Merge branch 'master' into change-profiles-with-programmin

README.md

@@ -68,6 +68,8 @@ in the `./dist/` directory.
 directory. Running this task on macOS or Linux requires Wine, since it's needed to set the icon
 for the Windows app. If you don't have Wine installed you can create a release by running the **release-only-linux** task.
 
+     To build a specific release, use the command `release --platform="win64"` for example.
+
 ## Different map providers
 
 INAV Configurator 2.1 allows to choose between OpenStreetMap, Bing Maps, and MapProxy map providers. 

_locales/en/messages.json

@@ -2230,9 +2230,6 @@
     "accLpfCutoffFrequency": {
         "message": "Accelerometer LPF cutoff frequency"
     },
-    "accLpfCutoffFrequencyHelp": {
-        "message": "Software-based filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value."
-    },
     "dtermLpfCutoffFrequency": {
         "message": "D-term LPF cutoff frequency"
     },
@@ -3514,6 +3511,12 @@
     "confirm_delete_point_with_options": {
         "message": "Do you really want to delete this Waypoint with non-Geo JUMP/SET_HEAD/RTH options? \nIf yes, Non-Geo options attached will be removed also!"
     },
+    "no_waypoints_to_load": {
+        "message": "No waypoints to load !"
+    },
+    "no_waypoints_to_save": {
+        "message": "No waypoints to save !"
+    },
     "servoMixer": {
         "message": "Servo mixer"
     },
@@ -3838,12 +3841,6 @@
     "rpm_gyro_min_hz": {
         "message": "Gyro RPM filter min. frequency"
     },
-    "acc_lpf_type": {
-        "message": "Accelerometer LPF type"
-    },
-    "acc_lpf_type_help": {
-        "message": "BIQUAD offers better noise attenuation for a price of higher delay. PT1 has lower attenuation but offers lower delay."
-    },
     "dTermMechanics": {
         "message": "D-term mechanics"
     },
@@ -3880,18 +3877,6 @@
     "iTermMechanics": {
         "message": "I-term mechanics"
     },
-    "airmode_type": {
-        "message": "Airmode handling type"
-    },
-    "airmode_type_help": {
-        "message": "Defines the Airmode state handling type. <br />Default STICK_CENTER is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). <br />STICK_CENTER_ONCE works like STICK_CENTER, but only until the first time THROTTLE is not low and ROLL/PITCH/YAW sticks are moved. After that, ANTI_WINDUP is deactivated until next arm. Useful for airplanes. <br />THROTTLE_THRESHOLD is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above <i>airmode_throttle_threshold</i> and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to THROTTLE_THRESHOLD since it keeps full stabilization no matter what pilot does with the sticks. Airplanes default to STICK_CENTER_ONCE mode."
-    },
-    "airmode_throttle_threshold": {
-        "message": "Airmode Throttle threshold"
-    },
-    "airmode_throttle_threshold_help": {
-        "message": "Defines airmode THROTTLE activation threshold when airmode_type THROTTLE_THRESHOLD is used"
-    },
     "gps_map_center": {
         "message": "Center"
     },

js/defaults_dialog.js

@@ -77,6 +77,10 @@ helper.defaultsDialog = (function () {
                 key: "setpoint_kalman_q",
                 value: 200
             },
+            {
+                key: "smith_predictor_delay",   // Enable Smith Predictor 
+                value: 1.5
+            },   
             /*
             Mechanics
             */

js/waypoint.js

@@ -137,7 +137,7 @@ let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endM
     };
 
     self.getElevation = async function (globalSettings) {
-        let elevation;
+        let elevation = "N/A";
         if (globalSettings.mapProviderType == 'bing') {
             let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "sealevel" : "ellipsoid";
 
@@ -146,7 +146,11 @@ let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endM
             elevation = myJson.resourceSets[0].resources[0].elevations[0];
         }
         else {
-            elevation = "N/A";
+            const response = await fetch('https://api.opentopodata.org/v1/aster30m?locations='+self.getLatMap()+','+self.getLonMap());
+            const myJson = await response.json();
+            if (myJson.status == "OK" && myJson.results[0].elevation != null) {
+                elevation = myJson.results[0].elevation;
+            }
         }
         return elevation;
     }

js/waypointCollection.js

@@ -72,7 +72,7 @@ let WaypointCollection = function () {
     };
 
     self.isEmpty = function () {
-        return data == [];
+        return data.length == 0;
     };
 
     self.flush = function () {
@@ -414,15 +414,28 @@ let WaypointCollection = function () {
         let lengthMission = self.getDistance(true);
         let totalMissionDistance = lengthMission[lengthMission.length -1].toFixed(1);
         let samples;
+        let sampleMaxNum;
+        let sampleDistance;
+
+        if (globalSettings.mapProviderType == 'bing') {
+            sampleMaxNum = 1024;
+            sampleDistance = 30;
+        } else {    // use opentopodata.org instead
+            sampleMaxNum = 99;
+            sampleDistance = 60;
+        }
+
         if (point2measure.length <= 2){
             samples = 1;
         }
-        else if (Math.trunc(totalMissionDistance/30) <= 1024 &&  point2measure.length > 2){
+        else if (Math.trunc(totalMissionDistance / sampleDistance) <= sampleMaxNum && point2measure.length > 2){
-            samples = Math.trunc(totalMissionDistance/30);
+            samples = Math.trunc(totalMissionDistance / sampleDistance);
         }
         else {
-            samples = 1024;
+            samples = sampleMaxNum;
         }
+
+        let elevation = "N/A";
         if (globalSettings.mapProviderType == 'bing') {
             let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "sealevel" : "ellipsoid";
 
@@ -438,7 +451,23 @@ let WaypointCollection = function () {
             }
         }
         else {
-            elevation = "N/A";
+            let coordList = "";
+            point2measure.forEach(function (item) {
+                coordList += item + '|';
+            });
+            const response = await fetch('https://api.opentopodata.org/v1/aster30m?locations='+coordList+'&samples='+String(samples+1));
+            const myJson = await response.json();
+
+            if (myJson.status == "OK") {
+                elevation = [];
+                for (var i = 0; i < myJson.results.length; i++){
+                    if (myJson.results[i].elevation == null) {
+                        elevation[i] = 0;
+                    } else {
+                        elevation[i] = myJson.results[i].elevation;
+                    }
+                }
+            }
         }
         //console.log("elevation ", elevation);
         return [lengthMission, totalMissionDistance, samples, elevation, altPoint2measure, namePoint2measure, refPoint2measure];

src/css/tabs/auxiliary.css

@@ -48,6 +48,21 @@
     border-spacing: 0;
 }
 
+.tab-auxiliary .modeSection > td {
+    background-color: #f9f9f9;
+    vertical-align: top;
+    padding-bottom: 5px;
+}
+
+.tab-auxiliary .modeSectionArea {
+    background-color: #37a8db;
+    color: white;
+    font-weight: bold;
+    font-size: 1.1em;
+    text-shadow: 0 1px rgba(0, 0, 0, 0.5);
+    padding: 5px;
+}
+
 .tab-auxiliary .mode {
     background-color: #f9f9f9;
     vertical-align: top;

tabs/auxiliary.html

@@ -61,4 +61,9 @@
             <a class="deleteRange" href="#">&nbsp;</a>
         </div>
     </div>
+    <table>
+        <tr class="modeSection">
+            <td colspan="2"><div class="modeSectionArea"><p class="modeSectionName"></p></div></td>
+        </tr>
+    </table>
 </div>

tabs/auxiliary.js

@@ -36,20 +36,30 @@ TABS.auxiliary.initialize = function (callback) {
 
     MSP.send_message(MSPCodes.MSP_BOXNAMES, false, false, get_mode_ranges);
 
