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Merge pull request #2988 from haslinghuis/update-pidprofile
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Move TPA to PID profile
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@haslinghuis
haslinghuis committed Oct 13, 2022
2 parents 2f375da + be2cdbd commit 2d84e47
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Showing 5 changed files with 86 additions and 24 deletions.
8 changes: 5 additions & 3 deletions src/css/tabs/pid_tuning.less
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Original file line number Diff line number Diff line change
Expand Up @@ -287,6 +287,11 @@
}
}
}
table.tpa-settings {
tr {
height: 30px;
}
}
.pidTuningFeatures {
td {
padding: 5px;
Expand Down Expand Up @@ -458,9 +463,6 @@
float: left;
width: 25%;
}
.leftzero {
padding-left: 0;
}
.roll {
border-bottom-left-radius: 3px;
}
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6 changes: 4 additions & 2 deletions src/js/fc.js
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Original file line number Diff line number Diff line change
Expand Up @@ -229,10 +229,10 @@ const FC = {
roll_rate: 0,
pitch_rate: 0,
yaw_rate: 0,
dynamic_THR_PID: 0,
dynamic_THR_PID: 0, // moved in 1.45 to ADVANCED_TUNING
throttle_MID: 0,
throttle_EXPO: 0,
dynamic_THR_breakpoint: 0,
dynamic_THR_breakpoint: 0, // moved in 1.45 to ADVANCED_TUNING
RC_YAW_EXPO: 0,
rcYawRate: 0,
rcPitchRate: 0,
Expand Down Expand Up @@ -518,6 +518,8 @@ const FC = {
feedforward_jitter_factor: 0,
vbat_sag_compensation: 0,
thrustLinearization: 0,
tpaRate: 0,
tpaBreakpoint: 0,
};
this.ADVANCED_TUNING_ACTIVE = { ...this.ADVANCED_TUNING };

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46 changes: 36 additions & 10 deletions src/js/msp/MSPHelper.js
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Original file line number Diff line number Diff line change
Expand Up @@ -406,11 +406,19 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.RC_TUNING.pitch_rate = parseFloat((data.readU8() / 100).toFixed(2));
}
FC.RC_TUNING.yaw_rate = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.dynamic_THR_PID = parseFloat((data.readU8() / 100).toFixed(2));
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
FC.RC_TUNING.dynamic_THR_PID = parseFloat((data.readU8() / 100).toFixed(2));
} else {
data.readU8();
}
FC.RC_TUNING.throttle_MID = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.throttle_EXPO = parseFloat((data.readU8() / 100).toFixed(2));
if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) {
FC.RC_TUNING.dynamic_THR_breakpoint = data.readU16();
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
FC.RC_TUNING.dynamic_THR_breakpoint = data.readU16();
} else {
data.readU16();
}
} else {
FC.RC_TUNING.dynamic_THR_breakpoint = 0;
}
Expand Down Expand Up @@ -1245,22 +1253,27 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8();
FC.ADVANCED_TUNING.integratedYawRelax = data.readU8();

if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8();

if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
FC.ADVANCED_TUNING.motorOutputLimit = data.readU8();
FC.ADVANCED_TUNING.autoProfileCellCount = data.read8();
FC.ADVANCED_TUNING.idleMinRpm = data.readU8();

if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
FC.ADVANCED_TUNING.feedforward_averaging = data.readU8();
FC.ADVANCED_TUNING.feedforward_smooth_factor = data.readU8();
FC.ADVANCED_TUNING.feedforward_boost = data.readU8();
FC.ADVANCED_TUNING.feedforward_max_rate_limit = data.readU8();
FC.ADVANCED_TUNING.feedforward_jitter_factor = data.readU8();
FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
FC.ADVANCED_TUNING.thrustLinearization = data.readU8();

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
FC.ADVANCED_TUNING.tpaRate = parseFloat((data.readU8() / 100).toFixed(2));
FC.ADVANCED_TUNING.tpaBreakpoint = data.readU16();
}
}
}
}
Expand Down Expand Up @@ -1830,12 +1843,20 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(Math.round(FC.RC_TUNING.roll_rate * 100))
.push8(Math.round(FC.RC_TUNING.pitch_rate * 100));
}
buffer.push8(Math.round(FC.RC_TUNING.yaw_rate * 100))
.push8(Math.round(FC.RC_TUNING.dynamic_THR_PID * 100))
.push8(Math.round(FC.RC_TUNING.throttle_MID * 100))
.push8(Math.round(FC.RC_TUNING.throttle_EXPO * 100));
buffer.push8(Math.round(FC.RC_TUNING.yaw_rate * 100));
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
buffer.push8(Math.round(FC.RC_TUNING.dynamic_THR_PID * 100));
} else {
buffer.push8(0);
}
buffer.push8(Math.round(FC.RC_TUNING.throttle_MID * 100));
buffer.push8(Math.round(FC.RC_TUNING.throttle_EXPO * 100));
if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) {
buffer.push16(FC.RC_TUNING.dynamic_THR_breakpoint);
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
buffer.push16(FC.RC_TUNING.dynamic_THR_breakpoint);
} else {
buffer.push16(0);
}
}
if (semver.gte(FC.CONFIG.apiVersion, "1.10.0")) {
buffer.push8(Math.round(FC.RC_TUNING.RC_YAW_EXPO * 100));
Expand Down Expand Up @@ -2269,6 +2290,11 @@ MspHelper.prototype.crunch = function(code) {
.push8(FC.ADVANCED_TUNING.feedforward_jitter_factor)
.push8(FC.ADVANCED_TUNING.vbat_sag_compensation)
.push8(FC.ADVANCED_TUNING.thrustLinearization);

