mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-16 21:05:30 +03:00
Remove VBat PID Compensation
Some api version check fixes Remove blanck line More api version fixes Remove extra parentesix Removing more parentexis Rebase fixing
This commit is contained in:
Asizon
parent
c59f49d160
commit
d2ef89b6a3
3 changed files with 117 additions and 121 deletions
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@ -1095,69 +1095,71 @@ MspHelper.prototype.process_data = function(dataHandler) {
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FC.ADVANCED_TUNING_ACTIVE = { ...FC.ADVANCED_TUNING };
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break;
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case MSPCodes.MSP_PID_ADVANCED:
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FC.ADVANCED_TUNING.rollPitchItermIgnoreRate = data.readU16();
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FC.ADVANCED_TUNING.yawItermIgnoreRate = data.readU16();
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FC.ADVANCED_TUNING.yaw_p_limit = data.readU16();
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FC.ADVANCED_TUNING.deltaMethod = data.readU8();
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FC.ADVANCED_TUNING.vbatPidCompensation = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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FC.ADVANCED_TUNING.feedforwardTransition = data.readU8();
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} else {
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FC.ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
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}
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FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
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FC.ADVANCED_TUNING.toleranceBand = data.readU8();
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FC.ADVANCED_TUNING.toleranceBandReduction = data.readU8();
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FC.ADVANCED_TUNING.itermThrottleGain = data.readU8();
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FC.ADVANCED_TUNING.pidMaxVelocity = data.readU16();
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FC.ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
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FC.ADVANCED_TUNING.levelAngleLimit = data.readU8();
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FC.ADVANCED_TUNING.levelSensitivity = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
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FC.ADVANCED_TUNING.rollPitchItermIgnoreRate = data.readU16();
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FC.ADVANCED_TUNING.yawItermIgnoreRate = data.readU16();
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FC.ADVANCED_TUNING.yaw_p_limit = data.readU16();
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FC.ADVANCED_TUNING.deltaMethod = data.readU8();
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FC.ADVANCED_TUNING.vbatPidCompensation = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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FC.ADVANCED_TUNING.feedforwardTransition = data.readU8();
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} else {
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FC.ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
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}
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FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
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FC.ADVANCED_TUNING.toleranceBand = data.readU8();
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FC.ADVANCED_TUNING.toleranceBandReduction = data.readU8();
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FC.ADVANCED_TUNING.itermThrottleGain = data.readU8();
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FC.ADVANCED_TUNING.pidMaxVelocity = data.readU16();
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FC.ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
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FC.ADVANCED_TUNING.levelAngleLimit = data.readU8();
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FC.ADVANCED_TUNING.levelSensitivity = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
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FC.ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
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FC.ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
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FC.ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
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FC.ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
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FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
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FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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FC.ADVANCED_TUNING.itermRotation = data.readU8();
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FC.ADVANCED_TUNING.smartFeedforward = data.readU8();
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FC.ADVANCED_TUNING.itermRelax = data.readU8();
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FC.ADVANCED_TUNING.itermRelaxType = data.readU8();
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FC.ADVANCED_TUNING.absoluteControlGain = data.readU8();
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FC.ADVANCED_TUNING.throttleBoost = data.readU8();
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FC.ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
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FC.ADVANCED_TUNING.feedforwardRoll = data.readU16();
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FC.ADVANCED_TUNING.feedforwardPitch = data.readU16();
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FC.ADVANCED_TUNING.feedforwardYaw = data.readU16();
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FC.ADVANCED_TUNING.antiGravityMode = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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FC.ADVANCED_TUNING.itermRotation = data.readU8();
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FC.ADVANCED_TUNING.smartFeedforward = data.readU8();
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FC.ADVANCED_TUNING.itermRelax = data.readU8();
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FC.ADVANCED_TUNING.itermRelaxType = data.readU8();
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FC.ADVANCED_TUNING.absoluteControlGain = data.readU8();
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FC.ADVANCED_TUNING.throttleBoost = data.readU8();
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FC.ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
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FC.ADVANCED_TUNING.feedforwardRoll = data.readU16();
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FC.ADVANCED_TUNING.feedforwardPitch = data.readU16();
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FC.ADVANCED_TUNING.feedforwardYaw = data.readU16();
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FC.ADVANCED_TUNING.antiGravityMode = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
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FC.ADVANCED_TUNING.dMinRoll = data.readU8();
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FC.ADVANCED_TUNING.dMinPitch = data.readU8();
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FC.ADVANCED_TUNING.dMinYaw = data.readU8();
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FC.ADVANCED_TUNING.dMinGain = data.readU8();
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FC.ADVANCED_TUNING.dMinAdvance = data.readU8();
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FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8();
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FC.ADVANCED_TUNING.integratedYawRelax = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
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FC.ADVANCED_TUNING.dMinRoll = data.readU8();
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FC.ADVANCED_TUNING.dMinPitch = data.readU8();
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FC.ADVANCED_TUNING.dMinYaw = data.readU8();
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FC.ADVANCED_TUNING.dMinGain = data.readU8();
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FC.ADVANCED_TUNING.dMinAdvance = data.readU8();
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FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8();
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FC.ADVANCED_TUNING.integratedYawRelax = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
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FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
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FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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FC.ADVANCED_TUNING.motorOutputLimit = data.readU8();
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FC.ADVANCED_TUNING.autoProfileCellCount = data.read8();
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FC.ADVANCED_TUNING.idleMinRpm = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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FC.ADVANCED_TUNING.motorOutputLimit = data.readU8();
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FC.ADVANCED_TUNING.autoProfileCellCount = data.read8();
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FC.ADVANCED_TUNING.idleMinRpm = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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FC.ADVANCED_TUNING.ff_interpolate_sp = data.readU8();
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FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8();
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FC.ADVANCED_TUNING.ff_boost = data.readU8();
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FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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FC.ADVANCED_TUNING.ff_interpolate_sp = data.readU8();
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FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8();
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FC.ADVANCED_TUNING.ff_boost = data.readU8();
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FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
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}
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}
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}
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}
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@ -2035,72 +2037,73 @@ MspHelper.prototype.crunch = function(code) {
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}
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break;
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case MSPCodes.MSP_SET_PID_ADVANCED:
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
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buffer.push16(FC.ADVANCED_TUNING.rollPitchItermIgnoreRate)
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.push16(FC.ADVANCED_TUNING.yawItermIgnoreRate)
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.push16(FC.ADVANCED_TUNING.yaw_p_limit)
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.push8(FC.ADVANCED_TUNING.deltaMethod)
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.push8(FC.ADVANCED_TUNING.vbatPidCompensation);
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(FC.ADVANCED_TUNING.feedforwardTransition);
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} else {
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buffer.push8(FC.ADVANCED_TUNING.dtermSetpointTransition);
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}
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(FC.ADVANCED_TUNING.feedforwardTransition);
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} else {
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buffer.push8(FC.ADVANCED_TUNING.dtermSetpointTransition);
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}
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buffer.push8(Math.min(FC.ADVANCED_TUNING.dtermSetpointWeight, 254))
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.push8(FC.ADVANCED_TUNING.toleranceBand)
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.push8(FC.ADVANCED_TUNING.toleranceBandReduction)
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.push8(FC.ADVANCED_TUNING.itermThrottleGain)
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.push16(FC.ADVANCED_TUNING.pidMaxVelocity)
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.push16(FC.ADVANCED_TUNING.pidMaxVelocityYaw);
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buffer.push8(Math.min(FC.ADVANCED_TUNING.dtermSetpointWeight, 254))
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.push8(FC.ADVANCED_TUNING.toleranceBand)
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.push8(FC.ADVANCED_TUNING.toleranceBandReduction)
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.push8(FC.ADVANCED_TUNING.itermThrottleGain)
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.push16(FC.ADVANCED_TUNING.pidMaxVelocity)
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.push16(FC.ADVANCED_TUNING.pidMaxVelocityYaw);
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if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
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buffer.push8(FC.ADVANCED_TUNING.levelAngleLimit)
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.push8(FC.ADVANCED_TUNING.levelSensitivity);
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if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
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buffer.push8(FC.ADVANCED_TUNING.levelAngleLimit)
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.push8(FC.ADVANCED_TUNING.levelSensitivity);
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if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
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buffer.push16(FC.ADVANCED_TUNING.itermThrottleThreshold)
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.push16(FC.ADVANCED_TUNING.itermAcceleratorGain);
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if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
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buffer.push16(FC.ADVANCED_TUNING.itermThrottleThreshold)
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.push16(FC.ADVANCED_TUNING.itermAcceleratorGain);
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if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
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buffer.push16(FC.ADVANCED_TUNING.dtermSetpointWeight);
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if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
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buffer.push16(FC.ADVANCED_TUNING.dtermSetpointWeight);
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(FC.ADVANCED_TUNING.itermRotation)
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.push8(FC.ADVANCED_TUNING.smartFeedforward)
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.push8(FC.ADVANCED_TUNING.itermRelax)
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.push8(FC.ADVANCED_TUNING.itermRelaxType)
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.push8(FC.ADVANCED_TUNING.absoluteControlGain)
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.push8(FC.ADVANCED_TUNING.throttleBoost)
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.push8(FC.ADVANCED_TUNING.acroTrainerAngleLimit)
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.push16(FC.ADVANCED_TUNING.feedforwardRoll)
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.push16(FC.ADVANCED_TUNING.feedforwardPitch)
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.push16(FC.ADVANCED_TUNING.feedforwardYaw)
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.push8(FC.ADVANCED_TUNING.antiGravityMode);
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(FC.ADVANCED_TUNING.itermRotation)
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.push8(FC.ADVANCED_TUNING.smartFeedforward)
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.push8(FC.ADVANCED_TUNING.itermRelax)
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.push8(FC.ADVANCED_TUNING.itermRelaxType)
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.push8(FC.ADVANCED_TUNING.absoluteControlGain)
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.push8(FC.ADVANCED_TUNING.throttleBoost)
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.push8(FC.ADVANCED_TUNING.acroTrainerAngleLimit)
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.push16(FC.ADVANCED_TUNING.feedforwardRoll)
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.push16(FC.ADVANCED_TUNING.feedforwardPitch)
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.push16(FC.ADVANCED_TUNING.feedforwardYaw)
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.push8(FC.ADVANCED_TUNING.antiGravityMode);
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if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
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buffer.push8(FC.ADVANCED_TUNING.dMinRoll)
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.push8(FC.ADVANCED_TUNING.dMinPitch)
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.push8(FC.ADVANCED_TUNING.dMinYaw)
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.push8(FC.ADVANCED_TUNING.dMinGain)
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.push8(FC.ADVANCED_TUNING.dMinAdvance)
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.push8(FC.ADVANCED_TUNING.useIntegratedYaw)
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.push8(FC.ADVANCED_TUNING.integratedYawRelax);
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if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
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buffer.push8(FC.ADVANCED_TUNING.dMinRoll)
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.push8(FC.ADVANCED_TUNING.dMinPitch)
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.push8(FC.ADVANCED_TUNING.dMinYaw)
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.push8(FC.ADVANCED_TUNING.dMinGain)
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.push8(FC.ADVANCED_TUNING.dMinAdvance)
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.push8(FC.ADVANCED_TUNING.useIntegratedYaw)
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.push8(FC.ADVANCED_TUNING.integratedYawRelax);
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if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
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buffer.push8(FC.ADVANCED_TUNING.itermRelaxCutoff);
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if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
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buffer.push8(FC.ADVANCED_TUNING.itermRelaxCutoff);
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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buffer.push8(FC.ADVANCED_TUNING.motorOutputLimit)
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.push8(FC.ADVANCED_TUNING.autoProfileCellCount)
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.push8(FC.ADVANCED_TUNING.idleMinRpm);
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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buffer.push8(FC.ADVANCED_TUNING.motorOutputLimit)
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.push8(FC.ADVANCED_TUNING.autoProfileCellCount)
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.push8(FC.ADVANCED_TUNING.idleMinRpm);
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp)
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.push8(FC.ADVANCED_TUNING.ff_smooth_factor)
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.push8(FC.ADVANCED_TUNING.ff_boost)
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.push8(FC.ADVANCED_TUNING.vbat_sag_compensation);
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp)
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.push8(FC.ADVANCED_TUNING.ff_smooth_factor)
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.push8(FC.ADVANCED_TUNING.ff_boost)
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.push8(FC.ADVANCED_TUNING.vbat_sag_compensation);
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}
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}
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}
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}
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@ -2110,14 +2113,6 @@ MspHelper.prototype.crunch = function(code) {
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}
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}
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}
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// only supports 1 version pre bf 3.0
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else {
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buffer.push16(FC.ADVANCED_TUNING.rollPitchItermIgnoreRate)
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.push16(FC.ADVANCED_TUNING.yawItermIgnoreRate)
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.push16(FC.ADVANCED_TUNING.yaw_p_limit)
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.push8(FC.ADVANCED_TUNING.deltaMethod)
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.push8(FC.ADVANCED_TUNING.vbatPidCompensation);
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}
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break;
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case MSPCodes.MSP_SET_SENSOR_CONFIG:
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buffer.push8(FC.SENSOR_CONFIG.acc_hardware)
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