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Code Issues Wiki Activity

Added RC rate yaw and prepared filters

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U-DESKTOP-12PPI61\boris.bozic 2016-06-21 02:16:22 +02:00
parent f2fd1e1077
commit dca4dc97a1
5 changed files with 41 additions and 8 deletions
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6
_locales/en/messages.json
View file

@ -768,6 +768,12 @@
}, },
"pidTuningTPABreakPoint": { "pidTuningTPABreakPoint": {
"message": "TPA Breakpoint" "message": "TPA Breakpoint"
},
"pidTuningFilter": {
"message": "Filter"
},
"pidTuningFilterFrequency": {
"message": "Frequency"
}, },
"rcCurve": { "rcCurve": {
"message": "RC Curve" "message": "RC Curve"

2
js/fc.js
View file

@ -260,7 +260,7 @@ var FC = {
}; };
TEMPORARY_COMMANDS = { TEMPORARY_COMMANDS = {
RC_YAW_RATE: 0 RC_RATE_YAW: 0
}; };
RX_CONFIG = { RX_CONFIG = {

11
js/msp.js
View file

@ -902,7 +902,7 @@ var MSP = {
ADVANCED_TUNING.yaw_p_limit = data.getUint16(offset, 1); ADVANCED_TUNING.yaw_p_limit = data.getUint16(offset, 1);
break; break;
case MSP_codes.MSP_TEMPORARY_COMMANDS: case MSP_codes.MSP_TEMPORARY_COMMANDS:
TEMPORARY_COMMANDS.RC_RATE_YAW = data.getUint8(0, 1); TEMPORARY_COMMANDS.RC_RATE_YAW = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
break; break;
case MSP_codes.MSP_LED_STRIP_CONFIG: case MSP_codes.MSP_LED_STRIP_CONFIG:
LED_STRIP = []; LED_STRIP = [];
@ -1407,8 +1407,13 @@ MSP.crunch = function (code) {
buffer.push(lowByte(PID_ADVANCED_CONFIG.motor_pwm_rate)); buffer.push(lowByte(PID_ADVANCED_CONFIG.motor_pwm_rate));
buffer.push(highByte(PID_ADVANCED_CONFIG.motor_pwm_rate)); buffer.push(highByte(PID_ADVANCED_CONFIG.motor_pwm_rate));
break; break;
case MSP_codes.MSP_TEMPORARY_COMMANDS: case MSP_codes.MSP_SET_FILTER_CONFIG:
buffer.push(TEMPORARY_COMMANDS.RC_RATE_YAW); buffer.push(FILTER_CONFIG.gyro_soft_lpf_hz);
buffer.push(FILTER_CONFIG.dterm_lpf_hz);
buffer.push(FILTER_CONFIG.yaw_lpf_hz);
break;
case MSP_codes.MSP_SET_TEMPORARY_COMMANDS:
buffer.push(Math.round(TEMPORARY_COMMANDS.RC_RATE_YAW * 100));
break; break;
default: default:
return false; return false;

3
tabs/pid_tuning.html
View file

@ -49,7 +49,7 @@
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td> <td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td> <td><input type="number" name="d" step="1" min="0" max="255" /></td>
<td rowspan="3"><input type="number" name="rc_rate" step="0.01" min="0" max="2.5" /></td> <td rowspan="2"><input type="number" name="rc_rate" step="0.01" min="0" max="2.5" /></td>
<td class="roll_rate"><input type="number" name="roll_rate" step="0.01" min="0" max="1.00" /></td> <td class="roll_rate"><input type="number" name="roll_rate" step="0.01" min="0" max="1.00" /></td>
<td class="roll_pitch_rate" rowspan="2"><input type="number" name="roll_pitch_rate" step="0.01" min="0" max="1.00" /></td> <td class="roll_pitch_rate" rowspan="2"><input type="number" name="roll_pitch_rate" step="0.01" min="0" max="1.00" /></td>
<td rowspan="2"><input type="number" name="rc_expo" step="0.01" min="0" max="1" /></td> <td rowspan="2"><input type="number" name="rc_expo" step="0.01" min="0" max="1" /></td>
@ -69,6 +69,7 @@
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td> <td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td> <td><input type="number" name="d" step="1" min="0" max="255" /></td>
<td rowspan="1"><input type="number" name="rc_rate_yaw" step="0.01" min="0" max="2.5" /></td>
<td><input type="number" name="yaw_rate" step="0.01" min="0" max="2.55" /></td> <td><input type="number" name="yaw_rate" step="0.01" min="0" max="2.55" /></td>
<td><input type="number" name="rc_yaw_expo" step="0.01" min="0" max="1" /></td> <td><input type="number" name="rc_yaw_expo" step="0.01" min="0" max="1" /></td>
</tr> </tr>

25
tabs/pid_tuning.js
View file

@ -185,6 +185,7 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_tuning input[name="yaw_rate"]').val(RC_tuning.yaw_rate.toFixed(2)); $('.pid_tuning input[name="yaw_rate"]').val(RC_tuning.yaw_rate.toFixed(2));
$('.pid_tuning input[name="rc_expo"]').val(RC_tuning.RC_EXPO.toFixed(2)); $('.pid_tuning input[name="rc_expo"]').val(RC_tuning.RC_EXPO.toFixed(2));
$('.pid_tuning input[name="rc_yaw_expo"]').val(RC_tuning.RC_YAW_EXPO.toFixed(2)); $('.pid_tuning input[name="rc_yaw_expo"]').val(RC_tuning.RC_YAW_EXPO.toFixed(2));
$('.pid_tuning input[name="rc_rate_yaw"]').val(TEMPORARY_COMMANDS.RC_RATE_YAW.toFixed(2));
$('.tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2)); $('.tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
$('.tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint); $('.tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint);
@ -194,7 +195,9 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3"); $('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3");
} }
$('.pid_tuning input[name="gyro_soft_lpf"]').val(FILTER_CONFIG.gyro_soft_lpf_hz);
$('.pid_tuning input[name="dterm_lpf"]').val(FILTER_CONFIG.dterm_lpf_hz);
$('.pid_tuning input[name="yaw_lpf"]').val(FILTER_CONFIG.yaw_lpf_hz);
} }
@ -258,9 +261,14 @@ TABS.pid_tuning.initialize = function (callback) {
RC_tuning.yaw_rate = parseFloat($('.pid_tuning input[name="yaw_rate"]').val()); RC_tuning.yaw_rate = parseFloat($('.pid_tuning input[name="yaw_rate"]').val());
RC_tuning.RC_EXPO = parseFloat($('.pid_tuning input[name="rc_expo"]').val()); RC_tuning.RC_EXPO = parseFloat($('.pid_tuning input[name="rc_expo"]').val());
RC_tuning.RC_YAW_EXPO = parseFloat($('.pid_tuning input[name="rc_yaw_expo"]').val()); RC_tuning.RC_YAW_EXPO = parseFloat($('.pid_tuning input[name="rc_yaw_expo"]').val());
TEMPORARY_COMMANDS.RC_RATE_YAW = parseFloat($('.pid_tuning input[name="rc_rate_yaw"]').val());
RC_tuning.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val()); RC_tuning.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val());
RC_tuning.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val()); RC_tuning.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
FILTER_CONFIG.gyro_soft_lpf_hz = parseInt($('.tpa input[name="gyro_soft_lpf"]').val());
FILTER_CONFIG.dterm_lpf_hz = parseInt($('.tpa input[name="dterm_lpf"]').val());
FILTER_CONFIG.yaw_lpf_hz = parseInt($('.tpa input[name="yaw_lpf"]').val());
} }
function hideUnusedPids(sensors_detected) { function hideUnusedPids(sensors_detected) {
$('.tab-pid_tuning table.pid_tuning').hide(); $('.tab-pid_tuning table.pid_tuning').hide();
@ -436,10 +444,23 @@ TABS.pid_tuning.initialize = function (callback) {
function send_pids() { function send_pids() {
if (!TABS.pid_tuning.controllerChanged) { if (!TABS.pid_tuning.controllerChanged) {
MSP.send_message(MSP_codes.MSP_SET_PID, MSP.crunch(MSP_codes.MSP_SET_PID), false, send_rc_tuning_changes); MSP.send_message(MSP_codes.MSP_SET_PID, MSP.crunch(MSP_codes.MSP_SET_PID), false, send_temporary);
} }
} }
function send_temporary() {
if (!TABS.pid_tuning.controllerChanged) {
MSP.send_message(MSP_codes.MSP_SET_TEMPORARY_COMMANDS, MSP.crunch(MSP_codes.MSP_SET_TEMPORARY_COMMANDS), false, send_rc_tuning_changes);
}
}
/* Uncomment when HTML layout added
function send_filters() {
if (!TABS.pid_tuning.controllerChanged) {
MSP.send_message(MSP_codes.MSP_SET_FILTER_CONFIG, MSP.crunch(MSP_codes.MSP_SET_FILTER_CONFIG), false, send_rc_tuning_changes);
}
}*/
function send_rc_tuning_changes() { function send_rc_tuning_changes() {
MSP.send_message(MSP_codes.MSP_SET_RC_TUNING, MSP.crunch(MSP_codes.MSP_SET_RC_TUNING), false, save_to_eeprom); MSP.send_message(MSP_codes.MSP_SET_RC_TUNING, MSP.crunch(MSP_codes.MSP_SET_RC_TUNING), false, save_to_eeprom);
} }