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Code Issues Wiki Activity

Moved scaling factor for rates calculation into 'RateCurve'.

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This commit is contained in:
mikeller 2016-07-08 09:21:32 +12:00
parent a22baa227c
commit bc58101ab7
2 changed files with 70 additions and 55 deletions
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53
js/RateCurve.js
View file

@ -7,11 +7,11 @@ var maxRc = 2000;
var RateCurve = function (useLegacyCurve) {
this.useLegacyCurve = useLegacyCurve;
function constrain(value, min, max) {
this.constrain = function (value, min, max) {
return Math.max(min, Math.min(value, max));
}
function rcCommand(rcData, rcRate, rcExpo) {
this.rcCommand = function (rcData, rcRate, rcExpo) {
var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
@ -22,23 +22,6 @@ var RateCurve = function (useLegacyCurve) {
return result;
}
this.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive) {
var inputValue = rcCommand(rcData, rcRate, rcExpo);
var angleRate;
if (superExpoActive) {
var rcFactor = Math.abs(inputValue) / (500 * rcRate / 100);
rcFactor = 1 / constrain(1 - rcFactor * rate / 100, 0.01, 1);
angleRate = rcFactor * 27 * inputValue / 16;
} else {
angleRate = (rate + 27) * inputValue / 16;
}
angleRate = constrain(angleRate, -8190, 8190); // Rate limit protection
return angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
};
this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height) {
var canvasHeightScale = height / (2 * maxAngularVel);
@ -62,10 +45,6 @@ var RateCurve = function (useLegacyCurve) {
}
this.drawLegacyRateCurve = function (rate, rcRate, rcExpo, context, width, height) {
rate = rate / 100;
rcRate = rcRate / 100;
rcExpo = rcExpo / 100;
// math magic by englishman
var rateY = height * rcRate;
rateY = rateY + (1 / (1 - ((rateY / height) * rate)))
@ -78,10 +57,34 @@ var RateCurve = function (useLegacyCurve) {
}
}
RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive) {
var angleRate;
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
rate = rate * 100;
rcRate = rcRate * 100;
rcExpo = rcExpo * 100;
var inputValue = this.rcCommand(rcData, rcRate, rcExpo);
if (superExpoActive) {
var rcFactor = Math.abs(inputValue) / (500 * rcRate / 100);
rcFactor = 1 / this.constrain(1 - rcFactor * rate / 100, 0.01, 1);
angleRate = rcFactor * 27 * inputValue / 16;
} else {
angleRate = (rate + 27) * inputValue / 16;
}
angleRate = this.constrain(angleRate, -8190, 8190); // Rate limit protection
angleRate = angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
}
return angleRate;
};
RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive) {
var maxAngularVel;
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined
&& !this.useLegacyCurve) {
if (!this.useLegacyCurve) {
maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive);
}

38
tabs/pid_tuning.js
View file

@ -421,13 +421,13 @@ TABS.pid_tuning.initialize = function (callback) {
// Local cache of current rates
self.currentRates = {
roll_rate: RC_tuning.roll_rate * 100,
pitch_rate: RC_tuning.pitch_rate * 100,
yaw_rate: RC_tuning.yaw_rate * 100,
rc_rate: RC_tuning.RC_RATE * 100,
rc_rate_yaw: SPECIAL_PARAMETERS.RC_RATE_YAW * 100,
rc_expo: RC_tuning.RC_EXPO * 100,
rc_yaw_expo: RC_tuning.RC_YAW_EXPO * 100,
roll_rate: RC_tuning.roll_rate,
pitch_rate: RC_tuning.pitch_rate,
yaw_rate: RC_tuning.yaw_rate,
rc_rate: RC_tuning.RC_RATE,
rc_rate_yaw: SPECIAL_PARAMETERS.RC_RATE_YAW,
rc_expo: RC_tuning.RC_EXPO,
rc_yaw_expo: RC_tuning.RC_YAW_EXPO,
superexpo: bit_check(BF_CONFIG.features, SUPEREXPO_FEATURE_BIT)
};
@ -436,8 +436,8 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
self.currentRates.roll_rate = RC_tuning.roll_pitch_rate * 100;
self.currentRates.pitch_rate = RC_tuning.roll_pitch_rate * 100;
self.currentRates.roll_rate = RC_tuning.roll_pitch_rate;
self.currentRates.pitch_rate = RC_tuning.roll_pitch_rate;
}
updatePidDisplay();
@ -524,28 +524,37 @@ TABS.pid_tuning.initialize = function (callback) {
var maxAngularVelPitchElement = $('.rc_curve .maxAngularVelPitch');
var maxAngularVelYawElement = $('.rc_curve .maxAngularVelYaw');
var updateNeeded = true;
function updateRates(event) {
setTimeout(function () { // let global validation trigger and adjust the values first
var targetElement = $(event.target),
targetValue = checkInput(targetElement);
if (self.currentRates.hasOwnProperty(targetElement.attr('name')) && targetValue) {
self.currentRates[targetElement.attr('name')] = targetValue * 100;
self.currentRates[targetElement.attr('name')] = targetValue;
updateNeeded = true;
}
if (targetElement.attr('name') === 'rc_rate' && CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
self.currentRates.rc_rate_yaw = targetValue * 100;
self.currentRates.rc_rate_yaw = targetValue;
}
if (targetElement.attr('name') === 'roll_pitch_rate' && semver.lt(CONFIG.apiVersion, "1.7.0")) {
self.currentRates.roll_rate = targetValue * 100;
self.currentRates.pitch_rate = targetValue * 100;
self.currentRates.roll_rate = targetValue;
self.currentRates.pitch_rate = targetValue;
updateNeeded = true;
}
if (targetElement.attr('name') === 'show_superexpo_rates') {
self.currentRates.superexpo = targetElement.is(':checked');
updateNeeded = true;
}
if (updateNeeded) {
var curveHeight = rcCurveElement.height;
var curveWidth = rcCurveElement.width;
@ -567,6 +576,9 @@ TABS.pid_tuning.initialize = function (callback) {
drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#00ff00', -4, curveContext);
drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVel, '#0000ff', 4, curveContext);
updateNeeded = false;
}
}, 0);
};