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https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-16 04:45:20 +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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@ -52,6 +52,82 @@ function MspHelper() {
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self.mspMultipleCache = [];
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}
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MspHelper.readPidSliderSettings = function(data) {
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FC.TUNING_SLIDERS.slider_pids_mode = data.readU8();
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FC.TUNING_SLIDERS.slider_master_multiplier = data.readU8();
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FC.TUNING_SLIDERS.slider_roll_pitch_ratio = data.readU8();
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FC.TUNING_SLIDERS.slider_i_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_d_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_pi_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_dmax_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_feedforward_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_pitch_pi_gain = data.readU8();
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data.readU32(); // reserved for future use
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data.readU32(); // reserved for future use
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};
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MspHelper.writePidSliderSettings = function(buffer) {
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buffer
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.push8(FC.TUNING_SLIDERS.slider_pids_mode)
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.push8(FC.TUNING_SLIDERS.slider_master_multiplier)
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.push8(FC.TUNING_SLIDERS.slider_roll_pitch_ratio)
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.push8(FC.TUNING_SLIDERS.slider_i_gain)
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.push8(FC.TUNING_SLIDERS.slider_d_gain)
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.push8(FC.TUNING_SLIDERS.slider_pi_gain)
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.push8(FC.TUNING_SLIDERS.slider_dmax_gain)
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.push8(FC.TUNING_SLIDERS.slider_feedforward_gain)
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.push8(FC.TUNING_SLIDERS.slider_pitch_pi_gain)
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.push32(0) // reserved for future use
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.push32(0); // reserved for future use
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};
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MspHelper.readDtermFilterSliderSettings = function(data) {
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FC.TUNING_SLIDERS.slider_dterm_filter = data.readU8();
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FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = data.readU8();
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FC.FILTER_CONFIG.dterm_lowpass_hz = data.readU16();
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FC.FILTER_CONFIG.dterm_lowpass2_hz = data.readU16();
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FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = data.readU16();
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FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = data.readU16();
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data.readU32(); // reserved for future use
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data.readU32(); // reserved for future use
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};
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MspHelper.writeDtermFilterSliderSettings = function(buffer) {
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buffer
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.push8(FC.TUNING_SLIDERS.slider_dterm_filter)
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.push8(FC.TUNING_SLIDERS.slider_dterm_filter_multiplier)
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.push16(FC.FILTER_CONFIG.dterm_lowpass_hz)
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.push16(FC.FILTER_CONFIG.dterm_lowpass2_hz)
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.push16(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz)
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.push16(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz)
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.push32(0) // reserved for future use
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.push32(0); // reserved for future use
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};
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MspHelper.readGyroFilterSliderSettings = function(data) {
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FC.TUNING_SLIDERS.slider_gyro_filter = data.readU8();
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FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = data.readU8();
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FC.FILTER_CONFIG.gyro_lowpass_hz = data.readU16();
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FC.FILTER_CONFIG.gyro_lowpass2_hz = data.readU16();
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FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = data.readU16();
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FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = data.readU16();
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data.readU32(); // reserved for future use
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data.readU32(); // reserved for future use
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};
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MspHelper.writeGyroFilterSliderSettings = function(buffer) {
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buffer
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.push8(FC.TUNING_SLIDERS.slider_gyro_filter)
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.push8(FC.TUNING_SLIDERS.slider_gyro_filter_multiplier)
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.push16(FC.FILTER_CONFIG.gyro_lowpass_hz)
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.push16(FC.FILTER_CONFIG.gyro_lowpass2_hz)
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.push16(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz)
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.push16(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz)
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.push32(0) // reserved for future use
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.push32(0); // reserved for future use
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};
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MspHelper.prototype.process_data = function(dataHandler) {
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const self = this;
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const data = dataHandler.dataView; // DataView (allowing us to view arrayBuffer as struct/union)
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@ -1485,30 +1561,58 @@ MspHelper.prototype.process_data = function(dataHandler) {
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break;
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case MSPCodes.MSP_SET_TUNING_SLIDERS:
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// This is done in a loop whenever the sliders are moved. Avoid logging to optimise the performance.
