mirror of
https://github.com/betaflight/betaflight-configurator.git
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Add tuning sliders
This commit is contained in:
IvoFPV
parent
a5a9070f98
commit
35dd326778
8 changed files with 951 additions and 33 deletions
344
src/js/TuningSliders.js
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344
src/js/TuningSliders.js
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'use strict';
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var TuningSliders = {
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MasterSliderValue: 1,
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PDRatioSliderValue: 1,
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PDGainSliderValue: 1,
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ResponseSliderValue: 1,
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pidSlidersUnavailable: false,
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gyroFilterSliderValue: 1,
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dtermFilterSliderValue: 1,
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filterGyroSliderUnavailable: false,
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filterDTermSliderUnavailable: false,
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dMinFeatureEnabled: true,
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defaultPDRatio: 0,
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PID_DEFAULT: [],
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FILTER_DEFAULT: {},
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cachedPidSliderValues: false,
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cachedGyroSliderValues: false,
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cachedDTermSliderValues: false,
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};
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TuningSliders.initialize = function() {
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this.PID_DEFAULT = FC.getPidDefaults();
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this.FILTER_DEFAULT = FC.getFilterDefaults();
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this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
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this.initPidSlidersPosition();
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this.initGyroFilterSliderPosition();
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this.initDTermFilterSliderPosition();
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// after refresh cached values are not available
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this.cachedPidSliderValues = false;
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this.cachedGyroSliderValues = false;
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this.cachedDTermSliderValues = false;
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this.updatePidSlidersDisplay();
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this.updateFilterSlidersDisplay();
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};
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TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
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this.dMinFeatureEnabled = dMinFeatureEnabled;
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if (this.dMinFeatureEnabled) {
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this.defaultPDRatio = this.PID_DEFAULT[0] / this.PID_DEFAULT[2];
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} else {
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this.defaultPDRatio = this.PID_DEFAULT[0] / this.PID_DEFAULT[3];
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}
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};
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TuningSliders.scaleSliderValue = function(value) {
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if (value > 1) {
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return Math.round(((value - 1) * 2 + 1) * 10) / 10;
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} else {
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return value;
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}
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};
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TuningSliders.downscaleSliderValue = function(value) {
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if (value > 1) {
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return (value - 1) / 2 + 1;
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} else {
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return value;
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}
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};
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TuningSliders.initPidSlidersPosition = function() {
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// used to estimate PID slider positions based on PIDF values, and set respective slider position
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// provides only an estimation due to limitation of feature without firmware support, to be improved in later versions
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this.MasterSliderValue = Math.round(PIDs[2][0] / this.PID_DEFAULT[10] * 10) / 10;
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this.PDRatioSliderValue = Math.round(PIDs[0][0] / PIDs[0][2] / this.defaultPDRatio * 10) / 10;
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if (this.dMinFeatureEnabled) {
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this.PDGainSliderValue = Math.round(ADVANCED_TUNING.dMinRoll / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10;
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} else {
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this.PDGainSliderValue = Math.round(PIDs[0][2] / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10;
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}
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this.ResponseSliderValue = Math.round(ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10;
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$('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue);
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$('output[name="tuningPDRatioSlider-number"]').val(this.PDRatioSliderValue);
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$('output[name="tuningPDGainSlider-number"]').val(this.PDGainSliderValue);
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$('output[name="tuningResponseSlider-number"]').val(this.ResponseSliderValue);
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$('#tuningMasterSlider').val(this.downscaleSliderValue(this.MasterSliderValue));
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$('#tuningPDRatioSlider').val(this.downscaleSliderValue(this.PDRatioSliderValue));
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$('#tuningPDGainSlider').val(this.downscaleSliderValue(this.PDGainSliderValue));
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$('#tuningResponseSlider').val(this.downscaleSliderValue(this.ResponseSliderValue));
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};
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TuningSliders.initGyroFilterSliderPosition = function() {
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this.gyroFilterSliderValue = Math.round((FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FILTER_CONFIG.gyro_lowpass2_hz) /
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(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
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$('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue);
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$('#tuningGyroFilterSlider').val(this.downscaleSliderValue(this.gyroFilterSliderValue));
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};
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TuningSliders.initDTermFilterSliderPosition = function() {
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this.dtermFilterSliderValue = Math.round((FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FILTER_CONFIG.dterm_lowpass2_hz) /
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(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100;
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$('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue);
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$('#tuningDTermFilterSlider').val(this.downscaleSliderValue(this.dtermFilterSliderValue));
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};
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TuningSliders.resetPidSliders = function() {
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if (!this.cachedPidSliderValues) {
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$('#tuningMasterSlider').val(1);
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$('#tuningPDRatioSlider').val(1);
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$('#tuningPDGainSlider').val(1);
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$('#tuningResponseSlider').val(1);
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this.MasterSliderValue = 1;
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this.PDRatioSliderValue = 1;
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this.PDGainSliderValue = 1;
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this.ResponseSliderValue = 1;
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}
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this.calculateNewPids();
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this.updatePidSlidersDisplay();
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};
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TuningSliders.resetGyroFilterSlider = function() {
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if (!this.cachedGyroSliderValues) {
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$('#tuningGyroFilterSlider').val(1);
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this.gyroFilterSliderValue = 1;
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}
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this.calculateNewGyroFilters();
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this.updateFilterSlidersDisplay();
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};
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TuningSliders.resetDTermFilterSlider = function() {
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if (!this.cachedDTermSliderValues) {
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$('#tuningDTermFilterSlider').val(1);
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this.dtermFilterSliderValue = 1;
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}
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this.calculateNewDTermFilters();
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this.updateFilterSlidersDisplay();
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};
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TuningSliders.updatePidSlidersDisplay = function() {
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// check if pid values changed manually by saving current values, doing the slider based calculation, and comaparing
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// if values before and after calculation, if all of them are equal the values haven't been changed manually
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// and the sliders are shown, otherwise sliders are grayed out and centered
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const WARNING_P_GAIN = 110;
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const WARNING_I_GAIN = 120;
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const WARNING_DMAX_GAIN = 70;
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const WARNING_DMIN_GAIN = 40;
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this.pidSlidersUnavailable = false;
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let currentPIDs = [];
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PID_names.forEach(function(elementPid, indexPid) {
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let searchRow = $('.pid_tuning .' + elementPid + ' input');
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searchRow.each(function (indexInput) {
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if (indexPid < 3 && indexInput < 5) {
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currentPIDs.push($(this).val());
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}
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});
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});
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this.calculateNewPids();
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PID_names.forEach(function(elementPid, indexPid) {
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let searchRow = $('.pid_tuning .' + elementPid + ' input');
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searchRow.each(function (indexInput) {
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if (indexPid < 3 && indexInput < 5) {
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if (currentPIDs[indexPid * 5 + indexInput] != $(this).val()) {
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TuningSliders.pidSlidersUnavailable = true;
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}
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$(this).val(currentPIDs[indexPid * 5 + indexInput]);
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}
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});
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});
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if ($('input[id="useIntegratedYaw"]').is(':checked')) {
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this.pidSlidersUnavailable = true;
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}
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if (this.pidSlidersUnavailable) {
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$('.tuningPIDSliders').hide();
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$('.slidersDisabled').show();
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} else {
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$('.tuningPIDSliders').show();
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$('.slidersDisabled').hide();
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this.cachedPidSliderValues = true;
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}
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if ((PIDs[1][0] > WARNING_P_GAIN || PIDs[1][1] > WARNING_I_GAIN || PIDs[1][2] > WARNING_DMAX_GAIN || ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable) {
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$('.slidersHighWarning').show();
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} else {
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$('.slidersHighWarning').hide();
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}
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};
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TuningSliders.updateFilterSlidersDisplay = function() {
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// check if filters changed manually by comapring current value and those based on slider position
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// if equal filter slider is shown, otherwise it is grayed out and centered
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const WARNING_FILTER_GAIN = 1.4;
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this.filterGyroSliderUnavailable = false;
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this.filterDTermSliderUnavailable = false;
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if ($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val() != Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue) ||
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$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val() != Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue) ||
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$('.pid_filter select[name="gyroLowpassDynType"]').val() != this.FILTER_DEFAULT.gyro_lowpass_type ||
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$('.pid_filter input[name="gyroLowpass2Frequency"]').val() != Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue) ||
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$('.pid_filter select[name="gyroLowpass2Type"]').val() != this.FILTER_DEFAULT.gyro_lowpass2_type) {
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$('.tuningFilterSliders .sliderLabels tr:first-child').hide();
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this.filterGyroSliderUnavailable = true;
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} else {
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$('.tuningFilterSliders .sliderLabels tr:first-child').show()
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this.cachedGyroSliderValues = true;
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}
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if ($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val() != Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue) ||
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$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val() != Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue) ||
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$('.pid_filter select[name="dtermLowpassDynType"]').val() != this.FILTER_DEFAULT.dterm_lowpass_type ||
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$('.pid_filter input[name="dtermLowpass2Frequency"]').val() != Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue) ||
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$('.pid_filter select[name="dtermLowpass2Type"]').val() != this.FILTER_DEFAULT.dterm_lowpass2_type) {
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$('.tuningFilterSliders .sliderLabels tr:last-child').hide();
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this.filterDTermSliderUnavailable = true;
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} else {
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$('.tuningFilterSliders .sliderLabels tr:last-child').show();
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this.cachedDTermSliderValues = true;
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}
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if (this.filterGyroSliderUnavailable && this.filterDTermSliderUnavailable) {
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$('.tuningFilterSliders').hide();
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} else {
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$('.tuningFilterSliders').show();
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}
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if (this.filterGyroSliderUnavailable || this.filterDTermSliderUnavailable) {
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$('.slidersFilterDisabled').show();
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} else {
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$('.slidersFilterDisabled').hide();
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}
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if ((this.gyroFilterSliderValue >= WARNING_FILTER_GAIN && !this.filterGyroSliderUnavailable) || (this.dtermFilterSliderValue >= WARNING_FILTER_GAIN && !this.filterDTermSliderUnavailable)) {
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$('.slidersFilterHighWarning').show();
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} else {
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$('.slidersFilterHighWarning').hide();
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}
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};
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TuningSliders.calculateNewPids = function() {
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// this is the main calculation for PID sliders, inputs are in form of slider position values
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// values get set both into forms and their respective variables
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if (this.dMinFeatureEnabled) {
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//dmin
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ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue);
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ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue);
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// dmax
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PIDs[0][2] = Math.round(this.PID_DEFAULT[2] * this.PDGainSliderValue);
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PIDs[1][2] = Math.round(this.PID_DEFAULT[7] * this.PDGainSliderValue);
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} else {
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ADVANCED_TUNING.dMinRoll = 0;
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ADVANCED_TUNING.dMinPitch = 0;
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PIDs[0][2] = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue);
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PIDs[1][2] = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue);
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}
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// p
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PIDs[0][0] = Math.round(PIDs[0][2] * this.defaultPDRatio * this.PDRatioSliderValue);
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PIDs[1][0] = Math.round(PIDs[1][2] * this.defaultPDRatio * this.PDRatioSliderValue);
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// ff
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ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.ResponseSliderValue);
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ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.ResponseSliderValue);
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ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * ((this.ResponseSliderValue - 1) / 3 + 1));
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// master slider part
