mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-21 15:25:22 +03:00
Change lexical scope tuning
This commit is contained in:
Mark Haslinghuis
parent
317f937fd5
commit
12408e5e55
2 changed files with 210 additions and 184 deletions
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@ -25,7 +25,7 @@ TABS.pid_tuning = {
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TABS.pid_tuning.initialize = function (callback) {
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var self = this;
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const self = this;
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if (GUI.active_tab !== 'pid_tuning') {
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GUI.active_tab = 'pid_tuning';
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@ -33,7 +33,7 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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// Update filtering defaults based on API version
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var FILTER_DEFAULT = FC.getFilterDefaults();
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const FILTER_DEFAULT = FC.getFilterDefaults();
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// requesting MSP_STATUS manually because it contains FC.CONFIG.profile
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MSP.promise(MSPCodes.MSP_STATUS).then(function() {
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@ -78,7 +78,7 @@ TABS.pid_tuning.initialize = function (callback) {
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FC.PID_NAMES.forEach(function(elementPid, indexPid) {
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// Look into the PID table to a row with the name of the pid
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var searchRow = $('.pid_tuning .' + elementPid + ' input');
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const searchRow = $('.pid_tuning .' + elementPid + ' input');
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// Assign each value
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searchRow.each(function (indexInput) {
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@ -139,7 +139,7 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.pid_filter input[name="dTermNotchFrequency"]').val(FC.FILTER_CONFIG.dterm_notch_hz);
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$('.pid_filter input[name="dTermNotchCutoff"]').val(FC.FILTER_CONFIG.dterm_notch_cutoff);
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var dtermSetpointTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
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const dtermSetpointTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_38)) {
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dtermSetpointTransitionNumberElement.attr('min', 0.00);
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} else {
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@ -175,11 +175,11 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.antigravity input[name="itermAcceleratorGain"]').attr("min","0.1");
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}
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var antiGravitySwitch = $('#antiGravitySwitch');
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const antiGravitySwitch = $('#antiGravitySwitch');
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const ITERM_ACCELERATOR_GAIN_OFF = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 0 : 1000;
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antiGravitySwitch.prop('checked', FC.ADVANCED_TUNING.itermAcceleratorGain !== ITERM_ACCELERATOR_GAIN_OFF);
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antiGravitySwitch.change(function() {
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var checked = $(this).is(':checked');
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const checked = $(this).is(':checked');
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if (checked) {
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if (FC.ADVANCED_TUNING.itermAcceleratorGain === ITERM_ACCELERATOR_GAIN_OFF) {
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const DEFAULT_ACCELERATOR_GAIN = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) ? 3.5 : 1.1;
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@ -242,7 +242,7 @@ TABS.pid_tuning.initialize = function (callback) {
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$('input[id="smartfeedforward"]').prop('checked', FC.ADVANCED_TUNING.smartFeedforward !== 0);
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// I Term Relax
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var itermRelaxCheck = $('input[id="itermrelax"]');
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const itermRelaxCheck = $('input[id="itermrelax"]');
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itermRelaxCheck.prop('checked', FC.ADVANCED_TUNING.itermRelax !== 0);
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$('select[id="itermrelaxAxes"]').val(FC.ADVANCED_TUNING.itermRelax > 0 ? FC.ADVANCED_TUNING.itermRelax : 1);
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@ -254,7 +254,7 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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itermRelaxCheck.change(function() {
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var checked = $(this).is(':checked');
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const checked = $(this).is(':checked');
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if (checked) {
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$('.itermrelax .suboption').show();
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@ -270,15 +270,15 @@ TABS.pid_tuning.initialize = function (callback) {
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itermRelaxCheck.change();
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// Absolute Control
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var absoluteControlGainNumberElement = $('input[name="absoluteControlGain-number"]');
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const absoluteControlGainNumberElement = $('input[name="absoluteControlGain-number"]');
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absoluteControlGainNumberElement.val(FC.ADVANCED_TUNING.absoluteControlGain).trigger('input');
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// Throttle Boost
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var throttleBoostNumberElement = $('input[name="throttleBoost-number"]');
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const throttleBoostNumberElement = $('input[name="throttleBoost-number"]');
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throttleBoostNumberElement.val(FC.ADVANCED_TUNING.throttleBoost).trigger('input');
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// Acro Trainer
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var acroTrainerAngleLimitNumberElement = $('input[name="acroTrainerAngleLimit-number"]');
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const acroTrainerAngleLimitNumberElement = $('input[name="acroTrainerAngleLimit-number"]');
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acroTrainerAngleLimitNumberElement.val(FC.ADVANCED_TUNING.acroTrainerAngleLimit).trigger('input');
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// Yaw D
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@ -290,13 +290,13 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
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$('#pid_main .pid_titlebar2 th').attr('colspan', 5);
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var feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]');
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const feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]');
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feedforwardTransitionNumberElement.val(FC.ADVANCED_TUNING.feedforwardTransition / 100);
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// AntiGravity Mode
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var antiGravityModeSelect = $('.antigravity select[id="antiGravityMode"]');
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const antiGravityModeSelect = $('.antigravity select[id="antiGravityMode"]');
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antiGravityModeSelect.change(function () {
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var antiGravityModeValue = $('.antigravity select[id="antiGravityMode"]').val();
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const antiGravityModeValue = $('.antigravity select[id="antiGravityMode"]').val();
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// Smooth removes threshold
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if (antiGravityModeValue == 0) {
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@ -505,15 +505,15 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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$('input[id="useIntegratedYaw"]').change(function() {
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var checked = $(this).is(':checked');
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const checked = $(this).is(':checked');
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$('#pidTuningIntegratedYawCaution').toggle(checked);
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}).change();
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function adjustDMin(dElement, dMinElement) {
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var dValue = parseInt(dElement.val());
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var dMinValue = parseInt(dMinElement.val());
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const dValue = parseInt(dElement.val());
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const dMinValue = parseInt(dMinElement.val());
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var dMinLimit = Math.min(Math.max(dValue - 1, 0), 100);
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const dMinLimit = Math.min(Math.max(dValue - 1, 0), 100);
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if (dMinValue > dMinLimit) {
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dMinElement.val(dMinLimit);
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}
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@ -522,25 +522,25 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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$('.pid_tuning .ROLL input[name="d"]').change(function() {
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var dMinElement= $('.pid_tuning input[name="dMinRoll"]');
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const dMinElement= $('.pid_tuning input[name="dMinRoll"]');
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adjustDMin($(this), dMinElement);
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}).change();
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$('.pid_tuning .PITCH input[name="d"]').change(function() {
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var dMinElement= $('.pid_tuning input[name="dMinPitch"]');
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const dMinElement= $('.pid_tuning input[name="dMinPitch"]');
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adjustDMin($(this), dMinElement);
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}).change();
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$('.pid_tuning .YAW input[name="d"]').change(function() {
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var dMinElement= $('.pid_tuning input[name="dMinYaw"]');
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const dMinElement= $('.pid_tuning input[name="dMinYaw"]');
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adjustDMin($(this), dMinElement);
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}).change();
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
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var dMinSwitch = $('#dMinSwitch');
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const dMinSwitch = $('#dMinSwitch');
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dMinSwitch.prop('checked', FC.ADVANCED_TUNING.dMinRoll > 0 || FC.ADVANCED_TUNING.dMinPitch > 0 || FC.ADVANCED_TUNING.dMinYaw > 0);
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dMinSwitch.change(function() {
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var checked = $(this).is(':checked');
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const checked = $(this).is(':checked');
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if (checked) {
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if ($('.pid_tuning input[name="dMinRoll"]').val() == 0 && $('.pid_tuning input[name="dMinPitch"]').val() == 0 && $('.pid_tuning input[name="dMinYaw"]').val() == 0) {
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// when enabling dmin set its value based on 0.57x of actual dmax, dmin is limited to 100
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@ -577,8 +577,8 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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$('input[id="gyroNotch1Enabled"]').change(function() {
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var checked = $(this).is(':checked');
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var hz = FC.FILTER_CONFIG.gyro_notch_hz > 0 ? FC.FILTER_CONFIG.gyro_notch_hz : FILTER_DEFAULT.gyro_notch_hz;
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const checked = $(this).is(':checked');
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const hz = FC.FILTER_CONFIG.gyro_notch_hz > 0 ? FC.FILTER_CONFIG.gyro_notch_hz : FILTER_DEFAULT.gyro_notch_hz;
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$('.pid_filter input[name="gyroNotch1Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
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.attr("min", checked ? 1 : 0).change();
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@ -586,8 +586,8 @@ TABS.pid_tuning.initialize = function (callback) {
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});
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$('input[id="gyroNotch2Enabled"]').change(function() {
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var checked = $(this).is(':checked');
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var hz = FC.FILTER_CONFIG.gyro_notch2_hz > 0 ? FC.FILTER_CONFIG.gyro_notch2_hz : FILTER_DEFAULT.gyro_notch2_hz;
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const checked = $(this).is(':checked');
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const hz = FC.FILTER_CONFIG.gyro_notch2_hz > 0 ? FC.FILTER_CONFIG.gyro_notch2_hz : FILTER_DEFAULT.gyro_notch2_hz;
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$('.pid_filter input[name="gyroNotch2Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
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.attr("min", checked ? 1 : 0).change();
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@ -595,8 +595,8 @@ TABS.pid_tuning.initialize = function (callback) {
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});
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$('input[id="dtermNotchEnabled"]').change(function() {
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var checked = $(this).is(':checked');
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var hz = FC.FILTER_CONFIG.dterm_notch_hz > 0 ? FC.FILTER_CONFIG.dterm_notch_hz : FILTER_DEFAULT.dterm_notch_hz;
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const checked = $(this).is(':checked');
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const hz = FC.FILTER_CONFIG.dterm_notch_hz > 0 ? FC.FILTER_CONFIG.dterm_notch_hz : FILTER_DEFAULT.dterm_notch_hz;
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$('.pid_filter input[name="dTermNotchFrequency"]').val(checked ? hz : 0).attr('disabled', !checked)
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.attr("min", checked ? 1 : 0).change();
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@ -604,11 +604,11 @@ TABS.pid_tuning.initialize = function (callback) {
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});
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$('input[id="gyroLowpassEnabled"]').change(function() {
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var checked = $(this).is(':checked');
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var disabledByDynamicLowpass = $('input[id="gyroLowpassDynEnabled"]').is(':checked');
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const checked = $(this).is(':checked');
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const disabledByDynamicLowpass = $('input[id="gyroLowpassDynEnabled"]').is(':checked');
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var cutoff = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz;
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var type = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type;
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const cutoff = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz;
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const type = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type;
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$('.pid_filter input[name="gyroLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked);
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$('.pid_filter select[name="gyroLowpassType"]').val(type).attr('disabled', !checked);
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@ -620,9 +620,9 @@ TABS.pid_tuning.initialize = function (callback) {
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});
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$('input[id="gyroLowpassDynEnabled"]').change(function() {
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var checked = $(this).is(':checked');
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var cutoff_min = FILTER_DEFAULT.gyro_lowpass_dyn_min_hz;
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var type = FILTER_DEFAULT.gyro_lowpass_type;
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const checked = $(this).is(':checked');
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let cutoff_min = FILTER_DEFAULT.gyro_lowpass_dyn_min_hz;
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let type = FILTER_DEFAULT.gyro_lowpass_type;
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if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz) {
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cutoff_min = FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz;
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type = FC.FILTER_CONFIG.gyro_lowpass_type;
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@ -641,20 +641,20 @@ TABS.pid_tuning.initialize = function (callback) {
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});
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$('input[id="gyroLowpass2Enabled"]').change(function() {
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var checked = $(this).is(':checked');
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var cutoff = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz;
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var type = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type;
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const checked = $(this).is(':checked');
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const cutoff = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz;
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const type = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type;
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$('.pid_filter input[name="gyroLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
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$('.pid_filter select[name="gyroLowpass2Type"]').val(type).attr('disabled', !checked);
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});
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$('input[id="dtermLowpassEnabled"]').change(function() {
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var checked = $(this).is(':checked');
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var disabledByDynamicLowpass = $('input[id="dtermLowpassDynEnabled"]').is(':checked');
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const checked = $(this).is(':checked');
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const disabledByDynamicLowpass = $('input[id="dtermLowpassDynEnabled"]').is(':checked');
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var cutoff = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz;
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var type = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type;
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const cutoff = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz;
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const type = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type;
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$('.pid_filter input[name="dtermLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked);
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$('.pid_filter select[name="dtermLowpassType"]').val(type).attr('disabled', !checked);
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@ -667,9 +667,9 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.dynLpfCurveExpo').toggle(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44));
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$('input[id="dtermLowpassDynEnabled"]').change(function() {
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var checked = $(this).is(':checked');
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var cutoff_min = FILTER_DEFAULT.dterm_lowpass_dyn_min_hz;
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var type = FILTER_DEFAULT.dterm_lowpass_type;
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const checked = $(this).is(':checked');
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let cutoff_min = FILTER_DEFAULT.dterm_lowpass_dyn_min_hz;
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let type = FILTER_DEFAULT.dterm_lowpass_type;
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if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz) {
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cutoff_min = FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz;
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type = FC.FILTER_CONFIG.dterm_lowpass_type;
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@ -689,35 +689,35 @@ TABS.pid_tuning.initialize = function (callback) {
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});
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$('input[id="dtermLowpassDynExpoEnabled"]').change(function() {
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var checked = $(this).is(':checked');
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var curveExpo = FC.FILTER_CONFIG.dyn_lpf_curve_expo > 0 ? FC.FILTER_CONFIG.dyn_lpf_curve_expo : FILTER_DEFAULT.dyn_lpf_curve_expo;
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const checked = $(this).is(':checked');
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const curveExpo = FC.FILTER_CONFIG.dyn_lpf_curve_expo > 0 ? FC.FILTER_CONFIG.dyn_lpf_curve_expo : FILTER_DEFAULT.dyn_lpf_curve_expo;
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$('.pid_filter input[name="dtermLowpassDynExpo"]').val(checked ? curveExpo : 0).attr('disabled', !checked);
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});
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$('input[id="dtermLowpass2Enabled"]').change(function() {
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var checked = $(this).is(':checked');
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var cutoff = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz;
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var type = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type;
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const checked = $(this).is(':checked');
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const cutoff = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz;
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const type = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type;
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$('.pid_filter input[name="dtermLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
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$('.pid_filter select[name="dtermLowpass2Type"]').val(type).attr('disabled', !checked);
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});
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$('input[id="yawLowpassEnabled"]').change(function() {
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var checked = $(this).is(':checked');
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var cutoff = FC.FILTER_CONFIG.yaw_lowpass_hz > 0 ? FC.FILTER_CONFIG.yaw_lowpass_hz : FILTER_DEFAULT.yaw_lowpass_hz;
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const checked = $(this).is(':checked');
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const cutoff = FC.FILTER_CONFIG.yaw_lowpass_hz > 0 ? FC.FILTER_CONFIG.yaw_lowpass_hz : FILTER_DEFAULT.yaw_lowpass_hz;
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$('.pid_filter input[name="yawLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
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});
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// The notch cutoff must be smaller than the notch frecuency
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function adjustNotchCutoff(frequencyName, cutoffName) {
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var frecuency = parseInt($(".pid_filter input[name='" + frequencyName + "']").val());
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var cutoff = parseInt($(".pid_filter input[name='" + cutoffName + "']").val());
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const frecuency = parseInt($(".pid_filter input[name='" + frequencyName + "']").val());
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const cutoff = parseInt($(".pid_filter input[name='" + cutoffName + "']").val());
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// Change the max and refresh the value if needed
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var maxCutoff = frecuency == 0 ? 0 : frecuency - 1;
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const maxCutoff = frecuency == 0 ? 0 : frecuency - 1;
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$(".pid_filter input[name='" + cutoffName + "']").attr("max", maxCutoff);
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if (cutoff >= frecuency) {
|
||||
$(".pid_filter input[name='" + cutoffName + "']").val(maxCutoff);
|
||||
|
|
@ -760,7 +760,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
FC.PID_NAMES.forEach(function(elementPid, indexPid) {
|
||||
|
||||
// Look into the PID table to a row with the name of the pid
|
||||
var searchRow = $('.pid_tuning .' + elementPid + ' input');
|
||||
const searchRow = $('.pid_tuning .' + elementPid + ' input');
|
||||
|
||||
// Assign each value
|
||||
searchRow.each(function (indexInput) {
|
||||
|
|
@ -1004,8 +1004,8 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
$('#pid_accel').hide();
|
||||
}
|
||||
|
||||
var hideSensorPid = function(element, sensorReady) {
|
||||
var isVisible = element.is(":visible");
|
||||
const hideSensorPid = function(element, sensorReady) {
|
||||
let isVisible = element.is(":visible");
|
||||
if (!isVisible || !sensorReady) {
|
||||
element.hide();
|
||||
isVisible = false;
|
||||
|
|
@ -1014,7 +1014,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
return isVisible;
|
||||
}
|
||||
|
||||
var isVisibleBaroMagGps = false;
|
||||
let isVisibleBaroMagGps = false;
|
||||
|
||||
isVisibleBaroMagGps |= hideSensorPid($('#pid_baro'), have_sensor(FC.CONFIG.activeSensors, 'baro') || have_sensor(FC.CONFIG.activeSensors, 'sonar'));
|
||||
|
||||
|
|
@ -1047,7 +1047,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
|
||||
function checkInput(element) {
|
||||
var value = parseFloat(element.val());
|
||||
let value = parseFloat(element.val());
|
||||
if (value < parseFloat(element.prop('min'))
|
||||
|| value > parseFloat(element.prop('max'))) {
|
||||
value = undefined;
|
||||
|
|
@ -1056,7 +1056,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
return value;
|
||||
}
|
||||
|
||||
var useLegacyCurve = false;
|
||||
let useLegacyCurve = false;
|
||||
if (!semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
|
||||
useLegacyCurve = true;
|
||||
}
|
||||
|
|
@ -1064,7 +1064,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
self.rateCurve = new RateCurve(useLegacyCurve);
|
||||
|
||||
function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVelElement) {
|
||||
var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit).toFixed(0);
|
||||
const maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit).toFixed(0);
|
||||
maxAngularVelElement.text(maxAngularVel);
|
||||
|
||||
return maxAngularVel;
|
||||
|
|
@ -1180,55 +1180,55 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
$('.tab-pid_tuning .tab-container .filter').on('click', () => activateSubtab('filter'));
|
||||
|
||||
function loadProfilesList() {
|
||||
var numberOfProfiles = 3;
|
||||
let numberOfProfiles = 3;
|
||||
if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")
|
||||
&& FC.CONFIG.numProfiles === 2) {
|
||||
numberOfProfiles = 2;
|
||||
}
|
||||
|
||||
var profileElements = [];
|
||||
for (var i=0; i<numberOfProfiles; i++) {
|
||||
const profileElements = [];
|
||||
for (let i=0; i<numberOfProfiles; i++) {
|
||||
profileElements.push(i18n.getMessage("pidTuningProfileOption",[(i + 1)]));
|
||||
}
|
||||
return profileElements;
|
||||
}
|
||||
|
||||
function loadRateProfilesList() {
|
||||
var numberOfRateProfiles = 6;
|
||||
let numberOfRateProfiles = 6;
|
||||
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
|
||||
numberOfRateProfiles = 3;
|
||||
}
|
||||
|
||||
var rateProfileElements = [];
|
||||
for (var i=0; i<numberOfRateProfiles; i++) {
|
||||
const rateProfileElements = [];
|
||||
for (let i=0; i<numberOfRateProfiles; i++) {
|
||||
rateProfileElements.push(i18n.getMessage("pidTuningRateProfileOption",[(i + 1)]));
|
||||
}
|
||||
return rateProfileElements;
|
||||
}
|
||||
|
||||
// This vars are used here for populate the profile (and rate profile) selector AND in the copy profile (and rate profile) window
|
||||
var selectRateProfileValues = loadRateProfilesList();
|
||||
var selectProfileValues = loadProfilesList();
|
||||
const selectRateProfileValues = loadRateProfilesList();
|
||||
const selectProfileValues = loadProfilesList();
|
||||
|
||||
function populateProfilesSelector(selectProfileValues) {
|
||||
var profileSelect = $('select[name="profile"]');
|
||||
selectProfileValues.forEach(function(value, key) {
|
||||
function populateProfilesSelector(_selectProfileValues) {
|
||||
const profileSelect = $('select[name="profile"]');
|
||||
_selectProfileValues.forEach(function(value, key) {
|
||||
profileSelect.append('<option value="' + key + '">' + value + '</option>');
|
||||
});
|
||||
}
|
||||
|
||||
populateProfilesSelector(selectProfileValues);
|
||||
|
||||
function populateRateProfilesSelector(selectRateProfileValues) {
|
||||
var rateProfileSelect = $('select[name="rate_profile"]');
|
||||
selectRateProfileValues.forEach(function(value, key) {
|
||||
function populateRateProfilesSelector(_selectRateProfileValues) {
|
||||
const rateProfileSelect = $('select[name="rate_profile"]');
|
||||
_selectRateProfileValues.forEach(function(value, key) {
|
||||
rateProfileSelect.append('<option value="' + key + '">' + value + '</option>');
|
||||
});
|
||||
}
|
||||
|
||||
populateRateProfilesSelector(selectRateProfileValues);
|
||||
|
||||
var showAllButton = $('#showAllPids');
|
||||
const showAllButton = $('#showAllPids');
|
||||
|
||||
function updatePidDisplay() {
|
||||
if (!self.showAllPids) {
|
||||
|
|
@ -1295,8 +1295,8 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
});
|
||||
});
|
||||
|
||||
var dtermTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
|
||||
var dtermTransitionWarningElement = $('#pid-tuning .dtermSetpointTransitionWarning');
|
||||
const dtermTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
|
||||
const dtermTransitionWarningElement = $('#pid-tuning .dtermSetpointTransitionWarning');
|
||||
|
||||
function checkUpdateDtermTransitionWarning(value) {
|
||||
if (value > 0 && value < 0.1) {
|
||||
|
|
@ -1326,9 +1326,9 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
// Add a name to each row of PIDs if empty
|
||||
$('.pid_tuning tr').each(function(){
|
||||
for(i = 0; i < FC.PID_NAMES.length; i++) {
|
||||
if($(this).hasClass(FC.PID_NAMES[i])) {
|
||||
var firstColumn = $(this).find('td:first');
|
||||
for (let i = 0; i <= FC.PID_NAMES.length; i++) {
|
||||
if ($(this).hasClass(FC.PID_NAMES[i])) {
|
||||
const firstColumn = $(this).find('td:first');
|
||||
if (!firstColumn.text()) {
|
||||
firstColumn.text(FC.PID_NAMES[i]);
|
||||
}
|
||||
|
|
@ -1339,7 +1339,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
// DTerm filter options
|
||||
function loadFilterTypeValues() {
|
||||
var filterTypeValues = [];
|
||||
const filterTypeValues = [];
|
||||
filterTypeValues.push("PT1");
|
||||
filterTypeValues.push("BIQUAD");
|
||||
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
|
||||
|
|
@ -1349,20 +1349,20 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
}
|
||||
|
||||
function populateFilterTypeSelector(name, selectDtermValues) {
|
||||
var dtermFilterSelect = $('select[name="' + name + '"]');
|
||||
const dtermFilterSelect = $('select[name="' + name + '"]');
|
||||
selectDtermValues.forEach(function(value, key) {
|
||||
dtermFilterSelect.append('<option value="' + key + '">' + value + '</option>');
|
||||
});
|
||||
}
|
||||
// Added in API 1.42.0
|
||||
function loadDynamicNotchRangeValues() {
|
||||
var dynamicNotchRangeValues = [
|
||||
const dynamicNotchRangeValues = [
|
||||
"HIGH", "MEDIUM", "LOW", "AUTO",
|
||||
];
|
||||
return dynamicNotchRangeValues;
|
||||
}
|
||||
function populateDynamicNotchRangeSelect(selectDynamicNotchRangeValues) {
|
||||
var dynamicNotchRangeSelect = $('select[name="dynamicNotchRange"]');
|
||||
const dynamicNotchRangeSelect = $('select[name="dynamicNotchRange"]');
|
||||
selectDynamicNotchRangeValues.forEach(function(value, key) {
|
||||
dynamicNotchRangeSelect.append('<option value="' + key + '">' + value + '</option>');
|
||||
});
|
||||
|
|
@ -1402,10 +1402,10 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
activateSubtab(self.activeSubtab);
|
||||
|
||||
var pidController_e = $('select[name="controller"]');
|
||||
const pidController_e = $('select[name="controller"]');
|
||||
|
||||
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_31)) {
|
||||
var pidControllerList;
|
||||
let pidControllerList;
|
||||
|
||||
|
||||
if (semver.lt(FC.CONFIG.apiVersion, "1.14.0")) {
|
||||
|
|
@ -1430,7 +1430,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
]
|
||||
}
|
||||
|
||||
for (var i = 0; i < pidControllerList.length; i++) {
|
||||
for (let i = 0; i < pidControllerList.length; i++) {
|
||||
pidController_e.append('<option value="' + (i) + '">' + pidControllerList[i].name + '</option>');
|
||||
}
|
||||
|
||||
|
|
@ -1477,10 +1477,10 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
}
|
||||
|
||||
// Getting the DOM elements for curve display
|
||||
var rcCurveElement = $('.rate_curve canvas#rate_curve_layer0').get(0),
|
||||
curveContext = rcCurveElement.getContext("2d"),
|
||||
updateNeeded = true,
|
||||
maxAngularVel;
|
||||
const rcCurveElement = $('.rate_curve canvas#rate_curve_layer0').get(0);
|
||||
const curveContext = rcCurveElement.getContext("2d");
|
||||
let updateNeeded = true;
|
||||
let maxAngularVel;
|
||||
|
||||
// make these variables global scope so that they can be accessed by the updateRates function.
|
||||
self.maxAngularVelRollElement = $('.pid_tuning .maxAngularVelRoll');
|
||||
|
|
@ -1492,9 +1492,9 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
function updateRates (event) {
|
||||
setTimeout(function () { // let global validation trigger and adjust the values first
|
||||
if(event) { // if an event is passed, then use it
|
||||
var targetElement = $(event.target),
|
||||
targetValue = checkInput(targetElement);
|
||||
if (event) { // if an event is passed, then use it
|
||||
const targetElement = $(event.target);
|
||||
let targetValue = checkInput(targetElement);
|
||||
|
||||
if (self.currentRates.hasOwnProperty(targetElement.attr('name')) && targetValue !== undefined) {
|
||||
const stepValue = parseFloat(targetElement.prop('step')); // adjust value to match step (change only the result, not the the actual value)
|
||||
|
|
@ -1541,9 +1541,9 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
updateNeeded = true;
|
||||
}
|
||||
if (updateNeeded) {
|
||||
var curveHeight = rcCurveElement.height;
|
||||
var curveWidth = rcCurveElement.width;
|
||||
var lineScale = curveContext.canvas.width / curveContext.canvas.clientWidth;
|
||||
const curveHeight = rcCurveElement.height;
|
||||
const curveWidth = rcCurveElement.width;
|
||||
const lineScale = curveContext.canvas.width / curveContext.canvas.clientWidth;
|
||||
|
||||
curveContext.clearRect(0, 0, curveWidth, curveHeight);
|
||||
|
||||
|
|
@ -1597,7 +1597,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
*/
|
||||
|
||||
function getQBezierValue(t, p1, p2, p3) {
|
||||
var iT = 1 - t;
|
||||
const iT = 1 - t;
|
||||
return iT * iT * p1 + 2 * iT * t * p2 + t * t * p3;
|
||||
}
|
||||
|
||||
|
|
@ -1611,12 +1611,12 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
/* --- */
|
||||
|
||||
// let global validation trigger and adjust the values first
|
||||
var throttleMidE = $('.throttle input[name="mid"]'),
|
||||
throttleExpoE = $('.throttle input[name="expo"]'),
|
||||
mid = parseFloat(throttleMidE.val()),
|
||||
expo = parseFloat(throttleExpoE.val()),
|
||||
throttleCurve = $('.throttle .throttle_curve canvas').get(0),
|
||||
context = throttleCurve.getContext("2d");
|
||||
const throttleMidE = $('.throttle input[name="mid"]');
|
||||
const throttleExpoE = $('.throttle input[name="expo"]');
|
||||
const mid = parseFloat(throttleMidE.val());
|
||||
const expo = parseFloat(throttleExpoE.val());
|
||||
const throttleCurve = $('.throttle .throttle_curve canvas').get(0);
|
||||
const context = throttleCurve.getContext("2d");
|
||||
|
||||
// local validation to deal with input event
|
||||
if (mid >= parseFloat(throttleMidE.prop('min')) &&
|
||||
|
|
@ -1631,16 +1631,16 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
throttleCurve.width = throttleCurve.height *
|
||||
(throttleCurve.clientWidth / throttleCurve.clientHeight);
|
||||
|
||||
var canvasHeight = throttleCurve.height;
|
||||
var canvasWidth = throttleCurve.width;
|
||||
const canvasHeight = throttleCurve.height;
|
||||
const canvasWidth = throttleCurve.width;
|
||||
|
||||
// math magic by englishman
|
||||
var midx = canvasWidth * mid,
|
||||
midxl = midx * 0.5,
|
||||
midxr = (((canvasWidth - midx) * 0.5) + midx),
|
||||
midy = canvasHeight - (midx * (canvasHeight / canvasWidth)),
|
||||
midyl = canvasHeight - ((canvasHeight - midy) * 0.5 *(expo + 1)),
|
||||
midyr = (midy / 2) * (expo + 1);
|
||||
const midx = canvasWidth * mid;
|
||||
const midxl = midx * 0.5;
|
||||
const midxr = (((canvasWidth - midx) * 0.5) + midx);
|
||||
const midy = canvasHeight - (midx * (canvasHeight / canvasWidth));
|
||||
const midyl = canvasHeight - ((canvasHeight - midy) * 0.5 *(expo + 1));
|
||||
const midyr = (midy / 2) * (expo + 1);
|
||||
|
||||
let thrPercent = (FC.RC.channels[3] - 1000) / 1000,
|
||||
thrpos = thrPercent <= mid
|
||||
|
|
@ -1695,15 +1695,15 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
}
|
||||
});
|
||||
|
||||
var dialogCopyProfile = $('.dialogCopyProfile')[0];
|
||||
var DIALOG_MODE_PROFILE = 0;
|
||||
var DIALOG_MODE_RATEPROFILE = 1;
|
||||
var dialogCopyProfileMode;
|
||||
const dialogCopyProfile = $('.dialogCopyProfile')[0];
|
||||
const DIALOG_MODE_PROFILE = 0;
|
||||
const DIALOG_MODE_RATEPROFILE = 1;
|
||||
let dialogCopyProfileMode;
|
||||
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
|
||||
|
||||
var selectProfile = $('.selectProfile');
|
||||
var selectRateProfile = $('.selectRateProfile');
|
||||
const selectProfile = $('.selectProfile');
|
||||
const selectRateProfile = $('.selectRateProfile');
|
||||
|
||||
$.each(selectProfileValues, function(key, value) {
|
||||
if (key != FC.CONFIG.profile)
|
||||
|
|
@ -1978,10 +1978,12 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
self.updating = true;
|
||||
Promise.resolve(true)
|
||||
.then(function () {
|
||||
var promise;
|
||||
let promise;
|
||||
if (semver.gte(FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE) && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_31)) {
