diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index a24f8b60..576d2baa 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -1649,16 +1649,22 @@
"pidTuningGyroLowpassFrequencyHelp": {
"message": "Gyro Soft Lowpass Frequency (Hz)"
},
- "pidTuningGyroNotchFrequency": {
- "message": "Gyro Notch Filter Frequency (Hz)"
+ "pidTuningGyroNotch1Frequency": {
+ "message": "Gyro Notch Filter 1 Frequency (Hz)"
+ },
+ "pidTuningGyroNotch2Frequency": {
+ "message": "Gyro Notch Filter 2 Frequency (Hz)"
},
"pidTuningGyroNotchFrequencyHelp": {
"message": "Gyro Notch Filter Frequency in Hz (0 means disabled)"
},
- "pidTuningGyroNotchCutoff": {
- "message": "Gyro Notch Filter Cutoff Frequency (Hz)"
- },
- "pidTuningGyroNotchCutoffHelp": {
+ "pidTuningGyroNotch1Cutoff": {
+ "message": "Gyro Notch Filter Cutoff 1 Frequency (Hz)"
+ },
+ "pidTuningGyroNotch2Cutoff": {
+ "message": "Gyro Notch Filter Cutoff 2 Frequency (Hz)"
+ },
+ "pidTuningGyroNotchCutoffHelp": {
"message": "Gyro Notch Filter Cutoff Frequency in Hz (This is where notch filter starts. For example with notch filter 160 and notch hz of 260 it means the range is 160-360hz with most attenuation around center)"
},
"pidTuningFilterSettings": {
diff --git a/js/fc.js b/js/fc.js
index bd237c23..6c533989 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -261,10 +261,12 @@ var FC = {
gyro_soft_lpf_hz: 0,
dterm_lpf_hz: 0,
yaw_lpf_hz: 0,
- gyro_soft_notch_hz: 0,
- gyro_soft_notch_cutoff: 0,
+ gyro_soft_notch_hz_1: 0,
+ gyro_soft_notch_cutoff_1: 0,
dterm_notch_hz: 0,
- dterm_notch_cutoff: 0
+ dterm_notch_cutoff: 0,
+ gyro_soft_notch_hz_2: 0,
+ gyro_soft_notch_cutoff_2: 0
};
ADVANCED_TUNING = {
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 222c0f00..85e86cb9 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -591,13 +591,16 @@ MspHelper.prototype.process_data = function(dataHandler) {
FILTER_CONFIG.dterm_lpf_hz = data.readU16();
FILTER_CONFIG.yaw_lpf_hz = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
- FILTER_CONFIG.gyro_soft_notch_hz = data.readU16();
- FILTER_CONFIG.gyro_soft_notch_cutoff = data.readU16();
+ FILTER_CONFIG.gyro_soft_notch_hz_1 = data.readU16();
+ FILTER_CONFIG.gyro_soft_notch_cutoff_1 = data.readU16();
FILTER_CONFIG.dterm_notch_hz = data.readU16();
FILTER_CONFIG.dterm_notch_cutoff = data.readU16();
+ if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
+ FILTER_CONFIG.gyro_soft_notch_hz_2 = data.readU16();
+ FILTER_CONFIG.gyro_soft_notch_cutoff_2 = data.readU16();
+ }
}
break;
-
case MSPCodes.MSP_SET_PID_ADVANCED:
console.log("Advanced PID settings saved");
break;
@@ -1124,10 +1127,14 @@ MspHelper.prototype.crunch = function(code) {
.push16(FILTER_CONFIG.dterm_lpf_hz)
.push16(FILTER_CONFIG.yaw_lpf_hz);
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
- buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz)
- .push16(FILTER_CONFIG.gyro_soft_notch_cutoff)
+ buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz_1)
+ .push16(FILTER_CONFIG.gyro_soft_notch_cutoff_1)
.push16(FILTER_CONFIG.dterm_notch_hz)
.push16(FILTER_CONFIG.dterm_notch_cutoff);
+ if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
+ buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz_2)
+ .push16(FILTER_CONFIG.gyro_soft_notch_cutoff_2)
+ }
}
break;
case MSPCodes.MSP_SET_PID_ADVANCED:
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index c9d34ba1..579e2110 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -444,12 +444,12 @@
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-
+
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@@ -457,12 +457,38 @@
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-
+
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+ |
+
+
+ |
+
+ |
+
+
+ |
+
+
+ |
+
+ |
+
+
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index 89310899..19ee2962 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -247,8 +247,8 @@ TABS.pid_tuning.initialize = function (callback) {
}
if (semver.gte(CONFIG.flightControllerVersion, '3.0.0')) {
- $('.pid_filter input[name="gyroNotchFrequency"]').val(FILTER_CONFIG.gyro_soft_notch_hz);
- $('.pid_filter input[name="gyroNotchCutoff"]').val(FILTER_CONFIG.gyro_soft_notch_cutoff);
+ $('.pid_filter input[name="gyroNotch1Frequency"]').val(FILTER_CONFIG.gyro_soft_notch_hz_1);
+ $('.pid_filter input[name="gyroNotch1Cutoff"]').val(FILTER_CONFIG.gyro_soft_notch_cutoff_1);
$('.pid_filter input[name="dTermNotchFrequency"]').val(FILTER_CONFIG.dterm_notch_hz);
$('.pid_filter input[name="dTermNotchCutoff"]').val(FILTER_CONFIG.dterm_notch_cutoff);
@@ -257,6 +257,10 @@ TABS.pid_tuning.initialize = function (callback) {
$('input[name="dtermSetpoint-number"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100);
$('input[name="dtermSetpoint-range"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100);
+ if (semver.gte(CONFIG.flightControllerVersion, '3.0.1')) {
+ $('.pid_filter input[name="gyroNotch2Frequency"]').val(FILTER_CONFIG.gyro_soft_notch_hz_2);
+ $('.pid_filter input[name="gyroNotch2Cutoff"]').val(FILTER_CONFIG.gyro_soft_notch_cutoff_2);
+ }
} else {
$('.pid_filter .newFilter').hide();
}
@@ -356,10 +360,14 @@ TABS.pid_tuning.initialize = function (callback) {
ADVANCED_TUNING.ptermSetpointWeight = parseInt($('input[name="ptermSetpoint-number"]').val() * 100);
ADVANCED_TUNING.dtermSetpointWeight = parseInt($('input[name="dtermSetpoint-number"]').val() * 100);
- FILTER_CONFIG.gyro_soft_notch_hz = parseInt($('.pid_filter input[name="gyroNotchFrequency"]').val());
- FILTER_CONFIG.gyro_soft_notch_cutoff = parseInt($('.pid_filter input[name="gyroNotchCutoff"]').val());
+ FILTER_CONFIG.gyro_soft_notch_hz_1 = parseInt($('.pid_filter input[name="gyroNotch1Frequency"]').val());
+ FILTER_CONFIG.gyro_soft_notch_cutoff_1 = parseInt($('.pid_filter input[name="gyroNotch1Cutoff"]').val());
FILTER_CONFIG.dterm_notch_hz = parseInt($('.pid_filter input[name="dTermNotchFrequency"]').val());
FILTER_CONFIG.dterm_notch_cutoff = parseInt($('.pid_filter input[name="dTermNotchCutoff"]').val());
+ if (semver.gte(CONFIG.flightControllerVersion, '3.0.1')) {
+ FILTER_CONFIG.gyro_soft_notch_hz_2 = parseInt($('.pid_filter input[name="gyroNotch2Frequency"]').val());
+ FILTER_CONFIG.gyro_soft_notch_cutoff_2 = parseInt($('.pid_filter input[name="gyroNotch2Cutoff"]').val());
+ }
}
}
|