mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-17 21:35:33 +03:00
Fix model preview
Refactor currentRates
This commit is contained in:
Mark Haslinghuis
parent
d9089dc212
commit
94037827e8
4 changed files with 141 additions and 163 deletions
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@ -3,7 +3,6 @@
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const minRc = 1000;
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const midRc = 1500;
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const maxRc = 2000;
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const RateCurve = function (useLegacyCurve) {
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this.useLegacyCurve = useLegacyCurve;
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this.maxAngularVel = null;
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@ -150,6 +149,81 @@ const RateCurve = function (useLegacyCurve) {
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return angularVel;
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};
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this.getCurrentRates = function () {
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const currentRates = {
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roll_rate: FC.RC_TUNING.roll_rate,
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pitch_rate: FC.RC_TUNING.pitch_rate,
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yaw_rate: FC.RC_TUNING.yaw_rate,
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rc_rate: FC.RC_TUNING.RC_RATE,
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rc_rate_yaw: FC.RC_TUNING.rcYawRate,
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rc_expo: FC.RC_TUNING.RC_EXPO,
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rc_yaw_expo: FC.RC_TUNING.RC_YAW_EXPO,
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rc_rate_pitch: FC.RC_TUNING.rcPitchRate,
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rc_pitch_expo: FC.RC_TUNING.RC_PITCH_EXPO,
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superexpo: FC.FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'),
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deadband: FC.RC_DEADBAND_CONFIG.deadband,
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yawDeadband: FC.RC_DEADBAND_CONFIG.yaw_deadband,
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roll_rate_limit: FC.RC_TUNING.roll_rate_limit,
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pitch_rate_limit: FC.RC_TUNING.pitch_rate_limit,
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yaw_rate_limit: FC.RC_TUNING.yaw_rate_limit,
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};
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if (semver.lt(FC.CONFIG.apiVersion, "1.7.0")) {
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currentRates.roll_rate = FC.RC_TUNING.roll_pitch_rate;
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currentRates.pitch_rate = FC.RC_TUNING.roll_pitch_rate;
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}
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if (semver.lt(FC.CONFIG.apiVersion, "1.16.0")) {
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currentRates.rc_rate_yaw = currentRates.rc_rate;
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}
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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currentRates.superexpo = true;
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}
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
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currentRates.rc_rate_pitch = currentRates.rc_rate;
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currentRates.rc_expo_pitch = currentRates.rc_expo;
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}
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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switch (FC.RC_TUNING.rates_type) {
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case FC.RATES_TYPE.RACEFLIGHT:
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currentRates.roll_rate *= 100;
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currentRates.pitch_rate *= 100;
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currentRates.yaw_rate *= 100;
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currentRates.rc_rate *= 1000;
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currentRates.rc_rate_yaw *= 1000;
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currentRates.rc_rate_pitch *= 1000;
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currentRates.rc_expo *= 100;
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currentRates.rc_yaw_expo *= 100;
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currentRates.rc_pitch_expo *= 100;
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break;
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case FC.RATES_TYPE.ACTUAL:
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currentRates.roll_rate *= 1000;
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currentRates.pitch_rate *= 1000;
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currentRates.yaw_rate *= 1000;
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currentRates.rc_rate *= 1000;
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currentRates.rc_rate_yaw *= 1000;
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currentRates.rc_rate_pitch *= 1000;
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break;
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case FC.RATES_TYPE.QUICKRATES:
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currentRates.roll_rate *= 1000;
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currentRates.pitch_rate *= 1000;
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currentRates.yaw_rate *= 1000;
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break;
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default: // add future rates types here
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break;
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}
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}
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return currentRates;
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};
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};
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RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit) {
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@ -165,23 +239,23 @@ RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcR
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const rcCommandfAbs = Math.abs(rcCommandf);
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switch(TABS.pid_tuning.currentRatesType) {
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case TABS.pid_tuning.RATES_TYPE.RACEFLIGHT:
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switch (FC.RC_TUNING.rates_type) {
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case FC.RATES_TYPE.RACEFLIGHT:
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angleRate=this.getRaceflightRates(rcCommandf, rate, rcRate, rcExpo);
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break;
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case TABS.pid_tuning.RATES_TYPE.KISS:
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case FC.RATES_TYPE.KISS:
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angleRate=this.getKISSRates(rcCommandf, rcCommandfAbs, rate, rcRate, rcExpo);
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break;
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case TABS.pid_tuning.RATES_TYPE.ACTUAL:
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case FC.RATES_TYPE.ACTUAL:
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angleRate=this.getActualRates(rcCommandf, rcCommandfAbs, rate, rcRate, rcExpo);
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break;
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case TABS.pid_tuning.RATES_TYPE.QUICKRATES:
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case FC.RATES_TYPE.QUICKRATES:
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angleRate=this.getQuickRates(rcCommandf, rcCommandfAbs, rate, rcRate, rcExpo);
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break;
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@ -208,8 +282,8 @@ RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpo
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RateCurve.prototype.setMaxAngularVel = function (value) {
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this.maxAngularVel = Math.ceil(value/200) * 200;
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return this.maxAngularVel;
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return this.maxAngularVel;
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};
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RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, deadband, limit, maxAngularVel, context) {
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@ -893,4 +893,12 @@ const FC = {
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getSliderDefaults() {
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return this.DEFAULT_TUNING_SLIDERS;
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},
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RATES_TYPE: {
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BETAFLIGHT: 0,
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RACEFLIGHT: 1,
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KISS: 2,
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ACTUAL: 3,
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QUICKRATES: 4,
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},
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};
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@ -11,13 +11,6 @@ TABS.pid_tuning = {
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currentRateProfile: null,
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currentRatesType: null,
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previousRatesType: null,
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RATES_TYPE: {
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BETAFLIGHT: 0,
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RACEFLIGHT: 1,
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KISS: 2,
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ACTUAL: 3,
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QUICKRATES: 4,
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},
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SETPOINT_WEIGHT_RANGE_LOW: 2.55,
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SETPOINT_WEIGHT_RANGE_HIGH: 20,
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SETPOINT_WEIGHT_RANGE_LEGACY: 2.54,
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@ -1117,8 +1110,8 @@ TABS.pid_tuning.initialize = function (callback) {
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FC.RC_TUNING.RC_PITCH_EXPO = parseFloat(rc_pitch_expo_e.val());
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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switch(self.currentRatesType) {
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case self.RATES_TYPE.RACEFLIGHT:
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switch (self.currentRatesType) {
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case FC.RATES_TYPE.RACEFLIGHT:
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FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 100;
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FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 100;
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FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 100;
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@ -1131,7 +1124,7 @@ TABS.pid_tuning.initialize = function (callback) {
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break;
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case self.RATES_TYPE.ACTUAL:
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case FC.RATES_TYPE.ACTUAL:
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FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000;
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FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 1000;
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FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000;
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@ -1141,7 +1134,7 @@ TABS.pid_tuning.initialize = function (callback) {
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break;
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case self.RATES_TYPE.QUICKRATES:
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case FC.RATES_TYPE.QUICKRATES:
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FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000;
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FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 1000;
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FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000;
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@ -1411,6 +1404,11 @@ TABS.pid_tuning.initialize = function (callback) {
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self.rateCurve = new RateCurve(useLegacyCurve);
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
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$('.pid_tuning input[name="sensitivity"]').hide();
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$('.pid_tuning .levelSensitivityHeader').empty();
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}
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function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVelElement) {
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const maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit).toFixed(0);
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maxAngularVelElement.text(maxAngularVel);
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@ -1441,86 +1439,7 @@ TABS.pid_tuning.initialize = function (callback) {
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// translate to user-selected language
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i18n.localizePage();
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// Local cache of current rates
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self.currentRates = {
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roll_rate: FC.RC_TUNING.roll_rate,
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pitch_rate: FC.RC_TUNING.pitch_rate,
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yaw_rate: FC.RC_TUNING.yaw_rate,
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rc_rate: FC.RC_TUNING.RC_RATE,
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rc_rate_yaw: FC.RC_TUNING.rcYawRate,
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rc_expo: FC.RC_TUNING.RC_EXPO,
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rc_yaw_expo: FC.RC_TUNING.RC_YAW_EXPO,
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rc_rate_pitch: FC.RC_TUNING.rcPitchRate,
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rc_pitch_expo: FC.RC_TUNING.RC_PITCH_EXPO,
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superexpo: FC.FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'),
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deadband: FC.RC_DEADBAND_CONFIG.deadband,
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yawDeadband: FC.RC_DEADBAND_CONFIG.yaw_deadband,
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roll_rate_limit: FC.RC_TUNING.roll_rate_limit,
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pitch_rate_limit: FC.RC_TUNING.pitch_rate_limit,
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yaw_rate_limit: FC.RC_TUNING.yaw_rate_limit,
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};
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if (semver.lt(FC.CONFIG.apiVersion, "1.7.0")) {
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self.currentRates.roll_rate = FC.RC_TUNING.roll_pitch_rate;
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self.currentRates.pitch_rate = FC.RC_TUNING.roll_pitch_rate;
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}
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if (semver.lt(FC.CONFIG.apiVersion, "1.16.0")) {
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self.currentRates.rc_rate_yaw = self.currentRates.rc_rate;
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}
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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self.currentRates.superexpo = true;
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}
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
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$('.pid_tuning input[name="sensitivity"]').hide();
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$('.pid_tuning .levelSensitivityHeader').empty();
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}
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
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self.currentRates.rc_rate_pitch = self.currentRates.rc_rate;
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self.currentRates.rc_expo_pitch = self.currentRates.rc_expo;
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}
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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switch(FC.RC_TUNING.rates_type) {
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case self.RATES_TYPE.RACEFLIGHT:
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self.currentRates.roll_rate *= 100;
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self.currentRates.pitch_rate *= 100;
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self.currentRates.yaw_rate *= 100;
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self.currentRates.rc_rate *= 1000;
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self.currentRates.rc_rate_yaw *= 1000;
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self.currentRates.rc_rate_pitch *= 1000;
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self.currentRates.rc_expo *= 100;
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self.currentRates.rc_yaw_expo *= 100;
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self.currentRates.rc_pitch_expo *= 100;
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break;
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case self.RATES_TYPE.ACTUAL:
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self.currentRates.roll_rate *= 1000;
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self.currentRates.pitch_rate *= 1000;
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self.currentRates.yaw_rate *= 1000;
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self.currentRates.rc_rate *= 1000;
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self.currentRates.rc_rate_yaw *= 1000;
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self.currentRates.rc_rate_pitch *= 1000;
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break;
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case self.RATES_TYPE.QUICKRATES:
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self.currentRates.roll_rate *= 1000;
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self.currentRates.pitch_rate *= 1000;
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self.currentRates.yaw_rate *= 1000;
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break;
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// add future rates types here
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default: // BetaFlight
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break;
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}
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}
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self.currentRates = self.rateCurve.getCurrentRates();
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$('.tab-pid_tuning .tab-container .pid').on('click', () => activateSubtab('pid'));
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@ -1639,6 +1558,7 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.tab-pid_tuning select[name="rate_profile"]').prop('disabled', 'false');
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FC.CONFIG.rateProfile = self.currentRateProfile;
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self.currentRates = self.rateCurve.getCurrentRates();
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GUI.log(i18n.getMessage('pidTuningLoadedRateProfile', [self.currentRateProfile + 1]));
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});
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@ -3048,6 +2968,10 @@ TABS.pid_tuning.changeRatesType = function(rateTypeID) {
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self.changeRatesSystem(false);
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self.previousRatesType = self.currentRatesType;
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dialogRatesType.close();
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FC.RC_TUNING.rates_type = self.currentRatesType;
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self.currentRates = self.rateCurve.getCurrentRates();
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});
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}
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@ -3091,8 +3015,8 @@ TABS.pid_tuning.changeRatesSystem = function(sameType) {
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rc_yaw_expo_e.val(FC.RC_TUNING.RC_YAW_EXPO.toFixed(2));
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}
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switch(self.currentRatesType) {
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case self.RATES_TYPE.RACEFLIGHT:
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switch (self.currentRatesType) {
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case FC.RATES_TYPE.RACEFLIGHT:
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rcRateLabel.text(i18n.getMessage("pidTuningRcRateRaceflight"));
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rateLabel.text(i18n.getMessage("pidTuningRateRaceflight"));
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rcExpoLabel.text(i18n.getMessage("pidTuningRcExpoRaceflight"));
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@ -3123,7 +3047,7 @@ TABS.pid_tuning.changeRatesSystem = function(sameType) {
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break;
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case self.RATES_TYPE.KISS:
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case FC.RATES_TYPE.KISS:
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rcRateLabel.text(i18n.getMessage("pidTuningRcRate"));
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rateLabel.text(i18n.getMessage("pidTuningRcRateRaceflight"));
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rcExpoLabel.text(i18n.getMessage("pidTuningRcExpoKISS"));
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@ -3132,7 +3056,7 @@ TABS.pid_tuning.changeRatesSystem = function(sameType) {
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break;
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case self.RATES_TYPE.ACTUAL:
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case FC.RATES_TYPE.ACTUAL:
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rcRateLabel.text(i18n.getMessage("pidTuningRcRateActual"));
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rateLabel.text(i18n.getMessage("pidTuningRateQuickRates"));
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rcExpoLabel.text(i18n.getMessage("pidTuningRcExpoRaceflight"));
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@ -3162,7 +3086,7 @@ TABS.pid_tuning.changeRatesSystem = function(sameType) {
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break;
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case self.RATES_TYPE.QUICKRATES:
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case FC.RATES_TYPE.QUICKRATES:
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rcRateLabel.text(i18n.getMessage("pidTuningRcRate"));
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rateLabel.text(i18n.getMessage("pidTuningRateQuickRates"));
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rcExpoLabel.text(i18n.getMessage("pidTuningRcExpoRaceflight"));
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@ -3213,23 +3137,23 @@ TABS.pid_tuning.changeRatesTypeLogo = function() {
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const ratesLogoElement = $('.rates_type img[id="ratesLogo"]');
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switch(self.currentRatesType) {
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case self.RATES_TYPE.RACEFLIGHT:
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switch (self.currentRatesType) {
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case FC.RATES_TYPE.RACEFLIGHT:
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ratesLogoElement.attr("src", "./images/rate_logos/raceflight.svg");
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break;
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case self.RATES_TYPE.KISS:
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case FC.RATES_TYPE.KISS:
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ratesLogoElement.attr("src", "./images/rate_logos/kiss.svg");
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break;
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case self.RATES_TYPE.ACTUAL:
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case FC.RATES_TYPE.ACTUAL:
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ratesLogoElement.attr("src", "./images/rate_logos/actual.svg");
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break;
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case self.RATES_TYPE.QUICKRATES:
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case FC.RATES_TYPE.QUICKRATES:
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ratesLogoElement.attr("src", "./images/rate_logos/quickrates.svg");
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break;
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@ -2,18 +2,14 @@
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TABS.receiver = {
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rateChartHeight: 117,
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useSuperExpo: false,
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deadband: 0,
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yawDeadband: 0,
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analyticsChanges: {},
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needReboot: false,
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ratesMultiplier: 1,
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};
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TABS.receiver.initialize = function (callback) {
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const tab = this;
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if (GUI.active_tab != 'receiver') {
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if (GUI.active_tab !== 'receiver') {
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GUI.active_tab = 'receiver';
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}
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@ -77,13 +73,6 @@ TABS.receiver.initialize = function (callback) {
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$('.deadband input[name="yaw_deadband"]').val(FC.RC_DEADBAND_CONFIG.yaw_deadband);
