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Merge pull request #2310 from haslinghuis/tuning

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Change lexical scope tuning
This commit is contained in:
Michael Keller 2020-12-14 01:16:06 +01:00 • committed by GitHub
commit e827a97371
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 210 additions and 184 deletions
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2
src/js/TuningSliders.js
View file

@ -1,6 +1,6 @@
'use strict'; 'use strict';
var TuningSliders = { const TuningSliders = {
MasterSliderValue: 1, MasterSliderValue: 1,
PDRatioSliderValue: 1, PDRatioSliderValue: 1,
PDGainSliderValue: 1, PDGainSliderValue: 1,

392
src/js/tabs/pid_tuning.js
View file

@ -25,7 +25,7 @@ TABS.pid_tuning = {
TABS.pid_tuning.initialize = function (callback) { TABS.pid_tuning.initialize = function (callback) {
var self = this; const self = this;
if (GUI.active_tab !== 'pid_tuning') { if (GUI.active_tab !== 'pid_tuning') {
GUI.active_tab = 'pid_tuning'; GUI.active_tab = 'pid_tuning';
@ -33,7 +33,7 @@ TABS.pid_tuning.initialize = function (callback) {
} }
// Update filtering defaults based on API version // Update filtering defaults based on API version
var FILTER_DEFAULT = FC.getFilterDefaults(); const FILTER_DEFAULT = FC.getFilterDefaults();
// requesting MSP_STATUS manually because it contains FC.CONFIG.profile // requesting MSP_STATUS manually because it contains FC.CONFIG.profile
MSP.promise(MSPCodes.MSP_STATUS).then(function() { MSP.promise(MSPCodes.MSP_STATUS).then(function() {
@ -78,7 +78,7 @@ TABS.pid_tuning.initialize = function (callback) {
FC.PID_NAMES.forEach(function(elementPid, indexPid) { FC.PID_NAMES.forEach(function(elementPid, indexPid) {
// Look into the PID table to a row with the name of the pid // Look into the PID table to a row with the name of the pid
var searchRow = $('.pid_tuning .' + elementPid + ' input'); const searchRow = $('.pid_tuning .' + elementPid + ' input');
// Assign each value // Assign each value
searchRow.each(function (indexInput) { searchRow.each(function (indexInput) {
@ -139,7 +139,7 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_filter input[name="dTermNotchFrequency"]').val(FC.FILTER_CONFIG.dterm_notch_hz); $('.pid_filter input[name="dTermNotchFrequency"]').val(FC.FILTER_CONFIG.dterm_notch_hz);
$('.pid_filter input[name="dTermNotchCutoff"]').val(FC.FILTER_CONFIG.dterm_notch_cutoff); $('.pid_filter input[name="dTermNotchCutoff"]').val(FC.FILTER_CONFIG.dterm_notch_cutoff);
var dtermSetpointTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]'); const dtermSetpointTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_38)) { if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_38)) {
dtermSetpointTransitionNumberElement.attr('min', 0.00); dtermSetpointTransitionNumberElement.attr('min', 0.00);
} else { } else {
@ -175,11 +175,11 @@ TABS.pid_tuning.initialize = function (callback) {
$('.antigravity input[name="itermAcceleratorGain"]').attr("min","0.1"); $('.antigravity input[name="itermAcceleratorGain"]').attr("min","0.1");
} }
var antiGravitySwitch = $('#antiGravitySwitch'); const antiGravitySwitch = $('#antiGravitySwitch');
const ITERM_ACCELERATOR_GAIN_OFF = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 0 : 1000; const ITERM_ACCELERATOR_GAIN_OFF = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 0 : 1000;
antiGravitySwitch.prop('checked', FC.ADVANCED_TUNING.itermAcceleratorGain !== ITERM_ACCELERATOR_GAIN_OFF); antiGravitySwitch.prop('checked', FC.ADVANCED_TUNING.itermAcceleratorGain !== ITERM_ACCELERATOR_GAIN_OFF);
antiGravitySwitch.change(function() { antiGravitySwitch.change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
if (checked) { if (checked) {
if (FC.ADVANCED_TUNING.itermAcceleratorGain === ITERM_ACCELERATOR_GAIN_OFF) { if (FC.ADVANCED_TUNING.itermAcceleratorGain === ITERM_ACCELERATOR_GAIN_OFF) {
const DEFAULT_ACCELERATOR_GAIN = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) ? 3.5 : 1.1; const DEFAULT_ACCELERATOR_GAIN = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) ? 3.5 : 1.1;
@ -242,7 +242,7 @@ TABS.pid_tuning.initialize = function (callback) {
$('input[id="smartfeedforward"]').prop('checked', FC.ADVANCED_TUNING.smartFeedforward !== 0); $('input[id="smartfeedforward"]').prop('checked', FC.ADVANCED_TUNING.smartFeedforward !== 0);
// I Term Relax // I Term Relax
var itermRelaxCheck = $('input[id="itermrelax"]'); const itermRelaxCheck = $('input[id="itermrelax"]');
itermRelaxCheck.prop('checked', FC.ADVANCED_TUNING.itermRelax !== 0); itermRelaxCheck.prop('checked', FC.ADVANCED_TUNING.itermRelax !== 0);
$('select[id="itermrelaxAxes"]').val(FC.ADVANCED_TUNING.itermRelax > 0 ? FC.ADVANCED_TUNING.itermRelax : 1); $('select[id="itermrelaxAxes"]').val(FC.ADVANCED_TUNING.itermRelax > 0 ? FC.ADVANCED_TUNING.itermRelax : 1);
@ -254,7 +254,7 @@ TABS.pid_tuning.initialize = function (callback) {
} }
itermRelaxCheck.change(function() { itermRelaxCheck.change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
if (checked) { if (checked) {
$('.itermrelax .suboption').show(); $('.itermrelax .suboption').show();
@ -270,15 +270,15 @@ TABS.pid_tuning.initialize = function (callback) {
itermRelaxCheck.change(); itermRelaxCheck.change();
// Absolute Control // Absolute Control
var absoluteControlGainNumberElement = $('input[name="absoluteControlGain-number"]'); const absoluteControlGainNumberElement = $('input[name="absoluteControlGain-number"]');
absoluteControlGainNumberElement.val(FC.ADVANCED_TUNING.absoluteControlGain).trigger('input'); absoluteControlGainNumberElement.val(FC.ADVANCED_TUNING.absoluteControlGain).trigger('input');
// Throttle Boost // Throttle Boost
var throttleBoostNumberElement = $('input[name="throttleBoost-number"]'); const throttleBoostNumberElement = $('input[name="throttleBoost-number"]');
throttleBoostNumberElement.val(FC.ADVANCED_TUNING.throttleBoost).trigger('input'); throttleBoostNumberElement.val(FC.ADVANCED_TUNING.throttleBoost).trigger('input');
// Acro Trainer // Acro Trainer
var acroTrainerAngleLimitNumberElement = $('input[name="acroTrainerAngleLimit-number"]'); const acroTrainerAngleLimitNumberElement = $('input[name="acroTrainerAngleLimit-number"]');
acroTrainerAngleLimitNumberElement.val(FC.ADVANCED_TUNING.acroTrainerAngleLimit).trigger('input'); acroTrainerAngleLimitNumberElement.val(FC.ADVANCED_TUNING.acroTrainerAngleLimit).trigger('input');
// Yaw D // Yaw D
@ -290,13 +290,13 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw); $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
$('#pid_main .pid_titlebar2 th').attr('colspan', 5); $('#pid_main .pid_titlebar2 th').attr('colspan', 5);
var feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]'); const feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]');
feedforwardTransitionNumberElement.val(FC.ADVANCED_TUNING.feedforwardTransition / 100); feedforwardTransitionNumberElement.val(FC.ADVANCED_TUNING.feedforwardTransition / 100);
// AntiGravity Mode // AntiGravity Mode
var antiGravityModeSelect = $('.antigravity select[id="antiGravityMode"]'); const antiGravityModeSelect = $('.antigravity select[id="antiGravityMode"]');
antiGravityModeSelect.change(function () { antiGravityModeSelect.change(function () {
var antiGravityModeValue = $('.antigravity select[id="antiGravityMode"]').val(); const antiGravityModeValue = $('.antigravity select[id="antiGravityMode"]').val();
// Smooth removes threshold // Smooth removes threshold
if (antiGravityModeValue == 0) { if (antiGravityModeValue == 0) {
@ -505,15 +505,15 @@ TABS.pid_tuning.initialize = function (callback) {
} }
$('input[id="useIntegratedYaw"]').change(function() { $('input[id="useIntegratedYaw"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
$('#pidTuningIntegratedYawCaution').toggle(checked); $('#pidTuningIntegratedYawCaution').toggle(checked);
}).change(); }).change();
function adjustDMin(dElement, dMinElement) { function adjustDMin(dElement, dMinElement) {
var dValue = parseInt(dElement.val()); const dValue = parseInt(dElement.val());
var dMinValue = parseInt(dMinElement.val()); const dMinValue = parseInt(dMinElement.val());
var dMinLimit = Math.min(Math.max(dValue - 1, 0), 100); const dMinLimit = Math.min(Math.max(dValue - 1, 0), 100);
if (dMinValue > dMinLimit) { if (dMinValue > dMinLimit) {
dMinElement.val(dMinLimit); dMinElement.val(dMinLimit);
} }
@ -522,25 +522,25 @@ TABS.pid_tuning.initialize = function (callback) {
} }
$('.pid_tuning .ROLL input[name="d"]').change(function() { $('.pid_tuning .ROLL input[name="d"]').change(function() {
var dMinElement= $('.pid_tuning input[name="dMinRoll"]'); const dMinElement= $('.pid_tuning input[name="dMinRoll"]');
adjustDMin($(this), dMinElement); adjustDMin($(this), dMinElement);
}).change(); }).change();
$('.pid_tuning .PITCH input[name="d"]').change(function() { $('.pid_tuning .PITCH input[name="d"]').change(function() {
var dMinElement= $('.pid_tuning input[name="dMinPitch"]'); const dMinElement= $('.pid_tuning input[name="dMinPitch"]');
adjustDMin($(this), dMinElement); adjustDMin($(this), dMinElement);
}).change(); }).change();
$('.pid_tuning .YAW input[name="d"]').change(function() { $('.pid_tuning .YAW input[name="d"]').change(function() {
var dMinElement= $('.pid_tuning input[name="dMinYaw"]'); const dMinElement= $('.pid_tuning input[name="dMinYaw"]');
adjustDMin($(this), dMinElement); adjustDMin($(this), dMinElement);
}).change(); }).change();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) { if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
var dMinSwitch = $('#dMinSwitch'); const dMinSwitch = $('#dMinSwitch');
dMinSwitch.prop('checked', FC.ADVANCED_TUNING.dMinRoll > 0 || FC.ADVANCED_TUNING.dMinPitch > 0 || FC.ADVANCED_TUNING.dMinYaw > 0); dMinSwitch.prop('checked', FC.ADVANCED_TUNING.dMinRoll > 0 || FC.ADVANCED_TUNING.dMinPitch > 0 || FC.ADVANCED_TUNING.dMinYaw > 0);
dMinSwitch.change(function() { dMinSwitch.change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
if (checked) { if (checked) {
if ($('.pid_tuning input[name="dMinRoll"]').val() == 0 && $('.pid_tuning input[name="dMinPitch"]').val() == 0 && $('.pid_tuning input[name="dMinYaw"]').val() == 0) { if ($('.pid_tuning input[name="dMinRoll"]').val() == 0 && $('.pid_tuning input[name="dMinPitch"]').val() == 0 && $('.pid_tuning input[name="dMinYaw"]').val() == 0) {
// when enabling dmin set its value based on 0.57x of actual dmax, dmin is limited to 100 // when enabling dmin set its value based on 0.57x of actual dmax, dmin is limited to 100
@ -577,8 +577,8 @@ TABS.pid_tuning.initialize = function (callback) {
} }
$('input[id="gyroNotch1Enabled"]').change(function() { $('input[id="gyroNotch1Enabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var hz = FC.FILTER_CONFIG.gyro_notch_hz > 0 ? FC.FILTER_CONFIG.gyro_notch_hz : FILTER_DEFAULT.gyro_notch_hz; const hz = FC.FILTER_CONFIG.gyro_notch_hz > 0 ? FC.FILTER_CONFIG.gyro_notch_hz : FILTER_DEFAULT.gyro_notch_hz;
$('.pid_filter input[name="gyroNotch1Frequency"]').val(checked ? hz : 0).attr('disabled', !checked) $('.pid_filter input[name="gyroNotch1Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
.attr("min", checked ? 1 : 0).change(); .attr("min", checked ? 1 : 0).change();
@ -586,8 +586,8 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
$('input[id="gyroNotch2Enabled"]').change(function() { $('input[id="gyroNotch2Enabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var hz = FC.FILTER_CONFIG.gyro_notch2_hz > 0 ? FC.FILTER_CONFIG.gyro_notch2_hz : FILTER_DEFAULT.gyro_notch2_hz; const hz = FC.FILTER_CONFIG.gyro_notch2_hz > 0 ? FC.FILTER_CONFIG.gyro_notch2_hz : FILTER_DEFAULT.gyro_notch2_hz;
$('.pid_filter input[name="gyroNotch2Frequency"]').val(checked ? hz : 0).attr('disabled', !checked) $('.pid_filter input[name="gyroNotch2Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
.attr("min", checked ? 1 : 0).change(); .attr("min", checked ? 1 : 0).change();
@ -595,8 +595,8 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
$('input[id="dtermNotchEnabled"]').change(function() { $('input[id="dtermNotchEnabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var hz = FC.FILTER_CONFIG.dterm_notch_hz > 0 ? FC.FILTER_CONFIG.dterm_notch_hz : FILTER_DEFAULT.dterm_notch_hz; const hz = FC.FILTER_CONFIG.dterm_notch_hz > 0 ? FC.FILTER_CONFIG.dterm_notch_hz : FILTER_DEFAULT.dterm_notch_hz;
$('.pid_filter input[name="dTermNotchFrequency"]').val(checked ? hz : 0).attr('disabled', !checked) $('.pid_filter input[name="dTermNotchFrequency"]').val(checked ? hz : 0).attr('disabled', !checked)
.attr("min", checked ? 1 : 0).change(); .attr("min", checked ? 1 : 0).change();
@ -604,11 +604,11 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
$('input[id="gyroLowpassEnabled"]').change(function() { $('input[id="gyroLowpassEnabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var disabledByDynamicLowpass = $('input[id="gyroLowpassDynEnabled"]').is(':checked'); const disabledByDynamicLowpass = $('input[id="gyroLowpassDynEnabled"]').is(':checked');
var cutoff = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz; const cutoff = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz;
var type = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type; const type = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type;
$('.pid_filter input[name="gyroLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked); $('.pid_filter input[name="gyroLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="gyroLowpassType"]').val(type).attr('disabled', !checked); $('.pid_filter select[name="gyroLowpassType"]').val(type).attr('disabled', !checked);
@ -620,9 +620,9 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
$('input[id="gyroLowpassDynEnabled"]').change(function() { $('input[id="gyroLowpassDynEnabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var cutoff_min = FILTER_DEFAULT.gyro_lowpass_dyn_min_hz; let cutoff_min = FILTER_DEFAULT.gyro_lowpass_dyn_min_hz;
var type = FILTER_DEFAULT.gyro_lowpass_type; let type = FILTER_DEFAULT.gyro_lowpass_type;
if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz) { if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz) {
cutoff_min = FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz; cutoff_min = FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz;
type = FC.FILTER_CONFIG.gyro_lowpass_type; type = FC.FILTER_CONFIG.gyro_lowpass_type;
@ -641,20 +641,20 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
$('input[id="gyroLowpass2Enabled"]').change(function() { $('input[id="gyroLowpass2Enabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var cutoff = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz; const cutoff = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz;
var type = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type; const type = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type;
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked); $('.pid_filter input[name="gyroLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="gyroLowpass2Type"]').val(type).attr('disabled', !checked); $('.pid_filter select[name="gyroLowpass2Type"]').val(type).attr('disabled', !checked);
}); });
$('input[id="dtermLowpassEnabled"]').change(function() { $('input[id="dtermLowpassEnabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var disabledByDynamicLowpass = $('input[id="dtermLowpassDynEnabled"]').is(':checked'); const disabledByDynamicLowpass = $('input[id="dtermLowpassDynEnabled"]').is(':checked');
var cutoff = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz; const cutoff = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz;
var type = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type; const type = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type;
$('.pid_filter input[name="dtermLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked); $('.pid_filter input[name="dtermLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="dtermLowpassType"]').val(type).attr('disabled', !checked); $('.pid_filter select[name="dtermLowpassType"]').val(type).attr('disabled', !checked);
@ -667,9 +667,9 @@ TABS.pid_tuning.initialize = function (callback) {
$('.dynLpfCurveExpo').toggle(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)); $('.dynLpfCurveExpo').toggle(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44));
$('input[id="dtermLowpassDynEnabled"]').change(function() { $('input[id="dtermLowpassDynEnabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var cutoff_min = FILTER_DEFAULT.dterm_lowpass_dyn_min_hz; let cutoff_min = FILTER_DEFAULT.dterm_lowpass_dyn_min_hz;
var type = FILTER_DEFAULT.dterm_lowpass_type; let type = FILTER_DEFAULT.dterm_lowpass_type;
if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz) { if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz) {
cutoff_min = FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz; cutoff_min = FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz;
type = FC.FILTER_CONFIG.dterm_lowpass_type; type = FC.FILTER_CONFIG.dterm_lowpass_type;
@ -689,35 +689,35 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
$('input[id="dtermLowpassDynExpoEnabled"]').change(function() { $('input[id="dtermLowpassDynExpoEnabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var curveExpo = FC.FILTER_CONFIG.dyn_lpf_curve_expo > 0 ? FC.FILTER_CONFIG.dyn_lpf_curve_expo : FILTER_DEFAULT.dyn_lpf_curve_expo; const curveExpo = FC.FILTER_CONFIG.dyn_lpf_curve_expo > 0 ? FC.FILTER_CONFIG.dyn_lpf_curve_expo : FILTER_DEFAULT.dyn_lpf_curve_expo;
$('.pid_filter input[name="dtermLowpassDynExpo"]').val(checked ? curveExpo : 0).attr('disabled', !checked); $('.pid_filter input[name="dtermLowpassDynExpo"]').val(checked ? curveExpo : 0).attr('disabled', !checked);
}); });
$('input[id="dtermLowpass2Enabled"]').change(function() { $('input[id="dtermLowpass2Enabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var cutoff = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz; const cutoff = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz;
var type = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type; const type = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type;
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked); $('.pid_filter input[name="dtermLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="dtermLowpass2Type"]').val(type).attr('disabled', !checked); $('.pid_filter select[name="dtermLowpass2Type"]').val(type).attr('disabled', !checked);
}); });
$('input[id="yawLowpassEnabled"]').change(function() { $('input[id="yawLowpassEnabled"]').change(function() {
var checked = $(this).is(':checked'); const checked = $(this).is(':checked');
var cutoff = FC.FILTER_CONFIG.yaw_lowpass_hz > 0 ? FC.FILTER_CONFIG.yaw_lowpass_hz : FILTER_DEFAULT.yaw_lowpass_hz; const cutoff = FC.FILTER_CONFIG.yaw_lowpass_hz > 0 ? FC.FILTER_CONFIG.yaw_lowpass_hz : FILTER_DEFAULT.yaw_lowpass_hz;
$('.pid_filter input[name="yawLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked); $('.pid_filter input[name="yawLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
}); });
// The notch cutoff must be smaller than the notch frecuency // The notch cutoff must be smaller than the notch frecuency
function adjustNotchCutoff(frequencyName, cutoffName) { function adjustNotchCutoff(frequencyName, cutoffName) {
var frecuency = parseInt($(".pid_filter input[name='" + frequencyName + "']").val()); const frecuency = parseInt($(".pid_filter input[name='" + frequencyName + "']").val());
var cutoff = parseInt($(".pid_filter input[name='" + cutoffName + "']").val()); const cutoff = parseInt($(".pid_filter input[name='" + cutoffName + "']").val());
// Change the max and refresh the value if needed // Change the max and refresh the value if needed
var maxCutoff = frecuency == 0 ? 0 : frecuency - 1; const maxCutoff = frecuency == 0 ? 0 : frecuency - 1;
$(".pid_filter input[name='" + cutoffName + "']").attr("max", maxCutoff); $(".pid_filter input[name='" + cutoffName + "']").attr("max", maxCutoff);
if (cutoff >= frecuency) { if (cutoff >= frecuency) {
$(".pid_filter input[name='" + cutoffName + "']").val(maxCutoff); $(".pid_filter input[name='" + cutoffName + "']").val(maxCutoff);
@ -760,7 +760,7 @@ TABS.pid_tuning.initialize = function (callback) {
FC.PID_NAMES.forEach(function(elementPid, indexPid) { FC.PID_NAMES.forEach(function(elementPid, indexPid) {
// Look into the PID table to a row with the name of the pid // Look into the PID table to a row with the name of the pid
var searchRow = $('.pid_tuning .' + elementPid + ' input'); const searchRow = $('.pid_tuning .' + elementPid + ' input');
// Assign each value // Assign each value
searchRow.each(function (indexInput) { searchRow.each(function (indexInput) {
@ -1004,8 +1004,8 @@ TABS.pid_tuning.initialize = function (callback) {
$('#pid_accel').hide(); $('#pid_accel').hide();
} }
var hideSensorPid = function(element, sensorReady) { const hideSensorPid = function(element, sensorReady) {
var isVisible = element.is(":visible"); let isVisible = element.is(":visible");
if (!isVisible || !sensorReady) { if (!isVisible || !sensorReady) {
element.hide(); element.hide();
isVisible = false; isVisible = false;
@ -1014,7 +1014,7 @@ TABS.pid_tuning.initialize = function (callback) {
return isVisible; return isVisible;
} }
var isVisibleBaroMagGps = false; let isVisibleBaroMagGps = false;
isVisibleBaroMagGps |= hideSensorPid($('#pid_baro'), have_sensor(FC.CONFIG.activeSensors, 'baro') || have_sensor(FC.CONFIG.activeSensors, 'sonar')); isVisibleBaroMagGps |= hideSensorPid($('#pid_baro'), have_sensor(FC.CONFIG.activeSensors, 'baro') || have_sensor(FC.CONFIG.activeSensors, 'sonar'));
@ -1047,7 +1047,7 @@ TABS.pid_tuning.initialize = function (callback) {
function checkInput(element) { function checkInput(element) {
var value = parseFloat(element.val()); let value = parseFloat(element.val());
if (value < parseFloat(element.prop('min')) if (value < parseFloat(element.prop('min'))
|| value > parseFloat(element.prop('max'))) { || value > parseFloat(element.prop('max'))) {
value = undefined; value = undefined;
@ -1056,7 +1056,7 @@ TABS.pid_tuning.initialize = function (callback) {
return value; return value;
} }
var useLegacyCurve = false; let useLegacyCurve = false;
if (!semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { if (!semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
useLegacyCurve = true; useLegacyCurve = true;
} }
@ -1064,7 +1064,7 @@ TABS.pid_tuning.initialize = function (callback) {
self.rateCurve = new RateCurve(useLegacyCurve); self.rateCurve = new RateCurve(useLegacyCurve);
function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVelElement) { function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVelElement) {
var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit).toFixed(0); const maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit).toFixed(0);
maxAngularVelElement.text(maxAngularVel); maxAngularVelElement.text(maxAngularVel);
return maxAngularVel; return maxAngularVel;
@ -1180,55 +1180,55 @@ TABS.pid_tuning.initialize = function (callback) {
$('.tab-pid_tuning .tab-container .filter').on('click', () => activateSubtab('filter')); $('.tab-pid_tuning .tab-container .filter').on('click', () => activateSubtab('filter'));
function loadProfilesList() { function loadProfilesList() {
var numberOfProfiles = 3; let numberOfProfiles = 3;
if (semver.gte(FC.CONFIG.apiVersion, "1.20.0") if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")
