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Update PID Profile

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This commit is contained in:
Mark Haslinghuis 2022-08-07 23:51:58 +02:00
parent db99a98807
commit a1449a8c9f
4 changed files with 58 additions and 19 deletions
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6
src/js/fc.js
View file

@ -229,10 +229,10 @@ const FC = {
roll_rate: 0, roll_rate: 0,
pitch_rate: 0, pitch_rate: 0,
yaw_rate: 0, yaw_rate: 0,
dynamic_THR_PID: 0, dynamic_THR_PID: 0, // moved in 1.45 to ADVANCED_TUNING
throttle_MID: 0, throttle_MID: 0,
throttle_EXPO: 0, throttle_EXPO: 0,
dynamic_THR_breakpoint: 0, dynamic_THR_breakpoint: 0, // moved in 1.45 to ADVANCED_TUNING
RC_YAW_EXPO: 0, RC_YAW_EXPO: 0,
rcYawRate: 0, rcYawRate: 0,
rcPitchRate: 0, rcPitchRate: 0,
@ -518,6 +518,8 @@ const FC = {
feedforward_jitter_factor: 0, feedforward_jitter_factor: 0,
vbat_sag_compensation: 0, vbat_sag_compensation: 0,
thrustLinearization: 0, thrustLinearization: 0,
tpaRate: 0,
tpaBreakpoint: 0,
}; };
this.ADVANCED_TUNING_ACTIVE = { ...this.ADVANCED_TUNING }; this.ADVANCED_TUNING_ACTIVE = { ...this.ADVANCED_TUNING };

34
src/js/msp/MSPHelper.js
View file

@ -406,11 +406,19 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.RC_TUNING.pitch_rate = parseFloat((data.readU8() / 100).toFixed(2)); FC.RC_TUNING.pitch_rate = parseFloat((data.readU8() / 100).toFixed(2));
} }
FC.RC_TUNING.yaw_rate = parseFloat((data.readU8() / 100).toFixed(2)); FC.RC_TUNING.yaw_rate = parseFloat((data.readU8() / 100).toFixed(2));
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
FC.RC_TUNING.dynamic_THR_PID = parseFloat((data.readU8() / 100).toFixed(2)); FC.RC_TUNING.dynamic_THR_PID = parseFloat((data.readU8() / 100).toFixed(2));
} else {
data.readU8();
}
FC.RC_TUNING.throttle_MID = parseFloat((data.readU8() / 100).toFixed(2)); FC.RC_TUNING.throttle_MID = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.throttle_EXPO = parseFloat((data.readU8() / 100).toFixed(2)); FC.RC_TUNING.throttle_EXPO = parseFloat((data.readU8() / 100).toFixed(2));
if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) { if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
FC.RC_TUNING.dynamic_THR_breakpoint = data.readU16(); FC.RC_TUNING.dynamic_THR_breakpoint = data.readU16();
} else {
data.readU16();
}
} else { } else {
FC.RC_TUNING.dynamic_THR_breakpoint = 0; FC.RC_TUNING.dynamic_THR_breakpoint = 0;
} }
@ -1261,6 +1269,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ADVANCED_TUNING.feedforward_jitter_factor = data.readU8(); FC.ADVANCED_TUNING.feedforward_jitter_factor = data.readU8();
FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8(); FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
FC.ADVANCED_TUNING.thrustLinearization = data.readU8(); FC.ADVANCED_TUNING.thrustLinearization = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
FC.ADVANCED_TUNING.tpaRate = data.readU8();
FC.ADVANCED_TUNING.tpaBreakpoint = data.readU16();
}
} }
} }
} }
@ -1830,12 +1843,20 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(Math.round(FC.RC_TUNING.roll_rate * 100)) buffer.push8(Math.round(FC.RC_TUNING.roll_rate * 100))
.push8(Math.round(FC.RC_TUNING.pitch_rate * 100)); .push8(Math.round(FC.RC_TUNING.pitch_rate * 100));
} }
buffer.push8(Math.round(FC.RC_TUNING.yaw_rate * 100)) buffer.push8(Math.round(FC.RC_TUNING.yaw_rate * 100));
.push8(Math.round(FC.RC_TUNING.dynamic_THR_PID * 100)) if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
.push8(Math.round(FC.RC_TUNING.throttle_MID * 100)) buffer.push8(Math.round(FC.RC_TUNING.dynamic_THR_PID * 100));
.push8(Math.round(FC.RC_TUNING.throttle_EXPO * 100)); } else {
buffer.push8(0);
}
buffer.push8(Math.round(FC.RC_TUNING.throttle_MID * 100));
buffer.push8(Math.round(FC.RC_TUNING.throttle_EXPO * 100));
if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) { if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
buffer.push16(FC.RC_TUNING.dynamic_THR_breakpoint); buffer.push16(FC.RC_TUNING.dynamic_THR_breakpoint);
} else {
buffer.push16(0);
}
} }
if (semver.gte(FC.CONFIG.apiVersion, "1.10.0")) { if (semver.gte(FC.CONFIG.apiVersion, "1.10.0")) {
buffer.push8(Math.round(FC.RC_TUNING.RC_YAW_EXPO * 100)); buffer.push8(Math.round(FC.RC_TUNING.RC_YAW_EXPO * 100));
@ -2269,6 +2290,11 @@ MspHelper.prototype.crunch = function(code) {
.push8(FC.ADVANCED_TUNING.feedforward_jitter_factor) .push8(FC.ADVANCED_TUNING.feedforward_jitter_factor)
.push8(FC.ADVANCED_TUNING.vbat_sag_compensation) .push8(FC.ADVANCED_TUNING.vbat_sag_compensation)
.push8(FC.ADVANCED_TUNING.thrustLinearization); .push8(FC.ADVANCED_TUNING.thrustLinearization);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
buffer.push8(FC.ADVANCED_TUNING.tpaRate);
buffer.push16(FC.ADVANCED_TUNING.tpaBreakpoint);
}
} }
} }
} }

