Add maximum PITCH and ROLL angles to the PID tuning tab

- Add Pitch and Roll angles below the rates
- Add help messages indicating that these values constrain the
maximum inclination during navigation.
- Add help messages for navigation max bank/climb/dive angles
- Add help for pitch2thr

_locales/en/messages.json

@@ -957,6 +957,18 @@
     "pidTuningYawRate": {
         "message": "YAW rate"
     },
+    "pidTuningMaxRollAngle": {
+        "message": "Max. ROLL angle"
+    },
+    "pidTuningMaxRollAngleHelp": {
+        "message": "Maximum ROLL angle in ANGLE mode. This also constrains the maximum bank in navigation modes."
+    },
+    "pidTuningMaxPitchAngle": {
+        "message": "Max. PITCH angle"
+    },
+    "pidTuningMaxPitchAngleHelp": {
+        "message": "Maximum PITCH angle in ANGLE mode. This also constrains the maximum climb and dive in navigation modes."
+    },
     "pidTuningManualRollRate": {
         "message": "Manual ROLL rate"
     },
@@ -2176,8 +2188,8 @@
     "dtermNotchCutoffHelp": {
         "message": "Defines band of filter. <br><br>Has to be kept below notch filter frequency."
     },
-    "positionHoldConfiguration": {
+    "multiRotorNavigationConfiguration": {
-        "message": "Basic Navigation Settings"
+        "message": "Multirotor Navigation Settings"
     },
     "userControlMode": {
         "message": "User Control Mode"
@@ -2195,7 +2207,10 @@
         "message": "Max. ALTHOLD climb rate [cm/s]"
     },
     "posholdMaxBankAngle": {
-        "message": "Multirotor max. banking angle [deg]"
+        "message": "Multirotor max. banking angle [degrees]"
+    },
+    "posholdMaxBankAngleHelp": {
+        "message": "Maximum banking angle in navigation modes. Constrained by maximum ROLL angle in PID tuning tab."
     },
     "posholdHoverThrottle": {
         "message": "Hover throttle"
@@ -2300,22 +2315,34 @@
         "message": "Max. throttle"
     },
     "maxBankAngle": {
-        "message": "Max. bank angle"
+        "message": "Max. bank angle [degrees]"
+    },
+    "maxBankAngleHelp": {
+        "message": "Maximum banking angle in navigation modes. Constrained by maximum ROLL angle in PID tuning tab."
     },
     "maxClimbAngle": {
-        "message": "Max. climb angle"
+        "message": "Max. climb angle [degrees]"
+    },
+    "maxClimbAngleHelp": {
+        "message": "Maximum climb angle in navigation modes. Constrained by maximum PITCH angle in PID tuning tab."
     },
     "maxDiveAngle": {
-        "message": "Max. dive angle"
+        "message": "Max. dive angle [degrees]"
+    },
+    "maxDiveAngleHelp": {
+        "message": "Maximum dive angle in navigation modes. Constrained by maximum PITCH angle in PID tuning tab."
     },
     "pitchToThrottle": {
         "message": "Pitch to throttle ratio"
     },
+    "pitchToThrottleHelp": {
+        "message": "In navigation modes, each degree of climb will add this many units to the cruise throttle. Conversely, each degree of diving will substract from it."
+    },
     "loiterRadius": {
         "message": "Loiter radius [cm]"
     },
-    "fixedWingConfiguration": {
+    "fixedWingNavigationConfiguration": {
-      "message": "Fixed Wing Settings"
+      "message": "Fixed Wing Navigation Settings"
     },
     "osdLayoutDefault": {
         "message": "Default Layout"

js/fc.js

@@ -54,7 +54,8 @@ var CONFIG,
     DEBUG_TRACE,
     MIXER_CONFIG,
     BATTERY_CONFIG,
-    OUTPUT_MAPPING;
+    OUTPUT_MAPPING,
+    SETTINGS;
 
 var FC = {
     MAX_SERVO_RATE: 125,
@@ -508,6 +509,8 @@ var FC = {
         RXFAIL_CONFIG = [];
 
         OUTPUT_MAPPING = new OutputMappingCollection();
+
+        SETTINGS = {};
     },
     getOutputUsages: function() {
         return {

js/injected_methods.js

@@ -89,4 +89,16 @@ DataView.prototype.read32 = function() {
     } else {
         return null;
     }
+};
+
+DataView.prototype.readString = function() {
+    var s = "";
+    while (this.byteLength > this.offset) {
+        var c = this.readU8();
+        if (!c) {
+            break;
+        }
+        s += String.fromCharCode(c);
+    }
+    return s;
 };

js/msp/MSPCodes.js

@@ -161,6 +161,9 @@ var MSPCodes = {
     MSP2_COMMON_MOTOR_MIXER:            0x1005,
     MSP2_COMMON_SET_MOTOR_MIXER:        0x1006,
 
+    MSP2_COMMON_SETTING_INFO:           0x1007,
+    MSP2_COMMON_PG_LIST:                0x1008,
+
     MSPV2_INAV_STATUS:                  0x2000,
     MSPV2_INAV_OPTICAL_FLOW:            0x2001,
     MSPV2_INAV_ANALOG:                  0x2002,

js/msp/MSPHelper.js

@@ -1347,6 +1347,8 @@ var mspHelper = (function (gui) {
                 break;
             case MSPCodes.MSPV2_SETTING:
                 break;
+            case MSPCodes.MSP2_COMMON_SETTING_INFO:
+                break;
             case MSPCodes.MSPV2_SET_SETTING:
                 console.log("Setting set");
                 break;
@@ -2859,12 +2861,66 @@ var mspHelper = (function (gui) {
     };
 
     self._getSetting = function (name) {
+        if (semver.lt(CONFIG.flightControllerVersion, '2.0.0')) {
+            return self._getLegacySetting(name);
+        }
+        if (SETTINGS[name]) {
+            return Promise.resolve(SETTINGS[name]);
+        }
+        var data = [];
+        self._encodeSettingReference(name, null, data);
+        return MSP.promise(MSPCodes.MSP2_COMMON_SETTING_INFO, data).then(function (result) {
+            const MODE_LOOKUP = 1 << 6;
+            var settingTypes = {
+                0: "uint8_t",
+                1: "int8_t",
+                2: "uint16_t",
+                3: "int16_t",
+                4: "uint32_t",
+                5: "float",
+                6: "string",
+            };
+            var setting = {};
+            // Discard PG ID
+            result.data.readU16();
+
+            var type = result.data.readU8();
+            setting.type = settingTypes[type];
+            if (!setting.type) {
+                console.log("Unknown setting type " + type + " for setting '" + name + "'");
+                return null;
+            }
+            // Discard section
+            result.data.readU8();
+            setting.mode = result.data.readU8();
+            setting.min = result.data.read32();
+            setting.max = result.data.readU32();
+
+            setting.index = result.data.readU16();
+
+            // Discard profile info
+            result.data.readU8();
+            result.data.readU8();
+
+            if (setting.mode == MODE_LOOKUP) {
+                var values = [];
+                for (var ii = setting.min; ii <= setting.max; ii++) {
+                    values.push(result.data.readString());
+                }
+                setting.table = {values: values};
+            }
+            SETTINGS[name] = setting;
+            return setting;
+        });
+    }
+
+
+    self._getLegacySetting = function (name) {
         var promise;
-        if (this._settings) {
+        if (SETTINGS) {
-            promise = Promise.resolve(this._settings);
+            promise = Promise.resolve(SETTINGS);
         } else {
             promise = new Promise(function (resolve, reject) {
-                var $this = this;
                 $.ajax({
                     url: chrome.runtime.getURL('/resources/settings.json'),
                     dataType: 'json',
@@ -2872,7 +2928,7 @@ var mspHelper = (function (gui) {
                         reject(error);
                     },
                     success: function (data) {
-                        $this._settings = data;
+                        SETTINGS = data;
                         resolve(data);
                     }
                 });
@@ -2883,19 +2939,24 @@ var mspHelper = (function (gui) {
         });
     };
 
-    self._encodeSettingName = function (name, data) {
+    self._encodeSettingReference = function (name, index, data) {
-        for (var ii = 0; ii < name.length; ii++) {
+        if (Number.isInteger(index)) {
-            data.push(name.charCodeAt(ii));
+            data.push8(0);
+            data.push16(index);
+        } else {
+            for (var ii = 0; ii < name.length; ii++) {
+                data.push(name.charCodeAt(ii));
+            }
+            data.push(0);
         }
-        data.push(0);
     };
 
-    self.getSetting = function (name, callback) {
+    self.getSetting = function (name) {
         var $this = this;
         return this._getSetting(name).then(function (setting) {
             var data = [];
-            $this._encodeSettingName(name, data);
+            $this._encodeSettingReference(name, setting.index, data);
-            MSP.send_message(MSPCodes.MSPV2_SETTING, data, false, function (resp) {
+            return MSP.promise(MSPCodes.MSPV2_SETTING, data).then(function (resp) {
                 var value;
                 switch (setting.type) {
                     case "uint8_t":
@@ -2925,15 +2986,12 @@ var mspHelper = (function (gui) {
                 if (setting.table) {
                     value = setting.table.values[value];
                 }
-                if (callback) {
+                return {setting: setting, value: value};
-                    callback(value, setting);
-                }
             });
         });
     };
 
     self.encodeSetting = function (name, value) {
-        var $this = this;
         return this._getSetting(name).then(function (setting) {
             if (setting.table) {
                 var found = false;
@@ -2949,7 +3007,7 @@ var mspHelper = (function (gui) {
                 }
             }
             var data = [];
-            $this._encodeSettingName(name, data);
+            self._encodeSettingReference(name, setting.index, data);
             switch (setting.type) {
                 case "uint8_t":
                 case "int8_t":
@@ -2975,9 +3033,38 @@ var mspHelper = (function (gui) {
         });
     };
 
