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Code Issues Wiki Activity

Add support for firmware side sliders

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This commit is contained in:
IvoFPV 2019-10-12 13:53:38 +02:00 • committed by Michael Keller
parent de071bc136
commit 41fb373c94
9 changed files with 485 additions and 260 deletions
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24
locales/en/messages.json
View file

@ -3594,6 +3594,22 @@
"message": "Master Multiplier:", "message": "Master Multiplier:",
"description": "Master tuning slider label" "description": "Master tuning slider label"
}, },
"pidTuningRollPitchRatioSlider": {
"message": "Roll Pitch Ratio:",
"description": "Roll pitch ratio slider label"
},
"pidTuningRollPitchRatioSliderHelp": {
"message": "Roll Pitch Ratio",
"description": "This needs a meaningful help text"
},
"pidTuningIGainSlider": {
"message": "I Gain:",
"description": "I gain slider label"
},
"pidTuningIGainSliderHelp": {
"message": "I Gain",
"description": "This needs a meaningful help text"
},
"pidTuningPDRatioSlider": { "pidTuningPDRatioSlider": {
"message": "PD Balance:", "message": "PD Balance:",
"description": "PD balance tuning slider label" "description": "PD balance tuning slider label"
@ -3602,6 +3618,14 @@
"message": "P and D Gain:", "message": "P and D Gain:",
"description": "P and D gain tuning slider label" "description": "P and D gain tuning slider label"
}, },
"pidTuningDMinRatioSlider": {
"message": "D Min Ratio:",
"description": "D Min ratio slider label"
},
"pidTuningDMinRatioSliderHelp": {
"message": "D Min Ratio",
"description": "This needs a meaningful help text"
},
"pidTuningResponseSlider": { "pidTuningResponseSlider": {
"message": "Stick Response Gain:", "message": "Stick Response Gain:",
"description": "Response tuning slider label" "description": "Response tuning slider label"

2
src/css/tabs/pid_tuning.css
View file

@ -734,7 +734,7 @@
height: 15px; height: 15px;
} }
.tab-pid_tuning .nonExpertModeSliders.tuningSlider::-webkit-slider-runnable-track { .tab-pid_tuning .nonExpertModeSliders .tuningSlider::-webkit-slider-runnable-track {
background: linear-gradient(90deg, rgb(197, 197, 197) -50%, rgb(241, 241, 241) 50%, rgb(255, 84, 14) 150%); background: linear-gradient(90deg, rgb(197, 197, 197) -50%, rgb(241, 241, 241) 50%, rgb(255, 84, 14) 150%);
background-size: 55%; background-size: 55%;
background-position: 44%; background-position: 44%;

