mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-16 12:55:14 +03:00
Update Feedforward to new names and values
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
parent
c44e48f51b
commit
2e89fa2031
6 changed files with 84 additions and 75 deletions
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@ -1768,7 +1768,7 @@
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"message": "RC Interpolation Interval [ms]"
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},
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"pidTuningFeedforwardTransition": {
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"message": "Feedforward transition"
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"message": "Transition"
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},
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"pidTuningFeedforwardTransitionHelp": {
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"message": "With this parameter, the Feedforward term can be reduced near the center of the sticks, which results in smoother end of flips and rolls.<br> The value represents a point of stick deflection: 0 - stick centered, 1 - full deflection. When the stick is above that point, Feedforward is kept constant at its configured value. When the stick is positioned below that point, Feedforward is reduced proportionally, reaching 0 at the stick center position.<br> Value of 1 gives maximum smoothing effect, while value of 0 keeps the Feedforward fixed at its configured value over the whole stick range."
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@ -1788,31 +1788,31 @@
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"pidTuningDtermSetpointTransitionWarning": {
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"message": "<span class=\"message-negative\"><strong>$t(warningTitle.message):<\/strong> The use of a D Setpoint transition greater than 0 and less than 0.1 is highly discouraged. Doing so may lead instability and reduced stick responsiveness as the sticks cross the centre point.<\/span>"
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},
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"pidTuningFfInterpolateSp": {
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"message": "FF Interpolate"
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"pidTuningFeedforwardGroup": {
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"message": "Feedforward"
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},
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"pidTuningFfInterpolateSpHelp": {
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"message": "The following options fine-tune feed forward from race/aggressive to smooth/HD.<br /><br /> Mode: set to NoAverage for race, Average 2 for race/fast freestyle, Average 3 for HD recording, Average 4 for HD cinematic smoothness.<br /><br /> Smoothness: limits the amount of change that any one incoming radio step can make, increase for smoother FF signal, decrease for more aggressive FF responses.<br /><br /> Boost: helps overcome motor lag with quick stick inputs, can increase jitter. Try 10 for HD, 20 for racers. Up to 30 may be useful for low authority quads but can cause micro overshoot or jitter."
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"pidTuningFeedforwardGroupHelp": {
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"message": "The following options fine-tune feed forward from race/aggressive to smooth/HD.<br /><br /> Mode: set to Off for race, 2 Point averaging for race/fast freestyle, 3 Point averaging for HD recording, 4 Point averaging for HD cinematic smoothness.<br /><br /> Smoothness: limits the amount of change that any one incoming radio step can make, increase for smoother feedforward signal, decrease for more aggressive feedforward responses.<br /><br /> Boost: helps overcome motor lag with quick stick inputs, can increase jitter. Try 10 for HD, 20 for racers. Up to 30 may be useful for low authority quads but can cause micro overshoot or jitter."
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},
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"pidTuningFfInterpolate": {
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"message": "Mode"
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"pidTuningFeedforwardAveraging": {
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"message": "Averaging"
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},
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"pidTuningFfInterpolateSpOptionNoAverage": {
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"message": "NoAverage"
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"pidTuningFeedforwardAveragingOptionOff": {
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"message": "OFF"
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},
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"pidTuningFfInterpolateSpOptionAverage2": {
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"message": "Average 2"
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"pidTuningFeedforwardAveragingOption2Point": {
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"message": "2 Point"
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},
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"pidTuningFfInterpolateSpOptionAverage3": {
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"message": "Average 3"
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"pidTuningFeedforwardAveragingOption3Point": {
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"message": "3 Point"
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},
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"pidTuningFfInterpolateSpOptionAverage4": {
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"message": "Average 4"
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"pidTuningFeedforwardAveragingOption4Point": {
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"message": "4 Point"
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},
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"pidTuningFfSmoothFactor": {
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"pidTuningFeedforwardSmoothFactor": {
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"message": "Smoothness"
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},
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"pidTuningFfBoost": {
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"pidTuningFeedforwardBoost": {
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"message": "Boost"
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},
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"pidTuningProportional": {
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@ -169,7 +169,8 @@
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}
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.tab-pid_tuning table.compensation .helpicon {
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margin-top: 3px
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margin-top: 3px;
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margin-left: auto;
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}
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.tab-pid_tuning table.compensation .suboption {
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@ -508,9 +508,9 @@ const FC = {
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motorOutputLimit: 0,
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autoProfileCellCount: 0,
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idleMinRpm: 0,
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ff_interpolate_sp: 0,
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ff_smooth_factor: 0,
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ff_boost: 0,
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feedforward_averaging: 0,
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feedforward_smooth_factor: 0,
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feedforward_boost: 0,
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vbat_sag_compensation: 0,
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thrustLinearization: 0,
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};
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@ -1172,9 +1172,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
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FC.ADVANCED_TUNING.idleMinRpm = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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FC.ADVANCED_TUNING.ff_interpolate_sp = data.readU8();
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FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8();
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FC.ADVANCED_TUNING.ff_boost = data.readU8();
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FC.ADVANCED_TUNING.feedforward_averaging = data.readU8();
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FC.ADVANCED_TUNING.feedforward_smooth_factor = data.readU8();
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FC.ADVANCED_TUNING.feedforward_boost = data.readU8();
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FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
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FC.ADVANCED_TUNING.thrustLinearization = data.readU8();
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}
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@ -2142,9 +2142,9 @@ MspHelper.prototype.crunch = function(code) {
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.push8(FC.ADVANCED_TUNING.idleMinRpm);
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp)
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.push8(FC.ADVANCED_TUNING.ff_smooth_factor)
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.push8(FC.ADVANCED_TUNING.ff_boost)
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buffer.push8(FC.ADVANCED_TUNING.feedforward_averaging)
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.push8(FC.ADVANCED_TUNING.feedforward_smooth_factor)
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.push8(FC.ADVANCED_TUNING.feedforward_boost)
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.push8(FC.ADVANCED_TUNING.vbat_sag_compensation)
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.push8(FC.ADVANCED_TUNING.thrustLinearization);
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}
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@ -32,8 +32,9 @@ TABS.pid_tuning.initialize = function (callback) {
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self.activeSubtab = 'pid';
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}
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// Update filtering defaults based on API version
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// Update filtering and pid defaults based on API version
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const FILTER_DEFAULT = FC.getFilterDefaults();
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const PID_DEFAULT = FC.getPidDefaults();
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// requesting MSP_STATUS manually because it contains FC.CONFIG.profile
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MSP.promise(MSPCodes.MSP_STATUS).then(function() {
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@ -480,20 +481,30 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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// FF Interpolate
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const ffInterpolateCheck = $('input[id="ffInterpolateSp"]');
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const NO_AVERAGE = 1;
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// Feedforward
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const feedforwardGroupCheck = $('input[id="feedforwardGroup"]');
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const PID_FEEDFORWARD = (FC.ADVANCED_TUNING.feedforwardRoll ||
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FC.ADVANCED_TUNING.feedforwardPitch ||
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FC.ADVANCED_TUNING.feedforwardYaw);
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ffInterpolateCheck.prop('checked', FC.ADVANCED_TUNING.ff_interpolate_sp !== 0);
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$('select[id="ffInterpolate"]').val(FC.ADVANCED_TUNING.ff_interpolate_sp > 0 ? FC.ADVANCED_TUNING.ff_interpolate_sp : NO_AVERAGE);
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$('input[name="ffSmoothFactor"]').val(FC.ADVANCED_TUNING.ff_smooth_factor);
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$('input[name="ffBoost"]').val(FC.ADVANCED_TUNING.ff_boost);
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feedforwardGroupCheck.prop('checked', PID_FEEDFORWARD !== 0);
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$('select[id="feedforwardAveraging"]').val(FC.ADVANCED_TUNING.feedforward_averaging);
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$('input[name="feedforwardSmoothFactor"]').val(FC.ADVANCED_TUNING.feedforward_smooth_factor);
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$('input[name="feedforwardBoost"]').val(FC.ADVANCED_TUNING.feedforward_boost);
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ffInterpolateCheck.change(function() {
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feedforwardGroupCheck.change(function() {
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const checked = $(this).is(':checked');
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$('.ffInterpolateSp .suboption').toggle(checked);
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$('.feedforwardGroup .suboption').toggle(checked);
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if (!checked) {
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$('.pid_tuning .ROLL input[name="f"]').val(0);
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$('.pid_tuning .PITCH input[name="f"]').val(0);
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$('.pid_tuning .YAW input[name="f"]').val(0);
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} else {
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$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll > 0 ? FC.ADVANCED_TUNING.feedforwardRoll : PID_DEFAULT[4]);
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$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch > 0 ? FC.ADVANCED_TUNING.feedforwardPitch : PID_DEFAULT[9]);
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$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw > 0 ? FC.ADVANCED_TUNING.feedforwardYaw : PID_DEFAULT[14]);
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}
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}).change();
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// Vbat Sag Compensation
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const vbatSagCompensationCheck = $('input[id="vbatSagCompensation"]');
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@ -516,7 +527,7 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.thrustLinearization .suboption').toggle(checked);
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}).change();
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} else {
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$('.ffInterpolateSp').hide();
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$('.feedforwardOption').hide();
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$('.vbatSagCompensation').hide();
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$('.thrustLinearization').hide();
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}
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@ -995,9 +1006,9 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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FC.ADVANCED_TUNING.ff_interpolate_sp = $('input[id="ffInterpolateSp"]').is(':checked') ? $('select[id="ffInterpolate"]').val() : 0;
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FC.ADVANCED_TUNING.ff_smooth_factor = parseInt($('input[name="ffSmoothFactor"]').val());
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FC.ADVANCED_TUNING.ff_boost = parseInt($('input[name="ffBoost"]').val());
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FC.ADVANCED_TUNING.feedforward_averaging = $('select[id="feedforwardAveraging"]').val();
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FC.ADVANCED_TUNING.feedforward_smooth_factor = parseInt($('input[name="feedforwardSmoothFactor"]').val());
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FC.ADVANCED_TUNING.feedforward_boost = parseInt($('input[name="feedforwardBoost"]').val());
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FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val());
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FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0;
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FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0;
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@ -513,47 +513,43 @@
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</td>
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</tr>
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<tr class="feedforwardTransition">
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<td><input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/></td>
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<td colspan="1">
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<div>
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<tr class="feedforwardGroup">
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<td><input type="checkbox" id="feedforwardGroup" class="toggle" /></td>
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<td colspan="2">
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardGroupHelp"></div>
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<span i18n="pidTuningFeedforwardGroup"></span>
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<span class="feedforwardTransition suboption">
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<input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/>
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<label>
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<span i18n="pidTuningFeedforwardTransition"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
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</div>
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</td>
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</tr>
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</span>
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<tr class="ffInterpolateSp">
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<td><input type="checkbox" id="ffInterpolateSp" class="toggle" /></td>
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<td colspan="2">
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<div class="helpicon cf_tip" i18n_title="pidTuningFfInterpolateSpHelp"></div>
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<span i18n="pidTuningFfInterpolateSp"></span>
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<span class="ffInterpolate suboption">
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<select id="ffInterpolate">
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<option i18n="pidTuningFfInterpolateSpOptionNoAverage" value="1">
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<option i18n="pidTuningFfInterpolateSpOptionAverage2" value="2"/>
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<option i18n="pidTuningFfInterpolateSpOptionAverage3" value="3"/>
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<option i18n="pidTuningFfInterpolateSpOptionAverage4" value="4"/>
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<span class="feedforwardOption feedforwardAveraging suboption">
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<select id="feedforwardAveraging">
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<option i18n="pidTuningFeedforwardAveragingOptionOff" value="0"/>
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<option i18n="pidTuningFeedforwardAveragingOption2Point" value="1"/>
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<option i18n="pidTuningFeedforwardAveragingOption3Point" value="2"/>
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<option i18n="pidTuningFeedforwardAveragingOption4Point" value="3"/>
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</select>
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<label for="ffInterpolate">
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<span i18n="pidTuningFfInterpolate"></span>
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<label for="feedforwardAveraging">
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<span i18n="pidTuningFeedforwardAveraging"></span>
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</label>
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</span>
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<span class="ffSmoothFactor suboption">
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<input type="number" name="ffSmoothFactor" step="1" min="0" max="75" />
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<label for="ffSmoothFactor">
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<span i18n="pidTuningFfSmoothFactor"></span>
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<span class="feedforwardOption feedforwardSmoothFactor suboption">
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<input type="number" name="feedforwardSmoothFactor" step="1" min="0" max="75" />
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<label for="feedforwardSmoothFactor">
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<span i18n="pidTuningFeedforwardSmoothFactor"></span>
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</label>
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</span>
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<span class="ffBoost suboption">
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<input type="number" name="ffBoost" step="1" min="0" max="50" />
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<label for="ffBoost">
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<span i18n="pidTuningFfBoost"></span>
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<span class="feedforwardOption feedforwardBoost suboption">
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<input type="number" name="feedforwardBoost" step="1" min="0" max="50" />
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<label for="feedforwardBoost">
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<span i18n="pidTuningFeedforwardBoost"></span>
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</label>
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</span>
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</td>
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@ -561,7 +557,7 @@
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<tr class="acroTrainerAngleLimit">
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<td><input type="number" name="acroTrainerAngleLimit-number" step="1" min="10" max="80"/></td>
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<td colspan="1">
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<td colspan="2">
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<div>
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<label>
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<span i18n="pidTuningAcroTrainerAngleLimit"></span>
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@ -573,7 +569,7 @@
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<tr class="throttleBoost">
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<td><input type="number" name="throttleBoost-number" step="1" min="0" max="100"/></td>
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<td colspan="1">
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<td colspan="2">
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<div>
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<label>
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<span i18n="pidTuningThrottleBoost"></span>
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@ -585,7 +581,7 @@
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<tr class="idleMinRpm">
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<td><input type="number" name="idleMinRpm-number" step="1" min="0" max="100"/></td>
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<td colspan="1">
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<td colspan="2">
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<div>
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<label>
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<span i18n="pidTuningIdleMinRpm"></span>
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@ -597,7 +593,7 @@
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<tr class="absoluteControlGain">
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<td><input type="number" name="absoluteControlGain-number" step="1" min="0" max="20"/></td>
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<td colspan="1">
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<td colspan="2">
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<div>
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<label>
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<span i18n="pidTuningAbsoluteControlGain"></span>
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@ -768,6 +764,7 @@
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</span>
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</td>
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</tr>
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</table>
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</div>
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</div>
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