mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-21 07:15:15 +03:00
456 lines
23 KiB
JavaScript
456 lines
23 KiB
JavaScript
'use strict';
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const TuningSliders = {
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sliderPidsMode: 0,
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sliderMasterMultiplier: 1,
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sliderRollPitchRatio: 1,
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sliderIGain: 1,
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sliderPDRatio: 1,
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sliderPDGain: 1,
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sliderDMinRatio: 1,
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sliderFFGain: 1,
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pidSlidersUnavailable: false,
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sliderGyroFilter: 0,
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sliderGyroFilterMultiplier: 1,
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sliderDTermFilter: 0,
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sliderDTermFilterMultiplier: 1,
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dMinFeatureEnabled: true,
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defaultPDRatio: 0,
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PID_DEFAULT: [],
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FILTER_DEFAULT: {},
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cachedPidSliderValues: false,
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cachedGyroSliderValues: false,
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cachedDTermSliderValues: false,
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expertMode: false,
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};
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const D_MIN_RATIO = 0.85;
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TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
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this.dMinFeatureEnabled = dMinFeatureEnabled;
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if (this.dMinFeatureEnabled) {
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this.defaultPDRatio = this.PID_DEFAULT[2] / this.PID_DEFAULT[0];
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} else {
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this.defaultPDRatio = this.PID_DEFAULT[2] / (this.PID_DEFAULT[0] * (1 / D_MIN_RATIO));
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}
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};
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TuningSliders.initialize = function() {
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this.PID_DEFAULT = FC.getPidDefaults();
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this.FILTER_DEFAULT = FC.getFilterDefaults();
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if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
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}
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this.setExpertMode($('input[name="expertModeCheckbox"]').is(':checked'));
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this.initPidSlidersPosition();
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this.initGyroFilterSliderPosition();
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this.initDTermFilterSliderPosition();
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// after refresh cached values are not available
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this.cachedPidSliderValues = false;
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this.cachedGyroSliderValues = false;
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this.cachedDTermSliderValues = false;
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this.updatePidSlidersDisplay();
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this.updateFilterSlidersDisplay();
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};
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TuningSliders.setExpertMode = function(expertMode) {
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this.expertMode = expertMode;
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if (this.expertMode) {
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$('#slidersPidsBox, #slidersFilterBox').removeClass('nonExpertModeSliders');
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} else {
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$('#slidersPidsBox, #slidersFilterBox').addClass('nonExpertModeSliders');
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}
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};
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TuningSliders.scaleSliderValue = function(value) {
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if (value > 1) {
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return Math.round(((value - 1) * 2 + 1) * 100) / 100;
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} else {
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return value;
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}
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};
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TuningSliders.downscaleSliderValue = function(value) {
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if (value > 1) {
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return (value - 1) / 2 + 1;
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} else {
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return value;
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}
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};
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TuningSliders.initPidSlidersPosition = function() {
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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// used to estimate PID slider positions based on PIDF values, and set respective slider position
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// provides only an estimation due to limitation of feature without firmware support, to be improved in later versions
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this.sliderMasterMultiplier = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10;
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this.sliderPDRatio = Math.round(FC.PIDS[0][2] / FC.PIDS[0][0] / this.defaultPDRatio * 10) / 10;
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if (this.dMinFeatureEnabled) {
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this.sliderPDGain = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.sliderPDRatio / this.sliderMasterMultiplier / this.PID_DEFAULT[3] * 10) / 10;
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} else {
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this.sliderPDGain = Math.round(FC.PIDS[0][0] / this.sliderMasterMultiplier / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10;
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}
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this.sliderFFGain = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.sliderMasterMultiplier / this.PID_DEFAULT[4] * 10) / 10;
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} else {
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this.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_mode;
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this.sliderMasterMultiplier = FC.TUNING_SLIDERS.slider_master_multiplier / 100;
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this.sliderRollPitchRatio = FC.TUNING_SLIDERS.slider_roll_pitch_ratio / 100;
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this.sliderIGain = FC.TUNING_SLIDERS.slider_i_gain / 100;
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this.sliderPDRatio = FC.TUNING_SLIDERS.slider_pd_ratio / 100;
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this.sliderPDGain = FC.TUNING_SLIDERS.slider_pd_gain / 100;
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this.sliderDMinRatio = FC.TUNING_SLIDERS.slider_dmin_ratio / 100;
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this.sliderFFGain = FC.TUNING_SLIDERS.slider_ff_gain / 100;
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}
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$('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
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$('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
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$('output[name="sliderIGain-number"]').val(this.sliderIGain);
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$('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
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$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
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$('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
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$('output[name="sliderFFGain-number"]').val(this.sliderFFGain);
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$('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
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$('#sliderRollPitchRatio').val(this.downscaleSliderValue(this.sliderRollPitchRatio));
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$('#sliderIGain').val(this.downscaleSliderValue(this.sliderIGain));
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$('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
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$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
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$('#sliderDMinRatio').val(this.downscaleSliderValue(this.sliderDMinRatio));
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$('#sliderFFGain').val(this.downscaleSliderValue(this.sliderFFGain));
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};
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TuningSliders.initGyroFilterSliderPosition = function() {
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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this.sliderGyroFilterMultiplier = Math.floor((FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.FILTER_CONFIG.gyro_lowpass2_hz) /
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(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
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} else {
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this.sliderGyroFilterMultiplier = FC.TUNING_SLIDERS.slider_gyro_filter_multiplier / 100;
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}
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$('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
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$('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier));
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};
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TuningSliders.initDTermFilterSliderPosition = function() {
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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this.sliderDTermFilterMultiplier = Math.floor((FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) /
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(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100;
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} else {
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this.sliderDTermFilterMultiplier = FC.TUNING_SLIDERS.slider_dterm_filter_multiplier / 100;
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}
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$('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier);
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$('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier));
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};
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TuningSliders.resetPidSliders = function() {
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if (!this.cachedPidSliderValues) {
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this.sliderMasterMultiplier = 1;
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this.sliderRollPitchRatio = 1;
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this.sliderIGain = 1;
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this.sliderPDRatio = 1;
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this.sliderPDGain = 1;
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this.sliderDMinRatio = 1;
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this.sliderFFGain = 1;
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}
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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$('#sliderMasterMultiplier').val(this.downscaleSliderValue(this.sliderMasterMultiplier));
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$('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio));
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$('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain));
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$('#sliderFFGain').val(this.downscaleSliderValue(this.sliderFFGain));
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} else {
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this.initPidSlidersPosition();
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}
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this.calculateNewPids();
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this.updatePidSlidersDisplay();
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};
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TuningSliders.resetGyroFilterSlider = function() {
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if (!this.cachedGyroSliderValues) {
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this.sliderGyroFilterMultiplier = 1;
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}
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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$('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier));
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} else {
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this.initGyroFilterSliderPosition();
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}
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this.calculateNewGyroFilters();
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this.updateFilterSlidersDisplay();
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};
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TuningSliders.resetDTermFilterSlider = function() {
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if (!this.cachedDTermSliderValues) {
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this.sliderDTermFilterMultiplier = 1;
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}
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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$('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier));
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} else {
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this.initDTermFilterSliderPosition();
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}
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this.calculateNewDTermFilters();
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this.updateFilterSlidersDisplay();
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};
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TuningSliders.updatePidSlidersDisplay = function() {
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// check if pid values changed manually by saving current values, doing the slider based calculation, and comaparing
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// if values before and after calculation, if all of them are equal the values haven't been changed manually
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const WARNING_P_GAIN = 70;
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const WARNING_I_GAIN = 120;
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const WARNING_DMAX_GAIN = 60;
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const WARNING_DMIN_GAIN = 40;
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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this.pidSlidersUnavailable = false;
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let currentPIDs = [];
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FC.PID_NAMES.forEach(function(elementPid, indexPid) {
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const pidElements = $(`.pid_tuning .${elementPid} input`);
