mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-18 22:05:13 +03:00
Updated to MSP API v1.42 & rebased onto master.
This commit is contained in:
Ian Murphy
parent
d912de75f1
commit
991c051e80
5 changed files with 42 additions and 31 deletions
|
|
@ -24,7 +24,7 @@ var RateCurve = function (useLegacyCurve) {
|
|||
return result;
|
||||
};
|
||||
|
||||
this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, deadband, maxAngularVel, context, width, height) {
|
||||
this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, deadband, limit, maxAngularVel, context, width, height) {
|
||||
var canvasHeightScale = height / (2 * maxAngularVel);
|
||||
|
||||
var stepWidth = context.lineWidth;
|
||||
|
|
@ -34,10 +34,10 @@ var RateCurve = function (useLegacyCurve) {
|
|||
|
||||
context.beginPath();
|
||||
var rcData = minRc;
|
||||
context.moveTo(-500, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband));
|
||||
context.moveTo(-500, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit));
|
||||
rcData = rcData + stepWidth;
|
||||
while (rcData <= maxRc) {
|
||||
context.lineTo(rcData - midRc, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband));
|
||||
context.lineTo(rcData - midRc, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit));
|
||||
|
||||
rcData = rcData + stepWidth;
|
||||
}
|
||||
|
|
@ -58,12 +58,12 @@ var RateCurve = function (useLegacyCurve) {
|
|||
context.stroke();
|
||||
}
|
||||
|
||||
this.drawStickPosition = function (rcData, rate, rcRate, rcExpo, superExpoActive, deadband, maxAngularVel, context, stickColor) {
|
||||
this.drawStickPosition = function (rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit, maxAngularVel, context, stickColor) {
|
||||
|
||||
const DEFAULT_SIZE = 60; // canvas units, relative size of the stick indicator (larger value is smaller indicator)
|
||||
const rateScaling = (context.canvas.height / 2) / maxAngularVel;
|
||||
|
||||
var currentValue = this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband);
|
||||
var currentValue = this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit);
|
||||
|
||||
if(rcData!=undefined) {
|
||||
context.save();
|
||||
|
|
@ -80,7 +80,7 @@ var RateCurve = function (useLegacyCurve) {
|
|||
|
||||
};
|
||||
|
||||
RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive, deadband) {
|
||||
RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit) {
|
||||
var angleRate;
|
||||
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
|
||||
if (rcRate > 2) {
|
||||
|
|
@ -113,16 +113,16 @@ RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcR
|
|||
angleRate = (((rate * 100) + 27) * rcCommandf / 16) / 4.1; // Only applies to old versions ?
|
||||
}
|
||||
|
||||
angleRate = this.constrain(angleRate, -1998, 1998); // Rate limit protection
|
||||
angleRate = this.constrain(angleRate, -1 * limit, limit); // Rate limit from profile
|
||||
}
|
||||
|
||||
return angleRate;
|
||||
};
|
||||
|
||||
RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive, deadband) {
|
||||
RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive, deadband, limit) {
|
||||
var maxAngularVel;
|
||||
if (!this.useLegacyCurve) {
|
||||
maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive, deadband);
|
||||
maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive, deadband, limit);
|
||||
}
|
||||
|
||||
return maxAngularVel;
|
||||
|
|
@ -134,7 +134,7 @@ RateCurve.prototype.setMaxAngularVel = function (value) {
|
|||
|
||||
};
|
||||
|
||||
RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, deadband, maxAngularVel, context) {
|
||||
RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, deadband, limit, maxAngularVel, context) {
|
||||
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
|
||||
var height = context.canvas.height;
|
||||
var width = context.canvas.width;
|
||||
|
|
@ -142,7 +142,7 @@ RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, dead
|
|||
if (this.useLegacyCurve) {
|
||||
this.drawLegacyRateCurve(rate, rcRate, rcExpo, context, width, height);
|
||||
} else {
|
||||
this.drawRateCurve(rate, rcRate, rcExpo, superExpoActive, deadband, maxAngularVel, context, width, height);