+    const modeSections = {};
+        modeSections["ARM"] = "Arming";
+        modeSections["ANGLE"] = "Flight Modes";
+        modeSections["NAV COURSE HOLD"] = "Navigation Modes";
+        modeSections["NAV ALTHOLD"] = "Flight Mode Modifiers";
+        modeSections["AUTO TUNE"] = "Fixed Wing";
+        modeSections["FPV ANGLE MIX"] = "Multi-rotor";
+        modeSections["OSD OFF"] = "OSD Modes";
+        modeSections["CAMSTAB"] = "FPV Camera Modes";
+        modeSections["BEEPER"] = "Misc Modes";
+
     function sort_modes_for_display() {
         // This array defines the order that the modes are displayed in the configurator modes page
-        configuratorBoxOrder = [
+        const configuratorBoxOrder = [
-            "ARM", "PREARM",                                                                           // Arming
+            "ARM", "PREARM",                                                                                        // Arming
-            "ANGLE", "HORIZON", "MANUAL",                                                              // Flight modes
+            "ANGLE", "HORIZON", "MANUAL",                                                                           // Flight modes
-            "NAV RTH", "NAV POSHOLD", "NAV CRUISE", "NAV COURSE HOLD",                                 // Navigation mode
+            "NAV COURSE HOLD", "NAV CRUISE", "NAV POSHOLD", "NAV RTH", "NAV WP", "GCS NAV",                         // Navigation modes
-            "NAV ALTHOLD", "HEADING HOLD", "AIR MODE",                                                 // Flight mode modifiers
+            "NAV ALTHOLD", "HEADING HOLD", "AIR MODE",                                                              // Flight mode modifiers
-            "NAV WP", "GCS NAV", "HOME RESET",                                                         // Navigation
+            "AUTO TUNE", "SERVO AUTOTRIM", "AUTO LEVEL", "NAV LAUNCH", "LOITER CHANGE", "FLAPERON", "TURN ASSIST",  // Fixed wing specific
-            "SERVO AUTOTRIM", "AUTO LEVEL", "AUTO TUNE", "NAV LAUNCH", "LOITER CHANGE", "FLAPERON",    // Fixed wing specific
+            "FPV ANGLE MIX", "TURTLE", "MC BRAKING", "SURFACE", "HEADFREE", "HEADADJ",                              // Multi-rotor specific
-            "TURTLE", "FPV ANGLE MIX", "TURN ASSIST", "MC BRAKING", "SURFACE", "HEADFREE", "HEADADJ",  // Multi-rotor specific
+            "OSD OFF", "OSD ALT 1", "OSD ALT 2", "OSD ALT 3",                                                       // OSD
-            "BEEPER", "LEDS OFF", "LIGHTS",                                                            // Feedback
+            "CAMSTAB", "CAMERA CONTROL 1", "CAMERA CONTROL 2", "CAMERA CONTROL 3",                                  // FPV Camera
-            "OSD OFF", "OSD ALT 1", "OSD ALT 2", "OSD ALT 3",                                          // OSD
+            "BEEPER", "LEDS OFF", "LIGHTS", "HOME RESET", "BLACKBOX", "FAILSAFE", "KILLSWITCH", "TELEMETRY",        // Misc
-            "CAMSTAB", "CAMERA CONTROL 1", "CAMERA CONTROL 2", "CAMERA CONTROL 3",                     // FPV Camera
+                "MSP RC OVERRIDE", "USER1", "USER2"
-            "BLACKBOX", "FAILSAFE", "KILLSWITCH", "TELEMETRY", "MSP RC OVERRIDE", "USER1", "USER2"     // Misc
         ];
 
         // Sort the modes
@@ -98,6 +108,15 @@ TABS.auxiliary.initialize = function (callback) {
         }
     }
 
+    function createModeSection(sectionName) {
+        var modeSectionTemplate = $('#tab-auxiliary-templates .modeSection');
+        var newModeSection = modeSectionTemplate.clone();
+        $(newModeSection).attr('id', 'section-' + sectionName);
+        $(newModeSection).find('.modeSectionName').text(sectionName);
+
+        return newModeSection;
+    }
+
     function createMode(modeIndex, modeId) {
         var modeTemplate = $('#tab-auxiliary-templates .mode');
         var newMode = modeTemplate.clone();
@@ -198,6 +217,11 @@ TABS.auxiliary.initialize = function (callback) {
         var modeTableBodyElement = $('.tab-auxiliary .modes tbody')
         for (var modeIndex = 0; modeIndex < AUX_CONFIG.length; modeIndex++) {
 
