mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-25 17:25:14 +03:00
dropped PID values scaling and some cleanup
This commit is contained in:
Pawel Spychalski (DzikuVx)
parent
3ab5336135
commit
c6e81d991f
3 changed files with 100 additions and 242 deletions
55
js/msp.js
55
js/msp.js
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@ -407,31 +407,9 @@ var MSP = {
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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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for (var i = 0, needle = 0; i < (message_length / 3); i++, needle += 3) {
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// main for loop selecting the pid section
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switch (i) {
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case 0:
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case 1:
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case 2:
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case 3:
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case 7:
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case 8:
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case 9:
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PIDs[i][0] = data.getUint8(needle) / 10;
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PIDs[i][1] = data.getUint8(needle + 1) / 1000;
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PIDs[i][2] = data.getUint8(needle + 2);
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break;
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case 4:
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PIDs[i][0] = data.getUint8(needle) / 100;
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PIDs[i][1] = data.getUint8(needle + 1) / 100;
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PIDs[i][2] = data.getUint8(needle + 2) / 1000;
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break;
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case 5:
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case 6:
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PIDs[i][0] = data.getUint8(needle) / 10;
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PIDs[i][1] = data.getUint8(needle + 1) / 100;
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PIDs[i][2] = data.getUint8(needle + 2) / 1000;
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break;
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}
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PIDs[i][0] = data.getUint8(needle);
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PIDs[i][1] = data.getUint8(needle + 1);
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PIDs[i][2] = data.getUint8(needle + 2);
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}
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break;
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// Disabled, cleanflight does not use MSP_BOX.
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@ -1268,30 +1246,9 @@ MSP.crunch = function (code) {
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break;
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case MSP_codes.MSP_SET_PID:
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for (var i = 0; i < PIDs.length; i++) {
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switch (i) {
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case 0:
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case 1:
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case 2:
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case 3:
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case 7:
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case 8:
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case 9:
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buffer.push(Math.round(PIDs[i][0] * 10));
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buffer.push(Math.round(PIDs[i][1] * 1000));
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buffer.push(parseInt(PIDs[i][2]));
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break;
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case 4:
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buffer.push(Math.round(PIDs[i][0] * 100));
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buffer.push(Math.round(PIDs[i][1] * 100));
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buffer.push(parseInt(PIDs[i][2]));
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break;
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case 5:
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case 6:
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buffer.push(Math.round(PIDs[i][0] * 10));
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buffer.push(Math.round(PIDs[i][1] * 100));
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buffer.push(Math.round(PIDs[i][2] * 1000));
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break;
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}
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buffer.push(parseInt(PIDs[i][0]));
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buffer.push(parseInt(PIDs[i][1]));
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buffer.push(parseInt(PIDs[i][2]));
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}
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break;
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case MSP_codes.MSP_SET_RC_TUNING:
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@ -23,7 +23,7 @@
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<div class="gui_box grey">
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<table class="pid_titlebar">
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<tr>
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<th class="name" i18n="pidTuningName""></th>
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<th class="name" i18n="pidTuningName"></th>
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<th class="proportional" i18n="pidTuningProportional"></th>
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<th class="integral" i18n="pidTuningIntegral"></th>
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<th class="derivative" i18n="pidTuningDerivative"></th>
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@ -38,22 +38,22 @@
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<tr class="ROLL">
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<!-- 0 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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<tr class="PITCH">
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<!-- 1 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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<tr class="YAW">
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<!-- 2 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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</table>
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@ -66,15 +66,15 @@
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<tr class="ALT">
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<!-- 3 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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<tr class="Vario">
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<!-- 9 -->
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<td>VEL</td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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</table>
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@ -87,7 +87,7 @@
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<tr class="MAG">
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<!-- 8 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td></td>
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<td></td>
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</tr>
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@ -101,23 +101,23 @@
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<tr class="Pos">
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<!-- 4 -->
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<td></td>
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<td><input type="number" name="p" step="0.01" min="0" max="2.55" /></td>
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<td><input type="number" name="i" step="0.01" min="0" max="2.55" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td></td>
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</tr>
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<tr class="PosR">
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<!-- 5 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.01" min="0" max="2.55" /></td>
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<td><input type="number" name="d" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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<tr class="NavR">
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<!-- 6 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.01" min="0" max="2.55" /></td>
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<td><input type="number" name="d" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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</table>
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</div>
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@ -139,8 +139,8 @@
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<tr class="LEVEL">
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<!-- 7 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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</table>
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@ -32,136 +32,37 @@ TABS.pid_tuning.initialize = function (callback) {
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MSP.send_message(MSP_codes.MSP_STATUS, false, false, get_pid_names);
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function pid_and_rc_to_form() {
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var sectionClasses = [
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'ROLL', // 0
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'PITCH', // 1
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'YAW', // 2
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'ALT', // 3
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'Pos', // 4
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'PosR', // 5
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'NavR', // 6
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'LEVEL', // 7
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'MAG', // 8
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'Vario' // 9
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]
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// Fill in the data from PIDs array
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var i = 0;
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$('.pid_tuning .ROLL input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[0][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[0][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[0][i++].toFixed(0));
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break;
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}
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});
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var i;
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/*
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* Iterate over registered sections/PID controllers
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*/
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for (var sectionId = 0; sectionId < sectionClasses.length; sectionId++) {
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i = 0;
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$('.pid_tuning .PITCH input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[1][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[1][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[1][i++].toFixed(0));
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break;
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}
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});
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i = 0;
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/*
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* Now, iterate over inputs inside PID constroller section
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*/
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$('.pid_tuning .' + sectionClasses[sectionId] + ' input').each(function () {
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$(this).val(PIDs[sectionId][i].toFixed(0));
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i++;
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});
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i = 0;
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$('.pid_tuning .YAW input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[2][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[2][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[2][i++].toFixed(0));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .ALT input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[3][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[3][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[3][i++].toFixed(0));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .Pos input').each(function () {
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$(this).val(PIDs[4][i++].toFixed(2));
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});
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i = 0;
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$('.pid_tuning .PosR input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[5][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[5][i++].toFixed(2));
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break;
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case 2:
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$(this).val(PIDs[5][i++].toFixed(3));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .NavR input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[6][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[6][i++].toFixed(2));
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break;
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case 2:
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$(this).val(PIDs[6][i++].toFixed(3));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .LEVEL input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[7][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[7][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[7][i++].toFixed(0));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .MAG input').each(function () {
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$(this).val(PIDs[8][i++].toFixed(1));
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});
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i = 0;
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$('.pid_tuning .Vario input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[9][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[9][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[9][i++].toFixed(0));
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break;
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}
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});
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}
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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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