mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-19 06:15:13 +03:00
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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@ -741,19 +747,19 @@
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},
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"portsIdentifier": {
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"message": "Identifier"
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"message": "Identifier"
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},
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"portsConfiguration": {
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"message": "Configuration/MSP"
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"message": "Configuration/MSP"
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},
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"portsSerialRx": {
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"message": "Serial Rx"
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"message": "Serial Rx"
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},
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"portsSensorIn": {
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"message": "Sensor Input"
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"message": "Sensor Input"
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},
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"portsTelemetryOut": {
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"message": "Telemetry Output"
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"message": "Telemetry Output"
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},
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"portsPeripherals": {
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"message": "Peripherals"
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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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@ -924,10 +938,10 @@
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"message": "Frequency"
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},
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"pidTuningRatesCurve": {
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"message": "Rates"
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"message": "Rates"
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},
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"throttle": {
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"message": "Throttle"
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"message": "Throttle"
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},
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"pidTuningButtonSave": {
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"message": "Save"
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@ -1242,13 +1256,13 @@
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"transponderHelp2": {
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"message": "For more information please visit <a href=\"http://www.arcitimer.com/\" title=\"aRCiTimer\" target=\"_blank\">aRCiTimer site</a>"
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},
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"transponderDataHelp3": {
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"transponderDataHelp3": {
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"message": "Choose ERLT ID 0-63"
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},
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"transponderHelp3": {
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"message": "For more information please visit <a href=\"https://github.com/polyvision/EasyRaceLapTimer\" title=\"aRCiTimer\" target=\"_blank\">EasyRaceLapTimer site</a>"
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},
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"transponderButtonSave": {
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"transponderButtonSave": {
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"message": "Save"
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},
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"transponderButtonSaveReboot": {
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@ -1390,7 +1404,7 @@
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"cliSaveToFileBtn": {
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"message": "Save to File"
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},
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"loggingNote": {
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"message": "Data will be logged in this tab <span style=\"color: red\">only</span>, leaving the tab will <span style=\"color: red\">cancel</span> logging and application will return to its normal <strong>\"configurator\"</strong> state.<br /> You are free to select the global update period, data will be written into the log file every <strong>1</strong> second for performance reasons."
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},
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@ -1674,73 +1688,73 @@
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"message": "VTX (uses vtx frequency to assign color)"
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},
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"ledStripFunctionSection": {
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"message": "LED Functions"
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"message": "LED Functions"
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},
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"ledStripFunctionTitle": {
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"message": "Function"
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"message": "Function"
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},
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"ledStripColorModifierTitle": {
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"message": "Color modifier"
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"message": "Color modifier"
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},
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"ledStripThrottleFunction": {
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"message": "Throttle"
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"message": "Throttle"
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},
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"ledStripVtxFunction": {
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"message": "Larson scanner"
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"message": "Larson scanner"
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},
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"ledStripBlinkTitle": {
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"message": "Blink"
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"message": "Blink"
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},
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"ledStripBlinkAlwaysOverlay": {
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"message": "Blink always"
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"message": "Blink always"
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},
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"ledStripBlinkLandingOverlay": {
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"message": "Blink on landing"
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"message": "Blink on landing"
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},
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"ledStripOverlayTitle": {
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"message": "Overlay"
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"message": "Overlay"
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},
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"ledStripWarningsOverlay": {
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"message": "Warnings"
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"message": "Warnings"
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},
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"ledStripIndecatorOverlay": {
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"message": "Indicator (uses position on matrix)"
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"message": "Indicator (uses position on matrix)"
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},
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"ledStripVtxOverlay": {
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"message": "VTX (uses vtx frequency to assign color)"
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},
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"ledStripFunctionSection": {
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"message": "LED Functions"
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"message": "LED Functions"
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},
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"ledStripFunctionTitle": {
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"message": "Function"
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"message": "Function"
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},
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"ledStripColorModifierTitle": {
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"message": "Color modifier"
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"message": "Color modifier"
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},
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"ledStripThrottleFunction": {
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"message": "Throttle"
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"message": "Throttle"
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},
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"ledStripVtxFunction": {
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"message": "Larson scanner"
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"message": "Larson scanner"
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},
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"ledStripBlinkTitle": {
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"message": "Blink"
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"message": "Blink"
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},
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"ledStripBlinkAlwaysOverlay": {
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"message": "Blink always"
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"message": "Blink always"
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},
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"ledStripBlinkLandingOverlay": {
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"message": "Blink on landing"
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"message": "Blink on landing"
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},
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"ledStripOverlayTitle": {
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"message": "Overlay"
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"message": "Overlay"
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},
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"ledStripWarningsOverlay": {
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"message": "Warnings"
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"message": "Warnings"
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},
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"ledStripIndecatorOverlay": {
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"message": "Indicator (uses position on matrix)"
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"message": "Indicator (uses position on matrix)"
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},
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"controlAxisRoll": {
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@ -1852,60 +1866,66 @@
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"pidTuningLevelHelp": {
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"message": "The values below change the behaviour of the ANGLE and HORIZON flight modes. Different PID controllers handle the values differently. Please check the documentation."
