diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index b26846a3..355ec307 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -1095,69 +1095,71 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ADVANCED_TUNING_ACTIVE = { ...FC.ADVANCED_TUNING };
break;
case MSPCodes.MSP_PID_ADVANCED:
- FC.ADVANCED_TUNING.rollPitchItermIgnoreRate = data.readU16();
- FC.ADVANCED_TUNING.yawItermIgnoreRate = data.readU16();
- FC.ADVANCED_TUNING.yaw_p_limit = data.readU16();
- FC.ADVANCED_TUNING.deltaMethod = data.readU8();
- FC.ADVANCED_TUNING.vbatPidCompensation = data.readU8();
- if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
- if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
- FC.ADVANCED_TUNING.feedforwardTransition = data.readU8();
- } else {
- FC.ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
- }
- FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
- FC.ADVANCED_TUNING.toleranceBand = data.readU8();
- FC.ADVANCED_TUNING.toleranceBandReduction = data.readU8();
- FC.ADVANCED_TUNING.itermThrottleGain = data.readU8();
- FC.ADVANCED_TUNING.pidMaxVelocity = data.readU16();
- FC.ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
- if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
- FC.ADVANCED_TUNING.levelAngleLimit = data.readU8();
- FC.ADVANCED_TUNING.levelSensitivity = data.readU8();
+ if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
+ FC.ADVANCED_TUNING.rollPitchItermIgnoreRate = data.readU16();
+ FC.ADVANCED_TUNING.yawItermIgnoreRate = data.readU16();
+ FC.ADVANCED_TUNING.yaw_p_limit = data.readU16();
+ FC.ADVANCED_TUNING.deltaMethod = data.readU8();
+ FC.ADVANCED_TUNING.vbatPidCompensation = data.readU8();
+ if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
+ if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
+ FC.ADVANCED_TUNING.feedforwardTransition = data.readU8();
+ } else {
+ FC.ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
+ }
+ FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
+ FC.ADVANCED_TUNING.toleranceBand = data.readU8();
+ FC.ADVANCED_TUNING.toleranceBandReduction = data.readU8();
+ FC.ADVANCED_TUNING.itermThrottleGain = data.readU8();
+ FC.ADVANCED_TUNING.pidMaxVelocity = data.readU16();
+ FC.ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
+ if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
+ FC.ADVANCED_TUNING.levelAngleLimit = data.readU8();
+ FC.ADVANCED_TUNING.levelSensitivity = data.readU8();
- if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
- FC.ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
- FC.ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
+ if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
+ FC.ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
+ FC.ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
- if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
- FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
+ if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
+ FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
- if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
- FC.ADVANCED_TUNING.itermRotation = data.readU8();
- FC.ADVANCED_TUNING.smartFeedforward = data.readU8();
- FC.ADVANCED_TUNING.itermRelax = data.readU8();
- FC.ADVANCED_TUNING.itermRelaxType = data.readU8();
- FC.ADVANCED_TUNING.absoluteControlGain = data.readU8();
- FC.ADVANCED_TUNING.throttleBoost = data.readU8();
- FC.ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
- FC.ADVANCED_TUNING.feedforwardRoll = data.readU16();
- FC.ADVANCED_TUNING.feedforwardPitch = data.readU16();
- FC.ADVANCED_TUNING.feedforwardYaw = data.readU16();
- FC.ADVANCED_TUNING.antiGravityMode = data.readU8();
+ if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
+ FC.ADVANCED_TUNING.itermRotation = data.readU8();
+ FC.ADVANCED_TUNING.smartFeedforward = data.readU8();
+ FC.ADVANCED_TUNING.itermRelax = data.readU8();
+ FC.ADVANCED_TUNING.itermRelaxType = data.readU8();
+ FC.ADVANCED_TUNING.absoluteControlGain = data.readU8();
+ FC.ADVANCED_TUNING.throttleBoost = data.readU8();
+ FC.ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8();
+ FC.ADVANCED_TUNING.feedforwardRoll = data.readU16();
+ FC.ADVANCED_TUNING.feedforwardPitch = data.readU16();
+ FC.ADVANCED_TUNING.feedforwardYaw = data.readU16();
+ FC.ADVANCED_TUNING.antiGravityMode = data.readU8();
- if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
- FC.ADVANCED_TUNING.dMinRoll = data.readU8();
- FC.ADVANCED_TUNING.dMinPitch = data.readU8();
- FC.ADVANCED_TUNING.dMinYaw = data.readU8();
- FC.ADVANCED_TUNING.dMinGain = data.readU8();
- FC.ADVANCED_TUNING.dMinAdvance = data.readU8();
- FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8();
- FC.ADVANCED_TUNING.integratedYawRelax = data.readU8();
+ if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
+ FC.ADVANCED_TUNING.dMinRoll = data.readU8();
+ FC.ADVANCED_TUNING.dMinPitch = data.readU8();
+ FC.ADVANCED_TUNING.dMinYaw = data.readU8();
+ FC.ADVANCED_TUNING.dMinGain = data.readU8();
+ FC.ADVANCED_TUNING.dMinAdvance = data.readU8();
+ FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8();
+ FC.ADVANCED_TUNING.integratedYawRelax = data.readU8();
- if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
- FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8();
+ if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
+ FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8();
- if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
- FC.ADVANCED_TUNING.motorOutputLimit = data.readU8();
- FC.ADVANCED_TUNING.autoProfileCellCount = data.read8();
- FC.ADVANCED_TUNING.idleMinRpm = data.readU8();
+ if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
+ FC.ADVANCED_TUNING.motorOutputLimit = data.readU8();
+ FC.ADVANCED_TUNING.autoProfileCellCount = data.read8();
+ FC.ADVANCED_TUNING.idleMinRpm = data.readU8();
- if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
- FC.ADVANCED_TUNING.ff_interpolate_sp = data.readU8();
- FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8();
- FC.ADVANCED_TUNING.ff_boost = data.readU8();
- FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
+ if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
+ FC.ADVANCED_TUNING.ff_interpolate_sp = data.readU8();
+ FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8();
+ FC.ADVANCED_TUNING.ff_boost = data.readU8();
+ FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
+ }
}
}
}
@@ -2035,72 +2037,73 @@ MspHelper.prototype.crunch = function(code) {
}
break;
case MSPCodes.MSP_SET_PID_ADVANCED:
- if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
+ if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
buffer.push16(FC.ADVANCED_TUNING.rollPitchItermIgnoreRate)
.push16(FC.ADVANCED_TUNING.yawItermIgnoreRate)
.push16(FC.ADVANCED_TUNING.yaw_p_limit)
.push8(FC.ADVANCED_TUNING.deltaMethod)
.push8(FC.ADVANCED_TUNING.vbatPidCompensation);
- if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
- buffer.push8(FC.ADVANCED_TUNING.feedforwardTransition);
- } else {
- buffer.push8(FC.ADVANCED_TUNING.dtermSetpointTransition);
- }
+ if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
+ if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
+ buffer.push8(FC.ADVANCED_TUNING.feedforwardTransition);
+ } else {
+ buffer.push8(FC.ADVANCED_TUNING.dtermSetpointTransition);
+ }
+ buffer.push8(Math.min(FC.ADVANCED_TUNING.dtermSetpointWeight, 254))
+ .push8(FC.ADVANCED_TUNING.toleranceBand)
+ .push8(FC.ADVANCED_TUNING.toleranceBandReduction)
+ .push8(FC.ADVANCED_TUNING.itermThrottleGain)
+ .push16(FC.ADVANCED_TUNING.pidMaxVelocity)
+ .push16(FC.ADVANCED_TUNING.pidMaxVelocityYaw);
- buffer.push8(Math.min(FC.ADVANCED_TUNING.dtermSetpointWeight, 254))
- .push8(FC.ADVANCED_TUNING.toleranceBand)
- .push8(FC.ADVANCED_TUNING.toleranceBandReduction)
- .push8(FC.ADVANCED_TUNING.itermThrottleGain)
- .push16(FC.ADVANCED_TUNING.pidMaxVelocity)
- .push16(FC.ADVANCED_TUNING.pidMaxVelocityYaw);
+ if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
+ buffer.push8(FC.ADVANCED_TUNING.levelAngleLimit)
+ .push8(FC.ADVANCED_TUNING.levelSensitivity);
- if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) {
- buffer.push8(FC.ADVANCED_TUNING.levelAngleLimit)
- .push8(FC.ADVANCED_TUNING.levelSensitivity);
+ if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
+ buffer.push16(FC.ADVANCED_TUNING.itermThrottleThreshold)
+ .push16(FC.ADVANCED_TUNING.itermAcceleratorGain);
- if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
- buffer.push16(FC.ADVANCED_TUNING.itermThrottleThreshold)
- .push16(FC.ADVANCED_TUNING.itermAcceleratorGain);
+ if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
+ buffer.push16(FC.ADVANCED_TUNING.dtermSetpointWeight);
- if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
- buffer.push16(FC.ADVANCED_TUNING.dtermSetpointWeight);
+ if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
+ buffer.push8(FC.ADVANCED_TUNING.itermRotation)
+ .push8(FC.ADVANCED_TUNING.smartFeedforward)
+ .push8(FC.ADVANCED_TUNING.itermRelax)
+ .push8(FC.ADVANCED_TUNING.itermRelaxType)
+ .push8(FC.ADVANCED_TUNING.absoluteControlGain)
+ .push8(FC.ADVANCED_TUNING.throttleBoost)
+ .push8(FC.ADVANCED_TUNING.acroTrainerAngleLimit)
+ .push16(FC.ADVANCED_TUNING.feedforwardRoll)
+ .push16(FC.ADVANCED_TUNING.feedforwardPitch)
+ .push16(FC.ADVANCED_TUNING.feedforwardYaw)
+ .push8(FC.ADVANCED_TUNING.antiGravityMode);
- if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
- buffer.push8(FC.ADVANCED_TUNING.itermRotation)
- .push8(FC.ADVANCED_TUNING.smartFeedforward)
- .push8(FC.ADVANCED_TUNING.itermRelax)
- .push8(FC.ADVANCED_TUNING.itermRelaxType)
- .push8(FC.ADVANCED_TUNING.absoluteControlGain)
- .push8(FC.ADVANCED_TUNING.throttleBoost)
- .push8(FC.ADVANCED_TUNING.acroTrainerAngleLimit)
- .push16(FC.ADVANCED_TUNING.feedforwardRoll)
- .push16(FC.ADVANCED_TUNING.feedforwardPitch)
- .push16(FC.ADVANCED_TUNING.feedforwardYaw)
- .push8(FC.ADVANCED_TUNING.antiGravityMode);
-
- if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
- buffer.push8(FC.ADVANCED_TUNING.dMinRoll)
- .push8(FC.ADVANCED_TUNING.dMinPitch)
- .push8(FC.ADVANCED_TUNING.dMinYaw)
- .push8(FC.ADVANCED_TUNING.dMinGain)
- .push8(FC.ADVANCED_TUNING.dMinAdvance)
- .push8(FC.ADVANCED_TUNING.useIntegratedYaw)
- .push8(FC.ADVANCED_TUNING.integratedYawRelax);
+ if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
+ buffer.push8(FC.ADVANCED_TUNING.dMinRoll)
+ .push8(FC.ADVANCED_TUNING.dMinPitch)
+ .push8(FC.ADVANCED_TUNING.dMinYaw)
+ .push8(FC.ADVANCED_TUNING.dMinGain)
+ .push8(FC.ADVANCED_TUNING.dMinAdvance)
+ .push8(FC.ADVANCED_TUNING.useIntegratedYaw)
+ .push8(FC.ADVANCED_TUNING.integratedYawRelax);
- if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
- buffer.push8(FC.ADVANCED_TUNING.itermRelaxCutoff);
+ if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
+ buffer.push8(FC.ADVANCED_TUNING.itermRelaxCutoff);
- if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
- buffer.push8(FC.ADVANCED_TUNING.motorOutputLimit)
- .push8(FC.ADVANCED_TUNING.autoProfileCellCount)
- .push8(FC.ADVANCED_TUNING.idleMinRpm);
+ if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
+ buffer.push8(FC.ADVANCED_TUNING.motorOutputLimit)
+ .push8(FC.ADVANCED_TUNING.autoProfileCellCount)
+ .push8(FC.ADVANCED_TUNING.idleMinRpm);
- if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
- buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp)
- .push8(FC.ADVANCED_TUNING.ff_smooth_factor)
- .push8(FC.ADVANCED_TUNING.ff_boost)
- .push8(FC.ADVANCED_TUNING.vbat_sag_compensation);
+ if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
+ buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp)
+ .push8(FC.ADVANCED_TUNING.ff_smooth_factor)
+ .push8(FC.ADVANCED_TUNING.ff_boost)
+ .push8(FC.ADVANCED_TUNING.vbat_sag_compensation);
+ }
}
}
}
@@ -2110,14 +2113,6 @@ MspHelper.prototype.crunch = function(code) {
}
}
}
- // only supports 1 version pre bf 3.0
- else {
- buffer.push16(FC.ADVANCED_TUNING.rollPitchItermIgnoreRate)
- .push16(FC.ADVANCED_TUNING.yawItermIgnoreRate)
- .push16(FC.ADVANCED_TUNING.yaw_p_limit)
- .push8(FC.ADVANCED_TUNING.deltaMethod)
- .push8(FC.ADVANCED_TUNING.vbatPidCompensation);
- }
break;
case MSPCodes.MSP_SET_SENSOR_CONFIG:
buffer.push8(FC.SENSOR_CONFIG.acc_hardware)
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 8f4e30b2..8f7038b6 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -64,6 +64,8 @@ TABS.pid_tuning.initialize = function (callback) {
$('#content').load("./tabs/pid_tuning.html", process_html);
}
+ const vbatpidcompensationIsUsed = semver.gte(FC.CONFIG.apiVersion, "1.16.0") && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44);
+
function pid_and_rc_to_form() {
self.setProfile();
if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
@@ -106,9 +108,8 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3");
}
- if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
- $('input[id="vbatpidcompensation"]').prop('checked', FC.ADVANCED_TUNING.vbatPidCompensation !== 0);
- }
+ $('.vbatpidcompensation').toggle(vbatpidcompensationIsUsed);
+ $('input[id="vbatpidcompensation"]').prop('checked', FC.ADVANCED_TUNING.vbatPidCompensation !== 0);
if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
$('#pid-tuning .delta select').val(FC.ADVANCED_TUNING.deltaMethod);
@@ -822,7 +823,7 @@ TABS.pid_tuning.initialize = function (callback) {
FC.FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
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;
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index d560e725..f3406cbc 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -588,7 +588,7 @@
-
+
|
|