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Merge pull request #1119 from McGiverGim/add_pid_elements_3.5

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Add new PID elements for version 3.5
This commit is contained in:
Michael Keller 2018-07-22 22:02:03 +12:00 • committed by GitHub
commit 863708ad94
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6 changed files with 321 additions and 16 deletions
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7
src/js/fc.js
View file

@ -369,6 +369,13 @@ var FC = {
levelSensitivity: 0,
itermThrottleThreshold: 0,
itermAcceleratorGain: 0,
itermRotation: 0,
smartFeedforward: 0,
itermRelax: 0,
itermRelaxType: 0,
absoluteControlGain: 0,
throttleBoost: 0,
acroTrainerAngleLimit: 0,
};
SENSOR_CONFIG = {

54
src/js/msp/MSPHelper.js
View file

@ -888,13 +888,25 @@ MspHelper.prototype.process_data = function(dataHandler) {
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();
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
ADVANCED_TUNING.itermRotation = data.readU8();
ADVANCED_TUNING.smartFeedforward = data.readU8();
ADVANCED_TUNING.itermRelax = data.readU8();
ADVANCED_TUNING.itermRelaxType = data.readU8();
ADVANCED_TUNING.absoluteControlGain = data.readU8();
ADVANCED_TUNING.throttleBoost = data.readU8();
ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
}
}
}
}
}
break;
@ -1538,16 +1550,30 @@ MspHelper.prototype.crunch = function(code) {
.push8(ADVANCED_TUNING.itermThrottleGain)
.push16(ADVANCED_TUNING.pidMaxVelocity)
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
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);
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
buffer.push16(ADVANCED_TUNING.dtermSetpointWeight);
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
buffer.push16(ADVANCED_TUNING.itermThrottleThreshold)
.push16(ADVANCED_TUNING.itermAcceleratorGain);
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
buffer.push16(ADVANCED_TUNING.dtermSetpointWeight);
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
buffer.push8(ADVANCED_TUNING.itermRotation)
.push8(ADVANCED_TUNING.smartFeedforward)
.push8(ADVANCED_TUNING.itermRelax)
.push8(ADVANCED_TUNING.itermRelaxType)
.push8(ADVANCED_TUNING.absoluteControlGain)
.push8(ADVANCED_TUNING.throttleBoost)
.push8(ADVANCED_TUNING.acroTrainerAngleLimit);
}
}
}
}
}
// only supports 1 version pre bf 3.0

95
src/js/tabs/pid_tuning.js
View file

@ -299,6 +299,86 @@ TABS.pid_tuning.initialize = function (callback) {
$('.dtermLowpass2').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
// I Term Rotation
$('input[id="itermrotation"]').prop('checked', ADVANCED_TUNING.itermRotation !== 0);
// Smart Feed Forward
$('input[id="smartfeedforward"]').prop('checked', ADVANCED_TUNING.smartFeedforward !== 0);
// I Term Relax
var itermRelaxCheck = $('input[id="itermrelax"]');
itermRelaxCheck.prop('checked', ADVANCED_TUNING.itermRelax !== 0);
$('select[id="itermrelaxAxes"]').val(ADVANCED_TUNING.itermRelax > 0 ? ADVANCED_TUNING.itermRelax : 1);
$('select[id="itermrelaxType"]').val(ADVANCED_TUNING.itermRelaxType);
itermRelaxCheck.change(function() {
var checked = $(this).is(':checked');
if (checked) {
$('.itermrelax .suboption').show();
} else {
$('.itermrelax .suboption').hide();
}
});
itermRelaxCheck.change();
// Absolute Control
var absoluteControlGainNumberElement = $('input[name="absoluteControlGain-number"]');
var absoluteControlGainRangeElement = $('input[name="absoluteControlGain-range"]');
absoluteControlGainNumberElement.change(function () {
absoluteControlGainRangeElement.val($(this).val());
});
absoluteControlGainRangeElement.change(function () {
absoluteControlGainNumberElement.val($(this).val());
});
absoluteControlGainNumberElement.val(ADVANCED_TUNING.absoluteControlGain).change();
// Throttle Boost
var throttleBoostNumberElement = $('input[name="throttleBoost-number"]');
var throttleBoostRangeElement = $('input[name="throttleBoost-range"]');
throttleBoostNumberElement.change(function () {
throttleBoostRangeElement.val($(this).val());
});
throttleBoostRangeElement.change(function () {
throttleBoostNumberElement.val($(this).val());
});
throttleBoostNumberElement.val(ADVANCED_TUNING.throttleBoost).change();
// Acro Trainer
var acroTrainerAngleLimitNumberElement = $('input[name="acroTrainerAngleLimit-number"]');
var acroTrainerAngleLimitRangeElement = $('input[name="acroTrainerAngleLimit-range"]');
var validateAcroTrainerAngle = function(value) {
// The minimum acro trainer angle is 10, but we must let zero too to deactivate it
if (value > 0 && value < 10) {
value = 10;
}
acroTrainerAngleLimitRangeElement.val(value);
acroTrainerAngleLimitNumberElement.val(value);
}
acroTrainerAngleLimitNumberElement.change(function () {
validateAcroTrainerAngle($(this).val());
});
acroTrainerAngleLimitRangeElement.change(function () {
validateAcroTrainerAngle($(this).val());
});
acroTrainerAngleLimitNumberElement.val(ADVANCED_TUNING.acroTrainerAngleLimit).change();
} else {
$('.itermrotation').hide();
$('.smartfeedforward').hide();
$('.itermrelax').hide();
$('.absoluteControlGain').hide();
$('.throttleBoost').hide();
$('.acroTrainerAngleLimit').hide();
}
$('input[id="gyroNotch1Enabled"]').change(function() {
var checked = $(this).is(':checked');
var hz = FILTER_CONFIG.gyro_notch_hz > 0 ? FILTER_CONFIG.gyro_notch_hz : DEFAULT.gyro_notch_hz;
@ -527,6 +607,21 @@ TABS.pid_tuning.initialize = function (callback) {
FILTER_CONFIG.gyro_lowpass2_type = parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val());
FILTER_CONFIG.dterm_lowpass2_hz = parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val());
}
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
ADVANCED_TUNING.itermRotation = $('input[id="itermrotation"]').is(':checked') ? 1 : 0;
ADVANCED_TUNING.smartFeedforward = $('input[id="smartfeedforward"]').is(':checked') ? 1 : 0;
ADVANCED_TUNING.itermRelax = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxAxes"]').val() : 0;
ADVANCED_TUNING.itermRelaxType = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxType"]').val() : 0;
ADVANCED_TUNING.absoluteControlGain = $('input[name="absoluteControlGain-number"]').val();
ADVANCED_TUNING.throttleBoost = $('input[name="throttleBoost-number"]').val();
ADVANCED_TUNING.acroTrainerAngleLimit = $('input[name="acroTrainerAngleLimit-number"]').val();
}
}
function showAllPids() {