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},
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"pidTuningNonProfileFilterSettings": {
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"message": "Profile independent Filter Settings"
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},
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"pidTuningGyroLowpassFrequency": {
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"message": "Gyro Soft Lowpass Frequency [Hz]"
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},
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"pidTuningGyroLowpassFrequencyHelp": {
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"message": "Gyro Soft Lowpass Frequency [Hz]"
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},
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"pidTuningGyroNotch1Frequency": {
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"message": "Gyro Notch Filter 1 Frequency [Hz]"
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},
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"pidTuningGyroNotch2Frequency": {
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"message": "Gyro Notch Filter 2 Frequency [Hz]"
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},
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"pidTuningGyroNotchFrequencyHelp": {
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"message": "Gyro Notch Filter Frequency in Hz (0 means disabled)"
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},
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"pidTuningGyroNotch1Cutoff": {
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"pidTuningNonProfileFilterSettings": {
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"message": "Profile independent Filter Settings"
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},
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"pidTuningGyroLowpassFrequency": {
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"message": "Gyro Soft Lowpass Frequency [Hz]"
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},
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"pidTuningGyroLowpassFrequencyHelp": {
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"message": "Gyro Soft Lowpass Frequency [Hz]"
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},
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"pidTuningGyroNotch1Frequency": {
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"message": "Gyro Notch Filter 1 Frequency [Hz]"
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},
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"pidTuningGyroNotch2Frequency": {
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"message": "Gyro Notch Filter 2 Frequency [Hz]"
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},
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"pidTuningGyroNotchFrequencyHelp": {
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"message": "Gyro Notch Filter Frequency in Hz (0 means disabled)"
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},
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"pidTuningGyroNotch1Cutoff": {
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"message": "Gyro Notch Filter Cutoff 1 Frequency [Hz]"
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},
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"pidTuningGyroNotch2Cutoff": {
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"message": "Gyro Notch Filter Cutoff 2 Frequency [Hz]"
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},
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"pidTuningGyroNotchCutoffHelp": {
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"message": "Gyro Notch Filter Cutoff Frequency in Hz (This is where notch filter starts. For example with notch filter 160 and notch hz of 260 it means the range is 160-360hz with most attenuation around center)"
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},
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"pidTuningFilterSettings": {
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"message": "Filter Settings"
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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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"pidTuningDTermLowpassFrequencyHelp": {
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"message": "D Term Lowpass Frequency [Hz] (0 means disabled)"
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},
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"pidTuningDTermNotchFrequency": {
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"message": "D Term Notch Filter Frequency [Hz]"
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},
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"pidTuningDTermNotchFrequencyHelp": {
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"message": "D Term Notch Filter Frequency [Hz] (0 means disabled)"
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},
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"pidTuningDTermNotchCutoff": {
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"message": "D Term Notch Filter Cutoff [Hz]"
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},
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"pidTuningDTermNotchCutoffHelp": {
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"message": "D Term Notch Filter Cutoff in Hz (This is where notch filter starts. For example with notch filter 160 and notch hz of 260 it means the range is 160-360hz with most attenuation around center)"
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},
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"pidTuningYawLowpassFrequency": {
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"message": "Yaw Lowpass Frequency [Hz]"
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},
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"pidTuningYawLowpassFrequencyHelp": {
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"message": "Yaw Lowpass Frequency [Hz] (Yaw axis can sometimes be noiser than the rest. This filter only affects the P of yaw)"
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},
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"message": "Gyro Notch Filter Cutoff Frequency in Hz (This is where notch filter starts. For example with notch filter 160 and notch hz of 260 it means the range is 160-360hz with most attenuation around center)"
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},
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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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"pidTuningDTermLowpassFrequencyHelp": {
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"message": "D Term Lowpass Frequency [Hz] (0 means disabled)"
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},
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"pidTuningDTermNotchFrequency": {
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"message": "D Term Notch Filter Frequency [Hz]"
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},
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"pidTuningDTermNotchFrequencyHelp": {
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"message": "D Term Notch Filter Frequency [Hz] (0 means disabled)"
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},
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"pidTuningDTermNotchCutoff": {
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"message": "D Term Notch Filter Cutoff [Hz]"
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},
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"pidTuningDTermNotchCutoffHelp": {
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"message": "D Term Notch Filter Cutoff in Hz (This is where notch filter starts. For example with notch filter 160 and notch hz of 260 it means the range is 160-360hz with most attenuation around center)"
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},
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"pidTuningYawLowpassFrequency": {
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"message": "Yaw Lowpass Frequency [Hz]"
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},
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"pidTuningYawLowpassFrequencyHelp": {
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"message": "Yaw Lowpass Frequency [Hz] (Yaw axis can sometimes be noiser than the rest. This filter only affects the P of yaw)"
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},
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"pidTuningVbatPidCompensation": {
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"message": "Vbat PID Compensation"
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},
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@ -2480,22 +2500,22 @@
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"message": "FPV Camera Angle [degrees]"
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},
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"onboardLoggingBlackbox": {
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"message": "Blackbox logging device"
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"message": "Blackbox logging device"
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},
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"onboardLoggingRateOfLogging": {
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"message": "Blackbox logging rate"
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"onboardLoggingRateOfLogging": {
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"message": "Blackbox logging rate"
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},
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"onboardLoggingSerialLogger": {
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"message": "Outboard serial logging device"
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"onboardLoggingSerialLogger": {
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"message": "Outboard serial logging device"
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},
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"onboardLoggingFlashLogger": {
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"message": "Onboard dataflash chip"
|
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"onboardLoggingFlashLogger": {
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"message": "Onboard dataflash chip"
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},
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"onboardLoggingEraseInProgress": {
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"message": "Erase in progress, please wait..."
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"onboardLoggingEraseInProgress": {
|
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"message": "Erase in progress, please wait..."
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},
|
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"onboardLoggingOnboardSDCard": {
|
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"message": "Onboard SD card"
|
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"onboardLoggingOnboardSDCard": {
|
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"message": "Onboard SD card"
|
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}
|
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|
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|
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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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|
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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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}
|
||||
|
||||
|
|
|
|||
23
js/fc.js
23
js/fc.js
|
|
@ -77,21 +77,21 @@ var FC = {
|
|||
rateProfile: 0,
|
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boardType: 0,
|
||||
};
|
||||
|
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|
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FEATURE_CONFIG = {
|
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features: 0,
|
||||
};
|
||||
|
||||
|
||||
MIXER_CONFIG = {
|
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mixer: 0,
|
||||
};
|
||||
};
|
||||
|
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BOARD_ALIGNMENT_CONFIG = {
|
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roll: 0,
|
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pitch: 0,
|
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yaw: 0,
|
||||
};
|
||||
|
||||
|
||||
LED_STRIP = [];
|
||||
LED_COLORS = [];
|
||||
LED_MODE_COLORS = [];
|
||||
|
|
@ -192,7 +192,7 @@ var FC = {
|
|||
VOLTAGE_METER_CONFIGS = [];
|
||||
CURRENT_METERS = [];
|
||||
CURRENT_METER_CONFIGS = [];
|
||||
|
||||
|
||||
BATTERY_STATE = {};
|
||||
BATTERY_CONFIG = {
|
||||
vbatmincellvoltage: 0,
|
||||
|
|
@ -202,7 +202,7 @@ var FC = {
|
|||
voltageMeterSource: 0,
|
||||
currentMeterSource: 0,
|
||||
};
|
||||
|
||||
|
||||
ARMING_CONFIG = {
|
||||
auto_disarm_delay: 0,
|
||||
disarm_kill_switch: 0,
|
||||
|
|
@ -211,7 +211,7 @@ var FC = {
|
|||
FC_CONFIG = {
|
||||
loopTime: 0
|
||||
};
|
||||
|
||||
|
||||
MISC = {
|
||||
// DEPRECATED = only used to store values that are written back to the fc as-is, do NOT use for any other purpose
|
||||
failsafe_throttle: 0,
|
||||
|
|
@ -228,14 +228,14 @@ var FC = {
|
|||
maxthrottle: 0,
|
||||
mincommand: 0,
|
||||
};
|
||||
|
||||
|
||||
GPS_CONFIG = {
|
||||
provider: 0,
|
||||
ublox_sbas: 0,
|
||||
auto_config: 0,
|
||||
auto_baud: 0,
|
||||
};
|
||||
|
||||
|
||||
COMPASS_CONFIG = {
|
||||
mag_declination: 0,
|
||||
};
|
||||
|
|
@ -243,7 +243,7 @@ var FC = {
|
|||
RSSI_CONFIG = {
|
||||
channel: 0,
|
||||
};
|
||||
|
||||
|
||||
MOTOR_3D_CONFIG = {
|
||||
deadband3d_low: 0,
|
||||
deadband3d_high: 0,
|
||||
|
|
@ -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 = {
|
||||
|
|
|
|||
|
|
@ -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:
|
||||
|
|
@ -808,10 +811,14 @@ 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, "1.24.0")) {
|
||||
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:
|
||||
|
|
@ -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 {
|
||||
|
|
|
|||
|
|
@ -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">
|
||||
|
|
|
|||
|
|
@ -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() {
|
||||
|
|
@ -590,7 +605,7 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
$('#pid-tuning .ptermSetpoint').hide();
|
||||
$('#pid-tuning .dtermSetpoint').hide();
|
||||
}
|
||||
|
||||
|
||||
if (!semver.gte(CONFIG.apiVersion, "1.16.0")) {
|
||||
$('#pid-tuning .delta').hide();
|
||||
$('.tab-pid_tuning .note').hide();
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue