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Code Issues Wiki Activity

Fix Legacy Tuning Slider Patch

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This commit is contained in:
Mark Haslinghuis 2021-02-14 19:59:15 +01:00
parent e8f5e4e68d
commit c832e9758a
3 changed files with 49 additions and 25 deletions
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34
src/js/TuningSliders.js
View file

@ -321,21 +321,21 @@ TuningSliders.legacyCalculateNewPids = function() {
// only used for 4.1 where calculation is not done in firmware // only used for 4.1 where calculation is not done in firmware
if (this.dMinFeatureEnabled) { if (this.dMinFeatureEnabled) {
//dmin //dmin
FC.ADVANCED_TUNING.dMinRoll = Math.floor(this.PID_DEFAULT[3] * this.sliderPDGain * this.sliderPDRatio); FC.ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.sliderPDGain * this.sliderPDRatio);
FC.ADVANCED_TUNING.dMinPitch = Math.floor(this.PID_DEFAULT[8] * this.sliderPDGain * this.sliderPDRatio); FC.ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.sliderPDGain * this.sliderPDRatio);
// dmax // dmax
FC.PIDS[0][2] = Math.floor(this.PID_DEFAULT[2] * this.sliderPDGain * this.sliderPDRatio); FC.PIDS[0][2] = Math.round(this.PID_DEFAULT[2] * this.sliderPDGain * this.sliderPDRatio);
FC.PIDS[1][2] = Math.floor(this.PID_DEFAULT[7] * this.sliderPDGain * this.sliderPDRatio); FC.PIDS[1][2] = Math.round(this.PID_DEFAULT[7] * this.sliderPDGain * this.sliderPDRatio);
} else { } else {
FC.ADVANCED_TUNING.dMinRoll = 0; FC.ADVANCED_TUNING.dMinRoll = 0;
FC.ADVANCED_TUNING.dMinPitch = 0; FC.ADVANCED_TUNING.dMinPitch = 0;
FC.PIDS[0][2] = Math.floor((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio); FC.PIDS[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
FC.PIDS[1][2] = Math.floor((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio); FC.PIDS[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
} }
FC.PIDS[0][0] = Math.floor(this.PID_DEFAULT[0] * this.sliderPDGain); FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.sliderPDGain);
FC.PIDS[1][0] = Math.floor(this.PID_DEFAULT[5] * this.sliderPDGain); FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.sliderPDGain);
FC.PIDS[2][0] = Math.floor(this.PID_DEFAULT[10] * this.sliderPDGain); FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.sliderPDGain);
// ff // ff
FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFFGain); FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFFGain);
FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFFGain); FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFFGain);
@ -361,19 +361,18 @@ TuningSliders.legacyCalculateNewPids = function() {
FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplier), MAX_FF_GAIN); FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplier), MAX_FF_GAIN);
if (this.dMinFeatureEnabled) { if (this.dMinFeatureEnabled) {
FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplier), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
} }
this.updateFormPids();
$('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll); $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
$('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch); $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw); $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll); $('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll);
$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch); $('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw); $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
this.updateFormPids();
}; };
TuningSliders.calculateNewPids = function() { TuningSliders.calculateNewPids = function() {
@ -409,12 +408,10 @@ TuningSliders.calculateNewPids = function() {
Promise.resolve(true) Promise.resolve(true)
.then(() => { return MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS)); }) .then(() => { return MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS)); })
.then(() => { return MSP.send_message(MSPCodes.MSP_SET_PID); }) .then(() => { return MSP.send_message(MSPCodes.MSP_PID); })
.then(() => { return MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED); }); .then(() => { return MSP.send_message(MSPCodes.MSP_PID_ADVANCED); });
} }
this.updateFormPids();
$('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll); $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
$('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch); $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw); $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
@ -422,6 +419,7 @@ TuningSliders.calculateNewPids = function() {
$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch); $('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw); $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
this.updateFormPids();
TABS.pid_tuning.updatePIDColors(); TABS.pid_tuning.updatePIDColors();
}; };

28
src/js/tabs/pid_tuning.js
View file

@ -1803,10 +1803,36 @@ TABS.pid_tuning.initialize = function (callback) {
$('#sliderPidsModeSelect').val(FC.TUNING_SLIDERS.slider_pids_mode); $('#sliderPidsModeSelect').val(FC.TUNING_SLIDERS.slider_pids_mode);
$('#dMinSwitch').change(function() {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
TuningSliders.setDMinFeatureEnabled($(this).is(':checked'));
// switch dmin and dmax values on dmin on/off if sliders available
if (!TuningSliders.pidSlidersUnavailable) {
if (TuningSliders.dMinFeatureEnabled) {
ADVANCED_TUNING.dMinRoll = FC.PIDs[0][2];
ADVANCED_TUNING.dMinPitch = FC.PIDs[1][2];
ADVANCED_TUNING.dMinYaw = FC.PIDs[2][2];
} else {
FC.PIDs[0][2] = ADVANCED_TUNING.dMinRoll;
FC.PIDs[1][2] = ADVANCED_TUNING.dMinPitch;
FC.PIDs[2][2] = ADVANCED_TUNING.dMinYaw;
}
TuningSliders.calculateNewPids();
}
}
});
// integrated yaw doesn't work with sliders therefore sliders are disabled // integrated yaw doesn't work with sliders therefore sliders are disabled
$('input[id="useIntegratedYaw"]').change(() => TuningSliders.updatePidSlidersDisplay()); $('input[id="useIntegratedYaw"]').change(() => TuningSliders.updatePidSlidersDisplay());
const allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFFGain'); let allPidTuningSliders;
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
allPidTuningSliders = $('#sliderMasterMultiplier, #sliderPDRatio, #sliderPDGain, #sliderFFGain');
$('.tab-pid_tuning .firmwareSlider').hide();
} else {
allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFFGain');
$('.tab-pid-tuning .firmwareSlider').show();
}
allPidTuningSliders.on('input', function() { allPidTuningSliders.on('input', function() {
const slider = $(this); const slider = $(this);

12
src/tabs/pid_tuning.html
View file

@ -170,7 +170,7 @@
<!-- TUNING SLIDERS--> <!-- TUNING SLIDERS-->
<div id="slidersPidsBox" class="gui_box grey topspacer tuningPIDSliders"> <div id="slidersPidsBox" class="gui_box grey topspacer tuningPIDSliders">
<table class="pid_titlebar"> <table class="pid_titlebar firmwareSlider">
<tr> <tr>
<th scope="col" class="sm-min"> <th scope="col" class="sm-min">
<select id="sliderPidsModeSelect"> <select id="sliderPidsModeSelect">
@ -208,12 +208,12 @@
<div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div> <div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div>
</td> </td>
</tr> </tr>
<tr class="xs sliderHeaders"> <tr class="xs sliderHeaders firmwareSlider">
<td colspan="5"> <td colspan="5">
<span i18n="pidTuningPDRatioSlider"></span> <span i18n="pidTuningPDRatioSlider"></span>
</td> </td>
</tr> </tr>
<tr> <tr class="firmwareSlider">
<td class="sm-min"> <td class="sm-min">
<span i18n="pidTuningRollPitchRatioSlider"/> <span i18n="pidTuningRollPitchRatioSlider"/>
</td> </td>
@ -227,7 +227,7 @@
<div class="helpicon cf_tip" i18n_title="pidTuningRollPitchRatioSliderHelp"></div> <div class="helpicon cf_tip" i18n_title="pidTuningRollPitchRatioSliderHelp"></div>
</td> </td>
</tr> </tr>
<tr> <tr class="firmwareSlider">
<td> <td>
<span i18n="pidTuningIGainSlider"/> <span i18n="pidTuningIGainSlider"/>
</td> </td>
@ -274,12 +274,12 @@
<div class="helpicon cf_tip" i18n_title="pidTuningPDGainSliderHelp"></div> <div class="helpicon cf_tip" i18n_title="pidTuningPDGainSliderHelp"></div>
</td> </td>
</tr> </tr>
<tr class="xs sliderHeaders"> <tr class="xs sliderHeaders firmwareSlider">
<td colspan="5"> <td colspan="5">
<span i18n="pidTuningResponseSlider"></span> <span i18n="pidTuningResponseSlider"></span>
</td> </td>
</tr> </tr>
<tr> <tr class="firmwareSlider">
<td class="sm-min"> <td class="sm-min">
<span i18n="pidTuningDMinRatioSlider"/> <span i18n="pidTuningDMinRatioSlider"/>
</td> </td>