From 5a134398971e923c878bf012f6072e29dd27fa68 Mon Sep 17 00:00:00 2001
From: Asizon <43983086+Asizon@users.noreply.github.com>
Date: Sun, 7 Nov 2021 10:22:17 +0100
Subject: [PATCH 1/2] fix integrated yaw usage

move code to pidtuning.js

fix tuningsliders
---
 src/js/tabs/pid_tuning.js | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 89ae49eb..26ae6880 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -547,6 +547,10 @@ TABS.pid_tuning.initialize = function (callback) {
 
         $('input[id="useIntegratedYaw"]').change(function() {
             const checked = $(this).is(':checked');
+            if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
+                this.sliderPidsMode = 0;
+            }
+            $('#pid_main .pid_data input').prop('disabled', !checked);
             $('#pidTuningIntegratedYawCaution').toggle(checked);
         }).change();
 

From 476ba71e63bdb539b986a057b3dceda196e65a6b Mon Sep 17 00:00:00 2001
From: Asizon <43983086+Asizon@users.noreply.github.com>
Date: Wed, 8 Dec 2021 09:34:33 +0100
Subject: [PATCH 2/2] disable only if rpy

---
 src/js/TuningSliders.js   |  6 ++++--
 src/js/tabs/pid_tuning.js | 32 +++++++++++++++++++++++++-------
 2 files changed, 29 insertions(+), 9 deletions(-)

diff --git a/src/js/TuningSliders.js b/src/js/TuningSliders.js
index d71d24c9..965e336e 100644
--- a/src/js/TuningSliders.js
+++ b/src/js/TuningSliders.js
@@ -405,8 +405,10 @@ TuningSliders.updatePidSlidersDisplay = function() {
         });
     });
 
-    if ($('input[id="useIntegratedYaw"]').is(':checked')) {
-        this.pidSlidersUnavailable = true;
+    if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
+        if ($('input[id="useIntegratedYaw"]').is(':checked')) {
+            this.pidSlidersUnavailable = true;
+        }
     }
 
     if (!this.pidSlidersUnavailable) {
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 26ae6880..d501a6dd 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -547,10 +547,10 @@ TABS.pid_tuning.initialize = function (callback) {
 
         $('input[id="useIntegratedYaw"]').change(function() {
             const checked = $(this).is(':checked');
-            if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
-                this.sliderPidsMode = 0;
+            // 4.3 firmware has RP mode.
+            if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
+                $('#pid_main .pid_data input').prop('disabled', !checked);
             }
-            $('#pid_main .pid_data input').prop('disabled', !checked);
             $('#pidTuningIntegratedYawCaution').toggle(checked);
         }).change();
 
@@ -1806,9 +1806,11 @@ TABS.pid_tuning.initialize = function (callback) {
             });
         });
 
+        // exclude integratedYaw from setDirty for 4.3 as it uses RP mode.
         $('#pid-tuning').find('input').each(function (k, item) {
             if ($(item).attr('class') !== "feature toggle"
-                && $(item).attr('class') !== "nonProfile") {
+                && $(item).attr('class') !== "nonProfile"
+                && (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) && $(item).attr('id'))) {
                 $(item).change(function () {
                     self.setDirty(true);
                 });
@@ -1931,12 +1933,23 @@ TABS.pid_tuning.initialize = function (callback) {
                 });
             }
 
-            // disable slides if Integrated Yaw is enabled or Slider PID mode is set to OFF
-            $('input[id="useIntegratedYaw"]').change(() => TuningSliders.updatePidSlidersDisplay());
+            const useIntegratedYaw = $('input[id="useIntegratedYaw"]');
+
+            useIntegratedYaw.on('change', () => {
+                if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
+                    // set slider to RP mode if Integrated Yaw is enabled and sliders are enabled
+                    if (useIntegratedYaw.is(':checked') && TuningSliders.sliderPidsMode) {
+                        sliderPidsModeSelect.val(1).trigger('change');
+                    }
+                } else {
+                    // disable sliders if Integrated Yaw is enabled or Slider PID mode is set to OFF
+                    TuningSliders.updatePidSlidersDisplay();
+                }
+            });
 
             // trigger Slider Display update when PID mode is changed
             if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
-                $('select[id="sliderPidsModeSelect"]').on('change', function () {
+                sliderPidsModeSelect.on('change', function () {
                     const setMode = parseInt($(this).val());
 
                     TuningSliders.sliderPidsMode = setMode;
@@ -1947,6 +1960,11 @@ TABS.pid_tuning.initialize = function (callback) {
                     const disableRP = !!setMode;
                     const disableY = setMode > 1;
 
+                    // disable Integrated Yaw when going into RPY mode
+                    if (setMode === 2) {
+                        useIntegratedYaw.prop('checked', false).trigger('change');
+                    }
+
                     $('#pid_main .ROLL .pid_data input, #pid_main .PITCH .pid_data input').each(function() {
                         $(this).prop('disabled', disableRP);
                     });