mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-24 08:45:26 +03:00
RTH and Landing settings
This commit is contained in:
Pawel Spychalski (DzikuVx)
parent
fd4c1b5b6b
commit
eb4eff59fb
7 changed files with 526 additions and 93 deletions
238
build/script.js
238
build/script.js
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@ -7424,6 +7424,9 @@ var MSPCodes = {
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MSP_POSITION_ESTIMATION_CONFIG: 16,
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MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
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MSP_RTH_AND_LAND_CONFIG: 21,
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MSP_SET_RTH_AND_LAND_CONFIG: 22,
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// MSP commands for Cleanflight original features
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MSP_CHANNEL_FORWARDING: 32,
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MSP_SET_CHANNEL_FORWARDING: 33,
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@ -8487,6 +8490,25 @@ var mspHelper = (function (gui) {
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console.log('POSITION_ESTIMATOR saved');
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break;
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case MSPCodes.MSP_RTH_AND_LAND_CONFIG:
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RTH_AND_LAND_CONFIG.minRthDistance = data.getUint16(0, true);
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RTH_AND_LAND_CONFIG.rthClimbFirst = data.getUint8(2);
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RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = data.getUint8(3);
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RTH_AND_LAND_CONFIG.rthTailFirst = data.getUint8(4);
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RTH_AND_LAND_CONFIG.rthAllowLanding = data.getUint8(5);
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RTH_AND_LAND_CONFIG.rthAltControlMode = data.getUint8(6);
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RTH_AND_LAND_CONFIG.rthAbortThreshold = data.getUint16(7, true);
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RTH_AND_LAND_CONFIG.rthAltitude = data.getUint16(9, true);
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RTH_AND_LAND_CONFIG.landDescentRate = data.getUint16(11, true);
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RTH_AND_LAND_CONFIG.landSlowdownMinAlt = data.getUint16(13, true);
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RTH_AND_LAND_CONFIG.landSlowdownMaxAlt = data.getUint16(15, true);
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RTH_AND_LAND_CONFIG.emergencyDescentRate = data.getUint16(17, true);
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break;
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case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
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console.log('RTH_AND_LAND_CONFIG saved');
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break;
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case MSPCodes.MSP_SET_MODE_RANGE:
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console.log('Mode range saved');
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break;
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@ -8839,6 +8861,35 @@ var mspHelper = (function (gui) {
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buffer.push(POSITION_ESTIMATOR.use_gps_velned);
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break;
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case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.minRthDistance));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.minRthDistance));
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buffer.push(RTH_AND_LAND_CONFIG.rthClimbFirst);
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buffer.push(RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency);
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buffer.push(RTH_AND_LAND_CONFIG.rthTailFirst);
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buffer.push(RTH_AND_LAND_CONFIG.rthAllowLanding);
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buffer.push(RTH_AND_LAND_CONFIG.rthAltControlMode);
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.rthAbortThreshold));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.rthAbortThreshold));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.rthAltitude));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.rthAltitude));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.landDescentRate));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.landDescentRate));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
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buffer.push(lowByte(RTH_AND_LAND_CONFIG.emergencyDescentRate));
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buffer.push(highByte(RTH_AND_LAND_CONFIG.emergencyDescentRate));
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break;
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case MSPCodes.MSP_SET_FILTER_CONFIG:
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buffer.push(FILTER_CONFIG.gyroSoftLpfHz);
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@ -9589,6 +9640,22 @@ var mspHelper = (function (gui) {
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}
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};
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self.loadRthAndLandConfig = function (callback) {
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if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
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MSP.send_message(MSPCodes.MSP_RTH_AND_LAND_CONFIG, false, false, callback);
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} else {
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callback();
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}
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};
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self.saveRthAndLandConfig = function (callback) {
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if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
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MSP.send_message(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG), false, callback);
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} else {
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callback();
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}
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};
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return self;
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})(GUI);
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@ -10817,50 +10884,51 @@ var CONFIGURATOR = {
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'use strict';
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// define all the global variables that are uses to hold FC state
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var CONFIG;
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var BF_CONFIG;
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var LED_STRIP;
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var LED_COLORS;
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var LED_MODE_COLORS;
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var PID;
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var PID_names;
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var PIDs;
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var RC_MAP;
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var RC;
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var RC_tuning;
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var AUX_CONFIG;
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var AUX_CONFIG_IDS;
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var MODE_RANGES;
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var ADJUSTMENT_RANGES;
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var SERVO_CONFIG;
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var SERVO_RULES;
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var SERIAL_CONFIG;
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var SENSOR_DATA;
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var MOTOR_DATA;
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var SERVO_DATA;
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var GPS_DATA;
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var ANALOG;
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var ARMING_CONFIG;
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var FC_CONFIG;
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var MISC;
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var _3D;
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var DATAFLASH;
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var SDCARD;
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var BLACKBOX;
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var TRANSPONDER;
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var RC_deadband;
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var SENSOR_ALIGNMENT;
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var RX_CONFIG;
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var FAILSAFE_CONFIG;
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var RXFAIL_CONFIG;
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var ADVANCED_CONFIG;
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var INAV_PID_CONFIG;
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var PID_ADVANCED;
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var FILTER_CONFIG;
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var SENSOR_STATUS;
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var SENSOR_CONFIG;
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var NAV_POSHOLD;
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var POSITION_ESTIMATOR;
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var CONFIG,
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BF_CONFIG,
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LED_STRIP,
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LED_COLORS,
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LED_MODE_COLORS,
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PID,
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PID_names,
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PIDs,
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RC_MAP,
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RC,
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RC_tuning,
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AUX_CONFIG,
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AUX_CONFIG_IDS,
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MODE_RANGES,
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ADJUSTMENT_RANGES,
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SERVO_CONFIG,
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SERVO_RULES,
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SERIAL_CONFIG,
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SENSOR_DATA,
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MOTOR_DATA,
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SERVO_DATA,
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GPS_DATA,
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ANALOG,
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ARMING_CONFIG,
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FC_CONFIG,
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MISC,
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_3D,
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DATAFLASH,
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SDCARD,
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BLACKBOX,
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TRANSPONDER,
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RC_deadband,
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SENSOR_ALIGNMENT,
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RX_CONFIG,
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FAILSAFE_CONFIG,
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RXFAIL_CONFIG,
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ADVANCED_CONFIG,
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INAV_PID_CONFIG,
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PID_ADVANCED,
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FILTER_CONFIG,
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SENSOR_STATUS,
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SENSOR_CONFIG,
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NAV_POSHOLD,
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POSITION_ESTIMATOR,
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RTH_AND_LAND_CONFIG;
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var FC = {
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isRatesInDps: function () {
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@ -11096,6 +11164,21 @@ var FC = {
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hoverThrottle: null
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};
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RTH_AND_LAND_CONFIG = {
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minRthDistance: null,
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rthClimbFirst: null,
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rthClimbIgnoreEmergency: null,
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rthTailFirst: null,
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rthAllowLanding: null,
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rthAltControlMode: null,
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rthAbortThreshold: null,
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rthAltitude: null,
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landDescentRate: null,
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landSlowdownMinAlt: null,
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landSlowdownMaxAlt: null,
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emergencyDescentRate: null
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};
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_3D = {
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deadband3d_low: 0,
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deadband3d_high: 0,
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@ -11582,6 +11665,9 @@ var FC = {
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'Velocity Z'
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];
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}
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},
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getRthAltControlMode: function () {
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return ["Current", "Extra", "Fixed", "Max", "At Least"];
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}
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};
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@ -14275,7 +14361,8 @@ TABS.advanced_tuning.initialize = function (callback) {
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loadChainer.setChain([
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mspHelper.loadNavPosholdConfig,
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mspHelper.loadPositionEstimationConfig
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mspHelper.loadPositionEstimationConfig,
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mspHelper.loadRthAndLandConfig
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]);
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loadChainer.setExitPoint(loadHtml);
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loadChainer.execute();
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@ -14283,6 +14370,7 @@ TABS.advanced_tuning.initialize = function (callback) {
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saveChainer.setChain([
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mspHelper.saveNavPosholdConfig,
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mspHelper.savePositionEstimationConfig,
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mspHelper.saveRthAndLandConfig,
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mspHelper.saveToEeprom
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]);
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saveChainer.setExitPoint(reboot);
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@ -14309,7 +14397,65 @@ TABS.advanced_tuning.initialize = function (callback) {
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var $userControlMode = $('#user-control-mode'),
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$useMidThrottle = $("#use-mid-throttle"),
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$useGpsVelned = $('#use_gps_velned');
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$useGpsVelned = $('#use_gps_velned'),
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$rthClimbFirst = $('#rth-climb-first'),
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$rthClimbIgnoreEmergency = $('#rthClimbIgnoreEmergency'),
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$rthTailFirst = $('#rthTailFirst'),
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$rthAllowLanding = $('#rthAllowLanding'),
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$rthAltControlMode = $('#rthAltControlMode');
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if (semver.gte(CONFIG.flightControllerVersion, "1.7.1")) {
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$rthClimbFirst.prop("checked", RTH_AND_LAND_CONFIG.rthClimbFirst);
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$rthClimbFirst.change(function () {
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if ($(this).is(":checked")) {
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RTH_AND_LAND_CONFIG.rthClimbFirst = 1;
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} else {
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RTH_AND_LAND_CONFIG.rthClimbFirst = 0;
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}
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});
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$rthClimbFirst.change();
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$rthClimbIgnoreEmergency.prop("checked", RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency);
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$rthClimbIgnoreEmergency.change(function () {
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if ($(this).is(":checked")) {
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RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = 1;
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} else {
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RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = 0;
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}
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});
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$rthClimbIgnoreEmergency.change();
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$rthTailFirst.prop("checked", RTH_AND_LAND_CONFIG.rthTailFirst);
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$rthTailFirst.change(function () {
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if ($(this).is(":checked")) {
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RTH_AND_LAND_CONFIG.rthTailFirst = 1;
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} else {
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RTH_AND_LAND_CONFIG.rthTailFirst = 0;
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}
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});
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$rthTailFirst.change();
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$rthAllowLanding.prop("checked", RTH_AND_LAND_CONFIG.rthAllowLanding);
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$rthAllowLanding.change(function () {
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if ($(this).is(":checked")) {
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RTH_AND_LAND_CONFIG.rthAllowLanding = 1;
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} else {
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RTH_AND_LAND_CONFIG.rthAllowLanding = 0;
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}
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});
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$rthAllowLanding.change();
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GUI.fillSelect($rthAltControlMode, FC.getRthAltControlMode(), RTH_AND_LAND_CONFIG.rthAltControlMode);
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$rthAltControlMode.val(RTH_AND_LAND_CONFIG.rthAltControlMode);
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$rthAltControlMode.change(function () {
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RTH_AND_LAND_CONFIG.rthAltControlMode = $rthAltControlMode.val();
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});
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$('.requires-v1_7_1').show();
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} else {
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$('.requires-v1_7_1').hide();
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}
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GUI.fillSelect($userControlMode, FC.getUserControlMode(), NAV_POSHOLD.userControlMode);
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$userControlMode.val(NAV_POSHOLD.userControlMode);
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