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cms_menu_gps_rescue.c
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cms_menu_gps_rescue.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <ctype.h>
#include "platform.h"
#ifdef USE_CMS_GPS_RESCUE_MENU
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "cms/cms_menu_gps_rescue.h"
#include "config/feature.h"
#include "fc/config.h"
#include "flight/gps_rescue.h"
static uint16_t gpsRescueConfig_angle; //degrees
static uint16_t gpsRescueConfig_initialAltitudeM; //meters
static uint16_t gpsRescueConfig_descentDistanceM; //meters
static uint16_t gpsRescueConfig_rescueGroundspeed; // centimeters per second
static uint16_t gpsRescueConfig_throttleMin;
static uint16_t gpsRescueConfig_throttleMax;
static uint16_t gpsRescueConfig_throttleHover;
static uint8_t gpsRescueConfig_minSats;
static uint16_t gpsRescueConfig_minRescueDth; //meters
static uint8_t gpsRescueConfig_allowArmingWithoutFix;
static uint16_t gpsRescueConfig_throttleP, gpsRescueConfig_throttleI, gpsRescueConfig_throttleD;
static uint16_t gpsRescueConfig_velP, gpsRescueConfig_velI, gpsRescueConfig_velD;
static uint16_t gpsRescueConfig_yawP;
static uint16_t gpsRescueConfig_targetLandingAltitudeM;
static uint16_t gpsRescueConfig_targetLandingDistanceM;
static long cms_menuGpsRescuePidOnEnter(void)
{
gpsRescueConfig_throttleP = gpsRescueConfig()->throttleP;
gpsRescueConfig_throttleI = gpsRescueConfig()->throttleI;
gpsRescueConfig_throttleD = gpsRescueConfig()->throttleD;
gpsRescueConfig_yawP = gpsRescueConfig()->yawP;
gpsRescueConfig_velP = gpsRescueConfig()->velP;
gpsRescueConfig_velI = gpsRescueConfig()->velI;
gpsRescueConfig_velD = gpsRescueConfig()->velD;
return 0;
}
static long cms_menuGpsRescuePidOnExit(const OSD_Entry *self)
{
UNUSED(self);
gpsRescueConfigMutable()->throttleP = gpsRescueConfig_throttleP;
gpsRescueConfigMutable()->throttleI = gpsRescueConfig_throttleI;
gpsRescueConfigMutable()->throttleD = gpsRescueConfig_throttleD;
gpsRescueConfigMutable()->yawP = gpsRescueConfig_yawP;
gpsRescueConfigMutable()->velP = gpsRescueConfig_velP;
gpsRescueConfigMutable()->velI = gpsRescueConfig_velI;
gpsRescueConfigMutable()->velD = gpsRescueConfig_velD;
return 0;
}
const OSD_Entry cms_menuGpsRescuePidEntries[] =
{
{"--- GPS RESCUE PID---", OME_Label, NULL, NULL, 0},
{ "THROTTLE P", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleP, 0, 500, 1 }, 0 },
{ "THROTTLE I", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleI, 0, 500, 1 }, 0 },
{ "THROTTLE D", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleD, 0, 500, 1 }, 0 },
{ "YAW P", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_yawP, 0, 500, 1 }, 0 },
{ "VELOCITY P", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_velP, 0, 500, 1 }, 0 },
{ "VELOCITY I", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_velI, 0, 500, 1 }, 0 },
{ "VELOCITY D", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_velD, 0, 500, 1 }, 0 },
{"BACK", OME_Back, NULL, NULL, 0},
{NULL, OME_END, NULL, NULL, 0}
};
CMS_Menu cms_menuGpsRescuePid = {
#ifdef CMS_MENU_DEBUG
.GUARD_text = "MENUGPSRPID",
.GUARD_type = OME_MENU,
#endif
.onEnter = cms_menuGpsRescuePidOnEnter,
.onExit = cms_menuGpsRescuePidOnExit,
.entries = cms_menuGpsRescuePidEntries,
};
static long cmsx_menuGpsRescueOnEnter(void)
{
gpsRescueConfig_angle = gpsRescueConfig()->angle;
gpsRescueConfig_initialAltitudeM = gpsRescueConfig()->initialAltitudeM;
