diff --git a/locales/en/messages.json b/locales/en/messages.json
index a68ac53b..6885bc36 100644
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -1358,6 +1358,18 @@
"configurationCalculatedCyclesSec": {
"message": "Cycles/Sec [Hz]"
},
+ "configurationSpeedGyroNoGyro": {
+ "message": "No gyro",
+ "description": "When no gyro is configured this appears in place of the speed of the gyro in kHz"
+ },
+ "configurationSpeedPidNoGyro": {
+ "message": "Gyro / {{value}}",
+ "description": "When no gyro is configured this appears in place of the speed of the PID in kHz. Try to keep it short."
+ },
+ "configurationKHzUnitLabel": {
+ "message": "{{value}} kHz",
+ "description": "Value for some options that show the speed of gyro, pid, etc. in kHz"
+ },
"configurationLoopTimeHelp": {
"message": "Note: Make sure your FC is able to operate at these speeds! Check CPU and cycletime stability. Changing this may require PID re-tuning. TIP: Disable Accelerometer and other sensors to gain more performance."
},
diff --git a/src/css/tabs/configuration.css b/src/css/tabs/configuration.css
index 9b2b85a8..6a6a899c 100644
--- a/src/css/tabs/configuration.css
+++ b/src/css/tabs/configuration.css
@@ -432,10 +432,18 @@
width: 100%;
}
-.tab-configuration .gyroSyncDenom, .tab-configuration .pidProcessDenom {
+.tab-configuration .gyroSyncDenom, .tab-configuration .pidProcessDenom, .tab-configuration .gyroFrequency {
width:90px;
}
+.tab-configuration .gyroFrequency {
+ border: none;
+ background-color: var(--alternativeBackground);
+ padding-left: 6px;
+ margin-right: 10px;
+ font-weight: bold;
+}
+
.tab-configuration ._3dSettings {
margin-top: 10px;
float: left;
diff --git a/src/js/fc.js b/src/js/fc.js
index 4c854a09..2544ad8c 100644
--- a/src/js/fc.js
+++ b/src/js/fc.js
@@ -104,6 +104,7 @@ var FC = {
signature: [],
mcuTypeId: 255,
configurationState: 0,
+ sampleRateHz: 0,
};
BF_CONFIG = {
diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index 6d501a90..de5c0382 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -800,6 +800,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
CONFIG.configurationState = data.readU8();
+
+ if (semver.gte(CONFIG.apiVersion, "1.43.0")) {
+ CONFIG.sampleRateHz = data.readU16();
+ }
+
}
} else {
CONFIG.mcuTypeId = 255;
diff --git a/src/js/tabs/configuration.js b/src/js/tabs/configuration.js
index cbacd1ff..2f5356c9 100644
--- a/src/js/tabs/configuration.js
+++ b/src/js/tabs/configuration.js
@@ -557,97 +557,106 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
}).change();
// Gyro and PID update
- var gyroUse32kHz_e = $('input[id="gyroUse32kHz"]');
- var gyro_select_e = $('select.gyroSyncDenom');
- var pid_select_e = $('select.pidProcessDenom');
+ const gyroUse32kHzElement = $('input[id="gyroUse32kHz"]');
+ const gyroTextElement = $('input.gyroFrequency');
+ const gyroSelectElement = $('select.gyroSyncDenom');
+ const pidSelectElement = $('select.pidProcessDenom');
- function addDenomOption(element, denom, baseFreq) {
- element.append('');
+ function addDenomOption(element, denom, baseFreq) {
+ let denomDescription;
+ if (baseFreq === 0) {
+ denomDescription = i18n.getMessage('configurationSpeedPidNoGyro', {'value' : denom});
+ } else {
