Merge branch 'add_filter_settings' of https://github.com/mikeller/betaflight-configurator

_locales/en/messages.json

@@ -776,8 +776,11 @@
     "pidTuningUpgradeFirmwareToChangePidController": {
         "message": "<span style=\"color: red\">Changing PID controller disabled - you can change it via the CLI.</span>  You have firmware with API version <span style=\"color: red\">$1</span>, but this functionality requires requires <span style=\"color: #ffbb00\">$2</span>."
     },
-    "pidTuningName": {
+    "pidTuningSubTabPid": {
-        "message": "Name"
+        "message": "PID Settings"
+    },
+    "pidTuningSubTabFilter": {
+        "message": "Filter Settings"
     },
     "pidTuningShowAllPids": {
         "message": "Show all PIDs"
@@ -1623,17 +1626,53 @@
     "pidTuningLevelHelp": {
         "message": "The values below change the behaviour of the ANGLE and HORIZON flight modes. Different PID controllers handle the values differently. Please check the documentation."
     },
-    "pidTuningLfpFilters": {
+  "pidTuningNonProfileFilterSettings": {
-        "message": "LFP Filters"
+    "message": "Profile independent Filter Settings"
   },
-    "pidTuningGyro": {
+  "pidTuningGyroLowpassFrequency": {
-        "message": "Gyro Soft (Hz)"
+    "message": "Gyro Soft Lowpass Frequency (Hz)"
   },
-    "pidTuningDTerm": {
+  "pidTuningGyroLowpassFrequencyHelp": {
-        "message": "D Term (Hz)"
+    "message": "Gyro Soft Lowpass Frequency (Hz)"
   },
-    "pidTuningYaw": {
+  "pidTuningGyroNotchFrequency": {
-        "message": "Yaw (Hz)"
+    "message": "Gyro Notch Filter Frequency (Hz)"
+  },
+  "pidTuningGyroNotchFrequencyHelp": {
+    "message": "Gyro Notch Filter Frequency (Hz)"
+  },
+  "pidTuningGyroNotchCutoff": {
+    "message": "Gyro Notch Filter Cutoff Frequency (Hz)"
+  },
+  "pidTuningGyroNotchCutoffHelp": {
+    "message": "Gyro Notch Filter Cutoff Frequency (Hz)"
+  },
+  "pidTuningFilterSettings": {
+    "message": "Filter Settings"
+  },
+  "pidTuningDTermLowpassFrequency": {
+    "message": "D Term Lowpass Frequency (Hz)"
+  },
+  "pidTuningDTermLowpassFrequencyHelp": {
+    "message": "D Term Lowpass Frequency (Hz)"
+  },
+  "pidTuningDTermNotchFrequency": {
+    "message": "D Term Notch Filter Frequency (Hz)"
+  },
+  "pidTuningDTermNotchFrequencyHelp": {
+    "message": "D Term Notch Filter Frequency (Hz)"
+  },
+  "pidTuningDTermNotchCutoff": {
+    "message": "D Term Notch Filter Cutoff (Hz)"
+  },
+  "pidTuningDTermNotchCutoffHelp": {
+    "message": "D Term Notch Filter Cutoff (Hz)"
+  },
+  "pidTuningYawLowpassFrequency": {
+    "message": "Yaw Lowpass Frequency (Hz)"
+  },
+  "pidTuningYawLowpassFrequencyHelp": {
+    "message": "Yaw Lowpass Frequency (Hz)"
   },
     "pidTuningVbatPidCompensation": {
         "message": "Vbat PID Compensation"

tabs/pid_tuning.css

@@ -242,7 +242,7 @@
     padding: 5px;
     text-align: left;
     border-right: 1px solid #ccc;
-    width: calc(100% -1px);
+    width: calc(100% - 1px);
 }
 
 .tab-pid_tuning .pid_titlebar th:first-child {
@@ -305,6 +305,33 @@
     border-radius: 0px;
 }
 