|
||||
FC.PID.controller = pidController_e.val();
|
||||
promise = MSP.promise(MSPCodes.MSP_SET_PID_CONTROLLER, mspHelper.crunch(MSPCodes.MSP_SET_PID_CONTROLLER));
|
||||
} else {
|
||||
console.log(`Unsupported API version: ${FC.CONFIG.apiVersion}`);
|
||||
}
|
||||
return promise;
|
||||
}).then(function () {
|
||||
|
|
@ -2051,11 +2053,35 @@ TABS.pid_tuning.renderModel = function () {
|
|||
if (!this.clock) { this.clock = new THREE.Clock(); }
|
||||
|
||||
if (FC.RC.channels[0] && FC.RC.channels[1] && FC.RC.channels[2]) {
|
||||
var delta = this.clock.getDelta();
|
||||
const delta = this.clock.getDelta();
|
||||
|
||||
var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.roll_rate_limit),
|
||||
pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[1], this.currentRates.pitch_rate, this.currentRates.rc_rate_pitch, this.currentRates.rc_pitch_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.pitch_rate_limit),
|
||||
yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[2], this.currentRates.yaw_rate, this.currentRates.rc_rate_yaw, this.currentRates.rc_yaw_expo, this.currentRates.superexpo, this.currentRates.yawDeadband, this.currentRates.yaw_rate_limit);
|
||||
const roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
|
||||
FC.RC.channels[0],
|
||||
this.currentRates.roll_rate,
|
||||
this.currentRates.rc_rate,
|
||||
this.currentRates.rc_expo,
|
||||
this.currentRates.superexpo,
|
||||
this.currentRates.deadband,
|
||||
this.currentRates.roll_rate_limit
|
||||
);
|
||||
const pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
|
||||
FC.RC.channels[1],
|
||||
this.currentRates.pitch_rate,
|
||||
this.currentRates.rc_rate_pitch,
|
||||
this.currentRates.rc_pitch_expo,
|
||||
this.currentRates.superexpo,
|
||||
this.currentRates.deadband,
|
||||
this.currentRates.pitch_rate_limit
|
||||
);
|
||||
const yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
|
||||
FC.RC.channels[2],
|
||||
this.currentRates.yaw_rate,
|
||||
this.currentRates.rc_rate_yaw,
|
||||
this.currentRates.rc_yaw_expo,
|
||||
this.currentRates.superexpo,
|
||||
this.currentRates.yawDeadband,
|
||||
this.currentRates.yaw_rate_limit
|
||||
);
|
||||
|
||||
this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));
|
||||
|
||||
|
|
@ -2065,7 +2091,7 @@ TABS.pid_tuning.renderModel = function () {
|
|||
};
|
||||
|
||||
TABS.pid_tuning.cleanup = function (callback) {
|
||||
var self = this;
|
||||
const self = this;
|
||||
|
||||
if (self.model) {
|
||||
$(window).off('resize', $.proxy(self.model.resize, self.model));
|
||||
|
|
@ -2082,7 +2108,7 @@ TABS.pid_tuning.cleanup = function (callback) {
|
|||
};
|
||||
|
||||
TABS.pid_tuning.refresh = function (callback) {
|
||||
var self = this;
|
||||
const self = this;
|
||||
|
||||
GUI.tab_switch_cleanup(function () {
|
||||
self.initialize();
|
||||
|
|
@ -2096,21 +2122,21 @@ TABS.pid_tuning.refresh = function (callback) {
|
|||
};
|
||||
|
||||
TABS.pid_tuning.setProfile = function () {
|
||||
var self = this;
|
||||
const self = this;
|
||||
|
||||
self.currentProfile = FC.CONFIG.profile;
|
||||
$('.tab-pid_tuning select[name="profile"]').val(self.currentProfile);
|
||||
};
|
||||
|
||||
TABS.pid_tuning.setRateProfile = function () {
|
||||
var self = this;
|
||||
const self = this;
|
||||
|
||||
self.currentRateProfile = FC.CONFIG.rateProfile;
|
||||
$('.tab-pid_tuning select[name="rate_profile"]').val(self.currentRateProfile);
|
||||
};
|
||||
|
||||
TABS.pid_tuning.setDirty = function (isDirty) {
|
||||
var self = this;
|
||||
const self = this;
|
||||
|
||||
self.dirty = isDirty;
|
||||
$('.tab-pid_tuning select[name="profile"]').prop('disabled', isDirty);
|
||||
|
|
@ -2120,19 +2146,19 @@ TABS.pid_tuning.setDirty = function (isDirty) {
|
|||
};
|
||||
|
||||
TABS.pid_tuning.checkUpdateProfile = function (updateRateProfile) {
|
||||
var self = this;
|
||||
const self = this;
|
||||
|
||||
if (GUI.active_tab === 'pid_tuning') {
|
||||
|
||||
if (!self.updating && !self.dirty) {
|
||||
var changedProfile = false;
|
||||
let changedProfile = false;
|
||||
if (self.currentProfile !== FC.CONFIG.profile) {
|
||||
self.setProfile();
|
||||
|
||||
changedProfile = true;
|
||||
}
|
||||
|
||||
var changedRateProfile = false;
|
||||
let changedRateProfile = false;
|
||||
if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")
|
||||
&& updateRateProfile
|
||||
&& self.currentRateProfile !== FC.CONFIG.rateProfile) {
|
||||
|
|
@ -2164,9 +2190,9 @@ TABS.pid_tuning.checkRC = function() {
|
|||
if (!this.oldRC) { this.oldRC = [FC.RC.channels[0], FC.RC.channels[1], FC.RC.channels[2]]; }
|
||||
|
||||
// Monitor FC.RC.channels and detect change of value;
|
||||
var rateCurveUpdateRequired = false;
|
||||
for(var i=0; i<this.oldRC.length; i++) { // has the value changed ?
|
||||
if(this.oldRC[i] != FC.RC.channels[i]) {
|
||||
let rateCurveUpdateRequired = false;
|
||||
for (let i = 0; i < this.oldRC.length; i++) { // has the value changed ?
|
||||
if (this.oldRC[i] !== FC.RC.channels[i]) {
|
||||
this.oldRC[i] = FC.RC.channels[i];
|
||||
rateCurveUpdateRequired = true; // yes, then an update of the values displayed on the rate curve graph is required
|
||||
}
|
||||
|
|
@ -2180,7 +2206,7 @@ TABS.pid_tuning.checkThrottle = function() {
|
|||
this.oldThrottle = FC.RC.channels[3];
|
||||
return true;
|
||||
}
|
||||
var updateRequired = this.oldThrottle != FC.RC.channels[3];
|
||||
const updateRequired = this.oldThrottle !== FC.RC.channels[3];
|
||||
this.oldThrottle = FC.RC.channels[3];
|
||||
return updateRequired;
|
||||
};
|
||||
|
|
@ -2209,17 +2235,17 @@ TABS.pid_tuning.updatePidControllerParameters = function () {
|
|||
};
|
||||
|
||||
TABS.pid_tuning.updateRatesLabels = function() {
|
||||
var self = this;
|
||||
const self = this;
|
||||
if (!self.rateCurve.useLegacyCurve && self.rateCurve.maxAngularVel) {
|
||||
|
||||
var drawAxisLabel = function(context, axisLabel, x, y, align, color) {
|
||||
const drawAxisLabel = function(context, axisLabel, x, y, align, color) {
|
||||
|
||||
context.fillStyle = color || '#000000' ;
|
||||
context.textAlign = align || 'center';
|
||||
context.fillText(axisLabel, x, y);
|
||||
};
|
||||
|
||||
var drawBalloonLabel = function(context, axisLabel, x, y, align, colors, dirty) {
|
||||
const drawBalloonLabel = function(context, axisLabel, x, y, align, colors, dirty) {
|
||||
|
||||
/**
|
||||
* curveContext is the canvas to draw on
|
||||
|
|
@ -2249,15 +2275,15 @@ TABS.pid_tuning.updateRatesLabels = function() {
|
|||
x *= context.canvas.clientWidth/context.canvas.clientHeight;
|
||||
|
||||
// adjust the coordinates for determine where the balloon background should be drawn
|
||||
x += ((align=='right')?-(width + DEFAULT_OFFSET):0) + ((align=='left')?DEFAULT_OFFSET:0);
|
||||
y -= (height/2); if(y<0) y=0; else if(y>context.height) y=context.height; // prevent balloon from going out of canvas
|
||||
x += ((align=='right') ? -(width + DEFAULT_OFFSET) : 0) + ((align=='left') ? DEFAULT_OFFSET : 0);
|
||||
y -= (height / 2); if (y < 0) y = 0; else if (y > context.height) y = context.height; // prevent balloon from going out of canvas
|
||||
|
||||
// check that the balloon does not already overlap
|
||||
for(var i=0; i<dirty.length; i++) {
|
||||
if((x>=dirty[i].left && x<=dirty[i].right) || (x+width>=dirty[i].left && x+width<=dirty[i].right)) { // does it overlap horizontally
|
||||
if((y>=dirty[i].top && y<=dirty[i].bottom) || (y+height>=dirty[i].top && y+height<=dirty[i].bottom )) { // this overlaps another balloon
|
||||
for (let i = 0; i < dirty.length; i++) {
|
||||
if ((x >= dirty[i].left && x <= dirty[i].right) || (x + width >= dirty[i].left && x + width <= dirty[i].right)) { // does it overlap horizontally
|
||||
if ((y >= dirty[i].top && y<= dirty[i].bottom) || (y + height >= dirty[i].top && y + height <= dirty[i].bottom )) { // this overlaps another balloon
|
||||
// snap above or snap below
|
||||
if(y<=(dirty[i].bottom - dirty[i].top) / 2 && (dirty[i].top - height) > 0) {
|
||||
if (y <= (dirty[i].bottom - dirty[i].top) / 2 && (dirty[i].top - height) > 0) {
|
||||
y = dirty[i].top - height;
|
||||
} else { // snap down
|
||||
y = dirty[i].bottom;
|
||||
|
|
@ -2270,14 +2296,14 @@ TABS.pid_tuning.updateRatesLabels = function() {
|
|||
dirty.push({left:x, right:x+width, top:y-DEFAULT_MARGIN, bottom:y+height+DEFAULT_MARGIN});
|
||||
|
||||
|
||||
var pointerLength = (height - 2 * DEFAULT_RADIUS ) / 6;
|
||||
const pointerLength = (height - 2 * DEFAULT_RADIUS ) / 6;
|
||||
|
||||
context.beginPath();
|
||||
context.moveTo(x + DEFAULT_RADIUS, y);
|
||||
context.lineTo(x + width - DEFAULT_RADIUS, y);
|
||||
context.quadraticCurveTo(x + width, y, x + width, y + DEFAULT_RADIUS);
|
||||
|
||||
if(align=='right') { // point is to the right
|
||||
if (align === 'right') { // point is to the right
|
||||
context.lineTo(x + width, y + DEFAULT_RADIUS + pointerLength);
|
||||
context.lineTo(x + width + DEFAULT_OFFSET, pointerY); // point
|
||||
context.lineTo(x + width, y + height - DEFAULT_RADIUS - pointerLength);
|
||||
|
|
@ -2288,7 +2314,7 @@ TABS.pid_tuning.updateRatesLabels = function() {
|
|||
context.lineTo(x + DEFAULT_RADIUS, y + height);
|
||||
context.quadraticCurveTo(x, y + height, x, y + height - DEFAULT_RADIUS);
|
||||
|
||||
if(align=='left') { // point is to the left
|
||||
if (align === 'left') { // point is to the left
|
||||
context.lineTo(x, y + height - DEFAULT_RADIUS - pointerLength);
|
||||
context.lineTo(x - DEFAULT_OFFSET, pointerY); // point
|
||||
context.lineTo(x, y + DEFAULT_RADIUS - pointerLength);
|
||||
|
|
@ -2313,40 +2339,38 @@ TABS.pid_tuning.updateRatesLabels = function() {
|
|||
yaw : {color: 'rgba(128,128,255,0.4)', border: 'rgba(128,128,255,0.6)', text: '#000000'}
|
||||
};
|
||||
|
||||
var rcStickElement = $('.rate_curve canvas#rate_curve_layer1').get(0);
|
||||
if(rcStickElement) {
|
||||
const rcStickElement = $('.rate_curve canvas#rate_curve_layer1').get(0);
|
||||
if (rcStickElement) {
|
||||
rcStickElement.width = 1000;
|
||||
rcStickElement.height = 1000;
|
||||
|
||||
var stickContext = rcStickElement.getContext("2d");
|
||||
const stickContext = rcStickElement.getContext("2d");
|
||||
|
||||
stickContext.save();
|
||||
|
||||
var
|
||||
maxAngularVelRoll = self.maxAngularVelRollElement.text() + ' deg/s',
|
||||
maxAngularVelPitch = self.maxAngularVelPitchElement.text() + ' deg/s',
|
||||
maxAngularVelYaw = self.maxAngularVelYawElement.text() + ' deg/s',
|
||||
currentValues = [],
|
||||
balloonsDirty = [],
|
||||
curveHeight = rcStickElement.height,
|
||||
curveWidth = rcStickElement.width,
|
||||
maxAngularVel = self.rateCurve.maxAngularVel,
|
||||
windowScale = (400 / stickContext.canvas.clientHeight),
|
||||
rateScale = (curveHeight / 2) / maxAngularVel,
|
||||
lineScale = stickContext.canvas.width / stickContext.canvas.clientWidth,
|
||||
textScale = stickContext.canvas.clientHeight / stickContext.canvas.clientWidth;
|
||||
|
||||
const maxAngularVelRoll = self.maxAngularVelRollElement.text() + ' deg/s';
|
||||
const maxAngularVelPitch = self.maxAngularVelPitchElement.text() + ' deg/s';
|
||||
const maxAngularVelYaw = self.maxAngularVelYawElement.text() + ' deg/s';
|
||||
let currentValues = [];
|
||||
let balloonsDirty = [];
|
||||
const curveHeight = rcStickElement.height;
|
||||
const curveWidth = rcStickElement.width;
|
||||
const maxAngularVel = self.rateCurve.maxAngularVel;
|
||||
const windowScale = (400 / stickContext.canvas.clientHeight);
|
||||
const rateScale = (curveHeight / 2) / maxAngularVel;
|
||||
const lineScale = stickContext.canvas.width / stickContext.canvas.clientWidth;
|
||||
const textScale = stickContext.canvas.clientHeight / stickContext.canvas.clientWidth;
|
||||
|
||||
stickContext.clearRect(0, 0, curveWidth, curveHeight);
|
||||
|
||||
// calculate the fontSize based upon window scaling
|
||||
if(windowScale <= 1) {
|
||||
if (windowScale <= 1) {
|
||||
stickContext.font = "24pt Verdana, Arial, sans-serif";
|
||||
} else {
|
||||
stickContext.font = (24 * windowScale) + "pt Verdana, Arial, sans-serif";
|
||||
}
|
||||
|
||||
if(FC.RC.channels[0] && FC.RC.channels[1] && FC.RC.channels[2]) {
|
||||
if (FC.RC.channels[0] && FC.RC.channels[1] && FC.RC.channels[2]) {
|
||||
currentValues.push(self.rateCurve.drawStickPosition(FC.RC.channels[0], self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.roll_rate_limit, maxAngularVel, stickContext, '#FF8080') + ' deg/s');
|
||||
currentValues.push(self.rateCurve.drawStickPosition(FC.RC.channels[1], self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.pitch_rate_limit, maxAngularVel, stickContext, '#80FF80') + ' deg/s');
|
||||
currentValues.push(self.rateCurve.drawStickPosition(FC.RC.channels[2], self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.currentRates.yaw_rate_limit, maxAngularVel, stickContext, '#8080FF') + ' deg/s');
|
||||
|
|
@ -2365,7 +2389,7 @@ TABS.pid_tuning.updateRatesLabels = function() {
|
|||
// and then the balloon labels.
|
||||
balloonsDirty = []; // reset the dirty balloon draw area (for overlap detection)
|
||||
// create an array of balloons to draw
|
||||
var balloons = [
|
||||
const balloons = [
|
||||
{value: parseInt(maxAngularVelRoll), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelRoll, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelRoll)), 'right', BALLOON_COLORS.roll, balloonsDirty);}},
|
||||
{value: parseInt(maxAngularVelPitch), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelPitch, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelPitch)), 'right', BALLOON_COLORS.pitch, balloonsDirty);}},
|
||||
{value: parseInt(maxAngularVelYaw), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelYaw, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelYaw)), 'right', BALLOON_COLORS.yaw, balloonsDirty);}}
|
||||
|
|
@ -2380,7 +2404,7 @@ TABS.pid_tuning.updateRatesLabels = function() {
|
|||
balloons.sort(function(a,b) {return (b.value - a.value)});
|
||||
|
||||
// add the current rc values
|
||||
if(currentValues[0] && currentValues[1] && currentValues[2]) {
|
||||
if (currentValues[0] && currentValues[1] && currentValues[2]) {
|
||||
balloons.push(
|
||||
{value: parseInt(currentValues[0]), balloon: function() {drawBalloonLabel(stickContext, currentValues[0], 10, 150, 'none', BALLOON_COLORS.roll, balloonsDirty);}},
|
||||
{value: parseInt(currentValues[1]), balloon: function() {drawBalloonLabel(stickContext, currentValues[1], 10, 250, 'none', BALLOON_COLORS.pitch, balloonsDirty);}},
|
||||
|
|
@ -2388,7 +2412,9 @@ TABS.pid_tuning.updateRatesLabels = function() {
|
|||
);
|
||||
}
|
||||
// then display them on the chart
|
||||
for(var i=0; i<balloons.length; i++) balloons[i].balloon();
|
||||
for (let i = 0; i <= balloons.length; i++) {
|
||||
balloons[i].balloon();
|
||||
}
|
||||
|
||||
stickContext.restore();
|
||||
}
|
||||
|
|
@ -2396,25 +2422,25 @@ TABS.pid_tuning.updateRatesLabels = function() {
|
|||
};
|
||||
|
||||
TABS.pid_tuning.updateFilterWarning = function() {
|
||||
var gyroDynamicLowpassEnabled = $('input[id="gyroLowpassDynEnabled"]').is(':checked');
|
||||
var gyroLowpass1Enabled = $('input[id="gyroLowpassEnabled"]').is(':checked');
|
||||
var dtermDynamicLowpassEnabled = $('input[id="dtermLowpassDynEnabled"]').is(':checked');
|
||||
var dtermLowpass1Enabled = $('input[id="dtermLowpassEnabled"]').is(':checked');
|
||||
var warning_e = $('#pid-tuning .filterWarning');
|
||||
var warningDynamicNotch_e = $('#pid-tuning .dynamicNotchWarning');
|
||||
const gyroDynamicLowpassEnabled = $('input[id="gyroLowpassDynEnabled"]').is(':checked');
|
||||
const gyroLowpass1Enabled = $('input[id="gyroLowpassEnabled"]').is(':checked');
|
||||
const dtermDynamicLowpassEnabled = $('input[id="dtermLowpassDynEnabled"]').is(':checked');
|
||||
const dtermLowpass1Enabled = $('input[id="dtermLowpassEnabled"]').is(':checked');
|
||||
const warningE = $('#pid-tuning .filterWarning');
|
||||
const warningDynamicNotchE = $('#pid-tuning .dynamicNotchWarning');
|
||||
if (!(gyroDynamicLowpassEnabled || gyroLowpass1Enabled) || !(dtermDynamicLowpassEnabled || dtermLowpass1Enabled)) {
|
||||
warning_e.show();
|
||||
warningE.show();
|
||||
} else {
|
||||
warning_e.hide();
|
||||
warningE.hide();
|
||||
}
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
|
||||
if (FC.FEATURE_CONFIG.features.isEnabled('DYNAMIC_FILTER')) {
|
||||
warningDynamicNotch_e.hide();
|
||||
warningDynamicNotchE.hide();
|
||||
} else {
|
||||
warningDynamicNotch_e.show();
|
||||
warningDynamicNotchE.show();
|
||||
}
|
||||
} else {
|
||||
warningDynamicNotch_e.hide();
|
||||
warningDynamicNotchE.hide();
|
||||
}
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue