Merge pull request #1878 from Asizon/addFfInterpolate
Michael Keller
GitHub
commit
6494eb0e71
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@ -1761,6 +1761,33 @@
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"pidTuningDtermSetpointTransitionWarning": {
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"message": "<span class=\"message-negative\"><strong>$t(warningTitle.message):<\/strong> The use of a D Setpoint transition greater than 0 and less than 0.1 is highly discouraged. Doing so may lead instability and reduced stick responsiveness as the sticks cross the centre point.<\/span>"
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},
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"pidTuningFfInterpolateSp": {
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"message": "FF Interpolate"
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},
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"pidTuningFfInterpolateSpHelp": {
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"message": "The following options fine-tune feed forward from race/aggressive to smooth/HD.<br><br> Mode: set to NoAverage for race, Average 2 for race/fast freestyle, Average 3 for HD recording, Average 4 for HD cinematic smoothness.<br><br> Smoothness: limits the amount of change that any one incoming radio step can make, increase for smoother FF signal, decrease for more aggressive FF responses.<br><br> Boost: helps overcome motor lag with quick stick inputs, can increase jitter. Try 10 for HD, 20 for racers. Up to 30 may be useful for low authority quads but can cause micro overshoot or jitter."
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},
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"pidTuningFfInterpolate": {
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"message": "Mode"
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},
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"pidTuningFfInterpolateSpOptionNoAverage": {
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"message": "NoAverage"
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},
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"pidTuningFfInterpolateSpOptionAverage2": {
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"message": "Average 2"
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},
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"pidTuningFfInterpolateSpOptionAverage3": {
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"message": "Average 3"
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},
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"pidTuningFfInterpolateSpOptionAverage4": {
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"message": "Average 4"
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},
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"pidTuningFfSmoothFactor": {
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"message": "Smoothness"
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},
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"pidTuningFfBoost": {
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"message": "Boost"
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},
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"pidTuningProportional": {
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"message": "Proportional"
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},
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@ -458,6 +458,9 @@ var FC = {
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motorOutputLimit: 0,
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autoProfileCellCount: 0,
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idleMinRpm: 0,
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ff_interpolate_sp: 0,
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ff_smooth_factor: 0,
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ff_boost: 0,
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};
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ADVANCED_TUNING_ACTIVE = { ...ADVANCED_TUNING };
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@ -1152,6 +1152,12 @@ MspHelper.prototype.process_data = function(dataHandler) {
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ADVANCED_TUNING.motorOutputLimit = data.readU8();
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ADVANCED_TUNING.autoProfileCellCount = data.read8();
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ADVANCED_TUNING.idleMinRpm = data.readU8();
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if(semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) {
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ADVANCED_TUNING.ff_interpolate_sp = data.readU8();
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ADVANCED_TUNING.ff_smooth_factor = data.readU8();
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ADVANCED_TUNING.ff_boost = data.readU8();
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}
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}
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}
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}
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@ -2086,6 +2092,12 @@ MspHelper.prototype.crunch = function(code) {
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buffer.push8(ADVANCED_TUNING.motorOutputLimit)
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.push8(ADVANCED_TUNING.autoProfileCellCount)
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.push8(ADVANCED_TUNING.idleMinRpm);
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if(semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) {
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buffer.push8(ADVANCED_TUNING.ff_interpolate_sp)
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.push8(ADVANCED_TUNING.ff_smooth_factor)
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.push8(ADVANCED_TUNING.ff_boost);
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}
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}
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}
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}
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@ -395,8 +395,6 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.pid_filter input[name="rpmFilterHarmonics"]').val(FILTER_DEFAULT.gyro_rpm_notch_harmonics);
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}
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}).prop('checked', FILTER_CONFIG.gyro_rpm_notch_harmonics != 0).change();
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} else {
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$('.itermRelaxCutoff').hide();
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$('.dynamicNotch').hide();
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@ -438,6 +436,25 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.rates_type').hide();
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}
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if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) {
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// FF Interpolate
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const ffInterpolateCheck = $('input[id="ffInterpolateSp"]');
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ffInterpolateCheck.prop('checked', ADVANCED_TUNING.ff_interpolate_sp !== 0);
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$('select[id="ffInterpolate"]').val(ADVANCED_TUNING.ff_interpolate_sp > 0 ? ADVANCED_TUNING.ff_interpolate_sp : 2);
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$('input[name="ffSmoothFactor"]').val(ADVANCED_TUNING.ff_smooth_factor);
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$('input[name="ffBoost"]').val(ADVANCED_TUNING.ff_boost);
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ffInterpolateCheck.change(function() {
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const checked = $(this).is(':checked');
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$('.ffInterpolateSp .suboption').toggle(checked);
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});
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ffInterpolateCheck.change();
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} else {
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$('.ffInterpolateSp').hide();
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}
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$('input[id="useIntegratedYaw"]').change(function() {
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var checked = $(this).is(':checked');
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$('#pidTuningIntegratedYawCaution').toggle(checked);
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@ -898,7 +915,11 @@ TABS.pid_tuning.initialize = function (callback) {
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RC_tuning.rates_type = selectedRatesType;
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}
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if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) {
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ADVANCED_TUNING.ff_interpolate_sp = $('input[id="ffInterpolateSp"]').is(':checked') ? $('select[id="ffInterpolate"]').val() : 0;
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ADVANCED_TUNING.ff_smooth_factor = parseInt($('input[name="ffSmoothFactor"]').val());
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ADVANCED_TUNING.ff_boost = parseInt($('input[name="ffBoost"]').val());
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FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val());
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}
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}
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@ -474,6 +474,40 @@
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</div>
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</td>
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</tr>
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<tr class="ffInterpolateSp">
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<td><input type="checkbox" id="ffInterpolateSp" class="toggle" /></td>
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<td colspan="2">
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<div class="helpicon cf_tip" i18n_title="pidTuningFfInterpolateSpHelp"></div>
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<span i18n="pidTuningFfInterpolateSp" />
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<span class="ffInterpolate suboption">
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<select id="ffInterpolate">
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<option i18n="pidTuningFfInterpolateSpOptionNoAverage" value="1">
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<option i18n="pidTuningFfInterpolateSpOptionAverage2" value="2"/>
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<option i18n="pidTuningFfInterpolateSpOptionAverage3" value="3"/>
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<option i18n="pidTuningFfInterpolateSpOptionAverage4" value="4"/>
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</select>
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<label for="ffInterpolate">
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<span i18n="pidTuningFfInterpolate" />
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</label>
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</span>
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<span class="ffSmoothFactor suboption">
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<input type="number" name="ffSmoothFactor" step="1" min="0" max="75" />
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<label for="ffSmoothFactor">
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<span i18n="pidTuningFfSmoothFactor" />
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</label>
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</span>
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<span class="ffBoost suboption">
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<input type="number" name="ffBoost" step="1" min="0" max="50" />
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<label for="ffBoost">
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<span i18n="pidTuningFfBoost" />
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</label>
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</span>
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</td>
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</tr>
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<tr class="acroTrainerAngleLimit">
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<td><input type="number" name="acroTrainerAngleLimit-number" step="1" min="10" max="80"/></td>
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