Add feedforward support
Miguel Angel Mulero Martinez
parent
863708ad94
commit
25e4e7f6ca
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@ -1276,6 +1276,12 @@
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"receiverRcInterpolationInterval": {
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"message": "RC Interpolation Interval [ms]"
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},
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"pidTuningFeedforwardTransition": {
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"message": "Feedforward transition"
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},
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"pidTuningFeedforwardTransitionHelp": {
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"message": "With this parameter, the Feedforward term can be reduced near the center of the sticks, which results in smoother end of flips and rolls.<br> The value represents a point of stick deflection: 0 - stick centered, 1 - full deflection. When the stick is above that point, Feedforward is kept constant at its configured value. When the stick is positioned below that point, Feedforward is reduced proportionally, reaching 0 at the stick center position.<br> Value of 1 gives maximum smoothing effect, while value of 0 keeps the Feedforward fixed at its configured value over the whole stick range."
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},
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"pidTuningDtermSetpointTransition": {
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"message": "D Setpoint transition"
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},
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@ -1300,6 +1306,9 @@
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"pidTuningDerivative": {
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"message": "Derivative"
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},
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"pidTuningFeedforward": {
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"message": "Feedforward"
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},
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"pidTuningRcRate": {
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"message": "RC Rate"
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},
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@ -244,12 +244,12 @@
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padding: 5px;
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text-align: left;
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border-right: 1px solid #ccc;
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width: 12.5%;
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width: calc(100% / 9);
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}
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.tab-pid_tuning .pid_titlebar th:first-child {
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text-align: left;
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width: 12.5%;
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width: calc(100% / 9);
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}
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.tab-pid_tuning .pid_titlebar th:last-child {
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@ -336,7 +336,7 @@
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.tab-pid_tuning table td {
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padding: 1px;
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padding-left: 5px;
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width: 12.5%;
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width: calc(100% / 9);
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border-right: 1px solid #ccc;
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}
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@ -376,6 +376,10 @@ var FC = {
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absoluteControlGain: 0,
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throttleBoost: 0,
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acroTrainerAngleLimit: 0,
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feedforwardRoll: 0,
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feedforwardPitch: 0,
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feedforwardYaw: 0,
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feedforwardTransition: 0,
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};
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SENSOR_CONFIG = {
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@ -878,7 +878,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
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ADVANCED_TUNING.deltaMethod = data.readU8();
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ADVANCED_TUNING.vbatPidCompensation = data.readU8();
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if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
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ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
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if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
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ADVANCED_TUNING.feedforwardTransition = data.readU8();
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} else {
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ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
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}
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ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
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ADVANCED_TUNING.toleranceBand = data.readU8();
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ADVANCED_TUNING.toleranceBandReduction = data.readU8();
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@ -904,6 +908,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
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ADVANCED_TUNING.absoluteControlGain = data.readU8();
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ADVANCED_TUNING.throttleBoost = data.readU8();
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ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
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ADVANCED_TUNING.feedforwardRoll = data.readU16();
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ADVANCED_TUNING.feedforwardPitch = data.readU16();
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ADVANCED_TUNING.feedforwardYaw = data.readU16();
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}
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}
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}
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@ -1542,14 +1549,20 @@ MspHelper.prototype.crunch = function(code) {
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.push16(ADVANCED_TUNING.yawItermIgnoreRate)
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.push16(ADVANCED_TUNING.yaw_p_limit)
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.push8(ADVANCED_TUNING.deltaMethod)
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.push8(ADVANCED_TUNING.vbatPidCompensation)
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.push8(ADVANCED_TUNING.dtermSetpointTransition)
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.push8(Math.min(ADVANCED_TUNING.dtermSetpointWeight, 254))
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.push8(ADVANCED_TUNING.toleranceBand)
