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OSD support of Kalman settings #7

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OSD support of Kalman settings #7

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33 changes: 33 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 @@ -218,6 +218,20 @@ static OSD_Entry cmsx_menuRateProfileEntries[] =
{ "THRPID ATT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.dynThrPID, 0, 100, 1, 10}, 0 },
{ "TPA BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1000, 2000, 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, 1 }, 0 },
{ "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, 1 }, 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, 1 }, 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 }
};
Expand Down Expand Up @@ -307,6 +321,10 @@ 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_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_menuGyro_onEnter(void)
{
Expand All @@ -316,6 +334,11 @@ static long cmsx_menuGyro_onEnter(void)
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_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 0;
}

Expand All @@ -329,6 +352,11 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self)
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_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 0;
}

Expand All @@ -342,6 +370,11 @@ static 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 },

{ "KALMAN ENABLED", OME_Bool, NULL, &gyroConfig_gyro_kalman_enable, 0 },
{ "KALMAN Q", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_kalman_q, 0, 16000, 1 }, 0 },
{ "KALMAN R", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_kalman_r, 0, 16000, 1 }, 0 },
{ "KALMAN P", OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_kalman_p, 0, 16000, 1 }, 0 },

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