Merge pull request #2112 from Asizon/remove_vbat_pid_compensation
Remove VBat PID Compensation from UI10.8-maintenance
Michael Keller
GitHub
commit
2d46b79094
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@ -1095,69 +1095,71 @@ MspHelper.prototype.process_data = function(dataHandler) {
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FC.ADVANCED_TUNING_ACTIVE = { ...FC.ADVANCED_TUNING };
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break;
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case MSPCodes.MSP_PID_ADVANCED:
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FC.ADVANCED_TUNING.rollPitchItermIgnoreRate = data.readU16();
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FC.ADVANCED_TUNING.yawItermIgnoreRate = data.readU16();
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FC.ADVANCED_TUNING.yaw_p_limit = data.readU16();
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FC.ADVANCED_TUNING.deltaMethod = data.readU8();
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FC.ADVANCED_TUNING.vbatPidCompensation = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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FC.ADVANCED_TUNING.feedforwardTransition = data.readU8();
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} else {
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FC.ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
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}
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FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
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FC.ADVANCED_TUNING.toleranceBand = data.readU8();
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FC.ADVANCED_TUNING.toleranceBandReduction = data.readU8();
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FC.ADVANCED_TUNING.itermThrottleGain = data.readU8();
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FC.ADVANCED_TUNING.pidMaxVelocity = data.readU16();
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FC.ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
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FC.ADVANCED_TUNING.levelAngleLimit = data.readU8();
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FC.ADVANCED_TUNING.levelSensitivity = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
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FC.ADVANCED_TUNING.rollPitchItermIgnoreRate = data.readU16();
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FC.ADVANCED_TUNING.yawItermIgnoreRate = data.readU16();
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FC.ADVANCED_TUNING.yaw_p_limit = data.readU16();
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FC.ADVANCED_TUNING.deltaMethod = data.readU8();
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FC.ADVANCED_TUNING.vbatPidCompensation = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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FC.ADVANCED_TUNING.feedforwardTransition = data.readU8();
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} else {
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FC.ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
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}
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FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
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FC.ADVANCED_TUNING.toleranceBand = data.readU8();
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FC.ADVANCED_TUNING.toleranceBandReduction = data.readU8();
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FC.ADVANCED_TUNING.itermThrottleGain = data.readU8();
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FC.ADVANCED_TUNING.pidMaxVelocity = data.readU16();
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FC.ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
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FC.ADVANCED_TUNING.levelAngleLimit = data.readU8();
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FC.ADVANCED_TUNING.levelSensitivity = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
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FC.ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
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FC.ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
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FC.ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
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FC.ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
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FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
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FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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FC.ADVANCED_TUNING.itermRotation = data.readU8();
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FC.ADVANCED_TUNING.smartFeedforward = data.readU8();
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FC.ADVANCED_TUNING.itermRelax = data.readU8();
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FC.ADVANCED_TUNING.itermRelaxType = data.readU8();
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FC.ADVANCED_TUNING.absoluteControlGain = data.readU8();
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FC.ADVANCED_TUNING.throttleBoost = data.readU8();
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FC.ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
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FC.ADVANCED_TUNING.feedforwardRoll = data.readU16();
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FC.ADVANCED_TUNING.feedforwardPitch = data.readU16();
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FC.ADVANCED_TUNING.feedforwardYaw = data.readU16();
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FC.ADVANCED_TUNING.antiGravityMode = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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FC.ADVANCED_TUNING.itermRotation = data.readU8();
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FC.ADVANCED_TUNING.smartFeedforward = data.readU8();
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FC.ADVANCED_TUNING.itermRelax = data.readU8();
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FC.ADVANCED_TUNING.itermRelaxType = data.readU8();
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FC.ADVANCED_TUNING.absoluteControlGain = data.readU8();
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FC.ADVANCED_TUNING.throttleBoost = data.readU8();
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FC.ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
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FC.ADVANCED_TUNING.feedforwardRoll = data.readU16();
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FC.ADVANCED_TUNING.feedforwardPitch = data.readU16();
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FC.ADVANCED_TUNING.feedforwardYaw = data.readU16();
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FC.ADVANCED_TUNING.antiGravityMode = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
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FC.ADVANCED_TUNING.dMinRoll = data.readU8();
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FC.ADVANCED_TUNING.dMinPitch = data.readU8();
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FC.ADVANCED_TUNING.dMinYaw = data.readU8();
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FC.ADVANCED_TUNING.dMinGain = data.readU8();
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FC.ADVANCED_TUNING.dMinAdvance = data.readU8();
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FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8();
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FC.ADVANCED_TUNING.integratedYawRelax = data.readU8();
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if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
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FC.ADVANCED_TUNING.dMinRoll = data.readU8();
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FC.ADVANCED_TUNING.dMinPitch = data.readU8();
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FC.ADVANCED_TUNING.dMinYaw = data.readU8();
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FC.ADVANCED_TUNING.dMinGain = data.readU8();
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FC.ADVANCED_TUNING.dMinAdvance = data.readU8();
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FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8();
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FC.ADVANCED_TUNING.integratedYawRelax = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
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FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
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FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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FC.ADVANCED_TUNING.motorOutputLimit = data.readU8();
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FC.ADVANCED_TUNING.autoProfileCellCount = data.read8();
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FC.ADVANCED_TUNING.idleMinRpm = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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FC.ADVANCED_TUNING.motorOutputLimit = data.readU8();
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FC.ADVANCED_TUNING.autoProfileCellCount = data.read8();
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FC.ADVANCED_TUNING.idleMinRpm = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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FC.ADVANCED_TUNING.ff_interpolate_sp = data.readU8();
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FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8();
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FC.ADVANCED_TUNING.ff_boost = data.readU8();
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FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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FC.ADVANCED_TUNING.ff_interpolate_sp = data.readU8();
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FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8();
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FC.ADVANCED_TUNING.ff_boost = data.readU8();
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FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
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}
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}
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}
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}
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@ -2035,72 +2037,73 @@ MspHelper.prototype.crunch = function(code) {
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}
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break;
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case MSPCodes.MSP_SET_PID_ADVANCED:
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
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buffer.push16(FC.ADVANCED_TUNING.rollPitchItermIgnoreRate)
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.push16(FC.ADVANCED_TUNING.yawItermIgnoreRate)
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.push16(FC.ADVANCED_TUNING.yaw_p_limit)
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.push8(FC.ADVANCED_TUNING.deltaMethod)
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.push8(FC.ADVANCED_TUNING.vbatPidCompensation);
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(FC.ADVANCED_TUNING.feedforwardTransition);
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} else {
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buffer.push8(FC.ADVANCED_TUNING.dtermSetpointTransition);
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}
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(FC.ADVANCED_TUNING.feedforwardTransition);
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} else {
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buffer.push8(FC.ADVANCED_TUNING.dtermSetpointTransition);
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}
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buffer.push8(Math.min(FC.ADVANCED_TUNING.dtermSetpointWeight, 254))
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.push8(FC.ADVANCED_TUNING.toleranceBand)
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.push8(FC.ADVANCED_TUNING.toleranceBandReduction)
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.push8(FC.ADVANCED_TUNING.itermThrottleGain)
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.push16(FC.ADVANCED_TUNING.pidMaxVelocity)
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.push16(FC.ADVANCED_TUNING.pidMaxVelocityYaw);
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buffer.push8(Math.min(FC.ADVANCED_TUNING.dtermSetpointWeight, 254))
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.push8(FC.ADVANCED_TUNING.toleranceBand)
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.push8(FC.ADVANCED_TUNING.toleranceBandReduction)
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.push8(FC.ADVANCED_TUNING.itermThrottleGain)
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.push16(FC.ADVANCED_TUNING.pidMaxVelocity)
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.push16(FC.ADVANCED_TUNING.pidMaxVelocityYaw);
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if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
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buffer.push8(FC.ADVANCED_TUNING.levelAngleLimit)
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.push8(FC.ADVANCED_TUNING.levelSensitivity);
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if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
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buffer.push8(FC.ADVANCED_TUNING.levelAngleLimit)
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.push8(FC.ADVANCED_TUNING.levelSensitivity);
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if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
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buffer.push16(FC.ADVANCED_TUNING.itermThrottleThreshold)
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.push16(FC.ADVANCED_TUNING.itermAcceleratorGain);
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if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
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buffer.push16(FC.ADVANCED_TUNING.itermThrottleThreshold)
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.push16(FC.ADVANCED_TUNING.itermAcceleratorGain);
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if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
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buffer.push16(FC.ADVANCED_TUNING.dtermSetpointWeight);
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if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
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buffer.push16(FC.ADVANCED_TUNING.dtermSetpointWeight);
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(FC.ADVANCED_TUNING.itermRotation)
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.push8(FC.ADVANCED_TUNING.smartFeedforward)
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.push8(FC.ADVANCED_TUNING.itermRelax)
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.push8(FC.ADVANCED_TUNING.itermRelaxType)
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.push8(FC.ADVANCED_TUNING.absoluteControlGain)
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.push8(FC.ADVANCED_TUNING.throttleBoost)
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.push8(FC.ADVANCED_TUNING.acroTrainerAngleLimit)
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.push16(FC.ADVANCED_TUNING.feedforwardRoll)
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.push16(FC.ADVANCED_TUNING.feedforwardPitch)
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.push16(FC.ADVANCED_TUNING.feedforwardYaw)
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.push8(FC.ADVANCED_TUNING.antiGravityMode);
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if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(FC.ADVANCED_TUNING.itermRotation)
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.push8(FC.ADVANCED_TUNING.smartFeedforward)
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.push8(FC.ADVANCED_TUNING.itermRelax)
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.push8(FC.ADVANCED_TUNING.itermRelaxType)
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.push8(FC.ADVANCED_TUNING.absoluteControlGain)
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.push8(FC.ADVANCED_TUNING.throttleBoost)
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.push8(FC.ADVANCED_TUNING.acroTrainerAngleLimit)
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.push16(FC.ADVANCED_TUNING.feedforwardRoll)
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.push16(FC.ADVANCED_TUNING.feedforwardPitch)
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.push16(FC.ADVANCED_TUNING.feedforwardYaw)
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.push8(FC.ADVANCED_TUNING.antiGravityMode);
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if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
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buffer.push8(FC.ADVANCED_TUNING.dMinRoll)
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.push8(FC.ADVANCED_TUNING.dMinPitch)
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.push8(FC.ADVANCED_TUNING.dMinYaw)
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.push8(FC.ADVANCED_TUNING.dMinGain)
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.push8(FC.ADVANCED_TUNING.dMinAdvance)
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.push8(FC.ADVANCED_TUNING.useIntegratedYaw)
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.push8(FC.ADVANCED_TUNING.integratedYawRelax);
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if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
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buffer.push8(FC.ADVANCED_TUNING.dMinRoll)
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.push8(FC.ADVANCED_TUNING.dMinPitch)
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.push8(FC.ADVANCED_TUNING.dMinYaw)
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.push8(FC.ADVANCED_TUNING.dMinGain)
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.push8(FC.ADVANCED_TUNING.dMinAdvance)
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.push8(FC.ADVANCED_TUNING.useIntegratedYaw)
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.push8(FC.ADVANCED_TUNING.integratedYawRelax);
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if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
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buffer.push8(FC.ADVANCED_TUNING.itermRelaxCutoff);
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if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
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buffer.push8(FC.ADVANCED_TUNING.itermRelaxCutoff);
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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buffer.push8(FC.ADVANCED_TUNING.motorOutputLimit)
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.push8(FC.ADVANCED_TUNING.autoProfileCellCount)
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.push8(FC.ADVANCED_TUNING.idleMinRpm);
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
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buffer.push8(FC.ADVANCED_TUNING.motorOutputLimit)
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.push8(FC.ADVANCED_TUNING.autoProfileCellCount)
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.push8(FC.ADVANCED_TUNING.idleMinRpm);
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp)
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.push8(FC.ADVANCED_TUNING.ff_smooth_factor)
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.push8(FC.ADVANCED_TUNING.ff_boost)
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.push8(FC.ADVANCED_TUNING.vbat_sag_compensation);
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if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
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buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp)
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.push8(FC.ADVANCED_TUNING.ff_smooth_factor)
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.push8(FC.ADVANCED_TUNING.ff_boost)
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.push8(FC.ADVANCED_TUNING.vbat_sag_compensation);
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}
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}
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}
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}
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@ -2110,14 +2113,6 @@ MspHelper.prototype.crunch = function(code) {
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}
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}
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}
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// only supports 1 version pre bf 3.0
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else {
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buffer.push16(FC.ADVANCED_TUNING.rollPitchItermIgnoreRate)
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.push16(FC.ADVANCED_TUNING.yawItermIgnoreRate)
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.push16(FC.ADVANCED_TUNING.yaw_p_limit)
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.push8(FC.ADVANCED_TUNING.deltaMethod)
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.push8(FC.ADVANCED_TUNING.vbatPidCompensation);
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}
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break;
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case MSPCodes.MSP_SET_SENSOR_CONFIG:
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buffer.push8(FC.SENSOR_CONFIG.acc_hardware)
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@ -64,6 +64,8 @@ TABS.pid_tuning.initialize = function (callback) {
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$('#content').load("./tabs/pid_tuning.html", process_html);
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}
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const vbatpidcompensationIsUsed = semver.gte(FC.CONFIG.apiVersion, "1.16.0") && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44);
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function pid_and_rc_to_form() {
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self.setProfile();
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if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
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@ -106,9 +108,8 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3");
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}
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if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
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$('input[id="vbatpidcompensation"]').prop('checked', FC.ADVANCED_TUNING.vbatPidCompensation !== 0);
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}
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$('.vbatpidcompensation').toggle(vbatpidcompensationIsUsed);
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$('input[id="vbatpidcompensation"]').prop('checked', FC.ADVANCED_TUNING.vbatPidCompensation !== 0);
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if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
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$('#pid-tuning .delta select').val(FC.ADVANCED_TUNING.deltaMethod);
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@ -822,7 +823,7 @@ TABS.pid_tuning.initialize = function (callback) {
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FC.FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
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||||
FC.FILTER_CONFIG.yaw_lowpass_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val());
|
||||
|
||||
if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
|
||||
if (vbatpidcompensationIsUsed) {
|
||||
const element = $('input[id="vbatpidcompensation"]');
|
||||
const value = element.is(':checked') ? 1 : 0;
|
||||
let analyticsValue = undefined;
|
||||
|
|
|
|||
|
|
@ -588,7 +588,7 @@
|
|||
</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<tr class="vbatpidcompensation">
|
||||
<td><input type="checkbox" id="vbatpidcompensation" class="toggle" /></td>
|
||||
<td colspan="2">
|
||||
<span i18n="pidTuningVbatPidCompensation"></span>
|
||||
|
|
|
|||
Loading…
Reference in New Issue