+.tab-pid_tuning .tab_container {
+    float: top;
+    width: 300px;
+    height: 20px;
+    border-right-width: 0px;
+}
+
+.tab-pid_tuning .tab_container td {
+    background-color: #2e2e2e;
+}
+
+.tab-pid_tuning .tab_container td a {
+    color: #999999;
+}
+
+.tab-pid_tuning .tab_container td.active {
+    background-color: #ffbb00;
+    color: #000;
+    transition: none;
+}
+
+.tab-pid_tuning .tab_container td.active a {
+    background-color: #ffbb00;
+    color: #000;
+    text-shadow: 0px 1px rgba(255, 255, 255, 0.45);
+}
+
 .tab-pid_tuning .single-field {
     display: inline-block;
     margin-bottom: 10px;
@@ -374,7 +401,7 @@
   border-bottom: 1px solid #ccc;
   color: #828282;
   /* font-family: 'open_sans', Arial; */
-  background-image: linear-gradient(-45deg, rgba(255, 255, 255, .2) 10%, transparent 10%, transparent 20%, rgba(255, 255, 255, .2) 20%, rgba(255, 255, 255, .2) 30%, transparent 30%, transparent 40%, rgba(255, 255, 255, .2) 40%, rgba(255, 255, 255, .2) 50%, transparent 50%, transparent 60%, rgba(255, 255, 255, .2) 60%, rgba(255, 255, 255, .2) 70%, transparent 70%, transparent 80%, rgba(255, 255, 255, .2) 80%, rgba(255, 255, 255, .2) 90%, transparent 90%, transparent 100%, rgba(255, 255, 255, .2) 100%, transparent);
+  background-image: linear-gradient(315deg, rgba(255, 255, 255, .2) 10%, transparent 10%, transparent 20%, rgba(255, 255, 255, .2) 20%, rgba(255, 255, 255, .2) 30%, transparent 30%, transparent 40%, rgba(255, 255, 255, .2) 40%, rgba(255, 255, 255, .2) 50%, transparent 50%, transparent 60%, rgba(255, 255, 255, .2) 60%, rgba(255, 255, 255, .2) 70%, transparent 70%, transparent 80%, rgba(255, 255, 255, .2) 80%, rgba(255, 255, 255, .2) 90%, transparent 90%, transparent 100%, rgba(255, 255, 255, .2) 100%, transparent);
 }
 
 .fancy.header th {
@@ -383,7 +410,6 @@
     padding-left: 5px;
 }
 
-
 .pid_mode {
     width: calc(100% - 5px);
     height: 20px;
@@ -399,7 +425,7 @@
     border-bottom: 1px solid #ccc;
     color: #828282;
     font-family: 'open_sans', Arial;
-    background-image: linear-gradient(-45deg, rgba(255, 255, 255, .2) 10%, transparent 10%, transparent 20%,
+    background-image: linear-gradient(315deg, rgba(255, 255, 255, .2) 10%, transparent 10%, transparent 20%,
         rgba(255, 255, 255, .2) 20%, rgba(255, 255, 255, .2) 30%, transparent 30%, transparent 40%,
         rgba(255, 255, 255, .2) 40%, rgba(255, 255, 255, .2) 50%, transparent 50%, transparent 60%,
         rgba(255, 255, 255, .2) 60%, rgba(255, 255, 255, .2) 70%, transparent 70%, transparent 80%,

tabs/pid_tuning.html

@@ -4,11 +4,6 @@
         <div class="cf_doc_version_bt">
             <a id="button-documentation" href="https://github.com/betaflight/betaflight/releases" target="_blank"></a>
         </div>
-        <div class="note" style="margin-bottom: 25px;">
-            <div class="note_spacer">
-                <p i18n="tuningHelp"></p>
-            </div>
-        </div>
         <div class="cf_column">
             <div class="profile single-field">
                 <div class="helpicon cf_tip" i18n_title="pidTuningProfileTip" style="margin-top: 5px;"></div>
@@ -50,10 +45,23 @@
                 </div>
             </div>
         </div>
+        <div class="tab_container">
+            <table>
+                <tr>
+                    <td class="pid active">
+                        <a href="#" i18n="pidTuningSubTabPid" />
+                    </td>
+                    <td class="filter">
+                        <a href="#" i18n="pidTuningSubTabFilter" />
+                    </td>
+                </tr>
+            </table>
+        </div>
         <form name="pid-tuning" id="pid-tuning">
+            <div class="subtab-pid">
                 <div class="clear-both"></div>
                 <div class="cf_column twothird">
-                <div class="gui_box grey">
+                    <div class="gui_box grey topspacer">
                         <table class="pid_titlebar">
                             <tr>
                                 <th class="name" i18n="pidTuningName"></th>
@@ -226,30 +234,6 @@
                             </tr>
                         </table>
                     </div>
-                <div id="pid_filter" class="gui_box grey topspacer pid_tuning">
-                    <table class="pid_titlebar">
-                        <tr>
-                            <th class="third" i18n="pidTuningGyro"></th>
-                            <th class="third" i18n="pidTuningDTerm"></th>
-                            <th class="third" i18n="pidTuningYaw"></th>
-                        </tr>
-                    </table>
-                    <table>
-                        <tr>
-                            <th colspan="3">
-                                <div class="pid_mode">
-                                    <div i18n="pidTuningLfpFilters" style="float: left;"> </div>
-                                    <div class="helpicon cf_tip" i18n_title="pidTuningFilterTip"></div>
-                                </div>
-                            </th>
-                        </tr>
-                        <tr>
-                            <td class="third"><input type="number" name="gyro" step="1" min="0" max="255" /></td>
-                            <td class="third"><input type="number" name="dterm" step="1" min="0" max="500" /></td>
-                            <td class="third"><input type="number" name="yaw" step="1" min="0" max="500" /></td>
-                        </tr>
-                    </table>
-                </div>
                     <div class="gui_box grey topspacer">
                         <table class="pid_titlebar new_rates">
                             <tr>
@@ -300,7 +284,7 @@
                         <table class="compensation">
                             <tr class="delta">
                                 <td>
-                                <select name="delta-select">
+                                    <select id="delta-select">
                                         <option value="0" i18n="pidTuningDeltaError"/>
                                         <option value="1" i18n="pidTuningDeltaMeasurement"/>
                                     </select>
@@ -338,7 +322,7 @@
                                     </div>
                                 </td>
                             </tr>
-                        <td><input type="checkbox" name="vbatpidcompensation" class="toggle" /></td>
+                            <td><input type="checkbox" id="vbatpidcompensation" class="toggle" /></td>
                                 <td colspan=2>
                                     <div>
                                         <label for="vbatpidcompensation">
@@ -463,6 +447,126 @@
                         </table>
                     </div>
                 </div>
+            </div>
+            <div class="subtab-filter" style="display: none;">
+                <div class="clear-both"></div>
+                <div class="note topspacer">
+                    <div class="note_spacer">
+                        <p i18n="tuningHelp"></p>
+                    </div>
+                </div>
+                <div class="cf_column twothird">
+                    <div class="gui_box grey topspacer pid_filter">
+                        <table class="pid_titlebar new_rates">
+                            <tr>
+                                <th i18n="pidTuningNonProfileFilterSettings"></th>
+                            </tr>
+                        </table>
+                        <table>
+                            <tr>
+                                <td>
+                                    <input type="number" class="nonProfile" name="gyroLowpassFrequency" step="1" min="0" max="255"/>
+                                </td>
+                                <td>
+                                    <div>
+                                        <label>
+                                            <span i18n="pidTuningGyroLowpassFrequency"></span>
+                                        </label>
+                                        <div class="helpicon cf_tip" i18n_title="pidTuningGyroLowpassFrequencyHelp"></div>
+                                    </div>
+                                </td>
+                            </tr>
+                            <tr class="newFilter">
+                                <td>
+                                    <input type="number" class="nonProfile" name="gyroNotchFrequency" step="1" min="0" max="500"/>
+                                </td>
+                                <td>
+                                    <div>
+                                        <label>
+                                            <span i18n="pidTuningGyroNotchFrequency"></span>
+                                        </label>
+                                        <div class="helpicon cf_tip" i18n_title="pidTuningGyroNotchFrequencyHelp"></div>
+                                    </div>
+                                </td>
+                            </tr>
+                            <tr class="newFilter">
+                                <td>
+                                    <input type="number" class="nonProfile" name="gyroNotchCutoff" step="1" min="0" max="500"/>
+                                </td>
+                                <td>
+                                    <div>
+                                        <label>
+                                            <span i18n="pidTuningGyroNotchCutoff"></span>
+                                        </label>
+                                        <div class="helpicon cf_tip" i18n_title="pidTuningGyroNotchCutoffHelp"></div>
+                                    </div>
+                                </td>
+                            </tr>
+                        </table>
+                    </div>
+                    <div class="gui_box grey topspacer pid_filter">
+                        <table class="pid_titlebar new_rates">
+                            <tr>
+                                <th i18n="pidTuningFilterSettings"></th>
+                            </tr>
+                        </table>
+                        <table>
+                            <tr>
+                                <td>
+                                    <input type="number" name="dtermLowpassFrequency" step="1" min="0" max="500"/>
+                                </td>
+                                <td>
+                                    <div>
+                                        <label>
+                                            <span i18n="pidTuningDtermLowpassFrequency"></span>
+                                        </label>
+                                        <div class="helpicon cf_tip" i18n_title="pidTuningDtermLowpassFrequencyHelp"></div>
+                                    </div>
+                                </td>
+                            </tr>
+                            <tr class="newFilter">
+                                <td>
+                                    <input type="number" name="dTermNotchFrequency" step="1" min="0" max="500"/>
+                                </td>
+                                <td>
+                                    <div>
+                                        <label>
+                                            <span i18n="pidTuningDTermNotchFrequency"></span>
+                                        </label>
+                                        <div class="helpicon cf_tip" i18n_title="pidTuningDTermNotchFrequencyHelp"></div>
+                                    </div>
+                                </td>
+                            </tr>
+                            <tr class="newFilter">
+                                <td>
+                                    <input type="number" name="dTermNotchCutoff" step="1" min="0" max="500"/>
+                                </td>
+                                <td>
+                                    <div>
+                                        <label>
+                                            <span i18n="pidTuningDTermNotchCutoff"></span>
+                                        </label>
+                                        <div class="helpicon cf_tip" i18n_title="pidTuningDTermNotchCutoffHelp"></div>
+                                    </div>
+                                </td>
+                            </tr>
+                            <tr>
+                                <td>
+                                    <input type="number" name="yawLowpassFrequency" step="1" min="0" max="500"/>
+                                </td>
+                                <td>
+                                    <div>
+                                        <label>
+                                            <span i18n="pidTuningYawLowpassFrequency"></span>
+                                        </label>
+                                        <div class="helpicon cf_tip" i18n_title="pidTuningYawLowpassFrequencyHelp"></div>
+                                    </div>
+                                </td>
+                            </tr>
+                        </table>
+                    </div>
+                </div>
+            </div>
         </form>
         <div class="clear-both"></div>
     </div>

tabs/pid_tuning.js

@@ -59,7 +59,7 @@ TABS.pid_tuning.initialize = function (callback) {
         }
 
         if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
-            $('input[name="vbatpidcompensation"]').prop('checked', ADVANCED_TUNING.vbatPidCompensation !== 0);
+            $('input[name="#vbatpidcompensation"]').prop('checked', ADVANCED_TUNING.vbatPidCompensation !== 0);
         }
 
         if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
@@ -227,7 +227,6 @@ TABS.pid_tuning.initialize = function (callback) {
         $('.pid_tuning input[name="yaw_rate"]').val(RC_tuning.yaw_rate.toFixed(2));
         $('.pid_tuning input[name="rc_expo"]').val(RC_tuning.RC_EXPO.toFixed(2));
         $('.pid_tuning input[name="rc_yaw_expo"]').val(RC_tuning.RC_YAW_EXPO.toFixed(2));
-        $('.pid_tuning input[name="rc_rate_yaw"]').val(RC_tuning.rcYawRate.toFixed(2));
 
         $('.throttle input[name="mid"]').val(RC_tuning.throttle_MID.toFixed(2));
         $('.throttle input[name="expo"]').val(RC_tuning.throttle_EXPO.toFixed(2));
@@ -240,14 +239,25 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3");
         }
 
