Added support for new rate profiles.
mikeller
Michael Keller
parent
21af5f6278
commit
e885979d89
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@ -793,11 +793,8 @@
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"pidTuningFilterFrequency": {
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"message": "Frequency"
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},
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"pidTuningRcCurve": {
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"message": "RC Curve"
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},
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"pidTuningRcYawCurve": {
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"message": "RC Yaw Curve"
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"pidTuningRatesCurve": {
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"message": "Rates"
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},
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"throttle": {
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"message": "Throttle"
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@ -1576,6 +1573,12 @@
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"pidTuningYaw": {
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"message": "Yaw (Hz)"
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},
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"pidTuningShowRatesWithSuperExpo": {
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"message": "Show rates with SuperExpo"
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},
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"pidTuningRatesSuperExpoHelp": {
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"message": "To enable SuperExpo, enable 'SUPEREXPO_RATES' in 'Other Features' on the 'Configuration' tab."
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},
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"configHelp2": {
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"message": "Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc. When running external sensors, use the sensor alignments (Gyro, Acc, Mag) to define sensor position independent from board orientation. "
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},
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@ -201,40 +201,7 @@
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border-top-right-radius: 3px;
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}
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.tab-pid_tuning .pitch_roll_curve {
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margin: 0 4px 0px 0;
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height: 100%;
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border: 1px solid silver;
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border-radius: 3px;
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background-image: url(../images/paper.jpg);
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background-size: 200%;
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background-position: center;
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}
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.tab-pid_tuning .rc_yaw_curve {
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float: right;
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width: calc(100% - 2px); /* - ( "virtual" margin) */
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}
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.tab-pid_tuning .rc_yaw_curve th {
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background-color: #828885;
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padding: 4px;
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border-left: 0px solid #ccc;
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border-bottom: 1px solid #ccc;
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font-weight: bold;
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color: white;
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text-align: left;
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}
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.tab-pid_tuning .rc_yaw_curve th:first-child {
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border-top-left-radius: 3px;
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}
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.tab-pid_tuning .rc_yaw_curve th:last-child {
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border-top-right-radius: 3px;
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}
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.tab-pid_tuning .yaw_curve {
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.tab-pid_tuning .rate_curve {
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margin: 0 4px 0px 0;
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height: 100%;
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border: 1px solid silver;
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@ -60,7 +60,7 @@
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</tr>
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<tr class="ROLL">
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<!-- 0 -->
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<td></td>
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<td bgcolor="#FF8080"></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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@ -77,7 +77,7 @@
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</tr>
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<tr class="PITCH">
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<!-- 1 -->
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<td></td>
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<td bgcolor="#80FF80"></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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@ -85,7 +85,7 @@
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</tr>
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<tr class="YAW">
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<!-- 2 -->
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<td></td>
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<td bgcolor="#8080FF"></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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@ -221,56 +221,11 @@
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</tr>
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</table>
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</div>
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<div class="cf_column half topspacer">
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<div>
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<table class="rc_curve cf">
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<div class="gui_box grey topspacer">
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<table class="pid_titlebar">
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<thead>
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<tr>
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<th i18n="pidTuningRcCurve"></th>
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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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<div class="spacer" style="margin-top: 10px; margin-bottom: 10px;">
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<div class="pitch_roll_curve">
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<canvas height="120px" style="width: 100%; height: 100%"></canvas>
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</div>
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</div>
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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 class="clear-both"></div>
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</div>
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<div class="topspacer">
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<table class="rc_yaw_curve cf">
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<thead>
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<tr>
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<th i18n="pidTuningRcYawCurve"></th>
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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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<div class="spacer" style="margin-top: 10px; margin-bottom: 10px;">
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<div class="yaw_curve">
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<canvas height="120px" style="width: 100%; height: 100%"></canvas>
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</div>
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</div>
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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 class="clear-both"></div>
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</div>
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</div>
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<div class="cf_column half topspacer">
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<div class="spacer_left">
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<table class="tpa cf">
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<thead>
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<tr>
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<th i18n="pidTuningRatesPreview" style="font-weight: bold;"></th>
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<th i18n="pidTuningRatesPreview"></th>
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</tr>
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</thead>
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<tbody>
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@ -285,9 +240,57 @@
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</table>
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</div>
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</div>
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</div>
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<div class="cf_column third_right">
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<div class="spacer_left throttle">
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<div class="spacer_left rc_curve">
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<table class="cf">
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<thead>
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<tr>
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<th i18n="pidTuningRatesCurve"></th>
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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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<div class="spacer" style="margin-top: 10px; margin-bottom: 10px;">
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<div class="rate_curve">
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<canvas height="120px" style="width: 100%; height: 100%"></canvas>
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</div>
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</div>
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</td>
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</tr>
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<tr>
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<td>
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<div class="checkbox super_expo_checkbox">
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<div style="float: left; margin-right: 5px; margin-left: 3px; margin-bottom: 5px;">
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<input type="checkbox" name="show_superexpo_rates" class="toggle" />
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</div>
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<label for="showSuperExpoRates">
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<span i18n="pidTuningShowRatesWithSuperExpo"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningRatesSuperExpoHelp"></div>
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</div>
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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="spacer_left topspacer throttle">
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<table class="cf">
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<thead>
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<tr>
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<th i18n="receiverThrottleMid"></th>
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<th i18n="receiverThrottleExpo"></th>
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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><input type="number" name="mid" step="0.01" min="0" max="1" /></td>
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<td><input type="number" name="expo" step="0.01" min="0" max="1" /></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="spacer_left topspacer throttle">
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<table class="cf">
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<thead>
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<tr>
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@ -307,24 +310,8 @@
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</tbody>
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</table>
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</div>
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<div class="spacer_left topspacer throttle">
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<table class="tpa cf">
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<thead>
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<tr>
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<th i18n="receiverThrottleMid"></th>
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<th i18n="receiverThrottleExpo"></th>
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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><input type="number" name="mid" step="0.01" min="0" max="1" /></td>
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<td><input type="number" name="expo" step="0.01" min="0" max="1" /></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="spacer_left topspacer">
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<table class="tpa cf">
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<div class="spacer_left topspacer tpa">
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<table class="cf">
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<thead>
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<tr>
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<th i18n="pidTuningTPA"></th>
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@ -311,6 +311,121 @@ TABS.pid_tuning.initialize = function (callback) {
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}
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}
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function drawAxes(curveContext, width, height) {
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curveContext.strokeStyle = '#000000';
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curveContext.lineWidth = 1;
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// Horizontal
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curveContext.beginPath();
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curveContext.moveTo(0, height / 2);
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curveContext.lineTo(width, height / 2);
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curveContext.stroke();
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// Vertical
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curveContext.beginPath();
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curveContext.moveTo(width / 2, 0);
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curveContext.lineTo(width / 2, height);
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curveContext.stroke();
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}
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function constrain(value, min, max) {
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return Math.max(min, Math.min(value, max));
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}
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function rcCommand(rcData, rcRate, rcExpo, midRc) {
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var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
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var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
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if (rcData < midRc) {
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result = -result;
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}
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return result;
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}
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function rcCommandRawToDegreesPerSecond(value, rate, rcRate, superExpoActive) {
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var angleRate;
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if (superExpoActive) {
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var rcFactor = Math.abs(value) / (500 * rcRate / 100);
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rcFactor = 1 / constrain(1 - rcFactor * rate / 100, 0.01, 1);
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angleRate = rcFactor * 27 * value / 16;
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} else {
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angleRate = (rate + 27) * value / 16;
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}
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angleRate = constrain(angleRate, -8190, 8190); // Rate limit protection
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return angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
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};
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function drawRateCurve(rcRateElement, rateElement, rcExpoElement, curveContext, width, height, superExpoActive) {
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var rcRate = parseFloat(rcRateElement.val());
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var rate = parseFloat(rateElement.val());
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var rcExpo = parseFloat(rcExpoElement.val());
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// local validation to deal with input event
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if (rcRate >= parseFloat(rcRateElement.prop('min')) &&
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rcRate <= parseFloat(rcRateElement.prop('max')) &&
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rate >= parseFloat(rateElement.prop('min')) &&
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rate <= parseFloat(rateElement.prop('max')) &&
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rcExpo >= parseFloat(rcExpoElement.prop('min')) &&
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rcExpo <= parseFloat(rcExpoElement.prop('max'))) {
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rcRate = rcRate * 100;
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rate = rate * 100;
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rcExpo = rcExpo * 100;
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var minRc = 1000;
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var midRc = 1500;
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var maxRc = 2000;
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var canvasHeightScale = height / Math.abs(
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rcCommandRawToDegreesPerSecond(rcCommand(maxRc, rcRate, rcExpo, midRc), rate, rcRate, superExpoActive)
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- rcCommandRawToDegreesPerSecond(rcCommand(minRc, rcRate, rcExpo, midRc), rate, rcRate, superExpoActive));
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curveContext.save();
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curveContext.translate(width / 2, height / 2);
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curveContext.beginPath();
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var rcData = minRc;
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curveContext.moveTo(-500, -canvasHeightScale * rcCommandRawToDegreesPerSecond(rcCommand(rcData, rcRate, rcExpo, midRc), rate, rcRate, superExpoActive));
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rcData = rcData + 1;
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while (rcData <= maxRc) {
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curveContext.lineTo(rcData - midRc, -canvasHeightScale * rcCommandRawToDegreesPerSecond(rcCommand(rcData, rcRate, rcExpo, midRc), rate, rcRate, superExpoActive));
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rcData = rcData + 1;
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}
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curveContext.stroke();
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curveContext.restore();
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}
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}
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function drawLegacyRateCurve(rcRateElement, rateElement, rcExpoElement, curveContext, width, height) {
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var rcRate = parseFloat(rcRateElement.val());
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var rate = parseFloat(rateElement.val());
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var rcExpo = parseFloat(rcExpoElement.val());
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// local validation to deal with input event
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if (rcRate >= parseFloat(rcRateElement.prop('min')) &&
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rcRate <= parseFloat(rcRateElement.prop('max')) &&
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rate >= parseFloat(rateElement.prop('min')) &&
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rate <= parseFloat(rateElement.prop('max')) &&
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rcExpo >= parseFloat(rcExpoElement.prop('min')) &&
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rcExpo <= parseFloat(rcExpoElement.prop('max'))) {
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// math magic by englishman
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var rateY = height * rcRate;
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rateY = rateY + (1 / (1 - ((rateY / height) * rate)))
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// draw
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curveContext.beginPath();
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curveContext.moveTo(0, height);
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curveContext.quadraticCurveTo(width * 11 / 20, height - ((rateY / 2) * (1 - rcExpo)), width, height - rateY);
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curveContext.stroke();
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}
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}
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function process_html() {
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// translate to user-selected language
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localize();
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@ -403,64 +518,79 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.pid_tuning .roll_pitch_rate').hide();
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}
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function drawRateCurve(rateElement, sRateElement, expoElement, canvasElement) {
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var rate = parseFloat(rateElement.val()),
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sRate = parseFloat(sRateElement.val()),
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expo = parseFloat(expoElement.val()),
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context = canvasElement.getContext("2d");
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// local validation to deal with input event
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if (rate >= parseFloat(rateElement.prop('min')) &&
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rate <= parseFloat(rateElement.prop('max')) &&
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expo >= parseFloat(expoElement.prop('min')) &&
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expo <= parseFloat(expoElement.prop('max'))) {
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var rateHeight = canvasElement.height;
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var rateWidth = canvasElement.width;
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// math magic by englishman
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var ratey = rateHeight * rate;
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ratey = ratey + (1 / (1 - ((ratey / rateHeight) * sRate)))
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// draw
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context.clearRect(0, 0, rateWidth, rateHeight);
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context.beginPath();
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context.moveTo(0, rateHeight);
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context.quadraticCurveTo(rateWidth * 11 / 20, rateHeight - ((ratey / 2) * (1 - expo)), rateWidth, rateHeight - ratey);
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context.lineWidth = 2;
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context.strokeStyle = '#ffbb00';
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context.stroke();
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// Getting the DOM elements for curve display
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var rcRateElement = $('.pid_tuning input[name="rc_rate"]');
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var rcRateElementYaw;
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if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
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rcRateElementYaw = $('.pid_tuning input[name="rc_rate_yaw"]');
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} else {
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rcRateElementYaw = rcRateElement;
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}
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var rateElementRoll = $('.pid_tuning input[name="roll_rate"]');
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var rateElementPitch = $('.pid_tuning input[name="pitch_rate"]');
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var rateElementYaw = $('.pid_tuning input[name="yaw_rate"]');
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var rcExpoElement = $('.pid_tuning input[name="rc_expo"]');
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var yawExpoElement = $('.pid_tuning input[name="rc_yaw_expo"]');
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var rcCurveElement = $('.rate_curve canvas').get(0);
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var curveContext = rcCurveElement.getContext("2d");
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rcCurveElement.width = 1000;
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rcCurveElement.height = 1000;
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var superExpoElement = $('.rc_curve input[name="show_superexpo_rates"]');
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if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.0")) {
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$('.pid_tuning .super_expo_checkbox').hide();
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}
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// UI Hooks
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// curves
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$('.pid_tuning').on('input change', function () {
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function redrawRateCurves() {
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setTimeout(function () { // let global validation trigger and adjust the values first
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var rateElement = $('.pid_tuning input[name="rc_rate"]'),
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sRateElementRoll = $('.pid_tuning input[name="roll_rate"]'),
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sRateElementPitch = $('.pid_tuning input[name="pitch_rate"]'),
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sRateElementYaw = $('.pid_tuning input[name="yaw_rate"]'),
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expoElement = $('.pid_tuning input[name="rc_expo"]'),
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yawExpoElement = $('.pid_tuning input[name="rc_yaw_expo"]'),
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rcCurveElement = $('.pitch_roll_curve canvas').get(0),
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rcYawCurveElement = $('.yaw_curve canvas').get(0);
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var curveHeight = rcCurveElement.height;
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var curveWidth = rcCurveElement.width;
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var rateElementYaw = 1;
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if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
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rateElementYaw = $('.pid_tuning input[name="rc_rate_yaw"]');
|
||||
var useSuperExpo = superExpoElement.is(':checked');
|
||||
|
||||
curveContext.clearRect(0, 0, curveWidth, curveHeight);
|
||||
|
||||
var drawingFunc;
|
||||
if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.0")) {
|
||||
drawingFunc = drawLegacyRateCurve;
|
||||
} else {
|
||||
rateElementYaw = rateElement;
|
||||
drawAxes(curveContext, curveWidth, curveHeight);
|
||||
|
||||
drawingFunc = drawRateCurve;
|
||||
}
|
||||
|
||||
drawRateCurve(rateElement, sRateElementRoll, expoElement, rcCurveElement);
|
||||
//drawRateCurve(rateElement, sRateElementPitch, expoElement, rcCurveElement); // Add Pitch Curve
|
||||
drawRateCurve(rateElementYaw, sRateElementYaw, yawExpoElement, rcYawCurveElement);
|
||||
curveContext.lineWidth = 4;
|
||||
|
||||
curveContext.save();
|
||||
curveContext.strokeStyle = '#ff0000';
|
||||
drawingFunc(rcRateElement, rateElementRoll, rcExpoElement, curveContext, curveWidth, curveHeight, useSuperExpo);
|
||||
curveContext.restore();
|
||||
|
||||
curveContext.save();
|
||||
curveContext.translate(0, -4);
|
||||
curveContext.strokeStyle = '#00ff00';
|
||||
drawingFunc(rcRateElement, rateElementPitch, rcExpoElement, curveContext, curveWidth, curveHeight, useSuperExpo);
|
||||
curveContext.restore();
|
||||
|
||||
curveContext.save();
|
||||
curveContext.strokeStyle = '#0000ff';
|
||||
curveContext.translate(0, -4);
|
||||
drawingFunc(rcRateElementYaw, rateElementYaw, yawExpoElement, curveContext, curveWidth, curveHeight, useSuperExpo);
|
||||
curveContext.restore();
|
||||
}, 0);
|
||||
}).trigger('input');
|
||||
};
|
||||
|
||||
$('.pid_tuning').on('input change', redrawRateCurves).trigger('input');
|
||||
$('.super_expo_checkbox').on('input change', redrawRateCurves).trigger('input');
|
||||
|
||||
$('.throttle input').on('input change', function () {
|
||||
setTimeout(function () { // let global validation trigger and adjust the values firs
|
||||
setTimeout(function () { // let global validation trigger and adjust the values first
|
||||
var throttleMidE = $('.throttle input[name="mid"]'),
|
||||
throttleExpoE = $('.throttle input[name="expo"]'),
|
||||
mid = parseFloat(throttleMidE.val()),
|
||||
|
|
|
|||
Loading…
Reference in New Issue