+            if (AUX_CONFIG[modeIndex] in modeSections) {
+                var newSection = createModeSection(modeSections[AUX_CONFIG[modeIndex]]);
+                modeTableBodyElement.append(newSection);
+            }
+
             var modeId = AUX_CONFIG_IDS[modeIndex];
             var newMode = createMode(modeIndex, modeId);
             modeTableBodyElement.append(newMode);
@@ -415,7 +439,11 @@ TABS.auxiliary.initialize = function (callback) {
                 if (modeElement.find(' .range').length == 0) {
                     modeElement.toggle(!hideUnused);
                 }
-            }    
+            }
+            
+            $(".modeSection").each(function() {
+                $(this).toggle(!hideUnused);
+            });
         }
 
         let hideUnusedModes = false;

tabs/mission_control.js

@@ -975,8 +975,8 @@ TABS.mission_control.initialize = function (callback) {
                     map.addLayer(addWaypointMarker(element));
                 }
             });
+            repaintLine4Waypoints(mission);
         }
-        repaintLine4Waypoints(mission);
     }
 
     function redrawLayer() {
@@ -1503,22 +1503,17 @@ TABS.mission_control.initialize = function (callback) {
 
                 var altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
 
-                if (globalSettings.mapProviderType == 'bing') {
+                if (tempSelectedMarkerIndex == null || tempSelectedMarkerIndex != selectedMarker.getLayerNumber()) {
-                    $('#elevationAtWP').fadeIn();
+                    (async () => {
-                    $('#groundClearanceAtWP').fadeIn();
+                        const elevationAtWP = await selectedMarker.getElevation(globalSettings);
-                    if (tempSelectedMarkerIndex == null || tempSelectedMarkerIndex != selectedMarker.getLayerNumber()) {
+                        $('#elevationValueAtWP').text(elevationAtWP);
-                        (async () => {
+                        const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
-                            const elevationAtWP = await selectedMarker.getElevation(globalSettings);
+                        selectedMarker.setAlt(returnAltitude);
-                            $('#elevationValueAtWP').text(elevationAtWP);
+                        plotElevation();
-                            const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
+                    })()
-                            selectedMarker.setAlt(returnAltitude);
-                            plotElevation();
-                        })()
-                    }
-                } else {
-                    $('#elevationAtWP').fadeOut();
-                    $('#groundClearanceAtWP').fadeOut();
                 }
+                $('#elevationAtWP').fadeIn();
+                $('#groundClearanceAtWP').fadeIn();
 
                 $('#altitudeInMeters').text(` ${altitudeMeters}m`);
                 $('#pointLon').val(Math.round(coord[0] * 10000000) / 10000000);
@@ -1789,33 +1784,31 @@ TABS.mission_control.initialize = function (callback) {
             if (selectedMarker) {
                 const P3Value = selectedMarker.getP3();
                 selectedMarker.setP3( $('#pointP3').prop("checked") ? 1.0 : 0.0);
-                if (globalSettings.mapProviderType == 'bing') {
+                (async () => {
-                    (async () => {
+                    const elevationAtWP = await selectedMarker.getElevation(globalSettings);
-                        const elevationAtWP = await selectedMarker.getElevation(globalSettings);
+                    $('#elevationValueAtWP').text(elevationAtWP);
-                        $('#elevationValueAtWP').text(elevationAtWP);
+                    var altitude = Number($('#pointAlt').val());
-                        var altitude = Number($('#pointAlt').val());
+                    if (P3Value != selectedMarker.getP3()) {
-                        if (P3Value != selectedMarker.getP3()) {
+                        if ($('#pointP3').prop("checked")) {
-                            if ($('#pointP3').prop("checked")) {
+                            if (altitude < 0) {
-                                if (altitude < 0) {
+                                altitude = settings.alt;
-                                    altitude = settings.alt;
-                                }
-                                selectedMarker.setAlt(altitude + elevationAtWP * 100);
-                            } else {
-                                selectedMarker.setAlt(altitude - Number(elevationAtWP) * 100);
                             }
+                            selectedMarker.setAlt(altitude + elevationAtWP * 100);
+                        } else {
+                            selectedMarker.setAlt(altitude - Number(elevationAtWP) * 100);
                         }
-                        const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
+                    }
-                        selectedMarker.setAlt(returnAltitude);
+                    const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
-                        $('#pointAlt').val(selectedMarker.getAlt());
+                    selectedMarker.setAlt(returnAltitude);
-                        altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
+                    $('#pointAlt').val(selectedMarker.getAlt());
-                        $('#altitudeInMeters').text(` ${altitudeMeters}m`);
+                    altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
+                    $('#altitudeInMeters').text(` ${altitudeMeters}m`);
 
