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Merged
DzikuVx merged 3 commits into from
Mar 8, 2021
Merged

Separate D and CD/FF adjustments #6674

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6235f0e
Separate D and FF adjustments
avsaase Mar 4, 2021
7b50c0a
fix adjustment selection bug
avsaase Mar 4, 2021
bb00731
fix bug
avsaase Mar 6, 2021
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76 changes: 55 additions & 21 deletions src/main/fc/rc_adjustments.c
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Original file line number Diff line number Diff line change
Expand Up @@ -101,55 +101,71 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D_FF,
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_YAW_P,
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_FF,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_YAW_I,
.adjustmentFunction = ADJUSTMENT_PITCH_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_YAW_D_FF,
.adjustmentFunction = ADJUSTMENT_PITCH_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
.adjustmentFunction = ADJUSTMENT_PITCH_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_RATE,
.adjustmentFunction = ADJUSTMENT_PITCH_FF,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_RATE,
.adjustmentFunction = ADJUSTMENT_ROLL_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_P,
.adjustmentFunction = ADJUSTMENT_ROLL_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_I,
.adjustmentFunction = ADJUSTMENT_ROLL_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_D_FF,
.adjustmentFunction = ADJUSTMENT_ROLL_FF,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_P,
.adjustmentFunction = ADJUSTMENT_YAW_P,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_I,
.adjustmentFunction = ADJUSTMENT_YAW_I,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_D_FF,
.adjustmentFunction = ADJUSTMENT_YAW_D,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_YAW_FF,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_RATE,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
Expand Down Expand Up @@ -447,18 +463,32 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
applyAdjustmentPID(ADJUSTMENT_ROLL_I, &pidBankMutable()->pid[PID_ROLL].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_D_FF:
case ADJUSTMENT_PITCH_D_FF:
applyAdjustmentPID(ADJUSTMENT_PITCH_D_FF, getD_FFRefByBank(pidBankMutable(), PID_PITCH), delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_D_FF) {
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
applyAdjustmentPID(ADJUSTMENT_PITCH_D, &pidBankMutable()->pid[PID_PITCH].D, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
FALLTHROUGH;

case ADJUSTMENT_ROLL_D_FF:
applyAdjustmentPID(ADJUSTMENT_ROLL_D_FF, getD_FFRefByBank(pidBankMutable(), PID_ROLL), delta);
case ADJUSTMENT_ROLL_D:
applyAdjustmentPID(ADJUSTMENT_ROLL_D, &pidBankMutable()->pid[PID_ROLL].D, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_FF:
case ADJUSTMENT_PITCH_FF:
applyAdjustmentPID(ADJUSTMENT_PITCH_FF, &pidBankMutable()->pid[PID_PITCH].FF, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_FF) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_FF
FALLTHROUGH;

case ADJUSTMENT_ROLL_FF:
applyAdjustmentPID(ADJUSTMENT_ROLL_FF, &pidBankMutable()->pid[PID_ROLL].FF, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_P:
Expand All @@ -469,8 +499,12 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
applyAdjustmentPID(ADJUSTMENT_YAW_I, &pidBankMutable()->pid[PID_YAW].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_D_FF:
applyAdjustmentPID(ADJUSTMENT_YAW_D_FF, getD_FFRefByBank(pidBankMutable(), PID_YAW), delta);
case ADJUSTMENT_YAW_D:
applyAdjustmentPID(ADJUSTMENT_YAW_D, &pidBankMutable()->pid[PID_YAW].D, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_FF:
applyAdjustmentPID(ADJUSTMENT_YAW_FF, &pidBankMutable()->pid[PID_YAW].FF, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_NAV_FW_CRUISE_THR:
Expand Down
94 changes: 49 additions & 45 deletions src/main/fc/rc_adjustments.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,51 +33,55 @@ typedef enum {
ADJUSTMENT_YAW_RATE = 5,
ADJUSTMENT_PITCH_ROLL_P = 6,
ADJUSTMENT_PITCH_ROLL_I = 7,
ADJUSTMENT_PITCH_ROLL_D_FF = 8,
ADJUSTMENT_YAW_P = 9,
ADJUSTMENT_YAW_I = 10,
ADJUSTMENT_YAW_D_FF = 11,
ADJUSTMENT_RATE_PROFILE = 12, // Unused, placeholder for compatibility
ADJUSTMENT_PITCH_RATE = 13,
ADJUSTMENT_ROLL_RATE = 14,
ADJUSTMENT_PITCH_P = 15,
ADJUSTMENT_PITCH_I = 16,
ADJUSTMENT_PITCH_D_FF = 17,
ADJUSTMENT_ROLL_P = 18,
ADJUSTMENT_ROLL_I = 19,
ADJUSTMENT_ROLL_D_FF = 20,
ADJUSTMENT_RC_YAW_EXPO = 21,
ADJUSTMENT_MANUAL_RC_EXPO = 22,
ADJUSTMENT_MANUAL_RC_YAW_EXPO = 23,
ADJUSTMENT_MANUAL_PITCH_ROLL_RATE = 24,
ADJUSTMENT_MANUAL_ROLL_RATE = 25,
ADJUSTMENT_MANUAL_PITCH_RATE = 26,
ADJUSTMENT_MANUAL_YAW_RATE = 27,
ADJUSTMENT_NAV_FW_CRUISE_THR = 28,
ADJUSTMENT_NAV_FW_PITCH2THR = 29,
ADJUSTMENT_ROLL_BOARD_ALIGNMENT = 30,
ADJUSTMENT_PITCH_BOARD_ALIGNMENT = 31,
ADJUSTMENT_LEVEL_P = 32,
ADJUSTMENT_LEVEL_I = 33,
ADJUSTMENT_LEVEL_D = 34,
ADJUSTMENT_POS_XY_P = 35,
ADJUSTMENT_POS_XY_I = 36,
ADJUSTMENT_POS_XY_D = 37,
ADJUSTMENT_POS_Z_P = 38,
ADJUSTMENT_POS_Z_I = 39,
ADJUSTMENT_POS_Z_D = 40,
ADJUSTMENT_HEADING_P = 41,
ADJUSTMENT_VEL_XY_P = 42,
ADJUSTMENT_VEL_XY_I = 43,
ADJUSTMENT_VEL_XY_D = 44,
ADJUSTMENT_VEL_Z_P = 45,
ADJUSTMENT_VEL_Z_I = 46,
ADJUSTMENT_VEL_Z_D = 47,
ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE = 48,
ADJUSTMENT_VTX_POWER_LEVEL = 49,
ADJUSTMENT_TPA = 50,
ADJUSTMENT_TPA_BREAKPOINT = 51,
ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 52,
ADJUSTMENT_PITCH_ROLL_D = 8,
ADJUSTMENT_PITCH_ROLL_FF = 9,
ADJUSTMENT_PITCH_P = 10,
ADJUSTMENT_PITCH_I = 11,
ADJUSTMENT_PITCH_D = 12,
ADJUSTMENT_PITCH_FF = 13,
ADJUSTMENT_ROLL_P = 14,
ADJUSTMENT_ROLL_I = 15,
ADJUSTMENT_ROLL_D = 16,
ADJUSTMENT_ROLL_FF = 17,
ADJUSTMENT_YAW_P = 18,
ADJUSTMENT_YAW_I = 19,
ADJUSTMENT_YAW_D = 20,
ADJUSTMENT_YAW_FF = 21,
ADJUSTMENT_RATE_PROFILE = 22, // Unused, placeholder for compatibility
ADJUSTMENT_PITCH_RATE = 23,
ADJUSTMENT_ROLL_RATE = 24,
ADJUSTMENT_RC_YAW_EXPO = 25,
ADJUSTMENT_MANUAL_RC_EXPO = 26,
ADJUSTMENT_MANUAL_RC_YAW_EXPO = 27,
ADJUSTMENT_MANUAL_PITCH_ROLL_RATE = 28,
ADJUSTMENT_MANUAL_ROLL_RATE = 29,
ADJUSTMENT_MANUAL_PITCH_RATE = 30,
ADJUSTMENT_MANUAL_YAW_RATE = 31,
ADJUSTMENT_NAV_FW_CRUISE_THR = 32,
ADJUSTMENT_NAV_FW_PITCH2THR = 33,
ADJUSTMENT_ROLL_BOARD_ALIGNMENT = 34,
ADJUSTMENT_PITCH_BOARD_ALIGNMENT = 35,
ADJUSTMENT_LEVEL_P = 36,
ADJUSTMENT_LEVEL_I = 37,
ADJUSTMENT_LEVEL_D = 38,
ADJUSTMENT_POS_XY_P = 39,
ADJUSTMENT_POS_XY_I = 40,
ADJUSTMENT_POS_XY_D = 41,
ADJUSTMENT_POS_Z_P = 42,
ADJUSTMENT_POS_Z_I = 43,
ADJUSTMENT_POS_Z_D = 44,
ADJUSTMENT_HEADING_P = 45,
ADJUSTMENT_VEL_XY_P = 46,
ADJUSTMENT_VEL_XY_I = 47,
ADJUSTMENT_VEL_XY_D = 48,
ADJUSTMENT_VEL_Z_P = 49,
ADJUSTMENT_VEL_Z_I = 50,
ADJUSTMENT_VEL_Z_D = 51,
ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE = 52,
ADJUSTMENT_VTX_POWER_LEVEL = 53,
ADJUSTMENT_TPA = 54,
ADJUSTMENT_TPA_BREAKPOINT = 55,
ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 56,
ADJUSTMENT_FUNCTION_COUNT // must be last
} adjustmentFunction_e;

Expand Down
9 changes: 0 additions & 9 deletions src/main/flight/pid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1165,12 +1165,3 @@ const pidBank_t * pidBank(void) {
pidBank_t * pidBankMutable(void) {
return usedPidControllerType == PID_TYPE_PIFF ? &pidProfileMutable()->bank_fw : &pidProfileMutable()->bank_mc;
}

uint16_t * getD_FFRefByBank(pidBank_t *pidBank, pidIndex_e pidIndex)
{
if (pidIndexGetType(pidIndex) == PID_TYPE_PIFF) {
return &pidBank->pid[pidIndex].FF;
} else {
return &pidBank->pid[pidIndex].D;
}
}
1 change: 0 additions & 1 deletion src/main/flight/pid.h
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Original file line number Diff line number Diff line change
Expand Up @@ -202,4 +202,3 @@ void autotuneUpdateState(void);
void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRateDps, float reachedRateDps, float pidOutput);

pidType_e pidIndexGetType(pidIndex_e pidIndex);
uint16_t * getD_FFRefByBank(pidBank_t *pidBank, pidIndex_e pidIndex);
6 changes: 3 additions & 3 deletions src/main/flight/pid_autotune.c
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Original file line number Diff line number Diff line change
Expand Up @@ -230,15 +230,15 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa

switch (axis) {
case FD_ROLL:
blackboxLogAutotuneEvent(ADJUSTMENT_ROLL_D_FF, tuneCurrent[axis].gainFF);
blackboxLogAutotuneEvent(ADJUSTMENT_ROLL_FF, tuneCurrent[axis].gainFF);
break;

case FD_PITCH:
blackboxLogAutotuneEvent(ADJUSTMENT_PITCH_D_FF, tuneCurrent[axis].gainFF);
blackboxLogAutotuneEvent(ADJUSTMENT_PITCH_FF, tuneCurrent[axis].gainFF);
break;

case FD_YAW:
blackboxLogAutotuneEvent(ADJUSTMENT_YAW_D_FF, tuneCurrent[axis].gainFF);
blackboxLogAutotuneEvent(ADJUSTMENT_YAW_FF, tuneCurrent[axis].gainFF);
break;
}
}
Expand Down
62 changes: 52 additions & 10 deletions src/main/io/osd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1165,7 +1165,49 @@ static void osdDisplayBatteryVoltage(uint8_t elemPosX, uint8_t elemPosY, uint16_
displayWriteWithAttr(osdDisplayPort, elemPosX + 1, elemPosY, buff, elemAttr);
}

static void osdDisplayPIDValues(uint8_t elemPosX, uint8_t elemPosY, const char *str, pidIndex_e pidIndex, adjustmentFunction_e adjFuncP, adjustmentFunction_e adjFuncI, adjustmentFunction_e adjFuncD)
static void osdDisplayFlightPIDValues(uint8_t elemPosX, uint8_t elemPosY, const char *str, pidIndex_e pidIndex, adjustmentFunction_e adjFuncP, adjustmentFunction_e adjFuncI, adjustmentFunction_e adjFuncD, adjustmentFunction_e adjFuncFF)
{
textAttributes_t elemAttr;
char buff[4];

const pid8_t *pid = &pidBank()->pid[pidIndex];
pidType_e pidType = pidIndexGetType(pidIndex);

displayWrite(osdDisplayPort, elemPosX, elemPosY, str);

if (pidType == PID_TYPE_NONE) {
// PID is not used in this configuration. Draw dashes.
// XXX: Keep this in sync with the %3d format and spacing used below
displayWrite(osdDisplayPort, elemPosX + 6, elemPosY, "- - - -");
return;
}

elemAttr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%3d", pid->P);
if ((isAdjustmentFunctionSelected(adjFuncP)) || (((adjFuncP == ADJUSTMENT_ROLL_P) || (adjFuncP == ADJUSTMENT_PITCH_P)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_P))))
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
displayWriteWithAttr(osdDisplayPort, elemPosX + 4, elemPosY, buff, elemAttr);

elemAttr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%3d", pid->I);
if ((isAdjustmentFunctionSelected(adjFuncI)) || (((adjFuncI == ADJUSTMENT_ROLL_I) || (adjFuncI == ADJUSTMENT_PITCH_I)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_I))))
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
displayWriteWithAttr(osdDisplayPort, elemPosX + 8, elemPosY, buff, elemAttr);

elemAttr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%3d", pid->D);
if ((isAdjustmentFunctionSelected(adjFuncD)) || (((adjFuncD == ADJUSTMENT_ROLL_D) || (adjFuncD == ADJUSTMENT_PITCH_D)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_D))))
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
displayWriteWithAttr(osdDisplayPort, elemPosX + 12, elemPosY, buff, elemAttr);

elemAttr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%3d", pid->FF);
if ((isAdjustmentFunctionSelected(adjFuncFF)) || (((adjFuncFF == ADJUSTMENT_ROLL_FF) || (adjFuncFF == ADJUSTMENT_PITCH_FF)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_FF))))
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
displayWriteWithAttr(osdDisplayPort, elemPosX + 16, elemPosY, buff, elemAttr);
}

static void osdDisplayNavPIDValues(uint8_t elemPosX, uint8_t elemPosY, const char *str, pidIndex_e pidIndex, adjustmentFunction_e adjFuncP, adjustmentFunction_e adjFuncI, adjustmentFunction_e adjFuncD)
{
textAttributes_t elemAttr;
char buff[4];
Expand Down Expand Up @@ -1196,7 +1238,7 @@ static void osdDisplayPIDValues(uint8_t elemPosX, uint8_t elemPosY, const char *

elemAttr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%3d", pidType == PID_TYPE_PIFF ? pid->FF : pid->D);
if ((isAdjustmentFunctionSelected(adjFuncD)) || (((adjFuncD == ADJUSTMENT_ROLL_D_FF) || (adjFuncD == ADJUSTMENT_PITCH_D_FF)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_D_FF))))
if ((isAdjustmentFunctionSelected(adjFuncD)) || (((adjFuncD == ADJUSTMENT_ROLL_D) || (adjFuncD == ADJUSTMENT_PITCH_D)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_D))))
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
displayWriteWithAttr(osdDisplayPort, elemPosX + 12, elemPosY, buff, elemAttr);
}
Expand Down Expand Up @@ -1862,35 +1904,35 @@ static bool osdDrawSingleElement(uint8_t item)
#endif

case OSD_ROLL_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "ROL", PID_ROLL, ADJUSTMENT_ROLL_P, ADJUSTMENT_ROLL_I, ADJUSTMENT_ROLL_D_FF);
osdDisplayFlightPIDValues(elemPosX, elemPosY, "ROL", PID_ROLL, ADJUSTMENT_ROLL_P, ADJUSTMENT_ROLL_I, ADJUSTMENT_ROLL_D, ADJUSTMENT_ROLL_FF);
return true;

case OSD_PITCH_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "PIT", PID_PITCH, ADJUSTMENT_PITCH_P, ADJUSTMENT_PITCH_I, ADJUSTMENT_PITCH_D_FF);
osdDisplayFlightPIDValues(elemPosX, elemPosY, "PIT", PID_PITCH, ADJUSTMENT_PITCH_P, ADJUSTMENT_PITCH_I, ADJUSTMENT_PITCH_D, ADJUSTMENT_PITCH_FF);
return true;

case OSD_YAW_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "YAW", PID_YAW, ADJUSTMENT_YAW_P, ADJUSTMENT_YAW_I, ADJUSTMENT_YAW_D_FF);
osdDisplayFlightPIDValues(elemPosX, elemPosY, "YAW", PID_YAW, ADJUSTMENT_YAW_P, ADJUSTMENT_YAW_I, ADJUSTMENT_YAW_D, ADJUSTMENT_YAW_FF);
return true;

case OSD_LEVEL_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "LEV", PID_LEVEL, ADJUSTMENT_LEVEL_P, ADJUSTMENT_LEVEL_I, ADJUSTMENT_LEVEL_D);
osdDisplayNavPIDValues(elemPosX, elemPosY, "LEV", PID_LEVEL, ADJUSTMENT_LEVEL_P, ADJUSTMENT_LEVEL_I, ADJUSTMENT_LEVEL_D);
return true;

case OSD_POS_XY_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "PXY", PID_POS_XY, ADJUSTMENT_POS_XY_P, ADJUSTMENT_POS_XY_I, ADJUSTMENT_POS_XY_D);
osdDisplayNavPIDValues(elemPosX, elemPosY, "PXY", PID_POS_XY, ADJUSTMENT_POS_XY_P, ADJUSTMENT_POS_XY_I, ADJUSTMENT_POS_XY_D);
return true;

case OSD_POS_Z_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "PZ", PID_POS_Z, ADJUSTMENT_POS_Z_P, ADJUSTMENT_POS_Z_I, ADJUSTMENT_POS_Z_D);
osdDisplayNavPIDValues(elemPosX, elemPosY, "PZ", PID_POS_Z, ADJUSTMENT_POS_Z_P, ADJUSTMENT_POS_Z_I, ADJUSTMENT_POS_Z_D);
return true;

case OSD_VEL_XY_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "VXY", PID_VEL_XY, ADJUSTMENT_VEL_XY_P, ADJUSTMENT_VEL_XY_I, ADJUSTMENT_VEL_XY_D);
osdDisplayNavPIDValues(elemPosX, elemPosY, "VXY", PID_VEL_XY, ADJUSTMENT_VEL_XY_P, ADJUSTMENT_VEL_XY_I, ADJUSTMENT_VEL_XY_D);
return true;

case OSD_VEL_Z_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "VZ", PID_VEL_Z, ADJUSTMENT_VEL_Z_P, ADJUSTMENT_VEL_Z_I, ADJUSTMENT_VEL_Z_D);
osdDisplayNavPIDValues(elemPosX, elemPosY, "VZ", PID_VEL_Z, ADJUSTMENT_VEL_Z_P, ADJUSTMENT_VEL_Z_I, ADJUSTMENT_VEL_Z_D);
return true;

case OSD_HEADING_P:
Expand Down