+ denomDescription = i18n.getMessage('configurationKHzUnitLabel', { 'value' : (baseFreq / denom).toFixed(2)});
+ }
+ element.append(``);
}
- var updateGyroDenom = function (gyroBaseFreq) {
- var originalGyroDenom = gyro_select_e.val();
+ const updateGyroDenom = function (gyroBaseFreq) {
- gyro_select_e.empty();
+ gyroTextElement.hide();
- var denom = 1;
- while (denom <= 8) {
- addDenomOption(gyro_select_e, denom, gyroBaseFreq);
- denom ++;
+ const originalGyroDenom = gyroSelectElement.val();
+
+ gyroSelectElement.empty();
+
+ const MAX_DENOM = semver.gte(CONFIG.apiVersion, "1.25.0") ? 32 : 8;
+ for (let denom = 1; denom <= MAX_DENOM; denom++) {
+ addDenomOption(gyroSelectElement, denom, gyroBaseFreq);
}
- if (semver.gte(CONFIG.apiVersion, "1.25.0")) {
- while (denom <= 32) {
- addDenomOption(gyro_select_e, denom, gyroBaseFreq);
+ gyroSelectElement.val(originalGyroDenom);
- denom ++;
- }
- }
+ gyroSelectElement.change();
+ };
- gyro_select_e.val(originalGyroDenom);
+ const updateGyroDenomReadOnly = function (gyroFrequency) {
+ gyroSelectElement.hide();
- gyro_select_e.change();
- };
+ let gyroContent;
+ if (gyroFrequency === 0) {
+ gyroContent = i18n.getMessage('configurationSpeedGyroNoGyro');
+ } else {
+ gyroContent = i18n.getMessage('configurationKHzUnitLabel', { 'value' : (gyroFrequency / 1000).toFixed(2)});
+ }
+ gyroTextElement.val(gyroContent);
+ };
- if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0")) {
- gyroUse32kHz_e.prop('checked', PID_ADVANCED_CONFIG.gyroUse32kHz !== 0);
+ if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0")) {
+ gyroUse32kHzElement.prop('checked', PID_ADVANCED_CONFIG.gyroUse32kHz !== 0);
- gyroUse32kHz_e.change(function () {
- var gyroBaseFreq;
- if ($(this).is(':checked')) {
- gyroBaseFreq = 32;
- } else {
- gyroBaseFreq = 8;
- }
+ gyroUse32kHzElement.change(function () {
+ const gyroBaseFreq = ($(this).is(':checked'))? 32 : 8;
- updateGyroDenom(gyroBaseFreq);
- }).change();
- } else {
- $('div.gyroUse32kHz').hide();
+ updateGyroDenom(gyroBaseFreq);
+ }).change();
+
+ } else {
+
+ $('div.gyroUse32kHz').hide();
+
+ if (semver.gte(CONFIG.apiVersion, "1.43.0")) {
+ updateGyroDenomReadOnly(CONFIG.sampleRateHz);
+ } else {
+ updateGyroDenom(8);
+ }
+
+ gyroSelectElement.val(PID_ADVANCED_CONFIG.gyro_sync_denom);
- updateGyroDenom(8);
}
-
if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
$('.systemconfigNote').html(i18n.getMessage('configurationLoopTimeNo32KhzHelp'));
} else {
$('.systemconfigNote').html(i18n.getMessage('configurationLoopTimeHelp'));
}
- gyro_select_e.val(PID_ADVANCED_CONFIG.gyro_sync_denom);
+ gyroSelectElement.change(function () {
+ const originalPidDenom = pidSelectElement.val();
- gyro_select_e.change(function () {
- var originalPidDenom = pid_select_e.val();
-
- var pidBaseFreq = 8;
- if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0") && gyroUse32kHz_e.is(':checked')) {
- pidBaseFreq = 32;
- }
-
- pidBaseFreq = pidBaseFreq / parseInt($(this).val());
-
- pid_select_e.empty();
-
- var denom = 1;
-
- while (denom <= 8) {
- addDenomOption(pid_select_e, denom, pidBaseFreq);
- denom ++;
- }
-
- if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
- while (denom <= 16) {
- addDenomOption(pid_select_e, denom, pidBaseFreq);
-
- denom ++;
