735 lines
27 KiB
JavaScript
Executable File
735 lines
27 KiB
JavaScript
Executable File
'use strict';
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TABS.pid_tuning = {
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controllerChanged: false
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};
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var SUPEREXPO_FEATURE_BIT = 23;
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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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}
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// requesting MSP_STATUS manually because it contains CONFIG.profile
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MSP.promise(MSP_codes.MSP_STATUS).then(function() {
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if (GUI.canChangePidController) {
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return MSP.promise(MSP_codes.MSP_PID_CONTROLLER);
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}
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return true;
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}).then(function() {
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return MSP.promise(MSP_codes.MSP_PIDNAMES)
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}).then(function() {
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return MSP.promise(MSP_codes.MSP_PID);
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}).then(function() {
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return MSP.promise(MSP_codes.MSP_RC_TUNING);
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}).then(function() {
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return MSP.promise(MSP_codes.MSP_SPECIAL_PARAMETERS);
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}).then(function() {
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return MSP.promise(MSP_codes.MSP_ADVANCED_TUNING);
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}).then(function() {
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return MSP.promise(MSP_codes.MSP_FILTER_CONFIG);
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}).then(function() {
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var promise = true;
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if (CONFIG.flightControllerIdentifier === "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.0")) {
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promise = MSP.promise(MSP_codes.MSP_BF_CONFIG);
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}
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return promise;
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}).then(function() {
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$('#content').load("./tabs/pid_tuning.html", process_html);
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});
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function pid_and_rc_to_form() {
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if (CONFIG.flightControllerIdentifier === "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.0")) {
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//This will need to be reworked to remove BF_CONFIG reference eventually
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$('.pid_tuning input[name="show_superexpo_rates"]').prop(
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'checked', bit_check(BF_CONFIG.features, SUPEREXPO_FEATURE_BIT));
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}
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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++]);
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break;
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case 1:
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$(this).val(PIDs[0][i++]);
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break;
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case 2:
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$(this).val(PIDs[0][i++]);
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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++]);
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break;
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case 1:
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$(this).val(PIDs[1][i++]);
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break;
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case 2:
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$(this).val(PIDs[1][i++]);
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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++]);
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break;
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case 1:
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$(this).val(PIDs[2][i++]);
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break;
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case 2:
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$(this).val(PIDs[2][i++]);
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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++]);
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break;
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case 1:
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$(this).val(PIDs[3][i++]);
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break;
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case 2:
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$(this).val(PIDs[3][i++]);
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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++]);
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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++]);
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break;
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case 1:
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$(this).val(PIDs[5][i++]);
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break;
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case 2:
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$(this).val(PIDs[5][i++]);
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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++]);
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break;
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case 1:
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$(this).val(PIDs[6][i++]);
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break;
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case 2:
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$(this).val(PIDs[6][i++]);
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break;
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}
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});
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i = 0;
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$('.pid_tuning .HORIZON input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[7][i++]);
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break;
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case 1:
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$(this).val(PIDs[7][i++]);
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break;
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}
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});
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$('.pid_tuning .ANGLE input').each(function () {
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switch (i) {
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case 2:
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$(this).val(PIDs[7][i++]);
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break;
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}
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});
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i = 0;
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$('.pid_tuning .MAG input').each(function () {
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$(this).val(PIDs[8][i++]);
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});
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i = 0;
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$('.pid_tuning .Vario input').each(function () {
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switch (i) {
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case 0:
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$(this).val(PIDs[9][i++]);
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break;
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case 1:
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$(this).val(PIDs[9][i++]);
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break;
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case 2:
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$(this).val(PIDs[9][i++]);
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break;
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}
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});
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// Fill in data from RC_tuning object
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$('.pid_tuning input[name="rc_rate"]').val(RC_tuning.RC_RATE.toFixed(2));
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$('.pid_tuning input[name="roll_pitch_rate"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
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$('.pid_tuning input[name="roll_rate"]').val(RC_tuning.roll_rate.toFixed(2));
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$('.pid_tuning input[name="pitch_rate"]').val(RC_tuning.pitch_rate.toFixed(2));
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$('.pid_tuning input[name="yaw_rate"]').val(RC_tuning.yaw_rate.toFixed(2));
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$('.pid_tuning input[name="rc_expo"]').val(RC_tuning.RC_EXPO.toFixed(2));
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$('.pid_tuning input[name="rc_yaw_expo"]').val(RC_tuning.RC_YAW_EXPO.toFixed(2));
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$('.pid_tuning input[name="rc_rate_yaw"]').val(SPECIAL_PARAMETERS.RC_RATE_YAW.toFixed(2));
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$('.throttle input[name="mid"]').val(RC_tuning.throttle_MID.toFixed(2));
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$('.throttle input[name="expo"]').val(RC_tuning.throttle_EXPO.toFixed(2));
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$('.tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
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$('.tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint);
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if (semver.lt(CONFIG.apiVersion, "1.10.0")) {
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$('.pid_tuning input[name="rc_yaw_expo"]').hide();
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$('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3");
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}
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$('.pid_tuning input[name="gyro"]').val(FILTER_CONFIG.gyro_soft_lpf_hz);
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$('.pid_tuning input[name="dterm"]').val(FILTER_CONFIG.dterm_lpf_hz);
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$('.pid_tuning input[name="yaw"]').val(FILTER_CONFIG.yaw_lpf_hz);
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if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.1")) {
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$('.pid_filter').hide();
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$('.pid_tuning input[name="rc_rate_yaw"]').hide();
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}
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}
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function form_to_pid_and_rc() {
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if (CONFIG.flightControllerIdentifier === "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.0")) {
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//This will need to be reworked to remove BF_CONFIG reference eventually
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if ($('.pid_tuning input[name="show_superexpo_rates"]').is(':checked')) {
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BF_CONFIG.features = bit_set(BF_CONFIG.features, SUPEREXPO_FEATURE_BIT);
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} else {
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BF_CONFIG.features = bit_clear(BF_CONFIG.features, SUPEREXPO_FEATURE_BIT);
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}
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}
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// Fill in the data from PIDs array
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// Catch all the changes and stuff the inside PIDs array
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var i = 0;
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$('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.HORIZON input').each(function () {
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PIDs[7][i++] = parseFloat($(this).val());
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});
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$('table.pid_tuning tr.ANGLE 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($(this).val());
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});
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// catch RC_tuning changes
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RC_tuning.RC_RATE = parseFloat($('.pid_tuning input[name="rc_rate"]').val());
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RC_tuning.roll_pitch_rate = parseFloat($('.pid_tuning input[name="roll_pitch_rate"]').val());
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RC_tuning.roll_rate = parseFloat($('.pid_tuning input[name="roll_rate"]').val());
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RC_tuning.pitch_rate = parseFloat($('.pid_tuning input[name="pitch_rate"]').val());
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RC_tuning.yaw_rate = parseFloat($('.pid_tuning input[name="yaw_rate"]').val());
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RC_tuning.RC_EXPO = parseFloat($('.pid_tuning input[name="rc_expo"]').val());
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RC_tuning.RC_YAW_EXPO = parseFloat($('.pid_tuning input[name="rc_yaw_expo"]').val());
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SPECIAL_PARAMETERS.RC_RATE_YAW = parseFloat($('.pid_tuning input[name="rc_rate_yaw"]').val());
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RC_tuning.throttle_MID = parseFloat($('.throttle input[name="mid"]').val());
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RC_tuning.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val())
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RC_tuning.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val());
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RC_tuning.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
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FILTER_CONFIG.gyro_soft_lpf_hz = parseInt($('.pid_tuning input[name="gyro"]').val());
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FILTER_CONFIG.dterm_lpf_hz = parseInt($('.pid_tuning input[name="dterm"]').val());
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FILTER_CONFIG.yaw_lpf_hz = parseInt($('.pid_tuning input[name="yaw"]').val());
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}
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function showAllPids() {
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$('.tab-pid_tuning .pid_tuning').show();
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}
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function hideUnusedPids() {
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$('.tab-pid_tuning .pid_tuning').hide();
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$('#pid_main').show();
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if (CONFIG.flightControllerIdentifier === "BTFL" || semver.ge(CONFIG.flightControllerVersion, "2.9.0")) {
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$('#pid_filter').show();
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}
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if (have_sensor(CONFIG.activeSensors, 'acc')) {
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$('#pid_accel').show();
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$('#pid_level').show();
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}
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var showTitle = false;
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if (have_sensor(CONFIG.activeSensors, 'baro') ||
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have_sensor(CONFIG.activeSensors, 'sonar')) {
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$('#pid_baro').show();
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showTitle = true;
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}
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if (have_sensor(CONFIG.activeSensors, 'mag')) {
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$('#pid_mag').show();
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showTitle = true;
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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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$('#pid_gps').show();
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showTitle = true;
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}
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if (showTitle) {
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$('#pid_optional').show();
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}
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}
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function drawAxes(curveContext, width, height, scaleHeight) {
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curveContext.strokeStyle = '#000000';
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curveContext.lineWidth = 4;
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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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if (scaleHeight <= height / 2) {
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curveContext.strokeStyle = '#202020';
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curveContext.lineWidth = 1;
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curveContext.beginPath();
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curveContext.moveTo(0, height / 2 + scaleHeight);
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curveContext.lineTo(width, height / 2 + scaleHeight);
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curveContext.stroke();
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curveContext.beginPath();
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curveContext.moveTo(0, height / 2 - scaleHeight);
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curveContext.lineTo(width, height / 2 - scaleHeight);
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curveContext.stroke();
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}
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}
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function checkInput(element) {
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var value = parseFloat(element.val());
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if (value < parseFloat(element.prop('min'))
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|| value > parseFloat(element.prop('max'))) {
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value = undefined;
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}
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return value;
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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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var showAllButton = $('#showAllPids');
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var showAllMsg = chrome.i18n.getMessage("pidTuningShowAllPids");
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var hideUnusedMsg = chrome.i18n.getMessage("pidTuningHideUnusedPids");
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function updatePidDisplay() {
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if (!TABS.pid_tuning.showAllPids) {
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hideUnusedPids();
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showAllButton.text(showAllMsg);
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} else {
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showAllPids();
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showAllButton.text(hideUnusedMsg);
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}
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}
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updatePidDisplay();
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showAllButton.on('click', function(){
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TABS.pid_tuning.showAllPids = !TABS.pid_tuning.showAllPids;
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updatePidDisplay();
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});
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$('#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: ""},
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{ name: "Integer"},
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{ name: "Float"},
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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 = $('#pid-tuning');
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if (GUI.canChangePidController) {
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pidController_e.val(PID.controller);
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} else {
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GUI.log(chrome.i18n.getMessage('pidTuningUpgradeFirmwareToChangePidController', [CONFIG.apiVersion, CONFIGURATOR.pidControllerChangeMinApiVersion]));
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pidController_e.empty();
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pidController_e.append('<option value="">Unknown</option>');
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pidController_e.prop('disabled', true);
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}
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if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
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$('.tpa .tpa-breakpoint').hide();
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$('.pid_tuning .roll_rate').hide();
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$('.pid_tuning .pitch_rate').hide();
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} else {
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$('.pid_tuning .roll_pitch_rate').hide();
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}
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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 rcRateYawElement;
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if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
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rcRateYawElement = $('.pid_tuning input[name="rc_rate_yaw"]');
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} else {
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rcRateYawElement = rcRateElement;
