betaflight-configurator/tabs/pid_tuning.js

function tab_initialize_pid_tuning() {
    ga_tracker.sendAppView('PID Tuning');
    
    $('#content').load("./tabs/pid_tuning.html", function() {
        GUI.active_tab = 'pid_tuning';

        send_message(MSP_codes.MSP_PID, MSP_codes.MSP_PID, false, function() {
            send_message(MSP_codes.MSP_RC_TUNING, MSP_codes.MSP_RC_TUNING, false, function() {
                // Fill in the data from PIDs array
                var i = 0;
                $('.pid_tuning .ROLL input').each(function() {
                    switch (i) {
                        case 0:
                            $(this).val(PIDs[0][i++].toFixed(1));  
                            break;
                        case 1:
                            $(this).val(PIDs[0][i++].toFixed(3));  
                            break;
                        case 2:
                            $(this).val(PIDs[0][i++].toFixed(0));  
                            break;
                    }     
                });
                
                i = 0;
                $('.pid_tuning .PITCH input').each(function() {
                    switch (i) {
                        case 0:
                            $(this).val(PIDs[1][i++].toFixed(1));  
                            break;
                        case 1:
                            $(this).val(PIDs[1][i++].toFixed(3));  
                            break;
                        case 2:
                            $(this).val(PIDs[1][i++].toFixed(0));  
                            break;
                    }     
                });
                
                i = 0;
                $('.pid_tuning .YAW input').each(function() {
                    switch (i) {
                        case 0:
                            $(this).val(PIDs[2][i++].toFixed(1));  
                            break;
                        case 1:
                            $(this).val(PIDs[2][i++].toFixed(3));  
                            break;
                        case 2:
                            $(this).val(PIDs[2][i++].toFixed(0));  
                            break;
                    }      
                });

                i = 0;
                $('.pid_tuning .ALT input').each(function() {
                    switch (i) {
                        case 0:
                            $(this).val(PIDs[3][i++].toFixed(1));  
                            break;
                        case 1:
                            $(this).val(PIDs[3][i++].toFixed(3));  
                            break;
                        case 2:
                            $(this).val(PIDs[3][i++].toFixed(0));  
                            break;
                    }     
                });

                i = 0;
                $('.pid_tuning .Pos input').each(function() {
                    $(this).val(PIDs[4][i++].toFixed(2));       
                });
                
                i = 0;
                $('.pid_tuning .PosR input').each(function() {
                    switch (i) {
                        case 0:
                            $(this).val(PIDs[5][i++].toFixed(1));  
                            break;
                        case 1:
                            $(this).val(PIDs[5][i++].toFixed(2));  
                            break;
                        case 2:
                            $(this).val(PIDs[5][i++].toFixed(3));  
                            break;
                    }       
                }); 

                i = 0;
                $('.pid_tuning .NavR input').each(function() {
                    switch (i) {
                        case 0:
                            $(this).val(PIDs[6][i++].toFixed(1));  
                            break;
                        case 1:
                            $(this).val(PIDs[6][i++].toFixed(2));  
                            break;
                        case 2:
                            $(this).val(PIDs[6][i++].toFixed(3));  
                            break;
                    }      
                }); 

                i = 0;
                $('.pid_tuning .LEVEL input').each(function() {
                    switch (i) {
                        case 0:
                            $(this).val(PIDs[7][i++].toFixed(1));  
                            break;
                        case 1:
                            $(this).val(PIDs[7][i++].toFixed(2));  
                            break;
                        case 2:
                            $(this).val(PIDs[7][i++].toFixed(0));  
                            break;
                    }      
                }); 

                i = 0;
                $('.pid_tuning .MAG input').each(function() {
                    $(this).val(PIDs[8][i++].toFixed(1));       
                }); 

                i = 0;
                $('.pid_tuning .Vario input').each(function() {
                    switch (i) {
                        case 0:
                            $(this).val(PIDs[9][i++].toFixed(1));  
                            break;
                        case 1:
                            $(this).val(PIDs[9][i++].toFixed(3));  
                            break;
                        case 2:
                            $(this).val(PIDs[9][i++].toFixed(0));  
                            break;
                    }     
                });
                
                // 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="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
                $('.rate-tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
                
                // Fill in currently selected profile
                $('input[name="profile"]').val(CONFIG.profile + 1); // +1 because the range is 0-2
                
                // UI Hooks
                $('input[name="profile"]').change(function() {
                    var profile = parseInt($(this).val());
                    send_message(MSP_codes.MSP_SELECT_SETTING, [profile - 1], false, function() {
                        GUI.log('Loaded Profile: <strong>' + profile + '</strong>');
                        
                        GUI.tab_switch_cleanup(function() {                            
                            tab_initialize_pid_tuning();
                        });
                    });
                });
                
                $('a.refresh').click(function() {
                    GUI.tab_switch_cleanup(function() {
                        GUI.log('PID data <strong>refreshed</strong>');
                        
                        tab_initialize_pid_tuning();
                    });
                });
                
                $('a.update').click(function() {
                    // Catch all the changes and stuff the inside PIDs array
                    var i = 0;
                    $('table.pid_tuning tr.ROLL input').each(function() {
                        PIDs[0][i++] = parseFloat($(this).val());
                    });
                    
                    i = 0;
                    $('table.pid_tuning tr.PITCH input').each(function() {
                        PIDs[1][i++] = parseFloat($(this).val());
                    });
                    
                    i = 0;
                    $('table.pid_tuning tr.YAW input').each(function() {
                        PIDs[2][i++] = parseFloat($(this).val());
                    });
                    
                    i = 0;
                    $('table.pid_tuning tr.ALT input').each(function() {
                        PIDs[3][i++] = parseFloat($(this).val());
                    });
                    
                    i = 0;
                    $('table.pid_tuning tr.Vario input').each(function() {
                        PIDs[9][i++] = parseFloat($(this).val());
                    });
                    
                    i = 0;
                    $('table.pid_tuning tr.Pos input').each(function() {
                        PIDs[4][i++] = parseFloat($(this).val());
                    });
                    
                    i = 0;
                    $('table.pid_tuning tr.PosR input').each(function() {
                        PIDs[5][i++] = parseFloat($(this).val());
                    });
                    
                    i = 0;
                    $('table.pid_tuning tr.NavR input').each(function() {
                        PIDs[6][i++] = parseFloat($(this).val());
                    });
                    
                    i = 0;
                    $('table.pid_tuning tr.LEVEL input').each(function() {
                        PIDs[7][i++] = parseFloat($(this).val());
                    });
                    
                    i = 0;
                    $('table.pid_tuning tr.MAG input').each(function() {
                        PIDs[8][i++] = parseFloat($(this).val());
                    });
                    
                    var PID_buffer_out = new Array();
                    for (var i = 0, needle = 0; i < PIDs.length; i++, needle += 3) {
                        switch (i) {
                            case 0: 
                            case 1: 
                            case 2: 
                            case 3: 
                            case 7: 
                            case 8:
                            case 9:
                                PID_buffer_out[needle]     = parseInt(PIDs[i][0] * 10);
                                PID_buffer_out[needle + 1] = parseInt(PIDs[i][1] * 1000);
                                PID_buffer_out[needle + 2] = parseInt(PIDs[i][2]);
                                break;
                            case 4:
                                PID_buffer_out[needle]     = parseInt(PIDs[i][0] * 100);
                                PID_buffer_out[needle + 1] = parseInt(PIDs[i][1] * 100);
                                PID_buffer_out[needle + 2] = parseInt(PIDs[i][2]);
                                break;
                            case 5: 
                            case 6:
                                PID_buffer_out[needle]     = parseInt(PIDs[i][0] * 10);
                                PID_buffer_out[needle + 1] = parseInt(PIDs[i][1] * 100);
                                PID_buffer_out[needle + 2] = parseInt(PIDs[i][2] * 1000);
                                break;                     
                        }
                    }
                    
                    // Send over the PID changes
                    send_message(MSP_codes.MSP_SET_PID, PID_buffer_out);
                    
                    // catch RC_tuning changes
                    RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
                    RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]').val());
                    RC_tuning.dynamic_THR_PID = parseFloat($('.rate-tpa input[name="tpa"]').val());            
                    
                    var RC_tuning_buffer_out = new Array();
                    RC_tuning_buffer_out[0] = parseInt(RC_tuning.RC_RATE * 100);
                    RC_tuning_buffer_out[1] = parseInt(RC_tuning.RC_EXPO * 100);
                    RC_tuning_buffer_out[2] = parseInt(RC_tuning.roll_pitch_rate * 100);
                    RC_tuning_buffer_out[3] = parseInt(RC_tuning.yaw_rate * 100);
                    RC_tuning_buffer_out[4] = parseInt(RC_tuning.dynamic_THR_PID * 100);
                    RC_tuning_buffer_out[5] = parseInt(RC_tuning.throttle_MID * 100);
                    RC_tuning_buffer_out[6] = parseInt(RC_tuning.throttle_EXPO * 100);
                    
                    // Send over the RC_tuning changes
                    send_message(MSP_codes.MSP_SET_RC_TUNING, RC_tuning_buffer_out);
                    
                    // Save changes to EEPROM
                    send_message(MSP_codes.MSP_EEPROM_WRITE, MSP_codes.MSP_EEPROM_WRITE, false, function() {
                        GUI.log('EEPROM <span style="color: green">saved</span>');
                        
                        var element = $('a.update');
                        element.addClass('success');
                        
                        GUI.timeout_add('success_highlight', function() {
                            element.removeClass('success');
                        }, 2000);
                    });
                });

                // enable data pulling
                GUI.interval_add('pid_data_poll', function() {
                    send_message(MSP_codes.MSP_STATUS, MSP_codes.MSP_STATUS);
                }, 50);  
            });
        });
    });    
}