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pidElements.each(function (indexInput) {
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if (indexPid < 3 && indexInput < 5) {
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currentPIDs.push($(this).val());
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}
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});
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});
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this.calculateNewPids();
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FC.PID_NAMES.forEach(function(elementPid, indexPid) {
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const pidElements = $(`.pid_tuning .${elementPid} input`);
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pidElements.each(function (indexInput) {
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if (indexPid < 3 && indexInput < 5) {
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if (currentPIDs[indexPid * 5 + indexInput] != $(this).val()) {
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TuningSliders.pidSlidersUnavailable = true;
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}
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$(this).val(currentPIDs[indexPid * 5 + indexInput]);
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}
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});
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});
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if ($('input[id="useIntegratedYaw"]').is(':checked')) {
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this.pidSlidersUnavailable = true;
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}
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if (!this.pidSlidersUnavailable) {
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this.cachedPidSliderValues = true;
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}
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}
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$('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable);
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$('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable);
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$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
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$('.subtab-pid .slidersWarning').toggle((FC.PIDS[1][0] > WARNING_P_GAIN || FC.PIDS[1][1] > WARNING_I_GAIN || FC.PIDS[1][2] > WARNING_DMAX_GAIN ||
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FC.ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable);
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};
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TuningSliders.updateFilterSlidersDisplay = function() {
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// check if filters changed manually by comapring current value and those based on slider position
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const WARNING_FILTER_HIGH_GAIN = 1.4;
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const WARNING_FILTER_LOW_GAIN = 0.7;
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this.sliderGyroFilter = false;
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this.sliderDTermFilter = false;
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if (parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpassDynType"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass_type ||
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parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier) ||
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parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass2_type) {
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$('.tuningFilterSliders .sliderLabels tr:nth-child(2)').hide();
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this.sliderGyroFilter = true;
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} else {
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$('.tuningFilterSliders .sliderLabels tr:nth-child(2)').show();
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this.cachedGyroSliderValues = true;
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}
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if (parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter select[name="dtermLowpassDynType"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass_type ||
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parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val()) !==
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Math.floor(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier) ||
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parseInt($('.pid_filter select[name="dtermLowpass2Type"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass2_type) {
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$('.tuningFilterSliders .sliderLabels tr:last-child').hide();
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this.sliderDTermFilter = true;
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} else {
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$('.tuningFilterSliders .sliderLabels tr:last-child').show();
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this.cachedDTermSliderValues = true;
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}
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$('.tuningFilterSliders').toggle(!(this.sliderGyroFilter && this.sliderDTermFilter));
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$('.subtab-filter .slidersDisabled').toggle(this.sliderGyroFilter || this.sliderDTermFilter);
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$('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.sliderGyroFilter || !this.sliderDTermFilter) && !this.expertMode);
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$('.subtab-filter .slidersWarning').toggle(((this.sliderGyroFilterMultiplier >= WARNING_FILTER_HIGH_GAIN ||
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this.sliderGyroFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.sliderGyroFilter) ||
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((this.sliderDTermFilterMultiplier >= WARNING_FILTER_HIGH_GAIN ||
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this.sliderDTermFilterMultiplier <= WARNING_FILTER_LOW_GAIN) && !this.sliderDTermFilter));
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};
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TuningSliders.updateFormPids = function() {
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FC.PID_NAMES.forEach(function(elementPid, indexPid) {
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const pidElements = $(`.pid_tuning .${elementPid} input`);
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pidElements.each(function (indexInput) {
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if (indexPid < 3 && indexInput < 3) {
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$(this).val(FC.PIDS[indexPid][indexInput]);
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}
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});
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});
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};
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TuningSliders.legacyCalculateNewPids = function() {
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const MAX_PID_GAIN = 200;
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const MAX_DMIN_GAIN = 100;
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const MAX_FF_GAIN = 2000;
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// only used for 4.1 where calculation is not done in firmware
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if (this.dMinFeatureEnabled) {
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//dmin
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FC.ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.sliderPDGain * this.sliderPDRatio);
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FC.ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.sliderPDGain * this.sliderPDRatio);
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// dmax
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FC.PIDS[0][2] = Math.round(this.PID_DEFAULT[2] * this.sliderPDGain * this.sliderPDRatio);
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FC.PIDS[1][2] = Math.round(this.PID_DEFAULT[7] * this.sliderPDGain * this.sliderPDRatio);