12
src/js/tabs/pid_tuning.js
View file

@ -109,8 +109,14 @@ pid_tuning.initialize = function (callback) {
$('.throttle input[name="mid"]').val(FC.RC_TUNING.throttle_MID.toFixed(2)); $('.throttle input[name="mid"]').val(FC.RC_TUNING.throttle_MID.toFixed(2));
$('.throttle input[name="expo"]').val(FC.RC_TUNING.throttle_EXPO.toFixed(2)); $('.throttle input[name="expo"]').val(FC.RC_TUNING.throttle_EXPO.toFixed(2));
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
// Moved tpa to profile
$('.tpa input[name="tpa"]').val(FC.ADVANCED_TUNING.tpaRate);
$('.tpa input[name="tpa-breakpoint"]').val(FC.ADVANCED_TUNING.tpaBreakpoint);
} else {
$('.tpa input[name="tpa"]').val(FC.RC_TUNING.dynamic_THR_PID.toFixed(2)); $('.tpa input[name="tpa"]').val(FC.RC_TUNING.dynamic_THR_PID.toFixed(2));
$('.tpa input[name="tpa-breakpoint"]').val(FC.RC_TUNING.dynamic_THR_breakpoint); $('.tpa input[name="tpa-breakpoint"]').val(FC.RC_TUNING.dynamic_THR_breakpoint);
}
if (semver.lt(FC.CONFIG.apiVersion, "1.10.0")) { if (semver.lt(FC.CONFIG.apiVersion, "1.10.0")) {
$('.pid_tuning input[name="rc_yaw_expo"]').hide(); $('.pid_tuning input[name="rc_yaw_expo"]').hide();
@ -1184,8 +1190,14 @@ pid_tuning.initialize = function (callback) {
FC.RC_TUNING.throttle_MID = parseFloat($('.throttle input[name="mid"]').val()); FC.RC_TUNING.throttle_MID = parseFloat($('.throttle input[name="mid"]').val());
FC.RC_TUNING.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val()); FC.RC_TUNING.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val());
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
FC.ADVANCED_TUNING.tpaRate = parseFloat($('.tpa input[name="tpa"]').val());
FC.ADVANCED_TUNING.tpaBreakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
} else {
FC.RC_TUNING.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val()); FC.RC_TUNING.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val());
FC.RC_TUNING.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val()); FC.RC_TUNING.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
}
FC.FILTER_CONFIG.gyro_lowpass_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val()); FC.FILTER_CONFIG.gyro_lowpass_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val());
FC.FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val()); FC.FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
FC.FILTER_CONFIG.yaw_lowpass_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val()); FC.FILTER_CONFIG.yaw_lowpass_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val());

5
src/tabs/pid_tuning.html
View file

@ -1032,9 +1032,8 @@
</thead> </thead>
<tbody> <tbody>
<tr> <tr>
<td class="leftzero"><input type="number" name="tpa" step="0.01" min="0" <td class="leftzero"><input type="number" name="tpa" step="1" min="0" max="100" /></td>
max="1.00" /></td> <td class="tpa-breakpoint"><input type="number" name="tpa-breakpoint" step="10" min="750" max="2250" /></td>
<td class="tpa-breakpoint"><input type="number" name="tpa-breakpoint" step="10" min="1000" max="2000" /></td>
</tr> </tr>
</tbody> </tbody>
</table> </table>