mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-23 08:15:22 +03:00
Add FW Filter Slider Support-ALL credit to haslinhuis!
This commit is contained in:
UAV Tech
parent
e84666eb7c
commit
b4afe7231c
3 changed files with 246 additions and 144 deletions
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@ -10,10 +10,13 @@ const TuningSliders = {
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sliderDMinRatio: 1,
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sliderFFGain: 1,
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pidSlidersUnavailable: false,
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GyroSliderUnavailable: false,
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DTermSliderUnavailable: false,
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FilterReset: false,
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sliderGyroFilter: 0,
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sliderGyroFilter: 1,
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sliderGyroFilterMultiplier: 1,
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sliderDTermFilter: 0,
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sliderDTermFilter: 1,
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sliderDTermFilterMultiplier: 1,
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dMinFeatureEnabled: true,
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@ -93,7 +96,7 @@ TuningSliders.downscaleSliderValue = function(value) {
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};
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TuningSliders.initPidSlidersPosition = function() {
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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// used to estimate PID slider positions based on PIDF values, and set respective slider position
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// provides only an estimation due to limitation of feature without firmware support, to be improved in later versions
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this.sliderMasterMultiplier = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10;
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@ -133,10 +136,11 @@ TuningSliders.initPidSlidersPosition = function() {
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};
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TuningSliders.initGyroFilterSliderPosition = function() {
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.sliderGyroFilterMultiplier = Math.floor((FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.FILTER_CONFIG.gyro_lowpass2_hz) /
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(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
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} else {
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this.sliderGyroFilter = FC.TUNING_SLIDERS.slider_gyro_filter;
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this.sliderGyroFilterMultiplier = FC.TUNING_SLIDERS.slider_gyro_filter_multiplier / 100;
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}
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@ -145,10 +149,11 @@ TuningSliders.initGyroFilterSliderPosition = function() {
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};
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TuningSliders.initDTermFilterSliderPosition = function() {
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.sliderDTermFilterMultiplier = Math.floor((FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) /
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(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100;
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} else {
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this.sliderDTermFilter = FC.TUNING_SLIDERS.slider_dterm_filter;
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this.sliderDTermFilterMultiplier = FC.TUNING_SLIDERS.slider_dterm_filter_multiplier / 100;
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}
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@ -167,7 +172,7 @@ TuningSliders.resetPidSliders = function() {
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this.sliderFFGain = 1;
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}
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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$('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
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$('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
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$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
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@ -177,37 +182,74 @@ TuningSliders.resetPidSliders = function() {
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}
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this.calculateNewPids();
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this.updatePidSlidersDisplay();
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};
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TuningSliders.resetGyroFilterSlider = function() {
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if (!this.cachedGyroSliderValues) {
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this.sliderGyroFilterMultiplier = 1;
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}
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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$('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier));
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} else {
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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if (!this.cachedGyroSliderValues) {
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this.sliderGyroFilterMultiplier = 1;
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}
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this.sliderGyroFilter = 1;
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FC.TUNING_SLIDERS.slider_gyro_filter = 1;
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this.initGyroFilterSliderPosition();
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} else {
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this.sliderGyroFilterMultiplier = 1;
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$('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier));
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}
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this.FilterReset = true;
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this.calculateNewGyroFilters();
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this.updateFilterSlidersDisplay();
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.updateFilterSlidersDisplay();
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}
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};
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TuningSliders.resetDTermFilterSlider = function() {
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if (!this.cachedDTermSliderValues) {
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this.sliderDTermFilterMultiplier = 1;
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}
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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$('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier));
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} else {
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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if (!this.cachedDTermSliderValues) {
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this.sliderDTermFilterMultiplier = 1;
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}
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this.sliderDtermFilter = 1;
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FC.TUNING_SLIDERS.slider_dterm_filter = 1;
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this.initDTermFilterSliderPosition();
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} else {
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this.sliderDTermFilterMultiplier = 1;
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$('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier));
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}
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this.FilterReset = true;
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this.calculateNewDTermFilters();
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.updateFilterSlidersDisplay();
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}
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};
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TuningSliders.legacyUpdateFilterSlidersDisplay = function() {
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if (parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpassDynType"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass_type ||
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parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass2_type) {
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this.GyroSliderUnavailable = true;
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} else {
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this.cachedGyroSliderValues = true;
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}
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this.calculateNewDTermFilters();
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this.updateFilterSlidersDisplay();
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if (parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()) !==
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Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()) !==
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Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter select[name="dtermLowpassDynType"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass_type ||
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parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val()) !==
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Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter select[name="dtermLowpass2Type"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass2_type) {
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this.DTermSliderUnavailable = true;
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} else {
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this.cachedDTermSliderValues = true;
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}
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};
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TuningSliders.updatePidSlidersDisplay = function() {
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@ -229,7 +271,7 @@ TuningSliders.updatePidSlidersDisplay = function() {
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});
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});
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.calculateNewPids();
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}
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@ -272,48 +314,68 @@ TuningSliders.updateFilterSlidersDisplay = function() {
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const WARNING_FILTER_HIGH_GAIN = 1.4;
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const WARNING_FILTER_LOW_GAIN = 0.7;
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this.sliderGyroFilter = false;
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this.sliderDTermFilter = false;
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this.GyroSliderUnavailable = false;
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this.DTermSliderUnavailable = false;
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if (parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpassDynType"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass_type ||
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parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass2_type) {
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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if (FC.TUNING_SLIDERS.slider_gyro_filter === 0) {
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this.GyroSliderUnavailable = true;
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}
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if (FC.TUNING_SLIDERS.slider_dterm_filter === 0) {
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this.DTermSliderUnavailable = true;
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}
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if (parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()) !==
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Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpassDynType"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass_type ||
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parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass2_type) {
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this.GyroSliderUnavailable = true;
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this.sliderGyroFilter = 0;
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} else {
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this.cachedGyroSliderValues = true;
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this.sliderGyroFilter = 1;
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}
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if (parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier) ||
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Math.abs(parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()) - this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier) > 1 ||
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parseInt($('.pid_filter select[name="dtermLowpassDynType"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass_type ||
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parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter select[name="dtermLowpass2Type"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass2_type) {
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this.DTermSliderUnavailable = true;
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this.sliderDTermFilter = 0;
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} else {
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this.cachedDTermSliderValues = true;
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this.sliderDTermFilter = 1;
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}
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} else {
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this.legacyUpdateFilterSlidersDisplay();
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}
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if (this.GyroSliderUnavailable) {
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$('.tuningFilterSliders .sliderLabels tr:nth-child(2)').hide();
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this.sliderGyroFilter = true;
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} else {
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$('.tuningFilterSliders .sliderLabels tr:nth-child(2)').show();
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this.cachedGyroSliderValues = true;
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}
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if (parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter select[name="dtermLowpassDynType"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass_type ||
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parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter select[name="dtermLowpass2Type"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass2_type) {
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if (this.DTermSliderUnavailable) {
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$('.tuningFilterSliders .sliderLabels tr:last-child').hide();
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this.sliderDTermFilter = true;
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} else {
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$('.tuningFilterSliders .sliderLabels tr:last-child').show();
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this.cachedDTermSliderValues = true;
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}
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$('.tuningFilterSliders').toggle(!(this.sliderGyroFilter && this.sliderDTermFilter));
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$('.subtab-filter .slidersDisabled').toggle(this.sliderGyroFilter || this.sliderDTermFilter);
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$('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.sliderGyroFilter || !this.sliderDTermFilter) && !this.expertMode);
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$('.tuningFilterSliders').toggle(!(this.GyroSliderUnavailable && this.DTermSliderUnavailable));
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$('.subtab-filter .slidersDisabled').toggle(this.GyroSliderUnavailable || this.DTermSliderUnavailable);
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$('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.GyroSliderUnavailable || !this.DTermSliderUnavailable) && !this.expertMode);
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$('.subtab-filter .slidersWarning').toggle(((this.sliderGyroFilterMultiplier >= WARNING_FILTER_HIGH_GAIN ||
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this.sliderGyroFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.sliderGyroFilter) ||
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this.sliderGyroFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.GyroSliderUnavailable) ||
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((this.sliderDTermFilterMultiplier >= WARNING_FILTER_HIGH_GAIN ||
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this.sliderDTermFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.sliderDTermFilter));
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this.sliderDTermFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.DTermSliderUnavailable));
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};
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TuningSliders.updateFormPids = function() {
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@ -325,9 +387,25 @@ TuningSliders.updateFormPids = function() {
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}
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});
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});
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$('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
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$('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
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$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
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$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll);
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$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
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$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
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$('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
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$('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
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$('output[name="sliderIGain-number"]').val(this.sliderIGain);
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$('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
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$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
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$('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
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$('output[name="sliderFFGain-number"]').val(this.sliderFFGain);
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};
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TuningSliders.legacyCalculateNewPids = function() {
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TuningSliders.legacyCalculatePids = function() {
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const MAX_PID_GAIN = 200;
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const MAX_DMIN_GAIN = 100;
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const MAX_FF_GAIN = 2000;
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@ -380,68 +458,40 @@ TuningSliders.legacyCalculateNewPids = function() {
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FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
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}
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$('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
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$('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
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$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
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$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll);
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$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
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$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
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this.updateFormPids();
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TABS.pid_tuning.updatePIDColors();
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};
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TuningSliders.calculateNewPids = function() {
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// this is the main calculation for PID sliders, inputs are in form of slider position values
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// values get set both into forms and their respective variables
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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this.legacyCalculateNewPids();
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.legacyCalculatePids();
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}
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$('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
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$('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
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$('output[name="sliderIGain-number"]').val(this.sliderIGain);
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$('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
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$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
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$('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
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$('output[name="sliderFFGain-number"]').val(this.sliderFFGain);
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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FC.TUNING_SLIDERS.slider_pids_mode = parseInt($('#sliderPidsModeSelect').val());
|
||||
FC.TUNING_SLIDERS.slider_master_multiplier = TuningSliders.sliderMasterMultiplier * 100;
|
||||
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = TuningSliders.sliderRollPitchRatio * 100;
|
||||
FC.TUNING_SLIDERS.slider_i_gain = TuningSliders.sliderIGain * 100;
|
||||
FC.TUNING_SLIDERS.slider_pd_ratio = TuningSliders.sliderPDRatio * 100;
|
||||
FC.TUNING_SLIDERS.slider_pd_gain = TuningSliders.sliderPDGain * 100;
|
||||
FC.TUNING_SLIDERS.slider_dmin_ratio = TuningSliders.sliderDMinRatio * 100;
|
||||
FC.TUNING_SLIDERS.slider_ff_gain = TuningSliders.sliderFFGain * 100;
|
||||
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20
|
||||
FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(this.sliderMasterMultiplier * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(this.sliderRollPitchRatio * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_i_gain = Math.round(this.sliderIGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_pd_ratio = Math.round(this.sliderPDRatio * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_pd_gain = Math.round(this.sliderPDGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_dmin_ratio = Math.round(this.sliderDMinRatio * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_ff_gain = Math.round(this.sliderFFGain * 20) * 5;
|
||||
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter ? 1 : 0;
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = TuningSliders.sliderDTermFilterMultiplier * 100;
|
||||
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter ? 1 : 0;
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = TuningSliders.sliderGyroFilterMultiplier * 100;
|
||||
|
||||
Promise.resolve(true)
|
||||
.then(() => { return MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS)); })
|
||||
.then(() => { return MSP.send_message(MSPCodes.MSP_PID); })
|
||||
.then(() => { return MSP.send_message(MSPCodes.MSP_PID_ADVANCED); });
|
||||
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS))
|
||||
.then(() => MSP.promise(MSPCodes.MSP_PID))
|
||||
.then(() => MSP.promise(MSPCodes.MSP_PID_ADVANCED))
|
||||
.then(() => {
|
||||
this.updateFormPids();
|
||||
TABS.pid_tuning.updatePIDColors();
|
||||
});
|
||||
}
|
||||
|
||||
const delayInMilliseconds = 250; //0.25 seconds
|
||||
setTimeout(function() {
|
||||
$('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
|
||||
$('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
|
||||
$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
|
||||
$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll);
|
||||
$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
|
||||
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
|
||||
|
||||
TuningSliders.updateFormPids();
|
||||
TABS.pid_tuning.updatePIDColors();
|
||||
|
||||
}, delayInMilliseconds);
|
||||
};
|
||||
|
||||
TuningSliders.calculateNewGyroFilters = function() {
|
||||
TuningSliders.calculateLegacyGyroFilters = function() {
|
||||
// calculate, set and display new values in forms based on slider position
|
||||
FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier);
|
||||
FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier);
|
||||
|
|
@ -449,26 +499,71 @@ TuningSliders.calculateNewGyroFilters = function() {
|
|||
FC.FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type;
|
||||
FC.FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type;
|
||||
|
||||
$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz);
|
||||
$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz);
|
||||
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz);
|
||||
$('.pid_filter select[name="gyroLowpassDynType').val(FC.FILTER_CONFIG.gyro_lowpass_type);
|
||||
$('.pid_filter select[name="gyroLowpass2Type').val(FC.FILTER_CONFIG.gyro_lowpass2_type);
|
||||
$('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
|
||||
this.updateLowpassValues();
|
||||
};
|
||||
|
||||
TuningSliders.calculateLegacyDTermFilters = function() {
|
||||
// calculate, set and display new values in forms based on slider position
|
||||
FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier);
|
||||
FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier);
|
||||
FC.FILTER_CONFIG.dterm_lowpass2_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier);
|
||||
FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type;
|
||||
FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type;
|
||||
|
||||
this.updateLowpassValues();
|
||||
};
|
||||
|
||||
TuningSliders.calculateNewGyroFilters = function() {
|
||||
// this is the main calculation for Gyro Filter slider, inputs are in form of slider position values
|
||||
// values get set both into forms and their respective variables
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter = this.sliderGyroFilter;
|
||||
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = Math.round(this.sliderGyroFilterMultiplier * 20) * 5;
|
||||
this.writeFilterSliders();
|
||||
} else {
|
||||
this.calculateLegacyGyroFilters();
|
||||
}
|
||||
};
|
||||
|
||||
TuningSliders.calculateNewDTermFilters = function() {
|
||||
// calculate, set and display new values in forms based on slider position
|
||||
FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier);
|
||||
FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier);
|
||||
FC.FILTER_CONFIG.dterm_lowpass2_hz = Math.floor(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier);
|
||||
FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type;
|
||||
FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type;
|
||||
// this is the main calculation for Gyro Filter slider, inputs are in form of slider position values
|
||||
// values get set both into forms and their respective variables
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter = this.sliderDTermFilter;
|
||||
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid divide by ROUND[(* x 100)/5 = 20]
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = Math.round(this.sliderDTermFilterMultiplier * 20) * 5;
|
||||
this.writeFilterSliders();
|
||||
} else {
|
||||
this.calculateLegacyDTermFilters();
|
||||
}
|
||||
};
|
||||
|
||||
TuningSliders.writeFilterSliders = function () {
|
||||
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS))
|
||||
.then(() => MSP.promise(MSPCodes.MSP_EEPROM_WRITE))
|
||||
.then(() => MSP.promise(MSPCodes.MSP_FILTER_CONFIG))
|
||||
.then(() => {
|
||||
TuningSliders.updateLowpassValues();
|
||||
if (this.FilterReset) {
|
||||
this.FilterReset = false;
|
||||
this.updateFilterSlidersDisplay();
|
||||
}
|
||||
});
|
||||
};
|
||||
|
||||
TuningSliders.updateLowpassValues = function() {
|
||||
$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz);
|
||||
$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz);
|
||||
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz);
|
||||
$('.pid_filter select[name="gyroLowpassDynType]"').val(FC.FILTER_CONFIG.gyro_lowpass_type);
|
||||
$('.pid_filter select[name="gyroLowpass2Type"]').val(FC.FILTER_CONFIG.gyro_lowpass2_type);
|
||||
$('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
|
||||
|
||||
$('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz);
|
||||
$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
|
||||
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz);
|
||||
$('.pid_filter select[name="dtermLowpassDynType').val(FC.FILTER_CONFIG.dterm_lowpass_type);
|
||||
$('.pid_filter select[name="dtermLowpass2Type').val(FC.FILTER_CONFIG.dterm_lowpass2_type);
|
||||
$('.pid_filter select[name="dtermLowpassDynType"]').val(FC.FILTER_CONFIG.dterm_lowpass_type);
|
||||
$('.pid_filter select[name="dtermLowpass2Type"]').val(FC.FILTER_CONFIG.dterm_lowpass2_type);
|
||||
$('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier);
|
||||
};
|
||||
|
|
|
|||
|
|
@ -995,19 +995,20 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
FC.TUNING_SLIDERS.slider_pids_mode = parseInt($('#sliderPidsModeSelect').val());
|
||||
FC.TUNING_SLIDERS.slider_master_multiplier = TuningSliders.sliderMasterMultiplier * 100;
|
||||
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = TuningSliders.sliderRollPitchRatio * 100;
|
||||
FC.TUNING_SLIDERS.slider_i_gain = TuningSliders.sliderIGain * 100;
|
||||
FC.TUNING_SLIDERS.slider_pd_ratio = TuningSliders.sliderPDRatio * 100;
|
||||
FC.TUNING_SLIDERS.slider_pd_gain = TuningSliders.sliderPDGain * 100;
|
||||
FC.TUNING_SLIDERS.slider_dmin_ratio = TuningSliders.sliderDMinRatio * 100;
|
||||
FC.TUNING_SLIDERS.slider_ff_gain = TuningSliders.sliderFFGain * 100;
|
||||
//rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20
|
||||
FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(TuningSliders.sliderMasterMultiplier * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(TuningSliders.sliderRollPitchRatio * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_i_gain = Math.round(TuningSliders.sliderIGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_pd_ratio = Math.round(TuningSliders.sliderPDRatio * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_pd_gain = Math.round(TuningSliders.sliderPDGain * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_dmin_ratio = Math.round(TuningSliders.sliderDMinRatio * 20) * 5;
|
||||
FC.TUNING_SLIDERS.slider_ff_gain = Math.round(TuningSliders.sliderFFGain * 20) * 5;
|
||||
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter ? 1 : 0;
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = TuningSliders.sliderDTermFilterMultiplier * 100;
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = Math.round(TuningSliders.sliderDTermFilterMultiplier * 20) * 5;
|
||||
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter ? 1 : 0;
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = TuningSliders.sliderGyroFilterMultiplier * 100;
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = Math.round(TuningSliders.sliderGyroFilterMultiplier * 20) * 5;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1928,6 +1929,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
}
|
||||
// if values were previously changed manually and then sliders are reactivated, reset pids to previous valid values if available, else default
|
||||
TuningSliders.resetPidSliders();
|
||||
TuningSliders.updatePidSlidersDisplay();
|
||||
// disable integrated yaw when enabling sliders
|
||||
if ($('input[id="useIntegratedYaw"]').is(':checked')) {
|
||||
$('input[id="useIntegratedYaw"]').prop('checked', true).click();
|
||||
|
|
@ -1945,7 +1947,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
} else {
|
||||
slider.attr('step', SLIDER_STEP_UPPER);
|
||||
}
|
||||
if (!TuningSliders.expertMode) {
|
||||
if (!TuningSliders.expertMode && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
if (slider.val() > NON_EXPERT_SLIDER_MAX) {
|
||||
slider.val(NON_EXPERT_SLIDER_MAX);
|
||||
} else if (slider.val() < NON_EXPERT_SLIDER_MIN) {
|
||||
|
|
@ -1963,9 +1965,6 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
self.analyticsChanges['DTermFilterTuningSlider'] = "On";
|
||||
}
|
||||
});
|
||||
allFilterTuningSliders.mouseup(function() {
|
||||
TuningSliders.updateFilterSlidersDisplay();
|
||||
});
|
||||
// reset to middle with double click
|
||||
allFilterTuningSliders.dblclick(function() {
|
||||
const slider = $(this);
|
||||
|
|
@ -1977,11 +1976,14 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
TuningSliders.sliderDTermFilterMultiplier = 1;
|
||||
TuningSliders.calculateNewDTermFilters();
|
||||
}
|
||||
TuningSliders.updateFilterSlidersDisplay();
|
||||
});
|
||||
// enable Filter sliders button
|
||||
$('a.buttonFilterTuningSliders').click(function() {
|
||||
if (TuningSliders.sliderGyroFilter) {
|
||||
if (TuningSliders.GyroSliderUnavailable) {
|
||||
//set Slider mode to ON when re-enabling Sliders
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
FC.TUNING_SLIDERS.slider_gyro_filter = 1;
|
||||
}
|
||||
// update switchery dynamically based on defaults
|
||||
$('input[id="gyroLowpassDynEnabled"]').prop('checked', false).click();
|
||||
$('input[id="gyroLowpassEnabled"]').prop('checked', true).click();
|
||||
|
|
@ -1989,7 +1991,12 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
TuningSliders.resetGyroFilterSlider();
|
||||
self.analyticsChanges['GyroFilterTuningSlider'] = "On";
|
||||
}
|
||||
if (TuningSliders.sliderDTermFilter) {
|
||||
if (TuningSliders.DTermSliderUnavailable) {
|
||||
//set Slider mode to ON when re-enabling Sliders
|
||||
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
||||
FC.TUNING_SLIDERS.slider_dterm_filter = 1;
|
||||
}
|
||||
// update switchery dynamically based on defaults
|
||||
$('input[id="dtermLowpassDynEnabled"]').prop('checked', false).click();
|
||||
$('input[id="dtermLowpassEnabled"]').prop('checked', true).click();
|
||||
$('input[id="dtermLowpass2Enabled"]').prop('checked', false).click();
|
||||
|
|
@ -2006,10 +2013,10 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
// update on filter value or type changes
|
||||
$('.pid_filter tr:not(.newFilter) input, .pid_filter tr:not(.newFilter) select').on('input', function() {
|
||||
TuningSliders.updateFilterSlidersDisplay();
|
||||
if (TuningSliders.sliderGyroFilter) {
|
||||
if (TuningSliders.GyroSliderUnavailable) {
|
||||
self.analyticsChanges['GyroFilterTuningSlider'] = "Off";
|
||||
}
|
||||
if (TuningSliders.sliderDTermFilter) {
|
||||
if (TuningSliders.DTermSliderUnavailable) {
|
||||
self.analyticsChanges['DTermFilterTuningSlider'] = "Off";
|
||||
}
|
||||
});
|
||||
|
|
|
|||
|
|
@ -197,7 +197,7 @@
|
|||
<output type="number" name="sliderMasterMultiplier-number"></output>
|
||||
</td>
|
||||
<td colspan="3">
|
||||
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderMasterMultiplier" />
|
||||
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderMasterMultiplier" />
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div>
|
||||
|
|
@ -211,7 +211,7 @@
|
|||
<output type="number" name="sliderPDRatio-number"></output>
|
||||
</td>
|
||||
<td colspan="3">
|
||||
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderPDRatio" />
|
||||
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderPDRatio" />
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningPDRatioSliderHelp"></div>
|
||||
|
|
@ -225,7 +225,7 @@
|
|||
<output type="number" name="sliderPDGain-number"></output>
|
||||
</td>
|
||||
<td colspan="3">
|
||||
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderPDGain" />
|
||||
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderPDGain" />
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningPDGainSliderHelp"></div>
|
||||
|
|
@ -239,7 +239,7 @@
|
|||
<output type="number" name="sliderFFGain-number"></output>
|
||||
</td>
|
||||
<td colspan="3">
|
||||
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderFFGain" />
|
||||
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderFFGain" />
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningResponseSliderHelp"></div>
|
||||
|
|
@ -253,7 +253,7 @@
|
|||
<output type="number" name="sliderIGain-number"></output>
|
||||
</td>
|
||||
<td colspan="3">
|
||||
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderIGain" />
|
||||
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderIGain" />
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningIGainSliderHelp"></div>
|
||||
|
|
@ -266,7 +266,7 @@
|
|||
<output type="number" name="sliderDMinRatio-number"></output>
|
||||
</td>
|
||||
<td colspan="3">
|
||||
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderDMinRatio" />
|
||||
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderDMinRatio" />
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningDMinRatioSliderHelp"></div>
|
||||
|
|
@ -280,7 +280,7 @@
|
|||
<output type="number" name="sliderRollPitchRatio-number"></output>
|
||||
</td>
|
||||
<td colspan="3">
|
||||
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderRollPitchRatio" />
|
||||
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderRollPitchRatio" />
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningRollPitchRatioSliderHelp"></div>
|
||||
|
|
@ -1070,7 +1070,7 @@
|
|||
<output type="number" name="sliderGyroFilterMultiplier-number"></output>
|
||||
</td>
|
||||
<td colspan="3">
|
||||
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderGyroFilterMultiplier" />
|
||||
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderGyroFilterMultiplier" />
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningGyroFilterSliderHelp"></div>
|
||||
|
|
@ -1089,7 +1089,7 @@
|
|||
<output type="number" name="sliderDTermFilterMultiplier-number"></output>
|
||||
</td>
|
||||
<td colspan="3">
|
||||
<input type="range" min="0.5" max="1.5" step="0.05" class="tuningSlider" id="sliderDTermFilterMultiplier" />
|
||||
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderDTermFilterMultiplier" />
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningDTermFilterSliderHelp"></div>
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue