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https://github.com/betaflight/betaflight-configurator.git
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Fix Legacy Tuning Slider Patch
This commit is contained in:
Mark Haslinghuis
parent
e8f5e4e68d
commit
c832e9758a
3 changed files with 49 additions and 25 deletions
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@ -321,21 +321,21 @@ TuningSliders.legacyCalculateNewPids = function() {
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// only used for 4.1 where calculation is not done in firmware
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if (this.dMinFeatureEnabled) {
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//dmin
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FC.ADVANCED_TUNING.dMinRoll = Math.floor(this.PID_DEFAULT[3] * this.sliderPDGain * this.sliderPDRatio);
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FC.ADVANCED_TUNING.dMinPitch = Math.floor(this.PID_DEFAULT[8] * this.sliderPDGain * this.sliderPDRatio);
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FC.ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.sliderPDGain * this.sliderPDRatio);
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FC.ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.sliderPDGain * this.sliderPDRatio);
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// dmax
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FC.PIDS[0][2] = Math.floor(this.PID_DEFAULT[2] * this.sliderPDGain * this.sliderPDRatio);
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FC.PIDS[1][2] = Math.floor(this.PID_DEFAULT[7] * this.sliderPDGain * this.sliderPDRatio);
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FC.PIDS[0][2] = Math.round(this.PID_DEFAULT[2] * this.sliderPDGain * this.sliderPDRatio);
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FC.PIDS[1][2] = Math.round(this.PID_DEFAULT[7] * this.sliderPDGain * this.sliderPDRatio);
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} else {
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FC.ADVANCED_TUNING.dMinRoll = 0;
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FC.ADVANCED_TUNING.dMinPitch = 0;
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FC.PIDS[0][2] = Math.floor((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
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FC.PIDS[1][2] = Math.floor((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
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FC.PIDS[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
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FC.PIDS[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
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}
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FC.PIDS[0][0] = Math.floor(this.PID_DEFAULT[0] * this.sliderPDGain);
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FC.PIDS[1][0] = Math.floor(this.PID_DEFAULT[5] * this.sliderPDGain);
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FC.PIDS[2][0] = Math.floor(this.PID_DEFAULT[10] * this.sliderPDGain);
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FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.sliderPDGain);
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FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.sliderPDGain);
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FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.sliderPDGain);
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// ff
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FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFFGain);
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FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFFGain);
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@ -361,19 +361,18 @@ TuningSliders.legacyCalculateNewPids = function() {
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FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplier), MAX_FF_GAIN);
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if (this.dMinFeatureEnabled) {
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FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
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FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
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FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
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FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
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FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
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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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this.updateFormPids();
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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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};
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TuningSliders.calculateNewPids = function() {
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@ -409,12 +408,10 @@ TuningSliders.calculateNewPids = function() {
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Promise.resolve(true)
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.then(() => { return MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS)); })
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.then(() => { return MSP.send_message(MSPCodes.MSP_SET_PID); })
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.then(() => { return MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED); });
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.then(() => { return MSP.send_message(MSPCodes.MSP_PID); })
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.then(() => { return MSP.send_message(MSPCodes.MSP_PID_ADVANCED); });
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}
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this.updateFormPids();
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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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$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
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@ -422,6 +419,7 @@ TuningSliders.calculateNewPids = function() {
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$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
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$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
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this.updateFormPids();
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TABS.pid_tuning.updatePIDColors();
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};
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@ -1803,10 +1803,36 @@ TABS.pid_tuning.initialize = function (callback) {
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$('#sliderPidsModeSelect').val(FC.TUNING_SLIDERS.slider_pids_mode);
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$('#dMinSwitch').change(function() {
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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TuningSliders.setDMinFeatureEnabled($(this).is(':checked'));
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// switch dmin and dmax values on dmin on/off if sliders available
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if (!TuningSliders.pidSlidersUnavailable) {
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if (TuningSliders.dMinFeatureEnabled) {
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ADVANCED_TUNING.dMinRoll = FC.PIDs[0][2];
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ADVANCED_TUNING.dMinPitch = FC.PIDs[1][2];
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ADVANCED_TUNING.dMinYaw = FC.PIDs[2][2];
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} else {
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FC.PIDs[0][2] = ADVANCED_TUNING.dMinRoll;
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FC.PIDs[1][2] = ADVANCED_TUNING.dMinPitch;
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FC.PIDs[2][2] = ADVANCED_TUNING.dMinYaw;
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}
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TuningSliders.calculateNewPids();
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}
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}
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});
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// integrated yaw doesn't work with sliders therefore sliders are disabled
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$('input[id="useIntegratedYaw"]').change(() => TuningSliders.updatePidSlidersDisplay());
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const allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFFGain');
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let allPidTuningSliders;
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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allPidTuningSliders = $('#sliderMasterMultiplier, #sliderPDRatio, #sliderPDGain, #sliderFFGain');
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$('.tab-pid_tuning .firmwareSlider').hide();
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} else {
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allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFFGain');
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$('.tab-pid-tuning .firmwareSlider').show();
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}
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allPidTuningSliders.on('input', function() {
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const slider = $(this);
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@ -170,7 +170,7 @@
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<!-- TUNING SLIDERS-->
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<div id="slidersPidsBox" class="gui_box grey topspacer tuningPIDSliders">
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<table class="pid_titlebar">
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<table class="pid_titlebar firmwareSlider">
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<tr>
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<th scope="col" class="sm-min">
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<select id="sliderPidsModeSelect">
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@ -208,12 +208,12 @@
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<div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div>
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</td>
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</tr>
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<tr class="xs sliderHeaders">
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<tr class="xs sliderHeaders firmwareSlider">
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<td colspan="5">
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<span i18n="pidTuningPDRatioSlider"></span>
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</td>
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</tr>
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<tr>
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<tr class="firmwareSlider">
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<td class="sm-min">
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<span i18n="pidTuningRollPitchRatioSlider"/>
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</td>
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@ -227,7 +227,7 @@
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<div class="helpicon cf_tip" i18n_title="pidTuningRollPitchRatioSliderHelp"></div>
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</td>
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</tr>
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<tr>
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<tr class="firmwareSlider">
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<td>
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<span i18n="pidTuningIGainSlider"/>
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</td>
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@ -274,12 +274,12 @@
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<div class="helpicon cf_tip" i18n_title="pidTuningPDGainSliderHelp"></div>
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</td>
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</tr>
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<tr class="xs sliderHeaders">
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<tr class="xs sliderHeaders firmwareSlider">
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<td colspan="5">
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<span i18n="pidTuningResponseSlider"></span>
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</td>
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</tr>
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<tr>
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<tr class="firmwareSlider">
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<td class="sm-min">
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<span i18n="pidTuningDMinRatioSlider"/>
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</td>
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