'use strict'; var TuningSliders = { MasterSliderValue: 1, PDRatioSliderValue: 1, PDGainSliderValue: 1, ResponseSliderValue: 1, pidSlidersUnavailable: false, gyroFilterSliderValue: 1, dtermFilterSliderValue: 1, filterGyroSliderUnavailable: false, filterDTermSliderUnavailable: false, dMinFeatureEnabled: true, defaultPDRatio: 0, PID_DEFAULT: [], FILTER_DEFAULT: {}, cachedPidSliderValues: false, cachedGyroSliderValues: false, cachedDTermSliderValues: false, expertMode: false, }; const D_MIN_RATIO = 0.85; TuningSliders.initialize = function() { this.PID_DEFAULT = FC.getPidDefaults(); this.FILTER_DEFAULT = FC.getFilterDefaults(); this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked')); this.setExpertMode($('input[name="expertModeCheckbox"]').is(':checked')); this.initPidSlidersPosition(); this.initGyroFilterSliderPosition(); this.initDTermFilterSliderPosition(); // after refresh cached values are not available this.cachedPidSliderValues = false; this.cachedGyroSliderValues = false; this.cachedDTermSliderValues = false; this.updatePidSlidersDisplay(); this.updateFilterSlidersDisplay(); }; TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) { this.dMinFeatureEnabled = dMinFeatureEnabled; if (this.dMinFeatureEnabled) { this.defaultPDRatio = this.PID_DEFAULT[2] / this.PID_DEFAULT[0]; } else { this.defaultPDRatio = this.PID_DEFAULT[2] / (this.PID_DEFAULT[0] * (1 / D_MIN_RATIO)); } }; 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; } else { return value; } }; TuningSliders.downscaleSliderValue = function(value) { if (value > 1) { return (value - 1) / 2 + 1; } else { return value; } }; TuningSliders.initPidSlidersPosition = function() { // used to estimate PID slider positions based on PIDF values, and set respective slider position // provides only an estimation due to limitation of feature without firmware support, to be improved in later versions this.MasterSliderValue = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10; this.PDRatioSliderValue = Math.round(FC.PIDS[0][2] / FC.PIDS[0][0] / this.defaultPDRatio * 10) / 10; if (this.dMinFeatureEnabled) { this.PDGainSliderValue = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.PDRatioSliderValue / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10; } else { this.PDGainSliderValue = Math.round(FC.PIDS[0][0] / this.MasterSliderValue / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10; } this.ResponseSliderValue = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10; $('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue); $('output[name="tuningPDRatioSlider-number"]').val(this.PDRatioSliderValue); $('output[name="tuningPDGainSlider-number"]').val(this.PDGainSliderValue); $('output[name="tuningResponseSlider-number"]').val(this.ResponseSliderValue); $('#tuningMasterSlider').val(this.downscaleSliderValue(this.MasterSliderValue)); $('#tuningPDRatioSlider').val(this.downscaleSliderValue(this.PDRatioSliderValue)); $('#tuningPDGainSlider').val(this.downscaleSliderValue(this.PDGainSliderValue)); $('#tuningResponseSlider').val(this.downscaleSliderValue(this.ResponseSliderValue)); }; TuningSliders.initGyroFilterSliderPosition = function() { this.gyroFilterSliderValue = Math.round((FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.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)); }; TuningSliders.initDTermFilterSliderPosition = function() { this.dtermFilterSliderValue = Math.round((FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) / (this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100; $('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue); $('#tuningDTermFilterSlider').val(this.downscaleSliderValue(this.dtermFilterSliderValue)); }; TuningSliders.resetPidSliders = function() { if (!this.cachedPidSliderValues) { $('#tuningMasterSlider').val(1); $('#tuningPDRatioSlider').val(1); $('#tuningPDGainSlider').val(1); $('#tuningResponseSlider').val(1); this.MasterSliderValue = 1; this.PDRatioSliderValue = 1; this.PDGainSliderValue = 1; this.ResponseSliderValue = 1; } this.calculateNewPids(); this.updatePidSlidersDisplay(); }; TuningSliders.resetGyroFilterSlider = function() { if (!this.cachedGyroSliderValues) { $('#tuningGyroFilterSlider').val(1); this.gyroFilterSliderValue = 1; } this.calculateNewGyroFilters(); this.updateFilterSlidersDisplay(); }; TuningSliders.resetDTermFilterSlider = function() { if (!this.cachedDTermSliderValues) { $('#tuningDTermFilterSlider').val(1); this.dtermFilterSliderValue = 1; } this.calculateNewDTermFilters(); this.updateFilterSlidersDisplay(); }; 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 const WARNING_P_GAIN = 70; const WARNING_I_GAIN = 120; const WARNING_DMAX_GAIN = 60; const WARNING_DMIN_GAIN = 40; this.pidSlidersUnavailable = false; let currentPIDs = []; FC.PID_NAMES.forEach(function(elementPid, indexPid) { let searchRow = $('.pid_tuning .' + elementPid + ' input'); searchRow.each(function (indexInput) { if (indexPid < 3 && indexInput < 5) { currentPIDs.push($(this).val()); } }); }); this.calculateNewPids(); FC.PID_NAMES.forEach(function(elementPid, indexPid) { let searchRow = $('.pid_tuning .' + elementPid + ' input'); searchRow.each(function (indexInput) { if (indexPid < 3 && indexInput < 5) { if (currentPIDs[indexPid * 5 + indexInput] != $(this).val()) { TuningSliders.pidSlidersUnavailable = true; } $(this).val(currentPIDs[indexPid * 5 + indexInput]); } }); }); if ($('input[id="useIntegratedYaw"]').is(':checked')) { this.pidSlidersUnavailable = true; } if (this.pidSlidersUnavailable) { TABS.pid_tuning.updatePIDColors(true); } else { this.cachedPidSliderValues = true; } $('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable); $('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable); $('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode); $('.subtab-pid .slidersWarning').toggle((FC.PIDS[1][0] > WARNING_P_GAIN || FC.PIDS[1][1] > WARNING_I_GAIN || FC.PIDS[1][2] > WARNING_DMAX_GAIN || FC.ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable); }; TuningSliders.updateFilterSlidersDisplay = function() { // check if filters changed manually by comapring current value and those based on slider position const WARNING_FILTER_HIGH_GAIN = 1.4; const WARNING_FILTER_LOW_GAIN = 0.7; this.filterGyroSliderUnavailable = false; this.filterDTermSliderUnavailable = false; if ($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val() != Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue) || $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val() != Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue) || $('.pid_filter select[name="gyroLowpassDynType"]').val() != this.FILTER_DEFAULT.gyro_lowpass_type || $('.pid_filter input[name="gyroLowpass2Frequency"]').val() != Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue) || $('.pid_filter select[name="gyroLowpass2Type"]').val() != this.FILTER_DEFAULT.gyro_lowpass2_type) { $('.tuningFilterSliders .sliderLabels tr:first-child').hide(); this.filterGyroSliderUnavailable = true; } else { $('.tuningFilterSliders .sliderLabels tr:first-child').show() this.cachedGyroSliderValues = true; } if ($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val() != Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue) || $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val() != Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue) || $('.pid_filter select[name="dtermLowpassDynType"]').val() != this.FILTER_DEFAULT.dterm_lowpass_type || $('.pid_filter input[name="dtermLowpass2Frequency"]').val() != Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue) || $('.pid_filter select[name="dtermLowpass2Type"]').val() != this.FILTER_DEFAULT.dterm_lowpass2_type) { $('.tuningFilterSliders .sliderLabels tr:last-child').hide(); this.filterDTermSliderUnavailable = true; } else { $('.tuningFilterSliders .sliderLabels tr:last-child').show(); this.cachedDTermSliderValues = true; } $('.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 FC.ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue * this.PDRatioSliderValue); FC.ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue * this.PDRatioSliderValue); // dmax FC.PIDS[0][2] = Math.round(this.PID_DEFAULT[2] * this.PDGainSliderValue * this.PDRatioSliderValue); FC.PIDS[1][2] = Math.round(this.PID_DEFAULT[7] * this.PDGainSliderValue * this.PDRatioSliderValue); } else { FC.ADVANCED_TUNING.dMinRoll = 0; FC.ADVANCED_TUNING.dMinPitch = 0; FC.PIDS[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue); FC.PIDS[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue); } // p FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.PDGainSliderValue); FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.PDGainSliderValue); FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue); // ff FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.ResponseSliderValue); FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.ResponseSliderValue); FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.ResponseSliderValue); // master slider part // these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation FC.PIDS[0][1] = this.PID_DEFAULT[1]; FC.PIDS[1][1] = this.PID_DEFAULT[6]; FC.PIDS[2][1] = this.PID_DEFAULT[11]; // yaw d, dmin FC.PIDS[2][2] = this.PID_DEFAULT[12]; FC.ADVANCED_TUNING.dMinYaw = this.PID_DEFAULT[13]; //master slider multiplication, max value 200 for main PID values for (let i = 0; i < 3; i++) { for (let j = 0; j < 3; j++) { FC.PIDS[j][i] = Math.min(Math.round(FC.PIDS[j][i] * this.MasterSliderValue), MAX_PID_GAIN); } } FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue), MAX_FF_GAIN); FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue), MAX_FF_GAIN); FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue), MAX_FF_GAIN); if (this.dMinFeatureEnabled) { FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.MasterSliderValue), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.MasterSliderValue), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.MasterSliderValue), MAX_DMIN_GAIN); } $('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue); $('output[name="tuningPDRatioSlider-number"]').val(this.PDRatioSliderValue); $('output[name="tuningPDGainSlider-number"]').val(this.PDGainSliderValue); $('output[name="tuningResponseSlider-number"]').val(this.ResponseSliderValue); // updates values in forms FC.PID_NAMES.forEach(function(elementPid, indexPid) { let searchRow = $('.pid_tuning .' + elementPid + ' input'); searchRow.each(function (indexInput) { if (indexPid < 3 && indexInput < 3) { $(this).val(FC.PIDS[indexPid][indexInput]); } }); }); $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll); $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch); $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw); $('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll); $('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch); $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw); TABS.pid_tuning.updatePIDColors(); }; TuningSliders.calculateNewGyroFilters = function() { // calculate, set and display new values in forms based on slider position FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue); FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue); FC.FILTER_CONFIG.gyro_lowpass2_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue); FC.FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type; FC.FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type; $('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz); $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz); $('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz); $('.pid_filter select[name="gyroLowpassDynType').val(FC.FILTER_CONFIG.gyro_lowpass_type); $('.pid_filter select[name="gyroLowpass2Type').val(FC.FILTER_CONFIG.gyro_lowpass2_type); $('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue); }; TuningSliders.calculateNewDTermFilters = function() { // calculate, set and display new values in forms based on slider position FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue); FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue); FC.FILTER_CONFIG.dterm_lowpass2_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue); FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type; FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type; $('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz); $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz); $('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz); $('.pid_filter select[name="dtermLowpassDynType').val(FC.FILTER_CONFIG.dterm_lowpass_type); $('.pid_filter select[name="dtermLowpass2Type').val(FC.FILTER_CONFIG.dterm_lowpass2_type); $('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue); };