+ let pidBaseFreq;
+ if (semver.gte(CONFIG.apiVersion, "1.43.0")) {
+ pidBaseFreq = CONFIG.sampleRateHz / 1000;
+ } else {
+ pidBaseFreq = 8;
+ if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0") && gyroUse32kHzElement.is(':checked')) {
+ pidBaseFreq = 32;
}
+ pidBaseFreq = pidBaseFreq / parseInt($(this).val());
}
- pid_select_e.val(originalPidDenom);
+ pidSelectElement.empty();
+
+ const MAX_DENOM = semver.gte(CONFIG.apiVersion, "1.24.0") ? 16 : 8;
+
+ for (let denom = 1; denom <= MAX_DENOM; denom++) {
+ addDenomOption(pidSelectElement, denom, pidBaseFreq);
+ }
+
+ pidSelectElement.val(originalPidDenom);
}).change();
- pid_select_e.val(PID_ADVANCED_CONFIG.pid_process_denom);
+ pidSelectElement.val(PID_ADVANCED_CONFIG.pid_process_denom);
$('input[id="accHardwareSwitch"]').prop('checked', SENSOR_CONFIG.acc_hardware !== 1);
$('input[id="baroHardwareSwitch"]').prop('checked', SENSOR_CONFIG.baro_hardware !== 1);
@@ -1194,8 +1203,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
PID_ADVANCED_CONFIG.fast_pwm_protocol = parseInt(esc_protocol_e.val()-1);
PID_ADVANCED_CONFIG.use_unsyncedPwm = $('input[id="unsyncedPWMSwitch"]').is(':checked') ? 1 : 0;
PID_ADVANCED_CONFIG.motor_pwm_rate = parseInt($('input[name="unsyncedpwmfreq"]').val());
- PID_ADVANCED_CONFIG.gyro_sync_denom = parseInt(gyro_select_e.val());
- PID_ADVANCED_CONFIG.pid_process_denom = parseInt(pid_select_e.val());
+ PID_ADVANCED_CONFIG.gyro_sync_denom = parseInt(gyroSelectElement.val());
+ PID_ADVANCED_CONFIG.pid_process_denom = parseInt(pidSelectElement.val());
PID_ADVANCED_CONFIG.digitalIdlePercent = parseFloat($('input[name="digitalIdlePercent"]').val());
if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0")) {
PID_ADVANCED_CONFIG.gyroUse32kHz = $('input[id="gyroUse32kHz"]').is(':checked') ? 1 : 0;
diff --git a/src/js/tabs/onboard_logging.js b/src/js/tabs/onboard_logging.js
index 59b64fa1..c67245af 100644
--- a/src/js/tabs/onboard_logging.js
+++ b/src/js/tabs/onboard_logging.js
@@ -192,16 +192,22 @@ TABS.onboard_logging.initialize = function (callback) {
function populateLoggingRates(loggingRatesSelect) {
// Offer a reasonable choice of logging rates (if people want weird steps they can use CLI)
- var loggingRates = [];
- var pidRateBase = 8000;
+ let loggingRates = [];
- if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0") && PID_ADVANCED_CONFIG.gyroUse32kHz !== 0) {
- pidRateBase = 32000;
+ let pidRate;
+ if (semver.gte(CONFIG.apiVersion, "1.43.0")) {
+ pidRate = CONFIG.sampleRateHz / PID_ADVANCED_CONFIG.pid_process_denom;
+
+ } else {
+
+ let pidRateBase = 8000;
+
+ if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0") && PID_ADVANCED_CONFIG.gyroUse32kHz !== 0) {
+ pidRateBase = 32000;
+ }
+ pidRate = pidRateBase / PID_ADVANCED_CONFIG.gyro_sync_denom / PID_ADVANCED_CONFIG.pid_process_denom;
}
- var pidRate = pidRateBase / PID_ADVANCED_CONFIG.gyro_sync_denom /
- PID_ADVANCED_CONFIG.pid_process_denom;
-
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
loggingRates = [
{text: "Disabled", hz: 0, p_denom: 0},
diff --git a/src/tabs/configuration.html b/src/tabs/configuration.html
index 84bf247b..ca33ff7b 100644
--- a/src/tabs/configuration.html
+++ b/src/tabs/configuration.html
@@ -60,6 +60,7 @@
+