mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-23 16:25:22 +03:00
Moved scaling factor for rates calculation into 'RateCurve'.
This commit is contained in:
mikeller
parent
a22baa227c
commit
bc58101ab7
2 changed files with 70 additions and 55 deletions
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@ -7,11 +7,11 @@ var maxRc = 2000;
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var RateCurve = function (useLegacyCurve) {
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var RateCurve = function (useLegacyCurve) {
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this.useLegacyCurve = useLegacyCurve;
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this.useLegacyCurve = useLegacyCurve;
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function constrain(value, min, max) {
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this.constrain = function (value, min, max) {
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return Math.max(min, Math.min(value, max));
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return Math.max(min, Math.min(value, max));
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}
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}
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function rcCommand(rcData, rcRate, rcExpo) {
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this.rcCommand = function (rcData, rcRate, rcExpo) {
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var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
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var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
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var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
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var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
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@ -22,23 +22,6 @@ var RateCurve = function (useLegacyCurve) {
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return result;
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return result;
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}
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}
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this.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive) {
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var inputValue = rcCommand(rcData, rcRate, rcExpo);
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var angleRate;
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if (superExpoActive) {
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var rcFactor = Math.abs(inputValue) / (500 * rcRate / 100);
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rcFactor = 1 / constrain(1 - rcFactor * rate / 100, 0.01, 1);
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angleRate = rcFactor * 27 * inputValue / 16;
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} else {
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angleRate = (rate + 27) * inputValue / 16;
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}
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angleRate = constrain(angleRate, -8190, 8190); // Rate limit protection
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return angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
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};
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this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height) {
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this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height) {
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var canvasHeightScale = height / (2 * maxAngularVel);
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var canvasHeightScale = height / (2 * maxAngularVel);
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@ -62,10 +45,6 @@ var RateCurve = function (useLegacyCurve) {
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}
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}
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this.drawLegacyRateCurve = function (rate, rcRate, rcExpo, context, width, height) {
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this.drawLegacyRateCurve = function (rate, rcRate, rcExpo, context, width, height) {
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rate = rate / 100;
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rcRate = rcRate / 100;
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rcExpo = rcExpo / 100;
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// math magic by englishman
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// math magic by englishman
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var rateY = height * rcRate;
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var rateY = height * rcRate;
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rateY = rateY + (1 / (1 - ((rateY / height) * rate)))
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rateY = rateY + (1 / (1 - ((rateY / height) * rate)))
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@ -78,10 +57,34 @@ var RateCurve = function (useLegacyCurve) {
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}
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}
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}
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}
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RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive) {
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var angleRate;
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if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
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rate = rate * 100;
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rcRate = rcRate * 100;
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rcExpo = rcExpo * 100;
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var inputValue = this.rcCommand(rcData, rcRate, rcExpo);
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if (superExpoActive) {
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var rcFactor = Math.abs(inputValue) / (500 * rcRate / 100);
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rcFactor = 1 / this.constrain(1 - rcFactor * rate / 100, 0.01, 1);
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angleRate = rcFactor * 27 * inputValue / 16;
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} else {
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angleRate = (rate + 27) * inputValue / 16;
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}
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angleRate = this.constrain(angleRate, -8190, 8190); // Rate limit protection
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angleRate = angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
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}
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return angleRate;
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};
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RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive) {
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RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive) {
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var maxAngularVel;
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var maxAngularVel;
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if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined
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if (!this.useLegacyCurve) {
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&& !this.useLegacyCurve) {
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maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive);
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maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive);
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}
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}
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@ -421,13 +421,13 @@ TABS.pid_tuning.initialize = function (callback) {
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// Local cache of current rates
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// Local cache of current rates
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self.currentRates = {
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self.currentRates = {
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roll_rate: RC_tuning.roll_rate * 100,
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roll_rate: RC_tuning.roll_rate,
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pitch_rate: RC_tuning.pitch_rate * 100,
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pitch_rate: RC_tuning.pitch_rate,
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yaw_rate: RC_tuning.yaw_rate * 100,
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yaw_rate: RC_tuning.yaw_rate,
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rc_rate: RC_tuning.RC_RATE * 100,
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rc_rate: RC_tuning.RC_RATE,
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rc_rate_yaw: SPECIAL_PARAMETERS.RC_RATE_YAW * 100,
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rc_rate_yaw: SPECIAL_PARAMETERS.RC_RATE_YAW,
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rc_expo: RC_tuning.RC_EXPO * 100,
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rc_expo: RC_tuning.RC_EXPO,
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rc_yaw_expo: RC_tuning.RC_YAW_EXPO * 100,
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rc_yaw_expo: RC_tuning.RC_YAW_EXPO,
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superexpo: bit_check(BF_CONFIG.features, SUPEREXPO_FEATURE_BIT)
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superexpo: bit_check(BF_CONFIG.features, SUPEREXPO_FEATURE_BIT)
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};
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};
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@ -436,8 +436,8 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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}
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if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
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if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
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self.currentRates.roll_rate = RC_tuning.roll_pitch_rate * 100;
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self.currentRates.roll_rate = RC_tuning.roll_pitch_rate;
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self.currentRates.pitch_rate = RC_tuning.roll_pitch_rate * 100;
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self.currentRates.pitch_rate = RC_tuning.roll_pitch_rate;
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}
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}
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updatePidDisplay();
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updatePidDisplay();
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@ -524,49 +524,61 @@ TABS.pid_tuning.initialize = function (callback) {
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var maxAngularVelPitchElement = $('.rc_curve .maxAngularVelPitch');
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var maxAngularVelPitchElement = $('.rc_curve .maxAngularVelPitch');
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var maxAngularVelYawElement = $('.rc_curve .maxAngularVelYaw');
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var maxAngularVelYawElement = $('.rc_curve .maxAngularVelYaw');
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var updateNeeded = true;
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function updateRates(event) {
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function updateRates(event) {
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setTimeout(function () { // let global validation trigger and adjust the values first
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setTimeout(function () { // let global validation trigger and adjust the values first
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var targetElement = $(event.target),
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var targetElement = $(event.target),
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targetValue = checkInput(targetElement);
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targetValue = checkInput(targetElement);
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if (self.currentRates.hasOwnProperty(targetElement.attr('name')) && targetValue) {
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if (self.currentRates.hasOwnProperty(targetElement.attr('name')) && targetValue) {
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self.currentRates[targetElement.attr('name')] = targetValue * 100;
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self.currentRates[targetElement.attr('name')] = targetValue;
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updateNeeded = true;
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}
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}
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if (targetElement.attr('name') === 'rc_rate' && CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
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if (targetElement.attr('name') === 'rc_rate' && CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
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self.currentRates.rc_rate_yaw = targetValue * 100;
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self.currentRates.rc_rate_yaw = targetValue;
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}
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}
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if (targetElement.attr('name') === 'roll_pitch_rate' && semver.lt(CONFIG.apiVersion, "1.7.0")) {
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if (targetElement.attr('name') === 'roll_pitch_rate' && semver.lt(CONFIG.apiVersion, "1.7.0")) {
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self.currentRates.roll_rate = targetValue * 100;
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self.currentRates.roll_rate = targetValue;
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self.currentRates.pitch_rate = targetValue * 100;
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self.currentRates.pitch_rate = targetValue;
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updateNeeded = true;
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}
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}
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if (targetElement.attr('name') === 'show_superexpo_rates') {
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if (targetElement.attr('name') === 'show_superexpo_rates') {
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self.currentRates.superexpo = targetElement.is(':checked');
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self.currentRates.superexpo = targetElement.is(':checked');
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updateNeeded = true;
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}
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}
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var curveHeight = rcCurveElement.height;
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if (updateNeeded) {
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var curveWidth = rcCurveElement.width;
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var curveHeight = rcCurveElement.height;
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var curveWidth = rcCurveElement.width;
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var maxAngularVel = Math.max(
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var maxAngularVel = Math.max(
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printMaxAngularVel(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVelRollElement),
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printMaxAngularVel(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVelRollElement),
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printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVelPitchElement),
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printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVelPitchElement),
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printMaxAngularVel(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVelYawElement));
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printMaxAngularVel(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVelYawElement));
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curveContext.clearRect(0, 0, curveWidth, curveHeight);
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curveContext.clearRect(0, 0, curveWidth, curveHeight);
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if (!useLegacyCurve) {
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if (!useLegacyCurve) {
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drawAxes(curveContext, curveWidth, curveHeight, (curveHeight / 2) / maxAngularVel * 360);
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drawAxes(curveContext, curveWidth, curveHeight, (curveHeight / 2) / maxAngularVel * 360);
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}
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curveContext.lineWidth = 4;
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drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#ff0000', 0, curveContext);
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drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#00ff00', -4, curveContext);
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drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVel, '#0000ff', 4, curveContext);
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updateNeeded = false;
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}
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}
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curveContext.lineWidth = 4;
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drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#ff0000', 0, curveContext);
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drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#00ff00', -4, curveContext);
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drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVel, '#0000ff', 4, curveContext);
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}, 0);
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}, 0);
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};
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};
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