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
buffer.push8(Math.round(FC.ADVANCED_TUNING.tpaRate * 100));
buffer.push16(FC.ADVANCED_TUNING.tpaBreakpoint);
}
}
}
}
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28 changes: 23 additions & 5 deletions src/js/tabs/pid_tuning.js
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Original file line number Diff line number Diff line change
Expand Up @@ -109,8 +109,14 @@ pid_tuning.initialize = function (callback) {
$('.throttle input[name="mid"]').val(FC.RC_TUNING.throttle_MID.toFixed(2));
$('.throttle input[name="expo"]').val(FC.RC_TUNING.throttle_EXPO.toFixed(2));

$('.tpa input[name="tpa"]').val(FC.RC_TUNING.dynamic_THR_PID.toFixed(2));
$('.tpa input[name="tpa-breakpoint"]').val(FC.RC_TUNING.dynamic_THR_breakpoint);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
// Moved tpa to profile
$('input[id="tpaRate"]').val(FC.ADVANCED_TUNING.tpaRate.toFixed(2));
$('input[id="tpaBreakpoint"]').val(FC.ADVANCED_TUNING.tpaBreakpoint);
} else {
$('.tpa-old input[name="tpa"]').val(FC.RC_TUNING.dynamic_THR_PID.toFixed(2));
$('.tpa-old input[name="tpa-breakpoint"]').val(FC.RC_TUNING.dynamic_THR_breakpoint);
}

if (semver.lt(FC.CONFIG.apiVersion, "1.10.0")) {
$('.pid_tuning input[name="rc_yaw_expo"]').hide();
Expand Down Expand Up @@ -1179,8 +1185,14 @@ pid_tuning.initialize = function (callback) {
FC.RC_TUNING.throttle_MID = parseFloat($('.throttle input[name="mid"]').val());
FC.RC_TUNING.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val());

FC.RC_TUNING.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val());
FC.RC_TUNING.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
FC.ADVANCED_TUNING.tpaRate = parseFloat($('input[id="tpaRate"]').val());
FC.ADVANCED_TUNING.tpaBreakpoint = parseInt($('input[id="tpaBreakpoint"]').val());
} else {
FC.RC_TUNING.dynamic_THR_PID = parseFloat($('.tpa-old input[name="tpa"]').val());
FC.RC_TUNING.dynamic_THR_breakpoint = parseInt($('.tpa-old input[name="tpa-breakpoint"]').val());
}

FC.FILTER_CONFIG.gyro_lowpass_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val());
FC.FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
FC.FILTER_CONFIG.yaw_lowpass_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val());
Expand Down Expand Up @@ -1765,14 +1777,20 @@ pid_tuning.initialize = function (callback) {
}

if (semver.lt(FC.CONFIG.apiVersion, "1.7.0")) {
$('.tpa .tpa-breakpoint').hide();
$('.tpa-old .tpa-breakpoint').hide();

$('.pid_tuning .roll_rate').hide();
$('.pid_tuning .pitch_rate').hide();
} else {
$('.pid_tuning .roll_pitch_rate').hide();
}

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
$('.tpa-old').hide();
} else {
$('.tpa').hide();
}

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
$('.pid_tuning .bracket').hide();
$('.pid_tuning input[name=rc_rate]').parent().attr('class', 'pid_data');
Expand Down
22 changes: 18 additions & 4 deletions src/tabs/pid_tuning.html
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Original file line number Diff line number Diff line change
Expand Up @@ -814,6 +814,21 @@
</table>
</div>

<div class="gui_box grey tpa pidControllerAdvancedSettings spacer_left">
<table class="pid_titlebar tpa-header" aria-labelledby="tpa-header">
<tr>
<th i18n="pidTuningTPA"></th>
<th i18n="pidTuningTPABreakPoint"></th>
</tr>
</table>
<table class="tpa-settings" aria-labelledby="tpa-settings" role="presentation">
<tr>
<td><input type="number" id="tpaRate" step="0.01" min="0" max="1.00" /></td>
<td class="tpa-breakpoint"><input type="number" id="tpaBreakpoint" step="10" min="750" max="2250" /></td>
</tr>
</table>
</div>

<div class="gui_box grey pidControllerAdvancedSettings spacer_left">
<table class="pid_titlebar new_rates">
<tr>
Expand Down Expand Up @@ -1023,7 +1038,7 @@
</div>

<div class="cf_column">
<div class="gui_box tpa spacer_left">
<div class="gui_box tpa-old spacer_left">
<table class="cf">
<thead>
<tr>
Expand All @@ -1033,9 +1048,8 @@
</thead>
<tbody>
<tr>
<td class="leftzero"><input type="number" name="tpa" step="0.01" min="0"
max="1.00" /></td>
<td class="tpa-breakpoint"><input type="number" name="tpa-breakpoint" step="10" min="1000" max="2000" /></td>
<td class="tpaRate"><input type="number" name="tpa" step="0.01" min="0" max="1.00" /></td>
<td class="tpaBreakpoint"><input type="number" name="tpa-breakpoint" step="10" min="1000" max="2000" /></td>
</tr>
</tbody>
</table>
Expand Down

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