333
src/js/TuningSliders.js
View file

@ -1,19 +1,21 @@
'use strict'; 'use strict';
const TuningSliders = { const TuningSliders = {
MasterSliderValue: 1, sliderPidsMode: 0,
PDRatioSliderValue: 1, sliderMasterMultiplier: 1,
PDGainSliderValue: 1, sliderRollPitchRatio: 1,
ResponseSliderValue: 1, sliderIGain: 1,
sliderPDRatio: 1,
sliderPDGain: 1,
sliderDMinRatio: 1,
sliderFFGain: 1,
pidSlidersUnavailable: false, pidSlidersUnavailable: false,
gyroFilterSliderValue: 1, sliderGyroFilter: 0,
dtermFilterSliderValue: 1, sliderGyroFilterMultiplier: 1,
filterGyroSliderUnavailable: false, sliderDTermFilter: 0,
filterDTermSliderUnavailable: false, sliderDTermFilterMultiplier: 1,
dMinFeatureEnabled: true,
defaultPDRatio: 0,
PID_DEFAULT: [], PID_DEFAULT: [],
FILTER_DEFAULT: {}, FILTER_DEFAULT: {},
@ -30,7 +32,6 @@ TuningSliders.initialize = function() {
this.PID_DEFAULT = FC.getPidDefaults(); this.PID_DEFAULT = FC.getPidDefaults();
this.FILTER_DEFAULT = FC.getFilterDefaults(); this.FILTER_DEFAULT = FC.getFilterDefaults();
this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
this.setExpertMode($('input[name="expertModeCheckbox"]').is(':checked')); this.setExpertMode($('input[name="expertModeCheckbox"]').is(':checked'));
this.initPidSlidersPosition(); this.initPidSlidersPosition();
@ -46,29 +47,18 @@ TuningSliders.initialize = function() {
this.updateFilterSlidersDisplay(); this.updateFilterSlidersDisplay();
}; };
TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
this.dMinFeatureEnabled = dMinFeatureEnabled;
if (this.dMinFeatureEnabled) {
this.defaultPDRatio = this.PID_DEFAULT[2] / this.PID_DEFAULT[0];
} else {
this.defaultPDRatio = this.PID_DEFAULT[2] / (this.PID_DEFAULT[0] * (1 / D_MIN_RATIO));
}
};
TuningSliders.setExpertMode = function(expertMode) { TuningSliders.setExpertMode = function(expertMode) {
this.expertMode = expertMode; this.expertMode = expertMode;
const allTuningSliderElements = $('#tuningMasterSlider, #tuningPDRatioSlider, #tuningPDGainSlider,\
#tuningResponseSlider, #tuningGyroFilterSlider, #tuningDTermFilterSlider');
if (this.expertMode) { if (this.expertMode) {
allTuningSliderElements.removeClass('nonExpertModeSliders'); $('#slidersPidsBox, #slidersFilterBox').removeClass('nonExpertModeSliders');
} else { } else {
allTuningSliderElements.addClass('nonExpertModeSliders'); $('#slidersPidsBox, #slidersFilterBox').addClass('nonExpertModeSliders');
} }
}; };
TuningSliders.scaleSliderValue = function(value) { TuningSliders.scaleSliderValue = function(value) {
if (value > 1) { if (value > 1) {
return Math.round(((value - 1) * 2 + 1) * 10) / 10; return Math.round(((value - 1) * 2 + 1) * 100) / 100;
} else { } else {
return value; return value;
} }
@ -83,71 +73,115 @@ TuningSliders.downscaleSliderValue = function(value) {
}; };
TuningSliders.initPidSlidersPosition = function() { TuningSliders.initPidSlidersPosition = function() {
if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
// used to estimate PID slider positions based on PIDF values, and set respective slider position // used to estimate PID slider positions based on PIDF values, and set respective slider position
// provides only an estimation due to limitation of feature without firmware support, to be improved in later versions // provides only an estimation due to limitation of feature without firmware support, to be improved in later versions
this.MasterSliderValue = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10; this.sliderMasterMultiplier = Math.floor(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10;
this.PDRatioSliderValue = Math.round(FC.PIDS[0][2] / FC.PIDS[0][0] / this.defaultPDRatio * 10) / 10; this.sliderPDRatio = Math.floor(FC.PIDS[0][0] / FC.PIDS[0][2] / (this.PID_DEFAULT[0] / this.PID_DEFAULT[2]) * 10) / 10;
if (this.dMinFeatureEnabled) { this.sliderPDGain = Math.floor(FC.ADVANCED_TUNING.dMinRoll / this.sliderMasterMultiplier / this.PID_DEFAULT[3] * 10) / 10;
this.PDGainSliderValue = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.PDRatioSliderValue / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10; this.sliderFFGain = Math.floor(FC.ADVANCED_TUNING.feedforwardRoll / this.sliderMasterMultiplier / this.PID_DEFAULT[4] * 10) / 10;
} else { } else {
this.PDGainSliderValue = Math.round(FC.PIDS[0][0] / this.MasterSliderValue / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10; this.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_mode;
this.sliderMasterMultiplier = FC.TUNING_SLIDERS.slider_master_multiplier / 100;
this.sliderRollPitchRatio = FC.TUNING_SLIDERS.slider_roll_pitch_ratio / 100;
this.sliderIGain = FC.TUNING_SLIDERS.slider_i_gain / 100;
this.sliderPDRatio = FC.TUNING_SLIDERS.slider_pd_ratio / 100;
this.sliderPDGain = FC.TUNING_SLIDERS.slider_pd_gain / 100;
this.sliderDMinRatio = FC.TUNING_SLIDERS.slider_dmin_ratio / 100;
this.sliderFFGain = FC.TUNING_SLIDERS.slider_ff_gain / 100;
} }
this.ResponseSliderValue = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10;
$('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue); $('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
$('output[name="tuningPDRatioSlider-number"]').val(this.PDRatioSliderValue); $('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
$('output[name="tuningPDGainSlider-number"]').val(this.PDGainSliderValue); $('output[name="sliderIGain-number"]').val(this.sliderIGain);
$('output[name="tuningResponseSlider-number"]').val(this.ResponseSliderValue); $('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
$('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
$('output[name="sliderFFGain-number"]').val(this.sliderFFGain);
$('#tuningMasterSlider').val(this.downscaleSliderValue(this.MasterSliderValue)); $('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
$('#tuningPDRatioSlider').val(this.downscaleSliderValue(this.PDRatioSliderValue)); $('#sliderRollPitchRatio').val(this.downscaleSliderValue(this.sliderRollPitchRatio));
$('#tuningPDGainSlider').val(this.downscaleSliderValue(this.PDGainSliderValue)); $('#sliderIGain').val(this.downscaleSliderValue(this.sliderIGain));
$('#tuningResponseSlider').val(this.downscaleSliderValue(this.ResponseSliderValue)); $('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
$('#sliderDMinRatio').val(this.downscaleSliderValue(this.sliderDMinRatio));
$('#sliderFFGain').val(this.downscaleSliderValue(this.sliderFFGain));
}; };
TuningSliders.initGyroFilterSliderPosition = function() { TuningSliders.initGyroFilterSliderPosition = function() {
this.gyroFilterSliderValue = Math.round((FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.FILTER_CONFIG.gyro_lowpass2_hz) / if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
this.sliderGyroFilterMultiplier = Math.floor((FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.FILTER_CONFIG.gyro_lowpass2_hz) /
(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100; (this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
$('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue); } else {
$('#tuningGyroFilterSlider').val(this.downscaleSliderValue(this.gyroFilterSliderValue)); this.sliderGyroFilterMultiplier = FC.TUNING_SLIDERS.slider_gyro_filter_multiplier / 100;
}
$('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
$('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier));
}; };
TuningSliders.initDTermFilterSliderPosition = function() { TuningSliders.initDTermFilterSliderPosition = function() {
this.dtermFilterSliderValue = Math.round((FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) / if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
this.sliderDTermFilterMultiplier = Math.floor((FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) /
(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100; (this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100;
$('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue); } else {
$('#tuningDTermFilterSlider').val(this.downscaleSliderValue(this.dtermFilterSliderValue)); this.sliderDTermFilterMultiplier = FC.TUNING_SLIDERS.slider_dterm_filter_multiplier / 100;
}
$('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier);
$('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier));
}; };
TuningSliders.resetPidSliders = function() { TuningSliders.resetPidSliders = function() {
if (!this.cachedPidSliderValues) { if (!this.cachedPidSliderValues) {
$('#tuningMasterSlider').val(1); this.sliderMasterMultiplier = 1;
$('#tuningPDRatioSlider').val(1); this.sliderRollPitchRatio = 1;
$('#tuningPDGainSlider').val(1); this.sliderIGain = 1;
$('#tuningResponseSlider').val(1); this.sliderPDRatio = 1;
this.MasterSliderValue = 1; this.sliderPDGain = 1;
this.PDRatioSliderValue = 1; this.sliderDMinRatio = 1;
this.PDGainSliderValue = 1; this.sliderFFGain = 1;
this.ResponseSliderValue = 1;
} }
if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
$('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
$('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
$('#sliderFFGain').val(this.downscaleSliderValue(this.sliderFFGain));
} else {
this.initPidSlidersPosition();
}
this.calculateNewPids(); this.calculateNewPids();
this.updatePidSlidersDisplay(); this.updatePidSlidersDisplay();
}; };
TuningSliders.resetGyroFilterSlider = function() { TuningSliders.resetGyroFilterSlider = function() {
if (!this.cachedGyroSliderValues) { if (!this.cachedGyroSliderValues) {
$('#tuningGyroFilterSlider').val(1); this.sliderGyroFilterMultiplier = 1;
this.gyroFilterSliderValue = 1;
} }
if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
$('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier));
} else {
this.initGyroFilterSliderPosition();
}
this.calculateNewGyroFilters(); this.calculateNewGyroFilters();
this.updateFilterSlidersDisplay(); this.updateFilterSlidersDisplay();
}; };
TuningSliders.resetDTermFilterSlider = function() { TuningSliders.resetDTermFilterSlider = function() {
if (!this.cachedDTermSliderValues) { if (!this.cachedDTermSliderValues) {
$('#tuningDTermFilterSlider').val(1); this.sliderDTermFilterMultiplier = 1;
this.dtermFilterSliderValue = 1;
} }
if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
$('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier));
} else {
this.initDTermFilterSliderPosition();
}
this.calculateNewDTermFilters(); this.calculateNewDTermFilters();
this.updateFilterSlidersDisplay(); this.updateFilterSlidersDisplay();
}; };
@ -160,11 +194,12 @@ TuningSliders.updatePidSlidersDisplay = function() {
const WARNING_DMAX_GAIN = 60; const WARNING_DMAX_GAIN = 60;
const WARNING_DMIN_GAIN = 40; const WARNING_DMIN_GAIN = 40;
if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
this.pidSlidersUnavailable = false; this.pidSlidersUnavailable = false;
let currentPIDs = []; let currentPIDs = [];
FC.PID_NAMES.forEach(function(elementPid, indexPid) { FC.PID_NAMES.forEach(function(elementPid, indexPid) {
let searchRow = $('.pid_tuning .' + elementPid + ' input'); const pidElements = $(`.pid_tuning .${elementPid} input`);
searchRow.each(function (indexInput) { pidElements.each(function (indexInput) {
if (indexPid < 3 && indexInput < 5) { if (indexPid < 3 && indexInput < 5) {
currentPIDs.push($(this).val()); currentPIDs.push($(this).val());
} }
@ -172,8 +207,8 @@ TuningSliders.updatePidSlidersDisplay = function() {
}); });
this.calculateNewPids(); this.calculateNewPids();
FC.PID_NAMES.forEach(function(elementPid, indexPid) { FC.PID_NAMES.forEach(function(elementPid, indexPid) {
let searchRow = $('.pid_tuning .' + elementPid + ' input'); const pidElements = $(`.pid_tuning .${elementPid} input`);
searchRow.each(function (indexInput) { pidElements.each(function (indexInput) {
if (indexPid < 3 && indexInput < 5) { if (indexPid < 3 && indexInput < 5) {
if (currentPIDs[indexPid * 5 + indexInput] != $(this).val()) { if (currentPIDs[indexPid * 5 + indexInput] != $(this).val()) {
TuningSliders.pidSlidersUnavailable = true; TuningSliders.pidSlidersUnavailable = true;
@ -187,11 +222,10 @@ TuningSliders.updatePidSlidersDisplay = function() {
this.pidSlidersUnavailable = true; this.pidSlidersUnavailable = true;
} }
if (this.pidSlidersUnavailable) { if (!this.pidSlidersUnavailable) {
TABS.pid_tuning.updatePIDColors(true);
} else {
this.cachedPidSliderValues = true; this.cachedPidSliderValues = true;
} }
}
$('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable); $('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable);
$('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable); $('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable);
@ -205,72 +239,78 @@ TuningSliders.updateFilterSlidersDisplay = function() {
const WARNING_FILTER_HIGH_GAIN = 1.4; const WARNING_FILTER_HIGH_GAIN = 1.4;
const WARNING_FILTER_LOW_GAIN = 0.7; const WARNING_FILTER_LOW_GAIN = 0.7;
this.filterGyroSliderUnavailable = false; this.sliderGyroFilter = false;
this.filterDTermSliderUnavailable = false; this.sliderDTermFilter = false;
if (parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(), 10) !== Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue) || if ($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val() !== Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) ||
parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(), 10) !== Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue) || $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val() !== Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier) ||
parseInt($('.pid_filter select[name="gyroLowpassDynType"]').val(), 10) !== this.FILTER_DEFAULT.gyro_lowpass_type || $('.pid_filter select[name="gyroLowpassDynType"]').val() !== this.FILTER_DEFAULT.gyro_lowpass_type ||
parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val(), 10) !== Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue) || $('.pid_filter input[name="gyroLowpass2Frequency"]').val() !== Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier) ||
parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val(), 10) !== this.FILTER_DEFAULT.gyro_lowpass2_type) { $('.pid_filter select[name="gyroLowpass2Type"]').val() !== this.FILTER_DEFAULT.gyro_lowpass2_type) {
$('.tuningFilterSliders .sliderLabels tr:nth-child(2)').hide(); $('.tuningFilterSliders .sliderLabels tr:first-child').hide();
this.filterGyroSliderUnavailable = true; this.sliderGyroFilter = true;
} else { } else {
$('.tuningFilterSliders .sliderLabels tr:nth-child(2)').show() $('.tuningFilterSliders .sliderLabels tr:nth-child(2)').show()
this.cachedGyroSliderValues = true; this.cachedGyroSliderValues = true;
} }
if (parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(), 10) !== Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue) || if ($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val() !== Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier) ||
parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(), 10) !== Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue) || $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val() !== Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier) ||
parseInt($('.pid_filter select[name="dtermLowpassDynType"]').val(), 10) !== this.FILTER_DEFAULT.dterm_lowpass_type || $('.pid_filter select[name="dtermLowpassDynType"]').val() !== this.FILTER_DEFAULT.dterm_lowpass_type ||
parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val(), 10) !== Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue) || $('.pid_filter input[name="dtermLowpass2Frequency"]').val() !== Math.floor(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier) ||
parseInt($('.pid_filter select[name="dtermLowpass2Type"]').val(), 10) !== this.FILTER_DEFAULT.dterm_lowpass2_type) { $('.pid_filter select[name="dtermLowpass2Type"]').val() !== this.FILTER_DEFAULT.dterm_lowpass2_type) {
$('.tuningFilterSliders .sliderLabels tr:last-child').hide(); $('.tuningFilterSliders .sliderLabels tr:last-child').hide();
this.filterDTermSliderUnavailable = true; this.sliderDTermFilter = true;
} else { } else {
$('.tuningFilterSliders .sliderLabels tr:last-child').show(); $('.tuningFilterSliders .sliderLabels tr:last-child').show();
this.cachedDTermSliderValues = true; this.cachedDTermSliderValues = true;
} }
$('.tuningFilterSliders').toggle(!(this.filterGyroSliderUnavailable && this.filterDTermSliderUnavailable)); $('.tuningFilterSliders').toggle(!(this.sliderGyroFilter && this.sliderDTermFilter));
$('.subtab-filter .slidersDisabled').toggle(this.filterGyroSliderUnavailable || this.filterDTermSliderUnavailable); $('.subtab-filter .slidersDisabled').toggle(this.sliderGyroFilter || this.sliderDTermFilter);
$('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.filterGyroSliderUnavailable || !this.filterDTermSliderUnavailable) && !this.expertMode); $('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.sliderGyroFilter || !this.sliderDTermFilter) && !this.expertMode);
$('.subtab-filter .slidersWarning').toggle(((this.gyroFilterSliderValue >= WARNING_FILTER_HIGH_GAIN || $('.subtab-filter .slidersWarning').toggle(((this.sliderGyroFilterMultiplier >= WARNING_FILTER_HIGH_GAIN ||
this.gyroFilterSliderValue <= WARNING_FILTER_LOW_GAIN) && !this.filterGyroSliderUnavailable) || this.sliderGyroFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.sliderGyroFilter) ||
((this.dtermFilterSliderValue >= WARNING_FILTER_HIGH_GAIN || ((this.sliderDTermFilterMultiplier >= WARNING_FILTER_HIGH_GAIN ||
this.dtermFilterSliderValue <= WARNING_FILTER_LOW_GAIN) && !this.filterDTermSliderUnavailable)); this.sliderDTermFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.sliderDTermFilter));
}; };
TuningSliders.calculateNewPids = function() { TuningSliders.updateFormPids = function() {
// this is the main calculation for PID sliders, inputs are in form of slider position values FC.PID_NAMES.forEach(function(elementPid, indexPid) {
// values get set both into forms and their respective variables const pidElements = $(`.pid_tuning .${elementPid} input`);
pidElements.each(function (indexInput) {
if (indexPid < 3 && indexInput < 3) {
$(this).val(FC.PIDS[indexPid][indexInput]);
}
});
});
};
TuningSliders.legacyCalculateNewPids = function() {
const MAX_PID_GAIN = 200; const MAX_PID_GAIN = 200;
const MAX_DMIN_GAIN = 100; const MAX_DMIN_GAIN = 100;
const MAX_FF_GAIN = 2000; const MAX_FF_GAIN = 2000;
// only used for 4.1 where calculation is not done in firmware
if (this.dMinFeatureEnabled) { if (this.dMinFeatureEnabled) {
//dmin //dmin
FC.ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue * this.PDRatioSliderValue); FC.ADVANCED_TUNING.dMinRoll = Math.floor(this.PID_DEFAULT[3] * this.sliderPDGain);
FC.ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue * this.PDRatioSliderValue); FC.ADVANCED_TUNING.dMinPitch = Math.floor(this.PID_DEFAULT[8] * this.sliderPDGain);
// dmax // dmax
FC.PIDS[0][2] = Math.round(this.PID_DEFAULT[2] * this.PDGainSliderValue * this.PDRatioSliderValue); FC.PIDS[0][2] = Math.floor(this.PID_DEFAULT[2] * this.sliderPDGain);
FC.PIDS[1][2] = Math.round(this.PID_DEFAULT[7] * this.PDGainSliderValue * this.PDRatioSliderValue); FC.PIDS[1][2] = Math.floor(this.PID_DEFAULT[7] * this.sliderPDGain);
} else { } else {
FC.ADVANCED_TUNING.dMinRoll = 0; FC.ADVANCED_TUNING.dMinRoll = 0;
FC.ADVANCED_TUNING.dMinPitch = 0; FC.ADVANCED_TUNING.dMinPitch = 0;
FC.PIDS[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue); FC.PIDS[0][2] = Math.floor(this.PID_DEFAULT[3] * this.sliderPDGain);
FC.PIDS[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue); FC.PIDS[1][2] = Math.floor(this.PID_DEFAULT[8] * this.sliderPDGain);
} }
// p
FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.PDGainSliderValue); FC.PIDS[0][0] = Math.floor(FC.PIDS[0][2] * this.PID_DEFAULT[0] / this.PID_DEFAULT[2] * this.sliderPDRatio);
FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.PDGainSliderValue); FC.PIDS[1][0] = Math.floor(FC.PIDS[1][2] * this.PID_DEFAULT[5] / this.PID_DEFAULT[7] * this.sliderPDRatio);
FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue); FC.PIDS[2][0] = Math.floor(this.PID_DEFAULT[10] * this.sliderPDGain);
// ff
FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.ResponseSliderValue);
FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.ResponseSliderValue);
FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.ResponseSliderValue);
// master slider part // master slider part
// these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation // these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation
@ -284,32 +324,65 @@ TuningSliders.calculateNewPids = function() {
//master slider multiplication, max value 200 for main PID values //master slider multiplication, max value 200 for main PID values
for (let i = 0; i < 3; i++) { for (let i = 0; i < 3; i++) {
for (let j = 0; j < 3; j++) { for (let j = 0; j < 3; j++) {
FC.PIDS[j][i] = Math.min(Math.round(FC.PIDS[j][i] * this.MasterSliderValue), MAX_PID_GAIN); FC.PIDS[j][i] = Math.min(Math.floor(FC.PIDS[j][i] * this.sliderMasterMultiplier), MAX_PID_GAIN);
} }
} }
FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue), MAX_FF_GAIN); // ff
FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue), MAX_FF_GAIN); FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.floor(this.PID_DEFAULT[4] * this.sliderFFGain * this.sliderMasterMultiplier), MAX_FF_GAIN);
FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue), MAX_FF_GAIN); FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.floor(this.PID_DEFAULT[9] * this.sliderFFGain * this.sliderMasterMultiplier), MAX_FF_GAIN);
FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.floor(this.PID_DEFAULT[14] * this.sliderFFGain * this.sliderMasterMultiplier), MAX_FF_GAIN);
if (this.dMinFeatureEnabled) { if (this.dMinFeatureEnabled) {
FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.MasterSliderValue), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.MasterSliderValue), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.MasterSliderValue), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
} }
$('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue); this.updateFormPids();
$('output[name="tuningPDRatioSlider-number"]').val(this.PDRatioSliderValue);
$('output[name="tuningPDGainSlider-number"]').val(this.PDGainSliderValue);
$('output[name="tuningResponseSlider-number"]').val(this.ResponseSliderValue);
// updates values in forms $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
FC.PID_NAMES.forEach(function(elementPid, indexPid) { $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
let searchRow = $('.pid_tuning .' + elementPid + ' input'); $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
searchRow.each(function (indexInput) { $('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll);
if (indexPid < 3 && indexInput < 3) { $('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
$(this).val(FC.PIDS[indexPid][indexInput]); $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
};
TuningSliders.calculateNewPids = function() {
// this is the main calculation for PID sliders, inputs are in form of slider position values
// values get set both into forms and their respective variables
if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
this.legacyCalculateNewPids();
} }
});
}); $('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
$('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
$('output[name="sliderIGain-number"]').val(this.sliderIGain);
$('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
$('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
$('output[name="sliderFFGain-number"]').val(this.sliderFFGain);
FC.TUNING_SLIDERS.slider_pids_mode = parseInt($('#sliderPidsModeSelect').val());
FC.TUNING_SLIDERS.slider_master_multiplier = TuningSliders.sliderMasterMultiplier * 100;
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = TuningSliders.sliderRollPitchRatio * 100;
FC.TUNING_SLIDERS.slider_i_gain = TuningSliders.sliderIGain * 100;
FC.TUNING_SLIDERS.slider_pd_ratio = TuningSliders.sliderPDRatio * 100;
FC.TUNING_SLIDERS.slider_pd_gain = TuningSliders.sliderPDGain * 100;
FC.TUNING_SLIDERS.slider_dmin_ratio = TuningSliders.sliderDMinRatio * 100;
FC.TUNING_SLIDERS.slider_ff_gain = TuningSliders.sliderFFGain * 100;
FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter ? 1 : 0;
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = TuningSliders.sliderDTermFilterMultiplier * 100;
FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter ? 1 : 0;
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = TuningSliders.sliderGyroFilterMultiplier * 100;
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS));
MSP.send_message(MSPCodes.MSP_PID);
MSP.send_message(MSPCodes.MSP_PID_ADVANCED);
this.updateFormPids();
$('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll); $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
$('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch); $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw); $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
@ -322,9 +395,9 @@ TuningSliders.calculateNewPids = function() {
TuningSliders.calculateNewGyroFilters = function() { TuningSliders.calculateNewGyroFilters = function() {
// calculate, set and display new values in forms based on slider position // calculate, set and display new values in forms based on slider position
FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue); FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier);
FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue); FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier);
FC.FILTER_CONFIG.gyro_lowpass2_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue); FC.FILTER_CONFIG.gyro_lowpass2_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier);
FC.FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type; FC.FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type;
FC.FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type; FC.FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type;
@ -333,14 +406,14 @@ TuningSliders.calculateNewGyroFilters = function() {
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz); $('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz);
$('.pid_filter select[name="gyroLowpassDynType').val(FC.FILTER_CONFIG.gyro_lowpass_type); $('.pid_filter select[name="gyroLowpassDynType').val(FC.FILTER_CONFIG.gyro_lowpass_type);
$('.pid_filter select[name="gyroLowpass2Type').val(FC.FILTER_CONFIG.gyro_lowpass2_type); $('.pid_filter select[name="gyroLowpass2Type').val(FC.FILTER_CONFIG.gyro_lowpass2_type);
$('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue); $('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
}; };
TuningSliders.calculateNewDTermFilters = function() { TuningSliders.calculateNewDTermFilters = function() {
// calculate, set and display new values in forms based on slider position // calculate, set and display new values in forms based on slider position
FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue); FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier);
FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue); FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier);
FC.FILTER_CONFIG.dterm_lowpass2_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue); FC.FILTER_CONFIG.dterm_lowpass2_hz = Math.floor(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier);
FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type; FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type;
FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type; FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type;
@ -349,5 +422,5 @@ TuningSliders.calculateNewDTermFilters = function() {
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz); $('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz);
$('.pid_filter select[name="dtermLowpassDynType').val(FC.FILTER_CONFIG.dterm_lowpass_type); $('.pid_filter select[name="dtermLowpassDynType').val(FC.FILTER_CONFIG.dterm_lowpass_type);
$('.pid_filter select[name="dtermLowpass2Type').val(FC.FILTER_CONFIG.dterm_lowpass2_type); $('.pid_filter select[name="dtermLowpass2Type').val(FC.FILTER_CONFIG.dterm_lowpass2_type);
$('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue); $('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier);
}; };