-        $('.pid_tuning input[name="gyro"]').val(FILTER_CONFIG.gyro_soft_lpf_hz);
+        if (semver.gte(CONFIG.flightControllerVersion, '2.9.0')) {
-        $('.pid_tuning input[name="dterm"]').val(FILTER_CONFIG.dterm_lpf_hz);
+            $('.pid_tuning input[name="rc_rate_yaw"]').val(RC_tuning.rcYawRate.toFixed(2));
-        $('.pid_tuning input[name="yaw"]').val(FILTER_CONFIG.yaw_lpf_hz);
+            $('.pid_filter input[name="gyroLowpassFrequency"]').val(FILTER_CONFIG.gyro_soft_lpf_hz);
-
+            $('.pid_filter input[name="dtermLowpassFrequency"]').val(FILTER_CONFIG.dterm_lpf_hz);
-        if (semver.lt(CONFIG.flightControllerVersion, "2.9.0")) {
+            $('.pid_filter input[name="yawLowpassFrequency"]').val(FILTER_CONFIG.yaw_lpf_hz);
-            $('.pid_filter').hide();
+        } else {
+            $('.tab-pid_tuning .subtab-filter').hide();
+            $('.tab-pid_tuning .tab_container').hide();
             $('.pid_tuning input[name="rc_rate_yaw"]').hide();
         }
+
+        if (semver.gte(CONFIG.flightControllerVersion, '3.0.0')) {
+            $('.pid_filter input[name="gyroNotchFrequency"]').val(FILTER_CONFIG.gyro_soft_notch_hz);
+            $('.pid_filter input[name="gyroNotchCutoff"]').val(FILTER_CONFIG.gyro_soft_notch_cutoff);
+            $('.pid_filter input[name="dTermNotchFrequency"]').val(FILTER_CONFIG.dterm_notch_hz);
+            $('.pid_filter input[name="dTermNotchCutoff"]').val(FILTER_CONFIG.dterm_notch_cutoff);
+        } else {
+            $('.pid_filter .newFilter').hide();
+        }
     }
 
     function form_to_pid_and_rc() {
@@ -256,7 +266,7 @@ TABS.pid_tuning.initialize = function (callback) {
         }
 
         if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
-            ADVANCED_TUNING.vbatPidCompensation = $('input[name="vbatpidcompensation"]').is(':checked') ? 1 : 0;
+            ADVANCED_TUNING.vbatPidCompensation = $('input[name="#vbatpidcompensation"]').is(':checked') ? 1 : 0;
         }
 
         if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
@@ -346,9 +356,16 @@ TABS.pid_tuning.initialize = function (callback) {
 
         RC_tuning.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val());
         RC_tuning.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
-        FILTER_CONFIG.gyro_soft_lpf_hz = parseInt($('.pid_tuning input[name="gyro"]').val());
+        FILTER_CONFIG.gyro_soft_lpf_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val());
-        FILTER_CONFIG.dterm_lpf_hz = parseInt($('.pid_tuning input[name="dterm"]').val());
+        FILTER_CONFIG.dterm_lpf_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
-        FILTER_CONFIG.yaw_lpf_hz = parseInt($('.pid_tuning input[name="yaw"]').val());
+        FILTER_CONFIG.yaw_lpf_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val());
+
+        if (semver.gte(CONFIG.flightControllerVersion, '3.0.0')) {
+            FILTER_CONFIG.gyro_soft_notch_hz = parseInt($('.pid_filter input[name="gyroNotchFrequency"]').val());
+            FILTER_CONFIG.gyro_soft_notch_cutoff = parseInt($('.pid_filter input[name="gyroNotchCutoff"]').val());
+            FILTER_CONFIG.dterm_notch_hz = parseInt($('.pid_filter input[name="dTermNotchFrequency"]').val());
+            FILTER_CONFIG.dterm_notch_cutoff = parseInt($('.pid_filter input[name="dTermNotchCutoff"]').val());
+        }
     }
 
     function showAllPids() {
@@ -360,10 +377,6 @@ TABS.pid_tuning.initialize = function (callback) {
 
         $('#pid_main').show();
 
-        if (semver.gte(CONFIG.flightControllerVersion, "2.9.0")) {
-            $('#pid_filter').show();
-        }
-
         if (have_sensor(CONFIG.activeSensors, 'acc')) {
             $('#pid_accel').show();
             $('#pid_level').show();
@@ -482,6 +495,22 @@ TABS.pid_tuning.initialize = function (callback) {
             self.currentRates.pitch_rate = RC_tuning.roll_pitch_rate;
         }
 
+        $('.tab-pid_tuning .tab_container .pid').on('click', function () {
+            $('.tab-pid_tuning .subtab-pid').show();
+            $('.tab-pid_tuning .subtab-filter').hide();
+
+            $('.tab-pid_tuning .tab_container td').removeClass('active');
+            $(this).addClass('active');
+        });
+
+        $('.tab-pid_tuning .tab_container .filter').on('click', function () {
+            $('.tab-pid_tuning .subtab-filter').show();
+            $('.tab-pid_tuning .subtab-pid').hide();
+
+            $('.tab-pid_tuning .tab_container td').removeClass('active');
+            $(this).addClass('active');
+        });
+
         var showAllButton = $('#showAllPids');
 
         function updatePidDisplay() {