Merge pull request #545 from basdelfos/bfc_change_dterm_filter

Added new features and settings for BF 3.2

_locales/en/messages.json

@@ -545,7 +545,7 @@
         "message": "Configure via the BlackBox tab after enabling."
     },
     "featureESC_SENSOR": {
-        "message": "Use KISS ESC 24A telemetry as sensor"
+        "message": "Use KISS/BLHeli_32 ESC telemetry as sensor"
     },
     "featureCHANNEL_FORWARDING": {
         "message": "Forward aux channels to servo outputs"
@@ -571,6 +571,12 @@
     "featureVTX": {
         "message": "Video Transmitter"
     },
+    "featureANTI_GRAVITY": {
+        "message": "Temporary boost I-Term on high throttle changes"
+    },
+    "featureDYNAMIC_FILTER": {
+        "message": "Dynamic gyro notch filtering"
+    },
     "featureFAILSAFE": {
         "message": "Enable Failsafe Stage 2"
     },
@@ -845,6 +851,14 @@
     "pidTuningNonProfilePidSettings": {
         "message": "Profile independent PID Controller Settings"
     },
+
+    "pidTuningAntiGravityGain": {
+        "message": "Anti Gravity Gain"
+    },
+    "pidTuningAntiGravityThres": {
+        "message": "Anti Gravity Threshold"
+    },
+
     "pidTuningPidSettings": {
         "message": "PID Controller Settings"
     },
@@ -1882,6 +1896,12 @@
     "pidTuningFilterSettings": {
         "message": "Filter Settings"
     },
+    "pidTuningDTermLowpassType": {
+        "message": "D-Term Lowpass Filter"
+    },
+    "pidTuningDTermLowpassTypeTip": {
+        "message": "Select D-Term lowpass filter type to use. Default is BIQUAD"
+    },
     "pidTuningDTermLowpassFrequency": {
         "message": "D Term Lowpass Frequency [Hz]"
     },

js/Features.js

@@ -80,7 +80,14 @@ var Features = function (config) {
         if (semver.gte(CONFIG.apiVersion, "1.31.0")) {
             features.push(
                 {bit: 27, group: 'other', name: 'ESC_SENSOR'}
-            )
+            );
+        }
+
+        if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+            features.push(
+                {bit: 28, group: 'other', name: 'ANTI_GRAVITY'},
+                {bit: 29, group: 'other', name: 'DYNAMIC_FILTER'}
+            );
         }
     }
 

js/fc.js

@@ -313,6 +313,7 @@ var FC = {
             dterm_notch_cutoff:         0,
             gyro_soft_notch_hz_2:       0,
             gyro_soft_notch_cutoff_2:   0,
+            dterm_filter_type:         0,
         };
 
         ADVANCED_TUNING = {
@@ -330,6 +331,8 @@ var FC = {
             pidMaxVelocityYaw:          0,
             levelAngleLimit:            0,
             levelSensitivity:           0,
+            itermThrottleThreshold:     0,
+            itermAcceleratorGain:       0,
         };
 
         SENSOR_CONFIG = {

js/msp/MSPHelper.js

@@ -789,6 +789,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
                         FILTER_CONFIG.gyro_soft_notch_hz_2 = data.readU16();
                         FILTER_CONFIG.gyro_soft_notch_cutoff_2 = data.readU16();
                     }
+                    if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+                        FILTER_CONFIG.dterm_filter_type = data.readU8();
+                    }
                 }
                 break;
             case MSPCodes.MSP_SET_PID_ADVANCED:
@@ -808,11 +811,15 @@ MspHelper.prototype.process_data = function(dataHandler) {
                     ADVANCED_TUNING.itermThrottleGain = data.readU8();
                     ADVANCED_TUNING.pidMaxVelocity = data.readU16();
                     ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
-                }
                     if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
                         ADVANCED_TUNING.levelAngleLimit = data.readU8();
                         ADVANCED_TUNING.levelSensitivity = data.readU8();
                     }
+                    if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+                        ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
+                        ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
+                    }
+                }
                 break;
             case MSPCodes.MSP_SENSOR_CONFIG:
                 SENSOR_CONFIG.acc_hardware = data.readU8();
@@ -1392,6 +1399,9 @@ MspHelper.prototype.crunch = function(code) {
                     buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz_2)
                         .push16(FILTER_CONFIG.gyro_soft_notch_cutoff_2)
                 }
+                if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+                    buffer.push8(FILTER_CONFIG.dterm_filter_type);
+                }
             }
             break;
         case MSPCodes.MSP_SET_PID_ADVANCED:
@@ -1412,6 +1422,10 @@ MspHelper.prototype.crunch = function(code) {
                     buffer.push8(ADVANCED_TUNING.levelAngleLimit)
                         .push8(ADVANCED_TUNING.levelSensitivity);
                 }
+                if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+                    buffer.push16(ADVANCED_TUNING.itermThrottleThreshold)
+                        .push16(ADVANCED_TUNING.itermAcceleratorGain);
+                }
             }
             // only supports 1 version pre bf 3.0
             else {

