Adding rc smoothing
Sean M
parent
25b49fb79f
commit
5a6b277778
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@ -1237,8 +1237,92 @@
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"pidTuningPidSettings": {
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"message": "PID Controller Settings"
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},
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"receiverRcSmoothing": {
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"message": "RC Smoothing"
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},
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"receiverRcSmoothingAuto": {
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"message": "Auto"
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},
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"receiverRcSmoothingManual": {
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"message": "Manual"
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},
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"receiverRcDerivativeTypeSelect": {
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"message": "Derivative Cutoff Type"
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},
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"receiverRcInputTypeSelect": {
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"message": "Input Cutoff Type"
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},
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"receiverRcSmoothingInterpolation": {
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"message": "Interpolation"
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},
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"receiverRcSmoothingFilter": {
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"message": "Filter"
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},
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"receiverRcSmoothingTypeHelp": {
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"message": "Type of RC smoothing used"
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},
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"rcSmoothingInputCutoffHelp": {
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"message": "The cutoff frequency in Hz used by the input filter. Using lower values will result in smoother inputs and are more appropriate for slower receiver protocols. Most users should leave this at 0 corresponding to \"Auto\"."
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},
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"rcSmoothingDerivativeCutoffHelp": {
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"message": "The cutoff frequency in Hz used by the setpoint derivative filter. Using lower values will result in smoother inputs and are more appropriate for slower receiver protocols. Most users should leave this at 0 corresponding to \"Auto\"."
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},
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"rcSmoothingChannelsSmoothedHelp": {
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"message": "The channels smoothing applies to"
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},
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"rcSmoothingDerivativeTypeHelp": {
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"message": "The type of filtering method used for the setpoint derivative. Most users should use the default \"BIQUAD\" value as it provides a good balance between smoothness and delay. \"PT1\" reduces the delay slightly but provides less smoothing."
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},
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"rcSmoothingInputTypeHelp": {
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"message": "The type of filtering method used for the input. Most users should use the default \"BIQUAD\" value as it provides a good balance between smoothness and delay. \"PT1\" reduces the delay slightly but provides less smoothing."
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},
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"receiverRcSmoothingInputManual": {
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"message": "Selects whether the input filter cutoff frequency is automatically calculated (recommended) or manually selected by the user. Using \"Manual\" is not recommended for receiver protocols like Crossfire which can change in flight."
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},
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"receiverRcSmoothingDerivativeManual": {
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"message": "Selects whether the setpoint derivative filter cutoff frequency is automatically calculated (recommended) or manually selected by the user. Using \"Manual\" is not recommended for receiver protocols like Crossfire which can change in flight."
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},
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"receiverRcSmoothingInputHz": {
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"message": "Input Cutoff Frequency"
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},
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"receiverRcSmoothingDerivativeCutoff": {
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"message": "Derivative Cutoff Frequency"
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},
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"receiverRcSmoothingInputTypeBiquad": {
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"message": "BIQUAD"
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},
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"receiverRcSmoothingInputTypePt1": {
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"message": "PT1"
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},
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"receiverRcInputType": {
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"message": "Input Filter Type"
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},
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"receiverRcDerivativeType": {
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"message": "Derivative Filter Type"
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},
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"receiverRcSmoothingDerivativeTypeOff": {
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"message": "Off"
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},
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"receiverRcSmoothingChannelsRP": {
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"message": "RP"
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},
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"receiverRcSmoothingChannelsRPY": {
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"message": "Y"
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},
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"receiverRcSmoothingChannelsRPYT": {
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"message": "RPYT"
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},
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"receiverRcSmoothingChannelsT": {
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"message": "T"
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},
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"receiverRcSmoothingChannelsRPT": {
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"message": "RPT"
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},
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"receiverRcSmoothingChannel": {
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"message": "Channels Smoothed"
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},
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"receiverRcInterpolation": {
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"message": "RC Interpolation"
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"message": "Smoothing Type"
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},
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"receiverRcInterpolationHelp": {
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"message": "RC TX/RX systems are not as fast as PID loops. That means that PID loop has gaps in the information stream from RC systems. This option enables interpolation of the RC input during the times when no RC frames are received. The option also offers cleaner P and D behaviour as there are no ramps in control input."
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@ -195,6 +195,11 @@
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border-right: 1px solid silver;
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}
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.tab-receiver .smoothing table td {
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background: #DEDEDE;
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border-right: 0px;
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}
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.tab-receiver .tunings table td:first-child {
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border-bottom-left-radius: 3px;
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}
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@ -305,6 +310,68 @@
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width: calc(100% - 10px);
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}
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.tab-receiver .rcSmoothing-derivative-manual select {
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height: 22px;
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padding-left: 5px;
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border: 1px solid silver;
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margin: 4px;
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width: calc(100% - 8px);
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}
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.tab-receiver .rcSmoothing-input-manual select {
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height: 22px;
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padding-left: 5px;
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border: 1px solid silver;
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margin: 4px;
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width: calc(100% - 8px);
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}
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.tab-receiver .rcSmoothing-type select {
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height: 22px;
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padding-left: 5px;
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border: 1px solid silver;
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margin: 4px;
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width: calc(100% - 8px);
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}
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.tab-receiver .rcSmoothing-channels select {
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height: 22px;
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padding-left: 5px;
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border: 1px solid silver;
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margin: 4px;
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width: calc(100% - 8px);
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}
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.tab-receiver .rcSmoothing-input-type select {
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height: 22px;
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padding-left: 5px;
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border: 1px solid silver;
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margin: 4px;
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width: calc(100% - 8px);
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}
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.tab-receiver .rcSmoothing-derivative-type select {
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height: 22px;
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padding-left: 5px;
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border: 1px solid silver;
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margin: 4px;
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width: calc(100% - 8px);
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}
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.tab-receiver .rcSmoothing td:first-child {
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width: 70px;
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padding-left:8px;
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border-right: none;
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}
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.tab-receiver .rcSmoothing td:last-child {
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width: calc(100% - 78px);
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}
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.tab-receiver .rcSmoothing select {
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width: 66px;
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}
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.tab-receiver .rcInterpolation td {
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padding: 5px;
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width: 100%;
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@ -337,7 +404,7 @@
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}
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.tab-receiver .rcInterpolation .slider input {
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-webkit-appearance: slider-horizontal
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-webkit-appearance: slider-horizontal;
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}
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.tab-receiver .curves {
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34
src/js/fc.js
34
src/js/fc.js
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@ -378,20 +378,26 @@ var FC = {
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};
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RX_CONFIG = {
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serialrx_provider: 0,
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stick_max: 0,
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stick_center: 0,
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stick_min: 0,
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spektrum_sat_bind: 0,
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rx_min_usec: 0,
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rx_max_usec: 0,
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rcInterpolation: 0,
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rcInterpolationInterval: 0,
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airModeActivateThreshold: 0,
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rxSpiProtocol: 0,
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rxSpiId: 0,
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rxSpiRfChannelCount: 0,
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fpvCamAngleDegrees: 0,
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serialrx_provider: 0,
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stick_max: 0,
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stick_center: 0,
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stick_min: 0,
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spektrum_sat_bind: 0,
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rx_min_usec: 0,
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rx_max_usec: 0,
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rcInterpolation: 0,
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rcInterpolationInterval: 0,
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rcInterpolationChannels: 0,
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airModeActivateThreshold: 0,
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rxSpiProtocol: 0,
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rxSpiId: 0,
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rxSpiRfChannelCount: 0,
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fpvCamAngleDegrees: 0,
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rcSmoothingType: 0,
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rcSmoothingInputCutoff: 0,
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rcSmoothingDerivativeCutoff: 0,
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rcSmoothingInputType: 0,
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rcSmoothingDerivativeType: 0,
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};
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FAILSAFE_CONFIG = {
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@ -764,6 +764,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
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RX_CONFIG.spektrum_sat_bind = data.readU8();
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RX_CONFIG.rx_min_usec = data.readU16();
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RX_CONFIG.rx_max_usec = data.readU16();
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RX_CONFIG.rcInterpolation = 0;
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RX_CONFIG.rcInterpolationInterval = 0;
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RX_CONFIG.airModeActivateThreshold = 0;
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if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
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RX_CONFIG.rcInterpolation = data.readU8();
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RX_CONFIG.rcInterpolationInterval = data.readU8();
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@ -773,16 +776,15 @@ MspHelper.prototype.process_data = function(dataHandler) {
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RX_CONFIG.rxSpiId = data.readU32();
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RX_CONFIG.rxSpiRfChannelCount = data.readU8();
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RX_CONFIG.fpvCamAngleDegrees = data.readU8();
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} else {
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RX_CONFIG.rxSpiProtocol = 0;
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RX_CONFIG.rxSpiId = 0;
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RX_CONFIG.rxSpiRfChannelCount = 0;
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RX_CONFIG.fpvCamAngleDegrees = 0;
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if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
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RX_CONFIG.rcInterpolationChannels = data.readU8();
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RX_CONFIG.rcSmoothingType = data.readU8();
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RX_CONFIG.rcSmoothingInputCutoff = data.readU8();
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RX_CONFIG.rcSmoothingDerivativeCutoff = data.readU8();
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RX_CONFIG.rcSmoothingInputType = data.readU8();
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RX_CONFIG.rcSmoothingDerivativeType = data.readU8();
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}
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}
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} else {
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RX_CONFIG.rcInterpolation = 0;
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RX_CONFIG.rcInterpolationInterval = 0;
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RX_CONFIG.airModeActivateThreshold = 0;
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}
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break;
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@ -1360,6 +1362,7 @@ MspHelper.prototype.crunch = function(code) {
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.push16(BF_CONFIG.batterycapacity)
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}
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break;
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case MSPCodes.MSP_SET_RX_CONFIG:
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buffer.push8(RX_CONFIG.serialrx_provider)
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.push16(RX_CONFIG.stick_max)
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@ -1377,6 +1380,14 @@ MspHelper.prototype.crunch = function(code) {
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.push32(RX_CONFIG.rxSpiId)
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.push8(RX_CONFIG.rxSpiRfChannelCount)
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.push8(RX_CONFIG.fpvCamAngleDegrees);
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if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
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buffer.push8(RX_CONFIG.rcInterpolationChannels)
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.push8(RX_CONFIG.rcSmoothingType)
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.push8(RX_CONFIG.rcSmoothingInputCutoff)
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.push8(RX_CONFIG.rcSmoothingDerivativeCutoff)
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.push8(RX_CONFIG.rcSmoothingInputType)
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.push8(RX_CONFIG.rcSmoothingDerivativeType);
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}
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}
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}
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@ -324,6 +324,83 @@ TABS.receiver.initialize = function (callback) {
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});
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});
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// RC Smoothing
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$('.tab-receiver .rcSmoothing').hide();
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if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
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$('.tab-receiver .rcSmoothing').show();
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var rc_smoothing_protocol_e = $('select[name="rcSmoothing-select"]');
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rc_smoothing_protocol_e.change(function () {
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RX_CONFIG.rcSmoothingType = $(this).val();
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updateInterpolationView();
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});
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rc_smoothing_protocol_e.val(RX_CONFIG.rcSmoothingType);
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var rcSmoothingnNumberElement = $('input[name="rcSmoothingInputHz-number"]');
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var rcSmoothingnDerivativeNumberElement = $('input[name="rcSmoothingDerivativeCutoff-number"]');
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$('.tab-receiver .rcSmoothing-input-cutoff').show();
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$('select[name="rcSmoothing-input-manual-select"]').val("1");
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if (RX_CONFIG.rcSmoothingInputCutoff == 0) {
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$('.tab-receiver .rcSmoothing-input-cutoff').hide();
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$('select[name="rcSmoothing-input-manual-select"]').val("0");
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}
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$('select[name="rcSmoothing-input-manual-select"]').change(function () {
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if ($(this).val() == 0) {
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RX_CONFIG.rcSmoothingInputCutoff = 0;
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$('.tab-receiver .rcSmoothing-input-cutoff').hide();
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}
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if ($(this).val() == 1) {
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rcSmoothingnNumberElement.val(RX_CONFIG.rcSmoothingInputCutoff);
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$('.tab-receiver .rcSmoothing-input-cutoff').show();
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}
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});
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$('.tab-receiver .rcSmoothing-derivative-cutoff').show();
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$('select[name="rcSmoothing-input-derivative-select"]').val("1");
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if (RX_CONFIG.rcSmoothingDerivativeCutoff == 0) {
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$('select[name="rcSmoothing-input-derivative-select"]').val("0");
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$('.tab-receiver .rcSmoothing-derivative-cutoff').hide();
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}
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$('select[name="rcSmoothing-input-derivative-select"]').change(function () {
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if ($(this).val() == 0) {
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$('.tab-receiver .rcSmoothing-derivative-cutoff').hide();
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RX_CONFIG.rcSmoothingDerivativeCutoff = 0;
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}
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if ($(this).val() == 1) {
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$('.tab-receiver .rcSmoothing-derivative-cutoff').show();
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rcSmoothingnDerivativeNumberElement.val(RX_CONFIG.rcSmoothingDerivativeCutoff);
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}
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});
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rcSmoothingnNumberElement.change(function () {
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RX_CONFIG.rcSmoothingInputCutoff = $(this).val();
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});
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rcSmoothingnNumberElement.val(RX_CONFIG.rcSmoothingInputCutoff);
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rcSmoothingnDerivativeNumberElement.change(function () {
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RX_CONFIG.rcSmoothingDerivativeCutoff = $(this).val();
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});
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rcSmoothingnDerivativeNumberElement.val(RX_CONFIG.rcSmoothingDerivativeCutoff);
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var rc_smoothing_derivative_type = $('select[name="rcSmoothingDerivativeType-select"]');
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rc_smoothing_derivative_type.change(function () {
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RX_CONFIG.rcSmoothingDerivativeType = $(this).val();
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});
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rc_smoothing_derivative_type.val(RX_CONFIG.rcSmoothingDerivativeType);
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var rc_smoothing_channels = $('select[name="rcSmoothingChannels-select"]');
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rc_smoothing_channels.change(function () {
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RX_CONFIG.rcInterpolationChannels = $(this).val();
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});
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rc_smoothing_channels.val(RX_CONFIG.rcInterpolationChannels);
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var rc_smoothing_input_type = $('select[name="rcSmoothingInputType-select"]');
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rc_smoothing_input_type.change(function () {
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RX_CONFIG.rcSmoothingInputType = $(this).val();
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});
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rc_smoothing_input_type.val(RX_CONFIG.rcSmoothingInputType);
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updateInterpolationView();
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}
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// Only show the MSP control sticks if the MSP Rx feature is enabled
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$(".sticks_btn").toggle(FEATURE_CONFIG.features.isEnabled('RX_MSP'));
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@ -510,3 +587,29 @@ TABS.receiver.updateRcInterpolationParameters = function () {
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}
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}
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};
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function updateInterpolationView() {
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$('.tab-receiver .rcInterpolation').hide();
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$('.tab-receiver .rcSmoothing-derivative-cutoff').show();
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$('.tab-receiver .rcSmoothing-input-cutoff').show();
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$('.tab-receiver .rcSmoothing-derivative-type').show();
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$('.tab-receiver .rcSmoothing-input-type').show();
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$('.tab-receiver .rcSmoothing-derivative-manual').show();
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$('.tab-receiver .rcSmoothing-input-manual').show();
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if (parseInt(RX_CONFIG.rcSmoothingType) === 0) {
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$('.tab-receiver .rcInterpolation').show();
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$('.tab-receiver .rcSmoothing-derivative-cutoff').hide();
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$('.tab-receiver .rcSmoothing-input-cutoff').hide();
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$('.tab-receiver .rcSmoothing-derivative-type').hide();
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$('.tab-receiver .rcSmoothing-input-type').hide();
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$('.tab-receiver .rcSmoothing-derivative-manual').hide();
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$('.tab-receiver .rcSmoothing-input-manual').hide();
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}
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if (parseInt(RX_CONFIG.rcSmoothingDerivativeCutoff) === 0) {
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$('.tab-receiver .rcSmoothing-derivative-cutoff').hide();
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}
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if (parseInt(RX_CONFIG.rcSmoothingInputCutoff) === 0) {
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$('.tab-receiver .rcSmoothing-input-cutoff').hide();
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}
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}
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@ -114,6 +114,147 @@
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</tr>
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</table>
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</div>
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<div class="gui_box grey tunings topspacer rcSmoothing">
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<table class="rcSmoothing-table">
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<tr>
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<th colspan="4" i18n="receiverRcSmoothing"></th>
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</tr>
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<tr class="rcSmoothing-type">
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<td style="width: 15%">
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<select name="rcSmoothing-select" style="width: 90%">
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<option value="0" i18n="receiverRcSmoothingInterpolation"/>
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<option value="1" i18n="receiverRcSmoothingFilter"/>
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</select>
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</td>
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<td style="border-right: none">
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<div>
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<label>
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<span i18n="receiverRcInterpolation"></span>
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</label>
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</div>
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</td>
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<td>
|
||||
<div class="helpicon cf_tip" i18n_title="receiverRcSmoothingTypeHelp" style="margin-top:0px;"></div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rcSmoothing-channels">
|
||||
<td style="width: 15%">
|
||||
<select name="rcSmoothingChannels-select" style="width: 90%">
|
||||
<option value="0" i18n="receiverRcSmoothingChannelsRP"/>
|
||||
<option value="1" i18n="receiverRcSmoothingChannelsRPY"/>
|
||||
<option value="2" i18n="receiverRcSmoothingChannelsRPYT"/>
|
||||
<option value="3" i18n="receiverRcSmoothingChannelsT"/>
|
||||
<option value="4" i18n="receiverRcSmoothingChannelsRPT"/>
|
||||
</select>
|
||||
</td>
|
||||
<td style="border-right: none">
|
||||
<div>
|
||||
<label>
|
||||
<span i18n="receiverRcSmoothingChannel"></span>
|
||||
</label>
|
||||
</div>
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="rcSmoothingChannelsSmoothedHelp" style="margin-top:0px;"></div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rcSmoothing-input-manual">
|
||||
<td style="width: 15%">
|
||||
<select name="rcSmoothing-input-manual-select" style="width: 90%">
|
||||
<option value="0" i18n="receiverRcSmoothingAuto"/>
|
||||
<option value="1" i18n="receiverRcSmoothingManual"/>
|
||||
</select>
|
||||
</td>
|
||||
<td style="border-right: none">
|
||||
<div>
|
||||
<label>
|
||||
<span i18n="receiverRcInputTypeSelect"></span>
|
||||
</label>
|
||||
</div>
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="receiverRcSmoothingInputManual" style="margin-top:0px;"></div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rcSmoothing-input-cutoff">
|
||||
<td><input type="number" name="rcSmoothingInputHz-number" step="1" min="1" max="255" style="width: 90%"/></td>
|
||||
<td colspan="2">
|
||||
<div>
|
||||
<label>
|
||||
<span i18n="receiverRcSmoothingInputHz"></span>
|
||||
</label>
|
||||
<div class="helpicon cf_tip" i18n_title="rcSmoothingInputCutoffHelp" style="margin-top:0px;"></div>
|
||||
</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rcSmoothing-derivative-manual">
|
||||
<td style="width: 15%">
|
||||
<select name="rcSmoothing-input-derivative-select" style="width: 90%">
|
||||
<option value="0" i18n="receiverRcSmoothingAuto"/>
|
||||
<option value="1" i18n="receiverRcSmoothingManual"/>
|
||||
</select>
|
||||
</td>
|
||||
<td style="border-right: none">
|
||||
<div>
|
||||
<label>
|
||||
<span i18n="receiverRcDerivativeTypeSelect"></span>
|
||||
</label>
|
||||
</div>
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="receiverRcSmoothingDerivativeManual" style="margin-top:0px;"></div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rcSmoothing-derivative-cutoff">
|
||||
<td><input type="number" name="rcSmoothingDerivativeCutoff-number" step="1" min="1" max="255" style="width: 90%"/></td>
|
||||
<td colspan="2">
|
||||
<div>
|
||||
<label>
|
||||
<span i18n="receiverRcSmoothingDerivativeCutoff"></span>
|
||||
</label>
|
||||
<div class="helpicon cf_tip" i18n_title="rcSmoothingDerivativeCutoffHelp" style="margin-top:0px;"></div>
|
||||
</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rcSmoothing-input-type">
|
||||
<td style="width: 15%">
|
||||
<select name="rcSmoothingInputType-select" style="width: 90%">
|
||||
<option value="0" i18n="receiverRcSmoothingInputTypePt1"/>
|
||||
<option value="1" i18n="receiverRcSmoothingInputTypeBiquad"/>
|
||||
</select>
|
||||
</td>
|
||||
<td style="border-right: none">
|
||||
<div>
|
||||
<label>
|
||||
<span i18n="receiverRcInputType"></span>
|
||||
</label>
|
||||
</div>
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="rcSmoothingInputTypeHelp" style="margin-top:0px;"></div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rcSmoothing-derivative-type">
|
||||
<td style="width: 15%">
|
||||
<select name="rcSmoothingDerivativeType-select" style="width: 90%">
|
||||
<option value="0" i18n="receiverRcSmoothingDerivativeTypeOff"/>
|
||||
<option value="1" i18n="receiverRcSmoothingInputTypePt1"/>
|
||||
<option value="2" i18n="receiverRcSmoothingInputTypeBiquad"/>
|
||||
</select>
|
||||
</td>
|
||||
<td style="border-right: none">
|
||||
<div>
|
||||
<label>
|
||||
<span i18n="receiverRcDerivativeType"></span>
|
||||
</label>
|
||||
</div>
|
||||
</td>
|
||||
<td>
|
||||
<div class="helpicon cf_tip" i18n_title="rcSmoothingDerivativeTypeHelp" style="margin-top:0px;"></div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</div>
|
||||
<div class="gui_box grey tunings topspacer">
|
||||
<table class="pid_titlebar" style="width: 100%;">
|
||||
<thead>
|
||||
|
|
|
|||
Loading…
Reference in New Issue