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Merge pull request #2409 from haslinghuis/fix_legacy_sliders 

Fix legacy PID Tuning Sliders
10.8-maintenance
Michael Keller 2021-02-14 12:38:47 +13:00 committed by GitHub
parent ad15724525 7c0db59a33
commit dfbd46c6f1
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 59 additions and 33 deletions
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92
src/js/TuningSliders.js
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@ -16,6 +16,8 @@ const TuningSliders = {
sliderDTermFilter: 0, sliderDTermFilter: 0,
sliderDTermFilterMultiplier: 1, sliderDTermFilterMultiplier: 1,
dMinFeatureEnabled: true,
defaultPDRatio: 0,
PID_DEFAULT: [], PID_DEFAULT: [],
FILTER_DEFAULT: {}, FILTER_DEFAULT: {},
@ -28,10 +30,23 @@ const TuningSliders = {
const D_MIN_RATIO = 0.85; const D_MIN_RATIO = 0.85;
TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
this.dMinFeatureEnabled = dMinFeatureEnabled;
if (this.dMinFeatureEnabled) {
this.defaultPDRatio = this.PID_DEFAULT[2] / this.PID_DEFAULT[0];
} else {
this.defaultPDRatio = this.PID_DEFAULT[2] / (this.PID_DEFAULT[0] * (1 / D_MIN_RATIO));
}
};
TuningSliders.initialize = function() { TuningSliders.initialize = function() {
this.PID_DEFAULT = FC.getPidDefaults(); this.PID_DEFAULT = FC.getPidDefaults();
this.FILTER_DEFAULT = FC.getFilterDefaults(); this.FILTER_DEFAULT = FC.getFilterDefaults();
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
}
this.setExpertMode($('input[name="expertModeCheckbox"]').is(':checked')); this.setExpertMode($('input[name="expertModeCheckbox"]').is(':checked'));
this.initPidSlidersPosition(); this.initPidSlidersPosition();
@ -76,10 +91,14 @@ TuningSliders.initPidSlidersPosition = function() {
if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { if (semver.lte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
// used to estimate PID slider positions based on PIDF values, and set respective slider position // used to estimate PID slider positions based on PIDF values, and set respective slider position
// provides only an estimation due to limitation of feature without firmware support, to be improved in later versions // provides only an estimation due to limitation of feature without firmware support, to be improved in later versions
this.sliderMasterMultiplier = Math.floor(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10; this.sliderMasterMultiplier = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10;
this.sliderPDRatio = Math.floor(FC.PIDS[0][0] / FC.PIDS[0][2] / (this.PID_DEFAULT[0] / this.PID_DEFAULT[2]) * 10) / 10; this.sliderPDRatio = Math.round(FC.PIDS[0][2] / FC.PIDS[0][0] / this.defaultPDRatio * 10) / 10;
this.sliderPDGain = Math.floor(FC.ADVANCED_TUNING.dMinRoll / this.sliderMasterMultiplier / this.PID_DEFAULT[3] * 10) / 10; if (this.dMinFeatureEnabled) {
this.sliderFFGain = Math.floor(FC.ADVANCED_TUNING.feedforwardRoll / this.sliderMasterMultiplier / this.PID_DEFAULT[4] * 10) / 10; this.sliderPDGain = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.sliderPDRatio / this.sliderMasterMultiplier / this.PID_DEFAULT[3] * 10) / 10;
} else {
this.sliderPDGain = Math.round(FC.PIDS[0][0] / this.sliderMasterMultiplier / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10;
}
this.sliderFFGain = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.sliderMasterMultiplier / this.PID_DEFAULT[4] * 10) / 10;
} else { } else {
this.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_mode; this.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_mode;
this.sliderMasterMultiplier = FC.TUNING_SLIDERS.slider_master_multiplier / 100; this.sliderMasterMultiplier = FC.TUNING_SLIDERS.slider_master_multiplier / 100;
@ -302,22 +321,25 @@ TuningSliders.legacyCalculateNewPids = function() {
// only used for 4.1 where calculation is not done in firmware // only used for 4.1 where calculation is not done in firmware
if (this.dMinFeatureEnabled) { if (this.dMinFeatureEnabled) {
//dmin //dmin
FC.ADVANCED_TUNING.dMinRoll = Math.floor(this.PID_DEFAULT[3] * this.sliderPDGain); FC.ADVANCED_TUNING.dMinRoll = Math.floor(this.PID_DEFAULT[3] * this.sliderPDGain * this.sliderPDRatio);
FC.ADVANCED_TUNING.dMinPitch = Math.floor(this.PID_DEFAULT[8] * this.sliderPDGain); FC.ADVANCED_TUNING.dMinPitch = Math.floor(this.PID_DEFAULT[8] * this.sliderPDGain * this.sliderPDRatio);
// dmax // dmax
FC.PIDS[0][2] = Math.floor(this.PID_DEFAULT[2] * this.sliderPDGain); FC.PIDS[0][2] = Math.floor(this.PID_DEFAULT[2] * this.sliderPDGain * this.sliderPDRatio);
FC.PIDS[1][2] = Math.floor(this.PID_DEFAULT[7] * this.sliderPDGain); FC.PIDS[1][2] = Math.floor(this.PID_DEFAULT[7] * this.sliderPDGain * this.sliderPDRatio);
} else { } else {
FC.ADVANCED_TUNING.dMinRoll = 0; FC.ADVANCED_TUNING.dMinRoll = 0;
FC.ADVANCED_TUNING.dMinPitch = 0; FC.ADVANCED_TUNING.dMinPitch = 0;
FC.PIDS[0][2] = Math.floor(this.PID_DEFAULT[3] * this.sliderPDGain); FC.PIDS[0][2] = Math.floor((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
FC.PIDS[1][2] = Math.floor(this.PID_DEFAULT[8] * this.sliderPDGain); FC.PIDS[1][2] = Math.floor((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
} }
FC.PIDS[0][0] = Math.floor(FC.PIDS[0][2] * this.PID_DEFAULT[0] / this.PID_DEFAULT[2] * this.sliderPDRatio); FC.PIDS[0][0] = Math.floor(this.PID_DEFAULT[0] * this.sliderPDGain);
FC.PIDS[1][0] = Math.floor(FC.PIDS[1][2] * this.PID_DEFAULT[5] / this.PID_DEFAULT[7] * this.sliderPDRatio); FC.PIDS[1][0] = Math.floor(this.PID_DEFAULT[5] * this.sliderPDGain);
FC.PIDS[2][0] = Math.floor(this.PID_DEFAULT[10] * this.sliderPDGain); FC.PIDS[2][0] = Math.floor(this.PID_DEFAULT[10] * this.sliderPDGain);
// ff
FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFFGain);
FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFFGain);
FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.sliderFFGain);
// master slider part // master slider part
// these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation // these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation
FC.PIDS[0][1] = this.PID_DEFAULT[1]; FC.PIDS[0][1] = this.PID_DEFAULT[1];
@ -330,13 +352,14 @@ TuningSliders.legacyCalculateNewPids = function() {
//master slider multiplication, max value 200 for main PID values //master slider multiplication, max value 200 for main PID values
for (let i = 0; i < 3; i++) { for (let i = 0; i < 3; i++) {
for (let j = 0; j < 3; j++) { for (let j = 0; j < 3; j++) {
FC.PIDS[j][i] = Math.min(Math.floor(FC.PIDS[j][i] * this.sliderMasterMultiplier), MAX_PID_GAIN); FC.PIDS[j][i] = Math.min(Math.round(FC.PIDS[j][i] * this.sliderMasterMultiplier), MAX_PID_GAIN);
} }
} }
// ff
FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.floor(this.PID_DEFAULT[4] * this.sliderFFGain * this.sliderMasterMultiplier), MAX_FF_GAIN); FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.sliderMasterMultiplier), MAX_FF_GAIN);
FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.floor(this.PID_DEFAULT[9] * this.sliderFFGain * this.sliderMasterMultiplier), MAX_FF_GAIN); FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.sliderMasterMultiplier), MAX_FF_GAIN);
FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.floor(this.PID_DEFAULT[14] * this.sliderFFGain * this.sliderMasterMultiplier), MAX_FF_GAIN); FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplier), MAX_FF_GAIN);
if (this.dMinFeatureEnabled) { if (this.dMinFeatureEnabled) {
FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN); FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
@ -368,24 +391,27 @@ TuningSliders.calculateNewPids = function() {
$('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio); $('output[name="sliderDMinRatio-number"]').val(this.sliderDMinRatio);
$('output[name="sliderFFGain-number"]').val(this.sliderFFGain); $('output[name="sliderFFGain-number"]').val(this.sliderFFGain);
FC.TUNING_SLIDERS.slider_pids_mode = parseInt($('#sliderPidsModeSelect').val()); if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
FC.TUNING_SLIDERS.slider_master_multiplier = TuningSliders.sliderMasterMultiplier * 100; FC.TUNING_SLIDERS.slider_pids_mode = parseInt($('#sliderPidsModeSelect').val());
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = TuningSliders.sliderRollPitchRatio * 100; FC.TUNING_SLIDERS.slider_master_multiplier = TuningSliders.sliderMasterMultiplier * 100;
FC.TUNING_SLIDERS.slider_i_gain = TuningSliders.sliderIGain * 100; FC.TUNING_SLIDERS.slider_roll_pitch_ratio = TuningSliders.sliderRollPitchRatio * 100;
FC.TUNING_SLIDERS.slider_pd_ratio = TuningSliders.sliderPDRatio * 100; FC.TUNING_SLIDERS.slider_i_gain = TuningSliders.sliderIGain * 100;
FC.TUNING_SLIDERS.slider_pd_gain = TuningSliders.sliderPDGain * 100; FC.TUNING_SLIDERS.slider_pd_ratio = TuningSliders.sliderPDRatio * 100;
FC.TUNING_SLIDERS.slider_dmin_ratio = TuningSliders.sliderDMinRatio * 100; FC.TUNING_SLIDERS.slider_pd_gain = TuningSliders.sliderPDGain * 100;
FC.TUNING_SLIDERS.slider_ff_gain = TuningSliders.sliderFFGain * 100; FC.TUNING_SLIDERS.slider_dmin_ratio = TuningSliders.sliderDMinRatio * 100;
FC.TUNING_SLIDERS.slider_ff_gain = TuningSliders.sliderFFGain * 100;
FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter ? 1 : 0; FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter ? 1 : 0;
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = TuningSliders.sliderDTermFilterMultiplier * 100; FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = TuningSliders.sliderDTermFilterMultiplier * 100;
FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter ? 1 : 0; FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter ? 1 : 0;
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = TuningSliders.sliderGyroFilterMultiplier * 100; FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = TuningSliders.sliderGyroFilterMultiplier * 100;
MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS)); Promise.resolve(true)
MSP.send_message(MSPCodes.MSP_PID); .then(() => { return MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS)); })
MSP.send_message(MSPCodes.MSP_PID_ADVANCED); .then(() => { return MSP.send_message(MSPCodes.MSP_SET_PID); })
.then(() => { return MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED); });
}
this.updateFormPids(); this.updateFormPids();