-                        mission.updateWaypoint(selectedMarker);
+                    mission.updateWaypoint(selectedMarker);
-                        mission.update();
+                    mission.update();
-                        redrawLayer();
+                    redrawLayer();
-                        plotElevation();
+                    plotElevation();
-                    })()
+                })()
-                }
             }
         });
 
@@ -1996,30 +1989,35 @@ TABS.mission_control.initialize = function (callback) {
             removeAllWaypoints();
             $(this).addClass('disabled');
             GUI.log('Start get point');
-            getWaypointsFromFC();
+            getWaypointsFromFC(false);
-            GUI.log('End get point');
-            $('#loadMissionButton').removeClass('disabled');
         });
 
         $('#saveMissionButton').on('click', function () {
+            if (!mission.get().length) {
+                alert(chrome.i18n.getMessage('no_waypoints_to_save'));
+                return;
+            }
             $(this).addClass('disabled');
             GUI.log('Start send point');
-            sendWaypointsToFC();
+            sendWaypointsToFC(false);
-            GUI.log('End send point');
-            $('#saveMissionButton').removeClass('disabled');
-
         });
 
         $('#loadEepromMissionButton').on('click', function () {
             if (markers.length && !confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) return;
             removeAllWaypoints();
-            MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], getWaypointsFromFC);
+            $(this).addClass('disabled');
+            GUI.log('Start get point');
+            getWaypointsFromFC(true);
         });
 
         $('#saveEepromMissionButton').on('click', function () {
+            if (!mission.get().length) {
+                alert(chrome.i18n.getMessage('no_waypoints_to_save'));
+                return;
+            }
             $(this).addClass('disabled');
             GUI.log('Start send point');
-            sendWaypointsToFC();
+            sendWaypointsToFC(true);
         });
 
         /////////////////////////////////////////////
@@ -2225,30 +2223,51 @@ TABS.mission_control.initialize = function (callback) {
     // Load/Save FC mission Toolbox
     //
     /////////////////////////////////////////////
-    function getWaypointsFromFC() {
+    function getWaypointsFromFC(loadEeprom) {
-        mspHelper.loadWaypoints(function() {
+        if (loadEeprom) {
-            GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
+            MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], getWaypointData);
-            mission.reinit();
+        } else {
-            mission.copy(MISSION_PLANER);
+            getWaypointData();
-            mission.update(true);
+        }
-            var coord = ol.proj.fromLonLat([mission.getWaypoint(0).getLonMap(), mission.getWaypoint(0).getLatMap()]);
+
-            map.getView().setCenter(coord);
+        function getWaypointData() {
-            map.getView().setZoom(16);
+            mspHelper.loadWaypoints(function() {
-            redrawLayers();
+                GUI.log('End get point');
-            updateTotalInfo();
+                if (loadEeprom) {
-        });
+                    GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
+                    $('#loadEepromMissionButton').removeClass('disabled');
+                } else {
+                    $('#loadMissionButton').removeClass('disabled');
+                }
+                if (!MISSION_PLANER.getCountBusyPoints()) {
+                    alert(chrome.i18n.getMessage('no_waypoints_to_load'));
+                    return;
+                }
+                mission.reinit();
+                mission.copy(MISSION_PLANER);
+                mission.update(true);
+                var coord = ol.proj.fromLonLat([mission.getWaypoint(0).getLonMap(), mission.getWaypoint(0).getLatMap()]);
+                map.getView().setCenter(coord);
+                map.getView().setZoom(16);
+                redrawLayers();
+                updateTotalInfo();
+            });
+        };
     }
 
-    function sendWaypointsToFC() {
+    function sendWaypointsToFC(saveEeprom) {
         MISSION_PLANER.reinit();
         MISSION_PLANER.copy(mission);
         MISSION_PLANER.update(true, true);
         mspHelper.saveWaypoints(function() {
             GUI.log('End send point');
-            $('#saveEepromMissionButton').removeClass('disabled');
+            if (saveEeprom) {
-            GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
+                $('#saveEepromMissionButton').removeClass('disabled');
-            MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, [0], false);
+                GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
-
+                MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, [0], false);
+            } else {
+                $('#saveMissionButton').removeClass('disabled');
+            }
             mission.setMaxWaypoints(MISSION_PLANER.getMaxWaypoints());
             mission.setValidMission(MISSION_PLANER.getValidMission());
             mission.setCountBusyPoints(MISSION_PLANER.getCountBusyPoints());
@@ -2286,10 +2305,6 @@ TABS.mission_control.initialize = function (callback) {
     /* resetAltitude = true : For selected WPs only. Changes WP Altitude value back to previous value if setting below ground level.
      ^ resetAltitude = false : changes WP Altitude to value required to give ground clearance = default Altitude setting */
     function checkAltElevSanity(resetAltitude, checkAltitude, elevation, P3Datum) {
-        if (globalSettings.mapProviderType != 'bing') {
-            return checkAltitude;
-        }
-
         let groundClearance = "NO HOME";
         let altitude = checkAltitude;
         if (P3Datum) {

tabs/pid_tuning.html

@@ -270,68 +270,39 @@
                                 <div class="helpicon cf_tip" data-i18n_title="gyro_main_lpf_hz_help"></div>
                             </td>
                         </tr>
-                        <tr class="hides-v2_5">
+                        <tr>
-                            <th>Gyro Dynamic Notch Filter</th>
-                            <td>
-                                <div style="padding-left: 1em; line-height: 28px;">
-                                <input type="checkbox" data-bit="5" class="feature toggle" name="DYNAMIC_FILTERS" title="DYNAMIC_FILTERS" id="feature-5">
-                                </div>
-                            </td>
-                        </tr>
-                        <tr class="hides-v2_5">
-                            <th>Gyro Dynamic Notch Width</th>
-                            <td>
-                                <input data-setting="dyn_notch_width_percent" type="number" class="rate-tpa_input" />
-                                <div class="helpicon cf_tip" title="Sets the distance in percent between dynamic gyro notches. Set to 0 to use single dynamic gyro notch."></div>
-                            </td>
-                        </tr>
-                        <tr class="hides-v2_5">
-                            <th>Gyro Dynamic Notch Min Frequency</th>
-                            <td>
-                                <input data-setting="dyn_notch_min_hz" type="number" class="rate-tpa_input" />
-                                <div class="helpicon cf_tip" title="Minimum frequency for dynamic gyro notch filters. Value should depends on propeller size. 150Hz work fine with 5&quot; and smaller. For 7&quot; and above lower even below 100Hz."></div>
-                            </td>
-                        </tr>
-                        <tr class="requires-v2_5">
                             <th>Matrix Gyro Filter</th>
                             <td>
                                 <select data-setting="dynamic_gyro_notch_enabled" />
                                 <div class="helpicon cf_tip" data-i18n_title="dynamic_gyro_notch_enabled_help"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_5">
+                        <tr>
                             <th>Matrix Filter Min Frequency</th>
                             <td>
                                 <input data-setting="dynamic_gyro_notch_min_hz" type="number" class="rate-tpa_input" />
                                 <div class="helpicon cf_tip" title="Minimum frequency for the Matrix Filter. Value should depends on propeller size. 150Hz work fine with 5&quot; and smaller. For 7&quot; and above lower even below 100Hz."></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_5">
+                        <tr>
                             <th>Matrix Filter Q Factor</th>
                             <td>
                                 <input data-setting="dynamic_gyro_notch_q" type="number" class="rate-tpa_input" />
                                 <div class="helpicon cf_tip" title="The higher value, the higher selectivity of the Matrix Filter. Values between 150 and 300 are recommended"></div>
                             </td>
                         </tr>
-                        <tr class="requires-v2_5">
+                        <tr>
                             <th>Unicorn Filter</th>
                             <td>
                                 <select data-setting="setpoint_kalman_enabled" />
                             </td>
                         </tr>
-                        <tr class="requires-v2_6">
+                        <tr>
                             <th>Unicorn Filter Q Factor</th>
                             <td>
                                 <input data-setting="setpoint_kalman_q" type="number" class="rate-tpa_input" />
                             </td>
                         </tr>
-                        <tr class="requires-v2_6">
-                            <th>Unicorn Filter Window Size</th>
-                            <td>
-                                <input data-setting="setpoint_kalman_w" type="number" class="rate-tpa_input" />
-                            </td>
-                        </tr>
-                        
                     </tbody>
                 </table>
             </div>
@@ -379,39 +350,6 @@
                     </tbody>
                 </table>
             </div>
-
-            <div class="clear-both"></div>
-            <div class="tab_subtitle" data-i18n="tabFilteringAdvanced" style="margin-top: 1em;"></div>
-            <div class="cf_column">
-                <table class="settings-table settings-table--filtering">
-                    <tbody>
-                        <tr>
-                            <th data-i18n="accLpfCutoffFrequency"></th>
-                            <td>
-                                <input type="number" id="accSoftLpfHz" class="rate-tpa_input" step="1" min="0"
-                                    max="200" /> Hz
-                                <div class="helpicon cf_tip" data-i18n_title="accLpfCutoffFrequencyHelp"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="acc_lpf_type"></th>
-                            <td>
-                                <select data-setting="acc_lpf_type" />
-                                <div class="helpicon cf_tip" data-i18n_title="acc_lpf_type_help"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="yawLpfCutoffFrequency"></th>
-                            <td>
-                                <input type="number" id="yawLpfHz" class="rate-tpa_input" step="1" min="0" max="200" />
-                                Hz
-                                <div class="helpicon cf_tip" data-i18n_title="yawLpfCutoffFrequencyHelp"></div>
-                            </td>
-                        </tr>
-
-                    </tbody>
-                </table>
-            </div>
         </div>
 