tabs/pid_tuning.html

@@ -326,6 +326,24 @@
                                 </td>
                         </table>
                     </div>
+
+                    <div class="antigravity topspacer tpa">
+                        <table class="cf">
+                            <thead>
+                                <tr>
+                                    <th i18n="pidTuningAntiGravityGain"></th>
+                                    <th i18n="pidTuningAntiGravityThres"></th>
+                                </tr>
+                            </thead>
+                            <tbody>
+                                <tr style="height: 35px;">
+                                    <td><input type="number" name="itermAcceleratorGain" step="0.1" min="1" max="30" /></td>
+                                    <td><input type="number" name="itermThrottleThreshold" step="10" min="20" max="1000" /></td>
+                                </tr>
+                            </tbody>
+                        </table>
+                    </div>
+
                     <div class="gui_box grey topspacer">
                         <table class="pid_titlebar">
                             <thead>
@@ -434,6 +452,21 @@
                         <p i18n="tuningHelp"></p>
                     </div>
                 </div>
+
+                <div class="dtermfiltertype cf_column twothird">
+                    <div class="profile single-field" style="width:200px; margin-bottom: 0px;">
+                        <div class="helpicon cf_tip" i18n_title="pidTuningDTermLowpassTypeTip" style="margin-top: 5px;"></div>
+                        <div class="head" i18n="pidTuningDTermLowpassType"></div>
+                        <div class="bottomarea">
+                            <select name="dtermFilterType">
+                                <option value="0" class="PT1">PT1</option>
+                                <option value="1" class="BIQUAD">BIQUAD</option>
+                                <option value="2" class="FIR">FIR</option>
+                            </select>
+                        </div>
+                    </div>
+                </div>
+
                 <div class="cf_column twothird">
                     <div class="gui_box grey topspacer pid_filter">
                         <table class="pid_titlebar new_rates">

tabs/pid_tuning.js

@@ -258,6 +258,15 @@ TABS.pid_tuning.initialize = function (callback) {
         } else {
             $('.pid_sensitivity').hide();
         }
+
+        if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+            $('.profile select[name="dtermFilterType"]').val(FILTER_CONFIG.dterm_filter_type);
+            $('.antigravity input[name="itermThrottleThreshold"]').val(ADVANCED_TUNING.itermThrottleThreshold);
+            $('.antigravity input[name="itermAcceleratorGain"]').val(ADVANCED_TUNING.itermAcceleratorGain / 1000);
+        } else {
+            $('.dtermfiltertype').hide();
+            $('.antigravity').hide();
+        }
     }
 
     function form_to_pid_and_rc() {
@@ -368,6 +377,12 @@ TABS.pid_tuning.initialize = function (callback) {
             ADVANCED_TUNING.levelAngleLimit = parseInt($('.pid_tuning input[name="angleLimit"]').val());
             ADVANCED_TUNING.levelSensitivity = parseInt($('.pid_tuning input[name="sensitivity"]').val());
         }
+
+        if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
+            FILTER_CONFIG.dterm_filter_type = $('.profile select[name="dtermFilterType"]').val();
+            ADVANCED_TUNING.itermThrottleThreshold = parseInt($('.antigravity input[name="itermThrottleThreshold"]').val());
+            ADVANCED_TUNING.itermAcceleratorGain = parseInt($('.antigravity input[name="itermAcceleratorGain"]').val() * 1000);
+        }
     }
 
     function showAllPids() {