src/main/cms/cms_menu_navigation.c

   1 /*
   2  * This file is part of INAV.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  *
  24  * @author Alberto Garcia Hierro <alberto@garciahierro.com>
  25  */
  26
  27 #include "platform.h"
  28
  29 #include <stdlib.h>
  30 #include <string.h>
  31
  32 #include "cms/cms.h"
  33 #include "cms/cms_types.h"
  34
  35 #include "fc/runtime_config.h"
  36 #include "fc/settings.h"
  37
  38 #include "navigation/navigation.h"
  39
  40 static const OSD_Entry cmsx_menuNavSettingsEntries[] =
  41 {
  42     OSD_LABEL_ENTRY("-- BASIC SETTINGS --"),
  43
  44     OSD_SETTING_ENTRY("CONTROL MODE", SETTING_NAV_USER_CONTROL_MODE),
  45     OSD_SETTING_ENTRY("MC NAV SPEED", SETTING_NAV_AUTO_SPEED),
  46     OSD_SETTING_ENTRY("MC MAX NAV SPEED", SETTING_NAV_MAX_AUTO_SPEED),
  47     OSD_SETTING_ENTRY("MAX CRUISE SPEED", SETTING_NAV_MANUAL_SPEED),
  48     OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_MC_AUTO_CLIMB_RATE),
  49     OSD_SETTING_ENTRY("MAX MC AH CLIMB RATE", SETTING_NAV_MC_MANUAL_CLIMB_RATE),
  50     OSD_SETTING_ENTRY("MAX FW AH CLIMB RATE", SETTING_NAV_FW_MANUAL_CLIMB_RATE),
  51     OSD_SETTING_ENTRY("MC MAX BANK ANGLE", SETTING_NAV_MC_BANK_ANGLE),
  52     OSD_SETTING_ENTRY("MC ALTHOLD THROT", SETTING_NAV_MC_ALTHOLD_THROTTLE),
  53     OSD_SETTING_ENTRY("MC HOVER THR", SETTING_NAV_MC_HOVER_THR),
  54     OSD_SETTING_ENTRY("LANDING DISARM", SETTING_NAV_DISARM_ON_LANDING),
  55
  56     OSD_BACK_AND_END_ENTRY,
  57  };
  58
  59 static const CMS_Menu cmsx_menuNavSettings = {
  60 #ifdef CMS_MENU_DEBUG
  61     .GUARD_text = "MENUNAVSETTINGS",
  62     .GUARD_type = OME_MENU,
  63 #endif
  64     .onEnter = NULL,
  65     .onExit = NULL,
  66     .onGlobalExit = NULL,
  67     .entries = cmsx_menuNavSettingsEntries
  68 };
  69
  70  static const OSD_Entry cmsx_menuRTHEntries[] =
  71  {
  72     OSD_LABEL_ENTRY("-- RTH --"),
  73
  74     OSD_SETTING_ENTRY("RTH ALT MODE", SETTING_NAV_RTH_ALT_MODE),
  75     OSD_SETTING_ENTRY("RTH ALT", SETTING_NAV_RTH_ALTITUDE),
  76     OSD_SETTING_ENTRY("RTH HOME ALT", SETTING_NAV_RTH_HOME_ALTITUDE),
  77     OSD_SETTING_ENTRY("CLIMB FIRST", SETTING_NAV_RTH_CLIMB_FIRST),
  78     OSD_SETTING_ENTRY("CLIMB 1ST STAGE MODE", SETTING_NAV_RTH_CLIMB_FIRST_STAGE_MODE),
  79     OSD_SETTING_ENTRY("CLIMB 1ST STAGE ALT", SETTING_NAV_RTH_CLIMB_FIRST_STAGE_ALTITUDE),
  80     OSD_SETTING_ENTRY("TAIL FIRST", SETTING_NAV_RTH_TAIL_FIRST),
  81     OSD_SETTING_ENTRY("LAND AFTER RTH", SETTING_NAV_RTH_ALLOW_LANDING),
  82     OSD_SETTING_ENTRY("LAND MINALT VSPD", SETTING_NAV_LAND_MINALT_VSPD),
  83     OSD_SETTING_ENTRY("LAND MAXALT VSPD", SETTING_NAV_LAND_MAXALT_VSPD),
  84     OSD_SETTING_ENTRY("LAND SPEED MIN AT", SETTING_NAV_LAND_SLOWDOWN_MINALT),
  85     OSD_SETTING_ENTRY("LAND SPEED SLOW AT", SETTING_NAV_LAND_SLOWDOWN_MAXALT),
  86     OSD_SETTING_ENTRY("MIN RTH DISTANCE", SETTING_NAV_MIN_RTH_DISTANCE),
  87     OSD_SETTING_ENTRY("RTH ABORT THRES", SETTING_NAV_RTH_ABORT_THRESHOLD),
  88     OSD_SETTING_ENTRY("EMERG LANDING SPEED", SETTING_NAV_EMERG_LANDING_SPEED),
