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Refactor and up to date filters for Betaflight 3.4

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This commit is contained in:
Miguel Angel Mulero Martinez 2018-06-04 13:51:46 +02:00
parent ba968fe940
commit 3be244e7a5
6 changed files with 413 additions and 144 deletions
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38
src/js/fc.js
View file

@ -333,16 +333,22 @@ var FC = {
};
FILTER_CONFIG = {
gyro_soft_lpf_hz: 0,
dterm_lpf_hz: 0,
yaw_lpf_hz: 0,
gyro_soft_notch_hz_1: 0,
gyro_soft_notch_cutoff_1: 0,
gyro_hardware_lpf: 0,
gyro_32khz_hardware_lpf: 0,
gyro_lowpass_hz: 0,
gyro_lowpass_type: 0,
gyro_lowpass2_hz: 0,
gyro_lowpass2_type: 0,
gyro_notch_hz: 0,
gyro_notch_cutoff: 0,
gyro_notch2_hz: 0,
gyro_notch2_cutoff: 0,
dterm_lowpass_hz: 0,
dterm_lowpass_type: 0,
dterm_lowpass2_hz: 0,
dterm_notch_hz: 0,
dterm_notch_cutoff: 0,
gyro_soft_notch_hz_2: 0,
gyro_soft_notch_cutoff_2: 0,
dterm_filter_type: 0,
yaw_lowpass_hz: 0,
};
ADVANCED_TUNING = {
@ -399,12 +405,20 @@ var FC = {
RXFAIL_CONFIG = [];
DEFAULT = {
gyro_soft_notch_cutoff_1: 300,
gyro_soft_notch_hz_1: 400,
gyro_soft_notch_cutoff_2: 100,
gyro_soft_notch_hz_2: 200,
gyro_lowpass_hz: 100,
gyro_lowpass_type: 0,
gyro_lowpass2_hz: 500,
gyro_lowpass2_type: 0,
gyro_notch_cutoff: 300,
gyro_notch_hz: 400,
gyro_notch2_cutoff: 100,
gyro_notch2_hz: 200,
dterm_lowpass_hz: 100,
dterm_lowpass_type: 0,
dterm_lowpass2_hz: 300,
dterm_notch_cutoff: 160,
dterm_notch_hz: 260,
yaw_lowpass_hz: 100,
};
}
};

48
src/js/msp/MSPHelper.js
View file

@ -822,20 +822,29 @@ MspHelper.prototype.process_data = function(dataHandler) {
}
break;
case MSPCodes.MSP_FILTER_CONFIG:
FILTER_CONFIG.gyro_soft_lpf_hz = data.readU8();
FILTER_CONFIG.dterm_lpf_hz = data.readU16();
FILTER_CONFIG.yaw_lpf_hz = data.readU16();
FILTER_CONFIG.gyro_lowpass_hz = data.readU8();
FILTER_CONFIG.dterm_lowpass_hz = data.readU16();
FILTER_CONFIG.yaw_lowpass_hz = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
FILTER_CONFIG.gyro_soft_notch_hz_1 = data.readU16();
FILTER_CONFIG.gyro_soft_notch_cutoff_1 = data.readU16();
FILTER_CONFIG.gyro_notch_hz = data.readU16();
FILTER_CONFIG.gyro_notch_cutoff = data.readU16();
FILTER_CONFIG.dterm_notch_hz = data.readU16();
FILTER_CONFIG.dterm_notch_cutoff = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
FILTER_CONFIG.gyro_soft_notch_hz_2 = data.readU16();
FILTER_CONFIG.gyro_soft_notch_cutoff_2 = data.readU16();
FILTER_CONFIG.gyro_notch2_hz = data.readU16();
FILTER_CONFIG.gyro_notch2_cutoff = data.readU16();
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
FILTER_CONFIG.dterm_filter_type = data.readU8();
FILTER_CONFIG.dterm_lowpass_type = data.readU8();
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
FILTER_CONFIG.gyro_hardware_lpf = data.readU8();
FILTER_CONFIG.gyro_32khz_hardware_lpf = data.readU8();
FILTER_CONFIG.gyro_soft_lpf_hz = data.readU16();
FILTER_CONFIG.gyro_lowpass2_hz = data.readU16();
FILTER_CONFIG.gyro_lowpass_type = data.readU8();
FILTER_CONFIG.gyro_lowpass2_type = data.readU8();
FILTER_CONFIG.dterm_lowpass2_hz = data.readU16();
}
}
break;
@ -1455,19 +1464,28 @@ MspHelper.prototype.crunch = function(code) {
break;
case MSPCodes.MSP_SET_FILTER_CONFIG:
buffer.push8(FILTER_CONFIG.gyro_soft_lpf_hz)
.push16(FILTER_CONFIG.dterm_lpf_hz)
.push16(FILTER_CONFIG.yaw_lpf_hz);
.push16(FILTER_CONFIG.dterm_lowpass_hz)
.push16(FILTER_CONFIG.yaw_lowpass_hz);
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz_1)
.push16(FILTER_CONFIG.gyro_soft_notch_cutoff_1)
buffer.push16(FILTER_CONFIG.gyro_notch_hz)
.push16(FILTER_CONFIG.gyro_notch_cutoff)
.push16(FILTER_CONFIG.dterm_notch_hz)
.push16(FILTER_CONFIG.dterm_notch_cutoff);
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz_2)
.push16(FILTER_CONFIG.gyro_soft_notch_cutoff_2)
buffer.push16(FILTER_CONFIG.gyro_notch2_hz)
.push16(FILTER_CONFIG.gyro_notch2_cutoff)
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
buffer.push8(FILTER_CONFIG.dterm_filter_type);
buffer.push8(FILTER_CONFIG.dterm_lowpass_type);
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
buffer.push8(FILTER_CONFIG.gyro_hardware_lpf)
.push8(FILTER_CONFIG.gyro_32khz_hardware_lpf)
.push16(FILTER_CONFIG.gyro_lowpass_hz)
.push16(FILTER_CONFIG.gyro_lowpass2_hz)
.push8(FILTER_CONFIG.gyro_lowpass_type)
.push8(FILTER_CONFIG.gyro_lowpass2_type)
.push16(FILTER_CONFIG.dterm_lowpass2_hz);
}
}
break;

167
src/js/tabs/pid_tuning.js
View file

@ -214,9 +214,9 @@ TABS.pid_tuning.initialize = function (callback) {
if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
$('.pid_tuning input[name="rc_rate_yaw"]').val(RC_tuning.rcYawRate.toFixed(2));
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FILTER_CONFIG.gyro_soft_lpf_hz);
$('.pid_filter input[name="dtermLowpassFrequency"]').val(FILTER_CONFIG.dterm_lpf_hz);
$('.pid_filter input[name="yawLowpassFrequency"]').val(FILTER_CONFIG.yaw_lpf_hz);
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FILTER_CONFIG.gyro_lowpass_hz);
$('.pid_filter input[name="dtermLowpassFrequency"]').val(FILTER_CONFIG.dterm_lowpass_hz);
$('.pid_filter input[name="yawLowpassFrequency"]').val(FILTER_CONFIG.yaw_lowpass_hz);
} else {
$('.tab-pid_tuning .subtab-filter').hide();
$('.tab-pid_tuning .tab_container').hide();
@ -231,8 +231,8 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
$('.pid_filter input[name="gyroNotch1Frequency"]').val(FILTER_CONFIG.gyro_soft_notch_hz_1);
$('.pid_filter input[name="gyroNotch1Cutoff"]').val(FILTER_CONFIG.gyro_soft_notch_cutoff_1);
$('.pid_filter input[name="gyroNotch1Frequency"]').val(FILTER_CONFIG.gyro_notch_hz);
$('.pid_filter input[name="gyroNotch1Cutoff"]').val(FILTER_CONFIG.gyro_notch_cutoff);
$('.pid_filter input[name="dTermNotchFrequency"]').val(FILTER_CONFIG.dterm_notch_hz);
$('.pid_filter input[name="dTermNotchCutoff"]').val(FILTER_CONFIG.dterm_notch_cutoff);
@ -256,8 +256,8 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
$('.pid_filter input[name="gyroNotch2Frequency"]').val(FILTER_CONFIG.gyro_soft_notch_hz_2);
$('.pid_filter input[name="gyroNotch2Cutoff"]').val(FILTER_CONFIG.gyro_soft_notch_cutoff_2);
$('.pid_filter input[name="gyroNotch2Frequency"]').val(FILTER_CONFIG.gyro_notch2_hz);
$('.pid_filter input[name="gyroNotch2Cutoff"]').val(FILTER_CONFIG.gyro_notch2_cutoff);
} else {
$('.pid_filter .gyroNotch2').hide();
}
@ -270,28 +270,47 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
$('.profile select[name="dtermFilterType"]').val(FILTER_CONFIG.dterm_filter_type);
$('.pid_filter select[name="dtermLowpassType"]').val(FILTER_CONFIG.dterm_lowpass_type);
$('.antigravity input[name="itermThrottleThreshold"]').val(ADVANCED_TUNING.itermThrottleThreshold);
$('.antigravity input[name="itermAcceleratorGain"]').val(ADVANCED_TUNING.itermAcceleratorGain / 1000);
} else {
$('.dtermfiltertype').hide();
$('.dtermLowpassType').hide();
$('.antigravity').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FILTER_CONFIG.gyro_lowpass2_hz);
$('.pid_filter select[name="gyroLowpassType"]').val(FILTER_CONFIG.gyro_lowpass_type);
$('.pid_filter select[name="gyroLowpass2Type"]').val(FILTER_CONFIG.gyro_lowpass2_type);
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(FILTER_CONFIG.dterm_lowpass2_hz);
// We load it again because the limits are now bigger than in 1.16.0
$('.pid_filter input[name="gyroLowpassFrequency"]').attr("max","16000");
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FILTER_CONFIG.gyro_lowpass_hz);
} else {
$('.gyroLowpass2').hide();
$('.gyroLowpass2Type').hide();
$('.dtermLowpass2').hide();
}
$('input[id="gyroNotch1Enabled"]').change(function() {
var checked = $(this).is(':checked');
var hz = FILTER_CONFIG.gyro_soft_notch_hz_1 > 0 ? FILTER_CONFIG.gyro_soft_notch_hz_1 : DEFAULT.gyro_soft_notch_hz_1;
var cutoff = FILTER_CONFIG.gyro_soft_notch_cutoff_1 > 0 ? FILTER_CONFIG.gyro_soft_notch_cutoff_1 : DEFAULT.gyro_soft_notch_cutoff_1;
var hz = FILTER_CONFIG.gyro_notch_hz > 0 ? FILTER_CONFIG.gyro_notch_hz : DEFAULT.gyro_notch_hz;
var cutoff = FILTER_CONFIG.gyro_notch_cutoff > 0 ? FILTER_CONFIG.gyro_notch_cutoff : DEFAULT.gyro_notch_cutoff;
$('.pid_filter input[name="gyroNotch1Frequency"]').val(checked ? hz : 0).attr('disabled', !checked);
$('.pid_filter input[name="gyroNotch1Cutoff"]').attr('disabled', !checked);
});
$('input[id="gyroNotch2Enabled"]').change(function() {
var checked = $(this).is(':checked');
var hz = FILTER_CONFIG.gyro_soft_notch_hz_2 > 0 ? FILTER_CONFIG.gyro_soft_notch_hz_2 : DEFAULT.gyro_soft_notch_hz_2;
var cutoff = FILTER_CONFIG.gyro_soft_notch_cutoff_2 > 0 ? FILTER_CONFIG.gyro_soft_notch_cutoff_2 : DEFAULT.gyro_soft_notch_cutoff_2;
var hz = FILTER_CONFIG.gyro_notch2_hz > 0 ? FILTER_CONFIG.gyro_notch2_hz : DEFAULT.gyro_notch2_hz;
var cutoff = FILTER_CONFIG.gyro_notch2_cutoff > 0 ? FILTER_CONFIG.gyro_notch2_cutoff : DEFAULT.gyro_notch2_cutoff;
$('.pid_filter input[name="gyroNotch2Frequency"]').val(checked ? hz : 0).attr('disabled', !checked);
$('.pid_filter input[name="gyroNotch2Cutoff"]').attr('disabled', !checked);
});
$('input[id="dtermNotchEnabled"]').change(function() {
@ -300,11 +319,83 @@ TABS.pid_tuning.initialize = function (callback) {
var cutoff = FILTER_CONFIG.dterm_notch_cutoff > 0 ? FILTER_CONFIG.dterm_notch_cutoff : DEFAULT.dterm_notch_cutoff;
$('.pid_filter input[name="dTermNotchFrequency"]').val(checked ? hz : 0).attr('disabled', !checked);
$('.pid_filter input[name="dTermNotchCutoff"]').attr('disabled', !checked);
});
$('input[id="gyroNotch1Enabled"]').prop('checked', FILTER_CONFIG.gyro_soft_notch_hz_1 != 0).change();
$('input[id="gyroNotch2Enabled"]').prop('checked', FILTER_CONFIG.gyro_soft_notch_hz_2 != 0).change();
$('input[id="gyroLowpassEnabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff = FILTER_CONFIG.gyro_lowpass_hz > 0 ? FILTER_CONFIG.gyro_lowpass_hz : DEFAULT.gyro_lowpass_hz;
var type = FILTER_CONFIG.gyro_lowpass_type > 0 ? FILTER_CONFIG.gyro_lowpass_type : DEFAULT.gyro_lowpass_type;
$('.pid_filter input[name="gyroLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="gyroLowpassType"]').val(checked ? type : 0).attr('disabled', !checked);
});
$('input[id="gyroLowpass2Enabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff = FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FILTER_CONFIG.gyro_lowpass2_hz : DEFAULT.gyro_lowpass2_hz;
var type = FILTER_CONFIG.gyro_lowpass2_type > 0 ? FILTER_CONFIG.gyro_lowpass2_type : DEFAULT.gyro_lowpass2_type;
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="gyroLowpass2Type"]').val(checked ? type : 0).attr('disabled', !checked);
});
$('input[id="dtermLowpassEnabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff = FILTER_CONFIG.dterm_lowpass_hz > 0 ? FILTER_CONFIG.dterm_lowpass_hz : DEFAULT.dterm_lowpass_hz;
var type = FILTER_CONFIG.dterm_lowpass_type > 0 ? FILTER_CONFIG.dterm_lowpass_type : DEFAULT.dterm_lowpass_type;
$('.pid_filter input[name="dtermLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="dtermLowpassType"]').val(checked ? type : 0).attr('disabled', !checked);
});
$('input[id="dtermLowpass2Enabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff = FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FILTER_CONFIG.dterm_lowpass2_hz : DEFAULT.dterm_lowpass2_hz;
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
});
$('input[id="yawLowpassEnabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff = FILTER_CONFIG.yaw_lowpass_hz > 0 ? FILTER_CONFIG.yaw_lowpass_hz : DEFAULT.yaw_lowpass_hz;
$('.pid_filter input[name="yawLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
});
// The notch cutoff must be smaller than the notch frecuency
function adjustNotchCutoff(frequencyName, cutoffName) {
var frecuency = $(".pid_filter input[name='" + frequencyName + "']").val();
var cutoff = $(".pid_filter input[name='" + cutoffName + "']").val();
// Change the max and refresh the value if needed
$(".pid_filter input[name='" + cutoffName + "']").attr("max",frecuency - 1);
if (cutoff >= frecuency) {
$(".pid_filter input[name='" + cutoffName + "']").val(frecuency - 1);
}
}
$('input[name="gyroNotch1Frequency"]').change(function() {
adjustNotchCutoff("gyroNotch1Frequency", "gyroNotch1Cutoff");
}).change();
$('input[name="gyroNotch2Frequency"]').change(function() {
adjustNotchCutoff("gyroNotch2Frequency", "gyroNotch2Cutoff");
}).change();
$('input[name="dTermNotchFrequency"]').change(function() {
adjustNotchCutoff("dTermNotchFrequency", "dTermNotchCutoff");
}).change();
// Initial state of the filters: enabled or disabled
$('input[id="gyroNotch1Enabled"]').prop('checked', FILTER_CONFIG.gyro_notch_hz != 0).change();
$('input[id="gyroNotch2Enabled"]').prop('checked', FILTER_CONFIG.gyro_notch2_hz != 0).change();
$('input[id="dtermNotchEnabled"]').prop('checked', FILTER_CONFIG.dterm_notch_hz != 0).change();
$('input[id="gyroLowpassEnabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass_hz != 0).change();
$('input[id="gyroLowpass2Enabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass2_hz != 0).change();
$('input[id="dtermLowpassEnabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass_hz != 0).change();
$('input[id="dtermLowpass2Enabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass2_hz != 0).change();
$('input[id="yawLowpassEnabled"]').prop('checked', FILTER_CONFIG.yaw_lowpass_hz != 0).change();
}
function form_to_pid_and_rc() {
@ -381,9 +472,9 @@ TABS.pid_tuning.initialize = function (callback) {
RC_tuning.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val());
RC_tuning.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
FILTER_CONFIG.gyro_soft_lpf_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val());
FILTER_CONFIG.dterm_lpf_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
FILTER_CONFIG.yaw_lpf_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val());
FILTER_CONFIG.gyro_lowpass_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val());
FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
FILTER_CONFIG.yaw_lowpass_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val());
if (semver.gte(CONFIG.apiVersion, "1.16.0") && !semver.gte(CONFIG.apiVersion, "1.20.0")) {
FEATURE_CONFIG.features.updateData($('input[name="SUPEREXPO_RATES"]'));
@ -401,13 +492,13 @@ TABS.pid_tuning.initialize = function (callback) {
ADVANCED_TUNING.dtermSetpointTransition = parseInt($('input[name="dtermSetpointTransition-number"]').val() * 100);
ADVANCED_TUNING.dtermSetpointWeight = parseInt($('input[name="dtermSetpoint-number"]').val() * 100);
FILTER_CONFIG.gyro_soft_notch_hz_1 = parseInt($('.pid_filter input[name="gyroNotch1Frequency"]').val());
FILTER_CONFIG.gyro_soft_notch_cutoff_1 = parseInt($('.pid_filter input[name="gyroNotch1Cutoff"]').val());
FILTER_CONFIG.gyro_notch_hz = parseInt($('.pid_filter input[name="gyroNotch1Frequency"]').val());
FILTER_CONFIG.gyro_notch_cutoff = parseInt($('.pid_filter input[name="gyroNotch1Cutoff"]').val());
FILTER_CONFIG.dterm_notch_hz = parseInt($('.pid_filter input[name="dTermNotchFrequency"]').val());
FILTER_CONFIG.dterm_notch_cutoff = parseInt($('.pid_filter input[name="dTermNotchCutoff"]').val());
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
FILTER_CONFIG.gyro_soft_notch_hz_2 = parseInt($('.pid_filter input[name="gyroNotch2Frequency"]').val());
FILTER_CONFIG.gyro_soft_notch_cutoff_2 = parseInt($('.pid_filter input[name="gyroNotch2Cutoff"]').val());
FILTER_CONFIG.gyro_notch2_hz = parseInt($('.pid_filter input[name="gyroNotch2Frequency"]').val());
FILTER_CONFIG.gyro_notch2_cutoff = parseInt($('.pid_filter input[name="gyroNotch2Cutoff"]').val());
}
}
@ -417,10 +508,17 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
FILTER_CONFIG.dterm_filter_type = $('.profile select[name="dtermFilterType"]').val();
FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassType"]').val();
ADVANCED_TUNING.itermThrottleThreshold = parseInt($('.antigravity input[name="itermThrottleThreshold"]').val());
ADVANCED_TUNING.itermAcceleratorGain = parseInt($('.antigravity input[name="itermAcceleratorGain"]').val() * 1000);
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
FILTER_CONFIG.gyro_lowpass2_hz = parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val());
FILTER_CONFIG.gyro_lowpass_type = parseInt($('.pid_filter select[name="gyroLowpassType"]').val());
FILTER_CONFIG.gyro_lowpass2_type = parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val());
FILTER_CONFIG.dterm_lowpass2_hz = parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val());
}
}
function showAllPids() {
@ -720,6 +818,29 @@ TABS.pid_tuning.initialize = function (callback) {
}
});
// DTerm filter options
function loadFilterTypeValues() {
var filterTypeValues = [];
filterTypeValues.push("PT1");
filterTypeValues.push("BIQUAD");
if (semver.lt(CONFIG.apiVersion, "1.39.0")) {
filterTypeValues.push("FIR");
}
return filterTypeValues;
}
function populateFilterTypeSelector(name, selectDtermValues) {
var dtermFilterSelect = $('select[name="' + name + '"]');
selectDtermValues.forEach(function(value, key) {
dtermFilterSelect.append('<option value="' + key + '">' + value + '</option>');
});
}
populateFilterTypeSelector('gyroLowpassType', loadFilterTypeValues());
populateFilterTypeSelector('gyroLowpass2Type', loadFilterTypeValues());
populateFilterTypeSelector('dtermLowpassType', loadFilterTypeValues());
pid_and_rc_to_form();
var pidController_e = $('select[name="controller"]');