mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-15 04:15:28 +03:00
full PID tuning support
RC related tunings like expos, etc will be available inside Receiver tab
This commit is contained in:
cTn
parent
5119fb2050
commit
d450a3f518
5 changed files with 77 additions and 42 deletions
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@ -203,18 +203,18 @@ a:hover {
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border: 1px dotted silver;
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}
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table.pid_tuning {
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.tab-pid_tuning table {
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width: 100%;
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border-collapse:collapse;
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}
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table.pid_tuning, table.pid_tuning th, table.pid_tuning td {
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.tab-pid_tuning table, .tab-pid_tuning table th, .tab-pid_tuning table td {
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padding: 5px;
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border: 1px solid #8b8b8b;
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}
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table.pid_tuning tr:nth-child(odd) {
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.tab-pid_tuning table tr:nth-child(odd) {
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background-color: #ececec;
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}
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table.pid_tuning input {
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.tab-pid_tuning table input {
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width: 130px;
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height: 18px;
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line-height: 18px;
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@ -223,27 +223,12 @@ table.pid_tuning {
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border: 1px solid silver;
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text-align: right;
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}
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table.pid_tuning a.update {
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display: block;
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width: 60px;
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height: 18px;
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line-height: 18px;
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color: white;
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text-align: center;
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border: 1px solid silver;
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background-color: #078814;
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}
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table.pid_tuning a.update:hover {
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text-decoration: none;
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background-color: #13b723;
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}
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.tab-pid_tuning .update {
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display: block;
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float: right;
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margin-top: 20px;
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width: 120px;
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height: 60px;
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line-height: 60px;
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@ -266,6 +251,11 @@ table.pid_tuning {
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cursor: pointer;
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background-color: #13d81d;
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}
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.tab-pid_tuning .rate-tpa {
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float: left;
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width: 400px;
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margin-top: 20px;
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}
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.tab-receiver {
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}
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.tab-receiver .bars ul {
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@ -26,6 +26,9 @@ $(document).ready(function() {
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}
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}
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});
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// temporary
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//$('#content').load("./tabs/pid_tuning.html", tab_initialize_pid_tuning);
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});
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function disable_timers() {
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@ -65,6 +65,16 @@ var RC = {
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AUX4: 0
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};
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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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yaw_rate: 0,
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dynamic_THR_PID: 0,
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throttle_MID: 0,
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throttle_EXPO: 0,
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};
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var SENSOR_DATA = {
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gyroscope: [0, 0, 0],
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accelerometer: [0, 0, 0],
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@ -154,6 +164,7 @@ function onOpen(openInfo) {
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send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT);
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send_message(MSP_codes.MSP_STATUS, MSP_codes.MSP_STATUS);
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send_message(MSP_codes.MSP_PID, MSP_codes.MSP_PID);
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send_message(MSP_codes.MSP_RC_TUNING, MSP_codes.MSP_RC_TUNING);
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}, connection_delay * 1000);
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}
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@ -260,9 +271,9 @@ function onCharRead(readInfo) {
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}
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}
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function send_message(code, data, bytes_n) {
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function send_message(code, data) {
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if (typeof data === 'object') {
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var size = 6 + bytes_n;
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var size = 6 + data.length; // 6 bytes for protocol overhead
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var checksum = 0;
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var bufferOut = new ArrayBuffer(size);
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@ -275,10 +286,11 @@ function send_message(code, data, bytes_n) {
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bufView[4] = code; // code
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checksum = bufView[3] ^ bufView[4];
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for (var i = 5; i < data.length; i++) {
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bufView[i] = data[i - 5];
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checksum ^= bufView[i];
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for (var i = 0; i < data.length; i++) {
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bufView[i + 5] = data[i];
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checksum ^= bufView[i + 5];
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}
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bufView[5 + data.length] = checksum;
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@ -289,7 +301,7 @@ function send_message(code, data, bytes_n) {
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bufView[0] = 36; // $
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bufView[1] = 77; // M
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bufView[2] = 60; // <
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bufView[3] = bytes_n; // data length
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bufView[3] = 0; // data length
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bufView[4] = code; // code
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bufView[5] = data; // data
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bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
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@ -366,7 +378,13 @@ function process_message(code, data) {
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console.log(data);
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break;
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case MSP_codes.MSP_RC_TUNING:
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console.log(data);
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RC_tuning.RC_RATE = parseFloat((view.getUint8(0) / 100).toFixed(2));
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RC_tuning.RC_EXPO = parseFloat((view.getUint8(1) / 100).toFixed(2));
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RC_tuning.roll_pitch_rate = parseFloat((view.getUint8(2) / 100).toFixed(2));
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RC_tuning.yaw_rate = parseFloat((view.getUint8(3) / 100).toFixed(2));
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RC_tuning.dynamic_THR_PID = parseFloat((view.getUint8(4) / 100).toFixed(2));
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RC_tuning.throttle_MID = parseFloat((view.getUint8(5) / 100).toFixed(2));
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RC_tuning.throttle_EXPO = parseFloat((view.getUint8(6) / 100).toFixed(2));
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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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@ -428,7 +446,7 @@ function process_message(code, data) {
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console.log(data);
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break;
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case MSP_codes.MSP_SET_RC_TUNING:
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console.log(data);
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console.log('RC Tuning saved');
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break;
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case MSP_codes.MSP_ACC_CALIBRATION:
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console.log('Accel calibration executed');
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@ -12,7 +12,6 @@
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<td><input type="text" name="i" value="" /></td>
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<td><input type="text" name="d" value="" /></td>
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</tr>
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<tr class="PITCH">
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<td>PITCH</td>
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<td><input type="text" name="p" value="" /></td>
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@ -59,5 +58,17 @@
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<td><input type="text" name="p" value="" /></td>
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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>ROLL rate & PITCH rate</th>
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<th>YAW rate</th>
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<th>TPA</th>
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</tr>
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<tr>
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<td><input type="text" name="roll-pitch" value="" /></td>
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<td><input type="text" name="yaw" value="" /></td>
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<td><input type="text" name="tpa" value="" /></td>
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</tr>
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</table>
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<a class="update" href="#">Update</a>
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</div>
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@ -56,9 +56,13 @@ function tab_initialize_pid_tuning() {
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});
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needle++;
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// UI Hooks
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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="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
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$('.rate-tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
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$('.pid_tuning input').change(function() {
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// UI Hooks
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$('.pid_tuning input, .rate-tpa input').change(function() {
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// if any of the fields changed, unlock update button
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$('a.update').addClass('active');
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});
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@ -120,18 +124,27 @@ function tab_initialize_pid_tuning() {
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break;
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}
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PID_buffer_needle += 3;
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/*
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for (var ii = 0; ii < PIDs[i].length; ii++) {
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PID_buffer_out[PID_buffer_needle] = PIDs[i][ii];
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PID_buffer_needle++;
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}
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*/
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}
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//console.log(PID_buffer_out);
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// Send over the changes
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send_message(MSP_codes.MSP_SET_PID, PID_buffer_out, PID_buffer_out.length);
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// Send over the PID changes
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send_message(MSP_codes.MSP_SET_PID, PID_buffer_out);
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// catch RC_tuning changes
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RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
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RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]').val());
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RC_tuning.dynamic_THR_PID = parseFloat($('.rate-tpa input[name="tpa"]').val());
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var RC_tuning_buffer_out = new Array();
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RC_tuning_buffer_out[0] = parseInt(RC_tuning.RC_RATE * 100);
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RC_tuning_buffer_out[1] = parseInt(RC_tuning.RC_EXPO * 100);
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RC_tuning_buffer_out[2] = parseInt(RC_tuning.roll_pitch_rate * 100);
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RC_tuning_buffer_out[3] = parseInt(RC_tuning.yaw_rate * 100);
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RC_tuning_buffer_out[4] = parseInt(RC_tuning.dynamic_THR_PID * 100);
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RC_tuning_buffer_out[5] = parseInt(RC_tuning.throttle_MID * 100);
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RC_tuning_buffer_out[6] = parseInt(RC_tuning.throttle_EXPO * 100);
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// Send over the RC_tuning changes
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send_message(MSP_codes.MSP_SET_RC_TUNING, RC_tuning_buffer_out);
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// remove the active status
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$(this).removeClass('active');
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