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// these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation
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PIDs[0][1] = this.PID_DEFAULT[1];
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PIDs[1][1] = this.PID_DEFAULT[6];
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PIDs[2][1] = this.PID_DEFAULT[11];
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// yaw p,d, dmin
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PIDs[2][0] = this.PID_DEFAULT[10];
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PIDs[2][2] = this.PID_DEFAULT[12];
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ADVANCED_TUNING.dMinYaw = this.PID_DEFAULT[13];
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//master slider multiplication, max value 200 for main PID values
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for (let i = 0; i < 3; i++) {
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for (let j = 0; j < 3; j++) {
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PIDs[j][i] = Math.min(Math.round(PIDs[j][i] * this.MasterSliderValue), 200);
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}
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}
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ADVANCED_TUNING.feedforwardRoll = Math.round(ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue);
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ADVANCED_TUNING.feedforwardPitch = Math.round(ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue);
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ADVANCED_TUNING.feedforwardYaw = Math.round(ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue);
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if (this.dMinFeatureEnabled) {
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ADVANCED_TUNING.dMinRoll = Math.round(ADVANCED_TUNING.dMinRoll * this.MasterSliderValue);
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ADVANCED_TUNING.dMinPitch = Math.round(ADVANCED_TUNING.dMinPitch * this.MasterSliderValue);
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ADVANCED_TUNING.dMinYaw = Math.round(ADVANCED_TUNING.dMinYaw * this.MasterSliderValue);
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}
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$('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue);
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$('output[name="tuningPDRatioSlider-number"]').val(this.PDRatioSliderValue);
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$('output[name="tuningPDGainSlider-number"]').val(this.PDGainSliderValue);
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$('output[name="tuningResponseSlider-number"]').val(this.ResponseSliderValue);
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// updates values in forms
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PID_names.forEach(function(elementPid, indexPid) {
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let searchRow = $('.pid_tuning .' + elementPid + ' input');
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searchRow.each(function (indexInput) {
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if (indexPid < 3) {
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$(this).val(PIDs[indexPid][indexInput]);
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}
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});
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});
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$('.pid_tuning input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll);
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$('.pid_tuning input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch);
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$('.pid_tuning input[name="dMinYaw"]').val(ADVANCED_TUNING.dMinYaw);
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$('.pid_tuning .ROLL input[name="f"]').val(ADVANCED_TUNING.feedforwardRoll);
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$('.pid_tuning .PITCH input[name="f"]').val(ADVANCED_TUNING.feedforwardPitch);
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$('.pid_tuning .YAW input[name="f"]').val(ADVANCED_TUNING.feedforwardYaw);
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};
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TuningSliders.calculateNewGyroFilters = function() {
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// calculate, set and display new values in forms based on slider position
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FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue);
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FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue);
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FILTER_CONFIG.gyro_lowpass2_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue);
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FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type;
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FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type;
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$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_min_hz);
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$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_max_hz);
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$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FILTER_CONFIG.gyro_lowpass2_hz);
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$('.pid_filter select[name="gyroLowpassDynType').val(FILTER_CONFIG.gyro_lowpass_type);
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$('.pid_filter select[name="gyroLowpass2Type').val(FILTER_CONFIG.gyro_lowpass2_type);
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$('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue);
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};
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TuningSliders.calculateNewDTermFilters = function() {
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// calculate, set and display new values in forms based on slider position
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FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue);
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FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue);
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FILTER_CONFIG.dterm_lowpass2_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue);
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FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type;
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FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type;
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$('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_min_hz);
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$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
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$('.pid_filter input[name="dtermLowpass2Frequency"]').val(FILTER_CONFIG.dterm_lowpass2_hz);
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$('.pid_filter select[name="dtermLowpassDynType').val(FILTER_CONFIG.dterm_lowpass_type);
|
||||
$('.pid_filter select[name="dtermLowpass2Type').val(FILTER_CONFIG.dterm_lowpass2_type);
|
||||
$('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue);
|
||||
};
|
||||
Loading…
Add table
Add a link
Reference in a new issue