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Auto merged - #2504 at Tue, 22 Jun 2021 20:25:12 GMT 

Update Dshot Bidir autodefaults and dynamic notch options
10.8-maintenance
J Blackman 2021-06-23 06:25:12 +10:00 committed by GitHub
parent dd54f3f571 0096a03782
commit 676b284c5f
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 29 additions and 35 deletions
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6
locales/en/messages.json
View File

@ -3732,9 +3732,6 @@
"pidTuningDynamicNotchCount": {
"message": "Dynamic Notch Count"
},
"pidTuningDynamicNotchBandwidthHz": {
"message": "Dynamic Notch Bandwidth Frequency [Hz]"
},
"pidTuningDynamicNotchRangeHelp": {
"message": "The dynamic notch has three frequency ranges in which it can operate: LOW(80-330hz) for lower revving quads like 6+ inches, MEDIUM(140-550hz) for a normal 5 inch quad, HIGH(230-800hz) for very high revving 2.5-3 inch quads. AUTO option selects the range depending on the value of the Gyro Dynamic Lowpass 1 Filter's max cutoff frequency."
},
@ -3753,9 +3750,6 @@
"pidTuningDynamicNotchCountHelp": {
"message": "Sets the number of dynamic notches per axis. With RPM filter enabled a value of 1 or 2 is recommended. Without RPM filter a value of 4 or 5 is recommended. Lower numbers will reduce filter delay, however it may increase motor temperature."
},
"pidTuningDynamicNotchBandwidthHzHelp": {
"message": "Bandwidth in Hz adjusts how narrow or wide every dynamic notch will be. Higher values makes it wider and broader. Lower values makes it narrower and more precise, however it may increase motor temperature. Having a really high value will increase filter delay."
},
"pidTuningRpmFilterGroup": {
"message": "Gyro RPM Filter",
"description": "Header text for the RPM Filter group"

9
src/js/fc.js
View File

@ -464,6 +464,7 @@ const FC = {
dyn_notch_q: 0,
dyn_notch_min_hz: 0,
dyn_notch_max_hz: 0,
dyn_notch_count: 0,
gyro_rpm_notch_harmonics: 0,
gyro_rpm_notch_min_hz: 0,
};
@ -628,7 +629,7 @@ const FC = {
dterm_lowpass_hz: 100,
dterm_lowpass_dyn_min_hz: 150,
dterm_lowpass_dyn_max_hz: 250,
dyn_lpf_curve_expo: 5,
dyn_lpf_curve_expo: 5,
dterm_lowpass_type: this.FILTER_TYPE_FLAGS.PT1,
dterm_lowpass2_hz: 150,
dterm_lowpass2_type: this.FILTER_TYPE_FLAGS.BIQUAD,
@ -637,8 +638,10 @@ const FC = {
yaw_lowpass_hz: 100,
dyn_notch_q: 120,
dyn_notch_width_percent: 8,
dyn_notch_count: 3,
dyn_notch_q_rpm: 250, // default with rpm filtering
dyn_notch_width_percent_rpm: 0,
dyn_notch_count_rpm: 1,
dyn_notch_min_hz: 150,
dyn_notch_max_hz: 600,
};
@ -822,6 +825,10 @@ const FC = {
versionFilterDefaults.dterm_lowpass2_hz = 150;
versionFilterDefaults.dterm_lowpass2_type = this.FILTER_TYPE_FLAGS.PT1;
}
if (semver.gte(this.CONFIG.apiVersion, API_VERSION_1_44)) {
versionFilterDefaults.dyn_notch_q_rpm = 500;
versionFilterDefaults.dyn_notch_q = 300;
}
}
return versionFilterDefaults;
},

4
src/js/msp/MSPHelper.js
View File

@ -1101,7 +1101,6 @@ MspHelper.prototype.process_data = function(dataHandler) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
FC.FILTER_CONFIG.dyn_lpf_curve_expo = data.readU8();
FC.FILTER_CONFIG.dyn_notch_count = data.readU8();
FC.FILTER_CONFIG.dyn_notch_bandwidth_hz = data.readU16();
}
}
}
@ -2074,8 +2073,7 @@ MspHelper.prototype.crunch = function(code) {
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
buffer.push8(FC.FILTER_CONFIG.dyn_lpf_curve_expo)
.push8(FC.FILTER_CONFIG.dyn_notch_count)
.push16(FC.FILTER_CONFIG.dyn_notch_bandwidth_hz);
.push8(FC.FILTER_CONFIG.dyn_notch_count);
}
}
break;

16
src/js/tabs/motors.js
View File

@ -4,6 +4,7 @@ TABS.motors = {
previousDshotBidir: null,
previousFilterDynQ: null,
previousFilterDynWidth: null,
previousFilterDynCount: null,
analyticsChanges: {},
configHasChanged: false,
configChanges: {},
@ -635,6 +636,7 @@ TABS.motors.initialize = function (callback) {
self.previousDshotBidir = FC.MOTOR_CONFIG.use_dshot_telemetry;
self.previousFilterDynQ = FC.FILTER_CONFIG.dyn_notch_q;
self.previousFilterDynWidth = FC.FILTER_CONFIG.dyn_notch_width_percent;
self.previousFilterDynCount = FC.FILTER_CONFIG.dyn_notch_count;
dshotBidirElement.on("change", function () {
const value = $(this).prop('checked');
@ -642,20 +644,26 @@ TABS.motors.initialize = function (callback) {
self.analyticsChanges['BidirectionalDshot'] = newValue;
FC.MOTOR_CONFIG.use_dshot_telemetry = value;
FC.FILTER_CONFIG.dyn_notch_width_percent = self.previousFilterDynWidth;
FC.FILTER_CONFIG.dyn_notch_count = self.previousFilterDynCount;
FC.FILTER_CONFIG.dyn_notch_q = self.previousFilterDynQ;
FC.FILTER_CONFIG.dyn_notch_width_percent = self.previousFilterDynWidth;
if (FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0) { // if rpm filter is active
if (value && !self.previousDshotBidir) {
FC.FILTER_CONFIG.dyn_notch_width_percent = FILTER_DEFAULT.dyn_notch_width_percent_rpm;
FC.FILTER_CONFIG.dyn_notch_count = FILTER_DEFAULT.dyn_notch_count_rpm;
FC.FILTER_CONFIG.dyn_notch_q = FILTER_DEFAULT.dyn_notch_q_rpm;
FC.FILTER_CONFIG.dyn_notch_width_percent = FILTER_DEFAULT.dyn_notch_width_percent_rpm;
} else if (!value && self.previousDshotBidir) {
FC.FILTER_CONFIG.dyn_notch_width_percent = FILTER_DEFAULT.dyn_notch_width_percent;
FC.FILTER_CONFIG.dyn_notch_count = FILTER_DEFAULT.dyn_notch_count;
FC.FILTER_CONFIG.dyn_notch_q = FILTER_DEFAULT.dyn_notch_q;
FC.FILTER_CONFIG.dyn_notch_width_percent = FILTER_DEFAULT.dyn_notch_width_percent;
}
}
if (FC.FILTER_CONFIG.dyn_notch_width_percent !== self.previousFilterDynWidth) {
const dynFilterNeedChange = (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) ? (FC.FILTER_CONFIG.dyn_notch_count !== self.previousFilterDynCount) :
(FC.FILTER_CONFIG.dyn_notch_width_percent !== self.previousFilterDynWidth);
if (dynFilterNeedChange) {
showDialogDynFiltersChange();
}
});

16
src/js/tabs/pid_tuning.js
View File

@ -373,6 +373,7 @@ TABS.pid_tuning.initialize = function (callback) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
const dynamicNotchWidthPercent_e = $('.pid_filter input[name="dynamicNotchWidthPercent"]');
const dynamicNotchQ_e = $('.pid_filter input[name="dynamicNotchQ"]');
const dynamicNotchCount_e = $('.pid_filter input[name="dynamicNotchCount"]');
$('.smartfeedforward').hide();
@ -385,8 +386,7 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_filter select[name="dynamicNotchRange"]').val(FC.FILTER_CONFIG.dyn_notch_range);
dynamicNotchWidthPercent_e.val(FC.FILTER_CONFIG.dyn_notch_width_percent);
dynamicNotchQ_e.val(FC.FILTER_CONFIG.dyn_notch_q);
$('.pid_filter input[name="dynamicNotchCount"]').val(FC.FILTER_CONFIG.dyn_notch_count);
$('.pid_filter input[name="dynamicNotchBandwidthHz"]').val(FC.FILTER_CONFIG.dyn_notch_bandwidth_hz);
dynamicNotchCount_e.val(FC.FILTER_CONFIG.dyn_notch_count);
$('.pid_filter input[name="dynamicNotchMinHz"]').val(FC.FILTER_CONFIG.dyn_notch_min_hz);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
$('.pid_filter input[name="dynamicNotchMinHz"]').attr("max","250");
@ -397,10 +397,8 @@ TABS.pid_tuning.initialize = function (callback) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
$('.dynamicNotchHelp').attr('title', i18n.getMessage('pidTuningMultiDynamicNotchFilterHelp'));
$('.dynamicNotchWidthPercent').hide();
$('.dynamicNotchQ').hide();
} else {
$('.dynamicNotchCount').hide();
$('.dynamicNotchBandwidthHz').hide();
}
$('.rpmFilter').toggle(FC.MOTOR_CONFIG.use_dshot_telemetry);
@ -422,18 +420,21 @@ TABS.pid_tuning.initialize = function (callback) {
if (checked !== (FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0)) { // if rpmFilterEnabled is not the same value as saved in the fc
if (checked) {
dynamicNotchWidthPercent_e.val(FILTER_DEFAULT.dyn_notch_width_percent_rpm);
dynamicNotchCount_e.val(FILTER_DEFAULT.dyn_notch_count_rpm);
dynamicNotchQ_e.val(FILTER_DEFAULT.dyn_notch_q_rpm);
dynamicNotchWidthPercent_e.val(FILTER_DEFAULT.dyn_notch_width_percent_rpm);
} else {
dynamicNotchWidthPercent_e.val(FILTER_DEFAULT.dyn_notch_width_percent);
dynamicNotchCount_e.val(FILTER_DEFAULT.dyn_notch_count);
dynamicNotchQ_e.val(FILTER_DEFAULT.dyn_notch_q);
dynamicNotchWidthPercent_e.val(FILTER_DEFAULT.dyn_notch_width_percent);
}
showDialogDynFiltersChange();
} else { // same value, return saved values
dynamicNotchWidthPercent_e.val(FC.FILTER_CONFIG.dyn_notch_width_percent);
dynamicNotchCount_e.val(FC.FILTER_CONFIG.dyn_notch_count);
dynamicNotchQ_e.val(FC.FILTER_CONFIG.dyn_notch_q);
dynamicNotchWidthPercent_e.val(FC.FILTER_CONFIG.dyn_notch_width_percent);
}
}).prop('checked', FC.FILTER_CONFIG.gyro_rpm_notch_harmonics != 0).change();
@ -1002,7 +1003,6 @@ TABS.pid_tuning.initialize = function (callback) {
FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0;
FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0;
FC.FILTER_CONFIG.dyn_notch_count = parseInt($('.pid_filter input[name="dynamicNotchCount"]').val());
FC.FILTER_CONFIG.dyn_notch_bandwidth_hz = parseInt($('.pid_filter input[name="dynamicNotchBandwidthHz"]').val());
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {

13
src/tabs/pid_tuning.html
View File

@ -1390,19 +1390,6 @@
</div>
</td>
</tr>
<tr class="newFilter dynamicNotch dynamicNotchBandwidthHz">
<td>
<input type="number" name="dynamicNotchBandwidthHz" step="1" min="6" max="500"/>
</td>
<td>
<div>
<label>
<span i18n="pidTuningDynamicNotchBandwidthHz"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningDynamicNotchBandwidthHzHelp" ></div>
</div>
</td>
</tr>
<tr class="newFilter dynamicNotch">
<td>
<input type="number" name="dynamicNotchMinHz" step="1" min="60" max="1000"/>