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Add feedforward support

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This commit is contained in:
Miguel Angel Mulero Martinez 2018-07-09 18:17:08 +02:00
parent 863708ad94
commit 25e4e7f6ca
6 changed files with 103 additions and 20 deletions
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4
src/js/fc.js
View file

@ -376,6 +376,10 @@ var FC = {
absoluteControlGain: 0,
throttleBoost: 0,
acroTrainerAngleLimit: 0,
feedforwardRoll: 0,
feedforwardPitch: 0,
feedforwardYaw: 0,
feedforwardTransition: 0,
};
SENSOR_CONFIG = {

37
src/js/msp/MSPHelper.js
View file

@ -878,7 +878,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
ADVANCED_TUNING.deltaMethod = data.readU8();
ADVANCED_TUNING.vbatPidCompensation = data.readU8();
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
ADVANCED_TUNING.feedforwardTransition = data.readU8();
} else {
ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
}
ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
ADVANCED_TUNING.toleranceBand = data.readU8();
ADVANCED_TUNING.toleranceBandReduction = data.readU8();
@ -904,6 +908,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
ADVANCED_TUNING.absoluteControlGain = data.readU8();
ADVANCED_TUNING.throttleBoost = data.readU8();
ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
ADVANCED_TUNING.feedforwardRoll = data.readU16();
ADVANCED_TUNING.feedforwardPitch = data.readU16();
ADVANCED_TUNING.feedforwardYaw = data.readU16();
}
}
}
@ -1542,14 +1549,20 @@ MspHelper.prototype.crunch = function(code) {
.push16(ADVANCED_TUNING.yawItermIgnoreRate)
.push16(ADVANCED_TUNING.yaw_p_limit)
.push8(ADVANCED_TUNING.deltaMethod)
.push8(ADVANCED_TUNING.vbatPidCompensation)
.push8(ADVANCED_TUNING.dtermSetpointTransition)
.push8(Math.min(ADVANCED_TUNING.dtermSetpointWeight, 254))
.push8(ADVANCED_TUNING.toleranceBand)
.push8(ADVANCED_TUNING.toleranceBandReduction)
.push8(ADVANCED_TUNING.itermThrottleGain)
.push16(ADVANCED_TUNING.pidMaxVelocity)
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
.push8(ADVANCED_TUNING.vbatPidCompensation);
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
buffer.push8(ADVANCED_TUNING.feedforwardTransition);
} else {
buffer.push8(ADVANCED_TUNING.dtermSetpointTransition);
}
buffer.push8(Math.min(ADVANCED_TUNING.dtermSetpointWeight, 254))
.push8(ADVANCED_TUNING.toleranceBand)
.push8(ADVANCED_TUNING.toleranceBandReduction)
.push8(ADVANCED_TUNING.itermThrottleGain)
.push16(ADVANCED_TUNING.pidMaxVelocity)
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
buffer.push8(ADVANCED_TUNING.levelAngleLimit)
@ -1569,9 +1582,11 @@ MspHelper.prototype.crunch = function(code) {
.push8(ADVANCED_TUNING.itermRelaxType)
.push8(ADVANCED_TUNING.absoluteControlGain)
.push8(ADVANCED_TUNING.throttleBoost)
.push8(ADVANCED_TUNING.acroTrainerAngleLimit);
.push8(ADVANCED_TUNING.acroTrainerAngleLimit)
.push16(ADVANCED_TUNING.feedforwardRoll)
.push16(ADVANCED_TUNING.feedforwardPitch)
.push16(ADVANCED_TUNING.feedforwardYaw);
}
}
}
}

44
src/js/tabs/pid_tuning.js
View file

@ -370,6 +370,28 @@ TABS.pid_tuning.initialize = function (callback) {
});
acroTrainerAngleLimitNumberElement.val(ADVANCED_TUNING.acroTrainerAngleLimit).change();
// Yaw D
$('.pid_tuning .YAW input[name="d"]').val(PIDs[2][2]); // PID Yaw D
// Feedforward
$('.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);
var feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]');
var feedforwardTransitionRangeElement = $('input[name="feedforwardTransition-range"]');
feedforwardTransitionNumberElement.val(ADVANCED_TUNING.feedforwardTransition / 100);
feedforwardTransitionRangeElement.val(ADVANCED_TUNING.feedforwardTransition / 100);
feedforwardTransitionNumberElement.change(function () {
feedforwardTransitionRangeElement.val($(this).val());
});
feedforwardTransitionRangeElement.change(function () {
feedforwardTransitionNumberElement.val($(this).val());
});
} else {
$('.itermrotation').hide();
$('.smartfeedforward').hide();
@ -377,6 +399,11 @@ TABS.pid_tuning.initialize = function (callback) {
$('.absoluteControlGain').hide();
$('.throttleBoost').hide();
$('.acroTrainerAngleLimit').hide();
$('.pid_tuning .YAW input[name="d"]').hide();
$('.pid_tuning .ROLL input[name="f"]').hide();
$('.pid_tuning .PITCH input[name="f"]').hide();
$('.pid_tuning .YAW input[name="f"]').hide();
$('#pid-tuning .feedForwardTransition').hide();
}
$('input[id="gyroNotch1Enabled"]').change(function() {
@ -609,6 +636,7 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
ADVANCED_TUNING.itermRotation = $('input[id="itermrotation"]').is(':checked') ? 1 : 0;
ADVANCED_TUNING.smartFeedforward = $('input[id="smartfeedforward"]').is(':checked') ? 1 : 0;
@ -620,8 +648,13 @@ TABS.pid_tuning.initialize = function (callback) {
ADVANCED_TUNING.throttleBoost = $('input[name="throttleBoost-number"]').val();
ADVANCED_TUNING.acroTrainerAngleLimit = $('input[name="acroTrainerAngleLimit-number"]').val();
}
ADVANCED_TUNING.feedforwardRoll = parseInt($('.pid_tuning .ROLL input[name="f"]').val());
ADVANCED_TUNING.feedforwardPitch = parseInt($('.pid_tuning .PITCH input[name="f"]').val());
ADVANCED_TUNING.feedforwardYaw = parseInt($('.pid_tuning .YAW input[name="f"]').val());
ADVANCED_TUNING.feedforwardTransition = parseInt($('input[name="feedforwardTransition-number"]').val() * 100);
}
}
function showAllPids() {
@ -1467,8 +1500,13 @@ TABS.pid_tuning.updatePidControllerParameters = function () {
} else {
$('.pid_tuning .YAW_JUMP_PREVENTION').hide();
$('#pid-tuning .dtermSetpointTransition').show();
$('#pid-tuning .dtermSetpoint').show();
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
$('#pid-tuning .dtermSetpointTransition').hide();
$('#pid-tuning .dtermSetpoint').hide();
} else {
$('#pid-tuning .dtermSetpointTransition').show();
$('#pid-tuning .dtermSetpoint').show();
}
$('#pid-tuning .delta').hide();
}