Add dynamic lpf and dterm filters
Miguel Angel Mulero Martinez
parent
4859878e2f
commit
9f2e608530
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@ -2950,6 +2950,15 @@
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"pidTuningGyroLowpassType": {
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"message": "Gyro Lowpass 1 Filter Type"
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},
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"pidTuningGyroLowpassDynMinFrequency": {
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"message": "Gyro Lowpass 1 Dynamic Min Cutoff Frequency [Hz]"
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},
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"pidTuningGyroLowpassDynMaxFrequency": {
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"message": "Gyro Lowpass 1 Dynamic Max Cutoff Frequency [Hz]"
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},
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"pidTuningGyroLowpassDynType": {
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"message": "Gyro Lowpass 1 Dynamic Filter Type"
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},
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"pidTuningGyroLowpass2Frequency": {
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"message": "Gyro Lowpass 2 Cutoff Frequency [Hz]"
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},
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@ -2974,6 +2983,9 @@
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"pidTuningNotchFilterHelp": {
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"message": "The Notch Filter has a Center and a Cutoff. The filter is symmetrical. The Center Frequency is the center of the filter and the Cutoff Frequency is where Notch filter starts. For example with Notch Cutoff of 160 and Notch Center of 260 it means the range is 160-360Hz with most attenuation around center"
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},
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"pidTuningLowpassFilterHelp": {
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"message": "The Lowpass Filters can have two variants: static and dynamic. For a determined lowpass filter number only one (static or dynamic) can be enabled at the same time. The static only has a Cutoff that is a value that defines in some way where the filter starts. The dynamic defines a min and max values, that is the range where the Cutoff is placed. This Cutoff moves from min to max at the same time than you move the throttle stick."
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},
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"pidTuningFilterSettings": {
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"message": "Profile dependent Filter Settings"
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},
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@ -2989,6 +3001,18 @@
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"pidTuningDTermLowpass2Frequency": {
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"message": "D Term Lowpass 2 Cutoff Frequency [Hz]"
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},
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"pidTuningDTermLowpass2Type": {
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"message": "D Term Lowpass 2 Filter Type"
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},
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"pidTuningDTermLowpassDynMinFrequency": {
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"message": "D Term Lowpass 1 Dynamic Min Cutoff Frequency [Hz]"
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},
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"pidTuningDTermLowpassDynMaxFrequency": {
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"message": "D Term Lowpass 1 Dynamic Max Cutoff Frequency [Hz]"
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},
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"pidTuningDTermLowpassDynType": {
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"message": "D Term Lowpass 1 Dynamic Filter Type"
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},
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"pidTuningDTermNotchFiltersGroup": {
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"message": "D Term Notch Filters"
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},
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10
src/js/fc.js
10
src/js/fc.js
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@ -352,6 +352,8 @@ var FC = {
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gyro_hardware_lpf: 0,
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gyro_32khz_hardware_lpf: 0,
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gyro_lowpass_hz: 0,
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gyro_lowpass_dyn_min_hz: 0,
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gyro_lowpass_dyn_max_hz: 0,
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gyro_lowpass_type: 0,
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gyro_lowpass2_hz: 0,
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gyro_lowpass2_type: 0,
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@ -360,8 +362,11 @@ var FC = {
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gyro_notch2_hz: 0,
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gyro_notch2_cutoff: 0,
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dterm_lowpass_hz: 0,
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dterm_lowpass_dyn_min_hz: 0,
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dterm_lowpass_dyn_max_hz: 0,
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dterm_lowpass_type: 0,
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dterm_lowpass2_hz: 0,
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dterm_lowpass2_type: 0,
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dterm_notch_hz: 0,
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dterm_notch_cutoff: 0,
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yaw_lowpass_hz: 0,
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@ -452,6 +457,8 @@ var FC = {
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DEFAULT = {
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gyro_lowpass_hz: 100,
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gyro_lowpass_dyn_min_hz: 150,
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gyro_lowpass_dyn_max_hz: 450,
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gyro_lowpass_type: 0,
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gyro_lowpass2_hz: 300,
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gyro_lowpass2_type: 0,
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@ -460,8 +467,11 @@ var FC = {
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gyro_notch2_cutoff: 100,
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gyro_notch2_hz: 200,
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dterm_lowpass_hz: 100,
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dterm_lowpass_dyn_min_hz: 100,
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dterm_lowpass_dyn_max_hz: 250,
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dterm_lowpass_type: 0,
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dterm_lowpass2_hz: 200,
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dterm_lowpass2_type: 0,
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dterm_notch_cutoff: 160,
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dterm_notch_hz: 260,
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yaw_lowpass_hz: 100,
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@ -969,6 +969,12 @@ MspHelper.prototype.process_data = function(dataHandler) {
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FILTER_CONFIG.gyro_32khz_hardware_lpf = gyro_32khz_hardware_lpf;
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} else {
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FILTER_CONFIG.gyro_32khz_hardware_lpf = 0;
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FILTER_CONFIG.dterm_lowpass2_type = data.readU8();
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FILTER_CONFIG.gyro_lowpass_dyn_min_hz = data.readU16();
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FILTER_CONFIG.gyro_lowpass_dyn_max_hz = data.readU16();
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FILTER_CONFIG.dterm_lowpass_dyn_min_hz = data.readU16();
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FILTER_CONFIG.dterm_lowpass_dyn_max_hz = data.readU16();
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}
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}
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}
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@ -1690,6 +1696,13 @@ MspHelper.prototype.crunch = function(code) {
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.push8(FILTER_CONFIG.gyro_lowpass2_type)
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.push16(FILTER_CONFIG.dterm_lowpass2_hz);
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}
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if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
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buffer.push8(FILTER_CONFIG.dterm_lowpass2_type)
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.push16(FILTER_CONFIG.gyro_lowpass_dyn_min_hz)
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.push16(FILTER_CONFIG.gyro_lowpass_dyn_max_hz)
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.push16(FILTER_CONFIG.dterm_lowpass_dyn_min_hz)
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.push16(FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
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}
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}
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break;
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case MSPCodes.MSP_SET_PID_ADVANCED:
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@ -315,8 +315,21 @@ TABS.pid_tuning.initialize = function (callback) {
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if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
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$('select[id="throttleLimitType"]').val(RC_tuning.throttleLimitType);
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$('.throttle_limit input[name="throttleLimitPercent"]').val(RC_tuning.throttleLimitPercent);
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$('.pid_filter select[name="dtermLowpass2Type"]').val(FILTER_CONFIG.dterm_lowpass2_type);
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$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_min_hz);
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$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_max_hz);
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$('.pid_filter select[name="gyroLowpassDynType"]').val(FILTER_CONFIG.gyro_lowpass_type);
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$('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_min_hz);
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$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
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$('.pid_filter select[name="dtermLowpassDynType"]').val(FILTER_CONFIG.dterm_lowpass_type);
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} else {
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$('.throttle_limit').hide();
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$('.gyroLowpassDyn').hide();
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$('.dtermLowpassDyn').hide();
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$('.dtermLowpass2TypeGroup').hide();
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}
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$('input[id="gyroNotch1Enabled"]').change(function() {
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@ -356,6 +369,30 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.pid_filter input[name="gyroLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
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$('.pid_filter select[name="gyroLowpassType"]').val(checked ? type : 0).attr('disabled', !checked);
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if (checked) {
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$('input[id="gyroLowpassDynEnabled"]').prop('checked', false).change();
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}
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});
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$('input[id="gyroLowpassDynEnabled"]').change(function() {
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var checked = $(this).is(':checked');
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var cutoff_min = DEFAULT.gyro_lowpass_dyn_min_hz;
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var cutoff_max = DEFAULT.gyro_lowpass_dyn_max_hz;
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if (FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz) {
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cutoff_min = FILTER_CONFIG.gyro_lowpass_dyn_min_hz;
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cutoff_max = FILTER_CONFIG.gyro_lowpass_dyn_max_hz;
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}
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var type = FILTER_CONFIG.gyro_lowpass_type > 0 ? FILTER_CONFIG.gyro_lowpass_type : DEFAULT.gyro_lowpass_type;
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$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(checked ? cutoff_min : 0).attr('disabled', !checked);
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$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(checked ? cutoff_max : 0).attr('disabled', !checked);
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$('.pid_filter select[name="gyroLowpassDynType"]').val(checked ? type : 0).attr('disabled', !checked);
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if (checked) {
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$('input[id="gyroLowpassEnabled"]').prop('checked', false).change();
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}
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});
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$('input[id="gyroLowpass2Enabled"]').change(function() {
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@ -374,13 +411,38 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.pid_filter input[name="dtermLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
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$('.pid_filter select[name="dtermLowpassType"]').val(checked ? type : 0).attr('disabled', !checked);
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if (checked) {
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$('input[id="dtermLowpassDynEnabled"]').prop('checked', false).change();
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}
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});
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$('input[id="dtermLowpassDynEnabled"]').change(function() {
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var checked = $(this).is(':checked');
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var cutoff_min = DEFAULT.dterm_lowpass_dyn_min_hz;
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var cutoff_max = DEFAULT.dterm_lowpass_dyn_max_hz;
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if (FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz) {
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cutoff_min = FILTER_CONFIG.dterm_lowpass_dyn_min_hz;
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cutoff_max = FILTER_CONFIG.dterm_lowpass_dyn_max_hz;
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}
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var type = FILTER_CONFIG.dterm_lowpass_type > 0 ? FILTER_CONFIG.dterm_lowpass_type : DEFAULT.dterm_lowpass_type;
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$('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(checked ? cutoff_min : 0).attr('disabled', !checked);
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$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(checked ? cutoff_max : 0).attr('disabled', !checked);
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$('.pid_filter select[name="dtermLowpassDynType"]').val(checked ? type : 0).attr('disabled', !checked);
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if (checked) {
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$('input[id="dtermLowpassEnabled"]').prop('checked', false).change();
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}
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});
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$('input[id="dtermLowpass2Enabled"]').change(function() {
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var checked = $(this).is(':checked');
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var cutoff = FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FILTER_CONFIG.dterm_lowpass2_hz : DEFAULT.dterm_lowpass2_hz;
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var type = FILTER_CONFIG.dterm_lowpass2_type > 0 ? FILTER_CONFIG.dterm_lowpass2_type : DEFAULT.dterm_lowpass2_type;
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$('.pid_filter input[name="dtermLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
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$('.pid_filter select[name="dtermLowpass2Type"]').val(checked ? type : 0).attr('disabled', !checked);
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});
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$('input[id="yawLowpassEnabled"]').change(function() {
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@ -420,8 +482,10 @@ TABS.pid_tuning.initialize = function (callback) {
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$('input[id="gyroNotch2Enabled"]').prop('checked', FILTER_CONFIG.gyro_notch2_hz != 0).change();
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$('input[id="dtermNotchEnabled"]').prop('checked', FILTER_CONFIG.dterm_notch_hz != 0).change();
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$('input[id="gyroLowpassEnabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass_hz != 0).change();
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$('input[id="gyroLowpassDynEnabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass_dyn_min_hz != 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz).change();
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$('input[id="gyroLowpass2Enabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass2_hz != 0).change();
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$('input[id="dtermLowpassEnabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass_hz != 0).change();
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$('input[id="dtermLowpassDynEnabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass_dyn_min_hz != 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz).change();
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$('input[id="dtermLowpass2Enabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass2_hz != 0).change();
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$('input[id="yawLowpassEnabled"]').prop('checked', FILTER_CONFIG.yaw_lowpass_hz != 0).change();
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}
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@ -535,6 +599,19 @@ TABS.pid_tuning.initialize = function (callback) {
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if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
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RC_tuning.throttleLimitType = $('select[id="throttleLimitType"]').val();
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RC_tuning.throttleLimitPercent = parseInt($('.throttle_limit input[name="throttleLimitPercent"]').val());
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FILTER_CONFIG.dterm_lowpass2_type = $('.pid_filter select[name="dtermLowpass2Type"]').val();
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FILTER_CONFIG.gyro_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val());
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FILTER_CONFIG.gyro_lowpass_dyn_max_hz = parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val());
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FILTER_CONFIG.dterm_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val());
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FILTER_CONFIG.dterm_lowpass_dyn_max_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val());
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if (FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz ) {
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FILTER_CONFIG.gyro_lowpass_type = $('.pid_filter select[name="gyroLowpassDynType"]').val();
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}
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if (FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz ) {
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FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassDynType"]').val();
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}
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}
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}
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@ -919,8 +996,11 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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populateFilterTypeSelector('gyroLowpassType', loadFilterTypeValues());
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populateFilterTypeSelector('gyroLowpassDynType', loadFilterTypeValues());
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populateFilterTypeSelector('gyroLowpass2Type', loadFilterTypeValues());
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populateFilterTypeSelector('dtermLowpassType', loadFilterTypeValues());
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populateFilterTypeSelector('dtermLowpass2Type', loadFilterTypeValues());
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populateFilterTypeSelector('dtermLowpassDynType', loadFilterTypeValues());
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pid_and_rc_to_form();
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@ -639,10 +639,57 @@
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<table>
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<tr>
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<th colspan="2">
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<div class="pid_mode" i18n="pidTuningGyroLowpassFiltersGroup"/>
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<div class="pid_mode">
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<div i18n="pidTuningGyroLowpassFiltersGroup" />
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<div class="helpicon cf_tip" i18n_title="pidTuningLowpassFilterHelp" />
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</div>
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</th>
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</tr>
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<tr class="gyroLowpassDyn">
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<td>
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<span class="groupSwitchValue">
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<span class="inputSwitch"><input type="checkbox" id="gyroLowpassDynEnabled" class="toggle" /></span>
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<span class="inputValue"><input type="number" name="gyroLowpassDynMinFrequency" step="1" min="1" max="16000"/></span>
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</span>
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</td>
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<td>
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<div>
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<label>
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<span i18n="pidTuningGyroLowpassDynMinFrequency"></span>
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</label>
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</div>
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</td>
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</tr>
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<tr class="gyroLowpassDyn">
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<td>
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<span class="inputValue"><input type="number" name="gyroLowpassDynMaxFrequency" step="1" min="1" max="16000"/></span>
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</td>
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<td>
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<div>
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<label>
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<span i18n="pidTuningGyroLowpassDynMaxFrequency"></span>
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</label>
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</div>
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</td>
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</tr>
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<tr class="gyroLowpassDyn">
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<td>
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<select name="gyroLowpassDynType">
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<!-- Populated on execution -->
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</select>
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</td>
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<td>
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<div>
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<label>
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<span i18n="pidTuningGyroLowpassDynType"></span>
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</label>
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</div>
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</td>
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</tr>
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<tr>
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<td>
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<span class="groupSwitchValue">
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@ -674,6 +721,7 @@
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</td>
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</tr>
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<tr class="gyroLowpass2">
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<td>
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<span class="groupSwitchValue">
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@ -786,10 +834,57 @@
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<th colspan="2">
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<div class="pid_mode">
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<div i18n="pidTuningDTermLowpassFiltersGroup" />
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<div class="helpicon cf_tip" i18n_title="pidTuningLowpassFilterHelp" />
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</div>
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</div>
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</th>
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</tr>
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<tr class="dtermLowpassDyn">
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<td>
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<span class="groupSwitchValue">
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<span class="inputSwitch"><input type="checkbox" id="dtermLowpassDynEnabled" class="toggle" /></span>
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<span class="inputValue"><input type="number" name="dtermLowpassDynMinFrequency" step="1" min="1" max="16000"/></span>
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</span>
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</td>
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<td>
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<div>
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<label>
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<span i18n="pidTuningDTermLowpassDynMinFrequency"></span>
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</label>
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</div>
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</td>
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</tr>
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<tr class="dtermLowpassDyn">
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<td>
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<span class="inputValue"><input type="number" name="dtermLowpassDynMaxFrequency" step="1" min="1" max="16000"/></span>
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</td>
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<td>
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<div>
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<label>
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<span i18n="pidTuningDTermLowpassDynMaxFrequency"></span>
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</label>
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</div>
|
||||
</td>
|
||||
</tr>
|
||||
|
||||
<tr class="dtermLowpassDyn">
|
||||
<td>
|
||||
<select name="dtermLowpassDynType">
|
||||
<!-- Populated on execution -->
|
||||
</select>
|
||||
</td>
|
||||
<td>
|
||||
<div>
|
||||
<label>
|
||||
<span i18n="pidTuningDTermLowpassDynType"></span>
|
||||
</label>
|
||||
</div>
|
||||
</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>
|
||||
<span class="groupSwitchValue">
|
||||
|
|
@ -837,6 +932,21 @@
|
|||
</td>
|
||||
</tr>
|
||||
|
||||
<tr class="dtermLowpass2 dtermLowpass2TypeGroup">
|
||||
<td>
|
||||
<select name="dtermLowpass2Type">
|
||||
<!-- Populated on execution -->
|
||||
</select>
|
||||
</td>
|
||||
<td>
|
||||
<div>
|
||||
<label>
|
||||
<span i18n="pidTuningDTermLowpass2Type"></span>
|
||||
</label>
|
||||
</div>
|
||||
</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<th colspan="2">
|
||||
<div class="pid_mode">
|
||||
|
|
|
|||
Loading…
Reference in New Issue