diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 32232236..29abf7a5 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -850,6 +850,9 @@
"pidTuningRcRate": {
"message": "RC Rate"
},
+ "pidTuningMaxVel": {
+ "message": "Max Vel (deg/s)"
+ },
"pidTuningRate": {
"message": "Rate"
},
@@ -872,19 +875,10 @@
"message": "Frequency"
},
"pidTuningRatesCurve": {
- "message": "Rates"
- },
- "pidTuningMaxAngularVelRoll": {
- "message": "Max roll speed (deg/s):"
- },
- "pidTuningMaxAngularVelPitch": {
- "message": "Max pitch speed (deg/s):"
- },
- "pidTuningMaxAngularVelYaw": {
- "message": "Max yaw speed (deg/s):"
+ "message": "Rates"
},
"throttle": {
- "message": "Throttle"
+ "message": "Throttle"
},
"pidTuningButtonSave": {
"message": "Save"
@@ -1607,6 +1601,12 @@
"pidTuningYawJumpPreventionHelp": {
"message": "Keeps the craft from jumping up at the end of yaws. Higher number gives more damping at the end of yaw moves (works like old yaw D, which was not a real D like on other axis)"
},
+ "pidTuningRcExpoPower": {
+ "message": "RC Expo Power"
+ },
+ "pidTuningRcExpoPowerHelp": {
+ "message": "The exponent that is used when calculating RC Expo. In Betaflight versions prior to 3.0, value is fixed at 3."
+ },
"pidTuningLevel": {
"message": "Angle/Horizon"
},
diff --git a/js/Features.js b/js/Features.js
index b8d39198..934cb1e9 100644
--- a/js/Features.js
+++ b/js/Features.js
@@ -46,17 +46,26 @@ var Features = function (config) {
);
}
- if (config.flightControllerVersion !== '' && semver.gte(config.flightControllerVersion, "3.0.0")) {
- features.push(
- {bit: 18, group: 'other', name: 'OSD', haveTip: true}
- );
- }
+ if (config.flightControllerVersion !== '') {
+ if (semver.gte(config.flightControllerVersion, "2.8.0")) {
+ features.push(
+ {bit: 22, group: 'other', name: 'AIRMODE'}
+ );
+ }
+
+ if (semver.gte(config.flightControllerVersion, "2.8.0") && !semver.gte(config.flightControllerVersion, "3.0.0")) {
+ features.push(
+ {bit: 23, group: 'pidTuning', name: 'SUPEREXPO_RATES'}
+ );
+ }
+
+ if (semver.gte(config.flightControllerVersion, "3.0.0")) {
+ features.push(
+ {bit: 18, group: 'other', name: 'OSD', haveTip: true}
+ );
+ }
+
- if (config.flightControllerVersion !== '' && semver.gte(config.flightControllerVersion, "2.8.0")) {
- features.push(
- {bit: 22, group: 'other', name: 'AIRMODE'},
- {bit: 23, group: 'pidTuning', name: 'SUPEREXPO_RATES'}
- );
}
self._features = features;
diff --git a/js/RateCurve.js b/js/RateCurve.js
index 92a76740..717adb7d 100755
--- a/js/RateCurve.js
+++ b/js/RateCurve.js
@@ -9,18 +9,24 @@ var RateCurve = function (useLegacyCurve) {
this.constrain = function (value, min, max) {
return Math.max(min, Math.min(value, max));
- }
+ };
- this.rcCommand = function (rcData, rcRate, rcExpo) {
- var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
+ this.rcCommand = function (rcData, rcRate) {
+ var tmp = Math.min(Math.abs(rcData - midRc), 500);
+ rcRate = rcRate;
- var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
- if (rcData < midRc) {
+ if (rcRate > 2) {
+ rcRate = rcRate + (rcRate - 2) * 14.54;
+ }
+
+ var result = tmp * rcRate;
+
+ if (rcData < midRc) {
result = -result;
}
return result;
- }
+ };
this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height) {
var canvasHeightScale = height / (2 * maxAngularVel);
@@ -42,7 +48,7 @@ var RateCurve = function (useLegacyCurve) {
context.stroke();
context.restore();
- }
+ };
this.drawLegacyRateCurve = function (rate, rcRate, rcExpo, context, width, height) {
// math magic by englishman
@@ -55,28 +61,31 @@ var RateCurve = function (useLegacyCurve) {
context.quadraticCurveTo(width * 11 / 20, height - ((rateY / 2) * (1 - rcExpo)), width, height - rateY);
context.stroke();
}
-}
+};
RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive) {
var angleRate;
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
- rate = rate * 100;
- rcRate = rcRate * 100;
- rcExpo = rcExpo * 100;
- var inputValue = this.rcCommand(rcData, rcRate, rcExpo);
+ var inputValue = this.rcCommand(rcData, rcRate);
+ var maxRc = 500 * rcRate;
- if (superExpoActive) {
- var rcFactor = Math.abs(inputValue) / (500 * rcRate / 100);
- rcFactor = 1 / this.constrain(1 - rcFactor * rate / 100, 0.01, 1);
-
- angleRate = rcFactor * 27 * inputValue / 16;
- } else {
- angleRate = (rate + 27) * inputValue / 16;
+ if (rcExpo > 0) {
+ var absRc = Math.abs(inputValue) / maxRc;
+ inputValue = inputValue * ((rcExpo * absRc * absRc * absRc) + absRc * (1-rcExpo)); // absRc should be wrapped in function using expo power
}
- angleRate = this.constrain(angleRate, -8190, 8190); // Rate limit protection
- angleRate = angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
+ var rcInput = inputValue / maxRc;
+
+ if (superExpoActive) {
+ var rcFactor = 1 / this.constrain(1 - Math.abs(rcInput) * rate, 0.01, 1);
+ angleRate = 200 * rcRate * rcInput; // 200 should be variable checked on version (older versions it's 205,9)
+ angleRate = angleRate * rcFactor;
+ } else {
+ angleRate = (((rate * 100) + 27) * inputValue / 16) / 4.1; // Only applies to old versions ?
+ }
+
+ angleRate = this.constrain(angleRate, -1998, 1998); // Rate limit protection
}
return angleRate;
@@ -89,7 +98,7 @@ RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpo
}
return maxAngularVel;
-}
+};
RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context) {
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
@@ -102,4 +111,4 @@ RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, maxA
this.drawRateCurve(rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height);
}
}
-}
+};
diff --git a/js/fc.js b/js/fc.js
index bd237c23..812b0d60 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -112,7 +112,8 @@ var FC = {
throttle_EXPO: 0,
dynamic_THR_breakpoint: 0,
RC_YAW_EXPO: 0,
- rcYawRate: 0
+ rcYawRate: 0,
+ rcExpoPower: 3
};
AUX_CONFIG = [];
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 03979dc0..70d0b01a 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -140,6 +140,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
} else {
RC_tuning.RC_YAW_EXPO = 0;
}
+ if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
+ RC_tuning.rcExpoPower = data.readU8();
+ } else {
+ RC_tuning.rcExpoPower = 3;
+ }
break;
case MSPCodes.MSP_PID:
// PID data arrived, we need to scale it and save to appropriate bank / array
@@ -954,6 +959,9 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(Math.round(RC_tuning.rcYawRate * 100));
}
}
+ if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
+ buffer.push8(RC_tuning.rcExpoPower);
+ }
break;
case MSPCodes.MSP_SET_RX_MAP:
for (var i = 0; i < RC_MAP.length; i++) {
diff --git a/tabs/pid_tuning.css b/tabs/pid_tuning.css
index 5d59921a..69a10867 100644
--- a/tabs/pid_tuning.css
+++ b/tabs/pid_tuning.css
@@ -242,13 +242,13 @@
padding: 5px;
text-align: left;
border-right: 1px solid #ccc;
- width: 14%;
+ width: 12.5%;
}
.tab-pid_tuning .pid_titlebar th:first-child {
text-align: left;
- width: 14%;
+ width: 12.5%;
}
.tab-pid_tuning .pid_titlebar th:last-child {
@@ -288,7 +288,7 @@
.tab-pid_tuning table td {
padding: 1px;
- width: 14%;
+ width: 12.5%;
border-right: 1px solid #ccc;
}
@@ -370,32 +370,8 @@
border-top-right-radius: 3px;
}
-.tab-pid_tuning .name {
- width: 14%;
-}
-
-.tab-pid_tuning .proportional {
- width: 14%;
-}
-
-.tab-pid_tuning .integral {
- width: 14%;
-}
-
-.tab-pid_tuning .derivative {
- width: 14%;
-}
-
-.tab-pid_tuning .rc_rate {
- width: 14%;
-}
-
-.tab-pid_tuning .rate {
- width: 14%;
-}
-
-.tab-pid_tuning .rc_expo {
- width: 14%;
+.tab-pid_tuning .new_rates {
+ text-align: left;
}
.tab-pid_tuning .tpa {
@@ -711,7 +687,6 @@ width: 40%;
.tab-pid_tuning .rc_curve_bg {
float: left;
