Michael Keller
GitHub
commit
fcecf694d5
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@ -3222,8 +3222,8 @@
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"message": "Sliders to adjust the quad flight characteristics (PID gains)<br><br>Master Multiplier: Raises or Lowers all the PID gains (above) holding the proportional difference between the gains.<br><br>PD Balance: Adjusts the balance (ratio \\ proportional difference) between the P and D terms ('the spring' [p-term] and 'shock absorber' [d-term]).<br><br>PD Gain: Raises or Lowers the P&D gains together - holding the ratio (balance) between the two - for more (or less) PID control authority.<br><br>Stick Response Gain: Raises or Lowers the FeedForward gains to control the stick response feel of the quad.",
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"description": "Overall helpicon message for PID tuning sliders"
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},
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"pidTuningSliderHighWarning": {
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"message": "<span class=\"message-negative\">CAUTION</span>: Pushing sliders this high may cause flyaways, motor damage or unsafe craft behaviour. Please proceed with caution.",
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"pidTuningSliderWarning": {
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"message": "<span class=\"message-negative\">CAUTION</span>: Current slider positions may cause flyaways, motor damage or unsafe craft behaviour. Please proceed with caution.",
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"description": "Warning shown when tuning slider are above safe limits"
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},
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"pidTuningSlidersDisabled": {
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@ -3234,6 +3234,10 @@
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"message": "Enable Sliders",
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"description": "Button label for enabling sliders"
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},
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"pidTuningSlidersNonExpertMode": {
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"message": "<strong>Note:</strong> Sliders range is restricted because you are not in expert mode. This range should be suitable for most builds and beginners.",
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"description": "Sliders restricted message"
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},
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"pidTuningSliderLow": {
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"message": "Low",
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"description": "Tuning Slider Low header"
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@ -154,7 +154,6 @@
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border-bottom: 1px solid #6b6b6b;
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}
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.tab-pid_tuning .slidersHighWarning,
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.tab-pid_tuning .slidersFilterHighWarning {
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.tab-pid_tuning .slidersWarning {
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background: #542415;
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}
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@ -751,7 +751,7 @@
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opacity: 0.8;
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transition: opacity .2s;
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margin: 7px;
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background: none;
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background: var(--boxBackground);
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}
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.tab-pid_tuning .tuningSlider:hover {
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@ -766,6 +766,13 @@
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height: 15px;
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}
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.tab-pid_tuning .nonExpertModeSliders.tuningSlider::-webkit-slider-runnable-track {
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background: linear-gradient(90deg, rgb(197, 197, 197) -50%, rgb(241, 241, 241) 50%, rgb(255, 84, 14) 150%);
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background-size: 55%;
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background-position: 44%;
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background-repeat: no-repeat;
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}
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.tab-pid_tuning .tuningSlider::-webkit-slider-thumb {
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-webkit-appearance: none;
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width: 23px;
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@ -830,14 +837,19 @@
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width: 30px;
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}
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.tab-pid_tuning .slidersHighWarning,
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.tab-pid_tuning .slidersFilterHighWarning {
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background: #ffb3b3;
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.tab-pid_tuning .slidersWarning {
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background: #ffa3a3;
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border: 1px solid red;
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font-weight: 600;
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font-size: 12px;
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}
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.tab-pid_tuning .nonExpertModeSlidersNote {
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text-align: center;
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padding-top: 2px;
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padding-bottom: 2px;
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}
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.tab-pid_tuning .note-button td:nth-child(n) {
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padding-left: 7px;
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padding-right: 7px;
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@ -20,6 +20,8 @@ var TuningSliders = {
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cachedPidSliderValues: false,
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cachedGyroSliderValues: false,
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cachedDTermSliderValues: false,
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expertMode: false,
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};
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TuningSliders.initialize = function() {
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@ -27,6 +29,7 @@ TuningSliders.initialize = function() {
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this.FILTER_DEFAULT = FC.getFilterDefaults();
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this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked'));
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this.setExpertMode($('input[name="expertModeCheckbox"]').is(':checked'));
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this.initPidSlidersPosition();
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this.initGyroFilterSliderPosition();
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@ -50,6 +53,17 @@ TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) {
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}
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};
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TuningSliders.setExpertMode = function(expertMode) {
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this.expertMode = expertMode;
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const allTuningSliderElements = $('#tuningMasterSlider, #tuningPDRatioSlider, #tuningPDGainSlider,\
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#tuningResponseSlider, #tuningGyroFilterSlider, #tuningDTermFilterSlider');
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if (this.expertMode) {
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allTuningSliderElements.removeClass('nonExpertModeSliders');
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} else {
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allTuningSliderElements.addClass('nonExpertModeSliders');
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}
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};
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TuningSliders.scaleSliderValue = function(value) {
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if (value > 1) {
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return Math.round(((value - 1) * 2 + 1) * 10) / 10;
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@ -90,8 +104,8 @@ TuningSliders.initPidSlidersPosition = function() {
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};
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TuningSliders.initGyroFilterSliderPosition = function() {
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this.gyroFilterSliderValue = Math.round((FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FILTER_CONFIG.gyro_lowpass2_hz) /
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(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
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this.gyroFilterSliderValue = Math.round((FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FILTER_CONFIG.gyro_lowpass2_hz) /
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(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100;
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$('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue);
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$('#tuningGyroFilterSlider').val(this.downscaleSliderValue(this.gyroFilterSliderValue));
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};
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@ -139,10 +153,9 @@ TuningSliders.resetDTermFilterSlider = function() {
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TuningSliders.updatePidSlidersDisplay = function() {
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// check if pid values changed manually by saving current values, doing the slider based calculation, and comaparing
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// if values before and after calculation, if all of them are equal the values haven't been changed manually
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// and the sliders are shown, otherwise sliders are grayed out and centered
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const WARNING_P_GAIN = 110;
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const WARNING_P_GAIN = 70;
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const WARNING_I_GAIN = 120;
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const WARNING_DMAX_GAIN = 70;
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const WARNING_DMAX_GAIN = 60;
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const WARNING_DMIN_GAIN = 40;
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this.pidSlidersUnavailable = false;
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@ -172,26 +185,21 @@ TuningSliders.updatePidSlidersDisplay = function() {
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this.pidSlidersUnavailable = true;
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}
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if (this.pidSlidersUnavailable) {
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$('.tuningPIDSliders').hide();
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$('.slidersDisabled').show();
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} else {
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$('.tuningPIDSliders').show();
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$('.slidersDisabled').hide();
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if (!this.pidSlidersUnavailable) {
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this.cachedPidSliderValues = true;
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}
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if ((PIDs[1][0] > WARNING_P_GAIN || PIDs[1][1] > WARNING_I_GAIN || PIDs[1][2] > WARNING_DMAX_GAIN || ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable) {
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$('.slidersHighWarning').show();
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} else {
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$('.slidersHighWarning').hide();
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}
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$('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable);
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$('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable);
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$('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode);
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$('.subtab-pid .slidersWarning').toggle((PIDs[1][0] > WARNING_P_GAIN || PIDs[1][1] > WARNING_I_GAIN || PIDs[1][2] > WARNING_DMAX_GAIN ||
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ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable);
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};
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TuningSliders.updateFilterSlidersDisplay = function() {
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// check if filters changed manually by comapring current value and those based on slider position
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// if equal filter slider is shown, otherwise it is grayed out and centered
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const WARNING_FILTER_GAIN = 1.4;
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const WARNING_FILTER_HIGH_GAIN = 1.4;
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const WARNING_FILTER_LOW_GAIN = 0.7;
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this.filterGyroSliderUnavailable = false;
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this.filterDTermSliderUnavailable = false;
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@ -222,27 +230,22 @@ TuningSliders.updateFilterSlidersDisplay = function() {
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this.cachedDTermSliderValues = true;
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}
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if (this.filterGyroSliderUnavailable && this.filterDTermSliderUnavailable) {
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$('.tuningFilterSliders').hide();
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} else {
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$('.tuningFilterSliders').show();
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}
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if (this.filterGyroSliderUnavailable || this.filterDTermSliderUnavailable) {
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$('.slidersFilterDisabled').show();
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} else {
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$('.slidersFilterDisabled').hide();
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}
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if ((this.gyroFilterSliderValue >= WARNING_FILTER_GAIN && !this.filterGyroSliderUnavailable) || (this.dtermFilterSliderValue >= WARNING_FILTER_GAIN && !this.filterDTermSliderUnavailable)) {
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$('.slidersFilterHighWarning').show();
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} else {
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$('.slidersFilterHighWarning').hide();
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}
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$('.tuningFilterSliders').toggle(!(this.filterGyroSliderUnavailable && this.filterDTermSliderUnavailable));
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$('.subtab-filter .slidersDisabled').toggle(this.filterGyroSliderUnavailable || this.filterDTermSliderUnavailable);
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$('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.filterGyroSliderUnavailable || !this.filterDTermSliderUnavailable) && !this.expertMode);
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$('.subtab-filter .slidersWarning').toggle(((this.gyroFilterSliderValue >= WARNING_FILTER_HIGH_GAIN ||
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this.gyroFilterSliderValue <= WARNING_FILTER_LOW_GAIN) && !this.filterGyroSliderUnavailable) ||
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((this.dtermFilterSliderValue >= WARNING_FILTER_HIGH_GAIN ||
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this.dtermFilterSliderValue <= WARNING_FILTER_LOW_GAIN) && !this.filterDTermSliderUnavailable));
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};
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TuningSliders.calculateNewPids = function() {
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// this is the main calculation for PID sliders, inputs are in form of slider position values
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// values get set both into forms and their respective variables
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const MAX_PID_GAIN = 200;
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const MAX_DMIN_GAIN = 100;
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const MAX_FF_GAIN = 2000;
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if (this.dMinFeatureEnabled) {
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//dmin
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ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue);
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@ -277,16 +280,16 @@ TuningSliders.calculateNewPids = function() {
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//master slider multiplication, max value 200 for main PID values
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for (let i = 0; i < 3; i++) {
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for (let j = 0; j < 3; j++) {
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PIDs[j][i] = Math.min(Math.round(PIDs[j][i] * this.MasterSliderValue), 200);
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PIDs[j][i] = Math.min(Math.round(PIDs[j][i] * this.MasterSliderValue), MAX_PID_GAIN);
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}
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}
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ADVANCED_TUNING.feedforwardRoll = Math.round(ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue);
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ADVANCED_TUNING.feedforwardPitch = Math.round(ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue);
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ADVANCED_TUNING.feedforwardYaw = Math.round(ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue);
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ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue), MAX_FF_GAIN);
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ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue), MAX_FF_GAIN);
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ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue), MAX_FF_GAIN);
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if (this.dMinFeatureEnabled) {
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ADVANCED_TUNING.dMinRoll = Math.round(ADVANCED_TUNING.dMinRoll * this.MasterSliderValue);
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ADVANCED_TUNING.dMinPitch = Math.round(ADVANCED_TUNING.dMinPitch * this.MasterSliderValue);
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ADVANCED_TUNING.dMinYaw = Math.round(ADVANCED_TUNING.dMinYaw * this.MasterSliderValue);
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ADVANCED_TUNING.dMinRoll = Math.min(Math.round(ADVANCED_TUNING.dMinRoll * this.MasterSliderValue), MAX_DMIN_GAIN);
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ADVANCED_TUNING.dMinPitch = Math.min(Math.round(ADVANCED_TUNING.dMinPitch * this.MasterSliderValue), MAX_DMIN_GAIN);
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ADVANCED_TUNING.dMinYaw = Math.min(Math.round(ADVANCED_TUNING.dMinYaw * this.MasterSliderValue), MAX_DMIN_GAIN);
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}
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$('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue);
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@ -341,4 +344,4 @@ TuningSliders.calculateNewDTermFilters = function() {
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$('.pid_filter select[name="dtermLowpassDynType').val(FILTER_CONFIG.dterm_lowpass_type);
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$('.pid_filter select[name="dtermLowpass2Type').val(FILTER_CONFIG.dterm_lowpass2_type);
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$('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue);
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};
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};
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@ -11,6 +11,7 @@ TABS.pid_tuning = {
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SETPOINT_WEIGHT_RANGE_HIGH: 20,
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SETPOINT_WEIGHT_RANGE_LEGACY: 2.54,
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activeSubtab: 'pid',
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analyticsChanges: {},
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};
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TABS.pid_tuning.initialize = function (callback) {
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@ -1434,6 +1435,18 @@ TABS.pid_tuning.initialize = function (callback) {
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// filter and tuning sliders
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TuningSliders.initialize();
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self.analyticsChanges = {};
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// UNSCALED non expert slider constrain values
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const NON_EXPERT_SLIDER_MAX = 1.25;
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const NON_EXPERT_SLIDER_MIN = 0.7;
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$('input[name="expertModeCheckbox"]').change(function() {
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TuningSliders.setExpertMode($(this).is(':checked'));
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TuningSliders.updatePidSlidersDisplay();
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TuningSliders.updateFilterSlidersDisplay();
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});
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$('#dMinSwitch').change(function() {
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TuningSliders.setDMinFeatureEnabled($(this).is(':checked'));
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// switch dmin and dmax values on dmin on/off if sliders available
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@ -1462,6 +1475,13 @@ TABS.pid_tuning.initialize = function (callback) {
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} else {
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slider.attr('step', 0.1);
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}
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if (!TuningSliders.expertMode) {
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if (slider.val() > NON_EXPERT_SLIDER_MAX) {
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slider.val(NON_EXPERT_SLIDER_MAX);
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} else if (slider.val() < NON_EXPERT_SLIDER_MIN) {
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slider.val(NON_EXPERT_SLIDER_MIN);
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}
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}
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const scaledValue = TuningSliders.scaleSliderValue(slider.val());
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if (slider.is('#tuningMasterSlider')) {
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TuningSliders.MasterSliderValue = scaledValue;
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@ -1473,6 +1493,7 @@ TABS.pid_tuning.initialize = function (callback) {
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TuningSliders.ResponseSliderValue = scaledValue;
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}
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TuningSliders.calculateNewPids();
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self.analyticsChanges['PidTuningSliders'] = "On";
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});
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$('#tuningMasterSlider, #tuningPDRatioSlider, #tuningPDGainSlider, #tuningResponseSlider').mousedown(function() {
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// adjust step for more smoothness above 1x on mousedown
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@ -1514,18 +1535,28 @@ TABS.pid_tuning.initialize = function (callback) {
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if ($('input[id="useIntegratedYaw"]').is(':checked')) {
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$('input[id="useIntegratedYaw"]').prop('checked', true).click();
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}
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self.analyticsChanges['PidTuningSliders'] = "On";
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});
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// filter slider inputs
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$('#tuningGyroFilterSlider, #tuningDTermFilterSlider').on('input', function() {
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const slider = $(this);
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if (!TuningSliders.expertMode) {
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if (slider.val() > NON_EXPERT_SLIDER_MAX) {
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slider.val(NON_EXPERT_SLIDER_MAX);
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} else if (slider.val() < NON_EXPERT_SLIDER_MIN) {
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slider.val(NON_EXPERT_SLIDER_MIN);
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}
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}
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const scaledValue = TuningSliders.scaleSliderValue(slider.val());
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if (slider.is('#tuningGyroFilterSlider')) {
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TuningSliders.gyroFilterSliderValue = scaledValue;
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TuningSliders.calculateNewGyroFilters();
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self.analyticsChanges['GyroFilterTuningSlider'] = "On";
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} else if (slider.is('#tuningDTermFilterSlider')) {
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TuningSliders.dtermFilterSliderValue = scaledValue;
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TuningSliders.calculateNewDTermFilters();
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self.analyticsChanges['DTermFilterTuningSlider'] = "On";
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}
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});
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$('#tuningGyroFilterSlider, #tuningDTermFilterSlider').mouseup(function() {
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@ -1552,30 +1583,42 @@ TABS.pid_tuning.initialize = function (callback) {
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$('input[id="gyroLowpassEnabled"]').prop('checked', true).click();
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$('input[id="gyroLowpass2Enabled"]').prop('checked', false).click();
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TuningSliders.resetGyroFilterSlider();
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self.analyticsChanges['GyroFilterTuningSlider'] = "On";
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}
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if (TuningSliders.filterDTermSliderUnavailable) {
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$('input[id="dtermLowpassDynEnabled"]').prop('checked', false).click();
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$('input[id="dtermLowpassEnabled"]').prop('checked', true).click();
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$('input[id="dtermLowpass2Enabled"]').prop('checked', false).click();
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TuningSliders.resetDTermFilterSlider();
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self.analyticsChanges['DTermFilterTuningSlider'] = "On";
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}
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});
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// update on pid table inputs
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$('#pid_main input').on('input', () => TuningSliders.updatePidSlidersDisplay());
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$('#pid_main input').on('input', function() {
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TuningSliders.updatePidSlidersDisplay();
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self.analyticsChanges['PidTuningSliders'] = "Off";
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});
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// update on filter value or type changes
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$('.pid_filter input, .pid_filter select').on('input', () => TuningSliders.updateFilterSlidersDisplay());
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$('.pid_filter input, .pid_filter select').on('input', function() {
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TuningSliders.updateFilterSlidersDisplay();
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if (TuningSliders.filterGyroSliderUnavailable) {
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self.analyticsChanges['GyroFilterTuningSlider'] = "Off";
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}
|
||||
if (TuningSliders.filterDTermSliderUnavailable) {
|
||||
self.analyticsChanges['DTermFilterTuningSlider'] = "Off";
|
||||
}
|
||||
});
|
||||
// update on filter switch changes
|
||||
$('.inputSwitch input').change(() => TuningSliders.updateFilterSlidersDisplay());
|
||||
$('.inputSwitch input').change(() => $('.pid_filter input').trigger('input'));
|
||||
|
||||
$('.tuningHelp').hide();
|
||||
} else {
|
||||
$('.tuningPIDSliders').hide();
|
||||
$('.slidersDisabled').hide();
|
||||
$('.slidersHighWarning').hide();
|
||||
$('.tuningFilterSliders').hide();
|
||||
$('.slidersFilterDisabled').hide();
|
||||
$('.slidersFilterHighWarning').hide();
|
||||
$('.slidersDisabled').hide();
|
||||
$('.slidersWarning').hide();
|
||||
$('.nonExpertModeSlidersNote').hide();
|
||||
$('.tuningHelpSliders').hide();
|
||||
}
|
||||
|
||||
|
|
@ -1622,6 +1665,9 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
GUI.log(i18n.getMessage('pidTuningEepromSaved'));
|
||||
});
|
||||
|
||||
analytics.sendChangeEvents(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, self.analyticsChanges);
|
||||
self.analyticsChanges = {};
|
||||
});
|
||||
|
||||
// Setup model for rates preview
|
||||
|
|
|
|||
|
|
@ -71,8 +71,8 @@
|
|||
<div class="note dMinDisabledNote">
|
||||
<p i18n="pidTuningDMinDisabledNote"></p>
|
||||
</div>
|
||||
<div class="note slidersHighWarning">
|
||||
<p i18n="pidTuningSliderHighWarning"></p>
|
||||
<div class="note slidersWarning">
|
||||
<p i18n="pidTuningSliderWarning"></p>
|
||||
</div>
|
||||
<div class="gui_box grey">
|
||||
<table id="pid_main" class="pid_tuning">
|
||||
|
|
@ -166,6 +166,10 @@
|
|||
</table>
|
||||
</div>
|
||||
|
||||
<div class="gui_box topspacer nonExpertModeSlidersNote">
|
||||
<p i18n="pidTuningSlidersNonExpertMode"></p>
|
||||
</div>
|
||||
|
||||
<!-- TUNING SLIDERS-->
|
||||
<div class="gui_box grey topspacer tuningPIDSliders">
|
||||
<table class="pid_titlebar">
|
||||
|
|
@ -825,10 +829,10 @@
|
|||
<div class="note dynamicNotchWarning">
|
||||
<p i18n="pidTuningDynamicNotchFilterDisabledWarning"></p>
|
||||
</div>
|
||||
<div class="note slidersFilterHighWarning">
|
||||
<p i18n="pidTuningSliderHighWarning"></p>
|
||||
<div class="note slidersWarning">
|
||||
<p i18n="pidTuningSliderWarning"></p>
|
||||
</div>
|
||||
<div class="gui_box slidersFilterDisabled">
|
||||
<div class="gui_box slidersDisabled">
|
||||
<table class="note-button">
|
||||
<td i18n="pidTuningSlidersDisabled"></td>
|
||||
<td>
|
||||
|
|
@ -836,6 +840,9 @@
|
|||
</td>
|
||||
</table>
|
||||
</div>
|
||||
<div class="gui_box topspacer nonExpertModeSlidersNote">
|
||||
<p i18n="pidTuningSlidersNonExpertMode"></p>
|
||||
</div>
|
||||
|
||||
<!-- Filter Slider -->
|
||||
<div class="gui_box grey topspacer tuningFilterSliders">
|
||||
|
|
|
|||
Loading…
Reference in New Issue