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Code Issues Wiki Activity

Change Sliders and defaults

Browse source 
0-1-2 ranges ff and dmax

gui fixes

Fix master slider

Fix TODO

Fix enable slider when PID has changed

Fix RP mode editing manual values

Restore backward compatibility

Rearrange order of 4.3 sliders and add divider for expert mode

d_lowpass slider range changed, 75-150 defaults

Fix filter sliders

Optimise FF, DMax and filter slider steps

Fix doubleclick on pid sliders

stop D lowpass slider position moving left on save

update gyro and dterm lowpass filter messages

fix some bugs

Fix spacing in messages

Little fixes

Respect slider mode

Fix legacy mode and slider values

Code cleanup

Add slider defaults

rename dmin ratio to dmax gain

Fix legacy sliders again

Enable Expert Mode
This commit is contained in:
Mark Haslinghuis 2021-08-20 23:47:54 +02:00
parent 2dad799a78
commit 1dbe298abd
No known key found for this signature in database
GPG key ID: 198B0F616296A584
10 changed files with 1048 additions and 508 deletions
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369
src/js/TuningSliders.js
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@ -1,14 +1,22 @@
'use strict';
const TuningSliders = {
sliderPidsMode: 2,
sliderMasterMultiplier: 1,
sliderRollPitchRatio: 1,
sliderIGain: 1,
// Legacy Sliders
sliderMasterMultiplierLegacy: 1,
sliderPDRatio: 1,
sliderPDGain: 1,
sliderDMinRatio: 1,
sliderFeedforwardGainLegacy: 1,
// Firmware Sliders introduced in API 1.44
sliderPidsMode: 2,
sliderDGain: 1,
sliderPIGain: 1,
sliderFeedforwardGain: 1,
sliderDMaxGain: 1,
sliderIGain: 1,
sliderRollPitchRatio: 1,
sliderPitchPIGain: 1,
sliderMasterMultiplier: 1,
pidSlidersUnavailable: false,
GyroSliderUnavailable: false,
DTermSliderUnavailable: false,
@ -23,6 +31,8 @@ const TuningSliders = {
defaultPDRatio: 0,
PID_DEFAULT: [],
FILTER_DEFAULT: {},
SLIDER_DEFAULT: {},
initialSettings: {},
cachedPidSliderValues: false,
cachedGyroSliderValues: false,
@ -33,6 +43,60 @@ const TuningSliders = {
const D_MIN_RATIO = 0.85;
TuningSliders.saveInitialSettings = function () {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
this.initialSettings.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_mode;
this.initialSettings.sliderDGain = FC.TUNING_SLIDERS.slider_d_gain / 100;
this.initialSettings.sliderPIGain = FC.TUNING_SLIDERS.slider_pi_gain / 100;
this.initialSettings.sliderFeedforwardGain = FC.TUNING_SLIDERS.slider_feedforward_gain / 100;
this.initialSettings.sliderDMaxGain = FC.TUNING_SLIDERS.slider_dmax_gain / 100;
this.initialSettings.sliderIGain = FC.TUNING_SLIDERS.slider_i_gain / 100;
this.initialSettings.sliderRollPitchRatio = FC.TUNING_SLIDERS.slider_roll_pitch_ratio / 100;
this.initialSettings.sliderPitchPIGain = FC.TUNING_SLIDERS.slider_pitch_pi_gain / 100;
this.initialSettings.sliderMasterMultiplier = FC.TUNING_SLIDERS.slider_master_multiplier / 100;
this.initialSettings.sliderGyroFilter = FC.TUNING_SLIDERS.slider_gyro_filter;
this.initialSettings.sliderGyroFilterMultiplier = FC.TUNING_SLIDERS.slider_gyro_filter_multiplier / 100;
this.initialSettings.sliderDTermFilter = FC.TUNING_SLIDERS.slider_dterm_filter;
this.initialSettings.sliderDTermFilterMultiplier = FC.TUNING_SLIDERS.slider_dterm_filter_multiplier / 100;
}
};
TuningSliders.restoreInitialSettings = function () {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (this.sliderModeHasChanged && this.initialSetting.sliderPidsMode !== this.sliderPidsmode) {
$('#sliderPidsModeSelect').val(this.initialSettings.sliderPidsMode).trigger('change');
}
FC.TUNING_SLIDERS.slider_pids_mode = this.initialSettings.sliderPidsMode;
FC.TUNING_SLIDERS.slider_d_gain = Math.round(this.initialSettings.sliderDGain * 20) * 5;
FC.TUNING_SLIDERS.slider_pi_gain = Math.round(this.initialSettings.sliderPIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(this.initialSettings.sliderFeedforwardGain * 20) * 5;
FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(this.initialSettings.sliderDMaxGain * 20) * 5;
FC.TUNING_SLIDERS.slider_i_gain = Math.round(this.initialSettings.sliderIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(this.initialSettings.sliderRollPitchRatio * 20) * 5;
FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(this.initialSettings.sliderPitchPIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(this.initialSettings.sliderMasterMultiplier * 20) * 5;
FC.TUNING_SLIDERS.slider_gyro_filter = this.initialSettings.sliderGyroFilter;
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = this.initialSettings.sliderGyroFilterMultiplier * 100;
FC.TUNING_SLIDERS.slider_dterm_filter = this.initialSettings.sliderDTermFilter;
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = this.initialSettings.sliderDTermFilterMultiplier * 100;
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS))
.then(() => MSP.promise(MSPCodes.MSP_PID))
.then(() => MSP.promise(MSPCodes.MSP_PID_ADVANCED))
.then(() => MSP.promise(MSPCodes.MSP_FILTER_CONFIG))
.then(() => {
TABS.pid_tuning.configChanges = {};
if (GUI.active_tab === 'pid_tuning') {
this.updateFormPids();
TABS.pid_tuning.updatePIDColors();
}
});
}
};
TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
this.dMinFeatureEnabled = dMinFeatureEnabled;
if (this.dMinFeatureEnabled) {
@ -45,6 +109,7 @@ TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
TuningSliders.initialize = function() {
this.PID_DEFAULT = FC.getPidDefaults();
this.FILTER_DEFAULT = FC.getFilterDefaults();
this.SLIDER_DEFAULT = FC.getSliderDefaults();
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
@ -67,20 +132,27 @@ TuningSliders.initialize = function() {
TuningSliders.setExpertMode = function() {
this.expertMode = isExpertModeEnabled();
$('#slidersPidsBox, #slidersFilterBox').toggleClass('nonExpertModeSliders', !this.expertMode);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
const dMinShow = parseInt($('.pid_tuning input[name="dMinRoll"]').val()) !== 0;
$('.tab-pid_tuning .MasterSlider').toggle(this.expertMode);
$('.tab-pid_tuning .DMinRatioSlider').toggle(this.expertMode && dMinShow);
// TODO: reset nonExpertModeSliders - changes after first movement
$('.tab-pid_tuning .DMaxGainSlider').toggle(this.expertMode);
$('.tab-pid_tuning .advancedSlider').toggle(this.expertMode);
$('.tab-pid_tuning .masterSlider').toggle(this.expertMode);
$('.tab-pid_tuning .legacySlider').hide();
$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
$('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.GyroSliderUnavailable || !this.DTermSliderUnavailable) && !this.expertMode);
} else {
$('#slidersPidsBox, #slidersFilterBox').toggleClass('nonExpertModeSliders', !this.expertMode);
const dMinShow = parseInt($('.pid_tuning input[name="dMinRoll"]').val()) !== 0;
$('.tab-pid_tuning .DMaxGainSlider').toggle(this.expertMode && dMinShow);
$('.tab-pid_tuning .advancedSlider').hide();
$('.tab-pid_tuning .DMinRatioSlider').hide();
$('.tab-pid_tuning .DMaxGainSlider').hide();
$('.tab-pid_tuning .baseSlider').hide();
}
};
TuningSliders.scaleSliderValue = function(value) {
if (value > 1) {
if (value > 0) {
return Math.round(((value - 1) * 2 + 1) * 100) / 100;
} else {
return value;
@ -88,7 +160,7 @@ TuningSliders.scaleSliderValue = function(value) {
};
TuningSliders.downscaleSliderValue = function(value) {
if (value > 1) {
if (value > 0) {
return (value - 1) / 2 + 1;
} else {
return value;
@ -96,43 +168,56 @@ TuningSliders.downscaleSliderValue = function(value) {
};
TuningSliders.initPidSlidersPosition = function() {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
this.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_mode;
this.sliderDGain = FC.TUNING_SLIDERS.slider_d_gain / 100;
this.sliderPIGain = FC.TUNING_SLIDERS.slider_pi_gain / 100;
this.sliderFeedforwardGain = FC.TUNING_SLIDERS.slider_feedforward_gain / 100;
this.sliderDMaxGain = FC.TUNING_SLIDERS.slider_dmax_gain / 100;
this.sliderIGain = FC.TUNING_SLIDERS.slider_i_gain / 100;
this.sliderRollPitchRatio = FC.TUNING_SLIDERS.slider_roll_pitch_ratio / 100;
this.sliderPitchPIGain = FC.TUNING_SLIDERS.slider_pitch_pi_gain / 100;
this.sliderMasterMultiplier = FC.TUNING_SLIDERS.slider_master_multiplier / 100;
$('output[name="sliderDGain-number"]').val(this.sliderDGain);
$('output[name="sliderPIGain-number"]').val(this.sliderPIGain);
$('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain);
$('output[name="sliderDMaxGain-number"]').val(this.sliderDMaxGain);
$('output[name="sliderIGain-number"]').val(this.sliderIGain);
$('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
$('output[name="sliderPitchPIGain-number"]').val(this.sliderPitchPIGain);
$('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
$('#sliderDGain').val(this.downscaleSliderValue(this.sliderDGain));
$('#sliderPIGain').val(this.downscaleSliderValue(this.sliderPIGain));
$('#sliderFeedforwardGain').val(this.sliderFeedforwardGain);
$('#sliderDMaxGain').val(this.sliderDMaxGain);
$('#sliderIGain').val(this.downscaleSliderValue(this.sliderIGain));
$('#sliderRollPitchRatio').val(this.downscaleSliderValue(this.sliderRollPitchRatio));
$('#sliderPitchPIGain').val(this.downscaleSliderValue(this.sliderPitchPIGain));
$('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
} else {
// used to estimate PID slider positions based on PIDF values, and set respective slider position
// provides only an estimation due to limitation of feature without firmware support, to be improved in later versions
this.sliderMasterMultiplier = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10;
this.sliderMasterMultiplierLegacy = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10;
this.sliderPDRatio = Math.round(FC.PIDS[0][2] / FC.PIDS[0][0] / this.defaultPDRatio * 10) / 10;
if (this.dMinFeatureEnabled) {
this.sliderPDGain = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.sliderPDRatio / this.sliderMasterMultiplier / this.PID_DEFAULT[3] * 10) / 10;
this.sliderPDGain = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.sliderPDRatio / this.sliderMasterMultiplierLegacy / this.PID_DEFAULT[3] * 10) / 10;
} else {
this.sliderPDGain = Math.round(FC.PIDS[0][0] / this.sliderMasterMultiplier / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10;
this.sliderPDGain = Math.round(FC.PIDS[0][0] / this.sliderMasterMultiplierLegacy / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10;
}
this.sliderFeedforwardGain = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.sliderMasterMultiplier / this.PID_DEFAULT[4] * 10) / 10;
} else {
this.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_mode;
this.sliderMasterMultiplier = FC.TUNING_SLIDERS.slider_master_multiplier / 100;
this.sliderRollPitchRatio = FC.TUNING_SLIDERS.slider_roll_pitch_ratio / 100;
this.sliderIGain = FC.TUNING_SLIDERS.slider_i_gain / 100;
this.sliderPDRatio = FC.TUNING_SLIDERS.slider_pd_ratio / 100;
this.sliderPDGain = FC.TUNING_SLIDERS.slider_pd_gain / 100;
this.sliderDMinRatio = FC.TUNING_SLIDERS.slider_dmin_ratio / 100;
this.sliderFeedforwardGain = FC.TUNING_SLIDERS.slider_feedforward_gain / 100;
this.sliderFeedforwardGainLegacy = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.sliderMasterMultiplierLegacy / this.PID_DEFAULT[4] * 10) / 10;
$('output[name="sliderMasterMultiplierLegacy-number"]').val(this.sliderMasterMultiplierLegacy);
$('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
$('output[name="sliderFeedforwardGainLegacy-number"]').val(this.sliderFeedforwardGainLegacy);
$('#sliderMasterMultiplierLegacy').val(this.downscaleSliderValue(this.sliderMasterMultiplierLegacy));
$('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
$('#sliderFeedforwardGainLegacy').val(this.downscaleSliderValue(this.sliderFeedforwardGainLegacy));
}
$('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
$('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
$('output[name="sliderIGain-number"]').val(this.sliderIGain);
$('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
$('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
$('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain);
$('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
$('#sliderRollPitchRatio').val(this.downscaleSliderValue(this.sliderRollPitchRatio));
$('#sliderIGain').val(this.downscaleSliderValue(this.sliderIGain));
$('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
$('#sliderDMinRatio').val(this.downscaleSliderValue(this.sliderDMinRatio));
$('#sliderFeedforwardGain').val(this.downscaleSliderValue(this.sliderFeedforwardGain));
};
TuningSliders.initGyroFilterSliderPosition = function() {
@ -158,30 +243,57 @@ TuningSliders.initDTermFilterSliderPosition = function() {
}
$('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier);
$('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier));
$('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier);
};
TuningSliders.resetDefault = function() {
FC.TUNING_SLIDERS.slider_pids_mode = this.SLIDER_DEFAULT.slider_pids_mode;
FC.TUNING_SLIDERS.slider_d_gain = this.SLIDER_DEFAULT.slider_d_gain;
FC.TUNING_SLIDERS.slider_pi_gain = this.SLIDER_DEFAULT.slider_pi_gain;
FC.TUNING_SLIDERS.slider_feedforward_gain = this.SLIDER_DEFAULT.slider_feedforward_gain;
FC.TUNING_SLIDERS.slider_dmax_gain = this.SLIDER_DEFAULT.slider_dmax_gain;
FC.TUNING_SLIDERS.slider_i_gain = this.SLIDER_DEFAULT.slider_i_gain;
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = this.SLIDER_DEFAULT.slider_roll_pitch_ratio;
FC.TUNING_SLIDERS.slider_pitch_pi_gain = this.SLIDER_DEFAULT.slider_pitch_pi_gain;
FC.TUNING_SLIDERS.slider_master_multiplier = this.SLIDER_DEFAULT.slider_master_multiplier;
FC.TUNING_SLIDERS.slider_gyro_filter = this.SLIDER_DEFAULT.slider_gyro_filter;
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = this.SLIDER_DEFAULT.slider_gyro_filter_multiplier;
FC.TUNING_SLIDERS.slider_dterm_filter = this.SLIDER_DEFAULT.slider_dterm_filter;
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = this.SLIDER_DEFAULT.slider_dterm_filter_multiplier;
};
TuningSliders.resetPidSliders = function() {
if (!this.cachedPidSliderValues) {
this.sliderMasterMultiplier = 1;
this.sliderRollPitchRatio = 1;
this.sliderIGain = 1;
this.sliderPDRatio = 1;
this.sliderPDGain = 1;
this.sliderDMinRatio = 1;
this.sliderFeedforwardGain = 1;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
this.sliderDGain = this.SLIDER_DEFAULT.slider_d_gain / 100;
this.sliderPIGain = this.SLIDER_DEFAULT.slider_pi_gain / 100;
this.sliderFeedforwardGain = this.SLIDER_DEFAULT.slider_feedforward_gain / 100;
this.sliderDMaxGain = this.SLIDER_DEFAULT.slider_dmax_gain / 100;
this.sliderIGain = this.SLIDER_DEFAULT.slider_i_gain / 100;
this.sliderRollPitchRatio = this.SLIDER_DEFAULT.slider_roll_pitch_ratio / 100;
this.sliderPitchPIGain = this.SLIDER_DEFAULT.slider_pitch_pi_gain / 100;
this.sliderMasterMultiplier = this.SLIDER_DEFAULT.slider_master_multiplier / 100;
} else {
this.sliderMasterMultiplierLegacy = 1;
this.sliderPDRatio = 1;
this.sliderPDGain = 1;
this.sliderFeedforwardGainLegacy = 1;
}
}
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
$('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
this.calculateNewPids();
this.updateFormPids();
this.initPidSlidersPosition();
this.updatePidSlidersDisplay();
} else {
$('#sliderMasterMultiplierLegacy').val(this.downscaleSliderValue(this.sliderMasterMultiplierLegacy));
$('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
$('#sliderFeedforwardGain').val(this.downscaleSliderValue(this.sliderFeedforwardGain));
} else {
this.initPidSlidersPosition();
$('#sliderFeedforwardGainLegacy').val(this.downscaleSliderValue(this.sliderFeedforwardGainLegacy));
this.calculateNewPids();
}
this.calculateNewPids();
};
TuningSliders.resetGyroFilterSlider = function() {
@ -252,24 +364,57 @@ TuningSliders.legacyUpdateFilterSlidersDisplay = function() {
}
};
TuningSliders.updateSwitchBoxes = function() {
const FF_SWITCH = FC.ADVANCED_TUNING.feedforwardRoll || FC.ADVANCED_TUNING.feedforwardPitch || FC.ADVANCED_TUNING.feedforwardYaw;
$('input[id="feedforwardGroup"]').prop('checked', FF_SWITCH).trigger('change');
const DMIN_SWITCH = FC.PIDS[0][2] !== FC.ADVANCED_TUNING.dMinRoll || FC.PIDS[1][2] !== FC.ADVANCED_TUNING.dMinPitch || FC.PIDS[2][2] !== FC.ADVANCED_TUNING.dMinYaw;
$('#dMinSwitch').prop('checked', DMIN_SWITCH).trigger('change');
};
TuningSliders.updateSlidersWarning = function(slidersUnavailable = false) {
const WARNING_P_GAIN = 70;
let WARNING_I_GAIN = 120;
const WARNING_DMAX_GAIN = 60;
const WARNING_DMIN_GAIN = 40;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
WARNING_I_GAIN = 2.5 * FC.PIDS[1][0];
}
$('.subtab-pid .slidersWarning').toggle((FC.PIDS[1][0] > WARNING_P_GAIN || FC.PIDS[1][1] > WARNING_I_GAIN || FC.PIDS[1][2] > WARNING_DMAX_GAIN ||
FC.ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !slidersUnavailable);
};
TuningSliders.updateFilterSlidersWarning = function(gyroSliderUnavailable = false, DTermSliderUnavailable = false) {
const WARNING_FILTER_LOW_GAIN = 0.7;
let WARNING_FILTER_GYRO_HIGH_GAIN = 1.4;
let WARNING_FILTER_DTERM_HIGH_GAIN = 1.4;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
WARNING_FILTER_GYRO_HIGH_GAIN = 1.5;
WARNING_FILTER_DTERM_HIGH_GAIN = 1.1;
}
$('.subtab-filter .slidersWarning').toggle(((this.sliderGyroFilterMultiplier >= WARNING_FILTER_GYRO_HIGH_GAIN ||
this.sliderGyroFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !gyroSliderUnavailable) ||
((this.sliderDTermFilterMultiplier >= WARNING_FILTER_DTERM_HIGH_GAIN ||
this.sliderDTermFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !DTermSliderUnavailable));
};
TuningSliders.updatePidSlidersDisplay = function() {
// check if pid values changed manually by comparing the current values with those calculated by the sliders,
// if all of them are equal the values haven't been changed manually
const WARNING_P_GAIN = 70;
const WARNING_I_GAIN = 120;
const WARNING_DMAX_GAIN = 60;
const WARNING_DMIN_GAIN = 40;
this.pidSlidersUnavailable = false;
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
let rows = 3;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
rows = FC.TUNING_SLIDERS.slider_pids_mode === 1 ? 2 : 3;
} else {
this.calculateNewPids(true);
}
FC.PID_NAMES.forEach(function (elementPid, indexPid) {
const pidElements = $(`.pid_tuning .${elementPid} input`);
pidElements.each(function (indexInput) {
if (indexPid < 3 && indexInput < 3) {
if (indexPid < rows && indexInput < rows) {
if (parseInt($(this).val()) !== FC.PIDS[indexPid][indexInput]) {
TuningSliders.pidSlidersUnavailable = true;
}
@ -281,7 +426,7 @@ TuningSliders.updatePidSlidersDisplay = function() {
this.pidSlidersUnavailable = true;
}
if (!this.pidSlidersUnavailable && !semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (!this.pidSlidersUnavailable) {
this.cachedPidSliderValues = true;
}
@ -294,28 +439,22 @@ TuningSliders.updatePidSlidersDisplay = function() {
$('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable);
$('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable);
$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode && !semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44));
$('.subtab-pid .slidersWarning').toggle((FC.PIDS[1][0] > WARNING_P_GAIN || FC.PIDS[1][1] > WARNING_I_GAIN || FC.PIDS[1][2] > WARNING_DMAX_GAIN ||
FC.ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable);
$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
this.updateSlidersWarning();
};
TuningSliders.updateFilterSlidersDisplay = function() {
// check if filters changed manually by comapring current value and those based on slider position
const WARNING_FILTER_HIGH_GAIN = 1.4;
const WARNING_FILTER_LOW_GAIN = 0.7;
// check if filters changed manually by comparing current value and those based on slider position
this.GyroSliderUnavailable = false;
this.DTermSliderUnavailable = false;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (FC.TUNING_SLIDERS.slider_gyro_filter === 0) {
this.GyroSliderUnavailable = true;
}
if (FC.TUNING_SLIDERS.slider_dterm_filter === 0) {
this.DTermSliderUnavailable = true;
}
this.GyroSliderUnavailable = !FC.TUNING_SLIDERS.slider_gyro_filter;
this.DTermSliderUnavailable = !FC.TUNING_SLIDERS.slider_dterm_filter;
if (parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()) !==
Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) ||
Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) ||
parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()) !==
Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier) ||
parseInt($('.pid_filter select[name="gyroLowpassDynType"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass_type ||
@ -346,7 +485,6 @@ TuningSliders.updateFilterSlidersDisplay = function() {
this.legacyUpdateFilterSlidersDisplay();
}
if (this.GyroSliderUnavailable) {
$('.tuningFilterSliders .sliderLabels tr:nth-child(2)').hide();
} else {
@ -362,10 +500,7 @@ TuningSliders.updateFilterSlidersDisplay = function() {
$('.tuningFilterSliders').toggle(!(this.GyroSliderUnavailable && this.DTermSliderUnavailable));
$('.subtab-filter .slidersDisabled').toggle(this.GyroSliderUnavailable || this.DTermSliderUnavailable);
$('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.GyroSliderUnavailable || !this.DTermSliderUnavailable) && !this.expertMode);
$('.subtab-filter .slidersWarning').toggle(((this.sliderGyroFilterMultiplier >= WARNING_FILTER_HIGH_GAIN ||
this.sliderGyroFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.GyroSliderUnavailable) ||
((this.sliderDTermFilterMultiplier >= WARNING_FILTER_HIGH_GAIN ||
this.sliderDTermFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.DTermSliderUnavailable));
this.updateFilterSlidersWarning(this.GyroSliderUnavailable, this.DTermSliderUnavailable);
};
TuningSliders.updateFormPids = function(updateSlidersOnly = false) {
@ -387,14 +522,21 @@ TuningSliders.updateFormPids = function(updateSlidersOnly = false) {
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
}
$('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
$('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
$('output[name="sliderIGain-number"]').val(this.sliderIGain);
$('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
$('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
$('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
$('output[name="sliderDGain-number"]').val(this.sliderDGain);
$('output[name="sliderPIGain-number"]').val(this.sliderPIGain);
$('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain);
$('output[name="sliderDMaxGain-number"]').val(this.sliderDMaxGain);
$('output[name="sliderIGain-number"]').val(this.sliderIGain);
$('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
$('output[name="sliderPitchPIGain-number"]').val(this.sliderPitchPIGain);
$('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
} else {
$('output[name="sliderMasterMultiplierLegacy-number"]').val(this.sliderMasterMultiplierLegacy);
$('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
$('output[name="sliderFeedforwardGainLegacy-number"]').val(this.sliderFeedforwardGainLegacy);
}
};
TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
@ -421,9 +563,9 @@ TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.sliderPDGain);
FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.sliderPDGain);
// feedforward
FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFeedforwardGain);
FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFeedforwardGain);
FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.sliderFeedforwardGain);
FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFeedforwardGainLegacy);
FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFeedforwardGainLegacy);
FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.sliderFeedforwardGainLegacy);
// master slider part
// these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation
FC.PIDS[0][1] = this.PID_DEFAULT[1];
@ -436,18 +578,18 @@ TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
//master slider multiplication, max value 200 for main PID values
for (let i = 0; i < 3; i++) {
for (let j = 0; j < 3; j++) {
FC.PIDS[j][i] = Math.min(Math.round(FC.PIDS[j][i] * this.sliderMasterMultiplier), MAX_PID_GAIN);
FC.PIDS[j][i] = Math.min(Math.round(FC.PIDS[j][i] * this.sliderMasterMultiplierLegacy), MAX_PID_GAIN);
}
}
FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.sliderMasterMultiplier), MAX_FEEDFORWARD_GAIN);
FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.sliderMasterMultiplier), MAX_FEEDFORWARD_GAIN);
FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplier), MAX_FEEDFORWARD_GAIN);
FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.sliderMasterMultiplierLegacy), MAX_FEEDFORWARD_GAIN);
FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.sliderMasterMultiplierLegacy), MAX_FEEDFORWARD_GAIN);
FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplierLegacy), MAX_FEEDFORWARD_GAIN);
if (this.dMinFeatureEnabled) {
FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplierLegacy), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplierLegacy), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplierLegacy), MAX_DMIN_GAIN);
}
this.updateFormPids(updateSlidersOnly);
@ -458,28 +600,29 @@ TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
TuningSliders.calculateNewPids = function(updateSlidersOnly = false) {
// this is the main calculation for PID sliders, inputs are in form of slider position values
// values get set both into forms and their respective variables
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
this.legacyCalculatePids(updateSlidersOnly);
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
FC.TUNING_SLIDERS.slider_pids_mode = parseInt($('#sliderPidsModeSelect').val());
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20
FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(this.sliderMasterMultiplier * 20) * 5;
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(this.sliderRollPitchRatio * 20) * 5;
FC.TUNING_SLIDERS.slider_i_gain = Math.round(this.sliderIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_pd_ratio = Math.round(this.sliderPDRatio * 20) * 5;
FC.TUNING_SLIDERS.slider_pd_gain = Math.round(this.sliderPDGain * 20) * 5;
FC.TUNING_SLIDERS.slider_dmin_ratio = Math.round(this.sliderDMinRatio * 20) * 5;
FC.TUNING_SLIDERS.slider_d_gain = Math.round(this.sliderDGain * 20) * 5;
FC.TUNING_SLIDERS.slider_pi_gain = Math.round(this.sliderPIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(this.sliderFeedforwardGain * 20) * 5;
FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(this.sliderDMaxGain * 20) * 5;
FC.TUNING_SLIDERS.slider_i_gain = Math.round(this.sliderIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(this.sliderRollPitchRatio * 20) * 5;
FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(this.sliderPitchPIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(this.sliderMasterMultiplier * 20) * 5;
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS))
.then(() => MSP.promise(MSPCodes.MSP_PID))
.then(() => MSP.promise(MSPCodes.MSP_PID_ADVANCED))
.then(() => {
this.updateFormPids(updateSlidersOnly);
TABS.pid_tuning.updatePIDColors();
this.updateSlidersWarning();
this.updateSwitchBoxes();
});
} else {
this.legacyCalculatePids(updateSlidersOnly);
}
};
@ -533,10 +676,10 @@ TuningSliders.calculateNewDTermFilters = function() {
TuningSliders.writeFilterSliders = function () {
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS))
.then(() => MSP.promise(MSPCodes.MSP_EEPROM_WRITE))
.then(() => MSP.promise(MSPCodes.MSP_FILTER_CONFIG))
.then(() => {
TuningSliders.updateLowpassValues();
TuningSliders.updateFilterSlidersWarning();
if (this.FilterReset) {
this.FilterReset = false;
this.updateFilterSlidersDisplay();

55
src/js/fc.js
View file

@ -656,18 +656,39 @@ const FC = {
this.VTX_DEVICE_STATUS = null;
this.TUNING_SLIDERS = {
slider_pids_mode: 0,
slider_master_multiplier: 0,
slider_roll_pitch_ratio: 0,
slider_i_gain: 0,
slider_pd_ratio: 0,
slider_pd_gain: 0,
slider_dmin_ratio: 0,
slider_feedforward_gain: 0,
slider_master_multiplier: 0,
slider_dterm_filter: 0,
slider_dterm_filter_multiplier: 0,
slider_gyro_filter: 0,
slider_gyro_filter_multiplier: 0,
// introduced in 4.3
slider_pids_mode: 0,
slider_d_gain: 0,
slider_pi_gain: 0,
slider_dmax_gain: 0,
slider_i_gain: 0,
slider_roll_pitch_ratio: 0,
slider_pitch_pi_gain: 0,
};
this.DEFAULT_TUNING_SLIDERS = {
slider_pids_mode: 2,
slider_d_gain: 100,
slider_pi_gain: 100,
slider_feedforward_gain: 100,
slider_dmax_gain: 100,
slider_i_gain: 100,
slider_roll_pitch_ratio: 100,
slider_pitch_pi_gain: 100,
slider_master_multiplier: 100,
slider_dterm_filter: 1,
slider_dterm_filter_multiplier: 100,
slider_gyro_filter: 1,
slider_gyro_filter_multiplier: 100,
};
},
@ -800,7 +821,7 @@ const FC = {
getFilterDefaults() {
const versionFilterDefaults = this.DEFAULT;
// Change filter defaults depending on API version here
if (semver.eq(this.CONFIG.apiVersion, API_VERSION_1_40)) {
versionFilterDefaults.dterm_lowpass2_hz = 200;
} else if (semver.gte(this.CONFIG.apiVersion, API_VERSION_1_41)) {
@ -829,6 +850,11 @@ const FC = {
if (semver.gte(this.CONFIG.apiVersion, API_VERSION_1_44)) {
versionFilterDefaults.dyn_notch_q_rpm = 500;
versionFilterDefaults.dyn_notch_q = 300;
versionFilterDefaults.gyro_lowpass_hz = 250;
versionFilterDefaults.gyro_lowpass_dyn_min_hz = 250;
versionFilterDefaults.gyro_lowpass2_hz = 500;
versionFilterDefaults.dterm_lowpass_dyn_min_hz = 75;
versionFilterDefaults.dterm_lowpass_dyn_max_hz = 150;
}
}
return versionFilterDefaults;
@ -843,7 +869,24 @@ const FC = {
46, 90, 38, 25, 95,
45, 90, 0, 0, 90,
];
} else if (semver.gte(this.CONFIG.apiVersion, API_VERSION_1_44)) {
versionPidDefaults = [
45, 90, 40, 30, 120,
47, 94, 46, 34, 125,
45, 90, 0, 0, 120,
];
}
return versionPidDefaults;
},
getSliderDefaults() {
const sliderDefaults = this.DEFAULT_TUNING_SLIDERS;
// change slider defaults here
if (semver.gte(this.CONFIG.apiVersion, API_VERSION_1_44)) {
sliderDefaults.slider_roll_pitch_ratio = 115;
sliderDefaults.slider_pitch_pi_gain = 105;
}
return sliderDefaults;
},
};

6
src/js/main.js
View file

@ -251,6 +251,12 @@ function startProcess() {
const tab = tabClass.substring(4);
const tabName = $(self).text();
if (GUI.active_tab === 'pid_tuning') {
if (TABS.pid_tuning.sliderPositionHasChanged || TABS.pid_tuning.sliderModeHasChanged) {
TuningSliders.restoreInitialSettings();
}
}
if (tabRequiresConnection && !CONFIGURATOR.connectionValid) {
GUI.log(i18n.getMessage('tabSwitchConnectionRequired'));
return;

18
src/js/msp/MSPHelper.js
View file

@ -645,8 +645,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
console.log('Voltage config saved');
break;
case MSPCodes.MSP_DEBUG:
for (let i = 0; i < 4; i++)
for (let i = 0; i < 4; i++) {
FC.SENSOR_DATA.debug[i] = data.read16();
}
break;
case MSPCodes.MSP_SET_MOTOR:
console.log('Motor Speeds Updated');
@ -1491,10 +1492,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.TUNING_SLIDERS.slider_master_multiplier = data.readU8();
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = data.readU8();
FC.TUNING_SLIDERS.slider_i_gain = data.readU8();
FC.TUNING_SLIDERS.slider_pd_ratio = data.readU8();
FC.TUNING_SLIDERS.slider_pd_gain = data.readU8();
FC.TUNING_SLIDERS.slider_dmin_ratio = data.readU8();
FC.TUNING_SLIDERS.slider_d_gain = data.readU8();
FC.TUNING_SLIDERS.slider_pi_gain = data.readU8();
FC.TUNING_SLIDERS.slider_dmax_gain = data.readU8();
FC.TUNING_SLIDERS.slider_feedforward_gain = data.readU8();
FC.TUNING_SLIDERS.slider_pitch_pi_gain = data.readU8();
FC.TUNING_SLIDERS.slider_dterm_filter = data.readU8();
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = data.readU8();
FC.TUNING_SLIDERS.slider_gyro_filter = data.readU8();
@ -2313,15 +2315,15 @@ MspHelper.prototype.crunch = function(code) {
.push8(FC.TUNING_SLIDERS.slider_master_multiplier)
.push8(FC.TUNING_SLIDERS.slider_roll_pitch_ratio)
.push8(FC.TUNING_SLIDERS.slider_i_gain)
.push8(FC.TUNING_SLIDERS.slider_pd_ratio)
.push8(FC.TUNING_SLIDERS.slider_pd_gain)
.push8(FC.TUNING_SLIDERS.slider_dmin_ratio)
.push8(FC.TUNING_SLIDERS.slider_d_gain)
.push8(FC.TUNING_SLIDERS.slider_pi_gain)
.push8(FC.TUNING_SLIDERS.slider_dmax_gain)
.push8(FC.TUNING_SLIDERS.slider_feedforward_gain)
.push8(FC.TUNING_SLIDERS.slider_pitch_pi_gain)
.push8(FC.TUNING_SLIDERS.slider_dterm_filter)
.push8(FC.TUNING_SLIDERS.slider_dterm_filter_multiplier)
.push8(FC.TUNING_SLIDERS.slider_gyro_filter)
.push8(FC.TUNING_SLIDERS.slider_gyro_filter_multiplier);
break;
default:

4
src/js/tabs/motors.js
View file

@ -237,10 +237,6 @@ TABS.motors.initialize = function (callback) {
}
}
function isInt(n) {
return n % 1 === 0;
}
function setContentButtons(motorsTesting=false) {
$('.btn .tool').toggleClass("disabled", self.configHasChanged || motorsTesting);
$('.btn .save').toggleClass("disabled", !self.configHasChanged);

552
src/js/tabs/pid_tuning.js
View file

@ -21,6 +21,10 @@ TABS.pid_tuning = {
SETPOINT_WEIGHT_RANGE_LEGACY: 2.54,
activeSubtab: 'pid',
analyticsChanges: {},
sliderPositionHasChanged: false,
sliderChanges: {},
sliderModeHasChanged: false,
};
TABS.pid_tuning.initialize = function (callback) {
@ -80,9 +84,7 @@ TABS.pid_tuning.initialize = function (callback) {
self.setRateProfile();
}
// Fill in the data from PIDs array
// For each pid name
// Fill in the data from PIDs array for each pid name
FC.PID_NAMES.forEach(function(elementPid, indexPid) {
// Look into the PID table to a row with the name of the pid
@ -482,30 +484,34 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
// Feedforward
const feedforwardGroupCheck = $('input[id="feedforwardGroup"]');
const PID_FEEDFORWARD = (FC.ADVANCED_TUNING.feedforwardRoll ||
FC.ADVANCED_TUNING.feedforwardPitch ||
FC.ADVANCED_TUNING.feedforwardYaw);
$('.resetwarning').attr("title", i18n.getMessage("pidTuningResetWarning"));
} else {
// Previous html attributes for legacy sliders
$('.pid_tuning .ROLL input[name="p"]').attr("max", "200");
$('.pid_tuning .ROLL input[name="i"]').attr("max", "200");
$('.pid_tuning .ROLL input[name="d"]').attr("max", "200");
$('.pid_tuning .ROLL input[name="dMinPitch"]').attr("max", "100");
$('.pid_tuning .PITCH input[name="p"]').attr("max", "200");
$('.pid_tuning .PITCH input[name="i"]').attr("max", "200");
$('.pid_tuning .PITCH input[name="d"]').attr("max", "200");
$('.pid_tuning .PITCH input[name="dMinPitch"]').attr("max", "100");
$('.pid_tuning .YAW input[name="p"]').attr("max", "200");
$('.pid_tuning .YAW input[name="i"]').attr("max", "200");
$('.pid_tuning .YAW input[name="d"]').attr("max", "200");
$('.pid_tuning .YAW input[name="dMinPitch"]').attr("max", "1000");
$('#sliderDTermFilterMultiplier').attr({ "min": "0.5", "max": "1.5", "step": "0.025" });
}
feedforwardGroupCheck.prop('checked', PID_FEEDFORWARD !== 0);
// Feedforward
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
const feedforwardGroupCheck = $('input[id="feedforwardGroup"]');
const PID_FEEDFORWARD = FC.ADVANCED_TUNING.feedforwardRoll || FC.ADVANCED_TUNING.feedforwardPitch || FC.ADVANCED_TUNING.feedforwardYaw;
feedforwardGroupCheck.prop('checked', PID_FEEDFORWARD);
$('.feedforwardGroupCheckbox').addClass('switchery-disabled');
$('select[id="feedforwardAveraging"]').val(FC.ADVANCED_TUNING.feedforward_averaging);
$('input[name="feedforwardSmoothFactor"]').val(FC.ADVANCED_TUNING.feedforward_smooth_factor);
$('input[name="feedforwardBoost"]').val(FC.ADVANCED_TUNING.feedforward_boost);
feedforwardGroupCheck.change(function() {
const checked = $(this).is(':checked');
$('.feedforwardGroup .suboption').toggle(checked);
if (!checked) {
$('.pid_tuning .ROLL input[name="f"]').val(0);
$('.pid_tuning .PITCH input[name="f"]').val(0);
$('.pid_tuning .YAW input[name="f"]').val(0);
} else {
$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll > 0 ? FC.ADVANCED_TUNING.feedforwardRoll : PID_DEFAULT[4]);
$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch > 0 ? FC.ADVANCED_TUNING.feedforwardPitch : PID_DEFAULT[9]);
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw > 0 ? FC.ADVANCED_TUNING.feedforwardYaw : PID_DEFAULT[14]);
}
}).change();
// Vbat Sag Compensation
const vbatSagCompensationCheck = $('input[id="vbatSagCompensation"]');
@ -528,11 +534,21 @@ TABS.pid_tuning.initialize = function (callback) {
$('.thrustLinearization .suboption').toggle(checked);
}).change();
} else {
$('.feedforwardOption').hide();
const checkbox = document.getElementById('feedforwardGroup');
if (checkbox.parentNode) {
checkbox.parentNode.removeChild(checkbox);
}
$('.vbatSagCompensation').hide();
$('.thrustLinearization').hide();
$('.feedforwardGroupCheckbox').addClass('switchery-disabled');
$('input[id="feedforwardGroup"]').prop('checked', true);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll > 0 ? FC.ADVANCED_TUNING.feedforwardRoll : PID_DEFAULT[4]);
$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch > 0 ? FC.ADVANCED_TUNING.feedforwardPitch : PID_DEFAULT[9]);
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw > 0 ? FC.ADVANCED_TUNING.feedforwardYaw : PID_DEFAULT[14]);
$('span.feedforwardOption').hide();
} else {
$('.feedforwardGroup').hide();
}
}
$('input[id="useIntegratedYaw"]').change(function() {
@ -540,16 +556,19 @@ TABS.pid_tuning.initialize = function (callback) {
$('#pidTuningIntegratedYawCaution').toggle(checked);
}).change();
// if user decreases Dmax, don't allow Dmin above Dmax
function adjustDMin(dElement, dMinElement) {
const dValue = parseInt(dElement.val());
const dMinValue = parseInt(dMinElement.val());
const dMinLimit = Math.min(Math.max(dValue - 1, 0), 100);
let dMinLimit = Math.min(Math.max(dValue - 1, 0), 100);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
dMinLimit = Math.min(Math.max(dValue, 0), 250);
} else {
dMinElement.attr("max", dMinLimit);
}
if (dMinValue > dMinLimit) {
dMinElement.val(dMinLimit);
}
dMinElement.attr("max", dMinLimit);
}
$('.pid_tuning .ROLL input[name="d"]').change(function() {
@ -567,56 +586,95 @@ TABS.pid_tuning.initialize = function (callback) {
adjustDMin($(this), dMinElement);
}).change();
//dMinSwitch toggle
// if user increases Dmin, don't allow Dmax below Dmin
function adjustD(dMinElement, dElement) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
const dValue2 = parseInt(dElement.val());
const dMinValue2 = parseInt(dMinElement.val());
const dLimit = Math.min(Math.max(dMinValue2, 0), 250);
if (dValue2 < dLimit) {
dElement.val(dLimit);
}
}
}
$('.pid_tuning input[name="dMinRoll"]').change(function() {
const dElement= $('.pid_tuning .ROLL input[name="d"]');
adjustD($(this), dElement);
}).change();
$('.pid_tuning input[name="dMinPitch"]').change(function() {
const dElement= $('.pid_tuning .PITCH input[name="d"]');
adjustD($(this), dElement);
}).change();
$('.pid_tuning input[name="dMinYaw"]').change(function() {
const dElement= $('.pid_tuning .YAW input[name="d"]');
adjustD($(this), dElement);
}).change();
$('.pid_tuning .ROLL input[name="d"]').change(function() {
const dMinElement= $('.pid_tuning input[name="dMinRoll"]');
adjustDMin($(this), dMinElement);
}).change();
$('.pid_tuning .PITCH input[name="d"]').change(function() {
const dMinElement= $('.pid_tuning input[name="dMinPitch"]');
adjustDMin($(this), dMinElement);
}).change();
$('.pid_tuning .YAW input[name="d"]').change(function() {
const dMinElement= $('.pid_tuning input[name="dMinYaw"]');
adjustDMin($(this), dMinElement);
}).change();
// dMinSwitch toggle - renamed to Dynamic Damping and disabled in 4.3
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
const dMinSwitch = $('#dMinSwitch');
dMinSwitch.prop('checked', FC.ADVANCED_TUNING.dMinRoll > 0 || FC.ADVANCED_TUNING.dMinPitch > 0 || FC.ADVANCED_TUNING.dMinYaw > 0);
dMinSwitch.change(function() {
const checked = $(this).is(':checked');
if (checked) {
if (FC.TUNING_SLIDERS.slider_pids_mode !== 0 && semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
TuningSliders.sliderDMinRatio = 1;
$('output[name="sliderDMinRatio-number"]').val(1);
$('#sliderDMinRatio').val(1);
}
if ($('.pid_tuning input[name="dMinRoll"]').val() == 0 && $('.pid_tuning input[name="dMinPitch"]').val() == 0 && $('.pid_tuning input[name="dMinYaw"]').val() == 0) {
// when enabling dmin set its value based on 0.57x of actual dmax, dmin is limited to 100
$('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.57), 100));
$('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.57), 100));
$('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.57), 100));
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
$('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.65), 100));
$('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.65), 100));
$('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.65), 100));
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
$('.dMinGroupCheckbox').addClass('switchery-disabled');
$('.dMinDisabledNote').hide();
self.updateGuiElements();
} else {
dMinSwitch.prop('checked', FC.ADVANCED_TUNING.dMinRoll > 0 || FC.ADVANCED_TUNING.dMinPitch > 0 || FC.ADVANCED_TUNING.dMinYaw > 0);
dMinSwitch.on('change', function() {
const checked = $(this).is(':checked');
if (checked) {
if ($('.pid_tuning input[name="dMinRoll"]').val() == 0 && $('.pid_tuning input[name="dMinPitch"]').val() == 0 && $('.pid_tuning input[name="dMinYaw"]').val() == 0) {
// when enabling dmin set its value based on 0.57x of actual dmax, dmin is limited to 100
$('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.57), 100));
$('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.57), 100));
$('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.57), 100));
if (semver.eq(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
$('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.65), 100));
$('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.65), 100));
$('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.65), 100));
}
} else {
$('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
$('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
}
$('.dMinDisabledNote').hide();
$('.dminGroup .suboption').show();
$('#pid_main tr :nth-child(5)').show();
$('#pid_main .pid_titlebar2 th').attr('colspan', 6);
$('.derivativeText').text(i18n.getMessage("pidTuningDMax"));
} else {
$('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
$('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
$('.dMinDisabledNote').show();
$('.dminGroup .suboption').hide();
$('#pid_main tr :nth-child(5)').hide();
$('#pid_main .pid_titlebar2 th').attr('colspan', 5);
$('.derivativeText').text(i18n.getMessage("pidTuningDerivative"));
$('.pid_tuning input[name="dMinRoll"]').val(0);
$('.pid_tuning input[name="dMinPitch"]').val(0);
$('.pid_tuning input[name="dMinYaw"]').val(0);
}
$('.dMinDisabledNote').hide();
$('.dminGroup .suboption').show();
$('#pid_main tr :nth-child(5)').show();
$('#pid_main .pid_titlebar2 th').attr('colspan', 6);
$('.derivativeText').text(i18n.getMessage("pidTuningDMax"));
} else {
if (FC.TUNING_SLIDERS.slider_pids_mode !== 0 && semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
TuningSliders.sliderDMinRatio = 2;
}
$('.pid_tuning input[name="dMinRoll"]').val(0);
$('.pid_tuning input[name="dMinPitch"]').val(0);
$('.pid_tuning input[name="dMinYaw"]').val(0);
$('.dMinDisabledNote').show();
$('.dminGroup .suboption').hide();
$('#pid_main tr :nth-child(5)').hide();
$('#pid_main .pid_titlebar2 th').attr('colspan', 5);
$('.derivativeText').text(i18n.getMessage("pidTuningDerivative"));
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
TuningSliders.updatePidSlidersDisplay();
}
});
dMinSwitch.change();
});
}
dMinSwitch.trigger('change');
}
$('input[id="gyroNotch1Enabled"]').change(function() {
@ -1016,22 +1074,20 @@ TABS.pid_tuning.initialize = function (callback) {
FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0;
FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0;
FC.FILTER_CONFIG.dyn_notch_count = parseInt($('.pid_filter input[name="dynamicNotchCount"]').val());
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
FC.TUNING_SLIDERS.slider_pids_mode = parseInt($('#sliderPidsModeSelect').val());
FC.TUNING_SLIDERS.slider_pids_mode = TuningSliders.sliderPidsMode;
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20
FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(TuningSliders.sliderMasterMultiplier * 20) * 5;
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(TuningSliders.sliderRollPitchRatio * 20) * 5;
FC.TUNING_SLIDERS.slider_i_gain = Math.round(TuningSliders.sliderIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_pd_ratio = Math.round(TuningSliders.sliderPDRatio * 20) * 5;
FC.TUNING_SLIDERS.slider_pd_gain = Math.round(TuningSliders.sliderPDGain * 20) * 5;
FC.TUNING_SLIDERS.slider_dmin_ratio = Math.round(TuningSliders.sliderDMinRatio * 20) * 5;
FC.TUNING_SLIDERS.slider_d_gain = Math.round(TuningSliders.sliderDGain * 20) * 5;
FC.TUNING_SLIDERS.slider_pi_gain = Math.round(TuningSliders.sliderPIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(TuningSliders.sliderFeedforwardGain * 20) * 5;
FC.TUNING_SLIDERS.slider_i_gain = Math.round(TuningSliders.sliderIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(TuningSliders.sliderDMaxGain * 20) * 5;
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(TuningSliders.sliderRollPitchRatio * 20) * 5;
FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(TuningSliders.sliderPitchPIGain * 20) * 5;
FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter ? 1 : 0;
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = Math.round(TuningSliders.sliderDTermFilterMultiplier * 20) * 5;
FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter ? 1 : 0;
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = Math.round(TuningSliders.sliderGyroFilterMultiplier * 20) * 5;
}
@ -1313,14 +1369,32 @@ TABS.pid_tuning.initialize = function (callback) {
updatePidDisplay();
});
$('#resetProfile').on('click', function(){
$('#resetProfile').on('click', function() {
self.updating = true;
MSP.promise(MSPCodes.MSP_SET_RESET_CURR_PID).then(function () {
self.refresh(function () {
function refresh () {
self.refresh(() => {
self.updating = false;
GUI.log(i18n.getMessage('pidTuningProfileReset'));
});
}
MSP.promise(MSPCodes.MSP_SET_RESET_CURR_PID).then(() => {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
TuningSliders.resetDefault();
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS)).then(() => {
MSP.promise(MSPCodes.MSP_EEPROM_WRITE).then(() => {
self.sliderPositionHasChanged = false;
self.sliderModeHasChanged = false;
self.sliderChanges = {};
GUI.log(i18n.getMessage('pidTuningEepromSaved'));
refresh();
});
});
} else {
refresh();
}
});
});
@ -1398,7 +1472,6 @@ TABS.pid_tuning.initialize = function (callback) {
}
});
// DTerm filter options
function loadFilterTypeValues() {
const filterTypeValues = [];
@ -1422,10 +1495,7 @@ TABS.pid_tuning.initialize = function (callback) {
}
// Added in API 1.42.0
function loadDynamicNotchRangeValues() {
const dynamicNotchRangeValues = [
"HIGH", "MEDIUM", "LOW", "AUTO",
];
return dynamicNotchRangeValues;
return [ "HIGH", "MEDIUM", "LOW", "AUTO" ];
}
function populateDynamicNotchRangeSelect(selectDynamicNotchRangeValues) {
const dynamicNotchRangeSelect = $('select[name="dynamicNotchRange"]');
@ -1772,12 +1842,14 @@ TABS.pid_tuning.initialize = function (callback) {
const selectRateProfile = $('.selectRateProfile');
$.each(selectProfileValues, function(key, value) {
if (key != FC.CONFIG.profile)
if (key !== FC.CONFIG.profile) {
selectProfile.append(new Option(value, key));
}
});
$.each(selectRateProfileValues, function(key, value) {
if (key != FC.CONFIG.rateProfile)
if (key !== FC.CONFIG.rateProfile) {
selectRateProfile.append(new Option(value, key));
}
});
$('.copyprofilebtn').click(function() {
@ -1832,20 +1904,74 @@ TABS.pid_tuning.initialize = function (callback) {
$('.copyrateprofilebtn').hide();
}
/*
* TuningSliders
*/
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
// filter and tuning sliders
TuningSliders.initialize();
// UNSCALED non expert slider constrain values
const NON_EXPERT_SLIDER_MAX = 1.25;
const NON_EXPERT_SLIDER_MIN = 0.7;
const NON_EXPERT_SLIDER_MAX = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 1.2 : 1.25;
const NON_EXPERT_SLIDER_MIN = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 0.85 : 0.7;
const NON_EXPERT_SLIDER_MIN_FF = 0.7;
const NON_EXPERT_SLIDER_MAX_FF = 1.35;
const SLIDER_STEP_LOWER = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 0.025 : 0.05;
const SLIDER_STEP_UPPER = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 0.05 : 0.1;
$('#sliderPidsModeSelect').val(FC.TUNING_SLIDERS.slider_pids_mode);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
TuningSliders.saveInitialSettings();
const initialConfiguration = TuningSliders.initialSettings;
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
// we only target the range target type.
function sliderHandler(e) {
if (e.target !== e.currentTarget) {
const item = e.target.id === '' ? e.target.name : e.target.id;
const value = isInt(e.target.value) ? parseInt(e.target.value) : parseFloat(e.target.value);
self.sliderChanges[item] = value;
if (item in initialConfiguration) {
if (value !== initialConfiguration[item]) {
self.sliderPositionHasChanged = true;
} else {
delete self.sliderChanges[item];
if (Object.keys(self.sliderChanges).length === 0) {
self.sliderPositionHasChanged = false;
}
}
}
}
e.stopPropagation();
}
function disableSlideronManualChange(e, angle) {
const sliderPidsModeSelectElement = $('#sliderPidsModeSelect');
const mode = parseInt(sliderPidsModeSelectElement.val());
if (mode > 0) {
if (mode === 1 && angle === 'YAW') {
e.preventDefault();
} else {
sliderPidsModeSelectElement.val(0).trigger('change');
self.sliderModeHasChanged = true;
}
} else {
self.updateGuiElements();
}
}
function HandleEventParams(param) {
return (e) => disableSlideronManualChange(e, param);
}
document.querySelectorAll('.sliderLabels').forEach(elem => elem.addEventListener('change', sliderHandler));
document.querySelectorAll('.sliderMode').forEach(elem => elem.addEventListener('change', sliderHandler));
document.querySelectorAll('.ROLL').forEach(elem => elem.addEventListener('change', HandleEventParams('ROLL')));
document.querySelectorAll('.PITCH').forEach(elem => elem.addEventListener('change', HandleEventParams('PITCH')));
document.querySelectorAll('.YAW').forEach(elem => elem.addEventListener('change', HandleEventParams('YAW')));
$('#sliderPidsModeSelect').val(FC.TUNING_SLIDERS.slider_pids_mode);
} else {
$('#dMinSwitch').change(function() {
TuningSliders.setDMinFeatureEnabled($(this).is(':checked'));
// switch dmin and dmax values on dmin on/off if sliders available
@ -1876,76 +2002,125 @@ TABS.pid_tuning.initialize = function (callback) {
}
let allPidTuningSliders;
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
allPidTuningSliders = $('#sliderMasterMultiplier, #sliderPDRatio, #sliderPDGain, #sliderFeedforwardGain');
$('.tab-pid_tuning .advancedSlider').hide();
$('.tab-pid_tuning .sliderMode').hide();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
allPidTuningSliders = $('#sliderMasterMultiplier, #sliderDGain, #sliderPIGain, #sliderFeedforwardGain, #sliderIGain, #sliderDMaxGain, #sliderRollPitchRatio, #sliderPitchPIGain');
$('.tab-pid-tuning .legacySlider').hide();
} else {
allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFeedforwardGain');
$('.tab-pid-tuning .baseSlider').show();
$('.tab-pid-tuning .MasterSlider').show();
allPidTuningSliders = $('#sliderMasterMultiplierLegacy, #sliderPDRatio, #sliderPDGain, #sliderFeedforwardGainLegacy');
$('.tab-pid_tuning .advancedSlider').hide();
$('.tab-pid-tuning .baseSlider').hide();
$('.tab-pid_tuning .sliderMode').hide();
}
allPidTuningSliders.on('input', function() {
allPidTuningSliders.on('input mouseup', function() {
const slider = $(this);
// adjust step for more smoothness above 1x
if (slider.val() >= 1) {
slider.attr('step', SLIDER_STEP_LOWER);
} else {
slider.attr('step', SLIDER_STEP_UPPER);
}
if (!TuningSliders.expertMode && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (slider.val() > NON_EXPERT_SLIDER_MAX) {
slider.val(NON_EXPERT_SLIDER_MAX);
} else if (slider.val() < NON_EXPERT_SLIDER_MIN) {
slider.val(NON_EXPERT_SLIDER_MIN);
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (slider.val() >= 1) {
slider.attr('step', SLIDER_STEP_LOWER);
} else {
slider.attr('step', SLIDER_STEP_UPPER);
}
}
const scaledValue = TuningSliders.scaleSliderValue(slider.val());
if (slider.is('#sliderMasterMultiplier')) {
TuningSliders.sliderMasterMultiplier = scaledValue;
} else if (slider.is('#sliderRollPitchRatio')) {
TuningSliders.sliderRollPitchRatio = scaledValue;
} else if (slider.is('#sliderIGain')) {
TuningSliders.sliderIGain = scaledValue;
} else if (slider.is('#sliderPDRatio')) {
TuningSliders.sliderPDRatio = scaledValue;
} else if (slider.is('#sliderPDGain')) {
TuningSliders.sliderPDGain = scaledValue;
} else if (slider.is('#sliderDMinRatio')) {
TuningSliders.sliderDMinRatio = scaledValue;
} else if (slider.is('#sliderFeedforwardGain')) {
TuningSliders.sliderFeedforwardGain = scaledValue;
if (!TuningSliders.expertMode) {
if (slider.val() > NON_EXPERT_SLIDER_MAX) {
slider.val(slider.is('#sliderFeedforwardGain') ? NON_EXPERT_SLIDER_MAX_FF : NON_EXPERT_SLIDER_MAX);
} else if (slider.val() < NON_EXPERT_SLIDER_MIN) {
slider.val(slider.is('#sliderFeedforwardGain') ? NON_EXPERT_SLIDER_MIN_FF : NON_EXPERT_SLIDER_MIN);
}
}
const sliderValue = isInt(slider.val()) ? parseInt(slider.val()) : parseFloat(slider.val());
const scaledValue = TuningSliders.scaleSliderValue(sliderValue);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (slider.is('#sliderDGain')) {
TuningSliders.sliderDGain = scaledValue;
} else if (slider.is('#sliderPIGain')) {
TuningSliders.sliderPIGain = scaledValue;
} else if (slider.is('#sliderFeedforwardGain')) {
TuningSliders.sliderFeedforwardGain = sliderValue;
} else if (slider.is('#sliderDMaxGain')) {
TuningSliders.sliderDMaxGain = sliderValue;
} else if (slider.is('#sliderIGain')) {
TuningSliders.sliderIGain = scaledValue;
} else if (slider.is('#sliderRollPitchRatio')) {
TuningSliders.sliderRollPitchRatio = scaledValue;
} else if (slider.is('#sliderPitchPIGain')) {
TuningSliders.sliderPitchPIGain = scaledValue;
} else if (slider.is('#sliderMasterMultiplier')) {
TuningSliders.sliderMasterMultiplier = scaledValue;
}
} else {
if (slider.is('#sliderMasterMultiplierLegacy')) {
TuningSliders.sliderMasterMultiplierLegacy = sliderValue;
} else if (slider.is('#sliderPDRatio')) {
TuningSliders.sliderPDRatio = sliderValue;
} else if (slider.is('#sliderPDGain')) {
TuningSliders.sliderPDGain = sliderValue;
} else if (slider.is('#sliderFeedforwardGainLegacy')) {
TuningSliders.sliderFeedforwardGainLegacy = sliderValue;
}
}
TuningSliders.calculateNewPids();
self.analyticsChanges['PidTuningSliders'] = "On";
});
allPidTuningSliders.mouseup(function() {
// readjust dmin maximums
$('.pid_tuning .ROLL input[name="d"]').change();
$('.pid_tuning .PITCH input[name="d"]').change();
$('.pid_tuning .YAW input[name="d"]').change();
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
allPidTuningSliders.mouseup(function() {
// readjust dmin maximums
$('.pid_tuning .ROLL input[name="d"]').change();
$('.pid_tuning .PITCH input[name="d"]').change();
$('.pid_tuning .YAW input[name="d"]').change();
});
} else {
TuningSliders.updatePidSlidersDisplay();
});
TuningSliders.updateSlidersWarning();
}
// reset to middle with double click
allPidTuningSliders.dblclick(function() {
const slider = $(this);
slider.val(1);
if (slider.is('#sliderMasterMultiplier')) {
TuningSliders.sliderMasterMultiplier = 1;
} else if (slider.is('#sliderRollPitchRatio')) {
TuningSliders.sliderRollPitchRatio = 1;
} else if (slider.is('#sliderIGain')) {
TuningSliders.sliderIGain = 1;
} else if (slider.is('#sliderPDRatio')) {
TuningSliders.sliderPDRatio = 1;
} else if (slider.is('#sliderPDGain')) {
TuningSliders.sliderPDGain = 1;
} else if (slider.is('#sliderDMinRatio')) {
TuningSliders.sliderDMinRatio = 1;
} else if (slider.is('#sliderFeedforwardGain')) {
TuningSliders.sliderFeedforwardGain = 1;
let value;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (slider.is('#sliderDGain')) {
value = FC.DEFAULT_TUNING_SLIDERS.slider_d_gain / 100;
TuningSliders.sliderDGain = value;
} else if (slider.is('#sliderPIGain')) {
value = FC.DEFAULT_TUNING_SLIDERS.slider_pi_gain / 100;
TuningSliders.sliderPIGain = value;
} else if (slider.is('#sliderFeedforwardGain')) {
value = FC.DEFAULT_TUNING_SLIDERS.slider_feedforward_gain / 100;
TuningSliders.sliderFeedforwardGain = value;
} else if (slider.is('#sliderDMaxGain')) {
value = FC.DEFAULT_TUNING_SLIDERS.slider_dmax_gain / 100;
TuningSliders.sliderDMaxGain = value;
} else if (slider.is('#sliderIGain')) {
value = FC.DEFAULT_TUNING_SLIDERS.slider_i_gain / 100;
TuningSliders.sliderIGain = value;
} else if (slider.is('#sliderRollPitchRatio')) {
value = FC.DEFAULT_TUNING_SLIDERS.slider_roll_pitch_ratio / 100;
TuningSliders.sliderRollPitchRatio = value;
} else if (slider.is('#sliderPitchPIGain')) {
value = FC.DEFAULT_TUNING_SLIDERS.slider_pitch_pi_gain / 100;
TuningSliders.sliderPitchPIGain = value;
} else if (slider.is('#sliderMasterMultiplier')) {
value = FC.DEFAULT_TUNING_SLIDERS.slider_master_multiplier / 100;
TuningSliders.sliderMasterMultiplier = value;
}
slider.val(TuningSliders.downscaleSliderValue(value));
} else {
if (slider.is('#sliderMasterMultiplierLegacy')) {
TuningSliders.sliderMasterMultiplierLegacy = 1;
} else if (slider.is('#sliderPDRatio')) {
TuningSliders.sliderPDRatio = 1;
} else if (slider.is('#sliderPDGain')) {
TuningSliders.sliderPDGain = 1;
} else if (slider.is('#sliderFeedforwardGainLegacy')) {
TuningSliders.sliderFeedforwardGainLegacy = 1;
}
}
TuningSliders.calculateNewPids();
TuningSliders.updatePidSlidersDisplay();
});
@ -1953,8 +2128,8 @@ TABS.pid_tuning.initialize = function (callback) {
$('a.buttonPidTuningSliders').click(function() {
//set Slider PID mode to RPY when re-enabling Sliders
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
FC.TUNING_SLIDERS.slider_pids_mode = 2;
$('#sliderPidsModeSelect').val(FC.TUNING_SLIDERS.slider_pids_mode);
$('#sliderPidsModeSelect').val(2).trigger('change');
self.sliderModeHasChanged = true;
}
// if values were previously changed manually and then sliders are reactivated, reset pids to previous valid values if available, else default
TuningSliders.resetPidSliders();
@ -1966,30 +2141,40 @@ TABS.pid_tuning.initialize = function (callback) {
self.analyticsChanges['PidTuningSliders'] = "On";
});
// filter slider inputs
// enable filter sliders inputs
const allFilterTuningSliders = $('#sliderGyroFilterMultiplier, #sliderDTermFilterMultiplier');
allFilterTuningSliders.on('input', function() {
allFilterTuningSliders.on('input mouseup', function() {
const slider = $(this);
// adjust step for more smoothness above 1x
if (slider.val() >= 1) {
slider.attr('step', SLIDER_STEP_LOWER);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (slider.is('#sliderGyroFilterMultiplier')) {
slider.attr('step', SLIDER_STEP_UPPER * 2);
} else {
slider.attr('step', SLIDER_STEP_UPPER);
}
} else {
slider.attr('step', SLIDER_STEP_UPPER);
// adjust step for more smoothness above 1x
if (slider.val() >= 1) {
slider.attr('step', SLIDER_STEP_LOWER);
} else {
slider.attr('step', SLIDER_STEP_UPPER);
}
}
if (!TuningSliders.expertMode && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (!TuningSliders.expertMode) {
if (slider.val() > NON_EXPERT_SLIDER_MAX) {
slider.val(NON_EXPERT_SLIDER_MAX);
} else if (slider.val() < NON_EXPERT_SLIDER_MIN) {
slider.val(NON_EXPERT_SLIDER_MIN);
}
}
const scaledValue = TuningSliders.scaleSliderValue(slider.val());
const sliderValue = isInt(slider.val()) ? parseInt(slider.val()) : parseFloat(slider.val());
const scaledValue = TuningSliders.scaleSliderValue(sliderValue);
if (slider.is('#sliderGyroFilterMultiplier')) {
TuningSliders.sliderGyroFilterMultiplier = scaledValue;
TuningSliders.calculateNewGyroFilters();
self.analyticsChanges['GyroFilterTuningSlider'] = "On";
} else if (slider.is('#sliderDTermFilterMultiplier')) {
TuningSliders.sliderDTermFilterMultiplier = scaledValue;
TuningSliders.sliderDTermFilterMultiplier = sliderValue;
TuningSliders.calculateNewDTermFilters();
self.analyticsChanges['DTermFilterTuningSlider'] = "On";
}
@ -2008,6 +2193,7 @@ TABS.pid_tuning.initialize = function (callback) {
});
// enable Filter sliders button
$('a.buttonFilterTuningSliders').click(function() {
self.sliderModeHasChanged = true;
if (TuningSliders.GyroSliderUnavailable) {
//set Slider mode to ON when re-enabling Sliders
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
@ -2079,8 +2265,8 @@ TABS.pid_tuning.initialize = function (callback) {
// update == save.
$('a.update').click(function () {
form_to_pid_and_rc();
self.updating = true;
Promise.resolve(true)
.then(function () {
let promise;
@ -2113,6 +2299,9 @@ TABS.pid_tuning.initialize = function (callback) {
return MSP.promise(MSPCodes.MSP_EEPROM_WRITE);
}).then(function () {
self.updating = false;
self.sliderPositionHasChanged = false;
self.sliderModeHasChanged = false;
self.sliderChanges = {};
self.setDirty(false);
GUI.log(i18n.getMessage('pidTuningEepromSaved'));
@ -2174,7 +2363,7 @@ TABS.pid_tuning.renderModel = function () {
this.currentRates.rc_expo,
this.currentRates.superexpo,
this.currentRates.deadband,
this.currentRates.roll_rate_limit
this.currentRates.roll_rate_limit,
);
const pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
FC.RC.channels[1],
@ -2183,7 +2372,7 @@ TABS.pid_tuning.renderModel = function () {
this.currentRates.rc_pitch_expo,
this.currentRates.superexpo,
this.currentRates.deadband,
this.currentRates.pitch_rate_limit
this.currentRates.pitch_rate_limit,
);
const yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
FC.RC.channels[2],
@ -2192,7 +2381,7 @@ TABS.pid_tuning.renderModel = function () {
this.currentRates.rc_yaw_expo,
this.currentRates.superexpo,
this.currentRates.yawDeadband,
this.currentRates.yaw_rate_limit
this.currentRates.yaw_rate_limit,
);
this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));
@ -2222,6 +2411,10 @@ TABS.pid_tuning.cleanup = function (callback) {
TABS.pid_tuning.refresh = function (callback) {
const self = this;
if ((self.sliderPositionHasChanged || self.sliderModeHasChanged) && !self.updating) {
TuningSliders.restoreInitialSettings();
}
GUI.tab_switch_cleanup(function () {
self.initialize();
@ -2280,7 +2473,9 @@ TABS.pid_tuning.checkUpdateProfile = function (updateRateProfile) {
}
if (changedProfile || changedRateProfile) {
self.updating = true;
self.refresh(function () {
self.updating = false;
if (changedProfile) {
GUI.log(i18n.getMessage('pidTuningReceivedProfile', [FC.CONFIG.profile + 1]));
FC.CONFIG.profile = self.currentProfile;
@ -2502,9 +2697,9 @@ TABS.pid_tuning.updateRatesLabels = function() {
balloonsDirty = []; // reset the dirty balloon draw area (for overlap detection)
// create an array of balloons to draw
const balloons = [
{value: parseInt(maxAngularVelRoll), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelRoll, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelRoll)), 'right', BALLOON_COLORS.roll, balloonsDirty);}},
{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);}}
{value: parseInt(maxAngularVelYaw), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelYaw, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelYaw)), 'right', BALLOON_COLORS.yaw, balloonsDirty);}},
];
// show warning message if any axis angular velocity exceeds 1800d/s
const MAX_RATE_WARNING = 1800;
@ -2520,7 +2715,7 @@ TABS.pid_tuning.updateRatesLabels = function() {
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);}},
{value: parseInt(currentValues[2]), balloon: function() {drawBalloonLabel(stickContext, currentValues[2], 10, 350, 'none', BALLOON_COLORS.yaw, balloonsDirty);}}
{value: parseInt(currentValues[2]), balloon: function() {drawBalloonLabel(stickContext, currentValues[2], 10, 350, 'none', BALLOON_COLORS.yaw, balloonsDirty);}},
);
}
// then display them on the chart
@ -2585,6 +2780,23 @@ TABS.pid_tuning.updatePIDColors = function(clear = false) {
setTuningElementColor($('.pid_tuning .YAW input[name="f"]'), FC.ADVANCED_TUNING_ACTIVE.feedforwardYaw, FC.ADVANCED_TUNING.feedforwardYaw);
};
TABS.pid_tuning.updateGuiElements = function() {
const rollF = parseInt($('.pid_tuning .ROLL input[name="f"]').val());
const pitchF = parseInt($('.pid_tuning .PITCH input[name="f"]').val());
const yawF = parseInt($('.pid_tuning .YAW input[name="f"]').val());
const FF_SWITCH = rollF || pitchF || yawF;
$('input[id="feedforwardGroup"]').prop('checked', FF_SWITCH).trigger('change');
const dRoll = parseInt($('.pid_tuning .ROLL input[name="d"]').val());
const dPitch = parseInt($('.pid_tuning .PITCH input[name="d"]').val());
const dYaw = parseInt($('.pid_tuning .YAW input[name="d"]').val());
const dMinRoll = parseInt($('.pid_tuning input[name="dMinRoll"]').val());
const dMinPitch = parseInt($('.pid_tuning input[name="dMinPitch"]').val());
const dMinYaw = parseInt($('.pid_tuning input[name="dMinYaw"]').val());
const DMAX_GAIN_SWITCH = dRoll !== dMinRoll || dPitch !== dMinPitch || dYaw !== dMinYaw;
$('#dMinSwitch').prop('checked', DMAX_GAIN_SWITCH).trigger('change');
};
TABS.pid_tuning.changeRatesType = function(rateTypeID) {
const self = this;
const dialogRatesType = $('.dialogRatesType')[0];

5
src/js/utils/common.js
View file

@ -26,6 +26,10 @@ export function bytesToSize(bytes) {
return outputBytes;
}
export function isInt(n) {
return n % 1 === 0;
}
/*
* checkChromeRuntimeError() has to be called after each chrome API call
*/
@ -107,6 +111,7 @@ export function sortElement(element, keepDown = "DISABLED") {
// TODO: these are temp binding while transition to module happens
window.degToRad = degToRad;
window.bytesToSize = bytesToSize;
window.isInt = isInt;
window.checkChromeRuntimeError = checkChromeRuntimeError;
window.generateVirtualApiVersions = generateVirtualApiVersions;
window.getMixerImageSrc = getMixerImageSrc;