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rates in dps for iNav > 1.1.0, see iNavFlight#204

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This commit is contained in:
Pawel 2016-05-15 18:20:21 +02:00
parent 61ebb7a455
commit e9d2563dad
5 changed files with 216 additions and 142 deletions
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69
js/fc.js
View file

@ -37,6 +37,13 @@ var FAILSAFE_CONFIG;
var RXFAIL_CONFIG; var RXFAIL_CONFIG;
var FC = { var FC = {
isRatesInDps: function () {
if (typeof CONFIG != "undefined" && CONFIG.flightControllerIdentifier == "INAV" && semver.gt(CONFIG.flightControllerVersion, "1.1.0")) {
return true;
} else {
return false;
}
},
resetState: function() { resetState: function() {
CONFIG = { CONFIG = {
apiVersion: "0.0.0", apiVersion: "0.0.0",
@ -55,7 +62,7 @@ var FC = {
uid: [0, 0, 0], uid: [0, 0, 0],
accelerometerTrims: [0, 0] accelerometerTrims: [0, 0]
}; };
BF_CONFIG = { BF_CONFIG = {
mixerConfiguration: 0, mixerConfiguration: 0,
features: 0, features: 0,
@ -66,33 +73,33 @@ var FC = {
currentscale: 0, currentscale: 0,
currentoffset: 0 currentoffset: 0
}; };
LED_STRIP = []; LED_STRIP = [];
PID = { PID = {
controller: 0 controller: 0
}; };
PID_names = []; PID_names = [];
PIDs = new Array(10); PIDs = new Array(10);
for (var i = 0; i < 10; i++) { for (var i = 0; i < 10; i++) {
PIDs[i] = new Array(3); PIDs[i] = new Array(3);
} }
RC_MAP = []; RC_MAP = [];
// defaults // defaults
// roll, pitch, yaw, throttle, aux 1, ... aux n // roll, pitch, yaw, throttle, aux 1, ... aux n
RC = { RC = {
active_channels: 0, active_channels: 0,
channels: new Array(32) channels: new Array(32)
}; };
RC_tuning = { RC_tuning = {
RC_RATE: 0, RC_RATE: 0,
RC_EXPO: 0, RC_EXPO: 0,
roll_pitch_rate: 0, // pre 1.7 api only roll_pitch_rate: 0, // pre 1.7 api only
roll_rate: 0, roll_rate: 0,
pitch_rate: 0, pitch_rate: 0,
yaw_rate: 0, yaw_rate: 0,
dynamic_THR_PID: 0, dynamic_THR_PID: 0,
@ -101,26 +108,26 @@ var FC = {
dynamic_THR_breakpoint: 0, dynamic_THR_breakpoint: 0,
RC_YAW_EXPO: 0 RC_YAW_EXPO: 0
}; };
AUX_CONFIG = []; AUX_CONFIG = [];
AUX_CONFIG_IDS = []; AUX_CONFIG_IDS = [];
MODE_RANGES = []; MODE_RANGES = [];
ADJUSTMENT_RANGES = []; ADJUSTMENT_RANGES = [];
SERVO_CONFIG = []; SERVO_CONFIG = [];
SERVO_RULES = []; SERVO_RULES = [];
SERIAL_CONFIG = { SERIAL_CONFIG = {
ports: [], ports: [],
// pre 1.6 settings // pre 1.6 settings
mspBaudRate: 0, mspBaudRate: 0,
gpsBaudRate: 0, gpsBaudRate: 0,
gpsPassthroughBaudRate: 0, gpsPassthroughBaudRate: 0,
cliBaudRate: 0, cliBaudRate: 0,
}; };
SENSOR_DATA = { SENSOR_DATA = {
gyroscope: [0, 0, 0], gyroscope: [0, 0, 0],
accelerometer: [0, 0, 0], accelerometer: [0, 0, 0],
@ -130,10 +137,10 @@ var FC = {
kinematics: [0.0, 0.0, 0.0], kinematics: [0.0, 0.0, 0.0],
debug: [0, 0, 0, 0] debug: [0, 0, 0, 0]
}; };
MOTOR_DATA = new Array(8); MOTOR_DATA = new Array(8);
SERVO_DATA = new Array(8); SERVO_DATA = new Array(8);
GPS_DATA = { GPS_DATA = {
fix: 0, fix: 0,
numSat: 0, numSat: 0,
@ -153,23 +160,23 @@ var FC = {
timeouts: 0, timeouts: 0,
packetCount: 0 packetCount: 0
}; };
ANALOG = { ANALOG = {
voltage: 0, voltage: 0,
mAhdrawn: 0, mAhdrawn: 0,
rssi: 0, rssi: 0,
amperage: 0 amperage: 0
}; };
ARMING_CONFIG = { ARMING_CONFIG = {
auto_disarm_delay: 0, auto_disarm_delay: 0,
disarm_kill_switch: 0 disarm_kill_switch: 0
}; };
FC_CONFIG = { FC_CONFIG = {
loopTime: 0 loopTime: 0
}; };
MISC = { MISC = {
midrc: 0, midrc: 0,
minthrottle: 0, minthrottle: 0,
@ -188,14 +195,14 @@ var FC = {
vbatmaxcellvoltage: 0, vbatmaxcellvoltage: 0,
vbatwarningcellvoltage: 0 vbatwarningcellvoltage: 0
}; };
_3D = { _3D = {
deadband3d_low: 0, deadband3d_low: 0,
deadband3d_high: 0, deadband3d_high: 0,
neutral3d: 0, neutral3d: 0,
deadband3d_throttle: 0 deadband3d_throttle: 0
}; };
DATAFLASH = { DATAFLASH = {
ready: false, ready: false,
supported: false, supported: false,
@ -203,7 +210,7 @@ var FC = {
totalSize: 0, totalSize: 0,
usedSize: 0 usedSize: 0
}; };
SDCARD = { SDCARD = {
supported: false, supported: false,
state: 0, state: 0,
@ -211,31 +218,31 @@ var FC = {
freeSizeKB: 0, freeSizeKB: 0,
totalSizeKB: 0, totalSizeKB: 0,
}; };
BLACKBOX = { BLACKBOX = {
supported: false, supported: false,
