Support changing PID controller in the GUI.

_locales/en/messages.json

@@ -508,6 +508,9 @@
         "message": "Save and Reboot"
     },
 
+    "pidTuningUpgradeFirmwareToChangePidController": {
+        "message": "<span style=\"color: red\">Changing PID controller disabled - you can change it via the CLI.</span>  You have firmware with API version <span style=\"color: red\">$1</span>, but this functionality requires requires <span style=\"color: green\">$2</span>."
+    },
     "pidTuningName": {
         "message": "Name"
     },
@@ -538,6 +541,9 @@
     "pidTuningProfileHead": {
         "message": "Profile"
     },
+    "pidTuningControllerHead": {
+        "message": "PID Controller"
+    },
     "pidTuningLoadedProfile": {
         "message": "Loaded Profile: <strong>$1</strong>"
     },

changelog.html

@@ -1,12 +1,13 @@
-<span>2015.01.19 - 0.60.1 - cleanflight</span>
+<span>2015.01.19 - 0.61.0 - cleanflight</span>
 <p>
-    - Add support for backup and restore of LED strip configuration.<br />
+    - Support changing PID controller - there new PID controllers in 1.7.0 firmware.<br />
-    - Update presentation of LEDs that have multiple functions.<br />
     - Support for LED thrust ring.<br />
     - Support for LED colors.<br />
     - Support for displaying sonar sensor reading on the sensors tab.<br />
     - UI cleanup - 'Welcome' and 'Firmware flasher' are now tabs.<br />
+    - Update presentation of LEDs that have multiple functions.<br />
     - Added Documentation and Support panels to welcome tab.<br />    
+    - Add support for backup and restore of LED strip configuration.<br />
     - Fix for disappearing tabs in chrome 41 beta.<br />
 </p>
 <span>2015.01.08 - 0.60.0 - cleanflight</span>

js/backup_restore.js

@@ -25,6 +25,7 @@ function configuration_backup(callback) {
     }
 
     var profileSpecificData = [
+        MSP_codes.MSP_PID_CONTROLLER,
         MSP_codes.MSP_PID,
         MSP_codes.MSP_RC_TUNING,
         MSP_codes.MSP_ACC_TRIM,
@@ -47,7 +48,8 @@ function configuration_backup(callback) {
                         fetch_specific_data_item();
                     } else {
                         configuration.profiles.push({
-                            'PID': jQuery.extend(true, [], PIDs),
+                            'PID': jQuery.extend(true, [], PID),
+                            'PIDs': jQuery.extend(true, [], PIDs),
                             'RC': jQuery.extend(true, {}, RC_tuning),
                             'AccTrim': jQuery.extend(true, [], CONFIG.accelerometerTrims),
                             'ServoConfig': jQuery.extend(true, [], SERVO_CONFIG),
@@ -313,6 +315,21 @@ function configuration_restore(callback) {
             appliedMigrationsCount++;
         }
 
+        if (!compareVersions(migratedVersion, '0.61.0')) {
+            
+            // Changing PID controller via UI was added.
+            if (!configuration.PIDs && configuration.PID) {
+                configuration.PIDs = configuration.PID;
+                configuration.PID = {
+                    controller: 0 // assume pid controller 0 was used.
+                };
+            }
+            
+            migratedVersion = '0.61.0';
+            GUI.log(chrome.i18n.getMessage('configMigratedTo', [migratedVersion]));
+            appliedMigrationsCount++;
+        }
+
         GUI.log(chrome.i18n.getMessage('configMigrationSuccessful', [appliedMigrationsCount]));
         return true;
     }
@@ -323,6 +340,7 @@ function configuration_restore(callback) {
                 profilesN = 3;
 
             var profileSpecificData = [
+                MSP_codes.MSP_SET_PID_CONTROLLER,
                 MSP_codes.MSP_SET_PID,
                 MSP_codes.MSP_SET_RC_TUNING,
                 MSP_codes.MSP_SET_ACC_TRIM,
@@ -348,7 +366,8 @@ function configuration_restore(callback) {
                     codeKey = 0;
 
                 function load_objects(profile) {
-                    PIDs = configuration.profiles[profile].PID;
+                    PID = configuration.profiles[profile].PID;
+                    PIDs = configuration.profiles[profile].PIDs;
                     RC_tuning = configuration.profiles[profile].RC;
                     CONFIG.accelerometerTrims = configuration.profiles[profile].AccTrim;
                     SERVO_CONFIG = configuration.profiles[profile].ServoConfig;

js/data_storage.js

@@ -1,9 +1,10 @@
 'use strict';
 
 var CONFIGURATOR = {
-    'releaseDate': 1421431075334, // new Date().getTime() - 2015.01.16
+    'releaseDate': 1422552160231, // new Date().getTime() - 2015.01.29
     'apiVersionAccepted': 1.2,
-    'backupRestoreMinApiVersionAccepted': 1.4,
+    'backupRestoreMinApiVersionAccepted': 1.5,
+    'pidControllerChangeMinApiVersion': 1.5,
     'backupFileMinVersionAccepted': '0.55', // chrome.runtime.getManifest().version is stored as string, so does this one
     'connectionValid': false,
     'connectionValidCliOnly': false,
@@ -42,6 +43,9 @@ var BF_CONFIG = {
 
 var LED_STRIP = [];
 
+var PID = {
+    controller:             0
+};
 
 var PID_names = [];
 var PIDs = new Array(10);

js/msp.js

@@ -20,6 +20,8 @@ var MSP_codes = {
     MSP_CF_SERIAL_CONFIG:       54,
     MSP_SET_CF_SERIAL_CONFIG:   55,
     MSP_SONAR:                  58,
+    MSP_PID_CONTROLLER:         59,
+    MSP_SET_PID_CONTROLLER:     60,
 
     // Multiwii MSP commands
     MSP_IDENT:              100,
@@ -673,6 +675,13 @@ var MSP = {
                 console.log('Adjustment range saved');
                 break;
                 
+            case MSP_codes.MSP_PID_CONTROLLER:
+                PID.controller = data.getUint8(0, 1);
+                break;
+            case MSP_codes.MSP_SET_PID_CONTROLLER:
+                console.log('PID controller changed');
+                break;
+
 
             default:
                 console.log('Unknown code detected: ' + code);
@@ -806,6 +815,9 @@ MSP.crunch = function (code) {
             buffer.push(lowByte(BF_CONFIG.currentoffset));
             buffer.push(highByte(BF_CONFIG.currentoffset));
             break;
+        case MSP_codes.MSP_SET_PID_CONTROLLER:
+            buffer.push(PID.controller);
+            break;
         case MSP_codes.MSP_SET_PID:
             for (var i = 0; i < PIDs.length; i++) {
                 switch (i) {

js/serial_backend.js

@@ -171,6 +171,8 @@ function onOpen(openInfo) {
                                         GUI.allowedTabs.splice(GUI.allowedTabs.indexOf('led_strip'), 1);
                                     }
                                     
+                                    GUI.canChangePidController = CONFIG.apiVersion >= CONFIGURATOR.pidControllerChangeMinApiVersion;
+
                                     onConnect();
                                     
                                     $('#tabs ul.mode-connected .tab_setup a').click();

manifest.json

@@ -1,7 +1,7 @@
 {
     "manifest_version": 2,
     "minimum_chrome_version": "38",
-    "version": "0.60.1",
+    "version": "0.61.0",
     "author": "Hydra",
     "name": "Cleanflight - Configurator",
     "short_name": "cleanflight",

tabs/pid_tuning.css

@@ -34,6 +34,30 @@
 
     text-align: right;
 }
+.tab-pid_tuning .controller {
+    float: left;
+
+    width: calc(18% - 2px); /* - border*/
+
+    margin-bottom: 10px;
+    border: 1px solid #8b8b8b;
+}
+.tab-pid_tuning .controller .head {
+    display: block;
+
+    text-align: center;
+    line-height: 20px;
+    font-weight: bold;
+
+    border-bottom: 1px solid #8b8b8b;
+    background-color: #ececec;
+}
+.tab-pid_tuning .controller select {
+    width: 100%;
+    padding-left: calc(100% - 35px);
+    height: 20px;
+    line-height: 20px;
+}
 .tab-pid_tuning .profile {
     float: left;
 

