415 lines
13 KiB
JavaScript
Executable File
415 lines
13 KiB
JavaScript
Executable File
'use strict';
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TABS.pid_tuning = {
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controllerChanged: true
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};
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TABS.pid_tuning.initialize = function (callback) {
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var self = this;
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if (GUI.active_tab != 'pid_tuning') {
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GUI.active_tab = 'pid_tuning';
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googleAnalytics.sendAppView('PID Tuning');
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}
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function get_pid_controller() {
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if (GUI.canChangePidController) {
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MSP.send_message(MSP_codes.MSP_PID_CONTROLLER, false, false, get_pid_names);
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} else {
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get_pid_names();
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}
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}
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function get_pid_names() {
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MSP.send_message(MSP_codes.MSP_PIDNAMES, false, false, get_pid_data);
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}
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function get_pid_data() {
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MSP.send_message(MSP_codes.MSP_PID, false, false, get_rc_tuning_data);
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}
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function get_rc_tuning_data() {
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MSP.send_message(MSP_codes.MSP_RC_TUNING, false, false, load_html);
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}
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function load_html() {
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$('#content').load("./tabs/pid_tuning.html", process_html);
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}
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// requesting MSP_STATUS manually because it contains CONFIG.profile
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MSP.send_message(MSP_codes.MSP_STATUS, false, false, get_pid_controller);
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function pid_and_rc_to_form() {
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// Fill in the data from PIDs array
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var i = 0;
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$('.pid_tuning .ROLL input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[0][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[0][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[0][i++].toFixed(0));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .PITCH input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[1][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[1][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[1][i++].toFixed(0));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .YAW input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[2][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[2][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[2][i++].toFixed(0));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .ALT input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[3][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[3][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[3][i++].toFixed(0));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .Pos input').each(function () {
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$(this).val(PIDs[4][i++].toFixed(2));
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});
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i = 0;
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$('.pid_tuning .PosR input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[5][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[5][i++].toFixed(2));
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break;
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case 2:
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$(this).val(PIDs[5][i++].toFixed(3));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .NavR input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[6][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[6][i++].toFixed(2));
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break;
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case 2:
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$(this).val(PIDs[6][i++].toFixed(3));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .LEVEL input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[7][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[7][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[7][i++].toFixed(0));
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break;
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}
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});
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i = 0;
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$('.pid_tuning .MAG input').each(function () {
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$(this).val(PIDs[8][i++].toFixed(1));
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});
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i = 0;
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$('.pid_tuning .Vario input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[9][i++].toFixed(1));
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break;
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case 1:
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$(this).val(PIDs[9][i++].toFixed(3));
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break;
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case 2:
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$(this).val(PIDs[9][i++].toFixed(0));
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break;
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}
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});
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// Fill in data from RC_tuning object
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$('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
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$('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate.toFixed(2));
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$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate.toFixed(2));
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$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
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$('.rate-tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
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$('.rate-tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint);
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}
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function form_to_pid_and_rc() {
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// Catch all the changes and stuff the inside PIDs array
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var i = 0;
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$('table.pid_tuning tr.ROLL input').each(function () {
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PIDs[0][i++] = parseFloat($(this).val());
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});
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i = 0;
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$('table.pid_tuning tr.PITCH input').each(function () {
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PIDs[1][i++] = parseFloat($(this).val());
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});
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i = 0;
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$('table.pid_tuning tr.YAW input').each(function () {
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PIDs[2][i++] = parseFloat($(this).val());
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});
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i = 0;
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$('table.pid_tuning tr.ALT input').each(function () {
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PIDs[3][i++] = parseFloat($(this).val());
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});
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i = 0;
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$('table.pid_tuning tr.Vario input').each(function () {
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PIDs[9][i++] = parseFloat($(this).val());
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});
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i = 0;
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$('table.pid_tuning tr.Pos input').each(function () {
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PIDs[4][i++] = parseFloat($(this).val());
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});
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i = 0;
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$('table.pid_tuning tr.PosR input').each(function () {
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PIDs[5][i++] = parseFloat($(this).val());
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});
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i = 0;
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$('table.pid_tuning tr.NavR input').each(function () {
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PIDs[6][i++] = parseFloat($(this).val());
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});
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i = 0;
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$('table.pid_tuning tr.LEVEL input').each(function () {
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PIDs[7][i++] = parseFloat($(this).val());
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});
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i = 0;
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$('table.pid_tuning tr.MAG input').each(function () {
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PIDs[8][i++] = parseFloat($(this).val());
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});
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// catch RC_tuning changes
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RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
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RC_tuning.roll_rate = parseFloat($('.rate-tpa input[name="roll"]').val());
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RC_tuning.pitch_rate = parseFloat($('.rate-tpa input[name="pitch"]').val());
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RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]').val());
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RC_tuning.dynamic_THR_PID = parseFloat($('.rate-tpa input[name="tpa"]').val());
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RC_tuning.dynamic_THR_breakpoint = parseInt($('.rate-tpa input[name="tpa-breakpoint"]').val());
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}
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function hideUnusedPids(sensors_detected) {
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$('.tab-pid_tuning table.pid_tuning').hide();
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$('#pid_main').show();
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if (have_sensor(sensors_detected, 'acc')) {
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$('#pid_accel').show();
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}
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if (have_sensor(sensors_detected, 'baro')) {
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$('#pid_baro').show();
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}
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if (have_sensor(sensors_detected, 'mag')) {
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$('#pid_mag').show();
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}
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if (bit_check(BF_CONFIG.features, 7)) { //This will need to be reworked to remove BF_CONFIG reference eventually
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$('#pid_gps').show();
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}
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if (have_sensor(sensors_detected, 'sonar')) {
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$('#pid_baro').show();
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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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hideUnusedPids(CONFIG.activeSensors);
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$('#showAllPids').on('click', function(){
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if($(this).text() == "Show all PIDs") {
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$('.tab-pid_tuning table.pid_tuning').show();
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$(this).text('Hide unused PIDs');
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} else {
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hideUnusedPids(CONFIG.activeSensors);
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$(this).text('Show all PIDs');
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}
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});
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$('#resetPIDs').on('click', function(){
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MSP.send_message(MSP_codes.MSP_SET_RESET_CURR_PID, false, false, false);
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updateActivatedTab();
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});
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$('.pid_tuning tr').each(function(){
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for(i = 0; i < PID_names.length; i++) {
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if($(this).hasClass(PID_names[i])) {
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$(this).find('td:first').text(PID_names[i]);
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}
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}
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});
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pid_and_rc_to_form();
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var pidController_e = $('select[name="controller"]');
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var pidControllerList;
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if (semver.lt(CONFIG.apiVersion, "1.14.0")) {
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pidControllerList = [
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{ name: "MultiWii (Old)"},
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{ name: "MultiWii (rewrite)"},
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{ name: "LuxFloat"},
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{ name: "MultiWii (2.3 - latest)"},
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{ name: "MultiWii (2.3 - hybrid)"},
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{ name: "Harakiri"}
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]
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} else {
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pidControllerList = [
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{ name: "MultiWii (2.3)"},
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{ name: "MultiWii (Rewrite)"},
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{ name: "LuxFloat"},
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]
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}
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for (var i = 0; i < pidControllerList.length; i++) {
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pidController_e.append('<option value="' + (i) + '">' + pidControllerList[i].name + '</option>');
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}
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var form_e = $('#pid-tuning');
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if (GUI.canChangePidController) {
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pidController_e.val(PID.controller);
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} else {
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GUI.log(chrome.i18n.getMessage('pidTuningUpgradeFirmwareToChangePidController', [CONFIG.apiVersion, CONFIGURATOR.pidControllerChangeMinApiVersion]));
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pidController_e.empty();
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pidController_e.append('<option value="">Unknown</option>');
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pidController_e.prop('disabled', true);
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}
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if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
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$('.rate-tpa .tpa-breakpoint').hide();
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$('.rate-tpa .roll').hide();
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$('.rate-tpa .pitch').hide();
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} else {
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$('.rate-tpa .roll-pitch').hide();
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}
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// UI Hooks
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$('a.refresh').click(function () {
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GUI.tab_switch_cleanup(function () {
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GUI.log(chrome.i18n.getMessage('pidTuningDataRefreshed'));
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TABS.pid_tuning.initialize();
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});
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});
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form_e.find('input').each(function (k, item) {
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$(item).change(function () {
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pidController_e.prop("disabled", true);
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TABS.pid_tuning.controllerChanged = false;
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})
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});
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pidController_e.change(function () {
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if (PID.controller != pidController_e.val()) {
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form_e.find('input').each(function (k, item) {
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$(item).prop('disabled', true);
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TABS.pid_tuning.controllerChanged = true;
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});
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}
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});
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// update == save.
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$('a.update').click(function () {
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form_to_pid_and_rc();
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function send_pids() {
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if (!TABS.pid_tuning.controllerChanged) {
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MSP.send_message(MSP_codes.MSP_SET_PID, MSP.crunch(MSP_codes.MSP_SET_PID), false, send_rc_tuning_changes);
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}
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}
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function send_rc_tuning_changes() {
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MSP.send_message(MSP_codes.MSP_SET_RC_TUNING, MSP.crunch(MSP_codes.MSP_SET_RC_TUNING), false, save_to_eeprom);
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}
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function save_to_eeprom() {
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MSP.send_message(MSP_codes.MSP_EEPROM_WRITE, false, false, function () {
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GUI.log(chrome.i18n.getMessage('pidTuningEepromSaved'));
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});
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}
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if (GUI.canChangePidController && TABS.pid_tuning.controllerChanged) {
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PID.controller = pidController_e.val();
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MSP.send_message(MSP_codes.MSP_SET_PID_CONTROLLER, MSP.crunch(MSP_codes.MSP_SET_PID_CONTROLLER), false, function () {
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MSP.send_message(MSP_codes.MSP_EEPROM_WRITE, false, false, function () {
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GUI.log(chrome.i18n.getMessage('pidTuningEepromSaved'));
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});
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TABS.pid_tuning.initialize();
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});
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} else {
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send_pids();
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}
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});
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// status data pulled via separate timer with static speed
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GUI.interval_add('status_pull', function status_pull() {
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MSP.send_message(MSP_codes.MSP_STATUS);
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}, 250, true);
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GUI.content_ready(callback);
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}
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};
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TABS.pid_tuning.cleanup = function (callback) {
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if (callback) {
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callback();
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}
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}; |