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Add new PID elements for version 3.5

Browse source 
- iterm rotation
- smart feedforward
- iterm relax
- absolute control
- acro trainer
This commit is contained in:
Miguel Angel Mulero Martinez 2018-07-16 19:59:44 +02:00
parent 25b49fb79f
commit b543ebf3ef
6 changed files with 321 additions and 16 deletions
Download patch file Download diff file Expand all files Collapse all files

16
src/css/tabs/pid_tuning.css
View file

@ -281,6 +281,10 @@
width: 33%;
}
.tab-pid_tuning table.compensation tr {
height: 25px;
}
.tab-pid_tuning table.compensation td {
width: 60%;
padding-left: 5px;
@ -289,12 +293,24 @@
.tab-pid_tuning table.compensation td:first-child {
width: 10%;
text-align: right;
}
.tab-pid_tuning table.compensation td:last-child {
width: 30%;
}
.tab-pid_tuning table.compensation .suboption {
margin-left: 40px;
}
.tab-pid_tuning table.compensation .suboption select{
text-align-last: left;
font-size: 1.1em;
color: darkslategrey;
padding-left: 5px;
}
.tab-pid_tuning .pidTuningFeatures td {
padding: 5px;
}

7
src/js/fc.js
View file

@ -369,6 +369,13 @@ var FC = {
levelSensitivity: 0,
itermThrottleThreshold: 0,
itermAcceleratorGain: 0,
itermRotation: 0,
smartFeedforward: 0,
itermRelax: 0,
itermRelaxType: 0,
absoluteControlGain: 0,
throttleBoost: 0,
acroTrainerAngleLimit: 0,
};
SENSOR_CONFIG = {

54
src/js/msp/MSPHelper.js
View file

@ -871,13 +871,25 @@ MspHelper.prototype.process_data = function(dataHandler) {
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
ADVANCED_TUNING.levelAngleLimit = data.readU8();
ADVANCED_TUNING.levelSensitivity = data.readU8();
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
ADVANCED_TUNING.itermRotation = data.readU8();
ADVANCED_TUNING.smartFeedforward = data.readU8();
ADVANCED_TUNING.itermRelax = data.readU8();
ADVANCED_TUNING.itermRelaxType = data.readU8();
ADVANCED_TUNING.absoluteControlGain = data.readU8();
ADVANCED_TUNING.throttleBoost = data.readU8();
ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
}
}
}
}
}
break;
@ -1515,16 +1527,30 @@ MspHelper.prototype.crunch = function(code) {
.push8(ADVANCED_TUNING.itermThrottleGain)
.push16(ADVANCED_TUNING.pidMaxVelocity)
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
buffer.push8(ADVANCED_TUNING.levelAngleLimit)
.push8(ADVANCED_TUNING.levelSensitivity);
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
buffer.push16(ADVANCED_TUNING.itermThrottleThreshold)
.push16(ADVANCED_TUNING.itermAcceleratorGain);
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
buffer.push16(ADVANCED_TUNING.dtermSetpointWeight);
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
buffer.push16(ADVANCED_TUNING.itermThrottleThreshold)
.push16(ADVANCED_TUNING.itermAcceleratorGain);
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
buffer.push16(ADVANCED_TUNING.dtermSetpointWeight);
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
buffer.push8(ADVANCED_TUNING.itermRotation)
.push8(ADVANCED_TUNING.smartFeedforward)
.push8(ADVANCED_TUNING.itermRelax)
.push8(ADVANCED_TUNING.itermRelaxType)
.push8(ADVANCED_TUNING.absoluteControlGain)
.push8(ADVANCED_TUNING.throttleBoost)
.push8(ADVANCED_TUNING.acroTrainerAngleLimit);
}
}
}
}
}
// only supports 1 version pre bf 3.0

95
src/js/tabs/pid_tuning.js
View file

@ -299,6 +299,86 @@ TABS.pid_tuning.initialize = function (callback) {
$('.dtermLowpass2').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
// I Term Rotation
$('input[id="itermrotation"]').prop('checked', ADVANCED_TUNING.itermRotation !== 0);
// Smart Feed Forward
$('input[id="smartfeedforward"]').prop('checked', ADVANCED_TUNING.smartFeedforward !== 0);
// I Term Relax
var itermRelaxCheck = $('input[id="itermrelax"]');
itermRelaxCheck.prop('checked', ADVANCED_TUNING.itermRelax !== 0);
$('select[id="itermrelaxAxes"]').val(ADVANCED_TUNING.itermRelax > 0 ? ADVANCED_TUNING.itermRelax : 1);
$('select[id="itermrelaxType"]').val(ADVANCED_TUNING.itermRelaxType);
itermRelaxCheck.change(function() {
var checked = $(this).is(':checked');
if (checked) {
$('.itermrelax .suboption').show();
} else {
$('.itermrelax .suboption').hide();
}
});
itermRelaxCheck.change();
// Absolute Control
var absoluteControlGainNumberElement = $('input[name="absoluteControlGain-number"]');
var absoluteControlGainRangeElement = $('input[name="absoluteControlGain-range"]');
absoluteControlGainNumberElement.change(function () {
absoluteControlGainRangeElement.val($(this).val());
});
absoluteControlGainRangeElement.change(function () {
absoluteControlGainNumberElement.val($(this).val());
});
absoluteControlGainNumberElement.val(ADVANCED_TUNING.absoluteControlGain).change();
// Throttle Boost
var throttleBoostNumberElement = $('input[name="throttleBoost-number"]');
var throttleBoostRangeElement = $('input[name="throttleBoost-range"]');
throttleBoostNumberElement.change(function () {
throttleBoostRangeElement.val($(this).val());
});
throttleBoostRangeElement.change(function () {
throttleBoostNumberElement.val($(this).val());
});
throttleBoostNumberElement.val(ADVANCED_TUNING.throttleBoost).change();
// Acro Trainer
var acroTrainerAngleLimitNumberElement = $('input[name="acroTrainerAngleLimit-number"]');
var acroTrainerAngleLimitRangeElement = $('input[name="acroTrainerAngleLimit-range"]');
var validateAcroTrainerAngle = function(value) {
// The minimum acro trainer angle is 10, but we must let zero too to deactivate it
if (value > 0 && value < 10) {
value = 10;
}
acroTrainerAngleLimitRangeElement.val(value);
acroTrainerAngleLimitNumberElement.val(value);
}
acroTrainerAngleLimitNumberElement.change(function () {
validateAcroTrainerAngle($(this).val());
});
acroTrainerAngleLimitRangeElement.change(function () {
validateAcroTrainerAngle($(this).val());
});
acroTrainerAngleLimitNumberElement.val(ADVANCED_TUNING.acroTrainerAngleLimit).change();
} else {
$('.itermrotation').hide();
$('.smartfeedforward').hide();
$('.itermrelax').hide();
$('.absoluteControlGain').hide();
$('.throttleBoost').hide();
$('.acroTrainerAngleLimit').hide();
}
$('input[id="gyroNotch1Enabled"]').change(function() {
var checked = $(this).is(':checked');
var hz = FILTER_CONFIG.gyro_notch_hz > 0 ? FILTER_CONFIG.gyro_notch_hz : DEFAULT.gyro_notch_hz;
@ -527,6 +607,21 @@ TABS.pid_tuning.initialize = function (callback) {
FILTER_CONFIG.gyro_lowpass2_type = parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val());
FILTER_CONFIG.dterm_lowpass2_hz = parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val());
}
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
ADVANCED_TUNING.itermRotation = $('input[id="itermrotation"]').is(':checked') ? 1 : 0;
ADVANCED_TUNING.smartFeedforward = $('input[id="smartfeedforward"]').is(':checked') ? 1 : 0;
ADVANCED_TUNING.itermRelax = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxAxes"]').val() : 0;
ADVANCED_TUNING.itermRelaxType = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxType"]').val() : 0;
ADVANCED_TUNING.absoluteControlGain = $('input[name="absoluteControlGain-number"]').val();
ADVANCED_TUNING.throttleBoost = $('input[name="throttleBoost-number"]').val();
ADVANCED_TUNING.acroTrainerAngleLimit = $('input[name="acroTrainerAngleLimit-number"]').val();
}
}
function showAllPids() {

104
src/tabs/pid_tuning.html
View file

@ -293,7 +293,7 @@
</div>
</td>
</tr>
<tr class="dtermSetpoint" style="height:30px;">
<tr class="dtermSetpoint">
<td><input type="number" name="dtermSetpoint-number" step="0.01" min="0.00" max="20"/></td>
<td class="slider"><input type="range" name="dtermSetpoint-range" step="0.01" min="0.00" max="20"/></td>
<td>
@ -322,8 +322,60 @@
<span i18n="pidTuningDtermSetpointTransitionWarning"></span>
</td>
</tr>
<tr class="acroTrainerAngleLimit">
<td><input type="number" name="acroTrainerAngleLimit-number" step="1" min="0" max="80"/></td>
<td class="slider"><input type="range" name="acroTrainerAngleLimit-range" step="1" min="0" max="80"/></td>
<td colspan="2">
<div>
<label>
<span i18n="pidTuningAcroTrainerAngleLimit"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningAcroTrainerAngleLimitHelp"></div>
</div>
</td>
</tr>
<tr class="throttleBoost">
<td><input type="number" name="throttleBoost-number" step="1" min="0" max="100"/></td>
<td class="slider"><input type="range" name="throttleBoost-range" step="1" min="0" max="100"/></td>
<td colspan="2">
<div>
<label>
<span i18n="pidTuningThrottleBoost"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningThrottleBoostHelp"></div>
</div>
</td>
</tr>
<tr class="absoluteControlGain">
<td><input type="number" name="absoluteControlGain-number" step="1" min="0" max="20"/></td>
<td class="slider"><input type="range" name="absoluteControlGain-range" step="1" min="0" max="20"/></td>
<td colspan="2">
<div>
<label>
<span i18n="pidTuningAbsoluteControlGain"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningAbsoluteControlGainHelp"></div>
</div>
</td>
</tr>
<tr class="itermrotation">
<td><input type="checkbox" id="itermrotation" class="toggle" /></td>
<td colspan="2">
<div>
<label for="itermrotation">
<span i18n="pidTuningItermRotation"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningItermRotationHelp"></div>
</div>
</td>
</tr>
<tr>
<td style="height:30px;"><input type="checkbox" id="vbatpidcompensation" class="toggle" /></td>
<td><input type="checkbox" id="vbatpidcompensation" class="toggle" /></td>
<td colspan="2">
<div>
<label for="vbatpidcompensation">
@ -333,6 +385,54 @@
</div>
</td>
</tr>
<tr class="smartfeedforward">
<td><input type="checkbox" id="smartfeedforward" class="toggle" /></td>
<td colspan="2">
<div>
<label for="smartfeedforward">
<span i18n="pidTuningSmartFeedforward"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningSmartFeedforwardHelp"></div>
</div>
</td>
</tr>
<tr class="itermrelax">
<td><input type="checkbox" id="itermrelax" class="toggle" /></td>
<td colspan="2">
<span>
<label for="itermrelax">
<span i18n="pidTuningItermRelax" />
</label>
</span>
<span class="suboption">
<label for="itermrelaxAxes">
<span i18n="pidTuningItermRelaxAxes" />
</label>
<select id="itermrelaxAxes">
<option i18n="pidTuningItermRelaxAxesOptionRP" value="1">
<option i18n="pidTuningItermRelaxAxesOptionRPY" value="2"/>
<option i18n="pidTuningItermRelaxAxesOptionRPInc" value="3"/>
<option i18n="pidTuningItermRelaxAxesOptionRPYInc" value="4"/>
</select>
</span>
<span class="suboption">
<label for="itermrelaxType">
<span i18n="pidTuningItermRelaxType" />
</label>
<select id="itermrelaxType">
<option i18n="pidTuningItermRelaxTypeOptionGyro" value="0"/>
<option i18n="pidTuningItermRelaxTypeOptionSetpoint" value="1"/>
</select>
</span>
<div class="helpicon cf_tip" i18n_title="pidTuningItermRelaxHelp"></div>
</td>
</tr>
</table>
</div>