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Drop less used settings

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-11-22 13:12:14 +01:00
parent 51945769c7
commit 28bb794dff
5 changed files with 360 additions and 416 deletions
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2
_locales/en/messages.json
View file

@ -988,7 +988,7 @@
"message": "Maximum YAW rotation rate that MagHold controller can request from UAV. Used only when MagHold mode is enabled, during RTH and WAYPOINT navigation. Values below 30dps gives nice \"cinematic\" turns" "message": "Maximum YAW rotation rate that MagHold controller can request from UAV. Used only when MagHold mode is enabled, during RTH and WAYPOINT navigation. Values below 30dps gives nice \"cinematic\" turns"
}, },
"pidTuningTPA": { "pidTuningTPA": {
"message": "TPA" "message": "Thrust PID Attenuation (TPA)"
}, },
"pidTuningTPABreakPoint": { "pidTuningTPABreakPoint": {
"message": "TPA Breakpoint" "message": "TPA Breakpoint"

13
main.css
View file

@ -1050,6 +1050,15 @@ dialog {
margin-bottom: 15px; margin-bottom: 15px;
} }
.tab_subtitle {
border-bottom: 1px solid #37a8db;
font-size: 1.5em;
line-height: 1.5em;
height: 25px;
font-family: 'open_sanslight', Arial, serif;
margin-bottom: 8px;
}
/* Note */ /* Note */
.note { .note {
background-color: #fff7cd; background-color: #fff7cd;
@ -2099,15 +2108,17 @@ select {
.subtab__header_label { .subtab__header_label {
display: inline-block; display: inline-block;
padding: 0 1em; padding: 0 1em;
background-color: #ccc; background-color: #eee;
min-width: 7em; min-width: 7em;
height: 1.5em; height: 1.5em;
line-height: 1.5em; line-height: 1.5em;
cursor: pointer; cursor: pointer;
font-size: 18px;
} }
.subtab__header_label--current { .subtab__header_label--current {
font-weight: bold; font-weight: bold;
background-color: #ccc;
} }
.subtab__header_label:hover { .subtab__header_label:hover {

6
src/css/tabs/pid_tuning.css
View file

@ -12,7 +12,7 @@
.rate-tpa.rate-tpa--inav td, .rate-tpa.rate-tpa--inav td,
.rate-tpa.rate-tpa--filtering td, .rate-tpa.rate-tpa--filtering td,
.rate-tpa.rate-tpa--misc td { .rate-tpa.rate-tpa--misc td {
background-color: #DEDEDE; background-color: #f3f3f3;
width: auto; width: auto;
border-bottom: 1px solid #ccc; border-bottom: 1px solid #ccc;
} }
@ -376,3 +376,7 @@
top: 10px; top: 10px;
position: relative; position: relative;
} }
.rate-tpa tbody {
/* background: #D6D6D6 linear-gradient(-45deg, rgba(255, 255, 255, .2) 10%, transparent 10%, transparent 20%, rgba(255, 255, 255, .2) 20%, rgba(255, 255, 255, .2) 30%, transparent 30%, transparent 40%, rgba(255, 255, 255, .2) 40%, rgba(255, 255, 255, .2) 50%, transparent 50%, transparent 60%, rgba(255, 255, 255, .2) 60%, rgba(255, 255, 255, .2) 70%, transparent 70%, transparent 80%, rgba(255, 255, 255, .2) 80%, rgba(255, 255, 255, .2) 90%, transparent 90%, transparent 100%, rgba(255, 255, 255, .2) 100%, transparent); */
}

701
tabs/pid_tuning.html
View file

@ -3,193 +3,223 @@
<div class="tab-pid_tuning toolbar_fixed_bottom"> <div class="tab-pid_tuning toolbar_fixed_bottom">
<div class="content_wrapper"> <div class="content_wrapper">
<div class="tab_title subtab__header"> <div class="tab_title subtab__header">
<span class="subtab__header_label subtab__header_label--current" for="subtab-pid">PID tuning</span> <span class="subtab__header_label subtab__header_label--current" for="subtab-pid">PID gains</span>
<span class="subtab__header_label" for="subtab-rates">Rates</span> <span class="subtab__header_label" for="subtab-rates">Rates & Expo</span>
<span class="subtab__header_label" for="subtab-filters">Filters</span> <span class="subtab__header_label" for="subtab-filters">Filters</span>
<span class="subtab__header_label" for="subtab-mechanics">Fine details</span> <span class="subtab__header_label" for="subtab-mechanics">Mechanics</span>
</div> </div>
<div class="cf_doc_version_bt">
<a id="button-documentation" href="https://github.com/iNavFlight/inav/releases" target="_blank"></a>
</div>