blackboxDevice: 0, blackboxDevice: 0,
blackboxRateNum: 1, blackboxRateNum: 1,
blackboxRateDenom: 1 blackboxRateDenom: 1
}; };
TRANSPONDER = { TRANSPONDER = {
supported: false, supported: false,
data: [] data: []
}; };
RC_deadband = { RC_deadband = {
deadband: 0, deadband: 0,
yaw_deadband: 0, yaw_deadband: 0,
alt_hold_deadband: 0 alt_hold_deadband: 0
}; };
SENSOR_ALIGNMENT = { SENSOR_ALIGNMENT = {
align_gyro: 0, align_gyro: 0,
align_acc: 0, align_acc: 0,
align_mag: 0 align_mag: 0
}; };
RX_CONFIG = { RX_CONFIG = {
serialrx_provider: 0, serialrx_provider: 0,
maxcheck: 0, maxcheck: 0,
@ -245,7 +252,7 @@ var FC = {
rx_min_usec: 0, rx_min_usec: 0,
rx_max_usec: 0 rx_max_usec: 0
}; };
FAILSAFE_CONFIG = { FAILSAFE_CONFIG = {
failsafe_delay: 0, failsafe_delay: 0,
failsafe_off_delay: 0, failsafe_off_delay: 0,
@ -254,7 +261,7 @@ var FC = {
failsafe_throttle_low_delay: 0, failsafe_throttle_low_delay: 0,
failsafe_procedure: 0 failsafe_procedure: 0
}; };
RXFAIL_CONFIG = []; RXFAIL_CONFIG = [];
} }
}; };

185
js/msp.js
View file

@ -7,7 +7,7 @@ var MSP_codes = {
MSP_FC_VERSION: 3, MSP_FC_VERSION: 3,
MSP_BOARD_INFO: 4, MSP_BOARD_INFO: 4,
MSP_BUILD_INFO: 5, MSP_BUILD_INFO: 5,
// MSP commands for Cleanflight original features // MSP commands for Cleanflight original features
MSP_CHANNEL_FORWARDING: 32, MSP_CHANNEL_FORWARDING: 32,
MSP_SET_CHANNEL_FORWARDING: 33, MSP_SET_CHANNEL_FORWARDING: 33,
@ -66,7 +66,7 @@ var MSP_codes = {
MSP_3D: 124, MSP_3D: 124,
MSP_RC_DEADBAND: 125, MSP_RC_DEADBAND: 125,
MSP_SENSOR_ALIGNMENT: 126, MSP_SENSOR_ALIGNMENT: 126,
MSP_SET_RAW_RC: 200, MSP_SET_RAW_RC: 200,
MSP_SET_RAW_GPS: 201, MSP_SET_RAW_GPS: 201,
MSP_SET_PID: 202, MSP_SET_PID: 202,
@ -85,9 +85,9 @@ var MSP_codes = {
MSP_SET_RC_DEADBAND: 218, MSP_SET_RC_DEADBAND: 218,
MSP_SET_RESET_CURR_PID: 219, MSP_SET_RESET_CURR_PID: 219,
MSP_SET_SENSOR_ALIGNMENT: 220, MSP_SET_SENSOR_ALIGNMENT: 220,
// MSP_BIND: 240, // MSP_BIND: 240,
MSP_SERVO_MIX_RULES: 241, MSP_SERVO_MIX_RULES: 241,
MSP_SET_SERVO_MIX_RULE: 242, MSP_SET_SERVO_MIX_RULE: 242,
@ -102,7 +102,7 @@ var MSP_codes = {
MSP_SET_ACC_TRIM: 239, // set acc angle trim values MSP_SET_ACC_TRIM: 239, // set acc angle trim values
MSP_GPS_SV_INFO: 164, // get Signal Strength MSP_GPS_SV_INFO: 164, // get Signal Strength
MSP_GPSSTATISTICS: 166, // GPS statistics MSP_GPSSTATISTICS: 166, // GPS statistics
// Additional private MSP for baseflight configurator (yes thats us \o/) // Additional private MSP for baseflight configurator (yes thats us \o/)
MSP_RX_MAP: 64, // get channel map (also returns number of channels total) MSP_RX_MAP: 64, // get channel map (also returns number of channels total)
MSP_SET_RX_MAP: 65, // set rc map, numchannels to set comes from MSP_RX_MAP MSP_SET_RX_MAP: 65, // set rc map, numchannels to set comes from MSP_RX_MAP
@ -139,14 +139,14 @@ var MSP = {
'230400', '230400',
'250000', '250000',
], ],
serialPortFunctions: { serialPortFunctions: {
'MSP': 0, 'MSP': 0,
'GPS': 1, 'GPS': 1,
'TELEMETRY_FRSKY': 2, 'TELEMETRY_FRSKY': 2,
'TELEMETRY_HOTT': 3, 'TELEMETRY_HOTT': 3,
'TELEMETRY_MSP': 4, 'TELEMETRY_MSP': 4,
'TELEMETRY_LTM': 4, // LTM replaced MSP 'TELEMETRY_LTM': 4, // LTM replaced MSP
'TELEMETRY_SMARTPORT': 5, 'TELEMETRY_SMARTPORT': 5,
'RX_SERIAL': 6, 'RX_SERIAL': 6,
'BLACKBOX': 7, 'BLACKBOX': 7,
@ -351,12 +351,19 @@ var MSP = {
RC_tuning.roll_pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2)); RC_tuning.roll_pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.pitch_rate = 0; RC_tuning.pitch_rate = 0;
RC_tuning.roll_rate = 0; RC_tuning.roll_rate = 0;
RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
} else if (FC.isRatesInDps()) {
RC_tuning.roll_pitch_rate = 0;
RC_tuning.roll_rate = parseFloat((data.getUint8(offset++) * 10));
RC_tuning.pitch_rate = parseFloat((data.getUint8(offset++) * 10));
RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) * 10));
} else { } else {
RC_tuning.roll_pitch_rate = 0; RC_tuning.roll_pitch_rate = 0;
RC_tuning.roll_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2)); RC_tuning.roll_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2)); RC_tuning.pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
} }
RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.dynamic_THR_PID = parseFloat((data.getUint8(offset++) / 100).toFixed(2)); RC_tuning.dynamic_THR_PID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2)); RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2)); RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
@ -456,7 +463,7 @@ var MSP = {
_3D.deadband3d_high = data.getUint16(offset, 1); _3D.deadband3d_high = data.getUint16(offset, 1);
offset += 2; offset += 2;
_3D.neutral3d = data.getUint16(offset, 1); _3D.neutral3d = data.getUint16(offset, 1);
if (semver.lt(CONFIG.apiVersion, "1.17.0")) { if (semver.lt(CONFIG.apiVersion, "1.17.0")) {
offset += 2; offset += 2;
_3D.deadband3d_throttle = data.getUint16(offset, 1); _3D.deadband3d_throttle = data.getUint16(offset, 1);
@ -545,12 +552,12 @@ var MSP = {
SERVO_CONFIG.push(arr); SERVO_CONFIG.push(arr);
} }
} }
if (semver.eq(CONFIG.apiVersion, '1.10.0')) { if (semver.eq(CONFIG.apiVersion, '1.10.0')) {
// drop two unused servo configurations due to MSP rx buffer to small) // drop two unused servo configurations due to MSP rx buffer to small)
while (SERVO_CONFIG.length > 8) { while (SERVO_CONFIG.length > 8) {
SERVO_CONFIG.pop(); SERVO_CONFIG.pop();
} }
} }
} }
break; break;
@ -652,12 +659,12 @@ var MSP = {
break; break;
// //
// Cleanflight specific // Cleanflight specific
// //
case MSP_codes.MSP_API_VERSION: case MSP_codes.MSP_API_VERSION:
var offset = 0; var offset = 0;
CONFIG.mspProtocolVersion = data.getUint8(offset++); CONFIG.mspProtocolVersion = data.getUint8(offset++);
CONFIG.apiVersion = data.getUint8(offset++) + '.' + data.getUint8(offset++) + '.0'; CONFIG.apiVersion = data.getUint8(offset++) + '.' + data.getUint8(offset++) + '.0';
break; break;
@ -677,14 +684,14 @@ var MSP = {
case MSP_codes.MSP_BUILD_INFO: case MSP_codes.MSP_BUILD_INFO:
var offset = 0; var offset = 0;
var dateLength = 11; var dateLength = 11;
var buff = []; var buff = [];
for (var i = 0; i < dateLength; i++) { for (var i = 0; i < dateLength; i++) {
buff.push(data.getUint8(offset++)); buff.push(data.getUint8(offset++));
} }
buff.push(32); // ascii space buff.push(32); // ascii space
var timeLength = 8; var timeLength = 8;
for (var i = 0; i < timeLength; i++) { for (var i = 0; i < timeLength; i++) {
buff.push(data.getUint8(offset++)); buff.push(data.getUint8(offset++));
@ -708,7 +715,7 @@ var MSP = {
break; break;
case MSP_codes.MSP_CF_SERIAL_CONFIG: case MSP_codes.MSP_CF_SERIAL_CONFIG:
if (semver.lt(CONFIG.apiVersion, "1.6.0")) { if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
SERIAL_CONFIG.ports = []; SERIAL_CONFIG.ports = [];
var offset = 0; var offset = 0;
@ -718,7 +725,7 @@ var MSP = {
identifier: data.getUint8(offset++, 1), identifier: data.getUint8(offset++, 1),
scenario: data.getUint8(offset++, 1) scenario: data.getUint8(offset++, 1)
} }
SERIAL_CONFIG.ports.push(serialPort); SERIAL_CONFIG.ports.push(serialPort);
} }
SERIAL_CONFIG.mspBaudRate = data.getUint32(offset, 1); SERIAL_CONFIG.mspBaudRate = data.getUint32(offset, 1);
offset+= 4; offset+= 4;
@ -733,7 +740,7 @@ var MSP = {
var offset = 0; var offset = 0;
var bytesPerPort = 1 + 2 + (1 * 4); var bytesPerPort = 1 + 2 + (1 * 4);
var serialPortCount = data.byteLength / bytesPerPort; var serialPortCount = data.byteLength / bytesPerPort;
for (var i = 0; i < serialPortCount; i++) { for (var i = 0; i < serialPortCount; i++) {
var serialPort = { var serialPort = {
identifier: data.getUint8(offset, 1), identifier: data.getUint8(offset, 1),
@ -743,7 +750,7 @@ var MSP = {
telemetry_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 5, 1)], telemetry_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 5, 1)],
blackbox_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 6, 1)] blackbox_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 6, 1)]
} }
offset += bytesPerPort; offset += bytesPerPort;
SERIAL_CONFIG.ports.push(serialPort); SERIAL_CONFIG.ports.push(serialPort);
} }
@ -758,7 +765,7 @@ var MSP = {
MODE_RANGES = []; // empty the array as new data is coming in MODE_RANGES = []; // empty the array as new data is coming in
var modeRangeCount = data.byteLength / 4; // 4 bytes per item. var modeRangeCount = data.byteLength / 4; // 4 bytes per item.
var offset = 0; var offset = 0;
for (var i = 0; offset < data.byteLength && i < modeRangeCount; i++) { for (var i = 0; offset < data.byteLength && i < modeRangeCount; i++) {
var modeRange = { var modeRange = {
@ -777,7 +784,7 @@ var MSP = {
ADJUSTMENT_RANGES = []; // empty the array as new data is coming in ADJUSTMENT_RANGES = []; // empty the array as new data is coming in
var adjustmentRangeCount = data.byteLength / 6; // 6 bytes per item. var adjustmentRangeCount = data.byteLength / 6; // 6 bytes per item.
var offset = 0; var offset = 0;
for (var i = 0; offset < data.byteLength && i < adjustmentRangeCount; i++) { for (var i = 0; offset < data.byteLength && i < adjustmentRangeCount; i++) {
var adjustmentRange = { var adjustmentRange = {
@ -859,15 +866,15 @@ var MSP = {
case MSP_codes.MSP_LED_STRIP_CONFIG: case MSP_codes.MSP_LED_STRIP_CONFIG:
LED_STRIP = []; LED_STRIP = [];
var ledCount = data.byteLength / 7; // v1.4.0 and below incorrectly reported 4 bytes per led. var ledCount = data.byteLength / 7; // v1.4.0 and below incorrectly reported 4 bytes per led.
var offset = 0; var offset = 0;
for (var i = 0; offset < data.byteLength && i < ledCount; i++) { for (var i = 0; offset < data.byteLength && i < ledCount; i++) {
var directionMask = data.getUint16(offset, 1); var directionMask = data.getUint16(offset, 1);
offset += 2; offset += 2;
var directions = []; var directions = [];
for (var directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) { for (var directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
if (bit_check(directionMask, directionLetterIndex)) { if (bit_check(directionMask, directionLetterIndex)) {
@ -884,7 +891,7 @@ var MSP = {
functions.push(MSP.ledFunctionLetters[functionLetterIndex]); functions.push(MSP.ledFunctionLetters[functionLetterIndex]);
} }
} }
var led = { var led = {
directions: directions, directions: directions,
functions: functions, functions: functions,
@ -892,10 +899,10 @@ var MSP = {
y: data.getUint8(offset++, 1), y: data.getUint8(offset++, 1),
color: data.getUint8(offset++, 1) color: data.getUint8(offset++, 1)
}; };
LED_STRIP.push(led); LED_STRIP.push(led);
} }
break; break;
case MSP_codes.MSP_SET_LED_STRIP_CONFIG: case MSP_codes.MSP_SET_LED_STRIP_CONFIG:
console.log('Led strip config saved'); console.log('Led strip config saved');
@ -926,8 +933,8 @@ var MSP = {
console.log("Data flash erase begun..."); console.log("Data flash erase begun...");
break; break;
case MSP_codes.MSP_SDCARD_SUMMARY: case MSP_codes.MSP_SDCARD_SUMMARY:
var flags = data.getUint8(0); var flags = data.getUint8(0);
SDCARD.supported = (flags & 0x01) != 0; SDCARD.supported = (flags & 0x01) != 0;
SDCARD.state = data.getUint8(1); SDCARD.state = data.getUint8(1);
SDCARD.filesystemLastError = data.getUint8(2); SDCARD.filesystemLastError = data.getUint8(2);
@ -947,7 +954,7 @@ var MSP = {
var offset = 0; var offset = 0;
TRANSPONDER.supported = (data.getUint8(offset++) & 1) != 0; TRANSPONDER.supported = (data.getUint8(offset++) & 1) != 0;
TRANSPONDER.data = []; TRANSPONDER.data = [];
var bytesRemaining = data.byteLength - offset; var bytesRemaining = data.byteLength - offset;
for (var i = 0; i < bytesRemaining; i++) { for (var i = 0; i < bytesRemaining; i++) {
TRANSPONDER.data.push(data.getUint8(offset++)); TRANSPONDER.data.push(data.getUint8(offset++));
} }
@ -961,7 +968,7 @@ var MSP = {
case MSP_codes.MSP_SET_ADJUSTMENT_RANGE: case MSP_codes.MSP_SET_ADJUSTMENT_RANGE:
console.log('Adjustment range saved'); console.log('Adjustment range saved');
break; break;
case MSP_codes.MSP_PID_CONTROLLER: case MSP_codes.MSP_PID_CONTROLLER:
PID.controller = data.getUint8(0, 1); PID.controller = data.getUint8(0, 1);
break; break;
@ -985,7 +992,7 @@ var MSP = {
break; break;
case MSP_codes.MSP_SET_SENSOR_ALIGNMENT: case MSP_codes.MSP_SET_SENSOR_ALIGNMENT:
console.log('Sensor alignment saved'); console.log('Sensor alignment saved');
break; break;
case MSP_codes.MSP_SET_RX_CONFIG: case MSP_codes.MSP_SET_RX_CONFIG:
console.log('Rx config saved'); console.log('Rx config saved');
break; break;
@ -1168,11 +1175,17 @@ MSP.crunch = function (code) {
buffer.push(Math.round(RC_tuning.RC_EXPO * 100)); buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
if (semver.lt(CONFIG.apiVersion, "1.7.0")) { if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
buffer.push(Math.round(RC_tuning.roll_pitch_rate * 100)); buffer.push(Math.round(RC_tuning.roll_pitch_rate * 100));
buffer.push(Math.round(RC_tuning.yaw_rate * 100));
} else if (FC.isRatesInDps()) {
buffer.push(Math.round(RC_tuning.roll_rate / 10));
buffer.push(Math.round(RC_tuning.pitch_rate / 10));
buffer.push(Math.round(RC_tuning.yaw_rate / 10));
} else { } else {
buffer.push(Math.round(RC_tuning.roll_rate * 100)); buffer.push(Math.round(RC_tuning.roll_rate * 100));
buffer.push(Math.round(RC_tuning.pitch_rate * 100)); buffer.push(Math.round(RC_tuning.pitch_rate * 100));
buffer.push(Math.round(RC_tuning.yaw_rate * 100));
} }
buffer.push(Math.round(RC_tuning.yaw_rate * 100));
buffer.push(Math.round(RC_tuning.dynamic_THR_PID * 100)); buffer.push(Math.round(RC_tuning.dynamic_THR_PID * 100));
buffer.push(Math.round(RC_tuning.throttle_MID * 100)); buffer.push(Math.round(RC_tuning.throttle_MID * 100));
buffer.push(Math.round(RC_tuning.throttle_EXPO * 100)); buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
@ -1290,17 +1303,17 @@ MSP.crunch = function (code) {
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 1)); buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 1));
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 2)); buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 2));
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 3)); buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 3));
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 0)); buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 0));
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 1)); buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 1));
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 2)); buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 2));
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 3)); buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 3));
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 0)); buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 0));
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 1)); buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 1));
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 2)); buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 2));
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 3)); buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 3));
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 0)); buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 0));
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 1)); buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 1));
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 2)); buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 2));
@ -1308,13 +1321,13 @@ MSP.crunch = function (code) {
} else { } else {
for (var i = 0; i < SERIAL_CONFIG.ports.length; i++) { for (var i = 0; i < SERIAL_CONFIG.ports.length; i++) {
var serialPort = SERIAL_CONFIG.ports[i]; var serialPort = SERIAL_CONFIG.ports[i];
buffer.push(serialPort.identifier); buffer.push(serialPort.identifier);
var functionMask = MSP.serialPortFunctionsToMask(serialPort.functions); var functionMask = MSP.serialPortFunctionsToMask(serialPort.functions);
buffer.push(specificByte(functionMask, 0)); buffer.push(specificByte(functionMask, 0));
buffer.push(specificByte(functionMask, 1)); buffer.push(specificByte(functionMask, 1));
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.msp_baudrate)); buffer.push(MSP.supportedBaudRates.indexOf(serialPort.msp_baudrate));
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.gps_baudrate)); buffer.push(MSP.supportedBaudRates.indexOf(serialPort.gps_baudrate));
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.telemetry_baudrate)); buffer.push(MSP.supportedBaudRates.indexOf(serialPort.telemetry_baudrate));
@ -1334,11 +1347,11 @@ MSP.crunch = function (code) {
buffer.push(lowByte(_3D.deadband3d_throttle)); buffer.push(lowByte(_3D.deadband3d_throttle));
buffer.push(highByte(_3D.deadband3d_throttle)); buffer.push(highByte(_3D.deadband3d_throttle));
} }
break; break;
case MSP_codes.MSP_SET_RC_DEADBAND: case MSP_codes.MSP_SET_RC_DEADBAND:
buffer.push(RC_deadband.deadband); buffer.push(RC_deadband.deadband);
buffer.push(RC_deadband.yaw_deadband); buffer.push(RC_deadband.yaw_deadband);
buffer.push(RC_deadband.alt_hold_deadband); buffer.push(RC_deadband.alt_hold_deadband);
break; break;
@ -1357,28 +1370,28 @@ MSP.crunch = function (code) {
/** /**
* Set raw Rx values over MSP protocol. * Set raw Rx values over MSP protocol.
* *
* Channels is an array of 16-bit unsigned integer channel values to be sent. 8 channels is probably the maximum. * Channels is an array of 16-bit unsigned integer channel values to be sent. 8 channels is probably the maximum.
*/ */
MSP.setRawRx = function(channels) { MSP.setRawRx = function(channels) {
var buffer = []; var buffer = [];
for (var i = 0; i < channels.length; i++) { for (var i = 0; i < channels.length; i++) {
buffer.push(specificByte(channels[i], 0)); buffer.push(specificByte(channels[i], 0));
buffer.push(specificByte(channels[i], 1)); buffer.push(specificByte(channels[i], 1));
} }
MSP.send_message(MSP_codes.MSP_SET_RAW_RC, buffer, false); MSP.send_message(MSP_codes.MSP_SET_RAW_RC, buffer, false);
} }
MSP.sendBlackboxConfiguration = function(onDataCallback) { MSP.sendBlackboxConfiguration = function(onDataCallback) {
var var
message = [ message = [
BLACKBOX.blackboxDevice & 0xFF, BLACKBOX.blackboxDevice & 0xFF,
BLACKBOX.blackboxRateNum & 0xFF, BLACKBOX.blackboxRateNum & 0xFF,
BLACKBOX.blackboxRateDenom & 0xFF BLACKBOX.blackboxRateDenom & 0xFF
]; ];
MSP.send_message(MSP_codes.MSP_SET_BLACKBOX_CONFIG, message, false, function(response) { MSP.send_message(MSP_codes.MSP_SET_BLACKBOX_CONFIG, message, false, function(response) {
onDataCallback(); onDataCallback();
}); });
@ -1389,10 +1402,10 @@ MSP.sendBlackboxConfiguration = function(onDataCallback) {
* of the returned data to the given callback (or null for the data if an error occured). * of the returned data to the given callback (or null for the data if an error occured).
*/ */
MSP.dataflashRead = function(address, onDataCallback) { MSP.dataflashRead = function(address, onDataCallback) {
MSP.send_message(MSP_codes.MSP_DATAFLASH_READ, [address & 0xFF, (address >> 8) & 0xFF, (address >> 16) & 0xFF, (address >> 24) & 0xFF], MSP.send_message(MSP_codes.MSP_DATAFLASH_READ, [address & 0xFF, (address >> 8) & 0xFF, (address >> 16) & 0xFF, (address >> 24) & 0xFF],
false, function(response) { false, function(response) {
var chunkAddress = response.data.getUint32(0, 1); var chunkAddress = response.data.getUint32(0, 1);
// Verify that the address of the memory returned matches what the caller asked for // Verify that the address of the memory returned matches what the caller asked for
if (chunkAddress == address) { if (chunkAddress == address) {
/* Strip that address off the front of the reply and deliver it separately so the caller doesn't have to /* Strip that address off the front of the reply and deliver it separately so the caller doesn't have to
@ -1412,8 +1425,8 @@ MSP.sendServoMixRules = function(onCompleteCallback) {
}; };
MSP.sendServoConfigurations = function(onCompleteCallback) { MSP.sendServoConfigurations = function(onCompleteCallback) {
var nextFunction = send_next_servo_configuration; var nextFunction = send_next_servo_configuration;
var servoIndex = 0; var servoIndex = 0;
if (SERVO_CONFIG.length == 0) { if (SERVO_CONFIG.length == 0) {
@ -1424,7 +1437,7 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
function send_next_servo_configuration() { function send_next_servo_configuration() {
var buffer = []; var buffer = [];
if (semver.lt(CONFIG.apiVersion, "1.12.0")) { if (semver.lt(CONFIG.apiVersion, "1.12.0")) {
@ -1442,15 +1455,15 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
buffer.push(lowByte(SERVO_CONFIG[i].rate)); buffer.push(lowByte(SERVO_CONFIG[i].rate));
} }
nextFunction = send_channel_forwarding; nextFunction = send_channel_forwarding;
} else { } else {
// send one at a time, with index // send one at a time, with index
var servoConfiguration = SERVO_CONFIG[servoIndex]; var servoConfiguration = SERVO_CONFIG[servoIndex];
buffer.push(servoIndex); buffer.push(servoIndex);
buffer.push(lowByte(servoConfiguration.min)); buffer.push(lowByte(servoConfiguration.min));
buffer.push(highByte(servoConfiguration.min)); buffer.push(highByte(servoConfiguration.min));
@ -1461,7 +1474,7 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
buffer.push(highByte(servoConfiguration.middle)); buffer.push(highByte(servoConfiguration.middle));
buffer.push(lowByte(servoConfiguration.rate)); buffer.push(lowByte(servoConfiguration.rate));
buffer.push(servoConfiguration.angleAtMin); buffer.push(servoConfiguration.angleAtMin);
buffer.push(servoConfiguration.angleAtMax); buffer.push(servoConfiguration.angleAtMax);
@ -1475,7 +1488,7 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
buffer.push(specificByte(servoConfiguration.reversedInputSources, 1)); buffer.push(specificByte(servoConfiguration.reversedInputSources, 1));
buffer.push(specificByte(servoConfiguration.reversedInputSources, 2)); buffer.push(specificByte(servoConfiguration.reversedInputSources, 2));
buffer.push(specificByte(servoConfiguration.reversedInputSources, 3)); buffer.push(specificByte(servoConfiguration.reversedInputSources, 3));
// prepare for next iteration // prepare for next iteration
servoIndex++; servoIndex++;
if (servoIndex == SERVO_CONFIG.length) { if (servoIndex == SERVO_CONFIG.length) {
@ -1484,7 +1497,7 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
} }
MSP.send_message(MSP_codes.MSP_SET_SERVO_CONFIGURATION, buffer, false, nextFunction); MSP.send_message(MSP_codes.MSP_SET_SERVO_CONFIGURATION, buffer, false, nextFunction);
} }
function send_channel_forwarding() { function send_channel_forwarding() {
var buffer = []; var buffer = [];
@ -1503,8 +1516,8 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
}; };
MSP.sendModeRanges = function(onCompleteCallback) { MSP.sendModeRanges = function(onCompleteCallback) {
var nextFunction = send_next_mode_range; var nextFunction = send_next_mode_range;
var modeRangeIndex = 0; var modeRangeIndex = 0;
if (MODE_RANGES.length == 0) { if (MODE_RANGES.length == 0) {
@ -1514,29 +1527,29 @@ MSP.sendModeRanges = function(onCompleteCallback) {
} }
function send_next_mode_range() { function send_next_mode_range() {
var modeRange = MODE_RANGES[modeRangeIndex]; var modeRange = MODE_RANGES[modeRangeIndex];
var buffer = []; var buffer = [];
buffer.push(modeRangeIndex); buffer.push(modeRangeIndex);
buffer.push(modeRange.id); buffer.push(modeRange.id);
buffer.push(modeRange.auxChannelIndex); buffer.push(modeRange.auxChannelIndex);
buffer.push((modeRange.range.start - 900) / 25); buffer.push((modeRange.range.start - 900) / 25);
buffer.push((modeRange.range.end - 900) / 25); buffer.push((modeRange.range.end - 900) / 25);
// prepare for next iteration // prepare for next iteration
modeRangeIndex++; modeRangeIndex++;
if (modeRangeIndex == MODE_RANGES.length) { if (modeRangeIndex == MODE_RANGES.length) {
nextFunction = onCompleteCallback; nextFunction = onCompleteCallback;
} }
MSP.send_message(MSP_codes.MSP_SET_MODE_RANGE, buffer, false, nextFunction); MSP.send_message(MSP_codes.MSP_SET_MODE_RANGE, buffer, false, nextFunction);
} }
}; };
MSP.sendAdjustmentRanges = function(onCompleteCallback) { MSP.sendAdjustmentRanges = function(onCompleteCallback) {
var nextFunction = send_next_adjustment_range; var nextFunction = send_next_adjustment_range;
var adjustmentRangeIndex = 0; var adjustmentRangeIndex = 0;
if (ADJUSTMENT_RANGES.length == 0) { if (ADJUSTMENT_RANGES.length == 0) {
@ -1547,9 +1560,9 @@ MSP.sendAdjustmentRanges = function(onCompleteCallback) {
function send_next_adjustment_range() { function send_next_adjustment_range() {
var adjustmentRange = ADJUSTMENT_RANGES[adjustmentRangeIndex]; var adjustmentRange = ADJUSTMENT_RANGES[adjustmentRangeIndex];
var buffer = []; var buffer = [];
buffer.push(adjustmentRangeIndex); buffer.push(adjustmentRangeIndex);
buffer.push(adjustmentRange.slotIndex); buffer.push(adjustmentRange.slotIndex);
@ -1558,21 +1571,21 @@ MSP.sendAdjustmentRanges = function(onCompleteCallback) {
buffer.push((adjustmentRange.range.end - 900) / 25); buffer.push((adjustmentRange.range.end - 900) / 25);
buffer.push(adjustmentRange.adjustmentFunction); buffer.push(adjustmentRange.adjustmentFunction);
buffer.push(adjustmentRange.auxSwitchChannelIndex); buffer.push(adjustmentRange.auxSwitchChannelIndex);
// prepare for next iteration // prepare for next iteration
adjustmentRangeIndex++; adjustmentRangeIndex++;
if (adjustmentRangeIndex == ADJUSTMENT_RANGES.length) { if (adjustmentRangeIndex == ADJUSTMENT_RANGES.length) {
nextFunction = onCompleteCallback; nextFunction = onCompleteCallback;
} }
MSP.send_message(MSP_codes.MSP_SET_ADJUSTMENT_RANGE, buffer, false, nextFunction); MSP.send_message(MSP_codes.MSP_SET_ADJUSTMENT_RANGE, buffer, false, nextFunction);
} }
}; };
MSP.sendLedStripConfig = function(onCompleteCallback) { MSP.sendLedStripConfig = function(onCompleteCallback) {
var nextFunction = send_next_led_strip_config; var nextFunction = send_next_led_strip_config;
var ledIndex = 0; var ledIndex = 0;
if (LED_STRIP.length == 0) { if (LED_STRIP.length == 0) {
@ -1582,11 +1595,11 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
} }
function send_next_led_strip_config() { function send_next_led_strip_config() {
var led = LED_STRIP[ledIndex]; var led = LED_STRIP[ledIndex];
var buffer = []; var buffer = [];
buffer.push(ledIndex); buffer.push(ledIndex);
var directionMask = 0; var directionMask = 0;
@ -1614,20 +1627,20 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
buffer.push(led.color); buffer.push(led.color);
// prepare for next iteration // prepare for next iteration
ledIndex++; ledIndex++;
if (ledIndex == LED_STRIP.length) { if (ledIndex == LED_STRIP.length) {
nextFunction = onCompleteCallback; nextFunction = onCompleteCallback;
} }
MSP.send_message(MSP_codes.MSP_SET_LED_STRIP_CONFIG, buffer, false, nextFunction); MSP.send_message(MSP_codes.MSP_SET_LED_STRIP_CONFIG, buffer, false, nextFunction);
} }
} }
MSP.serialPortFunctionMaskToFunctions = function(functionMask) { MSP.serialPortFunctionMaskToFunctions = function(functionMask) {
var functions = []; var functions = [];
var keys = Object.keys(MSP.serialPortFunctions); var keys = Object.keys(MSP.serialPortFunctions);
for (var index = 0; index < keys.length; index++) { for (var index = 0; index < keys.length; index++) {
var key = keys[index]; var key = keys[index];
@ -1688,5 +1701,3 @@ MSP.SDCARD_STATE_FATAL = 1;
MSP.SDCARD_STATE_CARD_INIT = 2; MSP.SDCARD_STATE_CARD_INIT = 2;
MSP.SDCARD_STATE_FS_INIT = 3; MSP.SDCARD_STATE_FS_INIT = 3;
MSP.SDCARD_STATE_READY = 4; MSP.SDCARD_STATE_READY = 4;

44
tabs/pid_tuning.css
View file

@ -1,3 +1,25 @@
.rate-tpa.rate-tpa--inav input[type="number"] {
margin: 4px;
width: auto;
border: 1px solid silver;
border-radius: 3px;
display: inline-block;
}
.rate-tpa.rate-tpa--inav td {
background-color: #DEDEDE;
width: auto;
border-bottom: 1px solid #ccc;
}
.tab-pid_tuning .rate-tpa.rate-tpa--inav th:first-child {
border-top-left-radius: 0;
}
.tab-pid_tuning .rate-tpa.rate-tpa--inav .roll {
border-bottom-left-radius: 0;
}
.tab-pid_tuning .rate-tpa th { .tab-pid_tuning .rate-tpa th {
background-color: #828885; background-color: #828885;
padding: 4px; padding: 4px;
@ -153,7 +175,7 @@
font-weight: normal; font-weight: normal;
padding: 2px; padding: 2px;
padding-left: 6px; padding-left: 6px;
border-top-left-radius: 3px; border-top-left-radius: 3px;
border-top-right-radius: 3px; border-top-right-radius: 3px;
} }
@ -258,11 +280,11 @@
} }
.show { .show {
width:110px; width:110px;
float:right; float:right;
margin-right:3px; margin-right:3px;
} }
.show a { .show a {
margin-left: 10px; margin-left: 10px;
width: calc(100% - 10px); width: calc(100% - 10px);
@ -282,7 +304,7 @@
margin-right: 5px; margin-right: 5px;
} }
.tab-pid_tuning .spacer_left { .tab-pid_tuning .spacer_left {
padding-left: 15px; padding-left: 15px;
float: right; float: right;
width: calc(100% - 20px) width: calc(100% - 20px)
@ -327,7 +349,7 @@
color: #7d7d7d; color: #7d7d7d;
font-size: 11px; font-size: 11px;
} }
#content-watermark { #content-watermark {
position: absolute; position: absolute;
bottom: 40px; bottom: 40px;
@ -344,7 +366,7 @@
} }
.tab-pid_tuning .resetbt { .tab-pid_tuning .resetbt {
width: 140px; width: 140px;
float: right; float: right;
} }
@ -374,16 +396,16 @@
} }
.tab-pid_tuning .borderleft { .tab-pid_tuning .borderleft {
border-top-left-radius: 3px; border-top-left-radius: 3px;
border-top-right-radius: 3px; border-top-right-radius: 3px;
} }
.tab-pid_tuning .textleft { .tab-pid_tuning .textleft {
width: 25%; width: 25%;
float: left; float: left;
text-align: left; text-align: left;
} }
.tab-pid_tuning .topspacer { .tab-pid_tuning .topspacer {
margin-top:15px; margin-top:15px;
} }

28
tabs/pid_tuning.html
View file

@ -7,7 +7,7 @@
</div> </div>
<div class="cf_column half"> <div class="cf_column half">
<div class="controller"> <div class="controller">
<span class="head" i18n="pidTuningControllerHead"></span> <span class="head" i18n="pidTuningControllerHead"></span>
<select name="controller"> <select name="controller">
<!-- list generated here --> <!-- list generated here -->
</select> </select>
@ -154,7 +154,29 @@
</div> </div>
<div class="cf_column half"> <div class="cf_column half">
<div class="spacer_left"> <div class="spacer_left">
<table class="rate-tpa cf"> <table class="rate-tpa rate-tpa--inav">
<tbody>
<tr>
<th class="roll" i18n="pidTuningRollRate"></th>
<td class="roll">
<input type="number" name="roll" step="10" min="60" max="1800" /> degrees per second
</td>
</tr>
<tr>
<th class="pitch" i18n="pidTuningPitchRate"></th>
<td class="pitch">
<input type="number" name="pitch" step="10" min="60" max="1800" /> degrees per second
</td>
</tr>
<tr>
<th class="yaw" i18n="pidTuningYawRate"></th>
<td class="yaw">
<input type="number" name="yaw" step="10" min="20" max="1800" /> degrees per second
</td>
</tr>
</tbody>
</table>
<table class="rate-tpa rate-tpa--no-dps cf">
<thead> <thead>
<tr> <tr>
<th class="roll-pitch" i18n="pidTuningRollPitchRate"></th> <th class="roll-pitch" i18n="pidTuningRollPitchRate"></th>
@ -203,4 +225,4 @@
<a class="refresh" href="#" i18n="pidTuningButtonRefresh"></a> <a class="refresh" href="#" i18n="pidTuningButtonRefresh"></a>
</div> </div>
</div> </div>
</div> </div>

32
tabs/pid_tuning.js
View file

@ -173,9 +173,17 @@ TABS.pid_tuning.initialize = function (callback) {
// Fill in data from RC_tuning object // Fill in data from RC_tuning object
$('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2)); $('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
$('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate.toFixed(2));
$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate.toFixed(2)); if (FC.isRatesInDps()) {
$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate.toFixed(2)); $('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate);
$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate);
$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate);
} else {
$('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate.toFixed(2));
$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate.toFixed(2));
$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
}
$('.rate-tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2)); $('.rate-tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
$('.rate-tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint); $('.rate-tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint);
} }
@ -234,9 +242,9 @@ TABS.pid_tuning.initialize = function (callback) {
// catch RC_tuning changes // catch RC_tuning changes
RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val()); RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
RC_tuning.roll_rate = parseFloat($('.rate-tpa input[name="roll"]').val()); RC_tuning.roll_rate = parseFloat($('.rate-tpa input[name="roll"]:visible').val());
RC_tuning.pitch_rate = parseFloat($('.rate-tpa input[name="pitch"]').val()); RC_tuning.pitch_rate = parseFloat($('.rate-tpa input[name="pitch"]:visible').val());
RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]').val()); RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]:visible').val());
RC_tuning.dynamic_THR_PID = parseFloat($('.rate-tpa input[name="tpa"]').val()); RC_tuning.dynamic_THR_PID = parseFloat($('.rate-tpa input[name="tpa"]').val());
RC_tuning.dynamic_THR_breakpoint = parseInt($('.rate-tpa input[name="tpa-breakpoint"]').val()); RC_tuning.dynamic_THR_breakpoint = parseInt($('.rate-tpa input[name="tpa-breakpoint"]').val());
} }
@ -313,12 +321,12 @@ TABS.pid_tuning.initialize = function (callback) {
{ name: "LuxFloat"}, { name: "LuxFloat"},
] ]
} }
for (var i = 0; i < pidControllerList.length; i++) { for (var i = 0; i < pidControllerList.length; i++) {
pidController_e.append('<option value="' + (i) + '">' + pidControllerList[i].name + '</option>'); pidController_e.append('<option value="' + (i) + '">' + pidControllerList[i].name + '</option>');
} }
var form_e = $('#pid-tuning'); var form_e = $('#pid-tuning');
if (GUI.canChangePidController) { if (GUI.canChangePidController) {
@ -336,8 +344,12 @@ TABS.pid_tuning.initialize = function (callback) {
$('.rate-tpa .tpa-breakpoint').hide(); $('.rate-tpa .tpa-breakpoint').hide();
$('.rate-tpa .roll').hide(); $('.rate-tpa .roll').hide();
$('.rate-tpa .pitch').hide(); $('.rate-tpa .pitch').hide();
$('.rate-tpa--inav').hide();
} else if (FC.isRatesInDps()) {
$('.rate-tpa--no-dps').hide();
} else { } else {
$('.rate-tpa .roll-pitch').hide(); $('.rate-tpa .roll-pitch').hide();
$('.rate-tpa--inav').hide();
} }
// UI Hooks // UI Hooks
@ -412,4 +424,4 @@ TABS.pid_tuning.cleanup = function (callback) {
if (callback) { if (callback) {
callback(); callback();
} }
}; };