hover point throttle curve adjustment (#4245)

* hover point throttle curve adjustment

* added throttle_HOVER reading/writing via MSP

* moved throttle_HOVER position

locales/en/messages.json

@@ -2338,6 +2338,9 @@
     "receiverThrottleExpo": {
         "message": "Throttle EXPO"
     },
+    "receiverThrottleHover": {
+        "message": "Hover Point"
+    },
     "receiverStickMin": {
         "message": "'Stick Low' Threshold"
     },

src/js/fc.js

@@ -295,6 +295,7 @@ const FC = {
             pitch_rate_limit: 1998,
             yaw_rate_limit: 1998,
             rates_type: 0,
+            throttle_HOVER: 0,
         };
 
         this.AUX_CONFIG = [];

src/js/msp/MSPHelper.js

@@ -466,6 +466,7 @@ MspHelper.prototype.process_data = function (dataHandler) {
                     FC.RC_TUNING.pitch_rate_limit = data.readU16();
                     FC.RC_TUNING.yaw_rate_limit = data.readU16();
                     FC.RC_TUNING.rates_type = data.readU8();
+                    FC.RC_TUNING.throttle_HOVER = parseFloat((data.readU8() / 100).toFixed(2));
                     break;
                 case MSPCodes.MSP_PID:
                     // PID data arrived, we need to scale it and save to appropriate bank / array
@@ -1839,6 +1840,11 @@ MspHelper.prototype.crunch = function (code, modifierCode = undefined) {
 
             // Introduced in 1.43
             buffer.push8(FC.RC_TUNING.rates_type);
+
+            // Introduced in 1.47
+            if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
+                buffer.push8(Math.round(FC.RC_TUNING.throttle_HOVER * 100));
+            }
             break;
         case MSPCodes.MSP_SET_RX_MAP:
             for (let i = 0; i < FC.RC_MAP.length; i++) {

src/js/tabs/pid_tuning.js

@@ -123,6 +123,7 @@ pid_tuning.initialize = function (callback) {
 
         $('.throttle input[name="mid"]').val(FC.RC_TUNING.throttle_MID.toFixed(2));
         $('.throttle input[name="expo"]').val(FC.RC_TUNING.throttle_EXPO.toFixed(2));
+        $('.throttle input[name="hover"]').val(FC.RC_TUNING.throttle_HOVER.toFixed(2));
 
         if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
             // Moved tpa to profile
@@ -890,6 +891,7 @@ pid_tuning.initialize = function (callback) {
 
         FC.RC_TUNING.throttle_MID = parseFloat($('.throttle input[name="mid"]').val());
         FC.RC_TUNING.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val());
+        FC.RC_TUNING.throttle_HOVER = parseFloat($('.throttle input[name="hover"]').val());
 
         if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
             FC.ADVANCED_TUNING.tpaMode = $('select[id="tpaMode"]').val();
@@ -1605,10 +1607,12 @@ pid_tuning.initialize = function (callback) {
             // let global validation trigger and adjust the values first
             const throttleMidE = $('.throttle input[name="mid"]');
             const throttleExpoE = $('.throttle input[name="expo"]');
+            const throttleHoverE = $('.throttle input[name="hover"]');
             const throttleLimitPercentE = $('.throttle_limit input[name="throttleLimitPercent"]');
             const throttleLimitTypeE = $('.throttle_limit select[id="throttleLimitType"]');
             const mid = parseFloat(throttleMidE.val());
             const expo = parseFloat(throttleExpoE.val());
+            const hover = parseFloat(throttleHoverE.val());
             const throttleLimitPercent = parseInt(throttleLimitPercentE.val()) / 100;
             const throttleLimitType = parseInt(throttleLimitTypeE.val());
             const throttleCurve = $(".throttle .throttle_curve canvas").get(0);
@@ -1619,7 +1623,9 @@ pid_tuning.initialize = function (callback) {
                 mid >= parseFloat(throttleMidE.prop("min")) &&
                 mid <= parseFloat(throttleMidE.prop("max")) &&
                 expo >= parseFloat(throttleExpoE.prop("min")) &&
-                expo <= parseFloat(throttleExpoE.prop("max"))
+                expo <= parseFloat(throttleExpoE.prop("max")) &&
+                hover >= parseFloat(throttleHoverE.prop("min")) &&
+                hover <= parseFloat(throttleHoverE.prop("max"))
             ) {
                 // continue
             } else {
@@ -1635,11 +1641,11 @@ pid_tuning.initialize = function (callback) {
             // math magic by englishman
             const topY = canvasHeight * (1 - throttleScale);
             const midX = canvasWidth * mid;
-            const midXl = midX * 0.5;
+            const midXl = midX * (1 - expo);
-            const midXr = (canvasWidth - midX) * 0.5 + midX;
+            const midXr = (canvasWidth - midX) * expo + midX;
-            const midY = canvasHeight - throttleScale * (midX * (canvasHeight / canvasWidth));
+            const midY = (canvasHeight - throttleScale) * (1 - hover);
-            const midYl = canvasHeight - (canvasHeight - midY) * 0.5 * (expo + 1);
+            const midYl = midY;
-            const midYr = topY + (midY - topY) * 0.5 * (expo + 1);
+            const midYr = midY;
 
             let thrPercent = (FC.RC.channels[3] - 1000) / 1000,
                 thrpos =

src/tabs/pid_tuning.html

@@ -1062,12 +1062,14 @@
                             <thead>
                                 <tr>
                                     <th i18n="receiverThrottleMid"></th>
+                                    <th i18n="receiverThrottleHover"></th>
                                     <th i18n="receiverThrottleExpo"></th>
                                 </tr>
                             </thead>
                             <tbody>
                                 <tr>
                                     <td><input type="number" name="mid" step="0.01" min="0" max="1" /></td>
+                                    <td><input type="number" name="hover" step="0.01" min="0" max="1" value="0.5"/></td>
                                     <td><input type="number" name="expo" step="0.01" min="0" max="1" /></td>
                                 </tr>
                             </tbody>