Independent rates settings for roll and pitch

src/js/fc.js

@@ -155,6 +155,8 @@ var FC = {
             dynamic_THR_breakpoint:     0,
             RC_YAW_EXPO:                0,
             rcYawRate:                  0,
+            rcPitchRate:                0,
+            RC_PITCH_EXPO:              0,
         };
 
         AUX_CONFIG =                    [];

src/js/msp/MSPHelper.js

@@ -313,6 +313,13 @@ MspHelper.prototype.process_data = function(dataHandler) {
                 } else {
                     RC_tuning.RC_YAW_EXPO = 0;
                 }
+                if (semver.gte(CONFIG.apiVersion, "1.37.0")) {
+                    RC_tuning.rcPitchRate = parseFloat((data.readU8() / 100).toFixed(2));
+                    RC_tuning.RC_PITCH_EXPO = parseFloat((data.readU8() / 100).toFixed(2));
+                } else {
+                    RC_tuning.rcPitchRate = 0;
+                    RC_tuning.RC_PITCH_EXPO = 0;
+                }
                 break;
             case MSPCodes.MSP_PID:
                 // PID data arrived, we need to scale it and save to appropriate bank / array
@@ -1325,6 +1332,10 @@ MspHelper.prototype.crunch = function(code) {
                     buffer.push8(Math.round(RC_tuning.rcYawRate * 100));
                 }
             }
+            if (semver.gte(CONFIG.apiVersion, "1.37.0")) {
+                buffer.push8(Math.round(RC_tuning.rcPitchRate * 100));
+                buffer.push8(Math.round(RC_tuning.RC_PITCH_EXPO * 100));
+            }
             break;
         case MSPCodes.MSP_SET_RX_MAP:
             for (var i = 0; i < RC_MAP.length; i++) {

src/js/tabs/pid_tuning.js

@@ -163,6 +163,11 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.antigravity').hide();
         }
 
+        if (semver.gte(CONFIG.apiVersion, "1.37.0")) {
+            $('.pid_tuning input[name="rc_rate_pitch"]').val(RC_tuning.rcPitchRate.toFixed(2));
+            $('.pid_tuning input[name="rc_pitch_expo"]').val(RC_tuning.RC_PITCH_EXPO.toFixed(2));
+        }
+
         if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
 
             $('.pid_filter input[name="gyroLowpass2Frequency"]').val(FILTER_CONFIG.gyro_lowpass2_hz);
@@ -437,6 +442,8 @@ TABS.pid_tuning.initialize = function (callback) {
         RC_tuning.RC_EXPO = parseFloat($('.pid_tuning input[name="rc_expo"]').val());
         RC_tuning.RC_YAW_EXPO = parseFloat($('.pid_tuning input[name="rc_yaw_expo"]').val());
         RC_tuning.rcYawRate = parseFloat($('.pid_tuning input[name="rc_rate_yaw"]').val());
+        RC_tuning.rcPitchRate = parseFloat($('.pid_tuning input[name="rc_rate_pitch"]').val());
+        RC_tuning.RC_PITCH_EXPO = parseFloat($('.pid_tuning input[name="rc_pitch_expo"]').val());
 
         RC_tuning.throttle_MID = parseFloat($('.throttle input[name="mid"]').val());
         RC_tuning.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val());
@@ -642,6 +649,8 @@ TABS.pid_tuning.initialize = function (callback) {
             rc_rate_yaw:   RC_tuning.rcYawRate,
             rc_expo:       RC_tuning.RC_EXPO,
             rc_yaw_expo:   RC_tuning.RC_YAW_EXPO,
+            rc_rate_pitch: RC_tuning.rcPitchRate,
+            rc_pitch_expo: RC_tuning.RC_PITCH_EXPO,
             superexpo:   FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'),
             deadband: RC_DEADBAND_CONFIG.deadband,
             yawDeadband: RC_DEADBAND_CONFIG.yaw_deadband
@@ -665,6 +674,11 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.pid_tuning .levelSensitivityHeader').empty();
         }
 
+        if (semver.lt(CONFIG.apiVersion, "1.37.0")) {
+            self.currentRates.rc_rate_pitch = self.currentRates.rc_rate;
+            self.currentRates.rc_expo_pitch = self.currentRates.rc_expo;
+        }
+
         $('.tab-pid_tuning .tab_container .pid').on('click', function () {
             $('.tab-pid_tuning .subtab-pid').show();
             $('.tab-pid_tuning .subtab-filter').hide();
@@ -950,6 +964,16 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.pid_tuning .roll_pitch_rate').hide();
         }
 
+        if (semver.gte(CONFIG.apiVersion, "1.37.0")) {
+            $('.pid_tuning .bracket').hide();
+            $('.pid_tuning input[name=rc_rate]').parent().css('background-color', '')
+            $('.pid_tuning input[name=rc_rate]').parent().attr('rowspan', 1)
+            $('.pid_tuning input[name=rc_expo]').parent().attr('rowspan', 1)
+        } else {
+            $('.pid_tuning input[name=rc_rate_pitch]').parent().hide()
+            $('.pid_tuning input[name=rc_pitch_expo]').parent().hide()
+        }
+
         if (useLegacyCurve) {
             $('.new_rates').hide();
         }
@@ -996,6 +1020,14 @@ TABS.pid_tuning.initialize = function (callback) {
 
                         updateNeeded = true;
                     }
+
+                    if (targetElement.attr('name') === 'rc_rate' && semver.lt(CONFIG.apiVersion, "1.37.0")) {
+                        self.currentRates.rc_rate_pitch = targetValue;
+                    }
+
+                    if (targetElement.attr('name') === 'rc_expo' && semver.lt(CONFIG.apiVersion, "1.37.0")) {
+                        self.currentRates.rc_pitch_expo = targetValue;
+                    }
                 } else { // no event was passed, just force a graph update
                     updateNeeded = true;
                 }
@@ -1009,7 +1041,7 @@ TABS.pid_tuning.initialize = function (callback) {
                     if (!useLegacyCurve) {
                         maxAngularVel = Math.max(
                             printMaxAngularVel(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.maxAngularVelRollElement),
-                            printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.maxAngularVelPitchElement),
+                            printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.maxAngularVelPitchElement),
                             printMaxAngularVel(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.maxAngularVelYawElement));
 
                         // make maxAngularVel multiple of 200deg/s so that the auto-scale doesn't keep changing for small changes of the maximum curve
@@ -1023,7 +1055,7 @@ TABS.pid_tuning.initialize = function (callback) {
 
                     curveContext.lineWidth = 2 * lineScale;
                     drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, '#ff0000', 0, curveContext);
-                    drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, '#00ff00', -4, curveContext);
+                    drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, '#00ff00', -4, curveContext);
                     drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, maxAngularVel, '#0000ff', 4, curveContext);
 
                     self.updateRatesLabels();
@@ -1532,7 +1564,7 @@ TABS.pid_tuning.updateRatesLabels = function() {
 
             if(RC.channels[0] && RC.channels[1] && RC.channels[2]) {
                 currentValues.push(self.rateCurve.drawStickPosition(RC.channels[0], self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, stickContext, '#FF8080') + ' deg/s');
-                currentValues.push(self.rateCurve.drawStickPosition(RC.channels[1], self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, stickContext, '#80FF80') + ' deg/s');
+                currentValues.push(self.rateCurve.drawStickPosition(RC.channels[1], self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, stickContext, '#80FF80') + ' deg/s');
                 currentValues.push(self.rateCurve.drawStickPosition(RC.channels[2], self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, maxAngularVel, stickContext, '#8080FF') + ' deg/s');
             } else {
                 currentValues = [];

src/js/tabs/receiver.js

@@ -575,7 +575,7 @@ TABS.receiver.renderModel = function () {
         var delta = this.clock.getDelta();
 
         var roll  = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], RC_tuning.roll_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo, this.deadband),
-            pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], RC_tuning.pitch_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo, this.deadband),
+            pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], RC_tuning.pitch_rate, RC_tuning.rcPitchRate, RC_tuning.RC_PITCH_EXPO, this.useSuperExpo, this.deadband),
             yaw   = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], RC_tuning.yaw_rate, RC_tuning.rcYawRate, RC_tuning.RC_YAW_EXPO, this.useSuperExpo, this.yawDeadband);
 
         this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));

src/tabs/pid_tuning.html

@@ -113,8 +113,10 @@
                                 <td class="pid_data"><input type="number" name="i" step="1" min="0" max="200" /></td>
                                 <td class="pid_data"><input type="number" name="d" step="1" min="0" max="200" /></td>
                                 <td class="pid_data"><input type="number" name="f" step="1" min="0" max="2000" /></td>
+                                <td><input type="number" name="rc_rate_pitch" step="0.01" min="0" max="2.55" /></td>
                                 <td class="pitch_rate"><input type="number" name="pitch_rate" step="0.01" min="0" max="1.00" /></td>
                                 <td class="new_rates maxAngularVelPitch"></td>
+                                <td><input type="number" name="rc_pitch_expo" step="0.01" min="0" max="1" /></td>
                             </tr>
                             <tr class="YAW">
                                 <!-- 2 -->