mirror of
https://github.com/betaflight/betaflight-configurator.git
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Merge branch 'master' into rfc_filters
This commit is contained in:
haslinghuis
GitHub
commit
92948e2212
5 changed files with 59 additions and 15 deletions
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@ -1791,6 +1791,18 @@
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"pidTuningDtermSetpointTransition": {
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"message": "D Setpoint transition"
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},
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"pidTuningFeedforwardMaxRateLimit": {
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"message": "Max Rate Limit"
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},
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"pidTuningFeedforwardMaxRateLimitHelp": {
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"message": "Attenuates feedforward towards zero as the sticks move quickly towards maximum deflection (maximum set turn rate), eg at the start of a quick flip or roll, to minimise overshoot. Does nothing at the end of a flip or roll. Lower values make the attenuation start earlier. Usually this value does not require modification. The highest value consistent with acceptable overshoot at the start of rolls or flips is best."
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},
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"pidTuningFeedforwardJitter": {
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"message": "Jitter Reduction"
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},
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"pidTuningFeedforwardJitterHelp": {
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"message": "Jitter reduction reduces Feedforward when the sticks move slowly. This allows smooth, jitter-free flight when making smooth slow arcs, yet provides full feedforward without any delay when the sticks are moved quickly. A higher threshold value (10-12) is more useful for cinematic or HD freestyle purposes, and a slightly lower value (5) better for racing or higher speed RC links."
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},
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"pidTuningDtermSetpoint": {
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"message": "D Setpoint Weight"
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},
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@ -4061,7 +4073,7 @@
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"message": "Absolute Control"
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},
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"pidTuningAbsoluteControlGainHelp": {
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"message": "This feature solves some underlying problems of $t(pidTuningItermRotation.message) and should hopefully replace it at some point. This feature accumulates the absolute gyro error in quad coordinates and mixes a proportional correction into the setpoint. For it to work you need to enable AirMode and $t(pidTuningItermRelax.message) (for $t(pidTuningItermRelaxAxesOptionRP.message)). If you combine this feature with $t(pidTuningIntegratedYaw.message), you can set $t(pidTuningItermRelax.message) enabled for $t(pidTuningItermRelaxAxesOptionRPY.message)."
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"message": "This feature solves some underlying problems of $t(pidTuningItermRotation.message) and should hopefully replace it at some point. This feature accumulates the absolute gyro error in quad coordinates and mixes a proportional correction into the setpoint. For it to work you need to enable AirMode and $t(pidTuningItermRelax.message) (for $t(pidTuningOptionRP.message)). If you combine this feature with $t(pidTuningIntegratedYaw.message), you can set $t(pidTuningItermRelax.message) enabled for $t(pidTuningOptionRPY.message)."
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},
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"pidTuningThrottleBoost": {
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"message": "Throttle Boost"
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@ -821,7 +821,12 @@
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}
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.tab-pid_tuning .tuningPIDSliders .pid_titlebar th:first-child {
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width: 20%;
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width: 6%;
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text-align: right;
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border-right: none;
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}
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.tab-pid_tuning .tuningPIDSliders .pid_titlebar th:nth-child(2) {
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width: 14%;
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border-right: none;
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}
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@ -830,7 +835,7 @@
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border-right: none;
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}
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.tab-pid_tuning .tuningPIDSliders .pid_titlebar th:nth-child(2),
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.tab-pid_tuning .tuningPIDSliders .pid_titlebar th:nth-child(3),
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.tab-pid_tuning .tuningFilterSliders .pid_titlebar th:nth-child(2) {
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width: 30px;
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}
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@ -901,7 +906,7 @@
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}
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.tab-pid_tuning .subtab-pid .cf_column {
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min-width: 472px;
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min-width: 600px;
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flex: 1;
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}
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@ -1178,6 +1178,8 @@ MspHelper.prototype.process_data = function(dataHandler) {
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FC.ADVANCED_TUNING.feedforward_averaging = data.readU8();
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FC.ADVANCED_TUNING.feedforward_smooth_factor = data.readU8();
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FC.ADVANCED_TUNING.feedforward_boost = data.readU8();
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FC.ADVANCED_TUNING.feedforward_max_rate_limit = data.readU8();
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FC.ADVANCED_TUNING.feedforward_jitter_factor = data.readU8();
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FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
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FC.ADVANCED_TUNING.thrustLinearization = data.readU8();
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}
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@ -2150,6 +2152,8 @@ MspHelper.prototype.crunch = function(code) {
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buffer.push8(FC.ADVANCED_TUNING.feedforward_averaging)
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.push8(FC.ADVANCED_TUNING.feedforward_smooth_factor)
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.push8(FC.ADVANCED_TUNING.feedforward_boost)
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.push8(FC.ADVANCED_TUNING.feedforward_max_rate_limit)
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.push8(FC.ADVANCED_TUNING.feedforward_jitter_factor)
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.push8(FC.ADVANCED_TUNING.vbat_sag_compensation)
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.push8(FC.ADVANCED_TUNING.thrustLinearization);
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}
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@ -519,6 +519,8 @@ TABS.pid_tuning.initialize = function (callback) {
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$('select[id="feedforwardAveraging"]').val(FC.ADVANCED_TUNING.feedforward_averaging);
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$('input[name="feedforwardSmoothFactor"]').val(FC.ADVANCED_TUNING.feedforward_smooth_factor);
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$('input[name="feedforwardBoost"]').val(FC.ADVANCED_TUNING.feedforward_boost);
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$('input[name="feedforwardMaxRateLimit"]').val(FC.ADVANCED_TUNING.feedforward_max_rate_limit);
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$('input[name="feedforwardJitterFactor"]').val(FC.ADVANCED_TUNING.feedforward_jitter_factor);
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// Vbat Sag Compensation
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const vbatSagCompensationCheck = $('input[id="vbatSagCompensation"]');
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@ -544,6 +546,8 @@ TABS.pid_tuning.initialize = function (callback) {
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} else {
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$('.vbatSagCompensation').hide();
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$('.thrustLinearization').hide();
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$('.feedforwardMaxRateLimit').hide();
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$('.feedforwardJitterFactor').hide();
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
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$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll > 0 ? FC.ADVANCED_TUNING.feedforwardRoll : PID_DEFAULT[4]);
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@ -1342,6 +1346,7 @@ TABS.pid_tuning.initialize = function (callback) {
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FC.ADVANCED_TUNING.feedforward_averaging = $('select[id="feedforwardAveraging"]').val();
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FC.ADVANCED_TUNING.feedforward_smooth_factor = parseInt($('input[name="feedforwardSmoothFactor"]').val());
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FC.ADVANCED_TUNING.feedforward_boost = parseInt($('input[name="feedforwardBoost"]').val());
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FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val());
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FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0;
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FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0;
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FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassExpo"]').val());
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@ -174,6 +174,8 @@
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<tr>
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<th scope="col">
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<div i18n="pidTuningSliderPidsMode" class="sm-min"></div>
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</th>
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<th scope="col">
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<select id="sliderPidsModeSelect" class="sliderMode">
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<option value="0" i18n="pidTuningOptionOff"></option>
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<option value="1" i18n="pidTuningOptionRP"></option>
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@ -603,12 +605,19 @@
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardGroupHelp"></div>
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<span i18n="pidTuningFeedforwardGroup"></span>
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<span class="feedforwardTransition suboption">
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<input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/>
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<span class="feedforwardJitterFactor suboption">
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<input type="number" name="feedforwardJitterFactor" step="1" min="0" max="20"/>
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<label>
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<span i18n="pidTuningFeedforwardTransition"></span>
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<span i18n="pidTuningFeedforwardJitter"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardJitterHelp"></div>
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</span>
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<span class="feedforwardOption feedforwardSmoothFactor suboption">
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<input type="number" name="feedforwardSmoothFactor" step="1" min="0" max="75" />
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<label for="feedforwardSmoothFactor">
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<span i18n="pidTuningFeedforwardSmoothFactor"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
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</span>
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<span class="feedforwardOption feedforwardAveraging suboption">
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@ -623,19 +632,28 @@
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</label>
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</span>
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<span class="feedforwardOption feedforwardSmoothFactor suboption">
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<input type="number" name="feedforwardSmoothFactor" step="1" min="0" max="75" />
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<label for="feedforwardSmoothFactor">
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<span i18n="pidTuningFeedforwardSmoothFactor"></span>
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</label>
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</span>
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<span class="feedforwardOption feedforwardBoost suboption">
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<input type="number" name="feedforwardBoost" step="1" min="0" max="50" />
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<label for="feedforwardBoost">
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<span i18n="pidTuningFeedforwardBoost"></span>
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</label>
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</span>
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<span class="feedforwardMaxRateLimit suboption">
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<input type="number" name="feedforwardMaxRateLimit" step="1" min="0" max="150"/>
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<label>
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<span i18n="pidTuningFeedforwardMaxRateLimit"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardMaxRateLimitHelp"></div>
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</span>
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<span class="feedforwardTransition suboption">
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<input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/>
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<label>
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<span i18n="pidTuningFeedforwardTransition"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
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</span>
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</td>
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</tr>
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