static long cmsx_PidWriteback(const OSD_Entry *self)
{
UNUSED(self);
pidProfile_t *pidProfile = currentPidProfile;
for (uint8_t i = 0; i < 3; i++) {
pidProfile->pid[i].P = tempPid[i][0];
pidProfile->pid[i].I = tempPid[i][1];
pidProfile->pid[i].D = tempPid[i][2];
}
pidInitConfig(currentPidProfile);
return 0;
}
static long cmsx_profileOtherOnExit(const OSD_Entry *self)
{
UNUSED(self);
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->dtermSetpointWeight = cmsx_dtermSetpointWeight;
pidProfile->setpointRelaxRatio = cmsx_setpointRelaxRatio;
pidInitConfig(currentPidProfile);
pidProfile->pid[PID_LEVEL].P = cmsx_angleStrength;
pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
pidProfile->pid[PID_LEVEL].D = cmsx_horizonTransition;
return 0;
}
void processRcAdjustments(controlRateConfig_t *controlRateConfig)
{
const uint32_t now = millis();
int newValue = -1;
const bool canUseRxData = rxIsReceivingSignal();
for (int adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
if (!adjustmentState->config) {
continue;
}
const uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
if (cmp32(now, adjustmentState->timeoutAt) >= 0) {
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
adjustmentRangeValue = -1;
#endif
}
if (!canUseRxData) {
continue;
}
const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rcData[channelIndex] > rxConfig()->midrc + 200) {
delta = adjustmentState->config->data.step;
} else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
delta = -adjustmentState->config->data.step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
continue;
}
newValue = applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
pidInitConfig(pidProfile);
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
const uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.switchPositions);
const uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
newValue = applySelectAdjustment(adjustmentFunction, position);
}
#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
if (newValue != -1 && adjustmentState->config->adjustmentFunction != ADJUSTMENT_RATE_PROFILE) { // Rate profile already has an OSD element
adjustmentRangeName = &adjustmentLabels[adjustmentFunction - 1][0];
adjustmentRangeValue = newValue;
}
#else
UNUSED(newValue);
#endif
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
}
}