gpsRescueConfig_descentDistanceM = gpsRescueConfig()->descentDistanceM;
gpsRescueConfig_rescueGroundspeed = gpsRescueConfig()->rescueGroundspeed;
gpsRescueConfig_throttleMin = gpsRescueConfig()->throttleMin ;
gpsRescueConfig_throttleMax = gpsRescueConfig()->throttleMax;
gpsRescueConfig_throttleHover = gpsRescueConfig()->throttleHover;
gpsRescueConfig_minSats = gpsRescueConfig()->minSats;
gpsRescueConfig_minRescueDth = gpsRescueConfig()->minRescueDth;
gpsRescueConfig_allowArmingWithoutFix = gpsRescueConfig()->allowArmingWithoutFix;
gpsRescueConfig_targetLandingDistanceM = gpsRescueConfig()->targetLandingDistanceM;
gpsRescueConfig_targetLandingAltitudeM = gpsRescueConfig()->targetLandingAltitudeM;
return 0;
}
static long cmsx_menuGpsRescueOnExit(const OSD_Entry *self)
{
UNUSED(self);
gpsRescueConfigMutable()->angle = gpsRescueConfig_angle;
gpsRescueConfigMutable()->initialAltitudeM = gpsRescueConfig_initialAltitudeM;
gpsRescueConfigMutable()->descentDistanceM = gpsRescueConfig_descentDistanceM;
gpsRescueConfigMutable()->rescueGroundspeed = gpsRescueConfig_rescueGroundspeed;
gpsRescueConfigMutable()->throttleMin = gpsRescueConfig_throttleMin;
gpsRescueConfigMutable()->throttleMax = gpsRescueConfig_throttleMax;
gpsRescueConfigMutable()->throttleHover = gpsRescueConfig_throttleHover;
gpsRescueConfigMutable()->minSats = gpsRescueConfig_minSats;
gpsRescueConfigMutable()->minRescueDth = gpsRescueConfig_minRescueDth;
gpsRescueConfigMutable()->allowArmingWithoutFix = gpsRescueConfig_allowArmingWithoutFix;
gpsRescueConfigMutable()->targetLandingDistanceM = gpsRescueConfig_targetLandingDistanceM;
gpsRescueConfigMutable()->targetLandingAltitudeM = gpsRescueConfig_targetLandingAltitudeM;
return 0;
}
const OSD_Entry cmsx_menuGpsRescueEntries[] =
{
{"--- GPS RESCUE ---", OME_Label, NULL, NULL, 0},
{ "ANGLE", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_angle, 0, 200 ,1 }, 0 },
{ "MIN DIST HOME M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_minRescueDth, 50, 1000 ,1 }, 0 },
{ "INITAL ALT M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_initialAltitudeM, 20, 100, 1 }, 0 },
{ "DESCENT DIST M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_descentDistanceM, 30, 500, 1 }, 0 },
{ "LANDING ALT M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_targetLandingAltitudeM, 3, 10, 1 }, 0 },
{ "LANDING DIST M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_targetLandingDistanceM, 5, 15, 1 }, 0 },
{ "GROUND SPEED C/M", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_rescueGroundspeed, 30, 3000, 1 }, 0 },
{ "THROTTLE MIN", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleMin, 1000, 2000, 1 }, 0 },
{ "THROTTLE MAX", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleMax, 1000, 2000, 1 }, 0 },
{ "THROTTLE HOV", OME_UINT16, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_throttleHover, 1000, 2000, 1 }, 0 },
{ "ARM WITHOUT FIX", OME_Bool, NULL, &gpsRescueConfig_allowArmingWithoutFix, 0 },
{ "MIN SATELITES", OME_UINT8, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_minSats, 5, 50, 1 }, 0 },
{ "GPS RESCUE PID", OME_Submenu, cmsMenuChange, &cms_menuGpsRescuePid, 0},
{"BACK", OME_Back, NULL, NULL, 0},
{NULL, OME_END, NULL, NULL, 0}
};
CMS_Menu cmsx_menuGpsRescue = {
#ifdef CMS_MENU_DEBUG
.GUARD_text = "MENUGPSRES",
.GUARD_type = OME_MENU,
#endif
.onEnter = cmsx_menuGpsRescueOnEnter,
.onExit = cmsx_menuGpsRescueOnExit,
.entries = cmsx_menuGpsRescueEntries,
};
#endif