-    self.setSetting = function (name, value, callback) {
+    self.setSetting = function (name, value) {
         this.encodeSetting(name, value).then(function (data) {
-            MSP.send_message(MSPCodes.MSPV2_SET_SETTING, data, false, callback);
+            return MSP.promise(MSPCodes.MSPV2_SET_SETTING, data);
+        });
+    };
+
+    self.configureSettingInputs = function() {
+        var inputs = [];
+        $('input[data-setting!=""][data-setting]').each(function() {
+            inputs.push($(this));
+        });
+        return Promise.mapSeries(inputs, function (input, ii) {
+            var settingName = input.data("setting");
+            return self.getSetting(settingName).then(function (s) {
+                var multiplier = parseFloat(input.data('setting-multiplier') || 1);
+                input.attr("step", 1 / multiplier);
+                input.attr("min", s.setting.min / multiplier);
+                input.attr("max", s.setting.max / multiplier);
+                input.val((s.value / multiplier).toFixed(Math.log10(multiplier)));
+            });
+        });
+    };
+
+    self.saveSettingsInputs = function() {
+        var inputs = [];
+        $('input[data-setting!=""][data-setting]').each(function() {
+            inputs.push($(this));
+        });
+        return Promise.mapSeries(inputs, function (input, ii) {
+            var settingName = input.data("setting");
+            var multiplier = parseFloat(input.data('setting-multiplier') || 1);
+            return self.setSetting(settingName, parseFloat(input.val()) * multiplier);
         });
     };
 
@@ -3032,13 +3119,7 @@ var mspHelper = (function (gui) {
     self.getCraftName = function(callback) {
         if (semver.gt(CONFIG.flightControllerVersion, "1.8.0")) {
             MSP.send_message(MSPCodes.MSP_NAME, false, false, function(resp) {
-                var name = "";
+                var name = resp.data.readString();
-                for (var ii = 0; ii < resp.data.byteLength; ii++) {
-                    var c = resp.data.readU8();
-                    if (c != 0) {
-                        name += String.fromCharCode(c);
-                    }
-                }
                 if (callback) {
                     callback(name);
                 }
@@ -3091,6 +3172,31 @@ var mspHelper = (function (gui) {
         } else {
             callback();
         }
+    };
+
+    self.loadParameterGroups = function(callback) {
+        if (semver.gte(CONFIG.flightControllerVersion, "2.0.0")) {
+            MSP.send_message(MSPCodes.MSP2_COMMON_PG_LIST, false, false, function (resp) {
+                var groups = [];
+                while (resp.data.offset < resp.data.byteLength) {
+                    var id = resp.data.readU16();
+                    var start = resp.data.readU16();
+                    var end = resp.data.readU16();
+                    groups.push({id: id, start: start, end: end});
+                }
+                if (callback) {
+                    callback(groups);
+                }
+            });
+        } else if (callback) {
+            callback();
+        }
+    };
+
+    self.processHtml = function(callback) {
+        return function() {
+            self.configureSettingInputs().then(callback);
+        };
     }
 
     return self;

tabs/advanced_tuning.html

@@ -5,7 +5,7 @@
         <div class="leftWrapper">
             <div class="config-section gui_box grey">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" data-i18n="positionHoldConfiguration"></div>
+                    <div class="spacer_box_title" data-i18n="multiRotorNavigationConfiguration"></div>
                 </div>
                 <div class="spacer_box">
                     <div class="select">
@@ -41,6 +41,7 @@
                         <label for="max-bank-angle">
                             <span data-i18n="posholdMaxBankAngle"></span>
                         </label>
+                        <div class="helpicon cf_tip" data-i18n_title="posholdMaxBankAngleHelp"></div>
                     </div>
                     <div class="checkbox">
                         <input type="checkbox" id="use-mid-throttle" class="toggle" />
@@ -215,7 +216,7 @@
 
             <div class="config-section gui_box grey requires-v1_7_1">
                 <div class="gui_box_titlebar">
-                    <div class="spacer_box_title" data-i18n="fixedWingConfiguration"></div>
+                    <div class="spacer_box_title" data-i18n="fixedWingNavigationConfiguration"></div>
                 </div>
                 <div class="spacer_box">
 
@@ -245,6 +246,7 @@
                         <label for="maxBankAngle">
                             <span data-i18n="maxBankAngle"></span>
                         </label>
+                        <div class="helpicon cf_tip" data-i18n_title="maxBankAngleHelp"></div>
                     </div>
 
                     <div class="number">
@@ -252,6 +254,7 @@
                         <label for="maxClimbAngle">
                             <span data-i18n="maxClimbAngle"></span>
                         </label>
+                        <div class="helpicon cf_tip" data-i18n_title="maxClimbAngleHelp"></div>
                     </div>
 
                     <div class="number">
@@ -259,6 +262,7 @@
                         <label for="maxDiveAngle">
                             <span data-i18n="maxDiveAngle"></span>
                         </label>
+                        <div class="helpicon cf_tip" data-i18n_title="maxDiveAngleHelp"></div>
                     </div>
 
                     <div class="number">
@@ -266,6 +270,7 @@
                         <label for="pitchToThrottle">
                             <span data-i18n="pitchToThrottle"></span>
                         </label>
+                        <div class="helpicon cf_tip" data-i18n_title="pitchToThrottleHelp"></div>
                     </div>
 
                     <div class="number">

tabs/advanced_tuning.js

@@ -97,7 +97,6 @@ TABS.advanced_tuning.initialize = function (callback) {
                 RTH_AND_LAND_CONFIG.rthAltControlMode = $rthAltControlMode.val();
             });
             GUI.fillSelect($rthAllowLanding, FC.getRthAllowLanding(), RTH_AND_LAND_CONFIG.rthAllowLanding);
-            console.log("VAL", RTH_AND_LAND_CONFIG.rthAllowLanding);
             $rthAllowLanding.val(RTH_AND_LAND_CONFIG.rthAllowLanding);
             $rthAllowLanding.change(function () {
                 RTH_AND_LAND_CONFIG.rthAllowLanding = $rthAllowLanding.val();
@@ -148,4 +147,4 @@ TABS.advanced_tuning.initialize = function (callback) {
 
 TABS.advanced_tuning.cleanup = function (callback) {
     if (callback) callback();
-};
+};

tabs/pid_tuning.html

@@ -167,6 +167,20 @@
                                     <input type="number" name="yaw" class="rate-tpa_input" step="10" min="20" max="1800" /> degrees per second
                                 </td>
                             </tr>
+                            <tr>
+                                <th data-i18n="pidTuningMaxRollAngle"></th>
+                                <td>
+                                    <input data-setting="max_angle_inclination_rll" data-setting-multiplier="10" type="number" class="rate-tpa_input" /> degrees
+                                    <div class="helpicon cf_tip" data-i18n_title="pidTuningMaxRollAngleHelp"></div>
+                                </td>
+                            </tr>
+                            <tr>
+                                <th data-i18n="pidTuningMaxPitchAngle"></th>
+                                <td>
+                                    <input data-setting="max_angle_inclination_pit" data-setting-multiplier="10" type="number" class="rate-tpa_input" /> degrees
+                                    <div class="helpicon cf_tip" data-i18n_title="pidTuningMaxPitchAngleHelp"></div>
+                                </td>
+                            </tr>
                             <tr>
                                 <th class="roll" data-i18n="pidTuningManualRollRate"></th>
                                 <td class="roll">

tabs/pid_tuning.js

@@ -33,7 +33,7 @@ TABS.pid_tuning.initialize = function (callback) {
     }
 
     function load_html() {
-        $('#content').load("./tabs/pid_tuning.html", process_html);
+        $('#content').load("./tabs/pid_tuning.html", mspHelper.processHtml(process_html));
     }
 
     function pid_and_rc_to_form() {
@@ -243,7 +243,11 @@ TABS.pid_tuning.initialize = function (callback) {
             }
 
             function saveFilterConfig() {
-                MSP.send_message(MSPCodes.MSP_SET_FILTER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FILTER_CONFIG), false, save_to_eeprom);
+                MSP.send_message(MSPCodes.MSP_SET_FILTER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FILTER_CONFIG), false, saveSettings);
+            }
+
+            function saveSettings() {
+                mspHelper.saveSettingsInputs().then(save_to_eeprom);
             }
 
             function save_to_eeprom() {

tabs/profiles.js

@@ -622,9 +622,7 @@ TABS.profiles.initialize = function (callback, scrollPosition) {
             var settings = presets.settings.get(currentPreset.type);
             Object.keys(settings).forEach(function(key, ii) {
                 var value = settings[key];
-                promises[key] = mspHelper.encodeSetting(key, value).then(function(data) {
+                promises[key] = mspHelper.setSetting(name, value);
-                    return MSP.promise(MSPCodes.MSPV2_SET_SETTING, data);
-                });
             });
         }
         Promise.props(promises).then(function () {