&& FC.CONFIG.numProfiles === 2) { && FC.CONFIG.numProfiles === 2) {
numberOfProfiles = 2; numberOfProfiles = 2;
} }
var profileElements = []; const profileElements = [];
for (var i=0; i<numberOfProfiles; i++) { for (let i=0; i<numberOfProfiles; i++) {
profileElements.push(i18n.getMessage("pidTuningProfileOption",[(i + 1)])); profileElements.push(i18n.getMessage("pidTuningProfileOption",[(i + 1)]));
} }
return profileElements; return profileElements;
} }
function loadRateProfilesList() { function loadRateProfilesList() {
var numberOfRateProfiles = 6; let numberOfRateProfiles = 6;
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_37)) { if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
numberOfRateProfiles = 3; numberOfRateProfiles = 3;
} }
var rateProfileElements = []; const rateProfileElements = [];
for (var i=0; i<numberOfRateProfiles; i++) { for (let i=0; i<numberOfRateProfiles; i++) {
rateProfileElements.push(i18n.getMessage("pidTuningRateProfileOption",[(i + 1)])); rateProfileElements.push(i18n.getMessage("pidTuningRateProfileOption",[(i + 1)]));
} }
return rateProfileElements; return rateProfileElements;
} }
// This vars are used here for populate the profile (and rate profile) selector AND in the copy profile (and rate profile) window // This vars are used here for populate the profile (and rate profile) selector AND in the copy profile (and rate profile) window
var selectRateProfileValues = loadRateProfilesList(); const selectRateProfileValues = loadRateProfilesList();
var selectProfileValues = loadProfilesList(); const selectProfileValues = loadProfilesList();
function populateProfilesSelector(selectProfileValues) { function populateProfilesSelector(_selectProfileValues) {
var profileSelect = $('select[name="profile"]'); const profileSelect = $('select[name="profile"]');
selectProfileValues.forEach(function(value, key) { _selectProfileValues.forEach(function(value, key) {
profileSelect.append('<option value="' + key + '">' + value + '</option>'); profileSelect.append('<option value="' + key + '">' + value + '</option>');
}); });
} }
populateProfilesSelector(selectProfileValues); populateProfilesSelector(selectProfileValues);
function populateRateProfilesSelector(selectRateProfileValues) { function populateRateProfilesSelector(_selectRateProfileValues) {
var rateProfileSelect = $('select[name="rate_profile"]'); const rateProfileSelect = $('select[name="rate_profile"]');
selectRateProfileValues.forEach(function(value, key) { _selectRateProfileValues.forEach(function(value, key) {
rateProfileSelect.append('<option value="' + key + '">' + value + '</option>'); rateProfileSelect.append('<option value="' + key + '">' + value + '</option>');
}); });
} }
populateRateProfilesSelector(selectRateProfileValues); populateRateProfilesSelector(selectRateProfileValues);
var showAllButton = $('#showAllPids'); const showAllButton = $('#showAllPids');
function updatePidDisplay() { function updatePidDisplay() {
if (!self.showAllPids) { if (!self.showAllPids) {
@ -1295,8 +1295,8 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
}); });
var dtermTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]'); const dtermTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
var dtermTransitionWarningElement = $('#pid-tuning .dtermSetpointTransitionWarning'); const dtermTransitionWarningElement = $('#pid-tuning .dtermSetpointTransitionWarning');
function checkUpdateDtermTransitionWarning(value) { function checkUpdateDtermTransitionWarning(value) {
if (value > 0 && value < 0.1) { if (value > 0 && value < 0.1) {
@ -1326,9 +1326,9 @@ TABS.pid_tuning.initialize = function (callback) {
// Add a name to each row of PIDs if empty // Add a name to each row of PIDs if empty
$('.pid_tuning tr').each(function(){ $('.pid_tuning tr').each(function(){
for(i = 0; i < FC.PID_NAMES.length; i++) { for (let i = 0; i <= FC.PID_NAMES.length; i++) {
if($(this).hasClass(FC.PID_NAMES[i])) { if ($(this).hasClass(FC.PID_NAMES[i])) {
var firstColumn = $(this).find('td:first'); const firstColumn = $(this).find('td:first');
if (!firstColumn.text()) { if (!firstColumn.text()) {
firstColumn.text(FC.PID_NAMES[i]); firstColumn.text(FC.PID_NAMES[i]);
} }
@ -1339,7 +1339,7 @@ TABS.pid_tuning.initialize = function (callback) {
// DTerm filter options // DTerm filter options
function loadFilterTypeValues() { function loadFilterTypeValues() {
var filterTypeValues = []; const filterTypeValues = [];
filterTypeValues.push("PT1"); filterTypeValues.push("PT1");
filterTypeValues.push("BIQUAD"); filterTypeValues.push("BIQUAD");
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_39)) { if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
@ -1349,20 +1349,20 @@ TABS.pid_tuning.initialize = function (callback) {
} }
function populateFilterTypeSelector(name, selectDtermValues) { function populateFilterTypeSelector(name, selectDtermValues) {
var dtermFilterSelect = $('select[name="' + name + '"]'); const dtermFilterSelect = $('select[name="' + name + '"]');
selectDtermValues.forEach(function(value, key) { selectDtermValues.forEach(function(value, key) {
dtermFilterSelect.append('<option value="' + key + '">' + value + '</option>'); dtermFilterSelect.append('<option value="' + key + '">' + value + '</option>');
}); });
} }
// Added in API 1.42.0 // Added in API 1.42.0
function loadDynamicNotchRangeValues() { function loadDynamicNotchRangeValues() {
var dynamicNotchRangeValues = [ const dynamicNotchRangeValues = [
"HIGH", "MEDIUM", "LOW", "AUTO", "HIGH", "MEDIUM", "LOW", "AUTO",
]; ];
return dynamicNotchRangeValues; return dynamicNotchRangeValues;
} }
function populateDynamicNotchRangeSelect(selectDynamicNotchRangeValues) { function populateDynamicNotchRangeSelect(selectDynamicNotchRangeValues) {
var dynamicNotchRangeSelect = $('select[name="dynamicNotchRange"]'); const dynamicNotchRangeSelect = $('select[name="dynamicNotchRange"]');
selectDynamicNotchRangeValues.forEach(function(value, key) { selectDynamicNotchRangeValues.forEach(function(value, key) {
dynamicNotchRangeSelect.append('<option value="' + key + '">' + value + '</option>'); dynamicNotchRangeSelect.append('<option value="' + key + '">' + value + '</option>');
}); });
@ -1402,10 +1402,10 @@ TABS.pid_tuning.initialize = function (callback) {
activateSubtab(self.activeSubtab); activateSubtab(self.activeSubtab);
var pidController_e = $('select[name="controller"]'); const pidController_e = $('select[name="controller"]');
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_31)) { if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_31)) {
var pidControllerList; let pidControllerList;
if (semver.lt(FC.CONFIG.apiVersion, "1.14.0")) { if (semver.lt(FC.CONFIG.apiVersion, "1.14.0")) {
@ -1430,7 +1430,7 @@ TABS.pid_tuning.initialize = function (callback) {
] ]
} }
for (var i = 0; i < pidControllerList.length; i++) { for (let i = 0; i < pidControllerList.length; i++) {
pidController_e.append('<option value="' + (i) + '">' + pidControllerList[i].name + '</option>'); pidController_e.append('<option value="' + (i) + '">' + pidControllerList[i].name + '</option>');
} }
@ -1477,10 +1477,10 @@ TABS.pid_tuning.initialize = function (callback) {
} }
// Getting the DOM elements for curve display // Getting the DOM elements for curve display
var rcCurveElement = $('.rate_curve canvas#rate_curve_layer0').get(0), const rcCurveElement = $('.rate_curve canvas#rate_curve_layer0').get(0);
curveContext = rcCurveElement.getContext("2d"), const curveContext = rcCurveElement.getContext("2d");
updateNeeded = true, let updateNeeded = true;
maxAngularVel; let maxAngularVel;
// make these variables global scope so that they can be accessed by the updateRates function. // make these variables global scope so that they can be accessed by the updateRates function.
self.maxAngularVelRollElement = $('.pid_tuning .maxAngularVelRoll'); self.maxAngularVelRollElement = $('.pid_tuning .maxAngularVelRoll');
@ -1492,9 +1492,9 @@ TABS.pid_tuning.initialize = function (callback) {
function updateRates (event) { function updateRates (event) {
setTimeout(function () { // let global validation trigger and adjust the values first setTimeout(function () { // let global validation trigger and adjust the values first
if(event) { // if an event is passed, then use it if (event) { // if an event is passed, then use it
var targetElement = $(event.target), const targetElement = $(event.target);
targetValue = checkInput(targetElement); let targetValue = checkInput(targetElement);
if (self.currentRates.hasOwnProperty(targetElement.attr('name')) && targetValue !== undefined) { if (self.currentRates.hasOwnProperty(targetElement.attr('name')) && targetValue !== undefined) {
const stepValue = parseFloat(targetElement.prop('step')); // adjust value to match step (change only the result, not the the actual value) const stepValue = parseFloat(targetElement.prop('step')); // adjust value to match step (change only the result, not the the actual value)
@ -1541,9 +1541,9 @@ TABS.pid_tuning.initialize = function (callback) {
updateNeeded = true; updateNeeded = true;
} }
if (updateNeeded) { if (updateNeeded) {
var curveHeight = rcCurveElement.height; const curveHeight = rcCurveElement.height;
var curveWidth = rcCurveElement.width; const curveWidth = rcCurveElement.width;
var lineScale = curveContext.canvas.width / curveContext.canvas.clientWidth; const lineScale = curveContext.canvas.width / curveContext.canvas.clientWidth;
curveContext.clearRect(0, 0, curveWidth, curveHeight); curveContext.clearRect(0, 0, curveWidth, curveHeight);
@ -1597,7 +1597,7 @@ TABS.pid_tuning.initialize = function (callback) {
*/ */
function getQBezierValue(t, p1, p2, p3) { function getQBezierValue(t, p1, p2, p3) {
var iT = 1 - t; const iT = 1 - t;
return iT * iT * p1 + 2 * iT * t * p2 + t * t * p3; return iT * iT * p1 + 2 * iT * t * p2 + t * t * p3;
} }
@ -1611,12 +1611,12 @@ TABS.pid_tuning.initialize = function (callback) {
/* --- */ /* --- */
// let global validation trigger and adjust the values first // let global validation trigger and adjust the values first
var throttleMidE = $('.throttle input[name="mid"]'), const throttleMidE = $('.throttle input[name="mid"]');
throttleExpoE = $('.throttle input[name="expo"]'), const throttleExpoE = $('.throttle input[name="expo"]');
mid = parseFloat(throttleMidE.val()), const mid = parseFloat(throttleMidE.val());
expo = parseFloat(throttleExpoE.val()), const expo = parseFloat(throttleExpoE.val());
throttleCurve = $('.throttle .throttle_curve canvas').get(0), const throttleCurve = $('.throttle .throttle_curve canvas').get(0);
context = throttleCurve.getContext("2d"); const context = throttleCurve.getContext("2d");
// local validation to deal with input event // local validation to deal with input event
if (mid >= parseFloat(throttleMidE.prop('min')) && if (mid >= parseFloat(throttleMidE.prop('min')) &&
@ -1631,16 +1631,16 @@ TABS.pid_tuning.initialize = function (callback) {
throttleCurve.width = throttleCurve.height * throttleCurve.width = throttleCurve.height *
(throttleCurve.clientWidth / throttleCurve.clientHeight); (throttleCurve.clientWidth / throttleCurve.clientHeight);
var canvasHeight = throttleCurve.height; const canvasHeight = throttleCurve.height;
var canvasWidth = throttleCurve.width; const canvasWidth = throttleCurve.width;
// math magic by englishman // math magic by englishman
var midx = canvasWidth * mid, const midx = canvasWidth * mid;
midxl = midx * 0.5, const midxl = midx * 0.5;
midxr = (((canvasWidth - midx) * 0.5) + midx), const midxr = (((canvasWidth - midx) * 0.5) + midx);
midy = canvasHeight - (midx * (canvasHeight / canvasWidth)), const midy = canvasHeight - (midx * (canvasHeight / canvasWidth));
midyl = canvasHeight - ((canvasHeight - midy) * 0.5 *(expo + 1)), const midyl = canvasHeight - ((canvasHeight - midy) * 0.5 *(expo + 1));
midyr = (midy / 2) * (expo + 1); const midyr = (midy / 2) * (expo + 1);
let thrPercent = (FC.RC.channels[3] - 1000) / 1000, let thrPercent = (FC.RC.channels[3] - 1000) / 1000,
thrpos = thrPercent <= mid thrpos = thrPercent <= mid
@ -1695,15 +1695,15 @@ TABS.pid_tuning.initialize = function (callback) {
} }
}); });
var dialogCopyProfile = $('.dialogCopyProfile')[0]; const dialogCopyProfile = $('.dialogCopyProfile')[0];
var DIALOG_MODE_PROFILE = 0; const DIALOG_MODE_PROFILE = 0;
var DIALOG_MODE_RATEPROFILE = 1; const DIALOG_MODE_RATEPROFILE = 1;
var dialogCopyProfileMode; let dialogCopyProfileMode;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) { if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
var selectProfile = $('.selectProfile'); const selectProfile = $('.selectProfile');
var selectRateProfile = $('.selectRateProfile'); const selectRateProfile = $('.selectRateProfile');
$.each(selectProfileValues, function(key, value) { $.each(selectProfileValues, function(key, value) {
if (key != FC.CONFIG.profile) if (key != FC.CONFIG.profile)
@ -1978,10 +1978,12 @@ TABS.pid_tuning.initialize = function (callback) {
self.updating = true; self.updating = true;
Promise.resolve(true) Promise.resolve(true)
.then(function () { .then(function () {
var promise; let promise;
if (semver.gte(FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE) && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_31)) { if (semver.gte(FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE) && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_31)) {
FC.PID.controller = pidController_e.val(); FC.PID.controller = pidController_e.val();
promise = MSP.promise(MSPCodes.MSP_SET_PID_CONTROLLER, mspHelper.crunch(MSPCodes.MSP_SET_PID_CONTROLLER)); promise = MSP.promise(MSPCodes.MSP_SET_PID_CONTROLLER, mspHelper.crunch(MSPCodes.MSP_SET_PID_CONTROLLER));
} else {
console.log(`Unsupported API version: ${FC.CONFIG.apiVersion}`);
} }
return promise; return promise;
}).then(function () { }).then(function () {
@ -2051,11 +2053,35 @@ TABS.pid_tuning.renderModel = function () {
if (!this.clock) { this.clock = new THREE.Clock(); } if (!this.clock) { this.clock = new THREE.Clock(); }
if (FC.RC.channels[0] && FC.RC.channels[1] && FC.RC.channels[2]) { if (FC.RC.channels[0] && FC.RC.channels[1] && FC.RC.channels[2]) {
var delta = this.clock.getDelta(); const delta = this.clock.getDelta();
var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.roll_rate_limit), const roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[1], this.currentRates.pitch_rate, this.currentRates.rc_rate_pitch, this.currentRates.rc_pitch_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.pitch_rate_limit), FC.RC.channels[0],
yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[2], this.currentRates.yaw_rate, this.currentRates.rc_rate_yaw, this.currentRates.rc_yaw_expo, this.currentRates.superexpo, this.currentRates.yawDeadband, this.currentRates.yaw_rate_limit); this.currentRates.roll_rate,
this.currentRates.rc_rate,
this.currentRates.rc_expo,
this.currentRates.superexpo,
this.currentRates.deadband,
this.currentRates.roll_rate_limit
);
const pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
FC.RC.channels[1],
this.currentRates.pitch_rate,
this.currentRates.rc_rate_pitch,
this.currentRates.rc_pitch_expo,
this.currentRates.superexpo,
this.currentRates.deadband,
this.currentRates.pitch_rate_limit
);
const yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(
FC.RC.channels[2],
this.currentRates.yaw_rate,
this.currentRates.rc_rate_yaw,
this.currentRates.rc_yaw_expo,
this.currentRates.superexpo,
this.currentRates.yawDeadband,
this.currentRates.yaw_rate_limit
);
this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll)); this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));
@ -2065,7 +2091,7 @@ TABS.pid_tuning.renderModel = function () {
}; };
TABS.pid_tuning.cleanup = function (callback) { TABS.pid_tuning.cleanup = function (callback) {
var self = this; const self = this;
if (self.model) { if (self.model) {
$(window).off('resize', $.proxy(self.model.resize, self.model)); $(window).off('resize', $.proxy(self.model.resize, self.model));
@ -2082,7 +2108,7 @@ TABS.pid_tuning.cleanup = function (callback) {
}; };
TABS.pid_tuning.refresh = function (callback) { TABS.pid_tuning.refresh = function (callback) {
var self = this; const self = this;
GUI.tab_switch_cleanup(function () { GUI.tab_switch_cleanup(function () {
self.initialize(); self.initialize();
@ -2096,21 +2122,21 @@ TABS.pid_tuning.refresh = function (callback) {
}; };
TABS.pid_tuning.setProfile = function () { TABS.pid_tuning.setProfile = function () {
var self = this; const self = this;
self.currentProfile = FC.CONFIG.profile; self.currentProfile = FC.CONFIG.profile;
$('.tab-pid_tuning select[name="profile"]').val(self.currentProfile); $('.tab-pid_tuning select[name="profile"]').val(self.currentProfile);
}; };
TABS.pid_tuning.setRateProfile = function () { TABS.pid_tuning.setRateProfile = function () {
var self = this; const self = this;
self.currentRateProfile = FC.CONFIG.rateProfile; self.currentRateProfile = FC.CONFIG.rateProfile;
$('.tab-pid_tuning select[name="rate_profile"]').val(self.currentRateProfile); $('.tab-pid_tuning select[name="rate_profile"]').val(self.currentRateProfile);
}; };
TABS.pid_tuning.setDirty = function (isDirty) { TABS.pid_tuning.setDirty = function (isDirty) {
var self = this; const self = this;
self.dirty = isDirty; self.dirty = isDirty;
$('.tab-pid_tuning select[name="profile"]').prop('disabled', isDirty); $('.tab-pid_tuning select[name="profile"]').prop('disabled', isDirty);
@ -2120,19 +2146,19 @@ TABS.pid_tuning.setDirty = function (isDirty) {
}; };
TABS.pid_tuning.checkUpdateProfile = function (updateRateProfile) { TABS.pid_tuning.checkUpdateProfile = function (updateRateProfile) {
var self = this; const self = this;
if (GUI.active_tab === 'pid_tuning') { if (GUI.active_tab === 'pid_tuning') {
if (!self.updating && !self.dirty) { if (!self.updating && !self.dirty) {
var changedProfile = false; let changedProfile = false;
if (self.currentProfile !== FC.CONFIG.profile) { if (self.currentProfile !== FC.CONFIG.profile) {
self.setProfile(); self.setProfile();
changedProfile = true; changedProfile = true;
} }
var changedRateProfile = false; let changedRateProfile = false;
if (semver.gte(FC.CONFIG.apiVersion, "1.20.0") if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")
&& updateRateProfile && updateRateProfile
&& self.currentRateProfile !== FC.CONFIG.rateProfile) { && self.currentRateProfile !== FC.CONFIG.rateProfile) {
@ -2164,9 +2190,9 @@ TABS.pid_tuning.checkRC = function() {
if (!this.oldRC) { this.oldRC = [FC.RC.channels[0], FC.RC.channels[1], FC.RC.channels[2]]; } if (!this.oldRC) { this.oldRC = [FC.RC.channels[0], FC.RC.channels[1], FC.RC.channels[2]]; }
// Monitor FC.RC.channels and detect change of value; // Monitor FC.RC.channels and detect change of value;
var rateCurveUpdateRequired = false; let rateCurveUpdateRequired = false;
for(var i=0; i<this.oldRC.length; i++) { // has the value changed ? for (let i = 0; i < this.oldRC.length; i++) { // has the value changed ?
if(this.oldRC[i] != FC.RC.channels[i]) { if (this.oldRC[i] !== FC.RC.channels[i]) {
this.oldRC[i] = FC.RC.channels[i]; this.oldRC[i] = FC.RC.channels[i];
rateCurveUpdateRequired = true; // yes, then an update of the values displayed on the rate curve graph is required rateCurveUpdateRequired = true; // yes, then an update of the values displayed on the rate curve graph is required
} }
@ -2180,7 +2206,7 @@ TABS.pid_tuning.checkThrottle = function() {
this.oldThrottle = FC.RC.channels[3]; this.oldThrottle = FC.RC.channels[3];
return true; return true;
} }
var updateRequired = this.oldThrottle != FC.RC.channels[3]; const updateRequired = this.oldThrottle !== FC.RC.channels[3];
this.oldThrottle = FC.RC.channels[3]; this.oldThrottle = FC.RC.channels[3];
return updateRequired; return updateRequired;
}; };
@ -2209,17 +2235,17 @@ TABS.pid_tuning.updatePidControllerParameters = function () {
}; };
TABS.pid_tuning.updateRatesLabels = function() { TABS.pid_tuning.updateRatesLabels = function() {
var self = this; const self = this;
if (!self.rateCurve.useLegacyCurve && self.rateCurve.maxAngularVel) { if (!self.rateCurve.useLegacyCurve && self.rateCurve.maxAngularVel) {
var drawAxisLabel = function(context, axisLabel, x, y, align, color) { const drawAxisLabel = function(context, axisLabel, x, y, align, color) {
context.fillStyle = color || '#000000' ; context.fillStyle = color || '#000000' ;
context.textAlign = align || 'center'; context.textAlign = align || 'center';
context.fillText(axisLabel, x, y); context.fillText(axisLabel, x, y);
}; };
var drawBalloonLabel = function(context, axisLabel, x, y, align, colors, dirty) { const drawBalloonLabel = function(context, axisLabel, x, y, align, colors, dirty) {
/** /**
* curveContext is the canvas to draw on * curveContext is the canvas to draw on
@ -2249,15 +2275,15 @@ TABS.pid_tuning.updateRatesLabels = function() {
x *= context.canvas.clientWidth/context.canvas.clientHeight; x *= context.canvas.clientWidth/context.canvas.clientHeight;
// adjust the coordinates for determine where the balloon background should be drawn // adjust the coordinates for determine where the balloon background should be drawn
x += ((align=='right')?-(width + DEFAULT_OFFSET):0) + ((align=='left')?DEFAULT_OFFSET:0); x += ((align=='right') ? -(width + DEFAULT_OFFSET) : 0) + ((align=='left') ? DEFAULT_OFFSET : 0);
y -= (height/2); if(y<0) y=0; else if(y>context.height) y=context.height; // prevent balloon from going out of canvas y -= (height / 2); if (y < 0) y = 0; else if (y > context.height) y = context.height; // prevent balloon from going out of canvas
// check that the balloon does not already overlap // check that the balloon does not already overlap
for(var i=0; i<dirty.length; i++) { for (let i = 0; i < dirty.length; i++) {
if((x>=dirty[i].left && x<=dirty[i].right) || (x+width>=dirty[i].left && x+width<=dirty[i].right)) { // does it overlap horizontally if ((x >= dirty[i].left && x <= dirty[i].right) || (x + width >= dirty[i].left && x + width <= dirty[i].right)) { // does it overlap horizontally
if((y>=dirty[i].top && y<=dirty[i].bottom) || (y+height>=dirty[i].top && y+height<=dirty[i].bottom )) { // this overlaps another balloon if ((y >= dirty[i].top && y<= dirty[i].bottom) || (y + height >= dirty[i].top && y + height <= dirty[i].bottom )) { // this overlaps another balloon
// snap above or snap below // snap above or snap below
if(y<=(dirty[i].bottom - dirty[i].top) / 2 && (dirty[i].top - height) > 0) { if (y <= (dirty[i].bottom - dirty[i].top) / 2 && (dirty[i].top - height) > 0) {
y = dirty[i].top - height; y = dirty[i].top - height;
} else { // snap down } else { // snap down
y = dirty[i].bottom; y = dirty[i].bottom;
@ -2270,14 +2296,14 @@ TABS.pid_tuning.updateRatesLabels = function() {
dirty.push({left:x, right:x+width, top:y-DEFAULT_MARGIN, bottom:y+height+DEFAULT_MARGIN}); dirty.push({left:x, right:x+width, top:y-DEFAULT_MARGIN, bottom:y+height+DEFAULT_MARGIN});
var pointerLength = (height - 2 * DEFAULT_RADIUS ) / 6; const pointerLength = (height - 2 * DEFAULT_RADIUS ) / 6;
context.beginPath(); context.beginPath();
context.moveTo(x + DEFAULT_RADIUS, y); context.moveTo(x + DEFAULT_RADIUS, y);
context.lineTo(x + width - DEFAULT_RADIUS, y); context.lineTo(x + width - DEFAULT_RADIUS, y);
context.quadraticCurveTo(x + width, y, x + width, y + DEFAULT_RADIUS); context.quadraticCurveTo(x + width, y, x + width, y + DEFAULT_RADIUS);
if(align=='right') { // point is to the right if (align === 'right') { // point is to the right
context.lineTo(x + width, y + DEFAULT_RADIUS + pointerLength); context.lineTo(x + width, y + DEFAULT_RADIUS + pointerLength);
context.lineTo(x + width + DEFAULT_OFFSET, pointerY); // point context.lineTo(x + width + DEFAULT_OFFSET, pointerY); // point
context.lineTo(x + width, y + height - DEFAULT_RADIUS - pointerLength); context.lineTo(x + width, y + height - DEFAULT_RADIUS - pointerLength);
@ -2288,7 +2314,7 @@ TABS.pid_tuning.updateRatesLabels = function() {
context.lineTo(x + DEFAULT_RADIUS, y + height); context.lineTo(x + DEFAULT_RADIUS, y + height);
context.quadraticCurveTo(x, y + height, x, y + height - DEFAULT_RADIUS); context.quadraticCurveTo(x, y + height, x, y + height - DEFAULT_RADIUS);
if(align=='left') { // point is to the left if (align === 'left') { // point is to the left
context.lineTo(x, y + height - DEFAULT_RADIUS - pointerLength); context.lineTo(x, y + height - DEFAULT_RADIUS - pointerLength);
context.lineTo(x - DEFAULT_OFFSET, pointerY); // point context.lineTo(x - DEFAULT_OFFSET, pointerY); // point
context.lineTo(x, y + DEFAULT_RADIUS - pointerLength); context.lineTo(x, y + DEFAULT_RADIUS - pointerLength);
@ -2313,40 +2339,38 @@ TABS.pid_tuning.updateRatesLabels = function() {
yaw : {color: 'rgba(128,128,255,0.4)', border: 'rgba(128,128,255,0.6)', text: '#000000'} yaw : {color: 'rgba(128,128,255,0.4)', border: 'rgba(128,128,255,0.6)', text: '#000000'}
}; };
var rcStickElement = $('.rate_curve canvas#rate_curve_layer1').get(0); const rcStickElement = $('.rate_curve canvas#rate_curve_layer1').get(0);
if(rcStickElement) { if (rcStickElement) {
rcStickElement.width = 1000; rcStickElement.width = 1000;
rcStickElement.height = 1000; rcStickElement.height = 1000;
var stickContext = rcStickElement.getContext("2d"); const stickContext = rcStickElement.getContext("2d");
stickContext.save(); stickContext.save();
var const maxAngularVelRoll = self.maxAngularVelRollElement.text() + ' deg/s';
maxAngularVelRoll = self.maxAngularVelRollElement.text() + ' deg/s', const maxAngularVelPitch = self.maxAngularVelPitchElement.text() + ' deg/s';
maxAngularVelPitch = self.maxAngularVelPitchElement.text() + ' deg/s', const maxAngularVelYaw = self.maxAngularVelYawElement.text() + ' deg/s';
maxAngularVelYaw = self.maxAngularVelYawElement.text() + ' deg/s', let currentValues = [];
currentValues = [], let balloonsDirty = [];
balloonsDirty = [], const curveHeight = rcStickElement.height;
curveHeight = rcStickElement.height, const curveWidth = rcStickElement.width;
curveWidth = rcStickElement.width, const maxAngularVel = self.rateCurve.maxAngularVel;
maxAngularVel = self.rateCurve.maxAngularVel, const windowScale = (400 / stickContext.canvas.clientHeight);
windowScale = (400 / stickContext.canvas.clientHeight), const rateScale = (curveHeight / 2) / maxAngularVel;
rateScale = (curveHeight / 2) / maxAngularVel, const lineScale = stickContext.canvas.width / stickContext.canvas.clientWidth;
lineScale = stickContext.canvas.width / stickContext.canvas.clientWidth, const textScale = stickContext.canvas.clientHeight / stickContext.canvas.clientWidth;
textScale = stickContext.canvas.clientHeight / stickContext.canvas.clientWidth;
stickContext.clearRect(0, 0, curveWidth, curveHeight); stickContext.clearRect(0, 0, curveWidth, curveHeight);
// calculate the fontSize based upon window scaling // calculate the fontSize based upon window scaling
if(windowScale <= 1) { if (windowScale <= 1) {
stickContext.font = "24pt Verdana, Arial, sans-serif"; stickContext.font = "24pt Verdana, Arial, sans-serif";
} else { } else {
stickContext.font = (24 * windowScale) + "pt Verdana, Arial, sans-serif"; stickContext.font = (24 * windowScale) + "pt Verdana, Arial, sans-serif";
} }
if(FC.RC.channels[0] && FC.RC.channels[1] && FC.RC.channels[2]) { if (FC.RC.channels[0] && FC.RC.channels[1] && FC.RC.channels[2]) {
currentValues.push(self.rateCurve.drawStickPosition(FC.RC.channels[0], self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.roll_rate_limit, maxAngularVel, stickContext, '#FF8080') + ' deg/s'); currentValues.push(self.rateCurve.drawStickPosition(FC.RC.channels[0], self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.roll_rate_limit, maxAngularVel, stickContext, '#FF8080') + ' deg/s');
currentValues.push(self.rateCurve.drawStickPosition(FC.RC.channels[1], self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.pitch_rate_limit, maxAngularVel, stickContext, '#80FF80') + ' deg/s'); currentValues.push(self.rateCurve.drawStickPosition(FC.RC.channels[1], self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.pitch_rate_limit, maxAngularVel, stickContext, '#80FF80') + ' deg/s');
currentValues.push(self.rateCurve.drawStickPosition(FC.RC.channels[2], self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.currentRates.yaw_rate_limit, maxAngularVel, stickContext, '#8080FF') + ' deg/s'); currentValues.push(self.rateCurve.drawStickPosition(FC.RC.channels[2], self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.currentRates.yaw_rate_limit, maxAngularVel, stickContext, '#8080FF') + ' deg/s');
@ -2365,7 +2389,7 @@ TABS.pid_tuning.updateRatesLabels = function() {
// and then the balloon labels. // and then the balloon labels.
balloonsDirty = []; // reset the dirty balloon draw area (for overlap detection) balloonsDirty = []; // reset the dirty balloon draw area (for overlap detection)
// create an array of balloons to draw // create an array of balloons to draw
var balloons = [ const balloons = [
{value: parseInt(maxAngularVelRoll), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelRoll, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelRoll)), 'right', BALLOON_COLORS.roll, balloonsDirty);}}, {value: parseInt(maxAngularVelRoll), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelRoll, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelRoll)), 'right', BALLOON_COLORS.roll, balloonsDirty);}},
{value: parseInt(maxAngularVelPitch), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelPitch, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelPitch)), 'right', BALLOON_COLORS.pitch, balloonsDirty);}}, {value: parseInt(maxAngularVelPitch), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelPitch, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelPitch)), 'right', BALLOON_COLORS.pitch, balloonsDirty);}},
{value: parseInt(maxAngularVelYaw), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelYaw, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelYaw)), 'right', BALLOON_COLORS.yaw, balloonsDirty);}} {value: parseInt(maxAngularVelYaw), balloon: function() {drawBalloonLabel(stickContext, maxAngularVelYaw, curveWidth, rateScale * (maxAngularVel - parseInt(maxAngularVelYaw)), 'right', BALLOON_COLORS.yaw, balloonsDirty);}}
@ -2380,7 +2404,7 @@ TABS.pid_tuning.updateRatesLabels = function() {
balloons.sort(function(a,b) {return (b.value - a.value)}); balloons.sort(function(a,b) {return (b.value - a.value)});
// add the current rc values // add the current rc values
if(currentValues[0] && currentValues[1] && currentValues[2]) { if (currentValues[0] && currentValues[1] && currentValues[2]) {
balloons.push( balloons.push(
{value: parseInt(currentValues[0]), balloon: function() {drawBalloonLabel(stickContext, currentValues[0], 10, 150, 'none', BALLOON_COLORS.roll, balloonsDirty);}}, {value: parseInt(currentValues[0]), balloon: function() {drawBalloonLabel(stickContext, currentValues[0], 10, 150, 'none', BALLOON_COLORS.roll, balloonsDirty);}},
{value: parseInt(currentValues[1]), balloon: function() {drawBalloonLabel(stickContext, currentValues[1], 10, 250, 'none', BALLOON_COLORS.pitch, balloonsDirty);}}, {value: parseInt(currentValues[1]), balloon: function() {drawBalloonLabel(stickContext, currentValues[1], 10, 250, 'none', BALLOON_COLORS.pitch, balloonsDirty);}},
@ -2388,7 +2412,9 @@ TABS.pid_tuning.updateRatesLabels = function() {
); );
} }
// then display them on the chart // then display them on the chart
for(var i=0; i<balloons.length; i++) balloons[i].balloon(); for (let i = 0; i <= balloons.length; i++) {
balloons[i].balloon();
}
stickContext.restore(); stickContext.restore();
} }
@ -2396,25 +2422,25 @@ TABS.pid_tuning.updateRatesLabels = function() {
}; };
TABS.pid_tuning.updateFilterWarning = function() { TABS.pid_tuning.updateFilterWarning = function() {
var gyroDynamicLowpassEnabled = $('input[id="gyroLowpassDynEnabled"]').is(':checked'); const gyroDynamicLowpassEnabled = $('input[id="gyroLowpassDynEnabled"]').is(':checked');
var gyroLowpass1Enabled = $('input[id="gyroLowpassEnabled"]').is(':checked'); const gyroLowpass1Enabled = $('input[id="gyroLowpassEnabled"]').is(':checked');
var dtermDynamicLowpassEnabled = $('input[id="dtermLowpassDynEnabled"]').is(':checked'); const dtermDynamicLowpassEnabled = $('input[id="dtermLowpassDynEnabled"]').is(':checked');
var dtermLowpass1Enabled = $('input[id="dtermLowpassEnabled"]').is(':checked'); const dtermLowpass1Enabled = $('input[id="dtermLowpassEnabled"]').is(':checked');
var warning_e = $('#pid-tuning .filterWarning'); const warningE = $('#pid-tuning .filterWarning');
var warningDynamicNotch_e = $('#pid-tuning .dynamicNotchWarning'); const warningDynamicNotchE = $('#pid-tuning .dynamicNotchWarning');
if (!(gyroDynamicLowpassEnabled || gyroLowpass1Enabled) || !(dtermDynamicLowpassEnabled || dtermLowpass1Enabled)) { if (!(gyroDynamicLowpassEnabled || gyroLowpass1Enabled) || !(dtermDynamicLowpassEnabled || dtermLowpass1Enabled)) {
warning_e.show(); warningE.show();
} else { } else {
warning_e.hide(); warningE.hide();
} }
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) { if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
if (FC.FEATURE_CONFIG.features.isEnabled('DYNAMIC_FILTER')) { if (FC.FEATURE_CONFIG.features.isEnabled('DYNAMIC_FILTER')) {
warningDynamicNotch_e.hide(); warningDynamicNotchE.hide();
} else { } else {
warningDynamicNotch_e.show(); warningDynamicNotchE.show();
} }
} else { } else {
warningDynamicNotch_e.hide(); warningDynamicNotchE.hide();
} }
}; };