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Add new PID elements for version 3.5

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- 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
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54
src/js/msp/MSPHelper.js
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@ -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