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Code Issues Wiki Activity

Move FC global vars inside FC object

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This commit is contained in:
Miguel Angel Mulero Martinez 2020-07-06 08:05:27 +02:00
parent b9137a68e6
commit 24010a2e2a
32 changed files with 2799 additions and 2797 deletions
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130
src/js/TuningSliders.js
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@ -85,14 +85,14 @@ TuningSliders.downscaleSliderValue = function(value) {
TuningSliders.initPidSlidersPosition = function() {
// 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.MasterSliderValue = Math.round(PIDs[2][1] / this.PID_DEFAULT[11] * 10) / 10;
this.PDRatioSliderValue = Math.round(PIDs[0][2] / PIDs[0][0] / this.defaultPDRatio * 10) / 10;
this.MasterSliderValue = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10;
this.PDRatioSliderValue = Math.round(FC.PIDS[0][2] / FC.PIDS[0][0] / this.defaultPDRatio * 10) / 10;
if (this.dMinFeatureEnabled) {
this.PDGainSliderValue = Math.round(ADVANCED_TUNING.dMinRoll / this.PDRatioSliderValue / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10;
this.PDGainSliderValue = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.PDRatioSliderValue / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10;
} else {
this.PDGainSliderValue = Math.round(PIDs[0][0] / this.MasterSliderValue / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10;
this.PDGainSliderValue = Math.round(FC.PIDS[0][0] / this.MasterSliderValue / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10;
}
this.ResponseSliderValue = Math.round(ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10;
this.ResponseSliderValue = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10;
$('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue);
$('output[name="tuningPDRatioSlider-number"]').val(this.PDRatioSliderValue);
@ -106,14 +106,14 @@ TuningSliders.initPidSlidersPosition = function() {
};
TuningSliders.initGyroFilterSliderPosition = function() {
this.gyroFilterSliderValue = Math.round((FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FILTER_CONFIG.gyro_lowpass2_hz) /
this.gyroFilterSliderValue = Math.round((FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.FILTER_CONFIG.gyro_lowpass2_hz) /
(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
$('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue);
$('#tuningGyroFilterSlider').val(this.downscaleSliderValue(this.gyroFilterSliderValue));
};
TuningSliders.initDTermFilterSliderPosition = function() {
this.dtermFilterSliderValue = Math.round((FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FILTER_CONFIG.dterm_lowpass2_hz) /
this.dtermFilterSliderValue = Math.round((FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) /
(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100;
$('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue);
$('#tuningDTermFilterSlider').val(this.downscaleSliderValue(this.dtermFilterSliderValue));
@ -162,7 +162,7 @@ TuningSliders.updatePidSlidersDisplay = function() {
this.pidSlidersUnavailable = false;
let currentPIDs = [];
PID_names.forEach(function(elementPid, indexPid) {
FC.PID_NAMES.forEach(function(elementPid, indexPid) {
let searchRow = $('.pid_tuning .' + elementPid + ' input');
searchRow.each(function (indexInput) {
if (indexPid < 3 && indexInput < 5) {
@ -171,7 +171,7 @@ TuningSliders.updatePidSlidersDisplay = function() {
});
});
this.calculateNewPids();
PID_names.forEach(function(elementPid, indexPid) {
FC.PID_NAMES.forEach(function(elementPid, indexPid) {
let searchRow = $('.pid_tuning .' + elementPid + ' input');
searchRow.each(function (indexInput) {
if (indexPid < 3 && indexInput < 5) {
@ -196,8 +196,8 @@ TuningSliders.updatePidSlidersDisplay = function() {
$('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable);
$('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable);
$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
$('.subtab-pid .slidersWarning').toggle((PIDs[1][0] > WARNING_P_GAIN || PIDs[1][1] > WARNING_I_GAIN || PIDs[1][2] > WARNING_DMAX_GAIN ||
ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable);
$('.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);
};
TuningSliders.updateFilterSlidersDisplay = function() {
@ -252,48 +252,48 @@ TuningSliders.calculateNewPids = function() {
if (this.dMinFeatureEnabled) {
//dmin
ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue * this.PDRatioSliderValue);
ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue * this.PDRatioSliderValue);
FC.ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue * this.PDRatioSliderValue);
FC.ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue * this.PDRatioSliderValue);
// dmax
PIDs[0][2] = Math.round(this.PID_DEFAULT[2] * this.PDGainSliderValue * this.PDRatioSliderValue);
PIDs[1][2] = Math.round(this.PID_DEFAULT[7] * this.PDGainSliderValue * this.PDRatioSliderValue);
FC.PIDS[0][2] = Math.round(this.PID_DEFAULT[2] * this.PDGainSliderValue * this.PDRatioSliderValue);
FC.PIDS[1][2] = Math.round(this.PID_DEFAULT[7] * this.PDGainSliderValue * this.PDRatioSliderValue);
} else {
ADVANCED_TUNING.dMinRoll = 0;
ADVANCED_TUNING.dMinPitch = 0;
PIDs[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue);
PIDs[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue);
FC.ADVANCED_TUNING.dMinRoll = 0;
FC.ADVANCED_TUNING.dMinPitch = 0;
FC.PIDS[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue);
FC.PIDS[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue);
}
// p
PIDs[0][0] = Math.round(this.PID_DEFAULT[0] * this.PDGainSliderValue);
PIDs[1][0] = Math.round(this.PID_DEFAULT[5] * this.PDGainSliderValue);
PIDs[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue);
FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.PDGainSliderValue);
FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.PDGainSliderValue);
FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue);
// ff
ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.ResponseSliderValue);
ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.ResponseSliderValue);
ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.ResponseSliderValue);
FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.ResponseSliderValue);
FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.ResponseSliderValue);
FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.ResponseSliderValue);
// master slider part
// these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation
PIDs[0][1] = this.PID_DEFAULT[1];
PIDs[1][1] = this.PID_DEFAULT[6];
PIDs[2][1] = this.PID_DEFAULT[11];
FC.PIDS[0][1] = this.PID_DEFAULT[1];
FC.PIDS[1][1] = this.PID_DEFAULT[6];
FC.PIDS[2][1] = this.PID_DEFAULT[11];
// yaw d, dmin
PIDs[2][2] = this.PID_DEFAULT[12];
ADVANCED_TUNING.dMinYaw = this.PID_DEFAULT[13];
FC.PIDS[2][2] = this.PID_DEFAULT[12];
FC.ADVANCED_TUNING.dMinYaw = this.PID_DEFAULT[13];
//master slider multiplication, max value 200 for main PID values
for (let i = 0; i < 3; i++) {
for (let j = 0; j < 3; j++) {
PIDs[j][i] = Math.min(Math.round(PIDs[j][i] * this.MasterSliderValue), MAX_PID_GAIN);
FC.PIDS[j][i] = Math.min(Math.round(FC.PIDS[j][i] * this.MasterSliderValue), MAX_PID_GAIN);
}
}
ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue), MAX_FF_GAIN);
ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue), MAX_FF_GAIN);
ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue), MAX_FF_GAIN);
FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue), MAX_FF_GAIN);
FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue), MAX_FF_GAIN);
FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue), MAX_FF_GAIN);
if (this.dMinFeatureEnabled) {
ADVANCED_TUNING.dMinRoll = Math.min(Math.round(ADVANCED_TUNING.dMinRoll * this.MasterSliderValue), MAX_DMIN_GAIN);
ADVANCED_TUNING.dMinPitch = Math.min(Math.round(ADVANCED_TUNING.dMinPitch * this.MasterSliderValue), MAX_DMIN_GAIN);
ADVANCED_TUNING.dMinYaw = Math.min(Math.round(ADVANCED_TUNING.dMinYaw * this.MasterSliderValue), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.MasterSliderValue), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.MasterSliderValue), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.MasterSliderValue), MAX_DMIN_GAIN);
}
$('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue);
@ -302,52 +302,52 @@ TuningSliders.calculateNewPids = function() {
$('output[name="tuningResponseSlider-number"]').val(this.ResponseSliderValue);
// updates values in forms
PID_names.forEach(function(elementPid, indexPid) {
FC.PID_NAMES.forEach(function(elementPid, indexPid) {
let searchRow = $('.pid_tuning .' + elementPid + ' input');
searchRow.each(function (indexInput) {
if (indexPid < 3 && indexInput < 3) {
$(this).val(PIDs[indexPid][indexInput]);
$(this).val(FC.PIDS[indexPid][indexInput]);
}
});
});
$('.pid_tuning input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll);
$('.pid_tuning input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch);
$('.pid_tuning input[name="dMinYaw"]').val(ADVANCED_TUNING.dMinYaw);
$('.pid_tuning .ROLL input[name="f"]').val(ADVANCED_TUNING.feedforwardRoll);
$('.pid_tuning .PITCH input[name="f"]').val(ADVANCED_TUNING.feedforwardPitch);
$('.pid_tuning .YAW input[name="f"]').val(ADVANCED_TUNING.feedforwardYaw);
$('.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);
$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll);
$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
TABS.pid_tuning.updatePIDColors();
};
TuningSliders.calculateNewGyroFilters = function() {
// calculate, set and display new values in forms based on slider position
FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue);
FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue);
FILTER_CONFIG.gyro_lowpass2_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue);
FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type;
FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type;
FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue);
FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue);
FC.FILTER_CONFIG.gyro_lowpass2_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue);
FC.FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type;
FC.FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type;
$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_min_hz);
$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_max_hz);
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FILTER_CONFIG.gyro_lowpass2_hz);
$('.pid_filter select[name="gyroLowpassDynType').val(FILTER_CONFIG.gyro_lowpass_type);
$('.pid_filter select[name="gyroLowpass2Type').val(FILTER_CONFIG.gyro_lowpass2_type);
$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz);
$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz);
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz);
$('.pid_filter select[name="gyroLowpassDynType').val(FC.FILTER_CONFIG.gyro_lowpass_type);
$('.pid_filter select[name="gyroLowpass2Type').val(FC.FILTER_CONFIG.gyro_lowpass2_type);
$('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue);
};
TuningSliders.calculateNewDTermFilters = function() {
// calculate, set and display new values in forms based on slider position
FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue);
FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue);
FILTER_CONFIG.dterm_lowpass2_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue);
FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type;
FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type;
FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue);
FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue);
FC.FILTER_CONFIG.dterm_lowpass2_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue);
FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type;
FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type;
$('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_min_hz);
$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(FILTER_CONFIG.dterm_lowpass2_hz);
$('.pid_filter select[name="dtermLowpassDynType').val(FILTER_CONFIG.dterm_lowpass_type);
$('.pid_filter select[name="dtermLowpass2Type').val(FILTER_CONFIG.dterm_lowpass2_type);
$('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz);
$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz);
$('.pid_filter select[name="dtermLowpassDynType').val(FC.FILTER_CONFIG.dterm_lowpass_type);
$('.pid_filter select[name="dtermLowpass2Type').val(FC.FILTER_CONFIG.dterm_lowpass2_type);
$('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue);
};