|
||||
this.drawRateCurve(rate, rcRate, rcExpo, superExpoActive, deadband, limit, maxAngularVel, context, width, height);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
|
|
|||
|
|
@ -169,6 +169,9 @@ var FC = {
|
|||
rcYawRate: 0,
|
||||
rcPitchRate: 0,
|
||||
RC_PITCH_EXPO: 0,
|
||||
roll_rate_limit: 1998,
|
||||
pitch_rate_limit: 1998,
|
||||
yaw_rate_limit: 1998,
|
||||
};
|
||||
|
||||
AUX_CONFIG = [];
|
||||
|
|
|
|||
|
|
@ -337,6 +337,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
|
|||
RC_tuning.throttleLimitType = data.readU8();
|
||||
RC_tuning.throttleLimitPercent = data.readU8();
|
||||
}
|
||||
if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
|
||||
RC_tuning.roll_rate_limit = data.readU16();
|
||||
RC_tuning.pitch_rate_limit = data.readU16();
|
||||
RC_tuning.yaw_rate_limit = data.readU16();
|
||||
}
|
||||
break;
|
||||
case MSPCodes.MSP_PID:
|
||||
// PID data arrived, we need to scale it and save to appropriate bank / array
|
||||
|
|
|
|||
|
|
@ -765,18 +765,18 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
self.rateCurve = new RateCurve(useLegacyCurve);
|
||||
|
||||
function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, maxAngularVelElement) {
|
||||
var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband).toFixed(0);
|
||||
function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVelElement) {
|
||||
var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit).toFixed(0);
|
||||
maxAngularVelElement.text(maxAngularVel);
|
||||
|
||||
return maxAngularVel;
|
||||
}
|
||||
|
||||
function drawCurve(rate, rcRate, rcExpo, useSuperExpo, deadband, maxAngularVel, colour, yOffset, context) {
|
||||
function drawCurve(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVel, colour, yOffset, context) {
|
||||
context.save();
|
||||
context.strokeStyle = colour;
|
||||
context.translate(0, yOffset);
|
||||
self.rateCurve.draw(rate, rcRate, rcExpo, useSuperExpo, deadband, maxAngularVel, context);
|
||||
self.rateCurve.draw(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVel, context);
|
||||
context.restore();
|
||||
}
|
||||
|
||||
|
|
@ -808,7 +808,10 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
rc_pitch_expo: RC_tuning.RC_PITCH_EXPO,
|
||||
superexpo: FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'),
|
||||
deadband: RC_DEADBAND_CONFIG.deadband,
|
||||
yawDeadband: RC_DEADBAND_CONFIG.yaw_deadband
|
||||
yawDeadband: RC_DEADBAND_CONFIG.yaw_deadband,
|
||||
roll_rate_limit: RC_tuning.roll_rate_limit,
|
||||
pitch_rate_limit: RC_tuning.pitch_rate_limit,
|
||||
yaw_rate_limit: RC_tuning.yaw_rate_limit
|
||||
};
|
||||
|
||||
if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
|
||||
|
|
@ -1201,9 +1204,9 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
if (!useLegacyCurve) {
|
||||
maxAngularVel = Math.max(
|
||||
printMaxAngularVel(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.maxAngularVelRollElement),
|
||||
printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.maxAngularVelPitchElement),
|
||||
printMaxAngularVel(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.maxAngularVelYawElement));
|
||||
printMaxAngularVel(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.roll_rate_limit, self.maxAngularVelRollElement),
|
||||
printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.pitch_rate_limit, self.maxAngularVelPitchElement),
|
||||
printMaxAngularVel(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.currentRates.yaw_rate_limit, self.maxAngularVelYawElement));
|
||||
|
||||
// make maxAngularVel multiple of 200deg/s so that the auto-scale doesn't keep changing for small changes of the maximum curve
|
||||
maxAngularVel = self.rateCurve.setMaxAngularVel(maxAngularVel);
|
||||
|
|
@ -1215,9 +1218,9 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
}
|
||||
|
||||
curveContext.lineWidth = 2 * lineScale;
|
||||
drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, '#ff0000', 0, curveContext);
|
||||
drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, '#00ff00', -4, curveContext);
|
||||
drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, maxAngularVel, '#0000ff', 4, curveContext);
|
||||
drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.roll_rate_limit, maxAngularVel, '#ff0000', 0, curveContext);
|
||||
drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.pitch_rate_limit, maxAngularVel, '#00ff00', -4, curveContext);
|
||||
drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.currentRates.yaw_rate_limit, maxAngularVel, '#0000ff', 4, curveContext);
|
||||
|
||||
self.updateRatesLabels();
|
||||
|
||||
|
|
@ -1443,9 +1446,9 @@ TABS.pid_tuning.renderModel = function () {
|
|||
if (RC.channels[0] && RC.channels[1] && RC.channels[2]) {
|
||||
var delta = this.clock.getDelta();
|
||||
|
||||
var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband),
|
||||
pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], this.currentRates.pitch_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband),
|
||||
yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], this.currentRates.yaw_rate, this.currentRates.rc_rate_yaw, this.currentRates.rc_yaw_expo, this.currentRates.superexpo, this.currentRates.yawDeadband);
|
||||
var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.roll_rate_limit),
|
||||
pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], 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),
|
||||
yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], 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));
|
||||
|
||||
|
|
@ -1724,9 +1727,9 @@ TABS.pid_tuning.updateRatesLabels = function() {
|
|||
}
|
||||
|
||||
if(RC.channels[0] && RC.channels[1] && RC.channels[2]) {
|
||||
currentValues.push(self.rateCurve.drawStickPosition(RC.channels[0], self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, stickContext, '#FF8080') + ' deg/s');
|
||||
currentValues.push(self.rateCurve.drawStickPosition(RC.channels[1], self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, stickContext, '#80FF80') + ' deg/s');
|
||||
currentValues.push(self.rateCurve.drawStickPosition(RC.channels[2], self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, maxAngularVel, stickContext, '#8080FF') + ' deg/s');
|
||||
currentValues.push(self.rateCurve.drawStickPosition(RC.channels[0], self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.roll_rate_limit, maxAngularVel, stickContext, '#FF8080') + ' deg/s');
|
||||
currentValues.push(self.rateCurve.drawStickPosition(RC.channels[1], self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.pitch_rate_limit, maxAngularVel, stickContext, '#80FF80') + ' deg/s');
|
||||
currentValues.push(self.rateCurve.drawStickPosition(RC.channels[2], self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.currentRates.yaw_rate_limit, maxAngularVel, stickContext, '#8080FF') + ' deg/s');
|
||||
} else {
|
||||
currentValues = [];
|
||||
}
|
||||
|
|
|
|||
|
|
@ -574,9 +574,9 @@ TABS.receiver.renderModel = function () {
|
|||
if (RC.channels[0] && RC.channels[1] && RC.channels[2]) {
|
||||
var delta = this.clock.getDelta();
|
||||
|
||||
var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], RC_tuning.roll_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo, this.deadband),
|
||||
pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], RC_tuning.pitch_rate, RC_tuning.rcPitchRate, RC_tuning.RC_PITCH_EXPO, this.useSuperExpo, this.deadband),
|
||||
yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], RC_tuning.yaw_rate, RC_tuning.rcYawRate, RC_tuning.RC_YAW_EXPO, this.useSuperExpo, this.yawDeadband);
|
||||
var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], RC_tuning.roll_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo, this.deadband, RC_tuning.roll_rate_limit),
|
||||
pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], RC_tuning.pitch_rate, RC_tuning.rcPitchRate, RC_tuning.RC_PITCH_EXPO, this.useSuperExpo, this.deadband, RC_tuning.pitch_rate_limit),
|
||||
yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], RC_tuning.yaw_rate, RC_tuning.rcYawRate, RC_tuning.RC_YAW_EXPO, this.useSuperExpo, this.yawDeadband, RC_tuning.yaw_rate_limit);
|
||||
|
||||
this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue