GUI for async gyro mode

_locales/en/messages.json

@@ -1810,5 +1810,11 @@
     },
     "pidTuningTPABreakPointHelp": {
         "message": "Throttle PID Attenuation begins when Throttle position exceeds this value. "
+    },
+    "configurationAsyncMode": {
+        "message": "Asynchronous mode"
+    },
+    "configurationGyroFrequencyTitle": {
+        "message": "Gyroscope frequency"
     }
 }

js/fc.js

@@ -407,6 +407,31 @@ var FC = {
             }
         };
     },
+    getGyroFrequencies: function () {
+        return {
+            125: {
+                defaultLooptime: 1000,
+                looptimes: {
+                    4000: "250Hz",
+                    3000: "334Hz",
+                    2000: "500Hz",
+                    1500: "667Hz",
+                    1000: "1kHz",
+                    500: "2kHz",
+                    250: "4kHz",
+                    125: "8kHz"
+                }
+            },
+            1000: {
+                defaultLooptime: 1000,
+                looptimes: {
+                    4000: "250Hz",
+                    2000: "500Hz",
+                    1000: "1kHz"
+                }
+            }
+        };
+    },
     getGyroLpfValues: function () {
         return [
             {
@@ -564,6 +589,12 @@ var FC = {
             200: "200Hz",
             400: "400Hz"
         };
+    },
+    getAsyncModes: function () {
+        return [
+            'Disabled',
+            'Gyro',
+            'All'
+        ]
     }
-
 };

tabs/configuration.css

@@ -203,6 +203,7 @@
 
 .tab-configuration .number,
 .tab-configuration .select,
+.tab-configuration .checkbox,
 hr
  {
     margin-bottom: 5px;
@@ -214,7 +215,8 @@ hr
 }
 
 .tab-configuration .number:last-child,
-.tab-configuration .select:last-child {
+.tab-configuration .select:last-child,
+.tab-configuration .checkbox:last-child{
     border-bottom: none;
     padding-bottom: 0;
     margin-bottom: 0;

tabs/configuration.html

@@ -193,15 +193,24 @@
                 </div>
                 <div class="spacer_box">
 
-                    <div class="checkbox requires-v1_4">
+                    <div class="select requires-v1_4">
-                        <div class="numberspacer">
+                        <select id="async-mode"></select>
-                            <input type="checkbox" id="gyro-sync-checkbox" class="toggle" />
+                        <label for="async-mode"> <span data-i18n="configurationAsyncMode"></span></label>
-                        </div>
+                    </div>
-                        <label> <span data-i18n="configurationGyroSyncTitle"></span>
+
+                    <div id="gyro-sync-wrapper" class="checkbox requires-v1_4">
+                        <input type="checkbox" id="gyro-sync-checkbox" class="toggle" />
+                        <label for="gyro-sync-checkbox">
+                            <span data-i18n="configurationGyroSyncTitle"></span>
                         </label>
                     </div>
 
-                    <hr class="requires-v1_4" />
+                    <div id="gyro-frequency-wrapper" class="checkbox requires-v1_4">
+                        <select id="gyro-frequency"></select>
+                        <label for="gyro-frequency">
+                            <span data-i18n="configurationGyroFrequencyTitle"></span>
+                        </label>
+                    </div>
 
                     <div class="select requires-v1_4">
                         <select id="gyro-lpf"></select>
@@ -210,8 +219,8 @@
 
                     <div class="select">
                         <select id="looptime"></select>
-                        <label for="looptime"> <span
+                        <label for="looptime">
-                            data-i18n="configurationLoopTime"></span>
+                            <span data-i18n="configurationLoopTime"></span>
                         </label>
                     </div>
                 </div>

tabs/configuration.js

@@ -354,14 +354,20 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             $('#servo-rate-container').show();
         }
 
-        var gyroLpfValues = FC.getGyroLpfValues();
+        var gyroLpfValues = FC.getGyroLpfValues(),
-        var looptimes = FC.getLooptimes();
+            looptimes = FC.getLooptimes(),
-        var $looptime = $("#looptime");
+            $looptime = $("#looptime"),
+            asyncModes = FC.getAsyncModes(),
+            gyroFrequencies = FC.getGyroFrequencies();
 
         if (semver.gte(CONFIG.flightControllerVersion, "1.4.0")) {
 
+            $(".requires-v1_4").show();
+
             var $gyroLpf = $("#gyro-lpf"),
-                $gyroSync = $("#gyro-sync-checkbox");
+                $gyroSync = $("#gyro-sync-checkbox"),
+                $asyncMode = $('#async-mode'),
+                $gyroFrequency = $('#gyro-frequency');
 
             for (i in gyroLpfValues) {
                 if (gyroLpfValues.hasOwnProperty(i)) {
@@ -373,36 +379,51 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             $gyroSync.prop("checked", ADVANCED_CONFIG.gyroSync);
 
             $gyroLpf.change(function () {
+                var i,
+                    looptimeOptions;
+
                 INAV_PID_CONFIG.gyroscopeLpf = $gyroLpf.val();
 
                 $looptime.find("*").remove();
-                var looptimeOptions = looptimes[gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick];
+                looptimeOptions = looptimes[gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick];
-                for (var i in looptimeOptions.looptimes) {
+                for (i in looptimeOptions.looptimes) {
                     if (looptimeOptions.looptimes.hasOwnProperty(i)) {
                         $looptime.append('<option value="' + i + '">' + looptimeOptions.looptimes[i] + '</option>');
                     }
                 }
                 $looptime.val(looptimeOptions.defaultLooptime);
                 $looptime.change();
+
+                $gyroFrequency.find("*").remove();
+                looptimeOptions = gyroFrequencies[gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick];
+                for (i in looptimeOptions.looptimes) {
+                    if (looptimeOptions.looptimes.hasOwnProperty(i)) {
+                        $gyroFrequency.append('<option value="' + i + '">' + looptimeOptions.looptimes[i] + '</option>');
+                    }
+                }
+                $gyroFrequency.val(looptimeOptions.defaultLooptime);
+                $gyroFrequency.change();
+
             });
 
             $gyroLpf.change();
-            $looptime.val(FC_CONFIG.loopTime);
 
+            $looptime.val(FC_CONFIG.loopTime);
             $looptime.change(function () {
+                FC_CONFIG.loopTime = $(this).val();
+
                 if (INAV_PID_CONFIG.asynchronousMode == 0) {
                     //All task running together
-                    FC_CONFIG.loopTime = $(this).val();
-                    ADVANCED_CONFIG.gyroSyncDenominator = Math.floor(FC_CONFIG.loopTime / gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick);
-                } else {
-                    //FIXME this is temporaty fix that gives the same functionality to ASYNC_MODE=GYRO and ALL
-                    FC_CONFIG.loopTime = $(this).val();
                     ADVANCED_CONFIG.gyroSyncDenominator = Math.floor(FC_CONFIG.loopTime / gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick);
                 }
             });
-
             $looptime.change();
 
+            $gyroFrequency.val(ADVANCED_CONFIG.gyroSyncDenominator * gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick);
+            $gyroFrequency.change(function () {
+                ADVANCED_CONFIG.gyroSyncDenominator = Math.floor($gyroFrequency.val() / gyroLpfValues[INAV_PID_CONFIG.gyroscopeLpf].tick);
+            });
+
             $gyroSync.change(function () {
                 if ($(this).is(":checked")) {
                     ADVANCED_CONFIG.gyroSync = 1;
@@ -413,7 +434,31 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
             $gyroSync.change();
 
-            $(".requires-v1_4").show();
+            /*
+             * Async mode select
+             */
+            for (i in asyncModes) {
+                if (asyncModes.hasOwnProperty(i)) {
+                    $asyncMode.append('<option value="' + i + '">' + asyncModes[i] + '</option>');
+                }
+            }
+
+            $asyncMode.val(INAV_PID_CONFIG.asynchronousMode);
+            $asyncMode.change(function () {
+                INAV_PID_CONFIG.asynchronousMode = $asyncMode.val();
+
+                if (INAV_PID_CONFIG.asynchronousMode == 0) {
+                    $('#gyro-sync-wrapper').show();
+                    $('#gyro-frequency-wrapper').hide();
+                } else {
+                    $('#gyro-sync-wrapper').hide();
+                    $('#gyro-frequency-wrapper').show();
+                    ADVANCED_CONFIG.gyroSync = 1;
+                }
+            });
+            $asyncMode.change();
+
+
         } else {
             var looptimeOptions = looptimes[125];
             for (i in looptimeOptions.looptimes) {