Add feedforward support

locales/en/messages.json

@@ -1276,6 +1276,12 @@
     "receiverRcInterpolationInterval": {
         "message": "RC Interpolation Interval [ms]"
     },
+    "pidTuningFeedforwardTransition": {
+        "message": "Feedforward transition"
+    },
+    "pidTuningFeedforwardTransitionHelp": {
+        "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."
+    },
     "pidTuningDtermSetpointTransition": {
         "message": "D Setpoint transition"
     },
@@ -1300,6 +1306,9 @@
     "pidTuningDerivative": {
         "message": "Derivative"
     },
+    "pidTuningFeedforward": {
+        "message": "Feedforward"
+    },
     "pidTuningRcRate": {
         "message": "RC Rate"
     },

src/css/tabs/pid_tuning.css

@@ -244,12 +244,12 @@
     padding: 5px;
     text-align: left;
     border-right: 1px solid #ccc;
-    width: 12.5%;
+    width: calc(100% / 9);
 }
 
 .tab-pid_tuning .pid_titlebar th:first-child {
     text-align: left;
-    width: 12.5%;
+    width: calc(100% / 9);
 }
 
 .tab-pid_tuning .pid_titlebar th:last-child {
@@ -336,7 +336,7 @@
 .tab-pid_tuning table td {
     padding: 1px;
     padding-left: 5px;
-    width: 12.5%;
+    width: calc(100% / 9);
     border-right: 1px solid #ccc;
 }
 

src/js/fc.js

@@ -376,6 +376,10 @@ var FC = {
             absoluteControlGain:        0,
             throttleBoost:              0,
             acroTrainerAngleLimit:      0,
+            feedforwardRoll:            0,
+            feedforwardPitch:           0,
+            feedforwardYaw:             0,
+            feedforwardTransition:      0,
         };
 
         SENSOR_CONFIG = {

src/js/msp/MSPHelper.js

@@ -878,7 +878,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
                 ADVANCED_TUNING.deltaMethod = data.readU8();
                 ADVANCED_TUNING.vbatPidCompensation = data.readU8();
                 if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
+                    if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
+                        ADVANCED_TUNING.feedforwardTransition = data.readU8();
+                    } else {
                         ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
+                    }
                     ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
                     ADVANCED_TUNING.toleranceBand = data.readU8();
                     ADVANCED_TUNING.toleranceBandReduction = data.readU8();
@@ -904,6 +908,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
                                     ADVANCED_TUNING.absoluteControlGain = data.readU8();
                                     ADVANCED_TUNING.throttleBoost = data.readU8();
                                     ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
+                                    ADVANCED_TUNING.feedforwardRoll  = data.readU16();
+                                    ADVANCED_TUNING.feedforwardPitch = data.readU16();
+                                    ADVANCED_TUNING.feedforwardYaw   = data.readU16();
                                 }
                             }
                         }
@@ -1542,9 +1549,15 @@ MspHelper.prototype.crunch = function(code) {
                     .push16(ADVANCED_TUNING.yawItermIgnoreRate)
                     .push16(ADVANCED_TUNING.yaw_p_limit)
                     .push8(ADVANCED_TUNING.deltaMethod)
-                    .push8(ADVANCED_TUNING.vbatPidCompensation)
+                    .push8(ADVANCED_TUNING.vbatPidCompensation);
-                    .push8(ADVANCED_TUNING.dtermSetpointTransition)
+
-                    .push8(Math.min(ADVANCED_TUNING.dtermSetpointWeight, 254))
+                if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
+                    buffer.push8(ADVANCED_TUNING.feedforwardTransition);
+                } else {
+                    buffer.push8(ADVANCED_TUNING.dtermSetpointTransition);
+                }
+
+                buffer.push8(Math.min(ADVANCED_TUNING.dtermSetpointWeight, 254))
                       .push8(ADVANCED_TUNING.toleranceBand)
                       .push8(ADVANCED_TUNING.toleranceBandReduction)
                       .push8(ADVANCED_TUNING.itermThrottleGain)
@@ -1569,9 +1582,11 @@ MspHelper.prototype.crunch = function(code) {
                                       .push8(ADVANCED_TUNING.itermRelaxType)
                                       .push8(ADVANCED_TUNING.absoluteControlGain)
                                       .push8(ADVANCED_TUNING.throttleBoost)
-                                      .push8(ADVANCED_TUNING.acroTrainerAngleLimit);
+                                      .push8(ADVANCED_TUNING.acroTrainerAngleLimit)
+                                      .push16(ADVANCED_TUNING.feedforwardRoll)
+                                      .push16(ADVANCED_TUNING.feedforwardPitch)
+                                      .push16(ADVANCED_TUNING.feedforwardYaw);
                             }
-
                         }
                     }
                 }

src/js/tabs/pid_tuning.js

@@ -370,6 +370,28 @@ TABS.pid_tuning.initialize = function (callback) {
             });
             acroTrainerAngleLimitNumberElement.val(ADVANCED_TUNING.acroTrainerAngleLimit).change();
 
+            // Yaw D
+            $('.pid_tuning .YAW input[name="d"]').val(PIDs[2][2]); // PID Yaw D
+
+            // Feedforward
+            $('.pid_tuning .ROLL input[name="f"]').val(ADVANCED_TUNING.feedforwardRoll);
+            $('.pid_tuning .PITCH input[name="f"]').val(ADVANCED_TUNING.feedforwardPitch);
+            $('.pid_tuning .YAW input[name="f"]').val(ADVANCED_TUNING.feedforwardYaw);
+
+            var feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]');
+            var feedforwardTransitionRangeElement = $('input[name="feedforwardTransition-range"]');
+
+            feedforwardTransitionNumberElement.val(ADVANCED_TUNING.feedforwardTransition / 100);
+            feedforwardTransitionRangeElement.val(ADVANCED_TUNING.feedforwardTransition / 100);
+
+            feedforwardTransitionNumberElement.change(function () {
+                feedforwardTransitionRangeElement.val($(this).val());
+            });
+            feedforwardTransitionRangeElement.change(function () {
+                feedforwardTransitionNumberElement.val($(this).val());
+            });
+
+
         } else {
             $('.itermrotation').hide();
             $('.smartfeedforward').hide();
@@ -377,6 +399,11 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.absoluteControlGain').hide();
             $('.throttleBoost').hide();
             $('.acroTrainerAngleLimit').hide();
+            $('.pid_tuning .YAW input[name="d"]').hide();
+            $('.pid_tuning .ROLL input[name="f"]').hide();
+            $('.pid_tuning .PITCH input[name="f"]').hide();
+            $('.pid_tuning .YAW input[name="f"]').hide();
+            $('#pid-tuning .feedForwardTransition').hide();
         }
 
         $('input[id="gyroNotch1Enabled"]').change(function() {
@@ -609,6 +636,7 @@ TABS.pid_tuning.initialize = function (callback) {
         }
 
         if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
+
             ADVANCED_TUNING.itermRotation = $('input[id="itermrotation"]').is(':checked') ? 1 : 0;
             ADVANCED_TUNING.smartFeedforward = $('input[id="smartfeedforward"]').is(':checked') ? 1 : 0;
 
@@ -620,8 +648,13 @@ TABS.pid_tuning.initialize = function (callback) {
             ADVANCED_TUNING.throttleBoost = $('input[name="throttleBoost-number"]').val();
 
             ADVANCED_TUNING.acroTrainerAngleLimit = $('input[name="acroTrainerAngleLimit-number"]').val();
-        }
 
+            ADVANCED_TUNING.feedforwardRoll  = parseInt($('.pid_tuning .ROLL input[name="f"]').val());
+            ADVANCED_TUNING.feedforwardPitch = parseInt($('.pid_tuning .PITCH input[name="f"]').val());
+            ADVANCED_TUNING.feedforwardYaw   = parseInt($('.pid_tuning .YAW input[name="f"]').val());
+
+            ADVANCED_TUNING.feedforwardTransition = parseInt($('input[name="feedforwardTransition-number"]').val() * 100);
+        }
     }
 
     function showAllPids() {
@@ -1467,8 +1500,13 @@ TABS.pid_tuning.updatePidControllerParameters = function () {
     } else {
         $('.pid_tuning .YAW_JUMP_PREVENTION').hide();
 
+        if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
+            $('#pid-tuning .dtermSetpointTransition').hide();
+            $('#pid-tuning .dtermSetpoint').hide();
+        } else {
             $('#pid-tuning .dtermSetpointTransition').show();
             $('#pid-tuning .dtermSetpoint').show();
+        }
 
         $('#pid-tuning .delta').hide();
     }

src/tabs/pid_tuning.html

@@ -72,6 +72,7 @@
                                 <th class="proportional" i18n="pidTuningProportional"></th>
                                 <th class="integral" i18n="pidTuningIntegral"></th>
                                 <th class="derivative" i18n="pidTuningDerivative"></th>
+                                <th class="feedforward" i18n="pidTuningFeedforward"></th>
                                 <th class="rc_rate" i18n="pidTuningRcRate"></th>
                                 <th class="rate" i18n="pidTuningRate"></th>
                                 <th class="new_rates maxVel" i18n="pidTuningMaxVel"></th>
@@ -80,7 +81,7 @@
                         </table>
                         <table id="pid_main" class="pid_tuning">
                             <tr>
-                                <th colspan="8">
+                                <th colspan="9">
                                     <div class="pid_mode">
                                         <div i18n="pidTuningBasic" style="float:left;"></div>
                                         <div class="helpicon cf_tip" i18n_title="pidTuningPidTuningTip"></div>
@@ -93,6 +94,7 @@
                                 <td class="pid_data"><input type="number" name="p" step="1" min="0" max="255" /></td>
                                 <td class="pid_data"><input type="number" name="i" step="1" min="0" max="255" /></td>
                                 <td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
+                                <td class="pid_data"><input type="number" name="f" step="1" min="0" max="255" /></td>
                                 <td rowspan="2" style="background-color:white;">
                                     <input type="number" name="rc_rate" step="0.01" min="0" max="2.55" />
                                     <div class="bracket"></div>
@@ -111,6 +113,7 @@
                                 <td class="pid_data"><input type="number" name="p" step="1" min="0" max="255" /></td>
                                 <td class="pid_data"><input type="number" name="i" step="1" min="0" max="255" /></td>
                                 <td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
+                                <td class="pid_data"><input type="number" name="f" step="1" min="0" max="255" /></td>
                                 <td class="pitch_rate"><input type="number" name="pitch_rate" step="0.01" min="0" max="1.00" /></td>
                                 <td class="new_rates maxAngularVelPitch"></td>
                             </tr>
@@ -119,7 +122,8 @@
                                 <td bgcolor="#8080FF"></td>
                                 <td class="pid_data"><input type="number" name="p" step="1" min="0" max="255" /></td>
                                 <td class="pid_data"><input type="number" name="i" step="1" min="0" max="255" /></td>
-                                <td></td>
+                                <td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
+                                <td class="pid_data"><input type="number" name="f" step="1" min="0" max="255" /></td>
                                 <td rowspan="1"><input type="number" name="rc_rate_yaw" step="0.01" min="0" max="2.55" /></td>
                                 <td><input type="number" name="yaw_rate" step="0.01" min="0" max="2.55" /></td>
                                 <td class="new_rates maxAngularVelYaw"></td>
@@ -293,7 +297,7 @@
                                     </div>
                                 </td>
                             </tr>
-                            <tr class="dtermSetpoint">
+                            <tr class="dtermSetpoint" style="height:30px;">
                                 <td><input type="number" name="dtermSetpoint-number" step="0.01" min="0.00" max="20"/></td>
                                 <td class="slider"><input type="range" name="dtermSetpoint-range" step="0.01" min="0.00" max="20"/></td>
                                 <td>
@@ -323,6 +327,19 @@
                                 </td>
                             </tr>
 
+                            <tr class="feedforwardTransition" style="height:30px;">
+                                <td><input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/></td>
+                                <td class="slider"><input type="range" name="feedforwardTransition-range" step="0.01" min="0.00" max="1.00"/></td>
+                                <td>
+                                    <div>
+                                        <label>
+                                        <span i18n="pidTuningFeedforwardTransition"></span>
+                                        </label>
+                                        <div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
+                                    </div>
+                                </td>
+                            </tr>
+
                             <tr class="acroTrainerAngleLimit">
                                 <td><input type="number" name="acroTrainerAngleLimit-number" step="1" min="0" max="80"/></td>
                                 <td class="slider"><input type="range" name="acroTrainerAngleLimit-range" step="1" min="0" max="80"/></td>