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.push8(ADVANCED_TUNING.toleranceBandReduction)
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.push8(ADVANCED_TUNING.itermThrottleGain)
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.push16(ADVANCED_TUNING.pidMaxVelocity)
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.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
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.push8(ADVANCED_TUNING.vbatPidCompensation);
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if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(ADVANCED_TUNING.feedforwardTransition);
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} else {
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buffer.push8(ADVANCED_TUNING.dtermSetpointTransition);
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}
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buffer.push8(Math.min(ADVANCED_TUNING.dtermSetpointWeight, 254))
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.push8(ADVANCED_TUNING.toleranceBand)
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.push8(ADVANCED_TUNING.toleranceBandReduction)
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.push8(ADVANCED_TUNING.itermThrottleGain)
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.push16(ADVANCED_TUNING.pidMaxVelocity)
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.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
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if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
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buffer.push8(ADVANCED_TUNING.levelAngleLimit)
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@ -1569,9 +1582,11 @@ MspHelper.prototype.crunch = function(code) {
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.push8(ADVANCED_TUNING.itermRelaxType)
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.push8(ADVANCED_TUNING.absoluteControlGain)
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.push8(ADVANCED_TUNING.throttleBoost)
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.push8(ADVANCED_TUNING.acroTrainerAngleLimit);
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.push8(ADVANCED_TUNING.acroTrainerAngleLimit)
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.push16(ADVANCED_TUNING.feedforwardRoll)
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.push16(ADVANCED_TUNING.feedforwardPitch)
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.push16(ADVANCED_TUNING.feedforwardYaw);
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}
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}
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}
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}
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@ -370,6 +370,28 @@ TABS.pid_tuning.initialize = function (callback) {
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});
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acroTrainerAngleLimitNumberElement.val(ADVANCED_TUNING.acroTrainerAngleLimit).change();
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// Yaw D
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$('.pid_tuning .YAW input[name="d"]').val(PIDs[2][2]); // PID Yaw D
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// Feedforward
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$('.pid_tuning .ROLL input[name="f"]').val(ADVANCED_TUNING.feedforwardRoll);
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$('.pid_tuning .PITCH input[name="f"]').val(ADVANCED_TUNING.feedforwardPitch);
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$('.pid_tuning .YAW input[name="f"]').val(ADVANCED_TUNING.feedforwardYaw);
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var feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]');
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var feedforwardTransitionRangeElement = $('input[name="feedforwardTransition-range"]');
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feedforwardTransitionNumberElement.val(ADVANCED_TUNING.feedforwardTransition / 100);
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feedforwardTransitionRangeElement.val(ADVANCED_TUNING.feedforwardTransition / 100);
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feedforwardTransitionNumberElement.change(function () {
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feedforwardTransitionRangeElement.val($(this).val());
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});
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feedforwardTransitionRangeElement.change(function () {
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feedforwardTransitionNumberElement.val($(this).val());
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});
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} else {
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$('.itermrotation').hide();
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$('.smartfeedforward').hide();
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@ -377,6 +399,11 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.absoluteControlGain').hide();
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$('.throttleBoost').hide();
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$('.acroTrainerAngleLimit').hide();
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$('.pid_tuning .YAW input[name="d"]').hide();
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$('.pid_tuning .ROLL input[name="f"]').hide();
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$('.pid_tuning .PITCH input[name="f"]').hide();
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$('.pid_tuning .YAW input[name="f"]').hide();
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$('#pid-tuning .feedForwardTransition').hide();
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}
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$('input[id="gyroNotch1Enabled"]').change(function() {
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@ -609,6 +636,7 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
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ADVANCED_TUNING.itermRotation = $('input[id="itermrotation"]').is(':checked') ? 1 : 0;
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ADVANCED_TUNING.smartFeedforward = $('input[id="smartfeedforward"]').is(':checked') ? 1 : 0;
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@ -620,8 +648,13 @@ TABS.pid_tuning.initialize = function (callback) {
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ADVANCED_TUNING.throttleBoost = $('input[name="throttleBoost-number"]').val();
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ADVANCED_TUNING.acroTrainerAngleLimit = $('input[name="acroTrainerAngleLimit-number"]').val();
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}
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ADVANCED_TUNING.feedforwardRoll = parseInt($('.pid_tuning .ROLL input[name="f"]').val());
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ADVANCED_TUNING.feedforwardPitch = parseInt($('.pid_tuning .PITCH input[name="f"]').val());
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ADVANCED_TUNING.feedforwardYaw = parseInt($('.pid_tuning .YAW input[name="f"]').val());
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ADVANCED_TUNING.feedforwardTransition = parseInt($('input[name="feedforwardTransition-number"]').val() * 100);
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}
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}
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function showAllPids() {
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@ -1467,8 +1500,13 @@ TABS.pid_tuning.updatePidControllerParameters = function () {
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} else {
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$('.pid_tuning .YAW_JUMP_PREVENTION').hide();
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$('#pid-tuning .dtermSetpointTransition').show();
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$('#pid-tuning .dtermSetpoint').show();
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if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
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$('#pid-tuning .dtermSetpointTransition').hide();
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$('#pid-tuning .dtermSetpoint').hide();
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} else {
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$('#pid-tuning .dtermSetpointTransition').show();
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$('#pid-tuning .dtermSetpoint').show();
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}
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$('#pid-tuning .delta').hide();
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}
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@ -72,6 +72,7 @@
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<th class="proportional" i18n="pidTuningProportional"></th>
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<th class="integral" i18n="pidTuningIntegral"></th>
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<th class="derivative" i18n="pidTuningDerivative"></th>
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<th class="feedforward" i18n="pidTuningFeedforward"></th>
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<th class="rc_rate" i18n="pidTuningRcRate"></th>
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<th class="rate" i18n="pidTuningRate"></th>
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<th class="new_rates maxVel" i18n="pidTuningMaxVel"></th>
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@ -80,7 +81,7 @@
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</table>
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<table id="pid_main" class="pid_tuning">
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<tr>
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<th colspan="8">
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<th colspan="9">
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<div class="pid_mode">
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<div i18n="pidTuningBasic" style="float:left;"></div>
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<div class="helpicon cf_tip" i18n_title="pidTuningPidTuningTip"></div>
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@ -93,6 +94,7 @@
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<td class="pid_data"><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td class="pid_data"><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
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<td class="pid_data"><input type="number" name="f" step="1" min="0" max="255" /></td>
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<td rowspan="2" style="background-color:white;">
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<input type="number" name="rc_rate" step="0.01" min="0" max="2.55" />
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<div class="bracket"></div>
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@ -111,6 +113,7 @@
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<td class="pid_data"><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td class="pid_data"><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
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<td class="pid_data"><input type="number" name="f" step="1" min="0" max="255" /></td>
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<td class="pitch_rate"><input type="number" name="pitch_rate" step="0.01" min="0" max="1.00" /></td>
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<td class="new_rates maxAngularVelPitch"></td>
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</tr>
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@ -119,7 +122,8 @@
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<td bgcolor="#8080FF"></td>
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<td class="pid_data"><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td class="pid_data"><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td></td>
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<td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
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<td class="pid_data"><input type="number" name="f" step="1" min="0" max="255" /></td>
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<td rowspan="1"><input type="number" name="rc_rate_yaw" step="0.01" min="0" max="2.55" /></td>
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<td><input type="number" name="yaw_rate" step="0.01" min="0" max="2.55" /></td>
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<td class="new_rates maxAngularVelYaw"></td>
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@ -293,7 +297,7 @@
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</div>
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</td>
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</tr>
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<tr class="dtermSetpoint">
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<tr class="dtermSetpoint" style="height:30px;">
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<td><input type="number" name="dtermSetpoint-number" step="0.01" min="0.00" max="20"/></td>
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<td class="slider"><input type="range" name="dtermSetpoint-range" step="0.01" min="0.00" max="20"/></td>
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<td>
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@ -323,6 +327,19 @@
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</td>
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</tr>
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<tr class="feedforwardTransition" style="height:30px;">
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<td><input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/></td>
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<td class="slider"><input type="range" name="feedforwardTransition-range" step="0.01" min="0.00" max="1.00"/></td>
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<td>
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<div>
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<label>
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<span i18n="pidTuningFeedforwardTransition"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
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</div>
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</td>
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</tr>
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<tr class="acroTrainerAngleLimit">
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<td><input type="number" name="acroTrainerAngleLimit-number" step="1" min="0" max="80"/></td>
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<td class="slider"><input type="range" name="acroTrainerAngleLimit-range" step="1" min="0" max="80"/></td>
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