From 68dd5dd902deaa325797fe861c293616935ce35d Mon Sep 17 00:00:00 2001
From: Asizon <43983086+Asizon@users.noreply.github.com>
Date: Sat, 26 Jun 2021 09:30:18 +0200
Subject: [PATCH] Rename sliders FF to feedforward

---
 src/js/TuningSliders.js   | 34 +++++++++++++++++-----------------
 src/js/fc.js              |  2 +-
 src/js/msp/MSPHelper.js   |  4 ++--
 src/js/tabs/pid_tuning.js | 14 +++++++-------
 src/tabs/pid_tuning.html  |  6 +++---
 5 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/src/js/TuningSliders.js b/src/js/TuningSliders.js
index 33db4c6a..ecc8cb0b 100644
--- a/src/js/TuningSliders.js
+++ b/src/js/TuningSliders.js
@@ -8,7 +8,7 @@ const TuningSliders = {
     sliderPDRatio: 1,
     sliderPDGain: 1,
     sliderDMinRatio: 1,
-    sliderFFGain: 1,
+    sliderFeedforwardGain: 1,
     pidSlidersUnavailable: false,
     GyroSliderUnavailable: false,
     DTermSliderUnavailable: false,
@@ -106,7 +106,7 @@ TuningSliders.initPidSlidersPosition = function() {
         } else {
             this.sliderPDGain = Math.round(FC.PIDS[0][0] / this.sliderMasterMultiplier / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10;
         }
-        this.sliderFFGain = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.sliderMasterMultiplier / this.PID_DEFAULT[4] * 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;
@@ -115,7 +115,7 @@ TuningSliders.initPidSlidersPosition = function() {
         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.sliderFFGain = FC.TUNING_SLIDERS.slider_ff_gain / 100;
+        this.sliderFeedforwardGain = FC.TUNING_SLIDERS.slider_feedforward_gain / 100;
     }
 
     $('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
@@ -124,7 +124,7 @@ TuningSliders.initPidSlidersPosition = function() {
     $('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
     $('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
     $('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
-    $('output[name="sliderFFGain-number"]').val(this.sliderFFGain);
+    $('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain);
 
     $('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
     $('#sliderRollPitchRatio').val(this.downscaleSliderValue(this.sliderRollPitchRatio));
@@ -132,7 +132,7 @@ TuningSliders.initPidSlidersPosition = function() {
     $('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
     $('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
     $('#sliderDMinRatio').val(this.downscaleSliderValue(this.sliderDMinRatio));
-    $('#sliderFFGain').val(this.downscaleSliderValue(this.sliderFFGain));
+    $('#sliderFeedforwardGain').val(this.downscaleSliderValue(this.sliderFeedforwardGain));
 };
 
 TuningSliders.initGyroFilterSliderPosition = function() {
@@ -169,14 +169,14 @@ TuningSliders.resetPidSliders = function() {
         this.sliderPDRatio = 1;
         this.sliderPDGain = 1;
         this.sliderDMinRatio = 1;
-        this.sliderFFGain = 1;
+        this.sliderFeedforwardGain = 1;
     }
 
     if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
         $('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
         $('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
         $('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
-        $('#sliderFFGain').val(this.downscaleSliderValue(this.sliderFFGain));
+        $('#sliderFeedforwardGain').val(this.downscaleSliderValue(this.sliderFeedforwardGain));
     } else {
         this.initPidSlidersPosition();
     }
@@ -393,14 +393,14 @@ TuningSliders.updateFormPids = function(updateSlidersOnly = false) {
     $('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
     $('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
     $('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
-    $('output[name="sliderFFGain-number"]').val(this.sliderFFGain);
+    $('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain);
 
 };
 
 TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
     const MAX_PID_GAIN = 200;
     const MAX_DMIN_GAIN = 100;
-    const MAX_FF_GAIN = 2000;
+    const MAX_FEEDFORWARD_GAIN = 2000;
 
     // only used for 4.1 where calculation is not done in firmware
     if (this.dMinFeatureEnabled) {
@@ -420,10 +420,10 @@ TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
     FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.sliderPDGain);
     FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.sliderPDGain);
     FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.sliderPDGain);
-    // ff
-    FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFFGain);
-    FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFFGain);
-    FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.sliderFFGain);
+    // 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);
     // 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];
@@ -440,9 +440,9 @@ TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
         }
     }
 
-    FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.sliderMasterMultiplier), MAX_FF_GAIN);
-    FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.sliderMasterMultiplier), MAX_FF_GAIN);
-    FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplier), MAX_FF_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);
 
     if (this.dMinFeatureEnabled) {
         FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
@@ -471,7 +471,7 @@ TuningSliders.calculateNewPids = function(updateSlidersOnly = false) {
         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_ff_gain = Math.round(this.sliderFFGain * 20) * 5;
+        FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(this.sliderFeedforwardGain * 20) * 5;
 
         MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS))
         .then(() => MSP.promise(MSPCodes.MSP_PID))
diff --git a/src/js/fc.js b/src/js/fc.js
index 665085b3..67034405 100644
--- a/src/js/fc.js
+++ b/src/js/fc.js
@@ -662,7 +662,7 @@ const FC = {
             slider_pd_ratio:                    0,
             slider_pd_gain:                     0,
             slider_dmin_ratio:                  0,
-            slider_ff_gain:                     0,
+            slider_feedforward_gain:            0,
             slider_dterm_filter:                0,
             slider_dterm_filter_multiplier:     0,
             slider_gyro_filter:                 0,
diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index 177e0132..6b7a822d 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -1491,7 +1491,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
                 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_ff_gain = data.readU8();
+                FC.TUNING_SLIDERS.slider_feedforward_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();
@@ -2310,7 +2310,7 @@ MspHelper.prototype.crunch = function(code) {
                   .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_ff_gain)
+                  .push8(FC.TUNING_SLIDERS.slider_feedforward_gain)
                   .push8(FC.TUNING_SLIDERS.slider_dterm_filter)
                   .push8(FC.TUNING_SLIDERS.slider_dterm_filter_multiplier)
                   .push8(FC.TUNING_SLIDERS.slider_gyro_filter)
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 9cd8059e..84c23130 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -1025,7 +1025,7 @@ TABS.pid_tuning.initialize = function (callback) {
             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_ff_gain = Math.round(TuningSliders.sliderFFGain * 20) * 5;
+            FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(TuningSliders.sliderFeedforwardGain * 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;
@@ -1875,11 +1875,11 @@ TABS.pid_tuning.initialize = function (callback) {
 
             let allPidTuningSliders;
             if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
-                allPidTuningSliders = $('#sliderMasterMultiplier, #sliderPDRatio, #sliderPDGain, #sliderFFGain');
+                allPidTuningSliders = $('#sliderMasterMultiplier, #sliderPDRatio, #sliderPDGain, #sliderFeedforwardGain');
                 $('.tab-pid_tuning .advancedSlider').hide();
                 $('.tab-pid_tuning .sliderMode').hide();
             } else {
-                allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFFGain');
+                allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFeedforwardGain');
                 $('.tab-pid-tuning .baseSlider').show();
                 $('.tab-pid-tuning .MasterSlider').show();
             }
@@ -1912,8 +1912,8 @@ TABS.pid_tuning.initialize = function (callback) {
                     TuningSliders.sliderPDGain = scaledValue;
                 } else if (slider.is('#sliderDMinRatio')) {
                     TuningSliders.sliderDMinRatio = scaledValue;
-                } else if (slider.is('#sliderFFGain')) {
-                    TuningSliders.sliderFFGain = scaledValue;
+                } else if (slider.is('#sliderFeedforwardGain')) {
+                    TuningSliders.sliderFeedforwardGain = scaledValue;
                 }
                 TuningSliders.calculateNewPids();
                 self.analyticsChanges['PidTuningSliders'] = "On";
@@ -1941,8 +1941,8 @@ TABS.pid_tuning.initialize = function (callback) {
                     TuningSliders.sliderPDGain = 1;
                 } else if (slider.is('#sliderDMinRatio')) {
                     TuningSliders.sliderDMinRatio = 1;
-                } else if (slider.is('#sliderFFGain')) {
-                    TuningSliders.sliderFFGain = 1;
+                } else if (slider.is('#sliderFeedforwardGain')) {
+                    TuningSliders.sliderFeedforwardGain = 1;
                 }
                 TuningSliders.calculateNewPids();
                 TuningSliders.updatePidSlidersDisplay();
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index 31cf3eeb..2993c0b4 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -102,7 +102,7 @@
                                 <th class="feedforward">
                                     <div class="name-helpicon-flex">
                                         <div i18n="pidTuningFeedforward" class="sm-min"></div>
-                                        <div class="xs">FF</div>
+                                        <div class="xs">Feedforward</div>
                                         <div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardHelp"></div>
                                     </div>
                                 </th>
@@ -236,10 +236,10 @@
                                     <span i18n="pidTuningResponseSlider"/>
                                 </td>
                                 <td>
-                                    <output type="number" name="sliderFFGain-number"></output>
+                                    <output type="number" name="sliderFeedforwardGain-number"></output>
                                 </td>
                                 <td colspan="3">
-                                    <input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderFFGain" />
+                                    <input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderFeedforwardGain" />
                                 </td>
                                 <td>
                                     <div class="helpicon cf_tip" i18n_title="pidTuningResponseSliderHelp"></div>