- padding-bottom: 20px;
background: #ddd;
border-bottom-left-radius: 5px;
border-bottom-right-radius: 5px;
@@ -757,4 +732,4 @@ width: 40%;
border-bottom-left-radius: 8px;
border-top: 0px solid silver;
background: #f9f9f9;
-}
\ No newline at end of file
+}
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index f32cec1f..49d35a7e 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -72,6 +72,7 @@
|
|
|
+ |
|
@@ -91,11 +92,12 @@
|
|
-
+
|
|
|
+ |
@@ -108,6 +110,7 @@
| |
|
|
+ |
@@ -115,8 +118,9 @@
|
|
|
- |
+ |
|
+ |
|
@@ -127,7 +131,16 @@
|
- |
+ |
+
+
+ |
+
+ |
+ |
@@ -208,7 +221,7 @@
- |
+ |
|
|
@@ -371,26 +384,14 @@
- |
- |
-
- |
- |
-
-
- |
- |
-
-
- |
- |
-
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index addd9cb8..25be672c 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -58,28 +58,6 @@ TABS.pid_tuning.initialize = function (callback) {
self.setRateProfile();
}
- if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
- $('input[id="vbatpidcompensation"]').prop('checked', ADVANCED_TUNING.vbatPidCompensation !== 0);
- }
-
- if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
- $('#pid-tuning .delta select').val(ADVANCED_TUNING.deltaMethod);
- }
-
- if (semver.gte(CONFIG.flightControllerVersion, '3.0.0')) {
- $('select[name="rcInterpolation-select"]').val(RX_CONFIG.rcInterpolation);
-
- $('input[name="rcInterpolationInterval-number"]').val(RX_CONFIG.rcInterpolationInterval);
-
- $('input[name="ptermSetpoint-number"]').val(ADVANCED_TUNING.ptermSetpointWeight / 100);
- $('input[name="ptermSetpoint-range"]').val(ADVANCED_TUNING.ptermSetpointWeight / 100);
-
- $('input[name="dtermSetpoint-number"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100);
- $('input[name="dtermSetpoint-range"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100);
-
- self.updateRcInterpolationParameters();
- }
-
// Fill in the data from PIDs array
var i = 0;
$('.pid_tuning .ROLL input').each(function () {
@@ -239,6 +217,14 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3");
}
+ if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
+ $('input[id="vbatpidcompensation"]').prop('checked', ADVANCED_TUNING.vbatPidCompensation !== 0);
+ }
+
+ if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
+ $('#pid-tuning .delta select').val(ADVANCED_TUNING.deltaMethod);
+ }
+
if (semver.gte(CONFIG.flightControllerVersion, '2.9.0')) {
$('.pid_tuning input[name="rc_rate_yaw"]').val(RC_tuning.rcYawRate.toFixed(2));
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FILTER_CONFIG.gyro_soft_lpf_hz);
@@ -255,34 +241,28 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_filter input[name="gyroNotchCutoff"]').val(FILTER_CONFIG.gyro_soft_notch_cutoff);
$('.pid_filter input[name="dTermNotchFrequency"]').val(FILTER_CONFIG.dterm_notch_hz);
$('.pid_filter input[name="dTermNotchCutoff"]').val(FILTER_CONFIG.dterm_notch_cutoff);
+
+ $('select[name="rcInterpolation-select"]').val(RX_CONFIG.rcInterpolation);
+
+ $('input[name="rcInterpolationInterval-number"]').val(RX_CONFIG.rcInterpolationInterval);
+
+ $('input[name="ptermSetpoint-number"]').val(ADVANCED_TUNING.ptermSetpointWeight / 100);
+ $('input[name="ptermSetpoint-range"]').val(ADVANCED_TUNING.ptermSetpointWeight / 100);
+
+ $('input[name="dtermSetpoint-number"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100);
+ $('input[name="dtermSetpoint-range"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100);
+
+ self.updateRcInterpolationParameters();
+
+ $('.pid_tuning input[name="rcExpoPower"]').val(RC_tuning.rcExpoPower.toFixed(0)).prop("readonly", false);
} else {
$('.pid_filter .newFilter').hide();
+
+ $('.pid_tuning input[name="rcExpoPower"]').val(3).prop("readonly", true);
}
}
function form_to_pid_and_rc() {
- if (semver.gte(CONFIG.flightControllerVersion, "2.8.0")) {
- BF_CONFIG.features.updateData($('input[name="SUPEREXPO_RATES"]'));
- }
-
- if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
- ADVANCED_TUNING.vbatPidCompensation = $('input[id="vbatpidcompensation"]').is(':checked') ? 1 : 0;
- }
-
- if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
- ADVANCED_TUNING.deltaMethod = $('#pid-tuning .delta select').val();
- }
-
- if (semver.gte(CONFIG.flightControllerVersion, '3.0.0')) {
- RX_CONFIG.rcInterpolation = parseInt($('select[name="rcInterpolation-select"]').val());
-
- RX_CONFIG.rcInterpolationInterval = parseInt($('input[name="rcInterpolationInterval-number"]').val());
-
- ADVANCED_TUNING.ptermSetpointWeight = parseInt($('input[name="ptermSetpoint-number"]').val() * 100);
-
- ADVANCED_TUNING.dtermSetpointWeight = parseInt($('input[name="dtermSetpoint-number"]').val() * 100);
- }
-
// Fill in the data from PIDs array
// Catch all the changes and stuff the inside PIDs array
var i = 0;
@@ -360,12 +340,33 @@ TABS.pid_tuning.initialize = function (callback) {
FILTER_CONFIG.dterm_lpf_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
FILTER_CONFIG.yaw_lpf_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val());
+ if (semver.gte(CONFIG.flightControllerVersion, "2.8.0") && !semver.gte(CONFIG.flightControllerVersion, "3.0.0")) {
+ BF_CONFIG.features.updateData($('input[name="SUPEREXPO_RATES"]'));
+ }
+
+ if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
+ ADVANCED_TUNING.vbatPidCompensation = $('input[id="vbatpidcompensation"]').is(':checked') ? 1 : 0;
+ }
+
+ if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
+ ADVANCED_TUNING.deltaMethod = $('#pid-tuning .delta select').val();
+ }
+
if (semver.gte(CONFIG.flightControllerVersion, '3.0.0')) {
+ RX_CONFIG.rcInterpolation = parseInt($('select[name="rcInterpolation-select"]').val());
+ RX_CONFIG.rcInterpolationInterval = parseInt($('input[name="rcInterpolationInterval-number"]').val());
+
+ ADVANCED_TUNING.ptermSetpointWeight = parseInt($('input[name="ptermSetpoint-number"]').val() * 100);
+ ADVANCED_TUNING.dtermSetpointWeight = parseInt($('input[name="dtermSetpoint-number"]').val() * 100);
+
FILTER_CONFIG.gyro_soft_notch_hz = parseInt($('.pid_filter input[name="gyroNotchFrequency"]').val());
FILTER_CONFIG.gyro_soft_notch_cutoff = parseInt($('.pid_filter input[name="gyroNotchCutoff"]').val());
FILTER_CONFIG.dterm_notch_hz = parseInt($('.pid_filter input[name="dTermNotchFrequency"]').val());
FILTER_CONFIG.dterm_notch_cutoff = parseInt($('.pid_filter input[name="dTermNotchCutoff"]').val());
+
+ RC_tuning.rcExpoPower = parseInt($('.pid_tuning input[name="rcExpoPower"]').val());
}
+
}
function showAllPids() {
@@ -452,7 +453,7 @@ TABS.pid_tuning.initialize = function (callback) {
self.rateCurve = new RateCurve(useLegacyCurve);
function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, maxAngularVelElement) {
- var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo);
+ var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo).toFixed(0);
maxAngularVelElement.text(maxAngularVel);
return maxAngularVel;
@@ -486,15 +487,19 @@ TABS.pid_tuning.initialize = function (callback) {
superexpo: BF_CONFIG.features.isEnabled('SUPEREXPO_RATES')
};
- if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
- self.currentRates.rc_rate_yaw = self.currentRates.rc_rate;
- }
-
if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
self.currentRates.roll_rate = RC_tuning.roll_pitch_rate;
self.currentRates.pitch_rate = RC_tuning.roll_pitch_rate;
}
+ if (semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
+ self.currentRates.rc_rate_yaw = self.currentRates.rc_rate;
+ }
+
+ if (semver.gte(CONFIG.flightControllerVersion, "3.0.0")) {
+ self.currentRates.superexpo = true;
+ }
+
$('.tab-pid_tuning .tab_container .pid').on('click', function () {
$('.tab-pid_tuning .subtab-pid').show();
$('.tab-pid_tuning .subtab-filter').hide();
