From 8f3ef2676fd8b5244aabe994c490a0b8bc17d942 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Wed, 21 Dec 2016 15:27:31 +0000
Subject: [PATCH] Tidied cms imu code

---
 src/main/cms/cms_menu_imu.c | 58 ++++++++++++++++++++-----------------
 1 file changed, 32 insertions(+), 26 deletions(-)

diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 26cce4558..5899c69f8 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -104,10 +104,11 @@ static long cmsx_rateProfileIndexOnChange(displayPort_t *displayPort, const void
 static long cmsx_PidRead(void)
 {
 
+    const pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile;
     for (uint8_t i = 0; i < 3; i++) {
-        tempPid[i][0] = masterConfig.profile[profileIndex].pidProfile.P8[i];
-        tempPid[i][1] = masterConfig.profile[profileIndex].pidProfile.I8[i];
-        tempPid[i][2] = masterConfig.profile[profileIndex].pidProfile.D8[i];
+        tempPid[i][0] = pidProfile->P8[i];
+        tempPid[i][1] = pidProfile->I8[i];
+        tempPid[i][2] = pidProfile->D8[i];
     }
 
     return 0;
@@ -125,10 +126,11 @@ static long cmsx_PidWriteback(const OSD_Entry *self)
 {
     UNUSED(self);
 
+    pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile;
     for (uint8_t i = 0; i < 3; i++) {
-        masterConfig.profile[profileIndex].pidProfile.P8[i] = tempPid[i][0];
-        masterConfig.profile[profileIndex].pidProfile.I8[i] = tempPid[i][1];
-        masterConfig.profile[profileIndex].pidProfile.D8[i] = tempPid[i][2];
+        pidProfile->P8[i] = tempPid[i][0];
+        pidProfile->I8[i] = tempPid[i][1];
+        pidProfile->D8[i] = tempPid[i][2];
     }
     pidInitConfig(&currentProfile->pidProfile);
 
@@ -233,12 +235,13 @@ static long cmsx_profileOtherOnEnter(void)
 {
     profileIndexString[1] = '0' + tmpProfileIndex;
 
-    cmsx_dtermSetpointWeight = masterConfig.profile[profileIndex].pidProfile.dtermSetpointWeight;
-    cmsx_setpointRelaxRatio  = masterConfig.profile[profileIndex].pidProfile.setpointRelaxRatio;
+    const pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile;
+    cmsx_dtermSetpointWeight = pidProfile->dtermSetpointWeight;
+    cmsx_setpointRelaxRatio  = pidProfile->setpointRelaxRatio;
 
-    cmsx_angleStrength =     masterConfig.profile[profileIndex].pidProfile.P8[PIDLEVEL];
-    cmsx_horizonStrength =   masterConfig.profile[profileIndex].pidProfile.I8[PIDLEVEL];
-    cmsx_horizonTransition = masterConfig.profile[profileIndex].pidProfile.D8[PIDLEVEL];
+    cmsx_angleStrength =     pidProfile->P8[PIDLEVEL];
+    cmsx_horizonStrength =   pidProfile->I8[PIDLEVEL];
+    cmsx_horizonTransition = pidProfile->D8[PIDLEVEL];
 
     return 0;
 }
@@ -247,13 +250,14 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
 {
     UNUSED(self);
 
-    masterConfig.profile[profileIndex].pidProfile.dtermSetpointWeight = cmsx_dtermSetpointWeight;
-    masterConfig.profile[profileIndex].pidProfile.setpointRelaxRatio = cmsx_setpointRelaxRatio;
+    pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile;
+    pidProfile->dtermSetpointWeight = cmsx_dtermSetpointWeight;
+    pidProfile->setpointRelaxRatio = cmsx_setpointRelaxRatio;
     pidInitConfig(&currentProfile->pidProfile);
 
-    masterConfig.profile[profileIndex].pidProfile.P8[PIDLEVEL] = cmsx_angleStrength;
-    masterConfig.profile[profileIndex].pidProfile.I8[PIDLEVEL] = cmsx_horizonStrength;
-    masterConfig.profile[profileIndex].pidProfile.D8[PIDLEVEL] = cmsx_horizonTransition;
+    pidProfile->P8[PIDLEVEL] = cmsx_angleStrength;
+    pidProfile->I8[PIDLEVEL] = cmsx_horizonStrength;
+    pidProfile->D8[PIDLEVEL] = cmsx_horizonTransition;
 
     return 0;
 }
@@ -311,11 +315,12 @@ static uint16_t cmsx_yaw_p_limit;
 
 static long cmsx_FilterPerProfileRead(void)
 {
-    cmsx_dterm_lpf_hz =       masterConfig.profile[profileIndex].pidProfile.dterm_lpf_hz;
-    cmsx_dterm_notch_hz =     masterConfig.profile[profileIndex].pidProfile.dterm_notch_hz;
-    cmsx_dterm_notch_cutoff = masterConfig.profile[profileIndex].pidProfile.dterm_notch_cutoff;
-    cmsx_yaw_lpf_hz =         masterConfig.profile[profileIndex].pidProfile.yaw_lpf_hz;
-    cmsx_yaw_p_limit =        masterConfig.profile[profileIndex].pidProfile.yaw_p_limit;
+    const pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile;
+    cmsx_dterm_lpf_hz =       pidProfile->dterm_lpf_hz;
+    cmsx_dterm_notch_hz =     pidProfile->dterm_notch_hz;
+    cmsx_dterm_notch_cutoff = pidProfile->dterm_notch_cutoff;
+    cmsx_yaw_lpf_hz =         pidProfile->yaw_lpf_hz;
+    cmsx_yaw_p_limit =        pidProfile->yaw_p_limit;
 
     return 0;
 }
@@ -324,11 +329,12 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self)
 {
     UNUSED(self);
 
-    masterConfig.profile[profileIndex].pidProfile.dterm_lpf_hz =       cmsx_dterm_lpf_hz;
-    masterConfig.profile[profileIndex].pidProfile.dterm_notch_hz =     cmsx_dterm_notch_hz;
-    masterConfig.profile[profileIndex].pidProfile.dterm_notch_cutoff = cmsx_dterm_notch_cutoff;
-    masterConfig.profile[profileIndex].pidProfile.yaw_lpf_hz =         cmsx_yaw_lpf_hz;
-    masterConfig.profile[profileIndex].pidProfile.yaw_p_limit =        cmsx_yaw_p_limit;
+    pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile;
+    pidProfile->dterm_lpf_hz =       cmsx_dterm_lpf_hz;
+    pidProfile->dterm_notch_hz =     cmsx_dterm_notch_hz;
+    pidProfile->dterm_notch_cutoff = cmsx_dterm_notch_cutoff;
+    pidProfile->yaw_lpf_hz =         cmsx_yaw_lpf_hz;
+    pidProfile->yaw_p_limit =        cmsx_yaw_p_limit;
 
     return 0;
 }