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$('.deadband input[name="deadband"]').val(FC.RC_DEADBAND_CONFIG.deadband);
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$('.deadband input[name="3ddeadbandthrottle"]').val(FC.RC_DEADBAND_CONFIG.deadband3d_throttle);
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||||
|
||||
$('.deadband input[name="deadband"]').change(function () {
|
||||
tab.deadband = parseInt($(this).val());
|
||||
}).change();
|
||||
$('.deadband input[name="yaw_deadband"]').change(function () {
|
||||
tab.yawDeadband = parseInt($(this).val());
|
||||
}).change();
|
||||
}
|
||||
|
||||
if (semver.lt(FC.CONFIG.apiVersion, "1.15.0")) {
|
||||
|
|
@ -132,7 +121,7 @@ TABS.receiver.initialize = function (callback) {
|
|||
<li class="meter">\
|
||||
<div class="meter-bar">\
|
||||
<div class="label"></div>\
|
||||
<div class="fill${FC.RC.active_channels == 0 ? 'disabled' : ''}">\
|
||||
<div class="fill${FC.RC.active_channels === 0 ? 'disabled' : ''}">\
|
||||
<div class="label"></div>\
|
||||
</div>\
|
||||
</div>\
|
||||
|
|
@ -202,7 +191,7 @@ TABS.receiver.initialize = function (callback) {
|
|||
strBuffer = val.split('');
|
||||
const duplicityBuffer = [];
|
||||
|
||||
if (val.length != 8) {
|
||||
if (val.length !== 8) {
|
||||
$(this).val(lastValid);
|
||||
return false;
|
||||
}
|
||||
|
|
@ -522,7 +511,7 @@ TABS.receiver.initialize = function (callback) {
|
|||
}, function(createdWindow) {
|
||||
// Give the window a callback it can use to send the channels (otherwise it can't see those objects)
|
||||
createdWindow.contentWindow.setRawRx = function(channels) {
|
||||
if (CONFIGURATOR.connectionValid && GUI.active_tab != 'cli') {
|
||||
if (CONFIGURATOR.connectionValid && GUI.active_tab !== 'cli') {
|
||||
mspHelper.setRawRx(channels);
|
||||
return true;
|
||||
} else {
|
||||
|
|
@ -826,32 +815,18 @@ TABS.receiver.initModelPreview = function () {
|
|||
this.keepRendering = true;
|
||||
this.model = new Model($('.model_preview'), $('.model_preview canvas'));
|
||||
|
||||
this.useSuperExpo = false;
|
||||
if (semver.gte(FC.CONFIG.apiVersion, "1.20.0") || (semver.gte(FC.CONFIG.apiVersion, "1.16.0") && FC.FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'))) {
|
||||
this.useSuperExpo = true;
|
||||
}
|
||||
|
||||
let useOldRateCurve = false;
|
||||
if (FC.CONFIG.flightControllerIdentifier == 'CLFL' && semver.lt(FC.CONFIG.apiVersion, '2.0.0')) {
|
||||
if (FC.CONFIG.flightControllerIdentifier === 'CLFL' && semver.lt(FC.CONFIG.apiVersion, '2.0.0')) {
|
||||
useOldRateCurve = true;
|
||||
}
|
||||
if (FC.CONFIG.flightControllerIdentifier == 'BTFL' && semver.lt(FC.CONFIG.flightControllerVersion, '2.8.0')) {
|
||||
if (FC.CONFIG.flightControllerIdentifier === 'BTFL' && semver.lt(FC.CONFIG.flightControllerVersion, '2.8.0')) {
|
||||
useOldRateCurve = true;
|
||||
}
|
||||
|
||||
this.rateCurve = new RateCurve(useOldRateCurve);
|
||||
this.currentRates = this.rateCurve.getCurrentRates();
|
||||
|
||||
const ratesMultiplierList = [
|
||||
{name: "Betaflight", value: 1},
|
||||
{name: "Raceflight", value: 100},
|
||||
{name: "KISS", value: 1},
|
||||
{name: "Actual", value: 1000},
|
||||
{name: "QuickRates", value: 1000},
|
||||
];
|
||||
|
||||
this.ratesMultiplier = ratesMultiplierList[FC.RC_TUNING.rates_type].value;
|
||||
|
||||
$(window).on('resize', $.proxy(this.model.resize, this.model));
|
||||
$(window).on('resize', $.bind(this.model.resize, this.model));
|
||||
};
|
||||
|
||||
TABS.receiver.renderModel = function () {
|
||||
|
|
@ -864,39 +839,36 @@ TABS.receiver.renderModel = function () {
|
|||
|
||||
const roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
|
||||
FC.RC.channels[0],
|
||||
FC.RC_TUNING.roll_rate * this.ratesMultiplier,
|
||||
FC.RC_TUNING.RC_RATE * this.ratesMultiplier,
|
||||
FC.RC_TUNING.RC_EXPO * this.ratesMultiplier,
|
||||
this.useSuperExpo,
|
||||
this.deadband,
|
||||
FC.RC_TUNING.roll_rate_limit,
|
||||
this.currentRates.roll_rate,
|
||||
this.currentRates.rc_rate,
|
||||
this.currentRates.rc_expo,
|
||||
this.currentRates.superexpo,
|
||||
this.currentRates.deadband,
|
||||
this.currentRates.roll_rate_limit,
|
||||
);
|
||||
|
||||
const pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
|
||||
FC.RC.channels[1],
|
||||
FC.RC_TUNING.pitch_rate * this.ratesMultiplier,
|
||||
FC.RC_TUNING.rcPitchRate * this.ratesMultiplier,
|
||||
FC.RC_TUNING.RC_PITCH_EXPO * this.ratesMultiplier,
|
||||
this.useSuperExpo,
|
||||
this.deadband,
|
||||
FC.RC_TUNING.pitch_rate_limit,
|
||||
this.currentRates.pitch_rate,
|
||||
this.currentRates.rc_rate_pitch,
|
||||
this.currentRates.rc_pitch_expo,
|
||||
this.currentRates.superexpo,
|
||||
this.currentRates.deadband,
|
||||
this.currentRates.pitch_rate_limit,
|
||||
);
|
||||
|
||||
const yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
|
||||
FC.RC.channels[2],
|
||||
FC.RC_TUNING.yaw_rate * this.ratesMultiplier,
|
||||
FC.RC_TUNING.rcYawRate * this.ratesMultiplier,
|
||||
FC.RC_TUNING.RC_YAW_EXPO * this.ratesMultiplier,
|
||||
this.useSuperExpo,
|
||||
this.yawDeadband,
|
||||
FC.RC_TUNING.yaw_rate_limit,
|
||||
this.currentRates.yaw_rate,
|
||||
this.currentRates.rc_rate_yaw,
|
||||
this.currentRates.rc_yaw_expo,
|
||||
this.currentRates.superexpo,
|
||||
this.currentRates.yawDeadband,
|
||||
this.currentRates.yaw_rate_limit,
|
||||
);
|
||||
|
||||
this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
TABS.receiver.cleanup = function (callback) {
|
||||
$(window).off('resize', this.resize);
|
||||
if (this.model) {
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue