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Merge pull request #1949 from Asizon/fixDValues

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Fix D values when Dmin disabled and autoadjust, coordination with new Dmin values
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Michael Keller 2020-04-07 22:29:17 +12:00 • committed by GitHub
commit a74701aafe
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2 changed files with 13 additions and 4 deletions
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12
src/js/TuningSliders.js
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@ -26,6 +26,10 @@ var TuningSliders = {
TuningSliders.initialize = function() { TuningSliders.initialize = function() {
this.PID_DEFAULT = FC.getPidDefaults(); this.PID_DEFAULT = FC.getPidDefaults();
if (semver.gte(CONFIG.apiVersion, "1.43.0")) {
this.PID_DEFAULT[3] = 23;
this.PID_DEFAULT[8] = 25;
}
this.FILTER_DEFAULT = FC.getFilterDefaults(); this.FILTER_DEFAULT = FC.getFilterDefaults();
this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked')); this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
@ -49,7 +53,7 @@ TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
if (this.dMinFeatureEnabled) { if (this.dMinFeatureEnabled) {
this.defaultPDRatio = this.PID_DEFAULT[0] / this.PID_DEFAULT[2]; this.defaultPDRatio = this.PID_DEFAULT[0] / this.PID_DEFAULT[2];
} else { } else {
this.defaultPDRatio = this.PID_DEFAULT[0] / this.PID_DEFAULT[3]; this.defaultPDRatio = this.PID_DEFAULT[0] / (this.PID_DEFAULT[2] * 0.85);
} }
}; };
@ -88,7 +92,7 @@ TuningSliders.initPidSlidersPosition = function() {
if (this.dMinFeatureEnabled) { if (this.dMinFeatureEnabled) {
this.PDGainSliderValue = Math.round(ADVANCED_TUNING.dMinRoll / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10; this.PDGainSliderValue = Math.round(ADVANCED_TUNING.dMinRoll / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10;
} else { } else {
this.PDGainSliderValue = Math.round(PIDs[0][2] / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10; this.PDGainSliderValue = Math.round(PIDs[0][2] / this.MasterSliderValue / (this.PID_DEFAULT[2] * 0.85) * 10) / 10;
} }
this.ResponseSliderValue = Math.round(ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10; this.ResponseSliderValue = Math.round(ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10;
@ -258,8 +262,8 @@ TuningSliders.calculateNewPids = function() {
} else { } else {
ADVANCED_TUNING.dMinRoll = 0; ADVANCED_TUNING.dMinRoll = 0;
ADVANCED_TUNING.dMinPitch = 0; ADVANCED_TUNING.dMinPitch = 0;
PIDs[0][2] = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue); PIDs[0][2] = Math.round((this.PID_DEFAULT[2] * 0.85) * this.PDGainSliderValue);
PIDs[1][2] = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue); PIDs[1][2] = Math.round((this.PID_DEFAULT[7] * 0.85) * this.PDGainSliderValue);
} }
PIDs[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue); PIDs[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue);

5
src/js/tabs/pid_tuning.js
View file

@ -479,6 +479,11 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.57), 100)); $('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.57), 100));
$('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.57), 100)); $('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.57), 100));
$('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.57), 100)); $('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.57), 100));
if (semver.gte(CONFIG.apiVersion, "1.43.0")) {
$('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.65), 100));
$('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.65), 100));
$('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.65), 100));
}
} else { } else {
$('.pid_tuning input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll); $('.pid_tuning input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll);
$('.pid_tuning input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch); $('.pid_tuning input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch);