Merge pull request #79 from mikeller/rates_curve_scaling
Refactored rate curve into file of its own, improved scaling of rate curves10.3.x-maintenance
borisbstyle
GitHub
commit
b2d0e3001c
|
|
@ -796,6 +796,15 @@
|
|||
"pidTuningRatesCurve": {
|
||||
"message": "Rates"
|
||||
},
|
||||
"pidTuningMaxAngularVelRoll": {
|
||||
"message": "Max roll speed (deg/s):"
|
||||
},
|
||||
"pidTuningMaxAngularVelPitch": {
|
||||
"message": "Max pitch speed (deg/s):"
|
||||
},
|
||||
"pidTuningMaxAngularVelYaw": {
|
||||
"message": "Max yaw speed (deg/s):"
|
||||
},
|
||||
"throttle": {
|
||||
"message": "Throttle"
|
||||
},
|
||||
|
|
|
|||
|
|
@ -0,0 +1,106 @@
|
|||
'use strict';
|
||||
|
||||
var minRc = 1000;
|
||||
var midRc = 1500;
|
||||
var maxRc = 2000;
|
||||
|
||||
var RateCurve = function (useLegacyCurve) {
|
||||
this.useLegacyCurve = useLegacyCurve;
|
||||
|
||||
function constrain(value, min, max) {
|
||||
return Math.max(min, Math.min(value, max));
|
||||
}
|
||||
|
||||
function rcCommand(rcData, rcRate, rcExpo) {
|
||||
var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
|
||||
|
||||
var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
|
||||
if (rcData < midRc) {
|
||||
result = -result;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
this.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive) {
|
||||
var inputValue = rcCommand(rcData, rcRate, rcExpo);
|
||||
|
||||
var angleRate;
|
||||
if (superExpoActive) {
|
||||
var rcFactor = Math.abs(inputValue) / (500 * rcRate / 100);
|
||||
rcFactor = 1 / constrain(1 - rcFactor * rate / 100, 0.01, 1);
|
||||
|
||||
angleRate = rcFactor * 27 * inputValue / 16;
|
||||
} else {
|
||||
angleRate = (rate + 27) * inputValue / 16;
|
||||
}
|
||||
|
||||
angleRate = constrain(angleRate, -8190, 8190); // Rate limit protection
|
||||
return angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
|
||||
};
|
||||
|
||||
this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height) {
|
||||
rate = rate * 100;
|
||||
rcRate = rcRate * 100;
|
||||
rcExpo = rcExpo * 100;
|
||||
|
||||
var canvasHeightScale = height / (2 * maxAngularVel);
|
||||
|
||||
var stepWidth = context.lineWidth;
|
||||
|
||||
context.save();
|
||||
context.translate(width / 2, height / 2);
|
||||
|
||||
context.beginPath();
|
||||
var rcData = minRc;
|
||||
context.moveTo(-500, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive));
|
||||
rcData = rcData + stepWidth;
|
||||
while (rcData <= maxRc) {
|
||||
context.lineTo(rcData - midRc, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive));
|
||||
|
||||
rcData = rcData + stepWidth;
|
||||
}
|
||||
context.stroke();
|
||||
|
||||
context.restore();
|
||||
}
|
||||
|
||||
this.drawLegacyRateCurve = function (rate, rcRate, rcExpo, context, width, height) {
|
||||
// math magic by englishman
|
||||
var rateY = height * rcRate;
|
||||
rateY = rateY + (1 / (1 - ((rateY / height) * rate)))
|
||||
|
||||
// draw
|
||||
context.beginPath();
|
||||
context.moveTo(0, height);
|
||||
context.quadraticCurveTo(width * 11 / 20, height - ((rateY / 2) * (1 - rcExpo)), width, height - rateY);
|
||||
context.stroke();
|
||||
}
|
||||
}
|
||||
|
||||
RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive) {
|
||||
var maxAngularVel;
|
||||
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined
|
||||
&& !this.useLegacyCurve) {
|
||||
rate = rate * 100;
|
||||
rcRate = rcRate * 100;
|
||||
rcExpo = rcExpo * 100;
|
||||
|
||||
maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive);
|
||||
}
|
||||
|
||||
return maxAngularVel;
|
||||
}
|
||||
|
||||
RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context) {
|
||||
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
|
||||
var height = context.canvas.height;
|
||||
var width = context.canvas.width;
|
||||
|
||||
if (this.useLegacyCurve) {
|
||||
this.drawLegacyRateCurve(rate, rcRate, rcExpo, context, width, height);
|
||||
} else {
|
||||
this.drawRateCurve(rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -63,6 +63,7 @@
|
|||
<script type="text/javascript" src="./js/protocols/stm32usbdfu.js"></script>
|
||||
<script type="text/javascript" src="./js/localization.js"></script>
|
||||
<script type="text/javascript" src="./js/boards.js"></script>
|
||||
<script type="text/javascript" src="./js/RateCurve.js"></script>
|
||||
<script type="text/javascript" src="./main.js"></script>
|
||||
<script type="text/javascript" src="./tabs/landing.js"></script>
|
||||
<script type="text/javascript" src="./tabs/setup.js"></script>
|
||||
|
|
|
|||
|
|
@ -252,7 +252,7 @@
|
|||
<table class="cf">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>
|
||||
<th colspan=2>
|
||||
<div>
|
||||
<div i18n="pidTuningRatesCurve" style="float:left;"></div>
|
||||
<div class="helpicon cf_tip" i18n_title="pidTuningRatesTip"></div>
|
||||
|
|
@ -262,7 +262,7 @@
|
|||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>
|
||||
<td colspan=2>
|
||||
<div class="spacer" style="margin-top: 10px; margin-bottom: 10px;">
|
||||
<div class="rate_curve">
|
||||
<canvas height="120px" style="width: 100%; height: 100%"></canvas>
|
||||
|
|
@ -270,9 +270,21 @@
|
|||
</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="new_rates">
|
||||
<td i18n="pidTuningMaxAngularVelRoll"></td>
|
||||
<td class="maxAngularVelRoll"></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>
|
||||
<div class="checkbox super_expo_checkbox">
|
||||
<td i18n="pidTuningMaxAngularVelPitch"></td>
|
||||
<td class="maxAngularVelPitch"></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td i18n="pidTuningMaxAngularVelYaw"></td>
|
||||
<td class="maxAngularVelYaw"></td>
|
||||
</tr>
|
||||
<tr class="new_rates">
|
||||
<td colspan=2>
|
||||
<div class="checkbox super_expo_checkbox" style="margin-top: 10px;">
|
||||
<div style="float: left; margin-right: 5px; margin-left: 3px; margin-bottom: 5px;">
|
||||
<input type="checkbox" name="show_superexpo_rates" class="toggle" />
|
||||
</div>
|
||||
|
|
|
|||
|
|
@ -312,9 +312,9 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
}
|
||||
}
|
||||
|
||||
function drawAxes(curveContext, width, height) {
|
||||
function drawAxes(curveContext, width, height, scaleHeight) {
|
||||
curveContext.strokeStyle = '#000000';
|
||||
curveContext.lineWidth = 1;
|
||||
curveContext.lineWidth = 4;
|
||||
|
||||
// Horizontal
|
||||
curveContext.beginPath();
|
||||
|
|
@ -327,104 +327,31 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
curveContext.moveTo(width / 2, 0);
|
||||
curveContext.lineTo(width / 2, height);
|
||||
curveContext.stroke();
|
||||
}
|
||||
|
||||