  89     OSD_SETTING_ENTRY("SAFEHOME USAGE MODE", SETTING_SAFEHOME_USAGE_MODE),
  90     OSD_SETTING_ENTRY("RTH TRACKBACK MODE", SETTING_NAV_RTH_TRACKBACK_MODE),
  91     OSD_SETTING_ENTRY("RTH TRACKBACK DIST", SETTING_NAV_RTH_TRACKBACK_DISTANCE),
  92
  93     OSD_BACK_AND_END_ENTRY,
  94  };
  95
  96 static const CMS_Menu cmsx_menuRTH = {
  97 #ifdef CMS_MENU_DEBUG
  98     .GUARD_text = "MENUNAVRTH",
  99     .GUARD_type = OME_MENU,
 100 #endif
 101     .onEnter = NULL,
 102     .onExit = NULL,
 103     .onGlobalExit = NULL,
 104     .entries = cmsx_menuRTHEntries
 105 };
 106
 107 static const OSD_Entry cmsx_menuFWCruiseEntries[] =
 108 {
 109     OSD_LABEL_ENTRY("-- CRUISE --"),
 110
 111     OSD_SETTING_ENTRY("CRUISE THROTTLE", SETTING_NAV_FW_CRUISE_THR),
 112     OSD_SETTING_ENTRY("MIN THROTTLE", SETTING_NAV_FW_MIN_THR),
 113     OSD_SETTING_ENTRY("MAX THROTTLE", SETTING_NAV_FW_MAX_THR),
 114     OSD_SETTING_ENTRY("MAX BANK ANGLE", SETTING_NAV_FW_BANK_ANGLE),
 115     OSD_SETTING_ENTRY("MAX CLIMB ANGLE", SETTING_NAV_FW_CLIMB_ANGLE),
 116     OSD_SETTING_ENTRY("MAX DIVE ANGLE", SETTING_NAV_FW_DIVE_ANGLE),
 117     OSD_SETTING_ENTRY("PITCH TO THR RATIO", SETTING_NAV_FW_PITCH2THR),
 118     OSD_SETTING_ENTRY("LOITER RADIUS", SETTING_NAV_FW_LOITER_RADIUS),
 119     OSD_SETTING_ENTRY("CONTROL SMOOTHNESS", SETTING_NAV_FW_CONTROL_SMOOTHNESS),
 120     OSD_SETTING_ENTRY("PITCH TO THR SMOOTHING", SETTING_NAV_FW_PITCH2THR_SMOOTHING),
 121     OSD_SETTING_ENTRY("PITCH TO THR THRESHOLD", SETTING_NAV_FW_PITCH2THR_THRESHOLD),
 122     OSD_SETTING_ENTRY("MANUAL THR INCREASE", SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE),
 123
 124     OSD_BACK_AND_END_ENTRY,
 125 };
 126
 127 static const CMS_Menu cmsx_menuFWCruise = {
 128 #ifdef CMS_MENU_DEBUG
 129     .GUARD_text = "MENUNAVFWCRUISE",
 130     .GUARD_type = OME_MENU,
 131 #endif
 132     .onEnter = NULL,
 133     .onExit = NULL,
 134     .onGlobalExit = NULL,
 135     .entries = cmsx_menuFWCruiseEntries
 136 };
 137
 138 static const OSD_Entry cmsx_menuFWLaunchEntries[] =
 139 {
 140     OSD_LABEL_ENTRY("-- AUTOLAUNCH --"),
 141
 142     OSD_SETTING_ENTRY("LAUNCH THR", SETTING_NAV_FW_LAUNCH_THR),
 143     OSD_SETTING_ENTRY("IDLE THROTTLE", SETTING_NAV_FW_LAUNCH_IDLE_THR),
 144     OSD_SETTING_ENTRY("MOTOR SPINUP TIME", SETTING_NAV_FW_LAUNCH_SPINUP_TIME),
 145     OSD_SETTING_ENTRY("TIMEOUT", SETTING_NAV_FW_LAUNCH_TIMEOUT),
 146     OSD_SETTING_ENTRY("END TRANSITION TIME", SETTING_NAV_FW_LAUNCH_END_TIME),
 147     OSD_SETTING_ENTRY("MAX ALTITUDE", SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE),
 148     OSD_SETTING_ENTRY("CLIMB ANGLE", SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE),
 149     OSD_SETTING_ENTRY("MAX BANK ANGLE", SETTING_NAV_FW_LAUNCH_MAX_ANGLE),
 150     OSD_SETTING_ENTRY("MOTOR DELAY", SETTING_NAV_FW_LAUNCH_MOTOR_DELAY),
 151     OSD_SETTING_ENTRY("VELOCITY", SETTING_NAV_FW_LAUNCH_VELOCITY),
 152     OSD_SETTING_ENTRY("ACCELERATION", SETTING_NAV_FW_LAUNCH_ACCEL),
 153     OSD_SETTING_ENTRY("DETECT TIME", SETTING_NAV_FW_LAUNCH_DETECT_TIME),