<div id="subtab-pid" class="subtab__content subtab__content--current"> <div id="subtab-pid" class="subtab__content subtab__content--current">
<div class="cf_column half"> <div class="cf_column right" style="margin-top: -6px;">
<div class="cf_column right"> <div class="default_btn show">
<div class="default_btn show"> <a href="#" id="showAllPids">Show all PIDs</a>
<a href="#" id="showAllPids">Show all PIDs</a> </div>
</div> <div class="default_btn resetbt">
<div class="default_btn resetbt"> <a href="#" id="resetPIDs">Reset PID Controller</a>
<a href="#" id="resetPIDs">Reset PID Controller</a>
</div>
</div> </div>
</div> </div>
<form name="pid-tuning" id="pid-tuning"> <div class="tab_subtitle" style="margin-top: 1em;">PID gains</div>
<div class="clear-both"></div> <div class="clear-both"></div>
<div class="cf_column half pid-section"> <div class="cf_column pid-section">
<div class="gui_box grey"> <div class="gui_box grey">
<table class="pid_titlebar"> <table class="pid_titlebar">
<tr> <tr>
<th class="name" data-i18n="pidTuningName"></th> <th class="name" data-i18n="pidTuningName"></th>
<th class="proportional" data-i18n="pidTuningProportional"></th> <th class="proportional" data-i18n="pidTuningProportional"></th>
<th class="integral" data-i18n="pidTuningIntegral"></th> <th class="integral" data-i18n="pidTuningIntegral"></th>
<th class="derivative" data-i18n="pidTuningDerivative"></th> <th class="derivative" data-i18n="pidTuningDerivative"></th>
<th class="feedforward" data-i18n="pidTuningFeedForward"></th> <th class="feedforward" data-i18n="pidTuningFeedForward"></th>
</tr> </tr>
</table> </table>
<table id="pid_main" class="pid_tuning"> <table id="pid_main" class="pid_tuning">
<tr> <tr>
<th colspan="5"> <th colspan="5">
<div class="pid_mode" data-i18n="pidTuningBasic"></div> <div class="pid_mode" data-i18n="pidTuningBasic"></div>
</th> </th>
</tr> </tr>
<tr class="ROLL" data-pid-bank-position="0"> <tr class="ROLL" data-pid-bank-position="0">
<!-- 0 --> <!-- 0 -->
<td></td> <td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td> <td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td> <td><input type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td>
<td><input type="number" class="rpy_ff" name="ff" step="1" min="0" max="255" /></td> <td><input type="number" class="rpy_ff" name="ff" step="1" min="0" max="255" /></td>
</tr> </tr>
<tr class="PITCH" data-pid-bank-position="1"> <tr class="PITCH" data-pid-bank-position="1">
<!-- 1 --> <!-- 1 -->
<td></td> <td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td> <td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td> <td><input type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td>
<td><input type="number" class="rpy_ff" name="ff" step="1" min="0" max="255" /></td> <td><input type="number" class="rpy_ff" name="ff" step="1" min="0" max="255" /></td>
</tr> </tr>
<tr class="YAW" data-pid-bank-position="2"> <tr class="YAW" data-pid-bank-position="2">
<!-- 2 --> <!-- 2 -->
<td></td> <td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td> <td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td> <td><input type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td>
<td><input type="number" class="rpy_ff" name="ff" step="1" min="0" max="255" /></td> <td><input type="number" class="rpy_ff" name="ff" step="1" min="0" max="255" /></td>
</tr> </tr>
</table> </table>
<table id="pid_baro" class="pid_tuning"> <table id="pid_baro" class="pid_tuning">
<tr> <tr>
<th colspan="5"> <th colspan="5">
<div class="pid_mode" data-i18n="pidTuningAltitude"></div> <div class="pid_mode" data-i18n="pidTuningAltitude"></div>
</th> </th>
</tr> </tr>
<tr class="ALT" data-pid-bank-position="3"> <tr class="ALT" data-pid-bank-position="3">
<!-- 3 --> <!-- 3 -->
<td></td> <td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td> <td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td> <td><input type="number" name="d" step="1" min="0" max="255" /></td>
<td></td> <td></td>
</tr> </tr>
<tr class="Vario" data-pid-bank-position="9"> <tr class="Vario" data-pid-bank-position="9">
<!-- 9 --> <!-- 9 -->
<td>VEL</td> <td>VEL</td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td> <td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td> <td><input type="number" name="d" step="1" min="0" max="255" /></td>
<td></td> <td></td>
</tr> </tr>
</table> </table>
<table id="pid_mag" class="pid_tuning"> <table id="pid_mag" class="pid_tuning">
<tr> <tr>
<th colspan="5"> <th colspan="5">
<div class="pid_mode" data-i18n="pidTuningMag"></div> <div class="pid_mode" data-i18n="pidTuningMag"></div>
</th> </th>
</tr> </tr>
<tr class="MAG" data-pid-bank-position="8"> <tr class="MAG" data-pid-bank-position="8">
<!-- 8 --> <!-- 8 -->
<td></td> <td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td></td> <td></td>
<td></td> <td></td>
<td></td> <td></td>
</tr> </tr>
</table> </table>
<table id="pid_gps" class="pid_tuning"> <table id="pid_gps" class="pid_tuning">
<tr> <tr>
<th colspan="5"> <th colspan="5">
<div class="pid_mode" data-i18n="pidTuningGps"></div> <div class="pid_mode" data-i18n="pidTuningGps"></div>
</th> </th>
</tr> </tr>
<tr class="Pos" data-pid-bank-position="4"> <tr class="Pos" data-pid-bank-position="4">
<!-- 4 --> <!-- 4 -->
<td></td> <td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td></td> <td></td>
<td></td> <td></td>
<td></td> <td></td>
</tr> </tr>
<tr class="PosR" data-pid-bank-position="5"> <tr class="PosR" data-pid-bank-position="5">
<!-- 5 --> <!-- 5 -->
<td></td> <td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td> <td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td> <td><input type="number" name="d" step="1" min="0" max="255" /></td>
<td><input type="number" name="ff" step="1" min="0" max="255" /></td> <td><input type="number" name="ff" step="1" min="0" max="255" /></td>
</tr> </tr>
<tr class="NavR" data-pid-bank-position="6"> <tr class="NavR" data-pid-bank-position="6">
<!-- 6 --> <!-- 6 -->
<td></td> <td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td> <td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td> <td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td> <td><input type="number" name="d" step="1" min="0" max="255" /></td>
<td></td> <td></td>
</tr> </tr>
</table> </table>
</div>
<div class="gui_box grey topspacer">
<table id="pid_accel" class="pid_tuning">
<tr>
<th colspan="4">
<div class="pid_mode borderleft">
<div class="textleft">
<div class="pidTuningLevel" data-i18n="pidTuningLevel"></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuningLevelHelp"></div>
</div>
<div class="pids" data-i18n="pidTuningLevelP"></div>
<div class="pids" data-i18n="pidTuningLevelI"></div>
<div class="pids" data-i18n="pidTuningLevelD"></div>
</div>
</th>
</tr>
<tr class="LEVEL" data-pid-bank-position="7">
<!-- 7 -->
<td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
</table>
</div>
</div> </div>
</form> <div class="gui_box grey topspacer">
<table id="pid_accel" class="pid_tuning">
<tr>
<th colspan="4">
<div class="pid_mode borderleft">
<div class="textleft">
<div class="pidTuningLevel" data-i18n="pidTuningLevel"></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuningLevelHelp"></div>
</div>
<div class="pids" data-i18n="pidTuningLevelP"></div>
<div class="pids" data-i18n="pidTuningLevelI"></div>
<div class="pids" data-i18n="pidTuningLevelD"></div>
</div>
</th>
</tr>
<tr class="LEVEL" data-pid-bank-position="7">
<!-- 7 -->
<td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
</table>
</div>
</div>
<div class="clear-both"></div>
<div class="cf_column" style="margin-top:1em;">
<table class="rate-tpa rate-tpa--misc">
<tr>
<th data-i18n="pidTuningTPA"></th>
<td>
<input type="number" class="rate-tpa_input" id="tpa" step="1" min="0" max="100" />
%
<div class="helpicon cf_tip" data-i18n_title="pidTuningTPAHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuningTPABreakPoint"></th>
<td>
<input type="number" class="rate-tpa_input" id="tpa-breakpoint" step="10" min="1000"
max="2000" />
<div class="helpicon cf_tip" data-i18n_title="pidTuningTPABreakPointHelp"></div>
</td>
</tr>
</table>
</div>
</div> </div>
<div id="subtab-rates" class="subtab__content"> <div id="subtab-rates" class="subtab__content">
<div class="cf_column half"> <div class="tab_subtitle" style="margin-top: 1em;">Rates & Expo</div>
<div class="clear-both"></div>
<div class="cf_column">
<table class="rate-tpa rate-tpa--inav"> <table class="rate-tpa rate-tpa--inav">
<tbody> <tbody>
<tr> <tr>
<th class="roll" data-i18n="pidTuningRollRate"></th> <th class="roll" data-i18n="pidTuningRollRate"></th>
<td class="roll"> <td class="roll">
<input type="number" name="roll" class="rate-tpa_input" step="10" min="60" max="1800" /> <input type="number" id="rate-roll" class="rate-tpa_input" step="10" min="60"
max="1800" />
degrees per second degrees per second
</td> </td>
</tr> </tr>
<tr> <tr>
<th class="pitch" data-i18n="pidTuningPitchRate"></th> <th class="pitch" data-i18n="pidTuningPitchRate"></th>
<td class="pitch"> <td class="pitch">
<input type="number" name="pitch" class="rate-tpa_input" step="10" min="60" <input type="number" id="rate-pitch" class="rate-tpa_input" step="10" min="60"
max="1800" /> degrees per second max="1800" /> degrees per second
</td> </td>
</tr> </tr>
<tr> <tr>
<th class="yaw" data-i18n="pidTuningYawRate"></th> <th class="yaw" data-i18n="pidTuningYawRate"></th>
<td class="yaw"> <td class="yaw">
<input type="number" name="yaw" class="rate-tpa_input" step="10" min="20" max="1800" /> <input type="number" id="rate-yaw" class="rate-tpa_input" step="10" min="20"
max="1800" />
degrees per second degrees per second
</td> </td>
</tr> </tr>
<tr>
<th>Roll & Pitch Expo</th>
<td>
<input data-setting="rc_expo" type="number" class="rate-tpa_input" />
</td>
</tr>
<tr>
<th>Yaw Expo</th>
<td>
<input data-setting="rc_yaw_expo" type="number" class="rate-tpa_input" />
</td>
</tr>
<tr> <tr>
<th data-i18n="pidTuningMaxRollAngle"></th> <th data-i18n="pidTuningMaxRollAngle"></th>
<td> <td>
@ -206,44 +236,44 @@
<div class="helpicon cf_tip" data-i18n_title="pidTuningMaxPitchAngleHelp"></div> <div class="helpicon cf_tip" data-i18n_title="pidTuningMaxPitchAngleHelp"></div>
</td> </td>
</tr> </tr>
<tr>
<th data-i18n="magHoldYawRate"></th>
<td>
<input type="number" id="magHoldYawRate" class="rate-tpa_input" step="5" min="10"
max="250" /> degrees per second
<div class="helpicon cf_tip" data-i18n_title="pidTuningMagHoldYawRateHelp"></div>
</td>
</tr>
<tr> <tr>
<th class="roll" data-i18n="pidTuningManualRollRate"></th> <th class="roll" data-i18n="pidTuningManualRollRate"></th>
<td class="roll"> <td class="roll">
<input type="number" name="manual_roll" class="rate-tpa_input" step="1" min="0" <input type="number" id="rate-manual-roll" class="rate-tpa_input" step="1" min="0"
max="100" /> % max="100" /> %
</td> </td>
</tr> </tr>
<tr> <tr>
<th class="pitch" data-i18n="pidTuningManualPitchRate"></th> <th class="pitch" data-i18n="pidTuningManualPitchRate"></th>
<td class="pitch"> <td class="pitch">
<input type="number" name="manual_pitch" class="rate-tpa_input" step="1" min="0" <input type="number" id="rate-manual-pitch" class="rate-tpa_input" step="1" min="0"
max="100" /> % max="100" /> %
</td> </td>
</tr> </tr>
<tr> <tr>
<th class="yaw" data-i18n="pidTuningManualYawRate"></th> <th class="yaw" data-i18n="pidTuningManualYawRate"></th>
<td class="yaw"> <td class="yaw">
<input type="number" name="manual_yaw" class="rate-tpa_input" step="1" min="0" <input type="number" id="rate-manual-yaw" class="rate-tpa_input" step="1" min="0"
max="100" /> % max="100" /> %
</td> </td>
</tr> </tr>
<tr>
<th data-i18n="magHoldYawRate"></th>
<td>
<input type="number" id="magHoldYawRate" class="rate-tpa_input" step="5" min="10"
max="250" /> degrees per second
<div class="helpicon cf_tip" data-i18n_title="pidTuningMagHoldYawRateHelp"></div>
</td>
</tr>
</tbody> </tbody>
</table> </table>
</div> </div>
</div> </div>
<div id="subtab-filters" class="subtab__content"> <div id="subtab-filters" class="subtab__content">
<div class="tab_title" data-i18n="mainFilters" style="margin-top: 1em;"></div> <div class="tab_subtitle" data-i18n="mainFilters" style="margin-top: 1em;"></div>
<div class="clear-both"></div> <div class="clear-both"></div>
<div class="cf_column half"> <div class="cf_column">
<table class="rate-tpa rate-tpa--filtering"> <table class="rate-tpa rate-tpa--filtering">
<tbody> <tbody>
<tr class="requires-v2_2"> <tr class="requires-v2_2">
@ -283,8 +313,8 @@
</div> </div>
<div class="clear-both"></div> <div class="clear-both"></div>
<div class="tab_title" data-i18n="tabFilteringAdvanced" style="margin-top: 1em;"></div> <div class="tab_subtitle" data-i18n="tabFilteringAdvanced" style="margin-top: 1em;"></div>
<div class="cf_column half"> <div class="cf_column">
<table class="rate-tpa rate-tpa--filtering"> <table class="rate-tpa rate-tpa--filtering">
<tbody> <tbody>
<tr> <tr>
@ -302,6 +332,39 @@
<div class="helpicon cf_tip" data-i18n_title="acc_lpf_type_help"></div> <div class="helpicon cf_tip" data-i18n_title="acc_lpf_type_help"></div>
</td> </td>
</tr> </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 class="clear-both"></div>
<div class="tab_subtitle" style="margin-top: 1em;">Static Notch Filters (deprecated)</div>
<div class="cf_column">
<table class="rate-tpa rate-tpa--filtering">
<tbody>
<tr>
<th data-i18n="accNotchHz"></th>
<td>
<input type="number" data-simple-bind="FILTER_CONFIG.accNotchHz" id="accNotchHz"
class="rate-tpa_input" step="1" min="0" max="255" /> Hz
<div class="helpicon cf_tip" data-i18n_title="accNotchHzHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="accNotchCutoff"></th>
<td>
<input type="number" data-simple-bind="FILTER_CONFIG.accNotchCutoff"
id="gyroNotchCutoff2" class="rate-tpa_input" step="1" min="0" max="500" /> Hz
<div class="helpicon cf_tip" data-i18n_title="accNotchCutoffHelp"></div>
</td>
</tr>
<tr> <tr>
<th data-i18n="gyroNotchHz1"></th> <th data-i18n="gyroNotchHz1"></th>
<td> <td>
@ -334,22 +397,6 @@
<div class="helpicon cf_tip" data-i18n_title="gyroNotchCutoff2Help"></div> <div class="helpicon cf_tip" data-i18n_title="gyroNotchCutoff2Help"></div>
</td> </td>
</tr> </tr>
</tbody>
</table>
</div>
<div class="cf_column half">
<table class="spacer_left rate-tpa rate-tpa--filtering">
<tbody>
<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>
<tr> <tr>
<th data-i18n="dtermNotchHz"></th> <th data-i18n="dtermNotchHz"></th>
<td> <td>
@ -366,202 +413,110 @@
<div class="helpicon cf_tip" data-i18n_title="dtermNotchCutoffHelp"></div> <div class="helpicon cf_tip" data-i18n_title="dtermNotchCutoffHelp"></div>
</td> </td>
</tr> </tr>
<tr>
<th data-i18n="accNotchHz"></th>
<td>
<input type="number" data-simple-bind="FILTER_CONFIG.accNotchHz" id="accNotchHz"
class="rate-tpa_input" step="1" min="0" max="255" /> Hz
<div class="helpicon cf_tip" data-i18n_title="accNotchHzHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="accNotchCutoff"></th>
<td>
<input type="number" data-simple-bind="FILTER_CONFIG.accNotchCutoff"
id="gyroNotchCutoff2" class="rate-tpa_input" step="1" min="0" max="500" /> Hz
<div class="helpicon cf_tip" data-i18n_title="accNotchCutoffHelp"></div>
</td>
</tr>
</tbody> </tbody>
</table> </table>
</div> </div>
</div> </div>
<div id="subtab-mechanics" class="subtab__content"> <div id="subtab-mechanics" class="subtab__content">
<div class="clear-both"></div> <div class="clear-both"></div>
<div class="tab_title" data-i18n="iTermMechanics" style="margin-top: 1em;"></div> <div class="tab_subtitle" data-i18n="iTermMechanics" style="margin-top: 1em;"></div>
<div class="cf_column half"> <div class="cf_column">
<table class="rate-tpa rate-tpa--filtering"> <table class="rate-tpa rate-tpa--filtering">
<tbody> <tbody>
<tr class="requires-v2_2"> <tr class="requires-v2_2">
<th data-i18n="mc_airmode_type"></th> <th data-i18n="mc_airmode_type"></th>
<td>
<select data-setting="mc_airmode_type" />
<div class="helpicon cf_tip" data-i18n_title="mc_airmode_type_help"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="itermRelax"></th>
<td>
<select data-setting="mc_iterm_relax" />
<div class="helpicon cf_tip" data-i18n_title="itermRelaxHelp"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="itermRelaxCutoff"></th>
<td>
<input data-setting="mc_iterm_relax_cutoff" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="itermRelaxCutoffHelp"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="cf_column half">
<table class="spacer_left rate-tpa rate-tpa--filtering">
<tbody>
<tr class="requires-v2_2">
<th data-i18n="mc_airmode_threshold"></th>
<td>
<select data-setting="mc_airmode_threshold" />
<div class="helpicon cf_tip" data-i18n_title="mc_airmode_threshold_help"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="itermRelaxType"></th>
<td>
<select data-setting="mc_iterm_relax_type" />
<div class="helpicon cf_tip" data-i18n_title="itermRelaxTypeHelp"></div>
</td>
</tr>
<tr class="requires-v2_2_2">
<th data-i18n="antigravityGain"></th>
<td>
<input class="rate-tpa_input" data-setting="antigravity_gain" />
</td>
</tr>
<tr class="requires-v2_2_2">
<th data-i18n="antigravityAccelerator"></th>
<td>
<input class="rate-tpa_input" data-setting="antigravity_accelerator" />
</td>
</tr>
<tr class="requires-v2_2_2">
<th data-i18n="antigravityCutoff"></th>
<td>
<input class="rate-tpa_input" data-setting="antigravity_cutoff_lpf_hz" />
</td>
</tr>
</tbody>
</table>
</div>
<div class="clear-both"></div>
<div class="tab_title" data-i18n="dTermMechanics" style="margin-top: 1em;"></div>
<div class="cf_column half">
<table class="rate-tpa rate-tpa--filtering">
<tbody>
<tr>
<th data-i18n="dtermSetpointWeight"></th>
<td>
<input type="number" data-setting="dterm_setpoint_weight" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="dtermSetpointWeightHelp"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="d_boost_factor"></th>
<td>
<input data-setting="d_boost_factor" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="d_boost_factor_help"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="cf_column half">
<table class="spacer_left rate-tpa rate-tpa--filtering">
<tbody>
<tr class="requires-v2_2">
<th data-i18n="d_boost_max_at_acceleration"></th>
<td>
<input data-setting="d_boost_max_at_acceleration" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="d_boost_max_at_acceleration_help"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="d_boost_gyro_delta_lpf_hz"></th>
<td>
<input data-setting="d_boost_gyro_delta_lpf_hz" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="d_boost_gyro_delta_lpf_hz_help"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="clear-both"></div>
<div class="tab_title" data-i18n="tabMisc" style="margin-top: 1em;"></div>
<div class="cf_column half">
<table class="rate-tpa rate-tpa--misc">
<tr>
<th data-i18n="yawJumpPreventionLimit"></th>
<td> <td>
<input type="number" id="yawJumpPreventionLimit" class="rate-tpa_input" step="10" min="80" <select data-setting="mc_airmode_type" />
max="500" /> <div class="helpicon cf_tip" data-i18n_title="mc_airmode_type_help"></div>
<div class="helpicon cf_tip" data-i18n_title="yawJumpPreventionLimitHelp"></div>
</td> </td>
</tr> </tr>
<tr> <tr class="requires-v2_2">
<th data-i18n="yawPLimit"></th> <th data-i18n="mc_airmode_threshold"></th>
<td> <td>
<input type="number" id="yawPLimit" class="rate-tpa_input" step="10" min="100" max="500" /> <select data-setting="mc_airmode_threshold" />
<div class="helpicon cf_tip" data-i18n_title="yawPLimitHelp"></div> <div class="helpicon cf_tip" data-i18n_title="mc_airmode_threshold_help"></div>
</td> </td>
</tr> </tr>
</table> <tr class="requires-v2_2">
</div> <th data-i18n="itermRelax"></th>
<div class="cf_column half"> <td>
<table class="spacer_left rate-tpa rate-tpa--filtering"> <select data-setting="mc_iterm_relax" />
<tbody> <div class="helpicon cf_tip" data-i18n_title="itermRelaxHelp"></div>
<tr> </td>
<th data-i18n="axisAccelerationLimitRollPitch"></th> </tr>
<td> <tr class="requires-v2_2">
<input type="number" id="axisAccelerationLimitRollPitch" class="rate-tpa_input" step="10" <th data-i18n="itermRelaxCutoff"></th>
min="0" max="655350" /> <td>
dps^2 <input data-setting="mc_iterm_relax_cutoff" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="axisAccelerationLimitRollPitchHelp"></div> <div class="helpicon cf_tip" data-i18n_title="itermRelaxCutoffHelp"></div>
</td> </td>
</tr> </tr>
<tr> <tr class="requires-v2_2">
<th data-i18n="axisAccelerationLimitYaw"></th> <th data-i18n="itermRelaxType"></th>
<td> <td>
<input type="number" id="axisAccelerationLimitYaw" class="rate-tpa_input" step="10" min="0" <select data-setting="mc_iterm_relax_type" />
max="655350" /> <div class="helpicon cf_tip" data-i18n_title="itermRelaxTypeHelp"></div>
dps^2 </td>
<div class="helpicon cf_tip" data-i18n_title="axisAccelerationLimitYawHelp"></div> </tr>
</td> <tr class="requires-v2_2_2">
</tr> <th data-i18n="antigravityGain"></th>
<tr> <td>
<th data-i18n="pidTuningTPA"></th> <input class="rate-tpa_input" data-setting="antigravity_gain" />
<td> </td>
<input type="number" class="rate-tpa_input" id="tpa" step="1" min="0" max="100" /> </tr>
% <tr class="requires-v2_2_2">
<div class="helpicon cf_tip" data-i18n_title="pidTuningTPAHelp"></div> <th data-i18n="antigravityAccelerator"></th>
</td> <td>
</tr> <input class="rate-tpa_input" data-setting="antigravity_accelerator" />
<tr> </td>
<th data-i18n="pidTuningTPABreakPoint"></th> </tr>
<td> <tr class="requires-v2_2_2">
<input type="number" class="rate-tpa_input" id="tpa-breakpoint" step="10" min="1000" <th data-i18n="antigravityCutoff"></th>
max="2000" /> <td>
<div class="helpicon cf_tip" data-i18n_title="pidTuningTPABreakPointHelp"></div> <input class="rate-tpa_input" data-setting="antigravity_cutoff_lpf_hz" />
</td> </td>
</tr> </tr>
</tbody> </tbody>
</table> </table>
</div> </div>
<div class="clear-both"></div>
<div class="tab_subtitle" data-i18n="dTermMechanics" style="margin-top: 1em;"></div>
<div class="cf_column">
<table class="rate-tpa rate-tpa--filtering">
<tbody>
<tr>
<th data-i18n="dtermSetpointWeight"></th>
<td>
<input type="number" data-setting="dterm_setpoint_weight" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="dtermSetpointWeightHelp"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="d_boost_factor"></th>
<td>
<input data-setting="d_boost_factor" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="d_boost_factor_help"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="d_boost_max_at_acceleration"></th>
<td>
<input data-setting="d_boost_max_at_acceleration" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="d_boost_max_at_acceleration_help"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="d_boost_gyro_delta_lpf_hz"></th>
<td>
<input data-setting="d_boost_gyro_delta_lpf_hz" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="d_boost_gyro_delta_lpf_hz_help"></div>
</td>
</tr>
</tbody>
</table>
</div>
</div> </div>
</div> </div>
<div class="clear-both"></div> <div class="clear-both"></div>

54
tabs/pid_tuning.js
View file

@ -48,15 +48,13 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
// Fill in data from RC_tuning object // Fill in data from RC_tuning object
$('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2)); $('#rate-roll').val(RC_tuning.roll_rate);
$('#rate-pitch').val(RC_tuning.pitch_rate);
$('#rate-yaw').val(RC_tuning.yaw_rate);
$('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate); $('#rate-manual-roll').val(RC_tuning.manual_roll_rate);
$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate); $('#rate-manual-pitch').val(RC_tuning.manual_pitch_rate);
$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate); $('#rate-manual-yaw').val(RC_tuning.manual_yaw_rate);
$('.rate-tpa input[name="manual_roll"]').val(RC_tuning.manual_roll_rate);
$('.rate-tpa input[name="manual_pitch"]').val(RC_tuning.manual_pitch_rate);
$('.rate-tpa input[name="manual_yaw"]').val(RC_tuning.manual_yaw_rate);
$('#tpa').val(RC_tuning.dynamic_THR_PID); $('#tpa').val(RC_tuning.dynamic_THR_PID);
$('#tpa-breakpoint').val(RC_tuning.dynamic_THR_breakpoint); $('#tpa-breakpoint').val(RC_tuning.dynamic_THR_breakpoint);
@ -74,16 +72,16 @@ TABS.pid_tuning.initialize = function (callback) {
}); });
// catch RC_tuning changes // catch RC_tuning changes
RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val()); RC_tuning.roll_rate = parseFloat($('#rate-roll').val());
RC_tuning.roll_rate = parseFloat($('.rate-tpa input[name="roll"]:visible').val()); RC_tuning.pitch_rate = parseFloat($('#rate-pitch').val());
RC_tuning.pitch_rate = parseFloat($('.rate-tpa input[name="pitch"]:visible').val()); RC_tuning.yaw_rate = parseFloat($('#rate-yaw').val());
RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]:visible').val());
RC_tuning.dynamic_THR_PID = parseInt($('#tpa').val()); RC_tuning.dynamic_THR_PID = parseInt($('#tpa').val());
RC_tuning.dynamic_THR_breakpoint = parseInt($('#tpa-breakpoint').val()); RC_tuning.dynamic_THR_breakpoint = parseInt($('#tpa-breakpoint').val());
RC_tuning.manual_roll_rate = $('.rate-tpa input[name="manual_roll"]:visible').val(); RC_tuning.manual_roll_rate = $('#rate-manual-roll').val();
RC_tuning.manual_pitch_rate = $('.rate-tpa input[name="manual_pitch"]:visible').val(); RC_tuning.manual_pitch_rate = $('#rate-manual-pitch').val();
RC_tuning.manual_yaw_rate = $('.rate-tpa input[name="manual_yaw"]:visible').val(); RC_tuning.manual_yaw_rate = $('#rate-manual-yaw').val();
} }
function hideUnusedPids(sensors_detected) { function hideUnusedPids(sensors_detected) {
$('.tab-pid_tuning table.pid_tuning').hide(); $('.tab-pid_tuning table.pid_tuning').hide();
@ -131,37 +129,21 @@ TABS.pid_tuning.initialize = function (callback) {
pid_and_rc_to_form(); pid_and_rc_to_form();
var $magHoldYawRate = $("#magHoldYawRate"), var $magHoldYawRate = $("#magHoldYawRate"),
$yawJumpPreventionLimit = $('#yawJumpPreventionLimit'),
$yawPLimit = $('#yawPLimit'),
$gyroSoftLpfHz = $('#gyroSoftLpfHz'), $gyroSoftLpfHz = $('#gyroSoftLpfHz'),
$accSoftLpfHz = $('#accSoftLpfHz'), $accSoftLpfHz = $('#accSoftLpfHz'),
$dtermLpfHz = $('#dtermLpfHz'), $dtermLpfHz = $('#dtermLpfHz'),
$yawLpfHz = $('#yawLpfHz'), $yawLpfHz = $('#yawLpfHz');
$axisAccelerationLimitRollPitch = $('#axisAccelerationLimitRollPitch'),
$axisAccelerationLimitYaw = $('#axisAccelerationLimitYaw');
$magHoldYawRate.val(INAV_PID_CONFIG.magHoldRateLimit); $magHoldYawRate.val(INAV_PID_CONFIG.magHoldRateLimit);
$yawJumpPreventionLimit.val(INAV_PID_CONFIG.yawJumpPreventionLimit);
$yawPLimit.val(PID_ADVANCED.yawPLimit);
$gyroSoftLpfHz.val(FILTER_CONFIG.gyroSoftLpfHz); $gyroSoftLpfHz.val(FILTER_CONFIG.gyroSoftLpfHz);
$accSoftLpfHz.val(INAV_PID_CONFIG.accSoftLpfHz); $accSoftLpfHz.val(INAV_PID_CONFIG.accSoftLpfHz);
$dtermLpfHz.val(FILTER_CONFIG.dtermLpfHz); $dtermLpfHz.val(FILTER_CONFIG.dtermLpfHz);
$yawLpfHz.val(FILTER_CONFIG.yawLpfHz); $yawLpfHz.val(FILTER_CONFIG.yawLpfHz);
$axisAccelerationLimitRollPitch.val(PID_ADVANCED.axisAccelerationLimitRollPitch * 10);
$axisAccelerationLimitYaw.val(PID_ADVANCED.axisAccelerationLimitYaw * 10);
$magHoldYawRate.change(function () { $magHoldYawRate.change(function () {
INAV_PID_CONFIG.magHoldRateLimit = parseInt($magHoldYawRate.val(), 10); INAV_PID_CONFIG.magHoldRateLimit = parseInt($magHoldYawRate.val(), 10);
}); });
$yawJumpPreventionLimit.change(function () {
INAV_PID_CONFIG.yawJumpPreventionLimit = parseInt($yawJumpPreventionLimit.val(), 10);
});
$yawPLimit.change(function () {
PID_ADVANCED.yawPLimit = parseInt($yawPLimit.val(), 10);
});
$gyroSoftLpfHz.change(function () { $gyroSoftLpfHz.change(function () {
FILTER_CONFIG.gyroSoftLpfHz = parseInt($gyroSoftLpfHz.val(), 10); FILTER_CONFIG.gyroSoftLpfHz = parseInt($gyroSoftLpfHz.val(), 10);
}); });
@ -178,14 +160,6 @@ TABS.pid_tuning.initialize = function (callback) {
FILTER_CONFIG.yawLpfHz = parseInt($yawLpfHz.val(), 10); FILTER_CONFIG.yawLpfHz = parseInt($yawLpfHz.val(), 10);
}); });
$axisAccelerationLimitRollPitch.change(function () {
PID_ADVANCED.axisAccelerationLimitRollPitch = Math.round(parseInt($axisAccelerationLimitRollPitch.val(), 10) / 10);
});
$axisAccelerationLimitYaw.change(function () {
PID_ADVANCED.axisAccelerationLimitYaw = Math.round(parseInt($axisAccelerationLimitYaw.val(), 10) / 10);
});
if (semver.gte(CONFIG.flightControllerVersion, "2.2.0")) { if (semver.gte(CONFIG.flightControllerVersion, "2.2.0")) {
$('.requires-v2_2').show(); $('.requires-v2_2').show();
} else { } else {