From 8e987eeaaf8b8577de6c05b3d75a4e32fb922c39 Mon Sep 17 00:00:00 2001
From: Asizon <43983086+Asizon@users.noreply.github.com>
Date: Sat, 27 Apr 2019 00:16:33 +0200
Subject: [PATCH 1/2] Add switchable gyro to cms options

Applied only to MULTI_GYRO

Added forgotten definition
---
 src/main/cms/cms_menu_imu.c | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 970e7afe7..759c1c7ee 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -31,6 +31,7 @@
 #ifdef USE_CMS
 
 #include "build/version.h"
+#include "build/build_config.h"
 
 #include "cms/cms.h"
 #include "cms/cms_types.h"
@@ -81,6 +82,12 @@ static const char * const osdTableDynNotchRangeType[] = {
 };
 #endif
 
+#ifdef USE_MULTI_GYRO
+static const char * const osdTableGyroToUse[] = {
+    "FIRST", "SECOND", "BOTH"
+};
+#endif
+
 static void setProfileIndexString(char *profileString, int profileIndex, char *profileName)
 {
     int charIndex = 0;
@@ -327,6 +334,7 @@ static const OSD_Entry cmsx_menuLaunchControlEntries[] = {
     { "TRIGGER THROTTLE", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlThrottlePercent, 0,  LAUNCH_CONTROL_THROTTLE_TRIGGER_MAX, 1 } , 0 },
     { "ANGLE LIMIT",      OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlAngleLimit,      0,  80, 1 } , 0 },
     { "ITERM GAIN",       OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlGain,            0, 200, 1 } , 0 },
+	
     { "BACK", OME_Back, NULL, NULL, 0 },
     { NULL, OME_END, NULL, NULL, 0 }
 };
@@ -466,6 +474,7 @@ static uint16_t gyroConfig_gyro_soft_notch_hz_1;
 static uint16_t gyroConfig_gyro_soft_notch_cutoff_1;
 static uint16_t gyroConfig_gyro_soft_notch_hz_2;
 static uint16_t gyroConfig_gyro_soft_notch_cutoff_2;
+static uint8_t  gyroConfig_gyro_to_use;
 
 static long cmsx_menuGyro_onEnter(void)
 {
@@ -475,6 +484,7 @@ static long cmsx_menuGyro_onEnter(void)
     gyroConfig_gyro_soft_notch_cutoff_1 = gyroConfig()->gyro_soft_notch_cutoff_1;
     gyroConfig_gyro_soft_notch_hz_2 = gyroConfig()->gyro_soft_notch_hz_2;
     gyroConfig_gyro_soft_notch_cutoff_2 = gyroConfig()->gyro_soft_notch_cutoff_2;
+    gyroConfig_gyro_to_use = gyroConfig()->gyro_to_use;
 
     return 0;
 }
@@ -489,6 +499,7 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self)
     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;
+    gyroConfigMutable()->gyro_to_use = gyroConfig_gyro_to_use;
 
     return 0;
 }
@@ -505,7 +516,10 @@ static const OSD_Entry cmsx_menuFilterGlobalEntries[] =
     { "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 },
-
+#ifdef USE_MULTI_GYRO
+    { "GYRO TO USE",  OME_TAB,  NULL, &(OSD_TAB_t)    { &gyroConfig_gyro_to_use,  2, osdTableGyroToUse}, 0 },
+#endif
+	
     { "BACK", OME_Back, NULL, NULL, 0 },
     { NULL, OME_END, NULL, NULL, 0 }
 };
@@ -652,6 +666,7 @@ static const OSD_Entry cmsx_menuFilterPerProfileEntries[] =
     { "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 }
 };

From 22e9c32b84ebc759091fa5992109df2f8852f17b Mon Sep 17 00:00:00 2001
From: Asizon <43983086+Asizon@users.noreply.github.com>
Date: Thu, 23 May 2019 00:49:42 +0200
Subject: [PATCH 2/2] Added REBOOT_REQUIRED flag

---
 src/main/cms/cms_menu_imu.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 759c1c7ee..2d29bf505 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -517,7 +517,7 @@ static const OSD_Entry cmsx_menuFilterGlobalEntries[] =
     { "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 },
 #ifdef USE_MULTI_GYRO
-    { "GYRO TO USE",  OME_TAB,  NULL, &(OSD_TAB_t)    { &gyroConfig_gyro_to_use,  2, osdTableGyroToUse}, 0 },
+    { "GYRO TO USE",  OME_TAB,  NULL, &(OSD_TAB_t)    { &gyroConfig_gyro_to_use,  2, osdTableGyroToUse}, REBOOT_REQUIRED },
 #endif
 	
     { "BACK", OME_Back, NULL, NULL, 0 },