 154     OSD_SETTING_ENTRY("MANUAL THROTTLE", SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE),
 155
 156     OSD_BACK_AND_END_ENTRY,
 157  };
 158
 159 static const CMS_Menu cmsx_menuFWLaunch = {
 160 #ifdef CMS_MENU_DEBUG
 161     .GUARD_text = "MENUNAVFWLAUNCH",
 162     .GUARD_type = OME_MENU,
 163 #endif
 164     .onEnter = NULL,
 165     .onExit = NULL,
 166     .onGlobalExit = NULL,
 167     .entries = cmsx_menuFWLaunchEntries
 168 };
 169
 170 static const OSD_Entry cmsx_menuFWSettingsEntries[] =
 171 {
 172     OSD_LABEL_ENTRY("-- FIXED WING --"),
 173
 174     OSD_SUBMENU_ENTRY("AUTOLAUNCH", &cmsx_menuFWLaunch),
 175     OSD_SUBMENU_ENTRY("CRUISE", &cmsx_menuFWCruise),
 176
 177     OSD_BACK_AND_END_ENTRY,
 178 };
 179
 180 static const CMS_Menu cmsx_menuFWSettings = {
 181 #ifdef CMS_MENU_DEBUG
 182     .GUARD_text = "MENUNAVFW",
 183     .GUARD_type = OME_MENU,
 184 #endif
 185     .onEnter = NULL,
 186     .onExit = NULL,
 187     .onGlobalExit = NULL,
 188     .entries = cmsx_menuFWSettingsEntries
 189 };
 190
 191 static const OSD_Entry cmsx_menuMissionSettingsEntries[] =
 192 {
 193     OSD_LABEL_ENTRY("-- MISSIONS --"),
 194
 195     OSD_SETTING_ENTRY("MC WP SLOWDOWN", SETTING_NAV_MC_WP_SLOWDOWN),
 196     OSD_SETTING_ENTRY("WP FAILSAFE DELAY", SETTING_FAILSAFE_MISSION_DELAY),
 197     OSD_SETTING_ENTRY("WP LOAD ON BOOT", SETTING_NAV_WP_LOAD_ON_BOOT),
 198     OSD_SETTING_ENTRY("WP REACHED RADIUS", SETTING_NAV_WP_RADIUS),
 199     OSD_SETTING_ENTRY("WP ENFORCE ALTITUDE", SETTING_NAV_WP_ENFORCE_ALTITUDE),
 200     OSD_SETTING_ENTRY("WP SAFE DISTANCE", SETTING_NAV_WP_MAX_SAFE_DISTANCE),
 201 #ifdef USE_MULTI_MISSION
 202     OSD_SETTING_ENTRY("MULTI MISSION NUMBER", SETTING_NAV_WP_MULTI_MISSION_INDEX),
 203 #endif
 204     OSD_SETTING_ENTRY("MISSION RESTART", SETTING_NAV_WP_MISSION_RESTART),
 205     OSD_SETTING_ENTRY("WP TURN SMOOTHING", SETTING_NAV_FW_WP_TURN_SMOOTHING),
 206     OSD_SETTING_ENTRY("WP TRACKING ACCURACY", SETTING_NAV_FW_WP_TRACKING_ACCURACY),
 207     OSD_BACK_AND_END_ENTRY,
 208  };
 209
 210 static const CMS_Menu cmsx_menuMissionSettings = {
 211 #ifdef CMS_MENU_DEBUG
 212     .GUARD_text = "MENUMISSIONSETTINGS",
 213     .GUARD_type = OME_MENU,
 214 #endif
 215     .onEnter = NULL,
 216     .onExit = NULL,
 217     .onGlobalExit = NULL,
 218     .entries = cmsx_menuMissionSettingsEntries
 219 };
 220
 221 static const OSD_Entry cmsx_menuNavigationEntries[] =
 222 {
 223     OSD_LABEL_ENTRY("-- NAVIGATION --"),
 224
 225     OSD_SUBMENU_ENTRY("BASIC SETTINGS", &cmsx_menuNavSettings),
 226     OSD_SUBMENU_ENTRY("RTH", &cmsx_menuRTH),
 227     OSD_SUBMENU_ENTRY("FIXED WING", &cmsx_menuFWSettings),
 228     OSD_SUBMENU_ENTRY("MISSIONS", &cmsx_menuMissionSettings),
 229
 230     OSD_BACK_AND_END_ENTRY,
 231 };
 232
 233 const CMS_Menu cmsx_menuNavigation = {
 234 #ifdef CMS_MENU_DEBUG
 235     .GUARD_text = "MENUNAV",
 236     .GUARD_type = OME_MENU,
 237 #endif
 238     .onEnter = NULL,
 239     .onExit = NULL,
 240     .onGlobalExit = NULL,
 241     .entries = cmsx_menuNavigationEntries
 242 };