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}
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var rateRollElement = $('.pid_tuning input[name="roll_rate"]');
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var ratePitchElement = $('.pid_tuning input[name="pitch_rate"]');
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var rateYawElement = $('.pid_tuning input[name="yaw_rate"]');
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var rcExpoElement = $('.pid_tuning input[name="rc_expo"]');
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var rcExpoYawElement = $('.pid_tuning input[name="rc_yaw_expo"]');
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var rcCurveElement = $('.rate_curve canvas').get(0);
|
|
var curveContext = rcCurveElement.getContext("2d");
|
|
rcCurveElement.width = 1000;
|
|
rcCurveElement.height = 1000;
|
|
|
|
var maxAngularVelRollElement = $('.rc_curve .maxAngularVelRoll');
|
|
var maxAngularVelPitchElement = $('.rc_curve .maxAngularVelPitch');
|
|
var maxAngularVelYawElement = $('.rc_curve .maxAngularVelYaw');
|
|
|
|
var superExpoElement = $('.pid_tuning input[name="show_superexpo_rates"]');
|
|
|
|
var useLegacyCurve = false;
|
|
if (CONFIG.flightControllerIdentifier !== "BTFL" || semver.lt(CONFIG.flightControllerVersion, "2.8.0")) {
|
|
$('.new_rates').hide();
|
|
useLegacyCurve = true;
|
|
}
|
|
|
|
var rateCurve = new RateCurve(useLegacyCurve);
|
|
|
|
// UI Hooks
|
|
// curves
|
|
function redrawRateCurves() {
|
|
setTimeout(function () { // let global validation trigger and adjust the values first
|
|
var curveHeight = rcCurveElement.height;
|
|
var curveWidth = rcCurveElement.width;
|
|
|
|
var useSuperExpo = superExpoElement.is(':checked');
|
|
|
|
var rateRoll = checkInput(rateRollElement);
|
|
var ratePitch = checkInput(ratePitchElement);
|
|
var rateYaw = checkInput(rateYawElement);
|
|
var rcRate = checkInput(rcRateElement);
|
|
var rcRateYaw = checkInput(rcRateYawElement);
|
|
var rcExpo = checkInput(rcExpoElement);
|
|
var rcExpoYaw = checkInput(rcExpoYawElement);
|
|
|
|
var maxAngularVelRoll = rateCurve.getMaxAngularVel(rateRoll, rcRate, rcExpo, useSuperExpo);
|
|
maxAngularVelRollElement.text(maxAngularVelRoll);
|
|
var maxAngularVelPitch = rateCurve.getMaxAngularVel(ratePitch, rcRate, rcExpo, useSuperExpo);
|
|
maxAngularVelPitchElement.text(maxAngularVelPitch);
|
|
var maxAngularVelYaw = rateCurve.getMaxAngularVel(rateYaw, rcRateYaw, rcExpoYaw, useSuperExpo);
|
|
maxAngularVelYawElement.text(maxAngularVelYaw);
|
|
var maxAngularVel = Math.max(maxAngularVelRoll, maxAngularVelPitch, maxAngularVelYaw);
|
|
|
|
curveContext.clearRect(0, 0, curveWidth, curveHeight);
|
|
|
|
if (!useLegacyCurve) {
|
|
drawAxes(curveContext, curveWidth, curveHeight, (curveHeight / 2) / maxAngularVel * 360);
|
|
}
|
|
|
|
curveContext.lineWidth = 4;
|
|
|
|
curveContext.save();
|
|
curveContext.strokeStyle = '#ff0000';
|
|
rateCurve.draw(rateRoll, rcRate, rcExpo, useSuperExpo, maxAngularVel, curveContext);
|
|
curveContext.restore();
|
|
|
|
curveContext.save();
|
|
curveContext.translate(0, -4);
|
|
curveContext.strokeStyle = '#00ff00';
|
|
rateCurve.draw(ratePitch, rcRate, rcExpo, useSuperExpo, maxAngularVel, curveContext);
|
|
curveContext.restore();
|
|
|
|
curveContext.save();
|
|
curveContext.strokeStyle = '#0000ff';
|
|
curveContext.translate(0, 4);
|
|
rateCurve.draw(rateYaw, rcRateYaw, rcExpoYaw, useSuperExpo, maxAngularVel, curveContext);
|
|
curveContext.restore();
|
|
}, 0);
|
|
};
|
|
|
|
$('.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 first
|
|
var throttleMidE = $('.throttle input[name="mid"]'),
|
|
throttleExpoE = $('.throttle input[name="expo"]'),
|
|
mid = parseFloat(throttleMidE.val()),
|
|
expo = parseFloat(throttleExpoE.val()),
|
|
throttleCurve = $('.throttle .throttle_curve canvas').get(0),
|
|
context = throttleCurve.getContext("2d");
|
|
|
|
// local validation to deal with input event
|
|
if (mid >= parseFloat(throttleMidE.prop('min')) &&
|
|
mid <= parseFloat(throttleMidE.prop('max')) &&
|
|
expo >= parseFloat(throttleExpoE.prop('min')) &&
|
|
expo <= parseFloat(throttleExpoE.prop('max'))) {
|
|
// continue
|
|
} else {
|
|
return;
|
|
}
|
|
|
|
var canvasHeight = throttleCurve.height;
|
|
var canvasWidth = throttleCurve.width;
|
|
|
|
// math magic by englishman
|
|
var midx = canvasWidth * mid,
|
|
midxl = midx * 0.5,
|
|
midxr = (((canvasWidth - midx) * 0.5) + midx),
|
|
midy = canvasHeight - (midx * (canvasHeight / canvasWidth)),
|
|
midyl = canvasHeight - ((canvasHeight - midy) * 0.5 *(expo + 1)),
|
|
midyr = (midy / 2) * (expo + 1);
|
|
|
|
// draw
|
|
context.clearRect(0, 0, canvasWidth, canvasHeight);
|
|
context.beginPath();
|
|
context.moveTo(0, canvasHeight);
|
|
context.quadraticCurveTo(midxl, midyl, midx, midy);
|
|
context.moveTo(midx, midy);
|
|
context.quadraticCurveTo(midxr, midyr, canvasWidth, 0);
|
|
context.lineWidth = 2;
|
|
context.strokeStyle = '#ffbb00';
|
|
context.stroke();
|
|
}, 0);
|
|
}).trigger('input');
|
|
|
|
$('a.refresh').click(function () {
|
|
GUI.tab_switch_cleanup(function () {
|
|
GUI.log(chrome.i18n.getMessage('pidTuningDataRefreshed'));
|
|
TABS.pid_tuning.initialize();
|
|
});
|
|
});
|
|
|
|
form_e.find('input').each(function (k, item) {
|
|
$(item).change(function () {
|
|
pidController_e.prop("disabled", true);
|
|
TABS.pid_tuning.controllerChanged = false;
|
|
})
|
|
});
|
|
|
|
pidController_e.change(function () {
|
|
if (PID.controller != pidController_e.val()) {
|
|
form_e.find('input').each(function (k, item) {
|
|
$(item).prop('disabled', true);
|
|
TABS.pid_tuning.controllerChanged = true;
|
|
});
|
|
}
|
|
});
|
|
|
|
$('.delta select').val(ADVANCED_TUNING.deltaMethod).change(function() {
|
|
ADVANCED_TUNING.deltaMethod = $(this).val();
|
|
});
|
|
|
|
if (CONFIG.flightControllerIdentifier == "BTFL" && semver.lt(CONFIG.flightControllerVersion, "2.8.2")) {
|
|
$('.delta').hide();
|
|
$('.note').hide();
|
|
}
|
|
|
|
// update == save.
|
|
$('a.update').click(function () {
|
|
form_to_pid_and_rc();
|
|
if (GUI.canChangePidController && TABS.pid_tuning.controllerChanged) {
|
|
PID.controller = pidController_e.val();
|
|
MSP.send_message(MSP_codes.MSP_SET_PID_CONTROLLER, MSP.crunch(MSP_codes.MSP_SET_PID_CONTROLLER), false, function () {
|
|
MSP.send_message(MSP_codes.MSP_EEPROM_WRITE, false, false, function () {
|
|
GUI.log(chrome.i18n.getMessage('pidTuningEepromSaved'));
|
|
});
|
|
TABS.pid_tuning.initialize();
|
|
});
|
|
} else {
|
|
if (TABS.pid_tuning.controllerChanged) { return; }
|
|
MSP.promise(MSP_codes.MSP_SET_PID, MSP.crunch(MSP_codes.MSP_SET_PID)).then(function() {
|
|
if (TABS.pid_tuning.controllerChanged) { Promise.reject('pid controller changed'); }
|
|
if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
|
|
return MSP.promise(MSP_codes.MSP_SET_SPECIAL_PARAMETERS, MSP.crunch(MSP_codes.MSP_SET_SPECIAL_PARAMETERS));
|
|
}
|
|
}).then(function() {
|
|
if (TABS.pid_tuning.controllerChanged) { Promise.reject('pid controller changed'); }
|
|
return MSP.promise(MSP_codes.MSP_SET_ADVANCED_TUNING, MSP.crunch(MSP_codes.MSP_SET_ADVANCED_TUNING));
|
|
}).then(function() {
|
|
if (TABS.pid_tuning.controllerChanged) { Promise.reject('pid controller changed'); }
|
|
if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
|
|
return MSP.promise(MSP_codes.MSP_SET_FILTER_CONFIG, MSP.crunch(MSP_codes.MSP_SET_FILTER_CONFIG));
|
|
}
|
|
}).then(function() {
|
|
return MSP.promise(MSP_codes.MSP_SET_RC_TUNING, MSP.crunch(MSP_codes.MSP_SET_RC_TUNING));
|
|
}).then(function() {
|
|
var promise = true;
|
|
if (CONFIG.flightControllerIdentifier === "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.0")) {
|
|
promise = MSP.promise(MSP_codes.MSP_SET_BF_CONFIG, MSP.crunch(MSP_codes.MSP_SET_BF_CONFIG));
|
|
}
|
|
|
|
return promise;
|
|
}).then(function() {
|
|
return MSP.promise(MSP_codes.MSP_EEPROM_WRITE);
|
|
}).then(function() {
|
|
GUI.log(chrome.i18n.getMessage('pidTuningEepromSaved'));
|
|
});
|
|
}
|
|
});
|
|
|
|
// Setup model for rates preview
|
|
self.initRatesPreview();
|
|
self.renderModel();
|
|
|
|
// enable RC data pulling for rates preview
|
|
GUI.interval_add('receiver_pull', self.getRecieverData, true);
|
|
|
|
// status data pulled via separate timer with static speed
|
|
GUI.interval_add('status_pull', function status_pull() {
|
|
MSP.send_message(MSP_codes.MSP_STATUS);
|
|
}, 250, true);
|
|
|
|
GUI.content_ready(callback);
|
|
}
|
|
};
|
|
|
|
TABS.pid_tuning.getRecieverData = function () {
|
|
MSP.send_message(MSP_codes.MSP_RC, false, false);
|
|
};
|
|
|
|
TABS.pid_tuning.initRatesPreview = function () {
|
|
this.keepRendering = true;
|
|
this.model = new Model($('.rates_preview'), $('.rates_preview canvas'));
|
|
|
|
var scale = d3.scale.linear().domain([900, 2100]);
|
|
|
|
this.rollScale = scale.range([Math.PI * 2, -Math.PI * 2]);
|
|
this.pitchScale = scale.range([Math.PI * 2, -Math.PI * 2]);
|
|
this.yawScale = scale.range([Math.PI * 2, -Math.PI * 2]);
|
|
|
|
$(window).on('resize', $.proxy(this.model.resize, this.model));
|
|
};
|
|
|
|
TABS.pid_tuning.renderModel = function () {
|
|
if (this.keepRendering) { requestAnimationFrame(this.renderModel.bind(this)); }
|
|
|
|
if (!this.clock) { this.clock = new THREE.Clock(); }
|
|
|
|
if (RC.channels[0] && RC.channels[1] && RC.channels[2]) {
|
|
var delta = this.clock.getDelta(),
|
|
roll = delta * this.rollScale(RC.channels[0]),
|
|
pitch = delta * this.pitchScale(RC.channels[1]),
|
|
yaw = delta * this.yawScale(RC.channels[2]);
|
|
|
|
this.model.rotateBy(pitch, yaw, roll);
|
|
}
|
|
};
|
|
|
|
TABS.pid_tuning.cleanup = function (callback) {
|
|
$(window).off('resize', $.proxy(this.model.resize, this.model));
|
|
|
|
this.keepRendering = false;
|
|
|
|
if (callback) callback();
|
|
};
|