         <div id="subtab-mechanics" class="subtab__content">
@@ -420,20 +358,6 @@
             <div class="cf_column">
                 <table class="settings-table settings-table--filtering">
                     <tbody>
-                        <tr>
-                            <th data-i18n="airmode_type"></th>
-                            <td>
-                                <select data-setting="airmode_type" />
-                                <div class="helpicon cf_tip" data-i18n_title="airmode_type_help"></div>
-                            </td>
-                        </tr>
-                        <tr>
-                            <th data-i18n="airmode_throttle_threshold"></th>
-                            <td>
-                                <select data-setting="airmode_throttle_threshold" />
-                                <div class="helpicon cf_tip" data-i18n_title="airmode_throttle_threshold_help"></div>
-                            </td>
-                        </tr>
                         <tr>
                             <th data-i18n="itermRelax"></th>
                             <td>

tabs/pid_tuning.js

@@ -123,14 +123,6 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.requires-v2_4').hide();
         }
 
-        if (semver.gte(CONFIG.flightControllerVersion, "2.5.0")) {
-            $('.requires-v2_5').show();
-            $('.hides-v2_5').hide();
-        } else {
-            $('.requires-v2_5').hide();
-            $('.hides-v2_5').show();
-        }
-
         if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
             $('.requires-v2_6').show();
             $('.hides-v2_6').hide();
@@ -161,26 +153,14 @@ TABS.pid_tuning.initialize = function (callback) {
 
         pid_and_rc_to_form();
 
-        var $magHoldYawRate                 = $("#magHoldYawRate"),
+        let $magHoldYawRate                 = $("#magHoldYawRate");
-            $accSoftLpfHz                   = $('#accSoftLpfHz'),
-            $yawLpfHz                       = $('#yawLpfHz');
 
         $magHoldYawRate.val(INAV_PID_CONFIG.magHoldRateLimit);
-        $accSoftLpfHz.val(INAV_PID_CONFIG.accSoftLpfHz);
-        $yawLpfHz.val(FILTER_CONFIG.yawLpfHz);
 
         $magHoldYawRate.change(function () {
             INAV_PID_CONFIG.magHoldRateLimit = parseInt($magHoldYawRate.val(), 10);
         });
 
-        $accSoftLpfHz.change(function () {
-            INAV_PID_CONFIG.accSoftLpfHz = parseInt($accSoftLpfHz.val(), 10);
-        });
-
-        $yawLpfHz.change(function () {
-            FILTER_CONFIG.yawLpfHz = parseInt($yawLpfHz.val(), 10);
-        });
-
         if (!FC.isRpyFfComponentUsed()) {
             $('.rpy_ff').prop('disabled', 'disabled');
         }