diff --git a/locales/en/messages.json b/locales/en/messages.json
index c8bb5585..49e6b6e8 100644
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -1379,6 +1379,34 @@
"pidTuningAntiGravityThres": {
"message": "Anti Gravity Threshold"
},
+ "pidTuningDMinHelp": {
+ "message": "D Min provides a way to have a lower level of D in normal flight and a higher level for quick manoeuvres that might cause overshoot, like flips and rolls. It also brings D up during prop wash. The craft will have a dynamic D Term varying from D Min (under normal flight) to the standard D (under fast roll and flips). A value of zero will disable the feature. The Gain determines how strongly D is boosted during quick stick inputs. The Advance speeds up of onset of the boost effect. This can be helpful if you have overshoot with very high rate flips on very responsive quads.",
+ "description": "Help message for D Min feature"
+ },
+ "pidTuningDMin": {
+ "message": "D Min",
+ "description": "Table header of the D Min feature in the PIDs tab"
+ },
+ "pidTuningDMinRoll": {
+ "message": "Roll",
+ "description": "Axis to apply D Min feature"
+ },
+ "pidTuningDMinPitch": {
+ "message": "Pitch",
+ "description": "Axis to apply D Min feature"
+ },
+ "pidTuningDMinYaw": {
+ "message": "Yaw",
+ "description": "Axis to apply D Min feature"
+ },
+ "pidTuningDMinGain": {
+ "message": "Gain",
+ "description": "Gain of the D Min feature"
+ },
+ "pidTuningDMinAdvance": {
+ "message": "Advance",
+ "description": "Advane of the D Min feature"
+ },
"pidTuningPidSettings": {
"message": "PID Controller Settings"
diff --git a/src/js/fc.js b/src/js/fc.js
index fde26020..df083b9b 100644
--- a/src/js/fc.js
+++ b/src/js/fc.js
@@ -401,6 +401,13 @@ var FC = {
feedforwardYaw: 0,
feedforwardTransition: 0,
antiGravityMode: 0,
+ dMinRoll: 0,
+ dMinPitch: 0,
+ dMinYaw: 0,
+ dMinGain: 0,
+ dMinAdvance: 0,
+ useIntegratedYaw: 0,
+ integratedYawRelax: 0,
};
SENSOR_CONFIG = {
diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index 7ef8d35f..9138d23f 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -1023,6 +1023,16 @@ MspHelper.prototype.process_data = function(dataHandler) {
ADVANCED_TUNING.feedforwardPitch = data.readU16();
ADVANCED_TUNING.feedforwardYaw = data.readU16();
ADVANCED_TUNING.antiGravityMode = data.readU8();
+
+ if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
+ ADVANCED_TUNING.dMinRoll = data.readU8();
+ ADVANCED_TUNING.dMinPitch = data.readU8();
+ ADVANCED_TUNING.dMinYaw = data.readU8();
+ ADVANCED_TUNING.dMinGain = data.readU8();
+ ADVANCED_TUNING.dMinAdvance = data.readU8();
+ ADVANCED_TUNING.useIntegratedYaw = data.readU8();
+ ADVANCED_TUNING.integratedYawRelax = data.readU8();
+ }
}
}
}
@@ -1749,6 +1759,16 @@ MspHelper.prototype.crunch = function(code) {
.push16(ADVANCED_TUNING.feedforwardPitch)
.push16(ADVANCED_TUNING.feedforwardYaw)
.push8(ADVANCED_TUNING.antiGravityMode);
+
+ if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
+ buffer.push8(ADVANCED_TUNING.dMinRoll)
+ .push8(ADVANCED_TUNING.dMinPitch)
+ .push8(ADVANCED_TUNING.dMinYaw)
+ .push8(ADVANCED_TUNING.dMinGain)
+ .push8(ADVANCED_TUNING.dMinAdvance)
+ .push8(ADVANCED_TUNING.useIntegratedYaw)
+ .push8(ADVANCED_TUNING.integratedYawRelax);
+ }
}
}
}
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index c840b15d..edb7efdd 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -324,14 +324,48 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
$('.pid_filter select[name="dtermLowpassDynType"]').val(FILTER_CONFIG.dterm_lowpass_type);
+ $('.dminGroup input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll);
+ $('.dminGroup input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch);
+ $('.dminGroup input[name="dMinYaw"]').val(ADVANCED_TUNING.dMinYaw);
+ $('.dminGroup input[name="dMinGain"]').val(ADVANCED_TUNING.dMinGain);
+ $('.dminGroup input[name="dMinAdvance"]').val(ADVANCED_TUNING.dMinAdvance);
+
} else {
$('.throttle_limit').hide();
$('.gyroLowpassDyn').hide();
$('.dtermLowpassDyn').hide();
$('.dtermLowpass2TypeGroup').hide();
+
+ $('.dminGroup').hide();
}
+ function adjustDMin(dElement, dMinElement) {
+ var dValue = parseInt(dElement.val());
+ var dMinValue = parseInt(dMinElement.val());
+
+ if (dMinValue >= dValue) {
+ dMinElement.val(0);
+ }
+
+ dMinElement.attr("max", dValue > 0? dValue - 1 : 0);
+ }
+
+ $('.pid_tuning .ROLL input[name="d"]').change(function() {
+ var dMinElement= $('.dminGroup input[name="dMinRoll"]');
+ adjustDMin($(this), dMinElement);
+ }).change();
+
+ $('.pid_tuning .PITCH input[name="d"]').change(function() {
+ var dMinElement= $('.dminGroup input[name="dMinPitch"]');
+ adjustDMin($(this), dMinElement);
+ }).change();
+
+ $('.pid_tuning .YAW input[name="d"]').change(function() {
+ var dMinElement= $('.dminGroup input[name="dMinYaw"]');
+ adjustDMin($(this), dMinElement);
+ }).change();
+
$('input[id="gyroNotch1Enabled"]').change(function() {
var checked = $(this).is(':checked');
var hz = FILTER_CONFIG.gyro_notch_hz > 0 ? FILTER_CONFIG.gyro_notch_hz : DEFAULT.gyro_notch_hz;
@@ -612,6 +646,13 @@ TABS.pid_tuning.initialize = function (callback) {
if (FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz ) {
FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassDynType"]').val();
}
+
+ ADVANCED_TUNING.dMinRoll = parseInt($('.dminGroup input[name="dMinRoll"]').val());
+ ADVANCED_TUNING.dMinPitch = parseInt($('.dminGroup input[name="dMinPitch"]').val());
+ ADVANCED_TUNING.dMinYaw = parseInt($('.dminGroup input[name="dMinYaw"]').val());
+ ADVANCED_TUNING.dMinGain = parseInt($('.dminGroup input[name="dMinGain"]').val());
+ ADVANCED_TUNING.dMinAdvance = parseInt($('.dminGroup input[name="dMinAdvance"]').val());
+
}
}
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index eec82f92..cb738610 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -264,6 +264,46 @@
+
+