self);
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uint8_t i;
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for (i = 0; i < 3; i++) {
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[i] = tempPid[i][0];
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[i] = tempPid[i][1];
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[i] = tempPid[i][2];
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for (uint8_t i = 0; i < 3; i++) {
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masterConfig.profile[pidProfileIndex].pidProfile.P8[i] = tempPid[i][0];
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masterConfig.profile[pidProfileIndex].pidProfile.I8[i] = tempPid[i][1];
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masterConfig.profile[pidProfileIndex].pidProfile.D8[i] = tempPid[i][2];
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}
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL] = tempPid[3][0];
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL] = tempPid[3][1];
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL] = tempPid[3][2];
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masterConfig.profile[pidProfileIndex].pidProfile.P8[PIDLEVEL] = tempPid[3][0];
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masterConfig.profile[pidProfileIndex].pidProfile.I8[PIDLEVEL] = tempPid[3][1];
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masterConfig.profile[pidProfileIndex].pidProfile.D8[PIDLEVEL] = tempPid[3][2];
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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, NULL, 0},
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{"ROLL P", OME_UINT8, NULL, &entryRollP, 0},
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{"ROLL I", OME_UINT8, NULL, &entryRollI, 0},
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{"ROLL D", OME_UINT8, NULL, &entryRollD, 0},
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{ "-- PID --", OME_Label, NULL, NULL, 0},
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{"PITCH P", OME_UINT8, NULL, &entryPitchP, 0},
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{"PITCH I", OME_UINT8, NULL, &entryPitchI, 0},
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{"PITCH D", OME_UINT8, NULL, &entryPitchD, 0},
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{ "ROLL P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDROLL][0], 10, 150, 1 }, 0 },
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{ "ROLL I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDROLL][1], 1, 150, 1 }, 0 },
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{ "ROLL D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDROLL][2], 0, 150, 1 }, 0 },
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{"YAW P", OME_UINT8, NULL, &entryYawP, 0},
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{"YAW I", OME_UINT8, NULL, &entryYawI, 0},
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{"YAW D", OME_UINT8, NULL, &entryYawD, 0},
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{ "PITCH P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDPITCH][0], 10, 150, 1 }, 0 },
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{ "PITCH I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDPITCH][1], 1, 150, 1 }, 0 },
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{ "PITCH D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDPITCH][2], 0, 150, 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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{ "YAW P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDYAW][0], 10, 150, 1 }, 0 },
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{ "YAW I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDYAW][1], 1, 150, 1 }, 0 },
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{ "YAW D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PIDYAW][2], 0, 150, 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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"MENUPID",
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"XPID",
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OME_MENU,
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cmsx_PidRead,
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cmsx_PidWriteback,
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@ -115,18 +119,6 @@ static CMS_Menu cmsx_menuPid = {
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//
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static controlRateConfig_t rateProfile;
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static OSD_FLOAT_t entryRollRate = {&rateProfile.rates[0], 0, 250, 1, 10};
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static OSD_FLOAT_t entryPitchRate = {&rateProfile.rates[1], 0, 250, 1, 10};
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static OSD_FLOAT_t entryYawRate = {&rateProfile.rates[2], 0, 250, 1, 10};
