Iterm relax settings

_locales/en/messages.json

@@ -915,6 +915,12 @@
     "pidTuningFeedForward": {
         "message": "FeedForward"
     },
+    "dtermSetpointWeight": {
+        "message": "Dterm setpoint weight"
+    },
+    "dtermSetpointWeightHelp": {
+        "message": "The lower the value, the more damped all the maneuvers are. 0 mean Dterm is computed from gyro, 1 from error and 2 from setpoint. For gentler feel lower the value. For sharper response, raise it"
+    },
     "pidTuningRollPitchRate": {
         "message": "ROLL & PITCH rate"
     },
@@ -2967,5 +2973,23 @@
     },
     "active": {
         "message": "Active"
+    },
+    "itermRelax": {
+        "message": "Iterm Relax"
+    },
+    "itermRelaxHelp": {
+        "message": "Defines Iterm relaxation algorithm activation. PR mean it's active on Roll and Pitch axises. PRY is active also on Yaw."
+    },
+    "itermRelaxType": {
+        "message": "Iterm Relax Type"
+    },
+    "itermRelaxTypeHelp": {
+        "message": "GYRO mode is more clinical and complete in suppressing iTerm, SETPOINT mode is a bit smoother with slightly softer landings after flips."
+    },
+    "itermRelaxCutoff": {
+        "message": "Iterm Relax Cutoff Frequency"
+    },
+    "itermRelaxCutoffHelp": {
+        "message": "Lower values open a longer time window for Iterm Relax to work on and stronger Iterm supression. Higher values shortens the time windows and reduces supression."
     }
 }

js/settings.js

@@ -50,6 +50,12 @@ var Settings = (function () {
                     }
                 } else if (s.setting.type == 'string') {
                     input.val(s.value);
+                } else if (s.setting.type == 'float') {
+                    input.attr('type', 'number');
+                    input.attr('step', "0.01");
+                    input.attr('min', s.setting.min);
+                    input.attr('max', s.setting.max);
+                    input.val(s.value.toFixed(2));
                 } else {
                     var multiplier = parseFloat(input.data('setting-multiplier') || 1);
                     input.attr('type', 'number');

src/css/tabs/pid_tuning.css

@@ -179,6 +179,11 @@
     line-height: 20px;
 }
 
+.tab-pid_tuning select {
+    line-height: 20px;
+    margin: 4px;
+}
+
 .tab-pid_tuning .pid_tuning .name {
     width: 25%;
 }

tabs/pid_tuning.html

@@ -333,6 +333,34 @@
         <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="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="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="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">
+                        <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>
                 <tr>
                     <th data-i18n="yawJumpPreventionLimit"></th>
                     <td >

tabs/pid_tuning.js

@@ -208,6 +208,12 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.requires-v2_1').hide();
         }
 
+        if (semver.gte(CONFIG.flightControllerVersion, "2.2.0")) {
+            $('.requires-v2_2').show();
+        } else {
+            $('.requires-v2_2').hide();
+        }
+
         if (semver.lt(CONFIG.flightControllerVersion, "2.2.0")) {
             $('[name=ff]').prop('disabled', 'disabled');
         }