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case MSPCodes.MSP_SET_SIMPLIFIED_TUNING:
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console.log('Tuning Sliders sent');
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break;
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case MSPCodes.MSP_TUNING_SLIDERS:
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FC.TUNING_SLIDERS.slider_pids_mode = data.readU8();
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FC.TUNING_SLIDERS.slider_master_multiplier = data.readU8();
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FC.TUNING_SLIDERS.slider_roll_pitch_ratio = data.readU8();
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FC.TUNING_SLIDERS.slider_i_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_d_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_pi_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_dmax_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_feedforward_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_pitch_pi_gain = data.readU8();
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FC.TUNING_SLIDERS.slider_dterm_filter = data.readU8();
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FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = data.readU8();
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FC.TUNING_SLIDERS.slider_gyro_filter = data.readU8();
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FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = data.readU8();
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break;
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case MSPCodes.MSP_SIMPLIFIED_TUNING:
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MspHelper.readPidSliderSettings(data);
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MspHelper.readDtermFilterSliderSettings(data);
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MspHelper.readGyroFilterSliderSettings(data);
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break;
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case MSPCodes.MSP_CALCULATE_SIMPLIFIED_PID:
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if (FC.TUNING_SLIDERS.slider_pids_mode > 0) {
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FC.PIDS[0][0] = data.readU8();
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FC.PIDS[0][1] = data.readU8();
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FC.PIDS[0][2] = data.readU8();
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FC.ADVANCED_TUNING.dMinRoll = data.readU8();
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FC.ADVANCED_TUNING.feedforwardRoll = data.readU16();
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FC.PIDS[1][0] = data.readU8();
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FC.PIDS[1][1] = data.readU8();
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FC.PIDS[1][2] = data.readU8();
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FC.ADVANCED_TUNING.dMinPitch = data.readU8();
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FC.ADVANCED_TUNING.feedforwardPitch = data.readU16();
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}
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if (FC.TUNING_SLIDERS.slider_pids_mode > 1) {
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FC.PIDS[2][0] = data.readU8();
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FC.PIDS[2][1] = data.readU8();
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FC.PIDS[2][2] = data.readU8();
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FC.ADVANCED_TUNING.dMinYaw = data.readU8();
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FC.ADVANCED_TUNING.feedforwardYaw = data.readU16();
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}
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break;
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case MSPCodes.MSP_CALCULATE_SIMPLIFIED_GYRO:
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MspHelper.readGyroFilterSliderSettings(data);
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break;
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case MSPCodes.MSP_CALCULATE_SIMPLIFIED_DTERM:
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MspHelper.readDtermFilterSliderSettings(data);
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break;
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case MSPCodes.MSP_VALIDATE_SIMPLIFIED_TUNING:
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FC.TUNING_SLIDERS.slider_pids_valid = data.readU8();
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FC.TUNING_SLIDERS.slider_gyro_valid = data.readU8();
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FC.TUNING_SLIDERS.slider_dterm_valid = data.readU8();
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break;
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case MSPCodes.MSP_SET_VTXTABLE_POWERLEVEL:
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console.log("VTX powerlevel sent");
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break;
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case MSPCodes.MSP_SET_MODE_RANGE:
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console.log('Mode range saved');
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break;
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@ -2313,21 +2417,24 @@ MspHelper.prototype.crunch = function(code) {
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buffer.push8(1);
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break;
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case MSPCodes.MSP_SET_TUNING_SLIDERS:
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buffer
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.push8(FC.TUNING_SLIDERS.slider_pids_mode)
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.push8(FC.TUNING_SLIDERS.slider_master_multiplier)
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.push8(FC.TUNING_SLIDERS.slider_roll_pitch_ratio)
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.push8(FC.TUNING_SLIDERS.slider_i_gain)
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.push8(FC.TUNING_SLIDERS.slider_d_gain)
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.push8(FC.TUNING_SLIDERS.slider_pi_gain)
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.push8(FC.TUNING_SLIDERS.slider_dmax_gain)
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.push8(FC.TUNING_SLIDERS.slider_feedforward_gain)
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.push8(FC.TUNING_SLIDERS.slider_pitch_pi_gain)
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.push8(FC.TUNING_SLIDERS.slider_dterm_filter)
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.push8(FC.TUNING_SLIDERS.slider_dterm_filter_multiplier)
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.push8(FC.TUNING_SLIDERS.slider_gyro_filter)
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.push8(FC.TUNING_SLIDERS.slider_gyro_filter_multiplier);
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case MSPCodes.MSP_SET_SIMPLIFIED_TUNING:
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MspHelper.writePidSliderSettings(buffer);
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MspHelper.writeDtermFilterSliderSettings(buffer);
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MspHelper.writeGyroFilterSliderSettings(buffer);
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break;
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case MSPCodes.MSP_CALCULATE_SIMPLIFIED_PID:
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MspHelper.writePidSliderSettings(buffer);
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break;
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case MSPCodes.MSP_CALCULATE_SIMPLIFIED_GYRO:
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MspHelper.writeGyroFilterSliderSettings(buffer);
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break;
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case MSPCodes.MSP_CALCULATE_SIMPLIFIED_DTERM:
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MspHelper.writeDtermFilterSliderSettings(buffer);
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break;
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default:
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