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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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44
src/js/tabs/pid_tuning.js
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@ -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();
}