Added switches to enable/disable anti-gravity and dynamic filter to Configuration tab

Added inputs for changing anti-gravity settings to PID Tuning tab

_locales/en/messages.json

@@ -545,7 +545,7 @@
         "message": "Configure via the BlackBox tab after enabling."
     },
     "featureESC_SENSOR": {
-        "message": "Use KISS ESC 24A telemetry as sensor"
+        "message": "Use KISS/BLHeli_32 ESC telemetry as sensor"
     },
     "featureCHANNEL_FORWARDING": {
         "message": "Forward aux channels to servo outputs"
@@ -571,6 +571,12 @@
     "featureVTX": {
         "message": "Video Transmitter"
     },
+    "featureANTI_GRAVITY": {
+        "message": "Temporary boost I-Term on high throttle changes"
+    },
+    "featureDYNAMIC_FILTER": {
+        "message": "Dynamic gyro notch filtering"
+    },
     "featureFAILSAFE": {
         "message": "Enable Failsafe Stage 2"
     },
@@ -842,6 +848,14 @@
     "pidTuningNonProfilePidSettings": {
         "message": "Profile independent PID Controller Settings"
     },
+
+    "pidTuningAntiGravityGain": {
+        "message": "Anti Gravity Gain"
+    },
+    "pidTuningAntiGravityThres": {
+        "message": "Anti Gravity Threshold"
+    },
+
     "pidTuningPidSettings": {
         "message": "PID Controller Settings"
     },

js/Features.js

@@ -80,7 +80,14 @@ var Features = function (config) {
         if (semver.gte(CONFIG.apiVersion, "1.31.0")) {
             features.push(
                 {bit: 27, group: 'other', name: 'ESC_SENSOR'}
-            )
+            );
+        }
+
+        if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+            features.push(
+                {bit: 28, group: 'other', name: 'ANTI_GRAVITY'},
+                {bit: 29, group: 'other', name: 'DYNAMIC_FILTER'}
+            );
         }
     }
 

js/fc.js

@@ -331,6 +331,8 @@ var FC = {
             pidMaxVelocityYaw:          0,
             levelAngleLimit:            0,
             levelSensitivity:           0,
+            itermThrottleThreshold:     0,
+            itermAcceleratorGain:       0,
         };
 
         SENSOR_CONFIG = {

js/msp/MSPHelper.js

@@ -810,11 +810,15 @@ MspHelper.prototype.process_data = function(dataHandler) {
                     ADVANCED_TUNING.itermThrottleGain = data.readU8();
                     ADVANCED_TUNING.pidMaxVelocity = data.readU16();
                     ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
-                }
                     if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
                         ADVANCED_TUNING.levelAngleLimit = data.readU8();
                         ADVANCED_TUNING.levelSensitivity = data.readU8();
                     }
+                    if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+                        ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
+                        ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
+                    }
+                }
                 break;
             case MSPCodes.MSP_SENSOR_CONFIG:
                 SENSOR_CONFIG.acc_hardware = data.readU8();
@@ -1414,6 +1418,10 @@ MspHelper.prototype.crunch = function(code) {
                     buffer.push8(ADVANCED_TUNING.levelAngleLimit)
                         .push8(ADVANCED_TUNING.levelSensitivity);
                 }
+                if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+                    buffer.push16(ADVANCED_TUNING.itermThrottleThreshold)
+                        .push16(ADVANCED_TUNING.itermAcceleratorGain);
+                }
             }
             // only supports 1 version pre bf 3.0
             else {

tabs/pid_tuning.html

@@ -326,6 +326,24 @@
                                 </td>
                         </table>
                     </div>
+
+                    <div class="antigravity topspacer tpa">
+                        <table class="cf">
+                            <thead>
+                                <tr>
+                                    <th i18n="pidTuningAntiGravityGain"></th>
+                                    <th i18n="pidTuningAntiGravityThres"></th>
+                                </tr>
+                            </thead>
+                            <tbody>
+                                <tr style="height: 35px;">
+                                    <td><input type="number" name="itermAcceleratorGain" step="0.1" min="1" max="30" /></td>
+                                    <td><input type="number" name="itermThrottleThreshold" step="10" min="20" max="1000" /></td>
+                                </tr>
+                            </tbody>
+                        </table>
+                    </div>
+
                     <div class="gui_box grey topspacer">
                         <table class="pid_titlebar">
                             <thead>

tabs/pid_tuning.js

@@ -261,8 +261,11 @@ TABS.pid_tuning.initialize = function (callback) {
 
         if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
             $('.profile select[name="dtermFilterType"]').val(FILTER_CONFIG.dterm_filter_type);
+            $('.antigravity input[name="itermThrottleThreshold"]').val(ADVANCED_TUNING.itermThrottleThreshold);
+            $('.antigravity input[name="itermAcceleratorGain"]').val(ADVANCED_TUNING.itermAcceleratorGain / 1000);
         } else {
             $('.dtermfiltertype').hide();
+            $('.antigravity').hide();
         }
     }
 
@@ -377,6 +380,8 @@ TABS.pid_tuning.initialize = function (callback) {
 
         if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
             FILTER_CONFIG.dterm_filter_type = $('.profile select[name="dtermFilterType"]').val();
+            ADVANCED_TUNING.itermThrottleThreshold = parseInt($('.antigravity input[name="itermThrottleThreshold"]').val());
+            ADVANCED_TUNING.itermAcceleratorGain = parseInt($('.antigravity input[name="itermAcceleratorGain"]').val() * 1000);
         }
     }