mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-15 12:25:13 +03:00
Support independent configuration of pitch and roll rates. Cleanup of
tpa breakpoint configuration support.
This commit is contained in:
Dominic Clifton
parent
dd7efa9e54
commit
4b2704e784
6 changed files with 92 additions and 25 deletions
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@ -567,6 +567,12 @@
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"pidTuningRollPitchRate": {
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"message": "ROLL & PITCH rate"
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},
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"pidTuningRollRate": {
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"message": "ROLL rate"
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},
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"pidTuningPitchRate": {
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"message": "PITCH rate"
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},
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"pidTuningYawRate": {
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"message": "YAW rate"
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},
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@ -330,6 +330,30 @@ function configuration_restore(callback) {
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appliedMigrationsCount++;
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}
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if (!compareVersions(migratedVersion, '0.63.0')) {
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// Serial configuation redesigned. Until a migration is written just reset the serial port configuration
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configuration.SERIAL_CONFIG = {
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ports: []
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};
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for (var profileIndex = 0; profileIndex < 3; profileIndex++) {
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var RC = configuration.profiles[profileIndex].RC;
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// TPA breakpoint was added
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if (!RC.dynamic_THR_breakpoint) {
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RC.dynamic_THR_breakpoint = 1500; // firmware default
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}
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// Roll and pitch rates were split
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RC.roll_rate = RC.roll_pitch_rate;
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RC.pitch_rate = RC.roll_pitch_rate;
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}
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migratedVersion = '0.63.0';
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GUI.log(chrome.i18n.getMessage('configMigratedTo', [migratedVersion]));
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appliedMigrationsCount++;
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}
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GUI.log(chrome.i18n.getMessage('configMigrationSuccessful', [appliedMigrationsCount]));
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return true;
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}
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@ -65,7 +65,9 @@ var RC = {
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var RC_tuning = {
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RC_RATE: 0,
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RC_EXPO: 0,
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roll_pitch_rate: 0,
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roll_pitch_rate: 0, // pre 1.7 api only
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roll_rate: 0,
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pitch_rate: 0,
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yaw_rate: 0,
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dynamic_THR_PID: 0,
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throttle_MID: 0,
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37
js/msp.js
37
js/msp.js
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@ -288,14 +288,22 @@ var MSP = {
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ANALOG.amperage = data.getInt16(5, 1) / 100; // A
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break;
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case MSP_codes.MSP_RC_TUNING:
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RC_tuning.RC_RATE = parseFloat((data.getUint8(0) / 100).toFixed(2));
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RC_tuning.RC_EXPO = parseFloat((data.getUint8(1) / 100).toFixed(2));
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RC_tuning.roll_pitch_rate = parseFloat((data.getUint8(2) / 100).toFixed(2));
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RC_tuning.yaw_rate = parseFloat((data.getUint8(3) / 100).toFixed(2));
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RC_tuning.dynamic_THR_PID = parseFloat((data.getUint8(4) / 100).toFixed(2));
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RC_tuning.throttle_MID = parseFloat((data.getUint8(5) / 100).toFixed(2));
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RC_tuning.throttle_EXPO = parseFloat((data.getUint8(6) / 100).toFixed(2));
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RC_tuning.dynamic_THR_breakpoint = parseInt(data.getUint16(7, 1));
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var offset = 0;
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RC_tuning.RC_RATE = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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if (CONFIG.apiVersion < 1.7) {
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RC_tuning.roll_pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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} else {
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RC_tuning.roll_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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}
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RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.dynamic_THR_PID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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if (CONFIG.apiVersion >= 1.7) {
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RC_tuning.dynamic_THR_breakpoint = data.getUint16(offset++, 1);
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}
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break;
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case MSP_codes.MSP_PID:
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// PID data arrived, we need to scale it and save to appropriate bank / array
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@ -913,13 +921,20 @@ MSP.crunch = function (code) {
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case MSP_codes.MSP_SET_RC_TUNING:
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buffer.push(parseInt(RC_tuning.RC_RATE * 100));
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buffer.push(parseInt(RC_tuning.RC_EXPO * 100));
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buffer.push(parseInt(RC_tuning.roll_pitch_rate * 100));
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if (CONFIG.apiVersion < 1.7) {
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buffer.push(parseInt(RC_tuning.roll_pitch_rate * 100));
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} else {
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buffer.push(parseInt(RC_tuning.roll_rate * 100));
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buffer.push(parseInt(RC_tuning.pitch_rate * 100));
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}
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buffer.push(parseInt(RC_tuning.yaw_rate * 100));
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buffer.push(parseInt(RC_tuning.dynamic_THR_PID * 100));
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buffer.push(parseInt(RC_tuning.throttle_MID * 100));
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buffer.push(parseInt(RC_tuning.throttle_EXPO * 100));
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buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
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buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
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if (CONFIG.apiVersion >= 1.7) {
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buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
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buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
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}
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break;
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// Disabled, cleanflight does not use MSP_SET_BOX.
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/*
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@ -79,18 +79,26 @@
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</tr>
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</table>
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<table class="rate-tpa">
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<tr>
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<th i18n="pidTuningRollPitchRate"></th>
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<th i18n="pidTuningYawRate"></th>
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<th i18n="pidTuningTPA"></th>
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<th i18n="pidTuningTPABreakPoint" class="tpa"></th>
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</tr>
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<tr>
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<td><input type="number" name="roll-pitch" step="0.01" min="0" max="2.55"/></td>
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<td><input type="number" name="yaw" step="0.01" min="0" max="2.55"/></td>
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<td><input type="number" name="tpa" step="0.01" min="0" max="2.55"/></td>
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<td><input type="number" name="tpa-breakpoint" step="10" min="1000" max="2000" /></td>
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</tr>
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<thead>
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<tr>
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<th class="roll-pitch" i18n="pidTuningRollPitchRate"></th>
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<th class="roll" i18n="pidTuningRollRate"></th>
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<th class="pitch" i18n="pidTuningPitchRate"></th>
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<th i18n="pidTuningYawRate"></th>
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<th i18n="pidTuningTPA"></th>
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<th class="tpa-breakpoint" i18n="pidTuningTPABreakPoint"></th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="roll-pitch" ><input type="number" name="roll-pitch" step="0.01" min="0" max="2.55"/></td>
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<td class="roll" ><input type="number" name="roll" step="0.01" min="0" max="2.55"/></td>
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<td class="pitch" ><input type="number" name="pitch" step="0.01" min="0" max="2.55"/></td>
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<td><input type="number" name="yaw" step="0.01" min="0" max="2.55"/></td>
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<td><input type="number" name="tpa" step="0.01" min="0" max="2.55"/></td>
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<td class="tpa-breakpoint"><input type="number" name="tpa-breakpoint" step="10" min="1000" max="2000" /></td>
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</tr>
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</tbody>
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</table>
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</form>
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<div class="clear-both"></div>
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@ -173,6 +173,8 @@ TABS.pid_tuning.initialize = function (callback) {
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// Fill in data from RC_tuning object
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$('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
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$('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate.toFixed(2));
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$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate.toFixed(2));
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$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
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$('.rate-tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
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$('.rate-tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint);
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@ -232,6 +234,8 @@ TABS.pid_tuning.initialize = function (callback) {
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// catch RC_tuning changes
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RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
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RC_tuning.roll_rate = parseFloat($('.rate-tpa input[name="roll"]').val());
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RC_tuning.pitch_rate = parseFloat($('.rate-tpa input[name="pitch"]').val());
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RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]').val());
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RC_tuning.dynamic_THR_PID = parseFloat($('.rate-tpa input[name="tpa"]').val());
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RC_tuning.dynamic_THR_breakpoint = parseInt($('.rate-tpa input[name="tpa-breakpoint"]').val());
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@ -271,6 +275,14 @@ TABS.pid_tuning.initialize = function (callback) {
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pidController_e.prop('disabled', true);
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}
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if (CONFIG.apiVersion < 1.7) {
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$('.rate-tpa .tpa-breakpoint').hide();
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$('.rate-tpa .roll').hide();
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$('.rate-tpa .pitch').hide();
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} else {
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$('.rate-tpa .roll-pitch').hide();
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}
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// Fill in currently selected profile
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profile_e.val(CONFIG.profile);
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