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betaflight-configurator
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PD Ratio Slider now adjusts D, fixes yaw P issue, tooltip update 

Makes for more logical P:D ratio changes; fix P first, then tune D.
Also fixes issue with P:D ratio slider changing P on pitch and roll, but not yaw.
Allows increasing yaw P default to 45
Update tooltip message to suit change.
10.7.0-preview
ctzsnooze 2020-04-15 09:56:06 +10:00 committed by mikeller
parent cb1ade6660
commit 3b2d7a837d
2 changed files with 16 additions and 17 deletions
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4
locales/en/messages.json
View File

@ -3429,7 +3429,7 @@
"description": "Master gain tuning slider helpicon message"
},
"pidTuningPDRatioSliderHelp":{
"message": "Lower PD balance will lower overall response but will also reduce a possibility of fast bounceback after a flip or roll.<br><br>Higher PD balance provides faster reponse and better propwash handling. However, if your PD balance is too high you will get oscillations after a flip or roll and extended oscillations during prop wash.",
"message": "Relatively high D will dampen stick responsiveness and may make motors hot, but should help control P oscillations and may improve propwash wobble.<br><br>Relatively low D gives quicker stick responsiveness but may weaken propwash handling.",
"description": "PD balance tuning slider helpicon message"
},
"pidTuningPDGainSliderHelp":{
@ -3437,7 +3437,7 @@
"description": "P and D gain tuning slider helpicon message"
},
"pidTuningResponseSliderHelp":{
"message": "Lower values will worsen the stick response and may result in slow bounceback at the end of a flip or roll (I-term windup).<br><br>Higher value will have a better stick response for sharp moves. However, too high of values can cause overshoots and fast bounceback at the end of a flip or roll.",
"message": "Lower FF values will worsen the stick response and may result in slow bounceback at the end of a flip or roll (I-term windup).<br><br>Higher FF values will give snappier stick responses in sharp moves. Excessively high FF values can cause overshoots and fast bounceback at the end of a flip or roll.",
"description": "Stick response gain tuning slider helpicon message"
},
"pidTuningGyroLowpassFiltersGroup": {

29
src/js/TuningSliders.js
View File

@ -47,9 +47,9 @@ TuningSliders.initialize = function() {
TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
this.dMinFeatureEnabled = dMinFeatureEnabled;
if (this.dMinFeatureEnabled) {
this.defaultPDRatio = this.PID_DEFAULT[0] / this.PID_DEFAULT[2];
this.defaultPDRatio = this.PID_DEFAULT[2] / this.PID_DEFAULT[0];
} else {
this.defaultPDRatio = this.PID_DEFAULT[0] / (this.PID_DEFAULT[2] * 0.85);
this.defaultPDRatio = this.PID_DEFAULT[2] / (this.PID_DEFAULT[0] * 1.18);
}
};
@ -84,11 +84,11 @@ TuningSliders.initPidSlidersPosition = function() {
// used to estimate PID slider positions based on PIDF values, and set respective slider position
// provides only an estimation due to limitation of feature without firmware support, to be improved in later versions
this.MasterSliderValue = Math.round(PIDs[2][1] / this.PID_DEFAULT[11] * 10) / 10;
this.PDRatioSliderValue = Math.round(PIDs[0][0] / PIDs[0][2] / this.defaultPDRatio * 10) / 10;
this.PDRatioSliderValue = Math.round(PIDs[0][2] / PIDs[0][0] / this.defaultPDRatio * 10) / 10;
if (this.dMinFeatureEnabled) {
this.PDGainSliderValue = Math.round(ADVANCED_TUNING.dMinRoll / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10;
this.PDGainSliderValue = Math.round(ADVANCED_TUNING.dMinRoll / this.PDRatioSliderValue / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10;
} else {
this.PDGainSliderValue = Math.round(PIDs[0][2] / this.MasterSliderValue / (this.PID_DEFAULT[2] * 0.85) * 10) / 10;
this.PDGainSliderValue = Math.round(PIDs[0][0] / this.MasterSliderValue / (this.PID_DEFAULT[2] * 1.18) * 10) / 10;
}
this.ResponseSliderValue = Math.round(ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10;
@ -250,22 +250,21 @@ TuningSliders.calculateNewPids = function() {
if (this.dMinFeatureEnabled) {
//dmin
ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue);
ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue);
ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue * this.PDRatioSliderValue);
ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue * this.PDRatioSliderValue);
// dmax
PIDs[0][2] = Math.round(this.PID_DEFAULT[2] * this.PDGainSliderValue);
PIDs[1][2] = Math.round(this.PID_DEFAULT[7] * this.PDGainSliderValue);
PIDs[0][2] = Math.round(this.PID_DEFAULT[2] * this.PDGainSliderValue * this.PDRatioSliderValue);
PIDs[1][2] = Math.round(this.PID_DEFAULT[7] * this.PDGainSliderValue * this.PDRatioSliderValue);
} else {
ADVANCED_TUNING.dMinRoll = 0;
ADVANCED_TUNING.dMinPitch = 0;
PIDs[0][2] = Math.round((this.PID_DEFAULT[2] * 0.85) * this.PDGainSliderValue);
PIDs[1][2] = Math.round((this.PID_DEFAULT[7] * 0.85) * this.PDGainSliderValue);
PIDs[0][2] = Math.round((this.PID_DEFAULT[2] * 0.85) * this.PDGainSliderValue * this.PDRatioSliderValue);
PIDs[1][2] = Math.round((this.PID_DEFAULT[7] * 0.85) * this.PDGainSliderValue * this.PDRatioSliderValue);
}
PIDs[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue);
// p
PIDs[0][0] = Math.round(PIDs[0][2] * this.defaultPDRatio * this.PDRatioSliderValue);
PIDs[1][0] = Math.round(PIDs[1][2] * this.defaultPDRatio * this.PDRatioSliderValue);
PIDs[0][0] = Math.round(this.PID_DEFAULT[0] * this.PDGainSliderValue);
PIDs[1][0] = Math.round(this.PID_DEFAULT[5] * this.PDGainSliderValue);
PIDs[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue);
// ff
ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.ResponseSliderValue);
ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.ResponseSliderValue);