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betaflight-configurator
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Cleaned up rates calculation and display a bunch.

10.3.x-maintenance
mikeller 2016-07-08 00:12:09 +12:00
parent 3cc363cbcb
commit b398c271c4
2 changed files with 82 additions and 91 deletions
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12
js/RateCurve.js
View File

@ -40,10 +40,6 @@ var RateCurve = function (useLegacyCurve) {
};
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;
@ -66,6 +62,10 @@ var RateCurve = function (useLegacyCurve) {
}
this.drawLegacyRateCurve = function (rate, rcRate, rcExpo, context, width, height) {
rate = rate / 100;
rcRate = rcRate / 100;
rcExpo = rcExpo / 100;
// math magic by englishman
var rateY = height * rcRate;
rateY = rateY + (1 / (1 - ((rateY / height) * rate)))
@ -82,10 +82,6 @@ RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpo
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);
}

161
tabs/pid_tuning.js
View File

@ -337,6 +337,20 @@ TABS.pid_tuning.initialize = function (callback) {
}
}
var showAllButton = $('#showAllPids');
function updatePidDisplay() {
if (!TABS.pid_tuning.showAllPids) {
hideUnusedPids();
showAllButton.text(chrome.i18n.getMessage("pidTuningShowAllPids"));
} else {
showAllPids();
showAllButton.text(chrome.i18n.getMessage("pidTuningHideUnusedPids"));
}
}
function drawAxes(curveContext, width, height, scaleHeight) {
curveContext.strokeStyle = '#000000';
curveContext.lineWidth = 4;
@ -354,8 +368,8 @@ TABS.pid_tuning.initialize = function (callback) {
curveContext.stroke();
if (scaleHeight <= height / 2) {
curveContext.strokeStyle = '#202020';
curveContext.lineWidth = 1;
curveContext.strokeStyle = '#c0c0c0';
curveContext.lineWidth = 4;
curveContext.beginPath();
curveContext.moveTo(0, height / 2 + scaleHeight);
@ -379,6 +393,28 @@ TABS.pid_tuning.initialize = function (callback) {
return value;
}
var useLegacyCurve = false;
if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.0")) {
useLegacyCurve = true;
}
self.rateCurve = new RateCurve(useLegacyCurve);
function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, maxAngularVelElement) {
var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo);
maxAngularVelElement.text(maxAngularVel);
return maxAngularVel;
}
function drawCurve(rate, rcRate, rcExpo, useSuperExpo, maxAngularVel, colour, yOffset, context) {
context.save();
context.strokeStyle = colour;
context.translate(0, yOffset);
self.rateCurve.draw(rate, rcRate, rcExpo, useSuperExpo, maxAngularVel, context);
context.restore();
}
function process_html() {
// translate to user-selected language
localize();
@ -392,23 +428,16 @@ TABS.pid_tuning.initialize = function (callback) {
rc_rate_yaw: SPECIAL_PARAMETERS.RC_RATE_YAW * 100,
rc_expo: RC_tuning.RC_EXPO * 100,
rc_yaw_expo: RC_tuning.RC_YAW_EXPO * 100,
superexpo: false
superexpo: bit_check(BF_CONFIG.features, SUPEREXPO_FEATURE_BIT)
};
var showAllButton = $('#showAllPids');
var showAllMsg = chrome.i18n.getMessage("pidTuningShowAllPids");
var hideUnusedMsg = chrome.i18n.getMessage("pidTuningHideUnusedPids");
if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
self.currentRates.rc_rate_yaw = self.currentRates.rc_rate;
}
function updatePidDisplay() {
if (!TABS.pid_tuning.showAllPids) {
hideUnusedPids();
showAllButton.text(showAllMsg);
} else {
showAllPids();
showAllButton.text(hideUnusedMsg);
}
if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
self.currentRates.roll_rate = RC_tuning.roll_pitch_rate * 100;
self.currentRates.pitch_rate = RC_tuning.roll_pitch_rate * 100;
}
updatePidDisplay();
@ -481,58 +510,22 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_tuning .roll_pitch_rate').hide();
}
// Getting the DOM elements for curve display
var rcRateElement = $('.pid_tuning input[name="rc_rate"]');
var rcRateYawElement;
if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
rcRateYawElement = $('.pid_tuning input[name="rc_rate_yaw"]');
} else {
rcRateYawElement = rcRateElement;
if (useLegacyCurve) {
$('.new_rates').hide();
}
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 rcExpoYawElement = $('.pid_tuning input[name="rc_yaw_expo"]');
// Getting the DOM elements for curve display
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 maxAngularVelRollElement = $('.rc_curve .maxAngularVelRoll');
var maxAngularVelPitchElement = $('.rc_curve .maxAngularVelPitch');
var maxAngularVelYawElement = $('.rc_curve .maxAngularVelYaw');
var superExpoElement = $('.pid_tuning input[name="show_superexpo_rates"]');
var useLegacyCurve = false;
if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.0")) {
$('.new_rates').hide();
useLegacyCurve = true;
}
self.rateCurve = new RateCurve(useLegacyCurve);
// UI Hooks
// curves
function redrawRateCurves(event) {
function updateRates(event) {
setTimeout(function () { // let global validation trigger and adjust the values first
var curveHeight = rcCurveElement.height;
var curveWidth = rcCurveElement.width;
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 targetElement = $(event.target),
targetValue = checkInput(targetElement);
@ -540,15 +533,26 @@ TABS.pid_tuning.initialize = function (callback) {
self.currentRates[targetElement.attr('name')] = targetValue * 100;
}
self.currentRates.superexpo = useSuperExpo;
if (targetElement.attr('name') === 'rc_rate' && CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
self.currentRates.rc_rate_yaw = targetValue * 100;
}
var maxAngularVelRoll = self.rateCurve.getMaxAngularVel(rateRoll, rcRate, rcExpo, useSuperExpo);
maxAngularVelRollElement.text(maxAngularVelRoll);
var maxAngularVelPitch = self.rateCurve.getMaxAngularVel(ratePitch, rcRate, rcExpo, useSuperExpo);
maxAngularVelPitchElement.text(maxAngularVelPitch);
var maxAngularVelYaw = self.rateCurve.getMaxAngularVel(rateYaw, rcRateYaw, rcExpoYaw, useSuperExpo);
maxAngularVelYawElement.text(maxAngularVelYaw);
var maxAngularVel = Math.max(maxAngularVelRoll, maxAngularVelPitch, maxAngularVelYaw);
if (targetElement.attr('name') === 'roll_pitch_rate' && semver.lt(CONFIG.apiVersion, "1.7.0")) {
self.currentRates.roll_rate = targetValue * 100;
self.currentRates.pitch_rate = targetValue * 100;
}
if (targetElement.attr('name') === 'show_superexpo_rates') {
self.currentRates.superexpo = targetElement.is(':checked');
}
var curveHeight = rcCurveElement.height;
var curveWidth = rcCurveElement.width;
var maxAngularVel = Math.max(
printMaxAngularVel(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVelRollElement),
printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVelPitchElement),
printMaxAngularVel(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVelYawElement));
curveContext.clearRect(0, 0, curveWidth, curveHeight);
@ -558,27 +562,18 @@ TABS.pid_tuning.initialize = function (callback) {
curveContext.lineWidth = 4;
curveContext.save();
curveContext.strokeStyle = '#ff0000';
self.rateCurve.draw(rateRoll, rcRate, rcExpo, useSuperExpo, maxAngularVel, curveContext);
curveContext.restore();
drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#ff0000', 0, curveContext);
curveContext.save();
curveContext.translate(0, -4);
curveContext.strokeStyle = '#00ff00';
self.rateCurve.draw(ratePitch, rcRate, rcExpo, useSuperExpo, maxAngularVel, curveContext);
curveContext.restore();
drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, maxAngularVel, '#00ff00', -4, curveContext);
curveContext.save();
curveContext.strokeStyle = '#0000ff';
curveContext.translate(0, 4);
self.rateCurve.draw(rateYaw, rcRateYaw, rcExpoYaw, useSuperExpo, maxAngularVel, curveContext);
curveContext.restore();
drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, maxAngularVel, '#0000ff', 4, curveContext);
}, 0);
};
$('.pid_tuning').on('input change', redrawRateCurves).trigger('input');
$('.super_expo_checkbox').on('input change', redrawRateCurves).trigger('input');
// UI Hooks
// curves
$('.pid_tuning').on('input change', updateRates);
$('.super_expo_checkbox').on('input change', updateRates).trigger('input');
$('.throttle input').on('input change', function () {
setTimeout(function () { // let global validation trigger and adjust the values first