mirror of
https://github.com/betaflight/betaflight-configurator.git
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Merge pull request #545 from basdelfos/bfc_change_dterm_filter
Added new features and settings for BF 3.2
This commit is contained in:
borisbstyle
GitHub
commit
fc371852b2
6 changed files with 200 additions and 108 deletions
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@ -545,7 +545,7 @@
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"message": "Configure via the BlackBox tab after enabling."
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},
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"featureESC_SENSOR": {
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"message": "Use KISS ESC 24A telemetry as sensor"
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"message": "Use KISS/BLHeli_32 ESC telemetry as sensor"
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},
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"featureCHANNEL_FORWARDING": {
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"message": "Forward aux channels to servo outputs"
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@ -571,6 +571,12 @@
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"featureVTX": {
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"message": "Video Transmitter"
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},
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"featureANTI_GRAVITY": {
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"message": "Temporary boost I-Term on high throttle changes"
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},
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"featureDYNAMIC_FILTER": {
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"message": "Dynamic gyro notch filtering"
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},
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"featureFAILSAFE": {
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"message": "Enable Failsafe Stage 2"
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},
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@ -845,6 +851,14 @@
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"pidTuningNonProfilePidSettings": {
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"message": "Profile independent PID Controller Settings"
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},
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"pidTuningAntiGravityGain": {
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"message": "Anti Gravity Gain"
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},
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"pidTuningAntiGravityThres": {
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"message": "Anti Gravity Threshold"
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},
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"pidTuningPidSettings": {
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"message": "PID Controller Settings"
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},
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@ -1882,6 +1896,12 @@
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"pidTuningFilterSettings": {
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"message": "Filter Settings"
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},
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"pidTuningDTermLowpassType": {
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"message": "D-Term Lowpass Filter"
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},
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"pidTuningDTermLowpassTypeTip": {
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"message": "Select D-Term lowpass filter type to use. Default is BIQUAD"
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},
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"pidTuningDTermLowpassFrequency": {
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"message": "D Term Lowpass Frequency [Hz]"
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},
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@ -80,7 +80,14 @@ var Features = function (config) {
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if (semver.gte(CONFIG.apiVersion, "1.31.0")) {
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features.push(
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{bit: 27, group: 'other', name: 'ESC_SENSOR'}
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)
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);
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}
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if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
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features.push(
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{bit: 28, group: 'other', name: 'ANTI_GRAVITY'},
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{bit: 29, group: 'other', name: 'DYNAMIC_FILTER'}
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);
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}
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}
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3
js/fc.js
3
js/fc.js
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@ -313,6 +313,7 @@ var FC = {
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dterm_notch_cutoff: 0,
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gyro_soft_notch_hz_2: 0,
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gyro_soft_notch_cutoff_2: 0,
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dterm_filter_type: 0,
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};
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ADVANCED_TUNING = {
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@ -330,6 +331,8 @@ var FC = {
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pidMaxVelocityYaw: 0,
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levelAngleLimit: 0,
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levelSensitivity: 0,
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itermThrottleThreshold: 0,
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itermAcceleratorGain: 0,
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};
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SENSOR_CONFIG = {
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@ -789,6 +789,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
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FILTER_CONFIG.gyro_soft_notch_hz_2 = data.readU16();
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FILTER_CONFIG.gyro_soft_notch_cutoff_2 = data.readU16();
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}
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if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
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FILTER_CONFIG.dterm_filter_type = data.readU8();
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}
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}
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break;
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case MSPCodes.MSP_SET_PID_ADVANCED:
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@ -808,11 +811,15 @@ MspHelper.prototype.process_data = function(dataHandler) {
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ADVANCED_TUNING.itermThrottleGain = data.readU8();
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ADVANCED_TUNING.pidMaxVelocity = data.readU16();
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ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
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}
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if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
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ADVANCED_TUNING.levelAngleLimit = data.readU8();
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ADVANCED_TUNING.levelSensitivity = data.readU8();
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}
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if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
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ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
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ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
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}
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}
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break;
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case MSPCodes.MSP_SENSOR_CONFIG:
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SENSOR_CONFIG.acc_hardware = data.readU8();
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@ -1392,6 +1399,9 @@ MspHelper.prototype.crunch = function(code) {
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buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz_2)
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.push16(FILTER_CONFIG.gyro_soft_notch_cutoff_2)
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}
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if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
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buffer.push8(FILTER_CONFIG.dterm_filter_type);
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}
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}
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break;
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case MSPCodes.MSP_SET_PID_ADVANCED:
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@ -1412,6 +1422,10 @@ MspHelper.prototype.crunch = function(code) {
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buffer.push8(ADVANCED_TUNING.levelAngleLimit)
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.push8(ADVANCED_TUNING.levelSensitivity);
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}
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if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
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buffer.push16(ADVANCED_TUNING.itermThrottleThreshold)
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.push16(ADVANCED_TUNING.itermAcceleratorGain);
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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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@ -326,6 +326,24 @@
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</td>
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</table>
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</div>
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<div class="antigravity topspacer tpa">
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<table class="cf">
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<thead>
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<tr>
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<th i18n="pidTuningAntiGravityGain"></th>
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<th i18n="pidTuningAntiGravityThres"></th>
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</tr>
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</thead>
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<tbody>
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<tr style="height: 35px;">
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<td><input type="number" name="itermAcceleratorGain" step="0.1" min="1" max="30" /></td>
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<td><input type="number" name="itermThrottleThreshold" step="10" min="20" max="1000" /></td>
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</tr>
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</tbody>
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</table>
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</div>
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<div class="gui_box grey topspacer">
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<table class="pid_titlebar">
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<thead>
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@ -434,6 +452,21 @@
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<p i18n="tuningHelp"></p>
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</div>
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</div>
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<div class="dtermfiltertype cf_column twothird">
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<div class="profile single-field" style="width:200px; margin-bottom: 0px;">
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<div class="helpicon cf_tip" i18n_title="pidTuningDTermLowpassTypeTip" style="margin-top: 5px;"></div>
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<div class="head" i18n="pidTuningDTermLowpassType"></div>
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<div class="bottomarea">
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<select name="dtermFilterType">
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<option value="0" class="PT1">PT1</option>
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<option value="1" class="BIQUAD">BIQUAD</option>
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<option value="2" class="FIR">FIR</option>
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</select>
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</div>
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</div>
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</div>
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<div class="cf_column twothird">
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<div class="gui_box grey topspacer pid_filter">
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<table class="pid_titlebar new_rates">
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@ -258,6 +258,15 @@ TABS.pid_tuning.initialize = function (callback) {
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} else {
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$('.pid_sensitivity').hide();
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}
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if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
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$('.profile select[name="dtermFilterType"]').val(FILTER_CONFIG.dterm_filter_type);
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$('.antigravity input[name="itermThrottleThreshold"]').val(ADVANCED_TUNING.itermThrottleThreshold);
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$('.antigravity input[name="itermAcceleratorGain"]').val(ADVANCED_TUNING.itermAcceleratorGain / 1000);
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} else {
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$('.dtermfiltertype').hide();
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$('.antigravity').hide();
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}
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}
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function form_to_pid_and_rc() {
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@ -368,6 +377,12 @@ TABS.pid_tuning.initialize = function (callback) {
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ADVANCED_TUNING.levelAngleLimit = parseInt($('.pid_tuning input[name="angleLimit"]').val());
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ADVANCED_TUNING.levelSensitivity = parseInt($('.pid_tuning input[name="sensitivity"]').val());
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}
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if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
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FILTER_CONFIG.dterm_filter_type = $('.profile select[name="dtermFilterType"]').val();
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ADVANCED_TUNING.itermThrottleThreshold = parseInt($('.antigravity input[name="itermThrottleThreshold"]').val());
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ADVANCED_TUNING.itermAcceleratorGain = parseInt($('.antigravity input[name="itermAcceleratorGain"]').val() * 1000);
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}
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}
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function showAllPids() {
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