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static OSD_FLOAT_t entryRcRate = {&rateProfile.rcRate8, 0, 200, 1, 10};
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static OSD_FLOAT_t entryRcYawRate = {&rateProfile.rcYawRate8, 0, 200, 1, 10};
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static OSD_FLOAT_t entryRcExpo = {&rateProfile.rcExpo8, 0, 100, 1, 10};
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static OSD_FLOAT_t entryRcExpoYaw = {&rateProfile.rcYawExpo8, 0, 100, 1, 10};
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static OSD_FLOAT_t extryTpaEntry = {&rateProfile.dynThrPID, 0, 70, 1, 10};
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static OSD_UINT16_t entryTpaBreak = {&rateProfile.tpa_breakpoint, 1100, 1800, 10};
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static OSD_FLOAT_t entryPSetpoint = {&masterConfig.profile[0].pidProfile.setpointRelaxRatio, 0, 100, 1, 10};
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static OSD_FLOAT_t entryDSetpoint = {&masterConfig.profile[0].pidProfile.dtermSetpointWeight, 0, 255, 1, 10};
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static long cmsx_RateExpoRead(void)
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{
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memcpy(&rateProfile, &masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile], sizeof(controlRateConfig_t));
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@ -153,24 +145,29 @@ static long cmsx_menuRcConfirmBack(OSD_Entry *self)
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static OSD_Entry cmsx_menuRateExpoEntries[] =
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{
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{"--- RATE&EXPO ---", OME_Label, NULL, NULL, 0},
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{"RC RATE", OME_FLOAT, NULL, &entryRcYawRate, 0},
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{"RC YAW RATE", OME_FLOAT, NULL, &entryRcRate, 0},
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{"ROLL SUPER", OME_FLOAT, NULL, &entryRollRate, 0},
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{"PITCH SUPER", OME_FLOAT, NULL, &entryPitchRate, 0},
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{"YAW SUPER", OME_FLOAT, NULL, &entryYawRate, 0},
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{"RC EXPO", OME_FLOAT, NULL, &entryRcExpo, 0},
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{"RC YAW EXPO", OME_FLOAT, NULL, &entryRcExpoYaw, 0},
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{"THR PID ATT", OME_FLOAT, NULL, &extryTpaEntry, 0},
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{"TPA BRKPT", OME_UINT16, NULL, &entryTpaBreak, 0},
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{"D SETPT", OME_FLOAT, NULL, &entryDSetpoint, 0},
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{"D SETPT TRN", OME_FLOAT, NULL, &entryPSetpoint, 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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{ "-- RATE&EXPO --", OME_Label, NULL, NULL, 0 },
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{ "RC RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcRate8, 0, 200, 1, 10 }, 0 },
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{ "RC YAW RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rcYawRate8, 0, 200, 1, 10 }, 0 },
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{ "ROLL SUPER", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rates[0], 0, 250, 1, 10 }, 0 },
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{ "PITCH SUPER", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rates[1], 0, 250, 1, 10 }, 0 },
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{ "YAW SUPER", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.rates[2], 0, 250, 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, 70, 1, 10}, 0 },
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{ "TPA BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1100, 1800, 10}, 0 },
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{ "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &masterConfig.profile[0].pidProfile.dtermSetpointWeight, 0, 255, 1, 10 }, 0 },
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{ "SETPT RLX", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &masterConfig.profile[0].pidProfile.setpointRelaxRatio, 0, 100, 1, 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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CMS_Menu cmsx_menuRateExpo = {
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"MENURTEX",
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"MENURATE",
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OME_MENU,
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cmsx_RateExpoRead,
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cmsx_RateExpoWriteback,
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@ -182,32 +179,26 @@ CMS_Menu cmsx_menuRateExpo = {
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//
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// RC preview
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//
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static OSD_INT16_t entryRcRoll = {&rcData[ROLL], 1, 2500, 0};
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static OSD_INT16_t entryRcPitch = {&rcData[PITCH], 1, 2500, 0};
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static OSD_INT16_t entryRcThr = {&rcData[THROTTLE], 1, 2500, 0};
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static OSD_INT16_t entryRcYaw = {&rcData[YAW], 1, 2500, 0};
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static OSD_INT16_t entryRcAux1 = {&rcData[AUX1], 1, 2500, 0};
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static OSD_INT16_t entryRcAux2 = {&rcData[AUX2], 1, 2500, 0};
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static OSD_INT16_t entryRcAux3 = {&rcData[AUX3], 1, 2500, 0};
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static OSD_INT16_t entryRcAux4 = {&rcData[AUX4], 1, 2500, 0};
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static OSD_Entry cmsx_menuRcEntries[] =
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{
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{"--- RC PREV ---", OME_Label, NULL, NULL, 0},
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{"ROLL", OME_INT16, NULL, &entryRcRoll, DYNAMIC},
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{"PITCH", OME_INT16, NULL, &entryRcPitch, DYNAMIC},
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{"THR", OME_INT16, NULL, &entryRcThr, DYNAMIC},
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{"YAW", OME_INT16, NULL, &entryRcYaw, DYNAMIC},
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{"AUX1", OME_INT16, NULL, &entryRcAux1, DYNAMIC},
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{"AUX2", OME_INT16, NULL, &entryRcAux2, DYNAMIC},
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{"AUX3", OME_INT16, NULL, &entryRcAux3, DYNAMIC},
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{"AUX4", OME_INT16, NULL, &entryRcAux4, DYNAMIC},
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{"BACK", OME_Back, NULL, NULL, 0},
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{ "-- RC PREV --", OME_Label, NULL, NULL, 0},
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{ "ROLL", OME_INT16, NULL, &(OSD_INT16_t){ &rcData[ROLL], 1, 2500, 0 }, DYNAMIC },
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{ "PITCH", OME_INT16, NULL, &(OSD_INT16_t){ &rcData[PITCH], 1, 2500, 0 }, DYNAMIC },
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{ "THR", OME_INT16, NULL, &(OSD_INT16_t){ &rcData[THROTTLE], 1, 2500, 0 }, DYNAMIC },
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{ "YAW", OME_INT16, NULL, &(OSD_INT16_t){ &rcData[YAW], 1, 2500, 0 }, DYNAMIC },
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{ "AUX1", OME_INT16, NULL, &(OSD_INT16_t){ &rcData[AUX1], 1, 2500, 0 }, DYNAMIC },
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{ "AUX2", OME_INT16, NULL, &(OSD_INT16_t){ &rcData[AUX2], 1, 2500, 0 }, DYNAMIC },
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{ "AUX3", OME_INT16, NULL, &(OSD_INT16_t){ &rcData[AUX3], 1, 2500, 0 }, DYNAMIC },
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{ "AUX4", OME_INT16, NULL, &(OSD_INT16_t){ &rcData[AUX4], 1, 2500, 0 }, DYNAMIC },
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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_menuRc = {
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"MENURC",
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CMS_Menu cmsx_menuRcPreview = {
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"XRCPREV",
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OME_MENU,
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NULL,
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cmsx_menuRcConfirmBack,
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@ -219,30 +210,24 @@ CMS_Menu cmsx_menuRc = {
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//
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// Misc
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//
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static OSD_UINT16_t entryMinThrottle = {&masterConfig.motorConfig.minthrottle, 1020, 1300, 10};
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static OSD_UINT8_t entryGyroSoftLpfHz = {&masterConfig.gyro_soft_lpf_hz, 0, 255, 1};
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static OSD_UINT16_t entryDtermLpf = {&masterConfig.profile[0].pidProfile.dterm_lpf_hz, 0, 500, 5};
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static OSD_UINT16_t entryYawLpf = {&masterConfig.profile[0].pidProfile.yaw_lpf_hz, 0, 500, 5};
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static OSD_UINT16_t entryYawPLimit = {&masterConfig.profile[0].pidProfile.yaw_p_limit, 100, 500, 5};
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static OSD_UINT8_t entryVbatScale = {&masterConfig.batteryConfig.vbatscale, 1, 250, 1};
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static OSD_UINT8_t entryVbatMaxCell = {&masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50, 1};
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static OSD_Entry menuImuMiscEntries[]=
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{
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{"--- MISC ---", OME_Label, NULL, NULL, 0},
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{"GYRO LPF", OME_UINT8, NULL, &entryGyroSoftLpfHz, 0},
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{"DTERM LPF", OME_UINT16, NULL, &entryDtermLpf, 0},
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{"YAW LPF", OME_UINT16, NULL, &entryYawLpf, 0},
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{"YAW P LIM", OME_UINT16, NULL, &entryYawPLimit, 0},
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{"MIN THR", OME_UINT16, NULL, &entryMinThrottle, 0},
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{"VBAT SCALE", OME_UINT8, NULL, &entryVbatScale, 0},
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{"VBAT CLMAX", OME_UINT8, NULL, &entryVbatMaxCell, 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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{ "-- MISC --", OME_Label, NULL, NULL, 0 },
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{ "GYRO LPF", OME_UINT8, NULL, &(OSD_UINT8_t) { &masterConfig.gyro_soft_lpf_hz, 0, 255, 1 }, 0 },
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{ "DTERM LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &masterConfig.profile[0].pidProfile.dterm_lpf_hz, 0, 500, 5 }, 0 },
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{ "YAW LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &masterConfig.profile[0].pidProfile.yaw_lpf_hz, 0, 500, 5 }, 0 },
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{ "YAW P LIM", OME_UINT16, NULL, &(OSD_UINT16_t){ &masterConfig.profile[0].pidProfile.yaw_p_limit, 100, 500, 5 }, 0 },
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{ "MIN THR", OME_UINT16, NULL, &(OSD_UINT16_t){ &masterConfig.motorConfig.minthrottle, 1020, 1300, 10 }, 0 },
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{ "VBAT SCALE", OME_UINT8, NULL, &(OSD_UINT8_t) { &masterConfig.batteryConfig.vbatscale, 1, 250, 1 }, 0 },
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{ "VBAT CLMAX", OME_UINT8, NULL, &(OSD_UINT8_t) { &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50, 1 }, 0 },
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||||
{ "BACK", OME_Back, NULL, NULL, 0},
|
||||
{ NULL, OME_END, NULL, NULL, 0}
|
||||
};
|
||||
|
||||
CMS_Menu menuImuMisc = {
|
||||
"MENUIMU",
|
||||
"XIMUMISC",
|
||||
OME_MENU,
|
||||
NULL,
|
||||
NULL,
|
||||
|
|
@ -252,21 +237,23 @@ CMS_Menu menuImuMisc = {
|
|||
|
||||
static OSD_Entry cmsx_menuImuEntries[] =
|
||||
{
|
||||
{"--- CFG.IMU ---", OME_Label, NULL, NULL, 0},
|
||||
{"PID PROF", OME_UINT8, NULL, &entryPidProfile, 0},
|
||||
{"PID", OME_Submenu, cmsMenuChange, &cmsx_menuPid, 0},
|
||||
{"RATE&RXPO", OME_Submenu, cmsMenuChange, &cmsx_menuRateExpo, 0},
|
||||
{"RC PREV", OME_Submenu, cmsMenuChange, &cmsx_menuRc, 0},
|
||||
{"MISC", OME_Submenu, cmsMenuChange, &menuImuMisc, 0},
|
||||
{ "-- IMU --", OME_Label, NULL, NULL, 0},
|
||||
|
||||
{"PID PROF", OME_UINT8, NULL, &(OSD_UINT8_t){ &pidProfileIndex, 1, MAX_PROFILE_COUNT, 1}, 0},
|
||||
{"PID", OME_Submenu, cmsMenuChange, &cmsx_menuPid, 0},
|
||||
{"RATE&RXPO", OME_Submenu, cmsMenuChange, &cmsx_menuRateExpo, 0},
|
||||
{"RC PREV", OME_Submenu, cmsMenuChange, &cmsx_menuRcPreview, 0},
|
||||
{"MISC", OME_Submenu, cmsMenuChange, &menuImuMisc, 0},
|
||||
|
||||
{"BACK", OME_Back, NULL, NULL, 0},
|
||||
{NULL, OME_END, NULL, NULL, 0}
|
||||
};
|
||||
|
||||
CMS_Menu cmsx_menuImu = {
|
||||
"MENUIMU",
|
||||
"XIMU",
|
||||
OME_MENU,
|
||||
NULL,
|
||||
NULL,
|
||||
cmsx_menuImu_onEnter,
|
||||
cmsx_menuImu_onExit,
|
||||
NULL,
|
||||
cmsx_menuImuEntries,
|
||||
};
|
||||
|
|
|
|||
|
|
@ -46,10 +46,11 @@ static long cmsx_Ledstrip_FeatureWriteback(void)
|
|||
|
||||
static OSD_Entry cmsx_menuLedstripEntries[] =
|
||||
{
|
||||
{"--- LED STRIP ---", OME_Label, NULL, NULL, 0},
|
||||
{"ENABLED", OME_Bool, NULL, &cmsx_FeatureLedstrip, 0},
|
||||
{"BACK", OME_Back, NULL, NULL, 0},
|
||||
{NULL, OME_END, NULL, NULL, 0}
|
||||
{ "-- LED STRIP --", OME_Label, NULL, NULL, 0 },
|
||||
{ "ENABLED", OME_Bool, NULL, &cmsx_FeatureLedstrip, 0 },
|
||||
|
||||
{ "BACK", OME_Back, NULL, NULL, 0 },
|
||||
{ NULL, OME_END, NULL, NULL, 0 }
|
||||
};
|
||||
|
||||
CMS_Menu cmsx_menuLedstrip = {
|
||||
|
|
|
|||
Loading…
Reference in New Issue