@@ -673,9 +678,9 @@ TABS.pid_tuning.initialize = function (callback) {
rcCurveElement.width = 1000;
rcCurveElement.height = 1000;
- var maxAngularVelRollElement = $('.rc_curve .maxAngularVelRoll');
- var maxAngularVelPitchElement = $('.rc_curve .maxAngularVelPitch');
- var maxAngularVelYawElement = $('.rc_curve .maxAngularVelYaw');
+ var maxAngularVelRollElement = $('.pid_tuning .maxAngularVelRoll');
+ var maxAngularVelPitchElement = $('.pid_tuning .maxAngularVelPitch');
+ var maxAngularVelYawElement = $('.pid_tuning .maxAngularVelYaw');
var updateNeeded = true;
@@ -684,13 +689,13 @@ TABS.pid_tuning.initialize = function (callback) {
var targetElement = $(event.target),
targetValue = checkInput(targetElement);
- if (self.currentRates.hasOwnProperty(targetElement.attr('name')) && targetValue) {
+ if (self.currentRates.hasOwnProperty(targetElement.attr('name')) && targetValue !== undefined) {
self.currentRates[targetElement.attr('name')] = targetValue;
updateNeeded = true;
}
- if (targetElement.attr('name') === 'rc_rate' && CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
+ if (targetElement.attr('name') === 'rc_rate' && semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
self.currentRates.rc_rate_yaw = targetValue;
}
@@ -711,7 +716,7 @@ TABS.pid_tuning.initialize = function (callback) {
var curveHeight = rcCurveElement.height;
var curveWidth = rcCurveElement.width;
- var maxAngularVel = Math.max(
+ var maxAngularVel = Math.max(
printMaxAngularVel(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVelRollElement),
printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVelPitchElement),
printMaxAngularVel(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVelYawElement));
@@ -724,11 +729,9 @@ TABS.pid_tuning.initialize = function (callback) {
curveContext.lineWidth = 4;
- drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#ff0000', 0, curveContext);
-
- drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#00ff00', -4, curveContext);
-
- drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVel, '#0000ff', 4, curveContext);
+ drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#ff0000', 0, curveContext);
+ drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#00ff00', -4, curveContext);
+ drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVel, '#0000ff', 4, curveContext);
updateNeeded = false;
}
@@ -737,8 +740,8 @@ TABS.pid_tuning.initialize = function (callback) {
// UI Hooks
// curves
- $('.pid_tuning').on('input change', updateRates);
- $('input.feature').on('input change', updateRates).trigger('input');
+ $('input.feature').on('input change', updateRates);
+ $('.pid_tuning').on('input change', updateRates).trigger('input');
$('.throttle input').on('input change', function () {
setTimeout(function () { // let global validation trigger and adjust the values first
@@ -900,9 +903,9 @@ TABS.pid_tuning.renderModel = function () {
if (RC.channels[0] && RC.channels[1] && RC.channels[2]) {
var delta = this.clock.getDelta();
- var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.super_expo),
- pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], this.currentRates.pitch_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.super_expo),
- yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], this.currentRates.yaw_rate, this.currentRates.rc_rate_yaw, this.currentRates.rc_yaw_expo, this.currentRates.super_expo);
+ var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo),
+ pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], this.currentRates.pitch_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo),
+ yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], this.currentRates.yaw_rate, this.currentRates.rc_rate_yaw, this.currentRates.rc_yaw_expo, this.currentRates.superexpo);
this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));
}