16
src/js/fc.js
View file

@ -148,6 +148,7 @@ const FC = {
SERVO_DATA: null, SERVO_DATA: null,
SERVO_RULES: null, SERVO_RULES: null,
TRANSPONDER: null, TRANSPONDER: null,
TUNING_SLIDERS: null,
VOLTAGE_METERS: null, VOLTAGE_METERS: null,
VOLTAGE_METER_CONFIGS: null, VOLTAGE_METER_CONFIGS: null,
VTXTABLE_BAND: null, VTXTABLE_BAND: null,
@ -648,6 +649,21 @@ const FC = {
]; ];
this.VTX_DEVICE_STATUS = null; this.VTX_DEVICE_STATUS = null;
this.TUNING_SLIDERS = {
slider_pids_mode: 0,
slider_master_multiplier: 0,
slider_roll_pitch_ratio: 0,
slider_i_gain: 0,
slider_pd_ratio: 0,
slider_pd_gain: 0,
slider_dmin_ratio: 0,
slider_ff_gain: 0,
slider_dterm_filter: 0,
slider_dterm_filter_multiplier: 0,
slider_gyro_filter: 0,
slider_gyro_filter_multiplier: 0,
};
}, },
getSerialRxTypes: () => { getSerialRxTypes: () => {

2
src/js/main.js
View file

@ -502,6 +502,8 @@ function startProcess() {
if (FC.FEATURE_CONFIG && FC.FEATURE_CONFIG.features !== 0) { if (FC.FEATURE_CONFIG && FC.FEATURE_CONFIG.features !== 0) {
updateTabList(FC.FEATURE_CONFIG.features); updateTabList(FC.FEATURE_CONFIG.features);
} }
TuningSliders.setExpertMode(checked);
}).change(); }).change();
}); });

3
src/js/msp/MSPCodes.js
View file

@ -117,6 +117,9 @@ const MSPCodes = {
MSP_MOTOR_TELEMETRY: 139, MSP_MOTOR_TELEMETRY: 139,
MSP_TUNING_SLIDERS: 140,
MSP_SET_TUNING_SLIDERS: 141,
MSP_STATUS_EX: 150, MSP_STATUS_EX: 150,
MSP_UID: 160, MSP_UID: 160,

36
src/js/msp/MSPHelper.js
View file

@ -1475,6 +1475,26 @@ MspHelper.prototype.process_data = function(dataHandler) {
break; break;
case MSPCodes.MSP_SET_TUNING_SLIDERS:
console.log("Tuning Sliders data sent");
break;
case MSPCodes.MSP_TUNING_SLIDERS:
FC.TUNING_SLIDERS.slider_pids_mode = data.readU8();
FC.TUNING_SLIDERS.slider_master_multiplier = data.readU8();
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = data.readU8();
FC.TUNING_SLIDERS.slider_i_gain = data.readU8();
FC.TUNING_SLIDERS.slider_pd_ratio = data.readU8();
FC.TUNING_SLIDERS.slider_pd_gain = data.readU8();
FC.TUNING_SLIDERS.slider_dmin_ratio = data.readU8();
FC.TUNING_SLIDERS.slider_ff_gain = data.readU8();
FC.TUNING_SLIDERS.slider_dterm_filter = data.readU8();
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = data.readU8();
FC.TUNING_SLIDERS.slider_gyro_filter = data.readU8();
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = data.readU8();
break;
case MSPCodes.MSP_SET_VTXTABLE_POWERLEVEL: case MSPCodes.MSP_SET_VTXTABLE_POWERLEVEL:
console.log("VTX powerlevel sent"); console.log("VTX powerlevel sent");
break; break;
@ -2274,6 +2294,22 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(1); buffer.push8(1);
break; break;
case MSPCodes.MSP_SET_TUNING_SLIDERS:
buffer.push8(FC.TUNING_SLIDERS.slider_pids_mode)
.push8(FC.TUNING_SLIDERS.slider_master_multiplier)
.push8(FC.TUNING_SLIDERS.slider_roll_pitch_ratio)
.push8(FC.TUNING_SLIDERS.slider_i_gain)
.push8(FC.TUNING_SLIDERS.slider_pd_ratio)
.push8(FC.TUNING_SLIDERS.slider_pd_gain)
.push8(FC.TUNING_SLIDERS.slider_dmin_ratio)
.push8(FC.TUNING_SLIDERS.slider_ff_gain)
.push8(FC.TUNING_SLIDERS.slider_dterm_filter)
.push8(FC.TUNING_SLIDERS.slider_dterm_filter_multiplier)
.push8(FC.TUNING_SLIDERS.slider_gyro_filter)
.push8(FC.TUNING_SLIDERS.slider_gyro_filter_multiplier);
break;
default: default:
return false; return false;
} }

161
src/js/tabs/pid_tuning.js
View file

@ -56,6 +56,13 @@ TABS.pid_tuning.initialize = function (callback) {
return MSP.promise(MSPCodes.MSP_RC_DEADBAND); return MSP.promise(MSPCodes.MSP_RC_DEADBAND);
}).then(function() { }).then(function() {
return MSP.promise(MSPCodes.MSP_MOTOR_CONFIG); return MSP.promise(MSPCodes.MSP_MOTOR_CONFIG);
}).then(function() {
let promise;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
promise = MSP.promise(MSPCodes.MSP_TUNING_SLIDERS);
}
return promise;
}).then(function() { }).then(function() {
MSP.send_message(MSPCodes.MSP_MIXER_CONFIG, false, false, load_html); MSP.send_message(MSPCodes.MSP_MIXER_CONFIG, false, false, load_html);
}); });
@ -973,6 +980,23 @@ TABS.pid_tuning.initialize = function (callback) {
FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0; 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; FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0;
} }
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
FC.TUNING_SLIDERS.slider_pids_mode = parseInt($('#sliderPidsModeSelect').val());
FC.TUNING_SLIDERS.slider_master_multiplier = TuningSliders.sliderMasterMultiplier * 100;
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = TuningSliders.sliderRollPitchRatio * 100;
FC.TUNING_SLIDERS.slider_i_gain = TuningSliders.sliderIGain * 100;
FC.TUNING_SLIDERS.slider_pd_ratio = TuningSliders.sliderPDRatio * 100;
FC.TUNING_SLIDERS.slider_pd_gain = TuningSliders.sliderPDGain * 100;
FC.TUNING_SLIDERS.slider_dmin_ratio = TuningSliders.sliderDMinRatio * 100;
FC.TUNING_SLIDERS.slider_ff_gain = TuningSliders.sliderFFGain * 100;
FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter ? 1 : 0;
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = TuningSliders.sliderDTermFilterMultiplier * 100;
FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter ? 1 : 0;
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = TuningSliders.sliderGyroFilterMultiplier * 100;
}
} }
function showAllPids() { function showAllPids() {
@ -1774,41 +1798,23 @@ TABS.pid_tuning.initialize = function (callback) {
const NON_EXPERT_SLIDER_MAX = 1.25; const NON_EXPERT_SLIDER_MAX = 1.25;
const NON_EXPERT_SLIDER_MIN = 0.7; const NON_EXPERT_SLIDER_MIN = 0.7;
$('input[name="expertModeCheckbox"]').change(function() { const SLIDER_STEP_LOWER = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) ? 0.005 : 0.05;
if (TuningSliders.expertMode !== $(this).is(':checked')) { const SLIDER_STEP_UPPER = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) ? 0.01 : 0.1;
TuningSliders.setExpertMode($(this).is(':checked'));
TuningSliders.updatePidSlidersDisplay(); $('#sliderPidsModeSelect').val(FC.TUNING_SLIDERS.slider_pids_mode);
TuningSliders.updateFilterSlidersDisplay();
}
});
$('#dMinSwitch').change(function() {
TuningSliders.setDMinFeatureEnabled($(this).is(':checked'));
// switch dmin and dmax values on dmin on/off if sliders available
if (!TuningSliders.pidSlidersUnavailable) {
if (TuningSliders.dMinFeatureEnabled) {
FC.ADVANCED_TUNING.dMinRoll = FC.PIDS[0][2];
FC.ADVANCED_TUNING.dMinPitch = FC.PIDS[1][2];
FC.ADVANCED_TUNING.dMinYaw = FC.PIDS[2][2];
} else {
FC.PIDS[0][2] = FC.ADVANCED_TUNING.dMinRoll;
FC.PIDS[1][2] = FC.ADVANCED_TUNING.dMinPitch;
FC.PIDS[2][2] = FC.ADVANCED_TUNING.dMinYaw;
}
TuningSliders.calculateNewPids();
}
});
// integrated yaw doesn't work with sliders therefore sliders are disabled // integrated yaw doesn't work with sliders therefore sliders are disabled
$('input[id="useIntegratedYaw"]').change(() => TuningSliders.updatePidSlidersDisplay()); $('input[id="useIntegratedYaw"]').change(() => TuningSliders.updatePidSlidersDisplay());
// pid sliders inputs const allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFFGain');
$('#tuningMasterSlider, #tuningPDRatioSlider, #tuningPDGainSlider, #tuningResponseSlider').on('input', function() {
allPidTuningSliders.on('input', function() {
const slider = $(this); const slider = $(this);
// adjust step for more smoothness above 1x // adjust step for more smoothness above 1x
if (slider.val() >= 1) { if (slider.val() >= 1) {
slider.attr('step', 0.05); slider.attr('step', SLIDER_STEP_LOWER);
} else { } else {
slider.attr('step', 0.1); slider.attr('step', SLIDER_STEP_UPPER);
} }
if (!TuningSliders.expertMode) { if (!TuningSliders.expertMode) {
if (slider.val() > NON_EXPERT_SLIDER_MAX) { if (slider.val() > NON_EXPERT_SLIDER_MAX) {
@ -1818,28 +1824,25 @@ TABS.pid_tuning.initialize = function (callback) {
} }
} }
const scaledValue = TuningSliders.scaleSliderValue(slider.val()); const scaledValue = TuningSliders.scaleSliderValue(slider.val());
if (slider.is('#tuningMasterSlider')) { if (slider.is('#sliderMasterMultiplier')) {
TuningSliders.MasterSliderValue = scaledValue; TuningSliders.sliderMasterMultiplier = scaledValue;
} else if (slider.is('#tuningPDRatioSlider')) { } else if (slider.is('#sliderRollPitchRatio')) {
TuningSliders.PDRatioSliderValue = scaledValue; TuningSliders.sliderRollPitchRatio = scaledValue;
} else if (slider.is('#tuningPDGainSlider')) { } else if (slider.is('#sliderIGain')) {
TuningSliders.PDGainSliderValue = scaledValue; TuningSliders.sliderIGain = scaledValue;
} else if (slider.is('#tuningResponseSlider')) { } else if (slider.is('#sliderPDRatio')) {
TuningSliders.ResponseSliderValue = scaledValue; TuningSliders.sliderPDRatio = scaledValue;
} else if (slider.is('#sliderPDGain')) {
TuningSliders.sliderPDGain = scaledValue;
} else if (slider.is('#sliderDMinRatio')) {
TuningSliders.sliderDMinRatio = scaledValue;
} else if (slider.is('#sliderFFGain')) {
TuningSliders.sliderFFGain = scaledValue;
} }
TuningSliders.calculateNewPids(); TuningSliders.calculateNewPids();
self.analyticsChanges['PidTuningSliders'] = "On"; self.analyticsChanges['PidTuningSliders'] = "On";
}); });
$('#tuningMasterSlider, #tuningPDRatioSlider, #tuningPDGainSlider, #tuningResponseSlider').mousedown(function() { allPidTuningSliders.mouseup(function() {
// adjust step for more smoothness above 1x on mousedown
const slider = $(this);
if (slider.val() >= 1) {
slider.attr('step', 0.05);
} else {
slider.attr('step', 0.1);
}
});
$('#tuningMasterSlider, #tuningPDRatioSlider, #tuningPDGainSlider, #tuningResponseSlider').mouseup(function() {
// readjust dmin maximums // readjust dmin maximums
$('.pid_tuning .ROLL input[name="d"]').change(); $('.pid_tuning .ROLL input[name="d"]').change();
$('.pid_tuning .PITCH input[name="d"]').change(); $('.pid_tuning .PITCH input[name="d"]').change();
@ -1847,17 +1850,23 @@ TABS.pid_tuning.initialize = function (callback) {
TuningSliders.updatePidSlidersDisplay(); TuningSliders.updatePidSlidersDisplay();
}); });
// reset to middle with double click // reset to middle with double click
$('#tuningMasterSlider, #tuningPDRatioSlider, #tuningPDGainSlider, #tuningResponseSlider').dblclick(function() { allPidTuningSliders.dblclick(function() {
const slider = $(this); const slider = $(this);
slider.val(1); slider.val(1);
if (slider.is('#tuningMasterSlider')) { if (slider.is('#sliderMasterMultiplier')) {
TuningSliders.MasterSliderValue = 1; TuningSliders.sliderMasterMultiplier = 1;
} else if (slider.is('#tuningPDRatioSlider')) { } else if (slider.is('#sliderRollPitchRatio')) {
TuningSliders.PDRatioSliderValue = 1; TuningSliders.sliderRollPitchRatio = 1;
} else if (slider.is('#tuningPDGainSlider')) { } else if (slider.is('#sliderIGain')) {
TuningSliders.PDGainSliderValue = 1; TuningSliders.sliderIGain = 1;
} else if (slider.is('#tuningResponseSlider')) { } else if (slider.is('#sliderPDRatio')) {
TuningSliders.ResponseSliderValue = 1; TuningSliders.sliderPDRatio = 1;
} else if (slider.is('#sliderPDGain')) {
TuningSliders.sliderPDGain = 1;
} else if (slider.is('#sliderDMinRatio')) {
TuningSliders.sliderDMinRatio = 1;
} else if (slider.is('#sliderFFGain')) {
TuningSliders.sliderFFGain = 1;
} }
TuningSliders.calculateNewPids(); TuningSliders.calculateNewPids();
TuningSliders.updatePidSlidersDisplay(); TuningSliders.updatePidSlidersDisplay();
@ -1874,8 +1883,15 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
// filter slider inputs // filter slider inputs
$('#tuningGyroFilterSlider, #tuningDTermFilterSlider').on('input', function() { const allFilterTuningSliders = $('#sliderGyroFilterMultiplier, #sliderDTermFilterMultiplier');
allFilterTuningSliders.on('input', function() {
const slider = $(this); const slider = $(this);
// adjust step for more smoothness above 1x
if (slider.val() >= 1) {
slider.attr('step', SLIDER_STEP_LOWER);
} else {
slider.attr('step', SLIDER_STEP_UPPER);
}
if (!TuningSliders.expertMode) { if (!TuningSliders.expertMode) {
if (slider.val() > NON_EXPERT_SLIDER_MAX) { if (slider.val() > NON_EXPERT_SLIDER_MAX) {
slider.val(NON_EXPERT_SLIDER_MAX); slider.val(NON_EXPERT_SLIDER_MAX);
@ -1884,35 +1900,35 @@ TABS.pid_tuning.initialize = function (callback) {
} }
} }
const scaledValue = TuningSliders.scaleSliderValue(slider.val()); const scaledValue = TuningSliders.scaleSliderValue(slider.val());
if (slider.is('#tuningGyroFilterSlider')) { if (slider.is('#sliderGyroFilterMultiplier')) {
TuningSliders.gyroFilterSliderValue = scaledValue; TuningSliders.sliderGyroFilterMultiplier = scaledValue;
TuningSliders.calculateNewGyroFilters(); TuningSliders.calculateNewGyroFilters();
self.analyticsChanges['GyroFilterTuningSlider'] = "On"; self.analyticsChanges['GyroFilterTuningSlider'] = "On";
} else if (slider.is('#tuningDTermFilterSlider')) { } else if (slider.is('#sliderDTermFilterMultiplier')) {
TuningSliders.dtermFilterSliderValue = scaledValue; TuningSliders.sliderDTermFilterMultiplier = scaledValue;
TuningSliders.calculateNewDTermFilters(); TuningSliders.calculateNewDTermFilters();
self.analyticsChanges['DTermFilterTuningSlider'] = "On"; self.analyticsChanges['DTermFilterTuningSlider'] = "On";
} }
}); });
$('#tuningGyroFilterSlider, #tuningDTermFilterSlider').mouseup(function() { allFilterTuningSliders.mouseup(function() {
TuningSliders.updateFilterSlidersDisplay(); TuningSliders.updateFilterSlidersDisplay();
}); });
// reset to middle with double click // reset to middle with double click
$('#tuningGyroFilterSlider, #tuningDTermFilterSlider').dblclick(function() { allFilterTuningSliders.dblclick(function() {
const slider = $(this); const slider = $(this);
slider.val(1); slider.val(1);
if (slider.is('#tuningGyroFilterSlider')) { if (slider.is('#sliderGyroFilterMultiplier')) {
TuningSliders.gyroFilterSliderValue = 1; TuningSliders.sliderGyroFilterMultiplier = 1;
TuningSliders.calculateNewGyroFilters(); TuningSliders.calculateNewGyroFilters();
} else if (slider.is('#tuningDTermFilterSlider')) { } else if (slider.is('#sliderDTermFilterMultiplier')) {
TuningSliders.dtermFilterSliderValue = 1; TuningSliders.sliderDTermFilterMultiplier = 1;
TuningSliders.calculateNewDTermFilters(); TuningSliders.calculateNewDTermFilters();
} }
TuningSliders.updateFilterSlidersDisplay(); TuningSliders.updateFilterSlidersDisplay();
}); });
// enable PID sliders button // enable PID sliders button
$('a.buttonFilterTuningSliders').click(function() { $('a.buttonFilterTuningSliders').click(function() {
if (TuningSliders.filterGyroSliderUnavailable) { if (TuningSliders.sliderGyroFilter) {
// update switchery dynamically based on defaults // update switchery dynamically based on defaults
$('input[id="gyroLowpassDynEnabled"]').prop('checked', false).click(); $('input[id="gyroLowpassDynEnabled"]').prop('checked', false).click();
$('input[id="gyroLowpassEnabled"]').prop('checked', true).click(); $('input[id="gyroLowpassEnabled"]').prop('checked', true).click();
@ -1920,7 +1936,7 @@ TABS.pid_tuning.initialize = function (callback) {
TuningSliders.resetGyroFilterSlider(); TuningSliders.resetGyroFilterSlider();
self.analyticsChanges['GyroFilterTuningSlider'] = "On"; self.analyticsChanges['GyroFilterTuningSlider'] = "On";
} }
if (TuningSliders.filterDTermSliderUnavailable) { if (TuningSliders.sliderDTermFilter) {
$('input[id="dtermLowpassDynEnabled"]').prop('checked', false).click(); $('input[id="dtermLowpassDynEnabled"]').prop('checked', false).click();
$('input[id="dtermLowpassEnabled"]').prop('checked', true).click(); $('input[id="dtermLowpassEnabled"]').prop('checked', true).click();
$('input[id="dtermLowpass2Enabled"]').prop('checked', false).click(); $('input[id="dtermLowpass2Enabled"]').prop('checked', false).click();
@ -1937,10 +1953,10 @@ TABS.pid_tuning.initialize = function (callback) {
// update on filter value or type changes // update on filter value or type changes
$('.pid_filter tr:not(.newFilter) input, .pid_filter tr:not(.newFilter) select').on('input', function() { $('.pid_filter tr:not(.newFilter) input, .pid_filter tr:not(.newFilter) select').on('input', function() {
TuningSliders.updateFilterSlidersDisplay(); TuningSliders.updateFilterSlidersDisplay();
if (TuningSliders.filterGyroSliderUnavailable) { if (TuningSliders.sliderGyroFilter) {
self.analyticsChanges['GyroFilterTuningSlider'] = "Off"; self.analyticsChanges['GyroFilterTuningSlider'] = "Off";
} }
if (TuningSliders.filterDTermSliderUnavailable) { if (TuningSliders.sliderDTermFilter) {
self.analyticsChanges['DTermFilterTuningSlider'] = "Off"; self.analyticsChanges['DTermFilterTuningSlider'] = "Off";
} }
}); });
@ -1997,6 +2013,13 @@ TABS.pid_tuning.initialize = function (callback) {
return MSP.promise(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING)); return MSP.promise(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING));
}).then(function () { }).then(function () {
return MSP.promise(MSPCodes.MSP_SET_FEATURE_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE_CONFIG)); return MSP.promise(MSPCodes.MSP_SET_FEATURE_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE_CONFIG));
}).then(function () {
let promise;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
promise = MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS));
}
return promise;
}).then(function () { }).then(function () {
return MSP.promise(MSPCodes.MSP_EEPROM_WRITE); return MSP.promise(MSPCodes.MSP_EEPROM_WRITE);
}).then(function () { }).then(function () {

82
src/tabs/pid_tuning.html
View file

@ -169,10 +169,16 @@
</div> </div>
<!-- TUNING SLIDERS--> <!-- TUNING SLIDERS-->
<div class="gui_box grey topspacer tuningPIDSliders"> <div id="slidersPidsBox" class="gui_box grey topspacer tuningPIDSliders">
<table class="pid_titlebar"> <table class="pid_titlebar">
<tr> <tr>
<th scope="col" class="sm-min"></th> <th scope="col" class="sm-min">
<select id="sliderPidsModeSelect">
<option value="0">OFF</option>
<option value="1">RP</option>
<option value="2">RPY</option>
<select>
</th>
<th></th> <th></th>
<th i18n="pidTuningSliderLow"></th> <th i18n="pidTuningSliderLow"></th>
<th i18n="pidTuningSliderDefault"></th> <th i18n="pidTuningSliderDefault"></th>
@ -193,10 +199,10 @@
<span i18n="pidTuningMasterSlider"></span> <span i18n="pidTuningMasterSlider"></span>
</td> </td>
<td> <td>
<output type="number" name="tuningMasterSlider-number"></output> <output type="number" name="sliderMasterMultiplier-number"></output>
</td> </td>
<td colspan="3"> <td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="tuningMasterSlider" /> <input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderMasterMultiplier" />
</td> </td>
<td> <td>
<div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div> <div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div>
@ -209,13 +215,41 @@
</tr> </tr>
<tr> <tr>
<td class="sm-min"> <td class="sm-min">
<span i18n="pidTuningPDRatioSlider"></span> <span i18n="pidTuningRollPitchRatioSlider"/>
</td> </td>
<td> <td>
<output type="number" name="tuningPDRatioSlider-number"></output> <output type="number" name="sliderRollPitchRatio-number"></output>
</td> </td>
<td colspan="3"> <td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="tuningPDRatioSlider" /> <input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderRollPitchRatio" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningRollPitchRatioSliderHelp"></div>
</td>
</tr>
<tr>
<td>
<span i18n="pidTuningIGainSlider"/>
</td>
<td>
<output type="number" name="sliderIGain-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderIGain" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningIGainSliderHelp"></div>
</td>
</tr>
<tr>
<td>
<span i18n="pidTuningPDRatioSlider"/>
</td>
<td>
<output type="number" name="sliderPDRatio-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderPDRatio" />
</td> </td>
<td> <td>
<div class="helpicon cf_tip" i18n_title="pidTuningPDRatioSliderHelp"></div> <div class="helpicon cf_tip" i18n_title="pidTuningPDRatioSliderHelp"></div>
@ -231,10 +265,10 @@
<span i18n="pidTuningPDGainSlider"></span> <span i18n="pidTuningPDGainSlider"></span>
</td> </td>
<td> <td>
<output type="number" name="tuningPDGainSlider-number"></output> <output type="number" name="sliderPDGain-number"></output>
</td> </td>
<td colspan="3"> <td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="tuningPDGainSlider" /> <input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderPDGain" />
</td> </td>
<td> <td>
<div class="helpicon cf_tip" i18n_title="pidTuningPDGainSliderHelp"></div> <div class="helpicon cf_tip" i18n_title="pidTuningPDGainSliderHelp"></div>
@ -247,13 +281,27 @@
</tr> </tr>
<tr> <tr>
<td class="sm-min"> <td class="sm-min">
<span i18n="pidTuningResponseSlider"></span> <span i18n="pidTuningDMinRatioSlider"/>
</td> </td>
<td> <td>
<output type="number" name="tuningResponseSlider-number"></output> <output type="number" name="sliderDMinRatio-number"></output>
</td> </td>
<td colspan="3"> <td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="tuningResponseSlider" /> <input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderDMinRatio" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningDMinRatioSliderHelp"></div>
</td>
</tr>
<tr>
<td>
<span i18n="pidTuningResponseSlider"/>
</td>
<td>
<output type="number" name="sliderFFGain-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderFFGain" />
</td> </td>
<td> <td>
<div class="helpicon cf_tip" i18n_title="pidTuningResponseSliderHelp"></div> <div class="helpicon cf_tip" i18n_title="pidTuningResponseSliderHelp"></div>
@ -1016,7 +1064,7 @@
</div> </div>
<!-- Filter Slider --> <!-- Filter Slider -->
<div class="gui_box grey topspacer tuningFilterSliders"> <div id="slidersFilterBox"class="gui_box grey topspacer tuningFilterSliders">
<table class="pid_titlebar"> <table class="pid_titlebar">
<tr> <tr>
<th scope="col" class="sm-min"></th> <th scope="col" class="sm-min"></th>
@ -1040,10 +1088,10 @@
<span i18n="pidTuningGyroFilterSlider"></span> <span i18n="pidTuningGyroFilterSlider"></span>
</td> </td>
<td> <td>
<output type="number" name="tuningGyroFilterSlider-number"></output> <output type="number" name="sliderGyroFilterMultiplier-number"></output>
</td> </td>
<td colspan="3"> <td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="tuningGyroFilterSlider" /> <input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderGyroFilterMultiplier" />
</td> </td>
<td> <td>
<div class="helpicon cf_tip" i18n_title="pidTuningGyroFilterSliderHelp"></div> <div class="helpicon cf_tip" i18n_title="pidTuningGyroFilterSliderHelp"></div>
@ -1059,10 +1107,10 @@
<span i18n="pidTuningDTermFilterSlider"></span> <span i18n="pidTuningDTermFilterSlider"></span>
</td> </td>
<td> <td>
<output type="number" name="tuningDTermFilterSlider-number"></output> <output type="number" name="sliderDTermFilterMultiplier-number"></output>
</td> </td>
<td colspan="3"> <td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="tuningDTermFilterSlider" /> <input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderDTermFilterMultiplier" />
</td> </td>
<td> <td>
<div class="helpicon cf_tip" i18n_title="pidTuningDTermFilterSliderHelp"></div> <div class="helpicon cf_tip" i18n_title="pidTuningDTermFilterSliderHelp"></div>