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Code Issues Wiki Activity

Update Feedforward to new names and values

Browse source 
Replace all ff with feedforward

Requested changes

Fix duplicated ff name

Reenabling on/off switch

Optimize F value update

Use exiting array for PID defaults
This commit is contained in:
Asizon 2021-06-13 17:50:56 +02:00
parent c44e48f51b
commit 2e89fa2031
6 changed files with 84 additions and 75 deletions
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3
src/css/tabs/pid_tuning.css
View file

@ -169,7 +169,8 @@
}
.tab-pid_tuning table.compensation .helpicon {
margin-top: 3px
margin-top: 3px;
margin-left: auto;
}
.tab-pid_tuning table.compensation .suboption {

6
src/js/fc.js
View file

@ -508,9 +508,9 @@ const FC = {
motorOutputLimit: 0,
autoProfileCellCount: 0,
idleMinRpm: 0,
ff_interpolate_sp: 0,
ff_smooth_factor: 0,
ff_boost: 0,
feedforward_averaging: 0,
feedforward_smooth_factor: 0,
feedforward_boost: 0,
vbat_sag_compensation: 0,
thrustLinearization: 0,
};

12
src/js/msp/MSPHelper.js
View file

@ -1172,9 +1172,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ADVANCED_TUNING.idleMinRpm = data.readU8();
if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
FC.ADVANCED_TUNING.ff_interpolate_sp = data.readU8();
FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8();
FC.ADVANCED_TUNING.ff_boost = data.readU8();
FC.ADVANCED_TUNING.feedforward_averaging = data.readU8();
FC.ADVANCED_TUNING.feedforward_smooth_factor = data.readU8();
FC.ADVANCED_TUNING.feedforward_boost = data.readU8();
FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
FC.ADVANCED_TUNING.thrustLinearization = data.readU8();
}
@ -2142,9 +2142,9 @@ MspHelper.prototype.crunch = function(code) {
.push8(FC.ADVANCED_TUNING.idleMinRpm);
if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp)
.push8(FC.ADVANCED_TUNING.ff_smooth_factor)
.push8(FC.ADVANCED_TUNING.ff_boost)
buffer.push8(FC.ADVANCED_TUNING.feedforward_averaging)
.push8(FC.ADVANCED_TUNING.feedforward_smooth_factor)
.push8(FC.ADVANCED_TUNING.feedforward_boost)
.push8(FC.ADVANCED_TUNING.vbat_sag_compensation)
.push8(FC.ADVANCED_TUNING.thrustLinearization);
}

41
src/js/tabs/pid_tuning.js
View file

@ -32,8 +32,9 @@ TABS.pid_tuning.initialize = function (callback) {
self.activeSubtab = 'pid';
}
// Update filtering defaults based on API version
// Update filtering and pid defaults based on API version
const FILTER_DEFAULT = FC.getFilterDefaults();
const PID_DEFAULT = FC.getPidDefaults();
// requesting MSP_STATUS manually because it contains FC.CONFIG.profile
MSP.promise(MSPCodes.MSP_STATUS).then(function() {
@ -480,20 +481,30 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
// FF Interpolate
const ffInterpolateCheck = $('input[id="ffInterpolateSp"]');
const NO_AVERAGE = 1;
// Feedforward
const feedforwardGroupCheck = $('input[id="feedforwardGroup"]');
const PID_FEEDFORWARD = (FC.ADVANCED_TUNING.feedforwardRoll ||
FC.ADVANCED_TUNING.feedforwardPitch ||
FC.ADVANCED_TUNING.feedforwardYaw);
ffInterpolateCheck.prop('checked', FC.ADVANCED_TUNING.ff_interpolate_sp !== 0);
$('select[id="ffInterpolate"]').val(FC.ADVANCED_TUNING.ff_interpolate_sp > 0 ? FC.ADVANCED_TUNING.ff_interpolate_sp : NO_AVERAGE);
$('input[name="ffSmoothFactor"]').val(FC.ADVANCED_TUNING.ff_smooth_factor);
$('input[name="ffBoost"]').val(FC.ADVANCED_TUNING.ff_boost);
feedforwardGroupCheck.prop('checked', PID_FEEDFORWARD !== 0);
$('select[id="feedforwardAveraging"]').val(FC.ADVANCED_TUNING.feedforward_averaging);
$('input[name="feedforwardSmoothFactor"]').val(FC.ADVANCED_TUNING.feedforward_smooth_factor);
$('input[name="feedforwardBoost"]').val(FC.ADVANCED_TUNING.feedforward_boost);
ffInterpolateCheck.change(function() {
feedforwardGroupCheck.change(function() {
const checked = $(this).is(':checked');
$('.ffInterpolateSp .suboption').toggle(checked);
$('.feedforwardGroup .suboption').toggle(checked);
if (!checked) {
$('.pid_tuning .ROLL input[name="f"]').val(0);
$('.pid_tuning .PITCH input[name="f"]').val(0);
$('.pid_tuning .YAW input[name="f"]').val(0);
} else {
$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll > 0 ? FC.ADVANCED_TUNING.feedforwardRoll : PID_DEFAULT[4]);
$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch > 0 ? FC.ADVANCED_TUNING.feedforwardPitch : PID_DEFAULT[9]);
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw > 0 ? FC.ADVANCED_TUNING.feedforwardYaw : PID_DEFAULT[14]);
}
}).change();
// Vbat Sag Compensation
const vbatSagCompensationCheck = $('input[id="vbatSagCompensation"]');
@ -516,7 +527,7 @@ TABS.pid_tuning.initialize = function (callback) {
$('.thrustLinearization .suboption').toggle(checked);
}).change();
} else {
$('.ffInterpolateSp').hide();
$('.feedforwardOption').hide();
$('.vbatSagCompensation').hide();
$('.thrustLinearization').hide();
}
@ -995,9 +1006,9 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
FC.ADVANCED_TUNING.ff_interpolate_sp = $('input[id="ffInterpolateSp"]').is(':checked') ? $('select[id="ffInterpolate"]').val() : 0;
FC.ADVANCED_TUNING.ff_smooth_factor = parseInt($('input[name="ffSmoothFactor"]').val());
FC.ADVANCED_TUNING.ff_boost = parseInt($('input[name="ffBoost"]').val());
FC.ADVANCED_TUNING.feedforward_averaging = $('select[id="feedforwardAveraging"]').val();
FC.ADVANCED_TUNING.feedforward_smooth_factor = parseInt($('input[name="feedforwardSmoothFactor"]').val());
FC.ADVANCED_TUNING.feedforward_boost = parseInt($('input[name="feedforwardBoost"]').val());
FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val());
FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0;
FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0;

63
src/tabs/pid_tuning.html
View file

@ -513,47 +513,43 @@
</td>
</tr>
<tr class="feedforwardTransition">
<td><input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/></td>
<td colspan="1">
<div>
<tr class="feedforwardGroup">
<td><input type="checkbox" id="feedforwardGroup" class="toggle" /></td>
<td colspan="2">
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardGroupHelp"></div>
<span i18n="pidTuningFeedforwardGroup"></span>
<span class="feedforwardTransition suboption">
<input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/>
<label>
<span i18n="pidTuningFeedforwardTransition"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
</div>
</td>
</tr>
<tr class="ffInterpolateSp">
<td><input type="checkbox" id="ffInterpolateSp" class="toggle" /></td>
<td colspan="2">
<div class="helpicon cf_tip" i18n_title="pidTuningFfInterpolateSpHelp"></div>
<span i18n="pidTuningFfInterpolateSp"></span>
</span>
<span class="ffInterpolate suboption">
<select id="ffInterpolate">
<option i18n="pidTuningFfInterpolateSpOptionNoAverage" value="1">
<option i18n="pidTuningFfInterpolateSpOptionAverage2" value="2"/>
<option i18n="pidTuningFfInterpolateSpOptionAverage3" value="3"/>
<option i18n="pidTuningFfInterpolateSpOptionAverage4" value="4"/>
<span class="feedforwardOption feedforwardAveraging suboption">
<select id="feedforwardAveraging">
<option i18n="pidTuningFeedforwardAveragingOptionOff" value="0"/>
<option i18n="pidTuningFeedforwardAveragingOption2Point" value="1"/>
<option i18n="pidTuningFeedforwardAveragingOption3Point" value="2"/>
<option i18n="pidTuningFeedforwardAveragingOption4Point" value="3"/>
</select>
<label for="ffInterpolate">
<span i18n="pidTuningFfInterpolate"></span>
<label for="feedforwardAveraging">
<span i18n="pidTuningFeedforwardAveraging"></span>
</label>
</span>
<span class="ffSmoothFactor suboption">
<input type="number" name="ffSmoothFactor" step="1" min="0" max="75" />
<label for="ffSmoothFactor">
<span i18n="pidTuningFfSmoothFactor"></span>
<span class="feedforwardOption feedforwardSmoothFactor suboption">
<input type="number" name="feedforwardSmoothFactor" step="1" min="0" max="75" />
<label for="feedforwardSmoothFactor">
<span i18n="pidTuningFeedforwardSmoothFactor"></span>
</label>
</span>
<span class="ffBoost suboption">
<input type="number" name="ffBoost" step="1" min="0" max="50" />
<label for="ffBoost">
<span i18n="pidTuningFfBoost"></span>
<span class="feedforwardOption feedforwardBoost suboption">
<input type="number" name="feedforwardBoost" step="1" min="0" max="50" />
<label for="feedforwardBoost">
<span i18n="pidTuningFeedforwardBoost"></span>
</label>
</span>
</td>
@ -561,7 +557,7 @@
<tr class="acroTrainerAngleLimit">
<td><input type="number" name="acroTrainerAngleLimit-number" step="1" min="10" max="80"/></td>
<td colspan="1">
<td colspan="2">
<div>
<label>
<span i18n="pidTuningAcroTrainerAngleLimit"></span>
@ -573,7 +569,7 @@
<tr class="throttleBoost">
<td><input type="number" name="throttleBoost-number" step="1" min="0" max="100"/></td>
<td colspan="1">
<td colspan="2">
<div>
<label>
<span i18n="pidTuningThrottleBoost"></span>
@ -585,7 +581,7 @@
<tr class="idleMinRpm">
<td><input type="number" name="idleMinRpm-number" step="1" min="0" max="100"/></td>
<td colspan="1">
<td colspan="2">
<div>
<label>
<span i18n="pidTuningIdleMinRpm"></span>
@ -597,7 +593,7 @@
<tr class="absoluteControlGain">
<td><input type="number" name="absoluteControlGain-number" step="1" min="0" max="20"/></td>
<td colspan="1">
<td colspan="2">
<div>
<label>
<span i18n="pidTuningAbsoluteControlGain"></span>
@ -768,6 +764,7 @@
</span>
</td>
</tr>
</table>
</div>
</div>