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Mark Haslinghuis 2021-09-27 19:29:02 +02:00
parent 2e0334c114
commit 48659bd6ec
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GPG key ID: 198B0F616296A584
7 changed files with 195 additions and 183 deletions
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107
src/js/TuningSliders.js
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@ -132,27 +132,31 @@ TuningSliders.initialize = function() {
TuningSliders.setExpertMode = function() {
this.expertMode = isExpertModeEnabled();
$('#slidersPidsBox, #slidersFilterBox').toggleClass('nonExpertModeSliders', !this.expertMode);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
// TODO: reset nonExpertModeSliders - changes after first movement
$('.tab-pid_tuning .DMaxGainSlider').toggle(this.expertMode);
$('.tab-pid_tuning .advancedSlider').toggle(this.expertMode);
$('.tab-pid_tuning .masterSlider').toggle(this.expertMode);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
document.getElementById('sliderDMaxGain').disabled = !this.expertMode;
document.getElementById('sliderIGain').disabled = !this.expertMode;
document.getElementById('sliderRollPitchRatio').disabled = !this.expertMode;
document.getElementById('sliderPitchPIGain').disabled = !this.expertMode;
document.getElementById('sliderMasterMultiplier').disabled = !this.expertMode;
$('.advancedSlider').toggleClass('disabledSliders', !this.expertMode);
$('.tab-pid_tuning .legacySlider').hide();
$('.legacyNonExpertModeSlidersNote').hide();
$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
$('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.GyroSliderUnavailable || !this.DTermSliderUnavailable) && !this.expertMode);
} else {
const dMinShow = parseInt($('.pid_tuning input[name="dMinRoll"]').val()) !== 0;
$('.tab-pid_tuning .DMaxGainSlider').toggle(this.expertMode && dMinShow);
$('.tab-pid_tuning .advancedSlider').hide();
$('.tab-pid_tuning .DMaxGainSlider').hide();
$('#slidersPidsBox, #slidersFilterBox').toggleClass('nonExpertModeSliders', !this.expertMode);
$('.tab-pid_tuning .baseSlider').hide();
$('.tab-pid_tuning .advancedSlider').hide();
$('.nonExpertModeSlidersNote').hide();
$('.subtab-pid .legacyNonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
$('.subtab-filter .legacyNonExpertModeSlidersNote').toggle((!this.GyroSliderUnavailable || !this.DTermSliderUnavailable) && !this.expertMode);
}
};
TuningSliders.scaleSliderValue = function(value) {
if (value > 0) {
if (value > 1) {
return Math.round(((value - 1) * 2 + 1) * 100) / 100;
} else {
return value;
@ -160,7 +164,7 @@ TuningSliders.scaleSliderValue = function(value) {
};
TuningSliders.downscaleSliderValue = function(value) {
if (value > 0) {
if (value > 1) {
return (value - 1) / 2 + 1;
} else {
return value;
@ -188,14 +192,15 @@ TuningSliders.initPidSlidersPosition = function() {
$('output[name="sliderPitchPIGain-number"]').val(this.sliderPitchPIGain);
$('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
$('#sliderDGain').val(this.downscaleSliderValue(this.sliderDGain));
$('#sliderPIGain').val(this.downscaleSliderValue(this.sliderPIGain));
$('#sliderDGain').val(this.sliderDGain);
$('#sliderPIGain').val(this.sliderPIGain);
$('#sliderFeedforwardGain').val(this.sliderFeedforwardGain);
$('#sliderDMaxGain').val(this.sliderDMaxGain);
$('#sliderIGain').val(this.downscaleSliderValue(this.sliderIGain));
$('#sliderRollPitchRatio').val(this.downscaleSliderValue(this.sliderRollPitchRatio));
$('#sliderPitchPIGain').val(this.downscaleSliderValue(this.sliderPitchPIGain));
$('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
$('#sliderIGain').val(this.sliderIGain);
$('#sliderRollPitchRatio').val(this.sliderRollPitchRatio);
$('#sliderPitchPIGain').val(this.sliderPitchPIGain);
$('#sliderMasterMultiplier').val(this.sliderMasterMultiplier);
} else {
// 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
@ -221,16 +226,16 @@ TuningSliders.initPidSlidersPosition = function() {
};
TuningSliders.initGyroFilterSliderPosition = function() {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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;
} else {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
this.sliderGyroFilter = FC.TUNING_SLIDERS.slider_gyro_filter;
this.sliderGyroFilterMultiplier = FC.TUNING_SLIDERS.slider_gyro_filter_multiplier / 100;
} else {
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;
}
$('#sliderGyroFilterMultiplier').val(this.sliderGyroFilterMultiplier);
$('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
$('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier));
};
TuningSliders.initDTermFilterSliderPosition = function() {
@ -246,23 +251,6 @@ TuningSliders.initDTermFilterSliderPosition = function() {
$('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier);
};
TuningSliders.resetDefault = function() {
FC.TUNING_SLIDERS.slider_pids_mode = this.SLIDER_DEFAULT.slider_pids_mode;
FC.TUNING_SLIDERS.slider_d_gain = this.SLIDER_DEFAULT.slider_d_gain;
FC.TUNING_SLIDERS.slider_pi_gain = this.SLIDER_DEFAULT.slider_pi_gain;
FC.TUNING_SLIDERS.slider_feedforward_gain = this.SLIDER_DEFAULT.slider_feedforward_gain;
FC.TUNING_SLIDERS.slider_dmax_gain = this.SLIDER_DEFAULT.slider_dmax_gain;
FC.TUNING_SLIDERS.slider_i_gain = this.SLIDER_DEFAULT.slider_i_gain;
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = this.SLIDER_DEFAULT.slider_roll_pitch_ratio;
FC.TUNING_SLIDERS.slider_pitch_pi_gain = this.SLIDER_DEFAULT.slider_pitch_pi_gain;
FC.TUNING_SLIDERS.slider_master_multiplier = this.SLIDER_DEFAULT.slider_master_multiplier;
FC.TUNING_SLIDERS.slider_gyro_filter = this.SLIDER_DEFAULT.slider_gyro_filter;
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = this.SLIDER_DEFAULT.slider_gyro_filter_multiplier;
FC.TUNING_SLIDERS.slider_dterm_filter = this.SLIDER_DEFAULT.slider_dterm_filter;
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = this.SLIDER_DEFAULT.slider_dterm_filter_multiplier;
};
TuningSliders.resetPidSliders = function() {
if (!this.cachedPidSliderValues) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
@ -306,7 +294,7 @@ TuningSliders.resetGyroFilterSlider = function() {
this.initGyroFilterSliderPosition();
} else {
this.sliderGyroFilterMultiplier = 1;
$('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier));
$('#sliderGyroFilterMultiplier').val(this.sliderGyroFilterMultiplier);
}
this.FilterReset = true;
this.calculateNewGyroFilters();
@ -326,7 +314,7 @@ TuningSliders.resetDTermFilterSlider = function() {
this.initDTermFilterSliderPosition();
} else {
this.sliderDTermFilterMultiplier = 1;
$('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier));
$('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier);
}
this.FilterReset = true;
this.calculateNewDTermFilters();
@ -376,29 +364,35 @@ TuningSliders.updateSlidersWarning = function(slidersUnavailable = false) {
const WARNING_P_GAIN = 70;
let WARNING_I_GAIN = 120;
const WARNING_DMAX_GAIN = 60;
const WARNING_DMIN_GAIN = 40;
let WARNING_DMIN_GAIN = 40;
let condition;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
WARNING_I_GAIN = 2.5 * FC.PIDS[1][0];
WARNING_I_GAIN = 2.5 * FC.PIDS[0][0];
WARNING_DMIN_GAIN = 42;
condition = FC.PIDS[0][0] > WARNING_P_GAIN || FC.PIDS[0][1] > WARNING_I_GAIN || FC.PIDS[0][2] > WARNING_DMAX_GAIN || FC.ADVANCED_TUNING.dMinRoll > WARNING_DMIN_GAIN;
} else {
condition = FC.PIDS[1][0] > WARNING_P_GAIN || FC.PIDS[1][1] > WARNING_I_GAIN || FC.PIDS[1][2] > WARNING_DMAX_GAIN || FC.ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN;
}
$('.subtab-pid .slidersWarning').toggle((FC.PIDS[1][0] > WARNING_P_GAIN || FC.PIDS[1][1] > WARNING_I_GAIN || FC.PIDS[1][2] > WARNING_DMAX_GAIN ||
FC.ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !slidersUnavailable);
$('.subtab-pid .slidersWarning').toggle(condition && !slidersUnavailable);
};
TuningSliders.updateFilterSlidersWarning = function(gyroSliderUnavailable = false, DTermSliderUnavailable = false) {
const WARNING_FILTER_LOW_GAIN = 0.7;
let WARNING_FILTER_GYRO_HIGH_GAIN = 1.4;
let WARNING_FILTER_DTERM_HIGH_GAIN = 1.4;
let WARNING_FILTER_GYRO_LOW_GAIN = 0.7;
let WARNING_FILTER_GYRO_HIGH_GAIN = 1.25;
let WARNING_FILTER_DTERM_LOW_GAIN = 0.7;
const WARNING_FILTER_DTERM_HIGH_GAIN = 1.25;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
WARNING_FILTER_GYRO_HIGH_GAIN = 1.5;
WARNING_FILTER_DTERM_HIGH_GAIN = 1.1;
WARNING_FILTER_GYRO_LOW_GAIN = 0.45;
WARNING_FILTER_GYRO_HIGH_GAIN = 1.55;
WARNING_FILTER_DTERM_LOW_GAIN = 0.75;
}
$('.subtab-filter .slidersWarning').toggle(((this.sliderGyroFilterMultiplier >= WARNING_FILTER_GYRO_HIGH_GAIN ||
this.sliderGyroFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !gyroSliderUnavailable) ||
this.sliderGyroFilterMultiplier <= WARNING_FILTER_GYRO_LOW_GAIN) && !gyroSliderUnavailable) ||
((this.sliderDTermFilterMultiplier >= WARNING_FILTER_DTERM_HIGH_GAIN ||
this.sliderDTermFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !DTermSliderUnavailable));
this.sliderDTermFilterMultiplier <= WARNING_FILTER_DTERM_LOW_GAIN) && !DTermSliderUnavailable));
};
TuningSliders.updatePidSlidersDisplay = function() {
// check if pid values changed manually by comparing the current values with those calculated by the sliders,
// if all of them are equal the values haven't been changed manually
@ -434,7 +428,6 @@ TuningSliders.updatePidSlidersDisplay = function() {
if (this.sliderPidsMode === 0) {
this.pidSlidersUnavailable = true;
}
this.setExpertMode();
}
$('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable);
@ -594,7 +587,7 @@ TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
this.updateFormPids(updateSlidersOnly);
TABS.pid_tuning.updatePIDColors();
this.updateSlidersWarning();
};
TuningSliders.calculateNewPids = function(updateSlidersOnly = false) {
@ -634,6 +627,7 @@ TuningSliders.calculateLegacyGyroFilters = function() {
FC.FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type;
FC.FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type;
this.updateFilterSlidersWarning();
this.updateLowpassValues();
};
@ -645,6 +639,7 @@ TuningSliders.calculateLegacyDTermFilters = function() {
FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type;
FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type;
this.updateFilterSlidersWarning();
this.updateLowpassValues();
};