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} else {
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FC.ADVANCED_TUNING.dMinRoll = 0;
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FC.ADVANCED_TUNING.dMinPitch = 0;
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FC.PIDS[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
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FC.PIDS[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
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}
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FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.sliderPDGain);
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FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.sliderPDGain);
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FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.sliderPDGain);
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// ff
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FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFFGain);
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FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFFGain);
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FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.sliderFFGain);
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// master slider part
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// these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation
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FC.PIDS[0][1] = this.PID_DEFAULT[1];
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FC.PIDS[1][1] = this.PID_DEFAULT[6];
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FC.PIDS[2][1] = this.PID_DEFAULT[11];
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// yaw d, dmin
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FC.PIDS[2][2] = this.PID_DEFAULT[12];
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FC.ADVANCED_TUNING.dMinYaw = this.PID_DEFAULT[13];
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//master slider multiplication, max value 200 for main PID values
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for (let i = 0; i < 3; i++) {
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for (let j = 0; j < 3; j++) {
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FC.PIDS[j][i] = Math.min(Math.round(FC.PIDS[j][i] * this.sliderMasterMultiplier), MAX_PID_GAIN);
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}
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}
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FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.sliderMasterMultiplier), MAX_FF_GAIN);
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FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.sliderMasterMultiplier), MAX_FF_GAIN);
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FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplier), MAX_FF_GAIN);
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if (this.dMinFeatureEnabled) {
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FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
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FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
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FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
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}
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$('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
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$('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
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$('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
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$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll);
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$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
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$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
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this.updateFormPids();
|
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};
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TuningSliders.calculateNewPids = function() {
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// this is the main calculation for PID sliders, inputs are in form of slider position values
|
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// values get set both into forms and their respective variables
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if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
|
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this.legacyCalculateNewPids();
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}
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|
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$('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier);
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$('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio);
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$('output[name="sliderIGain-number"]').val(this.sliderIGain);
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$('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio);
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$('output[name="sliderPDGain-number"]').val(this.sliderPDGain);
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$('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
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$('output[name="sliderFFGain-number"]').val(this.sliderFFGain);
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|
|
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
|
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FC.TUNING_SLIDERS.slider_pids_mode = parseInt($('#sliderPidsModeSelect').val());
|
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FC.TUNING_SLIDERS.slider_master_multiplier = TuningSliders.sliderMasterMultiplier * 100;
|
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FC.TUNING_SLIDERS.slider_roll_pitch_ratio = TuningSliders.sliderRollPitchRatio * 100;
|
|
FC.TUNING_SLIDERS.slider_i_gain = TuningSliders.sliderIGain * 100;
|
|
FC.TUNING_SLIDERS.slider_pd_ratio = TuningSliders.sliderPDRatio * 100;
|
|
FC.TUNING_SLIDERS.slider_pd_gain = TuningSliders.sliderPDGain * 100;
|
|
FC.TUNING_SLIDERS.slider_dmin_ratio = TuningSliders.sliderDMinRatio * 100;
|
|
FC.TUNING_SLIDERS.slider_ff_gain = TuningSliders.sliderFFGain * 100;
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|
|
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FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter ? 1 : 0;
|
|
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = TuningSliders.sliderDTermFilterMultiplier * 100;
|
|
|
|
FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter ? 1 : 0;
|
|
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = TuningSliders.sliderGyroFilterMultiplier * 100;
|
|
|
|
Promise.resolve(true)
|
|
.then(() => { return MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS)); })
|
|
.then(() => { return MSP.send_message(MSPCodes.MSP_PID); })
|
|
.then(() => { return MSP.send_message(MSPCodes.MSP_PID_ADVANCED); });
|
|
}
|
|
|
|
$('.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);
|
|
|
|
this.updateFormPids();
|
|
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.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier);
|
|
FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier);
|
|
FC.FILTER_CONFIG.gyro_lowpass2_hz = Math.floor(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier);
|
|
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="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier);
|
|
};
|
|
|
|
TuningSliders.calculateNewDTermFilters = function() {
|
|
// calculate, set and display new values in forms based on slider position
|
|
FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier);
|
|
FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.floor(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier);
|
|
FC.FILTER_CONFIG.dterm_lowpass2_hz = Math.floor(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier);
|
|
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="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier);
|
|
};
|