Minor fixes on PID Tuning tab

_locales/en/messages.json

@@ -1031,11 +1031,8 @@
     "pidTuningFeedForward": {
         "message": "FeedForward"
     },
-    "dtermSetpointWeight": {
+    "pidTuningControlDerivative": {
-        "message": "Dterm setpoint weight"
+        "message": "Constrol Derivative"
-    },
-    "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"
@@ -3361,12 +3358,6 @@
     "itermRelaxHelp": {
         "message": "Defines Iterm relaxation algorithm activation. PR mean it's active on Roll and Pitch axis. 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"
     },

js/fc.js

@@ -66,11 +66,14 @@ var FC = {
     MAX_SERVO_RATE: 125,
     MIN_SERVO_RATE: 0,
     isRpyFfComponentUsed: function () {
-        return (MIXER_CONFIG.platformType == PLATFORM_AIRPLANE || MIXER_CONFIG.platformType == PLATFORM_ROVER || MIXER_CONFIG.platformType == PLATFORM_BOAT) || (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR && semver.gte(CONFIG.flightControllerVersion, "2.6.0"));
+        return (MIXER_CONFIG.platformType == PLATFORM_AIRPLANE || MIXER_CONFIG.platformType == PLATFORM_ROVER || MIXER_CONFIG.platformType == PLATFORM_BOAT) || ((MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER) && semver.gte(CONFIG.flightControllerVersion, "2.6.0"));
     },
     isRpyDComponentUsed: function () {
         return MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER;
     },
+    isCdComponentUsed: function () {
+        return FC.isRpyDComponentUsed();
+    },
     resetState: function () {
         SENSOR_STATUS = {
             isHardwareHealthy: 0,

tabs/pid_tuning.html

@@ -508,13 +508,6 @@
                                 <div class="helpicon cf_tip" data-i18n_title="itermRelaxCutoffHelp"></div>
                             </td>
                         </tr>
-                        <tr>
-                            <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>
                             <th data-i18n="antigravityGain"></th>
                             <td>
@@ -542,13 +535,6 @@
             <div class="cf_column">
                 <table class="settings-table settings-table--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>
                             <th data-i18n="d_boost_factor"></th>
                             <td>

tabs/pid_tuning.js

@@ -112,6 +112,11 @@ TABS.pid_tuning.initialize = function (callback) {
         // translate to user-selected language
         localize();
 
+        if (FC.isCdComponentUsed()) {
+            $('th.feedforward').html(chrome.i18n.getMessage('pidTuningControlDerivative'));
+            $('th.feedforward').attr('title', chrome.i18n.getMessage('pidTuningControlDerivative'));
+        }
+
         if (semver.gte(CONFIG.flightControllerVersion, "2.4.0")) {
             $('.requires-v2_4').show();
         } else {