tabs/pid_tuning.html

@@ -1,4 +1,17 @@
 <div class="tab-pid_tuning">
+    <div class="controller">
+        <span class="head" i18n="pidTuningControllerHead"></span>
+        <select name="controller">
+            <option value="0">MultiWii (Old)</option>
+            <option value="1">MultiWii (rewrite)</option>
+            <option value="2">LuxFloat</option>
+            <option value="3">MultiWii (2.3 - latest)</option>
+            <option value="4">MultiWii (2.3 - hybrid)</option>
+            <option value="5">Harakiri</option>
+        </select>
+    </div>
+    <div class="clear-both"></div>
+    
     <table class="pid_tuning">
         <tr>
             <th class="name" i18n="pidTuningName"></th>

tabs/pid_tuning.js

@@ -9,6 +9,14 @@ TABS.pid_tuning.initialize = function (callback) {
         googleAnalytics.sendAppView('PID Tuning');
     }
 
+    function get_pid_controller() {
+        if (GUI.canChangePidController) {
+            MSP.send_message(MSP_codes.MSP_PID_CONTROLLER, false, false, get_pid_names);
+        } else {
+            get_pid_names();
+        }
+    }
+
     function get_pid_names() {
         MSP.send_message(MSP_codes.MSP_PIDNAMES, false, false, get_pid_data);
     }
@@ -26,7 +34,7 @@ TABS.pid_tuning.initialize = function (callback) {
     }
 
     // requesting MSP_STATUS manually because it contains CONFIG.profile
-    MSP.send_message(MSP_codes.MSP_STATUS, false, false, get_pid_names);
+    MSP.send_message(MSP_codes.MSP_STATUS, false, false, get_pid_controller);
 
     function process_html() {
         // translate to user-selected language
@@ -181,6 +189,20 @@ TABS.pid_tuning.initialize = function (callback) {
         $('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
         $('.rate-tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
 
+        var pidController_e = $('select[name="controller"]');
+        
+        if (GUI.canChangePidController) {
+            pidController_e.val(PID.controller);
+        } else {
+            GUI.log(chrome.i18n.getMessage('pidTuningUpgradeFirmwareToChangePidController', [CONFIG.apiVersion, CONFIGURATOR.pidControllerChangeMinApiVersion]));
+            
+            pidController_e.empty();
+            pidController_e.append('<option value="">Unknown</option>');
+            
+            pidController_e.prop('disabled', true);
+        }
+
+
         // Fill in currently selected profile
         $('select[name="profile"]').val(CONFIG.profile);
 
@@ -261,6 +283,12 @@ TABS.pid_tuning.initialize = function (callback) {
             RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]').val());
             RC_tuning.dynamic_THR_PID = parseFloat($('.rate-tpa input[name="tpa"]').val());
 
+            var pidController_e = $('select[name="controller"]');
+            
+            function send_pids() {
+                MSP.send_message(MSP_codes.MSP_SET_PID, MSP.crunch(MSP_codes.MSP_SET_PID), false, send_rc_tuning_changes);
+            }
+ 
             function send_rc_tuning_changes() {
                 MSP.send_message(MSP_codes.MSP_SET_RC_TUNING, MSP.crunch(MSP_codes.MSP_SET_RC_TUNING), false, save_to_eeprom);
             }
@@ -271,7 +299,12 @@ TABS.pid_tuning.initialize = function (callback) {
                 });
             }
 
-            MSP.send_message(MSP_codes.MSP_SET_PID, MSP.crunch(MSP_codes.MSP_SET_PID), false, send_rc_tuning_changes);
+            if (GUI.canChangePidController) {
+                PID.controller = pidController_e.val(); 
+                MSP.send_message(MSP_codes.MSP_SET_PID_CONTROLLER, MSP.crunch(MSP_codes.MSP_SET_PID_CONTROLLER), false, send_pids);
+            } else {
+                send_pids();
+            }
         });
 
         // status data pulled via separate timer with static speed