Add D Min feature to PIDs tab
Miguel Angel Mulero Martinez
parent
da6bc2e5aa
commit
bad5b7c627
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@ -1379,6 +1379,34 @@
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"pidTuningAntiGravityThres": {
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"pidTuningAntiGravityThres": {
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"message": "Anti Gravity Threshold"
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"message": "Anti Gravity Threshold"
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},
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},
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"pidTuningDMinHelp": {
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"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.",
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"description": "Help message for D Min feature"
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},
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"pidTuningDMin": {
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"message": "D Min",
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"description": "Table header of the D Min feature in the PIDs tab"
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},
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"pidTuningDMinRoll": {
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"message": "Roll",
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"description": "Axis to apply D Min feature"
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},
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"pidTuningDMinPitch": {
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"message": "Pitch",
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"description": "Axis to apply D Min feature"
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},
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"pidTuningDMinYaw": {
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"message": "Yaw",
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"description": "Axis to apply D Min feature"
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},
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"pidTuningDMinGain": {
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"message": "Gain",
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"description": "Gain of the D Min feature"
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},
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"pidTuningDMinAdvance": {
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"message": "Advance",
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"description": "Advane of the D Min feature"
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},
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"pidTuningPidSettings": {
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"pidTuningPidSettings": {
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"message": "PID Controller Settings"
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"message": "PID Controller Settings"
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@ -401,6 +401,13 @@ var FC = {
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feedforwardYaw: 0,
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feedforwardYaw: 0,
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feedforwardTransition: 0,
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feedforwardTransition: 0,
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antiGravityMode: 0,
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antiGravityMode: 0,
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dMinRoll: 0,
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dMinPitch: 0,
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dMinYaw: 0,
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dMinGain: 0,
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dMinAdvance: 0,
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useIntegratedYaw: 0,
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integratedYawRelax: 0,
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};
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};
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SENSOR_CONFIG = {
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SENSOR_CONFIG = {
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@ -1023,6 +1023,16 @@ MspHelper.prototype.process_data = function(dataHandler) {
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ADVANCED_TUNING.feedforwardPitch = data.readU16();
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ADVANCED_TUNING.feedforwardPitch = data.readU16();
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ADVANCED_TUNING.feedforwardYaw = data.readU16();
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ADVANCED_TUNING.feedforwardYaw = data.readU16();
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ADVANCED_TUNING.antiGravityMode = data.readU8();
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ADVANCED_TUNING.antiGravityMode = data.readU8();
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if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
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ADVANCED_TUNING.dMinRoll = data.readU8();
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ADVANCED_TUNING.dMinPitch = data.readU8();
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ADVANCED_TUNING.dMinYaw = data.readU8();
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ADVANCED_TUNING.dMinGain = data.readU8();
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ADVANCED_TUNING.dMinAdvance = data.readU8();
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ADVANCED_TUNING.useIntegratedYaw = data.readU8();
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ADVANCED_TUNING.integratedYawRelax = data.readU8();
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}
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}
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}
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}
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}
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}
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}
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@ -1749,6 +1759,16 @@ MspHelper.prototype.crunch = function(code) {
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.push16(ADVANCED_TUNING.feedforwardPitch)
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.push16(ADVANCED_TUNING.feedforwardPitch)
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.push16(ADVANCED_TUNING.feedforwardYaw)
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.push16(ADVANCED_TUNING.feedforwardYaw)
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.push8(ADVANCED_TUNING.antiGravityMode);
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.push8(ADVANCED_TUNING.antiGravityMode);
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if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
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buffer.push8(ADVANCED_TUNING.dMinRoll)
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.push8(ADVANCED_TUNING.dMinPitch)
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.push8(ADVANCED_TUNING.dMinYaw)
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.push8(ADVANCED_TUNING.dMinGain)
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.push8(ADVANCED_TUNING.dMinAdvance)
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.push8(ADVANCED_TUNING.useIntegratedYaw)
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.push8(ADVANCED_TUNING.integratedYawRelax);
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}
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}
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}
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}
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}
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}
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}
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@ -324,14 +324,48 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
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$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
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$('.pid_filter select[name="dtermLowpassDynType"]').val(FILTER_CONFIG.dterm_lowpass_type);
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$('.pid_filter select[name="dtermLowpassDynType"]').val(FILTER_CONFIG.dterm_lowpass_type);
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$('.dminGroup input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll);
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$('.dminGroup input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch);
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$('.dminGroup input[name="dMinYaw"]').val(ADVANCED_TUNING.dMinYaw);
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$('.dminGroup input[name="dMinGain"]').val(ADVANCED_TUNING.dMinGain);
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$('.dminGroup input[name="dMinAdvance"]').val(ADVANCED_TUNING.dMinAdvance);
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} else {
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} else {
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$('.throttle_limit').hide();
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$('.throttle_limit').hide();
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$('.gyroLowpassDyn').hide();
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$('.gyroLowpassDyn').hide();
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$('.dtermLowpassDyn').hide();
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$('.dtermLowpassDyn').hide();
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$('.dtermLowpass2TypeGroup').hide();
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$('.dtermLowpass2TypeGroup').hide();
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$('.dminGroup').hide();
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}
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}
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function adjustDMin(dElement, dMinElement) {
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var dValue = parseInt(dElement.val());
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var dMinValue = parseInt(dMinElement.val());
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if (dMinValue >= dValue) {
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dMinElement.val(0);
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}
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dMinElement.attr("max", dValue > 0? dValue - 1 : 0);
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}
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$('.pid_tuning .ROLL input[name="d"]').change(function() {
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var dMinElement= $('.dminGroup input[name="dMinRoll"]');
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adjustDMin($(this), dMinElement);
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}).change();
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$('.pid_tuning .PITCH input[name="d"]').change(function() {
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var dMinElement= $('.dminGroup input[name="dMinPitch"]');
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adjustDMin($(this), dMinElement);
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}).change();
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$('.pid_tuning .YAW input[name="d"]').change(function() {
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var dMinElement= $('.dminGroup input[name="dMinYaw"]');
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adjustDMin($(this), dMinElement);
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}).change();
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$('input[id="gyroNotch1Enabled"]').change(function() {
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$('input[id="gyroNotch1Enabled"]').change(function() {
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var checked = $(this).is(':checked');
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var checked = $(this).is(':checked');
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var hz = FILTER_CONFIG.gyro_notch_hz > 0 ? FILTER_CONFIG.gyro_notch_hz : DEFAULT.gyro_notch_hz;
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var hz = FILTER_CONFIG.gyro_notch_hz > 0 ? FILTER_CONFIG.gyro_notch_hz : DEFAULT.gyro_notch_hz;
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@ -612,6 +646,13 @@ TABS.pid_tuning.initialize = function (callback) {
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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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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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FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassDynType"]').val();
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}
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}
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ADVANCED_TUNING.dMinRoll = parseInt($('.dminGroup input[name="dMinRoll"]').val());
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ADVANCED_TUNING.dMinPitch = parseInt($('.dminGroup input[name="dMinPitch"]').val());
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ADVANCED_TUNING.dMinYaw = parseInt($('.dminGroup input[name="dMinYaw"]').val());
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ADVANCED_TUNING.dMinGain = parseInt($('.dminGroup input[name="dMinGain"]').val());
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ADVANCED_TUNING.dMinAdvance = parseInt($('.dminGroup input[name="dMinAdvance"]').val());
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}
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}
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}
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}
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@ -264,6 +264,46 @@
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</table>
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</table>
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</div>
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</div>
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<div class="dminGroup topspacer tpa">
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<table class="cf">
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<thead>
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<tr>
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<th colspan="5">
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<span i18n="pidTuningDMin" />
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<span class="helpicon cf_tip" i18n_title="pidTuningDMinHelp" />
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</th>
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</tr>
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<tr>
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<th i18n="pidTuningDMinRoll" />
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<th i18n="pidTuningDMinPitch" />
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<th i18n="pidTuningDMinYaw" />
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<th i18n="pidTuningDMinGain" />
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<th i18n="pidTuningDMinAdvance" />
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</tr>
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</thead>
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<tbody>
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<tr>
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<td>
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<input type="number" name="dMinRoll" step="1" min="0" max="100" />
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</td>
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<td>
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<input type="number" name="dMinPitch" step="1" min="0" max="100" />
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</td>
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<td>
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<input type="number" name="dMinYaw" step="1" min="0" max="100" />
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</td>
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<td>
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<input type="number" name="dMinGain" step="1" min="0" max="100" />
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</td>
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<td>
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<input type="number" name="dMinAdvance" step="1" min="0" max="200" />
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</td>
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</tr>
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</tbody>
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</table>
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</div>
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<div class="gui_box grey topspacer pidTuningFeatures">
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<div class="gui_box grey topspacer pidTuningFeatures">
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<table class="pid_titlebar new_rates">
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<table class="pid_titlebar new_rates">
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<tr>
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<tr>
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