function constrain(value, min, max) {
|
||||
return Math.max(min, Math.min(value, max));
|
||||
}
|
||||
|
||||
function rcCommand(rcData, rcRate, rcExpo, midRc) {
|
||||
var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
|
||||
|
||||
var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
|
||||
if (rcData < midRc) {
|
||||
result = -result;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
function rcCommandRawToDegreesPerSecond(value, rate, rcRate, superExpoActive) {
|
||||
var angleRate;
|
||||
if (superExpoActive) {
|
||||
var rcFactor = Math.abs(value) / (500 * rcRate / 100);
|
||||
rcFactor = 1 / constrain(1 - rcFactor * rate / 100, 0.01, 1);
|
||||
|
||||
angleRate = rcFactor * 27 * value / 16;
|
||||
} else {
|
||||
angleRate = (rate + 27) * value / 16;
|
||||
}
|
||||
|
||||
angleRate = constrain(angleRate, -8190, 8190); // Rate limit protection
|
||||
return angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
|
||||
};
|
||||
|
||||
function drawRateCurve(rcRateElement, rateElement, rcExpoElement, curveContext, width, height, superExpoActive) {
|
||||
var rcRate = parseFloat(rcRateElement.val());
|
||||
var rate = parseFloat(rateElement.val());
|
||||
var rcExpo = parseFloat(rcExpoElement.val());
|
||||
|
||||
// local validation to deal with input event
|
||||
if (rcRate >= parseFloat(rcRateElement.prop('min')) &&
|
||||
rcRate <= parseFloat(rcRateElement.prop('max')) &&
|
||||
rate >= parseFloat(rateElement.prop('min')) &&
|
||||
rate <= parseFloat(rateElement.prop('max')) &&
|
||||
rcExpo >= parseFloat(rcExpoElement.prop('min')) &&
|
||||
rcExpo <= parseFloat(rcExpoElement.prop('max'))) {
|
||||
|
||||
rcRate = rcRate * 100;
|
||||
rate = rate * 100;
|
||||
rcExpo = rcExpo * 100;
|
||||
|
||||
var minRc = 1000;
|
||||
var midRc = 1500;
|
||||
var maxRc = 2000;
|
||||
|
||||
var canvasHeightScale = height / Math.abs(
|
||||
rcCommandRawToDegreesPerSecond(rcCommand(maxRc, rcRate, rcExpo, midRc), rate, rcRate, superExpoActive)
|
||||
- rcCommandRawToDegreesPerSecond(rcCommand(minRc, rcRate, rcExpo, midRc), rate, rcRate, superExpoActive));
|
||||
|
||||
curveContext.save();
|
||||
curveContext.translate(width / 2, height / 2);
|
||||
if (scaleHeight <= height / 2) {
|
||||
curveContext.strokeStyle = '#202020';
|
||||
curveContext.lineWidth = 1;
|
||||
|
||||
curveContext.beginPath();
|
||||
var rcData = minRc;
|
||||
curveContext.moveTo(-500, -canvasHeightScale * rcCommandRawToDegreesPerSecond(rcCommand(rcData, rcRate, rcExpo, midRc), rate, rcRate, superExpoActive));
|
||||
rcData = rcData + 1;
|
||||
while (rcData <= maxRc) {
|
||||
curveContext.lineTo(rcData - midRc, -canvasHeightScale * rcCommandRawToDegreesPerSecond(rcCommand(rcData, rcRate, rcExpo, midRc), rate, rcRate, superExpoActive));
|
||||
|
||||
rcData = rcData + 1;
|
||||
}
|
||||
curveContext.moveTo(0, height / 2 + scaleHeight);
|
||||
curveContext.lineTo(width, height / 2 + scaleHeight);
|
||||
curveContext.stroke();
|
||||
|
||||
curveContext.restore();
|
||||
curveContext.beginPath();
|
||||
curveContext.moveTo(0, height / 2 - scaleHeight);
|
||||
curveContext.lineTo(width, height / 2 - scaleHeight);
|
||||
curveContext.stroke();
|
||||
}
|
||||
}
|
||||
|
||||
function drawLegacyRateCurve(rcRateElement, rateElement, rcExpoElement, curveContext, width, height) {
|
||||
var rcRate = parseFloat(rcRateElement.val());
|
||||
var rate = parseFloat(rateElement.val());
|
||||
var rcExpo = parseFloat(rcExpoElement.val());
|
||||
|
||||
// local validation to deal with input event
|
||||
if (rcRate >= parseFloat(rcRateElement.prop('min')) &&
|
||||
rcRate <= parseFloat(rcRateElement.prop('max')) &&
|
||||
rate >= parseFloat(rateElement.prop('min')) &&
|
||||
rate <= parseFloat(rateElement.prop('max')) &&
|
||||
rcExpo >= parseFloat(rcExpoElement.prop('min')) &&
|
||||
rcExpo <= parseFloat(rcExpoElement.prop('max'))) {
|
||||
|
||||
// math magic by englishman
|
||||
var rateY = height * rcRate;
|
||||
rateY = rateY + (1 / (1 - ((rateY / height) * rate)))
|
||||
|
||||
// draw
|
||||
curveContext.beginPath();
|
||||
curveContext.moveTo(0, height);
|
||||
curveContext.quadraticCurveTo(width * 11 / 20, height - ((rateY / 2) * (1 - rcExpo)), width, height - rateY);
|
||||
curveContext.stroke();
|
||||
function checkInput(element) {
|
||||
var value = parseFloat(element.val());
|
||||
if (value < parseFloat(element.prop('min'))
|
||||
|| value > parseFloat(element.prop('max'))) {
|
||||
value = undefined;
|
||||
}
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
function process_html() {
|
||||
|
|
@ -472,7 +399,6 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
var pidController_e = $('select[name="controller"]');
|
||||
|
||||
|
||||
var pidControllerList;
|
||||
|
||||
if (semver.lt(CONFIG.apiVersion, "1.14.0")) {
|
||||
|
|
@ -496,7 +422,6 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
pidController_e.append('<option value="' + (i) + '">' + pidControllerList[i].name + '</option>');
|
||||
}
|
||||
|
||||
|
||||
var form_e = $('#pid-tuning');
|
||||
|
||||
if (GUI.canChangePidController) {
|
||||
|
|
@ -521,31 +446,39 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
// Getting the DOM elements for curve display
|
||||
var rcRateElement = $('.pid_tuning input[name="rc_rate"]');
|
||||
var rcRateElementYaw;
|
||||
var rcRateYawElement;
|
||||
if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
|
||||
rcRateElementYaw = $('.pid_tuning input[name="rc_rate_yaw"]');
|
||||
rcRateYawElement = $('.pid_tuning input[name="rc_rate_yaw"]');
|
||||
} else {
|
||||
rcRateElementYaw = rcRateElement;
|
||||
rcRateYawElement = rcRateElement;
|
||||
}
|
||||
|
||||
var rateElementRoll = $('.pid_tuning input[name="roll_rate"]');
|
||||
var rateElementPitch = $('.pid_tuning input[name="pitch_rate"]');
|
||||
var rateElementYaw = $('.pid_tuning input[name="yaw_rate"]');
|
||||
var rateRollElement = $('.pid_tuning input[name="roll_rate"]');
|
||||
var ratePitchElement = $('.pid_tuning input[name="pitch_rate"]');
|
||||
var rateYawElement = $('.pid_tuning input[name="yaw_rate"]');
|
||||
|
||||
var rcExpoElement = $('.pid_tuning input[name="rc_expo"]');
|
||||
var yawExpoElement = $('.pid_tuning input[name="rc_yaw_expo"]');
|
||||
var rcExpoYawElement = $('.pid_tuning input[name="rc_yaw_expo"]');
|
||||
|
||||
var rcCurveElement = $('.rate_curve canvas').get(0);
|
||||
var curveContext = rcCurveElement.getContext("2d");
|
||||
rcCurveElement.width = 1000;
|
||||
rcCurveElement.height = 1000;
|
||||
|
||||
var maxAngularVelRollElement = $('.rc_curve .maxAngularVelRoll');
|
||||
var maxAngularVelPitchElement = $('.rc_curve .maxAngularVelPitch');
|
||||
var maxAngularVelYawElement = $('.rc_curve .maxAngularVelYaw');
|
||||
|
||||
var superExpoElement = $('.rc_curve input[name="show_superexpo_rates"]');
|
||||
|
||||
var useLegacyCurve = false;
|
||||
if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.0")) {
|
||||
$('.pid_tuning .super_expo_checkbox').hide();
|
||||
$('.pid_tuning .new_rates').hide();
|
||||
useLegacyCurve = true;
|
||||
}
|
||||
|
||||
var rateCurve = new RateCurve(useLegacyCurve);
|
||||
|
||||
// UI Hooks
|
||||
// curves
|
||||
function redrawRateCurves() {
|
||||
|
|
@ -555,34 +488,45 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
var useSuperExpo = superExpoElement.is(':checked');
|
||||
|
||||
var rateRoll = checkInput(rateRollElement);
|
||||
var ratePitch = checkInput(ratePitchElement);
|
||||
var rateYaw = checkInput(rateYawElement);
|
||||
var rcRate = checkInput(rcRateElement);
|
||||
var rcRateYaw = checkInput(rcRateYawElement);
|
||||
var rcExpo = checkInput(rcExpoElement);
|
||||
var rcExpoYaw = checkInput(rcExpoYawElement);
|
||||
|
||||
var maxAngularVelRoll = rateCurve.getMaxAngularVel(rateRoll, rcRate, rcExpo, useSuperExpo);
|
||||
maxAngularVelRollElement.text(maxAngularVelRoll);
|
||||
var maxAngularVelPitch = rateCurve.getMaxAngularVel(ratePitch, rcRate, rcExpo, useSuperExpo);
|
||||
maxAngularVelPitchElement.text(maxAngularVelPitch);
|
||||
var maxAngularVelYaw = rateCurve.getMaxAngularVel(rateYaw, rcRateYaw, rcExpoYaw, useSuperExpo);
|
||||
maxAngularVelYawElement.text(maxAngularVelYaw);
|
||||
var maxAngularVel = Math.max(maxAngularVelRoll, maxAngularVelPitch, maxAngularVelYaw);
|
||||
|
||||
curveContext.clearRect(0, 0, curveWidth, curveHeight);
|
||||
|
||||
var drawingFunc;
|
||||
if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.0")) {
|
||||
drawingFunc = drawLegacyRateCurve;
|
||||
} else {
|
||||
drawAxes(curveContext, curveWidth, curveHeight);
|
||||
|
||||
drawingFunc = drawRateCurve;
|
||||
if (!useLegacyCurve) {
|
||||
drawAxes(curveContext, curveWidth, curveHeight, (curveHeight / 2) / maxAngularVel * 360);
|
||||
}
|
||||
|
||||
curveContext.lineWidth = 4;
|
||||
|
||||
curveContext.save();
|
||||
curveContext.strokeStyle = '#ff0000';
|
||||
drawingFunc(rcRateElement, rateElementRoll, rcExpoElement, curveContext, curveWidth, curveHeight, useSuperExpo);
|
||||
rateCurve.draw(rateRoll, rcRate, rcExpo, useSuperExpo, maxAngularVel, curveContext);
|
||||
curveContext.restore();
|
||||
|
||||
curveContext.save();
|
||||
curveContext.translate(0, -4);
|
||||
curveContext.strokeStyle = '#00ff00';
|
||||
drawingFunc(rcRateElement, rateElementPitch, rcExpoElement, curveContext, curveWidth, curveHeight, useSuperExpo);
|
||||
rateCurve.draw(ratePitch, rcRate, rcExpo, useSuperExpo, maxAngularVel, curveContext);
|
||||
curveContext.restore();
|
||||
|
||||
curveContext.save();
|
||||
curveContext.strokeStyle = '#0000ff';
|
||||
curveContext.translate(0, -4);
|
||||
drawingFunc(rcRateElementYaw, rateElementYaw, yawExpoElement, curveContext, curveWidth, curveHeight, useSuperExpo);
|
||||
curveContext.translate(0, 4);
|
||||
rateCurve.draw(rateYaw, rcRateYaw, rcExpoYaw, useSuperExpo, maxAngularVel, curveContext);
|
||||
curveContext.restore();
|
||||
}, 0);
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue