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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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37
src/js/msp/MSPHelper.js
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@ -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);
}
}
}
}