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Add switchable gyro to cms options (#8100) 

Add switchable gyro to cms options
This commit is contained in:
Michael Keller 2019-05-25 22:44:22 +12:00 committed by GitHub
parent 339621ced3 22e9c32b84
commit 5ed426bf7b
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 16 additions and 1 deletions
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15
src/main/cms/cms_menu_imu.c
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@ -31,6 +31,7 @@
#ifdef USE_CMS #ifdef USE_CMS
#include "build/version.h" #include "build/version.h"
#include "build/build_config.h"
#include "cms/cms.h" #include "cms/cms.h"
#include "cms/cms_types.h" #include "cms/cms_types.h"
@ -81,6 +82,12 @@ static const char * const osdTableDynNotchRangeType[] = {
}; };
#endif #endif
#ifdef USE_MULTI_GYRO
static const char * const osdTableGyroToUse[] = {
"FIRST", "SECOND", "BOTH"
};
#endif
static void setProfileIndexString(char *profileString, int profileIndex, char *profileName) static void setProfileIndexString(char *profileString, int profileIndex, char *profileName)
{ {
int charIndex = 0; 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 }, { "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 }, { "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 }, { "ITERM GAIN", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_launchControlGain, 0, 200, 1 } , 0 },
{ "BACK", OME_Back, NULL, NULL, 0 }, { "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, 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_cutoff_1;
static uint16_t gyroConfig_gyro_soft_notch_hz_2; static uint16_t gyroConfig_gyro_soft_notch_hz_2;
static uint16_t gyroConfig_gyro_soft_notch_cutoff_2; static uint16_t gyroConfig_gyro_soft_notch_cutoff_2;
static uint8_t gyroConfig_gyro_to_use;
static long cmsx_menuGyro_onEnter(void) 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_cutoff_1 = gyroConfig()->gyro_soft_notch_cutoff_1;
gyroConfig_gyro_soft_notch_hz_2 = gyroConfig()->gyro_soft_notch_hz_2; 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_soft_notch_cutoff_2 = gyroConfig()->gyro_soft_notch_cutoff_2;
gyroConfig_gyro_to_use = gyroConfig()->gyro_to_use;
return 0; 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_cutoff_1 = gyroConfig_gyro_soft_notch_cutoff_1;
gyroConfigMutable()->gyro_soft_notch_hz_2 = gyroConfig_gyro_soft_notch_hz_2; 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_soft_notch_cutoff_2 = gyroConfig_gyro_soft_notch_cutoff_2;
gyroConfigMutable()->gyro_to_use = gyroConfig_gyro_to_use;
return 0; return 0;
} }
@ -505,6 +516,9 @@ 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 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 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 }, { "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}, REBOOT_REQUIRED },
#endif
{ "BACK", OME_Back, NULL, NULL, 0 }, { "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, 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 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 }, { "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 }, { "YAW LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_lowpass_hz, 0, 500, 1 }, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 }, { "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 } { NULL, OME_END, NULL, NULL, 0 }
}; };