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OSD support of Kalman settings #5

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OSD support of Kalman settings #5

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c632a51
OSD support of Kalman settings
Jan 6, 2018
2628e19
Changes all steps to 1
Jan 10, 2018
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63 changes: 63 additions & 0 deletions src/main/cms/cms_menu_imu.c
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Original file line number Diff line number Diff line change
Expand Up @@ -480,12 +480,75 @@ CMS_Menu cmsx_menuCopyProfile = {

#endif

static uint8_t gyroConfig_gyro_kalman_enable;
static uint16_t gyroConfig_gyro_kalman_q;
static uint16_t gyroConfig_gyro_kalman_r;
static uint16_t gyroConfig_gyro_kalman_p;

static long cmsx_kalmanOnEnter(void)
{
gyroConfig_gyro_kalman_enable = gyroConfig()->gyro_kalman_enable;
gyroConfig_gyro_kalman_q = gyroConfig()->gyro_kalman_q;
gyroConfig_gyro_kalman_r = gyroConfig()->gyro_kalman_r;
gyroConfig_gyro_kalman_p = gyroConfig()->gyro_kalman_p;

return cmsx_RateProfileOnEnter();
}

static long cmsx_kalmanWriteback(const OSD_Entry *self)
{
gyroConfigMutable()->gyro_kalman_enable = gyroConfig_gyro_kalman_enable;
gyroConfigMutable()->gyro_kalman_q = gyroConfig_gyro_kalman_q;
gyroConfigMutable()->gyro_kalman_r = gyroConfig_gyro_kalman_r;
gyroConfigMutable()->gyro_kalman_p = gyroConfig_gyro_kalman_p;

return cmsx_RateProfileWriteback(self);
}

static OSD_Entry cmsx_menuKalmanEntries[] =
{
{ "-- KALMAN --", OME_Label, NULL, rateProfileIndexString, 0},
{ "ENABLED", OME_Bool, NULL, &gyroConfig_gyro_kalman_enable, 0 },

{ "KALMAN Q", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_kalman_q, 0, 16000, 10 }, 0 },
{ "KALMAN R", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_kalman_r, 0, 16000, 10 }, 0 },
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@apocolipse apocolipse Jan 8, 2018 •
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Step should be 1 for gyroConfig_gyro_kalman_r, probably fine to have the others at 10

{ "KALMAN P", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_kalman_p, 0, 16000, 10 }, 0 },

{ "RF RATE ENABLED", OME_Bool, NULL, &rateProfile.rfRatesEnabled, 0 },

{ "RF RATE ROLL", OME_UINT16, NULL, &(OSD_UINT16_t) { &rateProfile.rfRate[FD_ROLL], 200, 1500, 10 }, 0 },
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Step for Rate should be 5, all can probably be 5 but rate should be 1 or 5 not 10.

{ "RF ACRO ROLL", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.rfAcro[FD_ROLL], 0, 255, 1 }, 0 },
{ "RF EXPO ROLL", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.rfExpo[FD_ROLL], 0, 100, 1 }, 0 },

{ "RF RATE PITCH", OME_UINT16, NULL, &(OSD_UINT16_t) { &rateProfile.rfRate[FD_PITCH], 200, 1500, 10 }, 0 },
{ "RF ACRO PITCH", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.rfAcro[FD_PITCH], 0, 255, 1 }, 0 },
{ "RF EXPO PITCH", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.rfExpo[FD_PITCH], 0, 100, 1 }, 0 },

{ "RF RATE YAW", OME_UINT16, NULL, &(OSD_UINT16_t) { &rateProfile.rfRate[FD_YAW], 200, 1500, 10 }, 0 },
{ "RF ACRO YAW", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.rfAcro[FD_YAW], 0, 255, 1 }, 0 },
{ "RF EXPO YAW", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.rfExpo[FD_YAW], 0, 100, 1 }, 0 },

{"BACK", OME_Back, NULL, NULL, 0},
{ NULL, OME_END, NULL, NULL, 0 }
};

static CMS_Menu cmsx_menuKalman = {
#ifdef CMS_MENU_DEBUG
.GUARD_text = "XKALMAN",
.GUARD_type = OME_MENU,
#endif
.onEnter = cmsx_kalmanOnEnter,
.onExit = cmsx_kalmanWriteback,
.entries = cmsx_menuKalmanEntries
};

static OSD_Entry cmsx_menuImuEntries[] =
{
{ "-- IMU --", OME_Label, NULL, NULL, 0},

{"PID PROF", OME_UINT8, cmsx_profileIndexOnChange, &(OSD_UINT8_t){ &tmpPidProfileIndex, 1, MAX_PROFILE_COUNT, 1}, 0},
{"PID", OME_Submenu, cmsMenuChange, &cmsx_menuPid, 0},
{"KALMAN", OME_Submenu, cmsMenuChange, &cmsx_menuKalman, 0},
{"MISC PP", OME_Submenu, cmsMenuChange, &cmsx_menuProfileOther, 0},
{"FILT PP", OME_Submenu, cmsMenuChange, &cmsx_menuFilterPerProfile, 0},

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