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Code Issues Wiki Activity

Tuning sliders non expert mode limits (#1653)

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Tuning sliders non expert mode limits
This commit is contained in:
Michael Keller 2019-09-15 00:35:56 +12:00 • committed by GitHub
commit fcecf694d5
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 133 additions and 62 deletions
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87
src/js/TuningSliders.js
View file

@ -20,6 +20,8 @@ var TuningSliders = {
cachedPidSliderValues: false,
cachedGyroSliderValues: false,
cachedDTermSliderValues: false,
expertMode: false,
};
TuningSliders.initialize = function() {
@ -27,6 +29,7 @@ TuningSliders.initialize = function() {
this.FILTER_DEFAULT = FC.getFilterDefaults();
this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
this.setExpertMode($('input[name="expertModeCheckbox"]').is(':checked'));
this.initPidSlidersPosition();
this.initGyroFilterSliderPosition();
@ -50,6 +53,17 @@ TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
}
};
TuningSliders.setExpertMode = function(expertMode) {
this.expertMode = expertMode;
const allTuningSliderElements = $('#tuningMasterSlider, #tuningPDRatioSlider, #tuningPDGainSlider,\
#tuningResponseSlider, #tuningGyroFilterSlider, #tuningDTermFilterSlider');
if (this.expertMode) {
allTuningSliderElements.removeClass('nonExpertModeSliders');
} else {
allTuningSliderElements.addClass('nonExpertModeSliders');
}
};
TuningSliders.scaleSliderValue = function(value) {
if (value > 1) {
return Math.round(((value - 1) * 2 + 1) * 10) / 10;
@ -90,8 +104,8 @@ TuningSliders.initPidSlidersPosition = function() {
};
TuningSliders.initGyroFilterSliderPosition = function() {
this.gyroFilterSliderValue = Math.round((FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FILTER_CONFIG.gyro_lowpass2_hz) /
(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
this.gyroFilterSliderValue = Math.round((FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FILTER_CONFIG.gyro_lowpass2_hz) /
(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
$('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue);
$('#tuningGyroFilterSlider').val(this.downscaleSliderValue(this.gyroFilterSliderValue));
};
@ -139,10 +153,9 @@ TuningSliders.resetDTermFilterSlider = function() {
TuningSliders.updatePidSlidersDisplay = function() {
// check if pid values changed manually by saving current values, doing the slider based calculation, and comaparing
// if values before and after calculation, if all of them are equal the values haven't been changed manually
// and the sliders are shown, otherwise sliders are grayed out and centered
const WARNING_P_GAIN = 110;
const WARNING_P_GAIN = 70;
const WARNING_I_GAIN = 120;
const WARNING_DMAX_GAIN = 70;
const WARNING_DMAX_GAIN = 60;
const WARNING_DMIN_GAIN = 40;
this.pidSlidersUnavailable = false;
@ -172,26 +185,21 @@ TuningSliders.updatePidSlidersDisplay = function() {
this.pidSlidersUnavailable = true;
}
if (this.pidSlidersUnavailable) {
$('.tuningPIDSliders').hide();
$('.slidersDisabled').show();
} else {
$('.tuningPIDSliders').show();
$('.slidersDisabled').hide();
if (!this.pidSlidersUnavailable) {
this.cachedPidSliderValues = true;
}
if ((PIDs[1][0] > WARNING_P_GAIN || PIDs[1][1] > WARNING_I_GAIN || PIDs[1][2] > WARNING_DMAX_GAIN || ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable) {
$('.slidersHighWarning').show();
} else {
$('.slidersHighWarning').hide();
}
$('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable);
$('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable);
$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
$('.subtab-pid .slidersWarning').toggle((PIDs[1][0] > WARNING_P_GAIN || PIDs[1][1] > WARNING_I_GAIN || PIDs[1][2] > WARNING_DMAX_GAIN ||
ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable);
};
TuningSliders.updateFilterSlidersDisplay = function() {
// check if filters changed manually by comapring current value and those based on slider position
// if equal filter slider is shown, otherwise it is grayed out and centered
const WARNING_FILTER_GAIN = 1.4;
const WARNING_FILTER_HIGH_GAIN = 1.4;
const WARNING_FILTER_LOW_GAIN = 0.7;
this.filterGyroSliderUnavailable = false;
this.filterDTermSliderUnavailable = false;
@ -222,27 +230,22 @@ TuningSliders.updateFilterSlidersDisplay = function() {
this.cachedDTermSliderValues = true;
}
if (this.filterGyroSliderUnavailable && this.filterDTermSliderUnavailable) {
$('.tuningFilterSliders').hide();
} else {
$('.tuningFilterSliders').show();
}
if (this.filterGyroSliderUnavailable || this.filterDTermSliderUnavailable) {
$('.slidersFilterDisabled').show();
} else {
$('.slidersFilterDisabled').hide();
}
if ((this.gyroFilterSliderValue >= WARNING_FILTER_GAIN && !this.filterGyroSliderUnavailable) || (this.dtermFilterSliderValue >= WARNING_FILTER_GAIN && !this.filterDTermSliderUnavailable)) {
$('.slidersFilterHighWarning').show();
} else {
$('.slidersFilterHighWarning').hide();
}
$('.tuningFilterSliders').toggle(!(this.filterGyroSliderUnavailable && this.filterDTermSliderUnavailable));
$('.subtab-filter .slidersDisabled').toggle(this.filterGyroSliderUnavailable || this.filterDTermSliderUnavailable);
$('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.filterGyroSliderUnavailable || !this.filterDTermSliderUnavailable) && !this.expertMode);
$('.subtab-filter .slidersWarning').toggle(((this.gyroFilterSliderValue >= WARNING_FILTER_HIGH_GAIN ||
this.gyroFilterSliderValue <= WARNING_FILTER_LOW_GAIN) && !this.filterGyroSliderUnavailable) ||
((this.dtermFilterSliderValue >= WARNING_FILTER_HIGH_GAIN ||
this.dtermFilterSliderValue <= WARNING_FILTER_LOW_GAIN) && !this.filterDTermSliderUnavailable));
};
TuningSliders.calculateNewPids = function() {
// this is the main calculation for PID sliders, inputs are in form of slider position values
// values get set both into forms and their respective variables
const MAX_PID_GAIN = 200;
const MAX_DMIN_GAIN = 100;
const MAX_FF_GAIN = 2000;
if (this.dMinFeatureEnabled) {
//dmin
ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue);
@ -277,16 +280,16 @@ TuningSliders.calculateNewPids = function() {
//master slider multiplication, max value 200 for main PID values
for (let i = 0; i < 3; i++) {
for (let j = 0; j < 3; j++) {
PIDs[j][i] = Math.min(Math.round(PIDs[j][i] * this.MasterSliderValue), 200);
PIDs[j][i] = Math.min(Math.round(PIDs[j][i] * this.MasterSliderValue), MAX_PID_GAIN);
}
}
ADVANCED_TUNING.feedforwardRoll = Math.round(ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue);
ADVANCED_TUNING.feedforwardPitch = Math.round(ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue);
ADVANCED_TUNING.feedforwardYaw = Math.round(ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue);
ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue), MAX_FF_GAIN);
ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue), MAX_FF_GAIN);
ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue), MAX_FF_GAIN);
if (this.dMinFeatureEnabled) {
ADVANCED_TUNING.dMinRoll = Math.round(ADVANCED_TUNING.dMinRoll * this.MasterSliderValue);
ADVANCED_TUNING.dMinPitch = Math.round(ADVANCED_TUNING.dMinPitch * this.MasterSliderValue);
ADVANCED_TUNING.dMinYaw = Math.round(ADVANCED_TUNING.dMinYaw * this.MasterSliderValue);
ADVANCED_TUNING.dMinRoll = Math.min(Math.round(ADVANCED_TUNING.dMinRoll * this.MasterSliderValue), MAX_DMIN_GAIN);
ADVANCED_TUNING.dMinPitch = Math.min(Math.round(ADVANCED_TUNING.dMinPitch * this.MasterSliderValue), MAX_DMIN_GAIN);
ADVANCED_TUNING.dMinYaw = Math.min(Math.round(ADVANCED_TUNING.dMinYaw * this.MasterSliderValue), MAX_DMIN_GAIN);
}
$('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue);
@ -341,4 +344,4 @@ TuningSliders.calculateNewDTermFilters = function() {
$('.pid_filter select[name="dtermLowpassDynType').val(FILTER_CONFIG.dterm_lowpass_type);
$('.pid_filter select[name="dtermLowpass2Type').val(FILTER_CONFIG.dterm_lowpass2_type);
$('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue);
};
};

60
src/js/tabs/pid_tuning.js
View file

@ -11,6 +11,7 @@ TABS.pid_tuning = {
SETPOINT_WEIGHT_RANGE_HIGH: 20,
SETPOINT_WEIGHT_RANGE_LEGACY: 2.54,
activeSubtab: 'pid',
analyticsChanges: {},
};
TABS.pid_tuning.initialize = function (callback) {
@ -1434,6 +1435,18 @@ TABS.pid_tuning.initialize = function (callback) {
// filter and tuning sliders
TuningSliders.initialize();
self.analyticsChanges = {};
// UNSCALED non expert slider constrain values
const NON_EXPERT_SLIDER_MAX = 1.25;
const NON_EXPERT_SLIDER_MIN = 0.7;
$('input[name="expertModeCheckbox"]').change(function() {
TuningSliders.setExpertMode($(this).is(':checked'));
TuningSliders.updatePidSlidersDisplay();
TuningSliders.updateFilterSlidersDisplay();
});
$('#dMinSwitch').change(function() {
TuningSliders.setDMinFeatureEnabled($(this).is(':checked'));
// switch dmin and dmax values on dmin on/off if sliders available
@ -1462,6 +1475,13 @@ TABS.pid_tuning.initialize = function (callback) {
} else {
slider.attr('step', 0.1);
}
if (!TuningSliders.expertMode) {
if (slider.val() > NON_EXPERT_SLIDER_MAX) {
slider.val(NON_EXPERT_SLIDER_MAX);
} else if (slider.val() < NON_EXPERT_SLIDER_MIN) {
slider.val(NON_EXPERT_SLIDER_MIN);
}
}
const scaledValue = TuningSliders.scaleSliderValue(slider.val());
if (slider.is('#tuningMasterSlider')) {
TuningSliders.MasterSliderValue = scaledValue;
@ -1473,6 +1493,7 @@ TABS.pid_tuning.initialize = function (callback) {
TuningSliders.ResponseSliderValue = scaledValue;
}
TuningSliders.calculateNewPids();
self.analyticsChanges['PidTuningSliders'] = "On";
});
$('#tuningMasterSlider, #tuningPDRatioSlider, #tuningPDGainSlider, #tuningResponseSlider').mousedown(function() {
// adjust step for more smoothness above 1x on mousedown
@ -1514,18 +1535,28 @@ TABS.pid_tuning.initialize = function (callback) {
if ($('input[id="useIntegratedYaw"]').is(':checked')) {
$('input[id="useIntegratedYaw"]').prop('checked', true).click();
}
self.analyticsChanges['PidTuningSliders'] = "On";
});
// filter slider inputs
$('#tuningGyroFilterSlider, #tuningDTermFilterSlider').on('input', function() {
const slider = $(this);
if (!TuningSliders.expertMode) {
if (slider.val() > NON_EXPERT_SLIDER_MAX) {
slider.val(NON_EXPERT_SLIDER_MAX);
} else if (slider.val() < NON_EXPERT_SLIDER_MIN) {
slider.val(NON_EXPERT_SLIDER_MIN);
}
}
const scaledValue = TuningSliders.scaleSliderValue(slider.val());
if (slider.is('#tuningGyroFilterSlider')) {
TuningSliders.gyroFilterSliderValue = scaledValue;
TuningSliders.calculateNewGyroFilters();
self.analyticsChanges['GyroFilterTuningSlider'] = "On";
} else if (slider.is('#tuningDTermFilterSlider')) {
TuningSliders.dtermFilterSliderValue = scaledValue;
TuningSliders.calculateNewDTermFilters();
self.analyticsChanges['DTermFilterTuningSlider'] = "On";
}
});
$('#tuningGyroFilterSlider, #tuningDTermFilterSlider').mouseup(function() {
@ -1552,30 +1583,42 @@ TABS.pid_tuning.initialize = function (callback) {
$('input[id="gyroLowpassEnabled"]').prop('checked', true).click();
$('input[id="gyroLowpass2Enabled"]').prop('checked', false).click();
TuningSliders.resetGyroFilterSlider();
self.analyticsChanges['GyroFilterTuningSlider'] = "On";
}
if (TuningSliders.filterDTermSliderUnavailable) {
$('input[id="dtermLowpassDynEnabled"]').prop('checked', false).click();
$('input[id="dtermLowpassEnabled"]').prop('checked', true).click();
$('input[id="dtermLowpass2Enabled"]').prop('checked', false).click();
TuningSliders.resetDTermFilterSlider();
self.analyticsChanges['DTermFilterTuningSlider'] = "On";
}
});
// update on pid table inputs
$('#pid_main input').on('input', () => TuningSliders.updatePidSlidersDisplay());
$('#pid_main input').on('input', function() {
TuningSliders.updatePidSlidersDisplay();
self.analyticsChanges['PidTuningSliders'] = "Off";
});
// update on filter value or type changes
$('.pid_filter input, .pid_filter select').on('input', () => TuningSliders.updateFilterSlidersDisplay());
$('.pid_filter input, .pid_filter select').on('input', function() {
TuningSliders.updateFilterSlidersDisplay();
if (TuningSliders.filterGyroSliderUnavailable) {
self.analyticsChanges['GyroFilterTuningSlider'] = "Off";
}
if (TuningSliders.filterDTermSliderUnavailable) {
self.analyticsChanges['DTermFilterTuningSlider'] = "Off";
}
});
// update on filter switch changes
$('.inputSwitch input').change(() => TuningSliders.updateFilterSlidersDisplay());
$('.inputSwitch input').change(() => $('.pid_filter input').trigger('input'));
$('.tuningHelp').hide();
} else {
$('.tuningPIDSliders').hide();
$('.slidersDisabled').hide();
$('.slidersHighWarning').hide();
$('.tuningFilterSliders').hide();
$('.slidersFilterDisabled').hide();
$('.slidersFilterHighWarning').hide();
$('.slidersDisabled').hide();
$('.slidersWarning').hide();
$('.nonExpertModeSlidersNote').hide();
$('.tuningHelpSliders').hide();
}
@ -1622,6 +1665,9 @@ TABS.pid_tuning.initialize = function (callback) {
GUI.log(i18n.getMessage('pidTuningEepromSaved'));
});
analytics.sendChangeEvents(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, self.analyticsChanges);
self.analyticsChanges = {};
});
// Setup model for rates preview