mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-26 17:55:24 +03:00
Simplified Tuning update
This commit is contained in:
Mark Haslinghuis
parent
ae2ef20ce2
commit
92a0c915db
7 changed files with 653 additions and 701 deletions
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@ -20,7 +20,6 @@ const TuningSliders = {
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pidSlidersUnavailable: false,
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GyroSliderUnavailable: false,
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DTermSliderUnavailable: false,
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FilterReset: false,
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sliderGyroFilter: 1,
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sliderGyroFilterMultiplier: 1,
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@ -37,9 +36,6 @@ const TuningSliders = {
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cachedGyroSliderValues: false,
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cachedDTermSliderValues: false,
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sliderGyroFilterDisabled: false,
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sliderDTermFilterDisabled: false,
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expertMode: false,
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};
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@ -59,30 +55,49 @@ TuningSliders.initialize = function() {
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this.FILTER_DEFAULT = FC.getFilterDefaults();
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this.SLIDER_DEFAULT = FC.getSliderDefaults();
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
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}
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this.setExpertMode(isExpertModeEnabled());
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this.initPidSlidersPosition();
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this.initGyroFilterSliderPosition();
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this.initDTermFilterSliderPosition();
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// after refresh cached values are not available
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this.cachedPidSliderValues = false;
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this.cachedGyroSliderValues = false;
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this.cachedDTermSliderValues = false;
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this.updatePidSlidersDisplay();
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.initPidSlidersPosition();
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this.initGyroFilterSliderPosition();
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this.initDTermFilterSliderPosition();
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// If reading manual values while sliders are on we set the sliders off
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this.validateTuningSliders();
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this.updatePidSlidersDisplay();
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this.updateGyroFilterSliderDisplay();
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this.updateDTermFilterSliderDisplay();
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this.updateFilterSlidersWarning();
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$('.subtab-pid .slidersDisabled').hide();
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$('.subtab-filter .slidersDisabled').hide();
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} else {
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$('#sliderGyroFilterMultiplier, #sliderDTermFilterMultiplier').attr("min", "0.5");
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$('#sliderGyroFilterMultiplier, #sliderDTermFilterMultiplier').attr("max", "1.5");
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this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
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this.initPidSlidersPosition();
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this.initGyroFilterSliderPosition();
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this.initDTermFilterSliderPosition();
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if (this.dMinFeatureEnabled) {
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FC.ADVANCED_TUNING.dMinRoll = FC.PIDS_ACTIVE[0][2];
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FC.ADVANCED_TUNING.dMinPitch = FC.PIDS_ACTIVE[1][2];
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FC.ADVANCED_TUNING.dMinYaw = FC.PIDS_ACTIVE[2][2];
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} else {
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FC.PIDS[0][2] = FC.ADVANCED_TUNING.dMinRoll;
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FC.PIDS[1][2] = FC.ADVANCED_TUNING.dMinPitch;
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FC.PIDS[2][2] = FC.ADVANCED_TUNING.dMinYaw;
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}
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this.updatePidSlidersDisplay();
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this.updateFilterSlidersDisplay();
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$('select[id="sliderGyroFilterModeSelect"]').hide();
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@ -133,7 +148,7 @@ TuningSliders.updateExpertModeSlidersDisplay = function() {
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$('.baseSliderPIGain').toggleClass('disabledSliders', piGain && !this.expertMode);
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$('.baseSliderFeedforwardGain').toggleClass('disabledSliders', ffGain && !this.expertMode);
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$('.advancedSlider').toggleClass('disabledSliders', !this.expertMode);
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$('.advancedSlider').toggleClass('disabledSliders', !this.sliderPidsMode || !this.expertMode);
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$('.advancedSliderDmaxGain').toggle(dMaxGain || this.expertMode);
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$('.advancedSliderIGain').toggle(iGain || this.expertMode);
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@ -168,7 +183,7 @@ TuningSliders.setExpertMode = function(expertModeEnabled) {
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TuningSliders.scaleSliderValue = function(value) {
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if (value > 1) {
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return Math.round(((value - 1) * 2 + 1) * 100) / 100;
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return Math.round(((value - 1) * 2 + 1) * 10) / 10;
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} else {
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return value;
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}
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@ -215,13 +230,15 @@ TuningSliders.initPidSlidersPosition = function() {
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} else {
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// used to estimate PID slider positions based on PIDF values, and set respective slider position
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// provides only an estimation due to limitation of feature without firmware support, to be improved in later versions
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this.sliderMasterMultiplierLegacy = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10;
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this.sliderPDRatio = Math.round(FC.PIDS[0][2] / FC.PIDS[0][0] / this.defaultPDRatio * 10) / 10;
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this.sliderMasterMultiplierLegacy = Math.round(FC.PIDS_ACTIVE[2][1] / this.PID_DEFAULT[11] * 10) / 10;
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this.sliderPDRatio = Math.round(FC.PIDS_ACTIVE[0][2] / FC.PIDS_ACTIVE[0][0] / this.defaultPDRatio * 10) / 10;
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if (this.dMinFeatureEnabled) {
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this.sliderPDGain = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.sliderPDRatio / this.sliderMasterMultiplierLegacy / this.PID_DEFAULT[3] * 10) / 10;
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} else {
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this.sliderPDGain = Math.round(FC.PIDS[0][0] / this.sliderMasterMultiplierLegacy / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10;
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this.sliderPDGain = Math.round(FC.PIDS_ACTIVE[0][0] / this.sliderMasterMultiplierLegacy / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10;
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}
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this.sliderFeedforwardGainLegacy = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.sliderMasterMultiplierLegacy / this.PID_DEFAULT[4] * 10) / 10;
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$('output[name="sliderMasterMultiplierLegacy-number"]').val(this.sliderMasterMultiplierLegacy);
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@ -240,15 +257,16 @@ TuningSliders.initGyroFilterSliderPosition = function() {
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.sliderGyroFilter = FC.TUNING_SLIDERS.slider_gyro_filter;
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this.sliderGyroFilterMultiplier = FC.TUNING_SLIDERS.slider_gyro_filter_multiplier / 100;
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$('#sliderGyroFilterMultiplier').val(this.sliderGyroFilterMultiplier);
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} else {
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this.sliderGyroFilterMultiplier =
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Math.floor(
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(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.FILTER_CONFIG.gyro_lowpass_hz + FC.FILTER_CONFIG.gyro_lowpass2_hz) /
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(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + this.FILTER_DEFAULT.gyro_lowpass_hz +
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Math.round(
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(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.FILTER_CONFIG.gyro_lowpass2_hz) /
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(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz +
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this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
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$('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier));
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}
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$('#sliderGyroFilterMultiplier').val(this.sliderGyroFilterMultiplier);
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$('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
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};
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@ -256,101 +274,37 @@ TuningSliders.initDTermFilterSliderPosition = function() {
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.sliderDTermFilter = FC.TUNING_SLIDERS.slider_dterm_filter;
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this.sliderDTermFilterMultiplier = FC.TUNING_SLIDERS.slider_dterm_filter_multiplier / 100;
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$('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier);
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} else {
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this.sliderDTermFilterMultiplier =
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Math.floor(
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(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) /
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(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + this.FILTER_DEFAULT.dterm_lowpass_hz +
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Math.round(
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(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) /
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(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz +
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this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100;
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$('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier));
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}
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$('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier);
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$('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier);
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};
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TuningSliders.resetPidSliders = function() {
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if (!this.cachedPidSliderValues) {
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.sliderDGain = this.SLIDER_DEFAULT.slider_d_gain / 100;
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this.sliderPIGain = this.SLIDER_DEFAULT.slider_pi_gain / 100;
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this.sliderFeedforwardGain = this.SLIDER_DEFAULT.slider_feedforward_gain / 100;
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this.sliderDMaxGain = this.SLIDER_DEFAULT.slider_dmax_gain / 100;
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this.sliderIGain = this.SLIDER_DEFAULT.slider_i_gain / 100;
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this.sliderRollPitchRatio = this.SLIDER_DEFAULT.slider_roll_pitch_ratio / 100;
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this.sliderPitchPIGain = this.SLIDER_DEFAULT.slider_pitch_pi_gain / 100;
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this.sliderMasterMultiplier = this.SLIDER_DEFAULT.slider_master_multiplier / 100;
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} else {
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this.sliderMasterMultiplierLegacy = 1;
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this.sliderPDRatio = 1;
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this.sliderPDGain = 1;
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this.sliderFeedforwardGainLegacy = 1;
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}
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}
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.calculateNewPids();
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this.updateFormPids();
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this.initPidSlidersPosition();
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this.updatePidSlidersDisplay();
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} else {
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$('#sliderMasterMultiplierLegacy').val(this.downscaleSliderValue(this.sliderMasterMultiplierLegacy));
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$('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
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$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
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$('#sliderFeedforwardGainLegacy').val(this.downscaleSliderValue(this.sliderFeedforwardGainLegacy));
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this.calculateNewPids();
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}
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};
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TuningSliders.resetGyroFilterSlider = function() {
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this.sliderGyroFilterMultiplier = 1;
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$('#sliderGyroFilterMultiplier').val(this.sliderGyroFilterMultiplier);
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TuningSliders.gyroFilterSliderEnable = function() {
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this.sliderGyroFilter = 1;
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this.calculateNewGyroFilters();
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this.updateFilterSlidersDisplay();
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};
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TuningSliders.resetDTermFilterSlider = function() {
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this.sliderDTermFilterMultiplier = 1;
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$('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier);
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TuningSliders.dtermFilterSliderEnable = function() {
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this.sliderDTermFilter = 1;
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this.calculateNewDTermFilters();
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this.updateFilterSlidersDisplay();
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};
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TuningSliders.legacyUpdateFilterSlidersDisplay = function() {
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if (parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpassDynType"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass_type ||
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parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass2_type) {
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this.GyroSliderUnavailable = true;
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} else {
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this.cachedGyroSliderValues = true;
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}
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TuningSliders.gyroFilterSliderDisable = function() {
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FC.TUNING_SLIDERS.slider_gyro_filter = 0;
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this.updateGyroFilterSliderDisplay();
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};
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if (parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()) !==
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Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()) !==
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Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter select[name="dtermLowpassDynType"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass_type ||
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parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val()) !==
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Math.round(this.FILTER_DEFAULT.dterm_lowpass_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val()) !==
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Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter select[name="dtermLowpass2Type"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass2_type) {
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this.DTermSliderUnavailable = true;
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} else {
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this.cachedDTermSliderValues = true;
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}
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$('.tuningFilterSliders .sliderLabels tr:nth-child(2)').toggle(!this.GyroSliderUnavailable);
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$('.tuningFilterSliders .sliderLabels tr:last-child').toggle(!this.DTermSliderUnavailable);
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$('.tuningFilterSliders').toggle(!(this.GyroSliderUnavailable && this.DTermSliderUnavailable));
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$('.subtab-filter .slidersDisabled').toggle(this.GyroSliderUnavailable || this.DTermSliderUnavailable);
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TuningSliders.dtermFilterSliderDisable = function() {
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FC.TUNING_SLIDERS.slider_dterm_filter = 0;
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this.updateDTermFilterSliderDisplay();
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};
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TuningSliders.updateSlidersWarning = function(slidersUnavailable = false) {
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@ -389,65 +343,63 @@ TuningSliders.updateFilterSlidersWarning = function() {
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TuningSliders.updatePidSlidersDisplay = function() {
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// check if pid values changed manually by comparing the current values with those calculated by the sliders,
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// if all of them are equal the values haven't been changed manually
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this.pidSlidersUnavailable = false;
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let rows = 3;
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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rows = this.sliderPidsMode === 1 ? 2 : 3;
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$('#pid_main .ROLL .pid_data input, #pid_main .PITCH .pid_data input').each((_, el) => $(el).prop('disabled', this.sliderPidsMode > 0));
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$('#pid_main .YAW .pid_data input').each((_, el) => $(el).prop('disabled', this.sliderPidsMode === 2));
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$('.baseSlider').toggleClass('disabledSliders', !this.sliderPidsMode);
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$('.advancedSlider').toggleClass('disabledSliders', !this.sliderPidsMode || !this.expertMode);
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$('#sliderDGain').prop('disabled', !this.sliderPidsMode);
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$('#sliderPIGain').prop('disabled', !this.sliderPidsMode);
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$('#sliderFeedforwardGain').prop('disabled', !this.sliderPidsMode);
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$('#sliderDMaxGain').prop('disabled', !this.sliderPidsMode);
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$('#sliderIGain').prop('disabled', !this.sliderPidsMode);
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$('#sliderRollPitchRatio').prop('disabled', !this.sliderPidsMode);
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$('#sliderPitchPIGain').prop('disabled', !this.sliderPidsMode);
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$('#sliderMasterMultiplier').prop('disabled', !this.sliderPidsMode);
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$('#sliderPidsModeSelect').val(this.sliderPidsMode);
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} else {
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this.pidSlidersUnavailable = false;
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this.calculateNewPids(true);
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}
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FC.PID_NAMES.forEach(function (elementPid, indexPid) {
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const pidElements = $(`.pid_tuning .${elementPid} input`);
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pidElements.each(function (indexInput) {
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if (indexPid < rows && indexInput < rows) {
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if (parseInt($(this).val()) !== FC.PIDS[indexPid][indexInput]) {
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TuningSliders.pidSlidersUnavailable = true;
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FC.PID_NAMES.forEach(function (elementPid, indexPid) {
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const pidElements = $(`.pid_tuning .${elementPid} input`);
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pidElements.each(function (indexInput) {
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if (indexPid < 3 && indexInput < 3) {
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if (parseInt($(this).val()) !== FC.PIDS[indexPid][indexInput]) {
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TuningSliders.pidSlidersUnavailable = true;
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}
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}
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}
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});
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});
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});
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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if ($('input[id="useIntegratedYaw"]').is(':checked')) {
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this.pidSlidersUnavailable = true;
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}
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}
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if (!this.pidSlidersUnavailable) {
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this.cachedPidSliderValues = true;
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}
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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if (this.sliderPidsMode === 0) {
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this.pidSlidersUnavailable = true;
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if (!this.pidSlidersUnavailable) {
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this.cachedPidSliderValues = true;
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}
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}
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$('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable);
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$('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable);
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$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
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$('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable);
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$('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable);
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$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
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}
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this.updateSlidersWarning(this.pidSlidersUnavailable);
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};
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TuningSliders.updateGyroFilterSliderDisplay = function() {
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// check if enabled filters were changed manually by comparing current value and those based on slider position
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const lp1DynMin = parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val());
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const lp1DynMax = parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val());
|
||||
const lp1Static = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val());
|
||||
const lp2Freq = parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val());
|
||||
const gyroLowpassDynMinFrequency = $('.pid_filter input[name="gyroLowpassDynMinFrequency"]');
|
||||
const gyroLowpassDynMaxFrequency = $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]');
|
||||
const gyroLowpassFrequency = $('.pid_filter input[name="gyroLowpassFrequency"]');
|
||||
const gyroLowpass2Frequency = $('.pid_filter input[name="gyroLowpass2Frequency"]');
|
||||
|
||||
const lp1DynamicMinChanged = (lp1DynMin > 0) && (lp1DynMin !== Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier));
|
||||
const lp1DynamicMaxChanged = (lp1DynMax > 0) && (lp1DynMax !== Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier));
|
||||
const lp1Changed = (lp1Static > 0) && (lp1Static !== Math.floor(this.FILTER_DEFAULT.gyro_lowpass_hz * this.sliderGyroFilterMultiplier));
|
||||
const lp2Changed = (lp2Freq > 0) && (lp2Freq !== Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier));
|
||||
|
||||
const hideSlider = (lp1DynMin && (lp1DynamicMinChanged || lp1DynamicMaxChanged)) || (lp1Static && lp1Changed) || (lp2Freq && lp2Changed) || this.sliderGyroFilterDisabled;
|
||||
const lpxDisabled = !lp1DynMin && !lp1Static && !lp2Freq;
|
||||
|
||||
if (hideSlider) {
|
||||
if (FC.TUNING_SLIDERS.slider_gyro_filter === 0) {
|
||||
this.GyroSliderUnavailable = true;
|
||||
this.sliderGyroFilter = 0;
|
||||
} else {
|
||||
|
|
@ -456,28 +408,27 @@ TuningSliders.updateGyroFilterSliderDisplay = function() {
|
|||
this.cachedGyroSliderValues = true;
|
||||
}
|
||||
|
||||
gyroLowpassDynMinFrequency.val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz).prop('disabled', this.sliderGyroFilter);
|
||||
gyroLowpassDynMaxFrequency.val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz).prop('disabled', this.sliderGyroFilter);
|
||||
gyroLowpassFrequency.val(FC.FILTER_CONFIG.gyro_lowpass_hz).prop('disabled', this.sliderGyroFilter);
|
||||
gyroLowpass2Frequency.val(FC.FILTER_CONFIG.gyro_lowpass2_hz).prop('disabled', this.sliderGyroFilter);
|
||||
|
||||
$('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
|
||||
|
||||
// update Gyro mode and slider
|
||||
$('select[id="sliderGyroFilterModeSelect"]').val(this.sliderGyroFilter);
|
||||
$('.sliderGyroFilter').toggleClass('disabledSliders', !this.sliderGyroFilter || lpxDisabled);
|
||||
$('input[id="sliderGyroFilterMultiplier"]').prop('disabled', !this.sliderGyroFilter || lpxDisabled);
|
||||
$('.sliderGyroFilter').toggleClass('disabledSliders', this.GyroSliderUnavailable);
|
||||
$('input[id="sliderGyroFilterMultiplier"]').prop('disabled', this.GyroSliderUnavailable);
|
||||
};
|
||||
|
||||
TuningSliders.updateDTermFilterSliderDisplay = function() {
|
||||
// check if enabled filters were changed manually by comparing current value and those based on slider position
|
||||
const lp1DynMin = parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val());
|
||||
const lp1DynMax = parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val());
|
||||
const lp1Static = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
|
||||
const lp2Freq = parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val());
|
||||
const dtermLowpassDynMinFrequency = $('.pid_filter input[name="dtermLowpassDynMinFrequency"]');
|
||||
const dtermLowpassDynMaxFrequency = $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]');
|
||||
const dtermLowpassFrequency = $('.pid_filter input[name="dtermLowpassFrequency"]');
|
||||
const dtermLowpass2Frequency = $('.pid_filter input[name="dtermLowpass2Frequency"]');
|
||||
|
||||
const lp1DynamicMinChanged = (lp1DynMin > 0) && (lp1DynMin !== Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier));
|
||||
const lp1DynamicMaxChanged = (lp1DynMax > 0) && (lp1DynMax !== Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier));
|
||||
const lp1Changed = (lp1Static > 0) && (lp1Static !== Math.floor(this.FILTER_DEFAULT.dterm_lowpass_hz * this.sliderDTermFilterMultiplier));
|
||||
const lp2Changed = (lp2Freq > 0) && (lp2Freq !== Math.floor(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier));
|
||||
|
||||
const hideSlider = (lp1DynMin && (lp1DynamicMinChanged || lp1DynamicMaxChanged)) || (lp1Static && lp1Changed) || (lp2Freq && lp2Changed) || this.sliderDTermFilterDisabled;
|
||||
const lpxDisabled = !lp1DynMin && !lp1Static && !lp2Freq;
|
||||
|
||||
if (hideSlider) {
|
||||
if (FC.TUNING_SLIDERS.slider_dterm_filter === 0) {
|
||||
this.DTermSliderUnavailable = true;
|
||||
this.sliderDTermFilter = 0;
|
||||
} else {
|
||||
|
|
@ -486,16 +437,21 @@ TuningSliders.updateDTermFilterSliderDisplay = function() {
|
|||
this.cachedDTermSliderValues = true;
|
||||
}
|
||||
|
||||
dtermLowpassDynMinFrequency.val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz).prop('disabled', this.sliderDTermFilter);
|
||||
dtermLowpassDynMaxFrequency.val(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz).prop('disabled', this.sliderDTermFilter);
|
||||
dtermLowpassFrequency.val(FC.FILTER_CONFIG.dterm_lowpass_hz).prop('disabled', this.sliderDTermFilter);
|
||||
dtermLowpass2Frequency.val(FC.FILTER_CONFIG.dterm_lowpass2_hz).prop('disabled', this.sliderDTermFilter);
|
||||
|
||||
$('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier);
|
||||
|
||||
// update DTerm mode and slider
|
||||
$('select[id="sliderDTermFilterModeSelect"]').val(this.sliderDTermFilter);
|
||||
$('.sliderDTermFilter').toggleClass('disabledSliders', !this.sliderDTermFilter || lpxDisabled);
|
||||
$('input[id="sliderDTermFilterMultiplier"]').prop('disabled', !this.sliderDTermFilter || lpxDisabled);
|
||||
$('.sliderDTermFilter').toggleClass('disabledSliders', this.DTermSliderUnavailable);
|
||||
$('input[id="sliderDTermFilterMultiplier"]').prop('disabled', this.DTermSliderUnavailable);
|
||||
};
|
||||
|
||||
TuningSliders.updateFilterSlidersDisplay = function() {
|
||||
// check if filters changed manually by comparing current value and those based on slider position
|
||||
this.GyroSliderUnavailable = false;
|
||||
this.DTermSliderUnavailable = false;
|
||||
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
this.updateGyroFilterSliderDisplay();
|
||||
|
|
@ -508,43 +464,8 @@ TuningSliders.updateFilterSlidersDisplay = function() {
|
|||
this.updateFilterSlidersWarning(this.GyroSliderUnavailable, this.DTermSliderUnavailable);
|
||||
};
|
||||
|
||||
TuningSliders.gyroFilterSliderEnable = function() {
|
||||
this.sliderGyroFilter = true;
|
||||
this.sliderGyroFilterDisabled = false;
|
||||
this.FilterReset = true;
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter = 1;
|
||||
this.writeFilterSliders();
|
||||
this.updateLowpassValues();
|
||||
this.updateFilterSlidersDisplay();
|
||||
};
|
||||
|
||||
TuningSliders.gyroFilterSliderDisable = function() {
|
||||
this.sliderGyroFilter = false;
|
||||
this.sliderGyroFilterDisabled = true;
|
||||
this.FilterReset = true;
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter = 0;
|
||||
this.writeFilterSliders();
|
||||
};
|
||||
|
||||
TuningSliders.dtermFilterSliderEnable = function() {
|
||||
this.sliderDTermFilter = true;
|
||||
this.sliderDTermFilterDisabled = false;
|
||||
this.FilterReset = true;
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter = 1;
|
||||
this.writeFilterSliders();
|
||||
this.updateLowpassValues();
|
||||
this.updateFilterSlidersDisplay();
|
||||
};
|
||||
|
||||
TuningSliders.dtermFilterSliderDisable = function() {
|
||||
this.sliderDTermFilter = false;
|
||||
this.sliderDTermFilterDisabled = true;
|
||||
this.FilterReset = true;
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter = 0;
|
||||
this.writeFilterSliders();
|
||||
};
|
||||
|
||||
TuningSliders.updateFormPids = function(updateSlidersOnly = false) {
|
||||
|
||||
if (!updateSlidersOnly) {
|
||||
FC.PID_NAMES.forEach(function (elementPid, indexPid) {
|
||||
const pidElements = $(`.pid_tuning .${elementPid} input`);
|
||||
|
|
@ -578,8 +499,118 @@ TuningSliders.updateFormPids = function(updateSlidersOnly = false) {
|
|||
$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
|
||||
$('output[name="sliderFeedforwardGainLegacy-number"]').val(this.sliderFeedforwardGainLegacy);
|
||||
}
|
||||
|
||||
this.updateSlidersWarning();
|
||||
};
|
||||
|
||||
TuningSliders.calculateNewPids = function(updateSlidersOnly = false) {
|
||||
// this is the main calculation for PID sliders, inputs are in form of slider position values
|
||||
// values get set both into forms and their respective variables
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
FC.TUNING_SLIDERS.slider_pids_mode = this.sliderPidsMode;
|
||||
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20
|
||||
FC.TUNING_SLIDERS.slider_d_gain = Math.round(this.sliderDGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_pi_gain = Math.round(this.sliderPIGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(this.sliderFeedforwardGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(this.sliderDMaxGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_i_gain = Math.round(this.sliderIGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(this.sliderRollPitchRatio * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(this.sliderPitchPIGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(this.sliderMasterMultiplier * 20) * 5;
|
||||
|
||||
this.readSimplifiedPids();
|
||||
} else {
|
||||
this.legacyCalculatePids(updateSlidersOnly);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
TuningSliders.calculateNewGyroFilters = function() {
|
||||
// this is the main calculation for Gyro Filter slider, inputs are in form of slider position values
|
||||
// values get set both into forms and their respective variables
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
this.readSimplifiedGyroFilters();
|
||||
} else {
|
||||
this.calculateLegacyGyroFilters();
|
||||
}
|
||||
};
|
||||
|
||||
TuningSliders.calculateNewDTermFilters = function() {
|
||||
// this is the main calculation for DTerm Filter slider, inputs are in form of slider position values
|
||||
// values get set both into forms and their respective variables
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
this.readSimplifiedDTermFilters();
|
||||
} else {
|
||||
this.calculateLegacyDTermFilters();
|
||||
}
|
||||
};
|
||||
|
||||
TuningSliders.readSimplifiedPids = function(updateSlidersOnly = false) {
|
||||
FC.TUNING_SLIDERS.slider_pids_mode = this.sliderPidsMode;
|
||||
FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(this.sliderMasterMultiplier * 100);
|
||||
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(this.sliderRollPitchRatio * 100);
|
||||
FC.TUNING_SLIDERS.slider_i_gain = Math.round(this.sliderIGain * 100);
|
||||
FC.TUNING_SLIDERS.slider_d_gain = Math.round(this.sliderDGain * 100);
|
||||
FC.TUNING_SLIDERS.slider_pi_gain = Math.round(this.sliderPIGain * 100);
|
||||
FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(this.sliderDMaxGain * 100);
|
||||
FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(this.sliderFeedforwardGain * 100);
|
||||
FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(this.sliderPitchPIGain * 100);
|
||||
|
||||
MSP.promise(MSPCodes.MSP_CALCULATE_SIMPLIFIED_PID, mspHelper.crunch(MSPCodes.MSP_CALCULATE_SIMPLIFIED_PID))
|
||||
.then(() => this.updateFormPids(updateSlidersOnly));
|
||||
};
|
||||
|
||||
TuningSliders.readSimplifiedGyroFilters = function() {
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter = this.sliderGyroFilter;
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = this.sliderGyroFilterMultiplier * 100;
|
||||
|
||||
FC.FILTER_CONFIG.gyro_lowpass_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val());
|
||||
FC.FILTER_CONFIG.gyro_lowpass2_hz = parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val());
|
||||
FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val());
|
||||
|
||||
MSP.promise(MSPCodes.MSP_CALCULATE_SIMPLIFIED_GYRO, mspHelper.crunch(MSPCodes.MSP_CALCULATE_SIMPLIFIED_GYRO))
|
||||
.then(() => this.updateGyroFilterSliderDisplay());
|
||||
};
|
||||
|
||||
TuningSliders.readSimplifiedDTermFilters = function() {
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter = this.sliderDTermFilter;
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = this.sliderDTermFilterMultiplier * 100;
|
||||
|
||||
FC.FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
|
||||
FC.FILTER_CONFIG.dterm_lowpass2_hz = parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val());
|
||||
FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val());
|
||||
|
||||
MSP.promise(MSPCodes.MSP_CALCULATE_SIMPLIFIED_DTERM, mspHelper.crunch(MSPCodes.MSP_CALCULATE_SIMPLIFIED_DTERM))
|
||||
.then(() => this.updateDTermFilterSliderDisplay());
|
||||
};
|
||||
|
||||
TuningSliders.validateTuningSliders = function() {
|
||||
MSP.promise(MSPCodes.MSP_VALIDATE_SIMPLIFIED_TUNING)
|
||||
.then(() => {
|
||||
this.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_valid > 0 ? FC.TUNING_SLIDERS.slider_pids_mode : 0;
|
||||
this.sliderGyroFilter = FC.TUNING_SLIDERS.slider_gyro_valid;
|
||||
this.sliderDTermFilter = FC.TUNING_SLIDERS.slider_dterm_valid;
|
||||
|
||||
FC.TUNING_SLIDERS.slider_pids_mode = FC.TUNING_SLIDERS.slider_pids_valid ? FC.TUNING_SLIDERS.slider_pids_mode : 0;
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter = FC.TUNING_SLIDERS.slider_gyro_valid ? FC.TUNING_SLIDERS.slider_gyro_filter : 0;
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter = FC.TUNING_SLIDERS.slider_dterm_valid ? FC.TUNING_SLIDERS.slider_dterm_filter : 0;
|
||||
|
||||
$('#sliderPidsModeSelect').val(this.sliderPidsMode);
|
||||
$('#sliderGyroFilterModeSelect').val(this.sliderGyroFilter);
|
||||
$('#sliderDTermFilterModeSelect').val(this.sliderDTermFilter);
|
||||
|
||||
this.updatePidSlidersDisplay();
|
||||
this.updateGyroFilterSliderDisplay();
|
||||
this.updateDTermFilterSliderDisplay();
|
||||
});
|
||||
};
|
||||
|
||||
/*
|
||||
*
|
||||
* LEGACY SLIDERS CODE
|
||||
*
|
||||
*/
|
||||
|
||||
TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
|
||||
const MAX_PID_GAIN = 200;
|
||||
const MAX_DMIN_GAIN = 100;
|
||||
|
|
@ -638,45 +669,21 @@ TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) {
|
|||
this.updateSlidersWarning();
|
||||
};
|
||||
|
||||
TuningSliders.calculateNewPids = function(updateSlidersOnly = false) {
|
||||
// this is the main calculation for PID sliders, inputs are in form of slider position values
|
||||
// values get set both into forms and their respective variables
|
||||
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
FC.TUNING_SLIDERS.slider_pids_mode = this.sliderPidsMode;
|
||||
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20
|
||||
FC.TUNING_SLIDERS.slider_d_gain = Math.round(this.sliderDGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_pi_gain = Math.round(this.sliderPIGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(this.sliderFeedforwardGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(this.sliderDMaxGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_i_gain = Math.round(this.sliderIGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(this.sliderRollPitchRatio * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(this.sliderPitchPIGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(this.sliderMasterMultiplier * 20) * 5;
|
||||
|
||||
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS))
|
||||
.then(() => MSP.promise(MSPCodes.MSP_PID))
|
||||
.then(() => MSP.promise(MSPCodes.MSP_PID_ADVANCED))
|
||||
.then(() => {
|
||||
this.updateFormPids(updateSlidersOnly);
|
||||
this.updateSlidersWarning();
|
||||
});
|
||||
} else {
|
||||
this.legacyCalculatePids(updateSlidersOnly);
|
||||
}
|
||||
};
|
||||
|
||||
TuningSliders.calculateLegacyGyroFilters = function() {
|
||||
// calculate, set and display new values in forms based on slider position
|
||||
FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier);
|
||||
FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier);
|
||||
FC.FILTER_CONFIG.gyro_lowpass_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass_hz * this.sliderGyroFilterMultiplier);
|
||||
FC.FILTER_CONFIG.gyro_lowpass2_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier);
|
||||
FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier);
|
||||
FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier);
|
||||
FC.FILTER_CONFIG.gyro_lowpass2_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier);
|
||||
FC.FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type;
|
||||
FC.FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type;
|
||||
|
||||
$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz);
|
||||
$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz);
|
||||
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_hz);
|
||||
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz);
|
||||
$('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
|
||||
|
||||
this.updateFilterSlidersWarning();
|
||||
this.updateLowpassValues();
|
||||
};
|
||||
|
||||
TuningSliders.calculateLegacyDTermFilters = function() {
|
||||
|
|
@ -688,69 +695,79 @@ TuningSliders.calculateLegacyDTermFilters = function() {
|
|||
FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type;
|
||||
FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type;
|
||||
|
||||
this.updateFilterSlidersWarning();
|
||||
this.updateLowpassValues();
|
||||
};
|
||||
|
||||
TuningSliders.calculateNewGyroFilters = function() {
|
||||
// this is the main calculation for Gyro Filter slider, inputs are in form of slider position values
|
||||
// values get set both into forms and their respective variables
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = Math.round(this.sliderGyroFilterMultiplier * 20) * 5;
|
||||
this.writeFilterSliders();
|
||||
} else {
|
||||
this.calculateLegacyGyroFilters();
|
||||
}
|
||||
};
|
||||
|
||||
TuningSliders.calculateNewDTermFilters = function() {
|
||||
// this is the main calculation for DTerm Filter slider, inputs are in form of slider position values
|
||||
// values get set both into forms and their respective variables
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid divide by ROUND[(* x 100)/5 = 20]
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = Math.round(this.sliderDTermFilterMultiplier * 20) * 5;
|
||||
this.writeFilterSliders();
|
||||
} else {
|
||||
this.calculateLegacyDTermFilters();
|
||||
}
|
||||
};
|
||||
|
||||
// We need to write filter config to switch filters without having to save.
|
||||
TuningSliders.updateFiltersInFirmware = function() {
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
MSP.promise(MSPCodes.MSP_SET_FILTER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FILTER_CONFIG))
|
||||
.then(() => MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS))
|
||||
.then(() => MSP.promise(MSPCodes.MSP_FILTER_CONFIG))
|
||||
.then(() => this.updateLowpassValues());
|
||||
}
|
||||
};
|
||||
|
||||
TuningSliders.writeFilterSliders = function () {
|
||||
// send sliders to firmware
|
||||
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS))
|
||||
// pulls values from firmware
|
||||
.then(() => MSP.promise(MSPCodes.MSP_FILTER_CONFIG))
|
||||
.then(() => {
|
||||
TuningSliders.updateLowpassValues();
|
||||
TuningSliders.updateFilterSlidersWarning();
|
||||
if (this.FilterReset) {
|
||||
this.FilterReset = false;
|
||||
this.updateFilterSlidersDisplay();
|
||||
}
|
||||
});
|
||||
};
|
||||
|
||||
TuningSliders.updateLowpassValues = function() {
|
||||
$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz);
|
||||
$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz);
|
||||
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_hz);
|
||||
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz);
|
||||
$('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
|
||||
|
||||
$('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz);
|
||||
$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
|
||||
$('.pid_filter input[name="dtermLowpassFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_hz);
|
||||
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz);
|
||||
$('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier);
|
||||
|
||||
this.updateFilterSlidersWarning();
|
||||
};
|
||||
|
||||
TuningSliders.legacyUpdateFilterSlidersDisplay = function() {
|
||||
this.GyroSliderUnavailable = false;
|
||||
this.DTermSliderUnavailable = false;
|
||||
|
||||
if (parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()) !==
|
||||
Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) ||
|
||||
parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()) !==
|
||||
Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier) ||
|
||||
parseInt($('.pid_filter select[name="gyroLowpassDynType"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass_type ||
|
||||
parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val()) !==
|
||||
Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier) ||
|
||||
parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass2_type) {
|
||||
this.GyroSliderUnavailable = true;
|
||||
} else {
|
||||
this.cachedGyroSliderValues = true;
|
||||
}
|
||||
|
||||
if (parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()) !==
|
||||
Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier) ||
|
||||
parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()) !==
|
||||
Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier) ||
|
||||
parseInt($('.pid_filter select[name="dtermLowpassDynType"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass_type ||
|
||||
parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val()) !==
|
||||
Math.round(this.FILTER_DEFAULT.dterm_lowpass_hz * this.sliderDTermFilterMultiplier) ||
|
||||
parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val()) !==
|
||||
Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier) ||
|
||||
parseInt($('.pid_filter select[name="dtermLowpass2Type"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass2_type) {
|
||||
this.DTermSliderUnavailable = true;
|
||||
} else {
|
||||
this.cachedDTermSliderValues = true;
|
||||
}
|
||||
|
||||
$('.tuningFilterSliders .sliderLabels tr:nth-child(2)').toggle(!this.GyroSliderUnavailable);
|
||||
$('.tuningFilterSliders .sliderLabels tr:last-child').toggle(!this.DTermSliderUnavailable);
|
||||
|
||||
$('.tuningFilterSliders').toggle(!(this.GyroSliderUnavailable && this.DTermSliderUnavailable));
|
||||
$('.subtab-filter .slidersDisabled').toggle(this.GyroSliderUnavailable || this.DTermSliderUnavailable);
|
||||
};
|
||||
|
||||
TuningSliders.resetPidSliders = function() {
|
||||
if (!this.cachedPidSliderValues) {
|
||||
this.sliderMasterMultiplierLegacy = 1;
|
||||
this.sliderPDRatio = 1;
|
||||
this.sliderPDGain = 1;
|
||||
this.sliderFeedforwardGainLegacy = 1;
|
||||
}
|
||||
|
||||
$('#sliderMasterMultiplierLegacy').val(this.downscaleSliderValue(this.sliderMasterMultiplierLegacy));
|
||||
$('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
|
||||
$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
|
||||
$('#sliderFeedforwardGainLegacy').val(this.downscaleSliderValue(this.sliderFeedforwardGainLegacy));
|
||||
this.calculateNewPids();
|
||||
};
|
||||
|
||||
TuningSliders.resetGyroFilterSlider = function() {
|
||||
this.sliderGyroFilterMultiplier = 1;
|
||||
$('#sliderGyroFilterMultiplier').val(this.sliderGyroFilterMultiplier);
|
||||
this.calculateNewGyroFilters();
|
||||
this.updateFilterSlidersDisplay();
|
||||
};
|
||||
|
||||
TuningSliders.resetDTermFilterSlider = function() {
|
||||
this.sliderDTermFilterMultiplier = 1;
|
||||
$('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier);
|
||||
this.calculateNewDTermFilters();
|
||||
this.updateFilterSlidersDisplay();
|
||||
};
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue