<!-- suppress ALL -->
< div id = "content-watermark" > < / div >
< div class = "tab-pid_tuning toolbar_fixed_bottom" >
< div class = "content_wrapper" >
< div class = "tab_title subtab__header" >
< span class = "subtab__header_label subtab__header_label--current" for = "subtab-pid" > PID gains< / span >
< span class = "subtab__header_label" for = "subtab-rates" > Rates & Expo< / span >
< span class = "subtab__header_label" for = "subtab-filters" > Filters< / span >
< span class = "subtab__header_label" for = "subtab-mechanics" > Mechanics< / span >
< / div >
< div id = "subtab-pid" class = "subtab__content subtab__content--current" >
< div class = "cf_column right" style = "margin-top: -6px;" >
< div class = "default_btn show" >
< a href = "#" id = "showAllPids" > Show all PIDs< / a >
< / div >
< div class = "default_btn resetbt" >
< a href = "#" id = "resetDefaults" > Select New Defaults< / a >
< / div >
< div class = "default_btn resetbt" >
< a href = "#" id = "resetPIDs" > Reset PID Controller< / a >
< / div >
< / div >
< div class = "tab_subtitle" style = "margin-top: 1em;" > PID gains< / div >
< div class = "clear-both" > < / div >
< div class = "cf_column pid-section" >
< div class = "gui_box grey" >
< table class = "pid_titlebar" >
< tr >
< th class = "name" data-i18n = "pidTuningName" > < / th >
< th class = "proportional" data-i18n = "pidTuningProportional" > < / th >
< th class = "integral" data-i18n = "pidTuningIntegral" > < / th >
< th class = "derivative" data-i18n = "pidTuningDerivative" > < / th >
< th class = "feedforward" data-i18n = "pidTuningFeedForward" > < / th >
< / tr >
< / table >
< table id = "pid_main" class = "pid_tuning" >
< tr >
< th colspan = "5" >
< div class = "pid_mode" data-i18n = "pidTuningBasic" > < / div >
< / th >
< / tr >
< tr class = "ROLL" data-pid-bank-position = "0" >
<!-- 0 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "i" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" class = "rpy_d" name = "d" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" class = "rpy_ff" name = "ff" step = "1" min = "0" max = "255" / > < / td >
< / tr >
< tr class = "PITCH" data-pid-bank-position = "1" >
<!-- 1 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "i" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" class = "rpy_d" name = "d" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" class = "rpy_ff" name = "ff" step = "1" min = "0" max = "255" / > < / td >
< / tr >
< tr class = "YAW" data-pid-bank-position = "2" >
<!-- 2 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "i" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" class = "rpy_d" name = "d" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" class = "rpy_ff" name = "ff" step = "1" min = "0" max = "255" / > < / td >
< / tr >
< / table >
< table id = "pid_baro" class = "pid_tuning" >
< tr >
< th colspan = "5" >
< div class = "pid_mode" data-i18n = "pidTuningAltitude" > < / div >
< / th >
< / tr >
< tr class = "ALT" data-pid-bank-position = "3" >
<!-- 3 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "i" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "d" step = "1" min = "0" max = "255" / > < / td >
< td > < / td >
< / tr >
< tr class = "Vario" data-pid-bank-position = "9" >
<!-- 9 -->
< td > VEL< / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "i" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "d" step = "1" min = "0" max = "255" / > < / td >
< td > < / td >
< / tr >
< / table >
< table id = "pid_mag" class = "pid_tuning" >
< tr >
< th colspan = "5" >
< div class = "pid_mode" data-i18n = "pidTuningMag" > < / div >
< / th >
< / tr >
< tr class = "MAG" data-pid-bank-position = "8" >
<!-- 8 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < / td >
< td > < / td >
< td > < / td >
< / tr >
< tr class = "HEADING" data-pid-bank-position = "10" >
<!-- 8 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "i" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "d" step = "1" min = "0" max = "255" / > < / td >
< td > < / td >
< / tr >
< / table >
< table id = "pid_gps" class = "pid_tuning" >
< tr >
< th colspan = "5" >
< div class = "pid_mode" data-i18n = "pidTuningGps" > < / div >
< / th >
< / tr >
< tr class = "Pos" data-pid-bank-position = "4" >
<!-- 4 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < / td >
< td > < / td >
< td > < / td >
< / tr >
< tr class = "PosR" data-pid-bank-position = "5" >
<!-- 5 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "i" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "d" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "ff" step = "1" min = "0" max = "255" / > < / td >
< / tr >
< tr class = "NavR" data-pid-bank-position = "6" >
<!-- 6 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "i" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "d" step = "1" min = "0" max = "255" / > < / td >
< td > < / td >
< / tr >
< / table >
< / div >
< div class = "gui_box grey topspacer" >
< table id = "pid_accel" class = "pid_tuning" >
< tr >
< th colspan = "4" >
< div class = "pid_mode borderleft" >
< div class = "textleft" >
< div class = "pidTuningLevel" data-i18n = "pidTuningLevel" > < / div >
< div class = "helpicon cf_tip" data-i18n_title = "pidTuningLevelHelp" > < / div >
< / div >
< div class = "pids" data-i18n = "pidTuningLevelP" > < / div >
< div class = "pids" data-i18n = "pidTuningLevelI" > < / div >
< div class = "pids" data-i18n = "pidTuningLevelD" > < / div >
< / div >
< / th >
< / tr >
< tr class = "LEVEL" data-pid-bank-position = "7" >
<!-- 7 -->
< td > < / td >
< td > < input type = "number" name = "p" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "i" step = "1" min = "0" max = "255" / > < / td >
< td > < input type = "number" name = "d" step = "1" min = "0" max = "255" / > < / td >
< / tr >
< / table >
< / div >
< / div >
< / div >
< div id = "subtab-rates" class = "subtab__content" >
< div class = "tab_subtitle" style = "margin-top: 1em;" > Rates & Expo< / div >
< div class = "clear-both" > < / div >
< div class = "cf_column" >
< table class = "settings-table settings-table--inav" >
< tbody >
< tr >
< th class = "roll" data-i18n = "pidTuningRollRate" > < / th >
< td class = "roll" >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "roll_rate" data-unit = "decadegps" / > < / div >
< / td >
< / tr >
< tr >
< th class = "pitch" data-i18n = "pidTuningPitchRate" > < / th >
< td class = "pitch" >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "pitch_rate" data-unit = "decadegps" / > < / div >
< / td >
< / tr >
< tr >
< th class = "yaw" data-i18n = "pidTuningYawRate" > < / th >
< td class = "yaw" >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "yaw_rate" data-unit = "decadegps" / > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "pidTuningRollAndPitchExpo" > < / th >
< td >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "rc_expo" data-unit = "percent" / > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "pidTuningYawExpo" > < / th >
< td >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "rc_yaw_expo" data-unit = "percent" / > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "pidTuningMaxRollAngle" > < / th >
< td >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "max_angle_inclination_rll" data-unit = "decideg-lrg" / > < / div >
< div class = "helpicon cf_tip" data-i18n_title = "pidTuningMaxRollAngleHelp" > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "pidTuningMaxPitchAngle" > < / th >
< td >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "max_angle_inclination_pit" data-unit = "decideg-lrg" / > < / div >
< div class = "helpicon cf_tip" data-i18n_title = "pidTuningMaxPitchAngleHelp" > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "magHoldYawRate" > < / th >
< td >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "heading_hold_rate_limit" data-unit = "degps" / > < / div >
< div class = "helpicon cf_tip" data-i18n_title = "pidTuningMagHoldYawRateHelp" > < / div >
< / td >
< / tr >
< tr >
< th class = "roll" data-i18n = "pidTuningManualRollRate" > < / th >
< td class = "roll" >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "manual_roll_rate" data-unit = "percent" / > < / div >
< / td >
< / tr >
< tr >
< th class = "pitch" data-i18n = "pidTuningManualPitchRate" > < / th >
< td class = "pitch" >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "manual_pitch_rate" data-unit = "percent" / > < / div >
< / td >
< / tr >
< tr >
< th class = "yaw" data-i18n = "pidTuningManualYawRate" > < / th >
< td class = "yaw" >
< div class = "rates_number" > < input type = "number" class = "rate-tpa_input" data-setting = "manual_yaw_rate" data-unit = "percent" / > < / div >
< / td >
< / tr >
< / tbody >
< / table >
< / div >
< / div >
< div id = "subtab-filters" class = "subtab__content" >
< div class = "tab_subtitle" data-i18n = "mainFilters" style = "margin-top: 1em;" > < / div >
< div class = "clear-both" > < / div >
< div class = "cf_column" >
< table class = "settings-table settings-table--filtering" >
< tbody >
< tr >
< th data-i18n = "gyro_main_lpf_hz" > < / th >
< td >
< input data-setting = "gyro_main_lpf_hz" type = "number" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" data-i18n_title = "gyro_main_lpf_hz_help" > < / div >
< / td >
< / tr >
< tr >
< th > Matrix Filter Min Frequency< / th >
< td >
< input data-setting = "dynamic_gyro_notch_min_hz" type = "number" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" title = "Minimum frequency for the Matrix Filter. Value should depends on propeller size. 150Hz work fine with 5" and smaller. For 7" and above lower even below 100Hz." > < / div >
< / td >
< / tr >
< tr >
< th > Matrix Filter Q Factor< / th >
< td >
< input data-setting = "dynamic_gyro_notch_q" type = "number" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" title = "The higher value, the higher selectivity of the Matrix Filter. Values between 150 and 300 are recommended" > < / div >
< / td >
< / tr >
< tr >
< th > Unicorn Filter Q Factor< / th >
< td >
< input data-setting = "setpoint_kalman_q" type = "number" class = "rate-tpa_input" / >
< / td >
< / tr >
< / tbody >
< / table >
< / div >
< div class = "clear-both" > < / div >
< div class = "tab_subtitle" data-i18n = "dtermFilters" style = "margin-top: 1em;" > < / div >
< div class = "cf_column" >
< table class = "settings-table settings-table--filtering" >
< tbody >
< tr >
< th data-i18n = "dtermLpfCutoffFrequency" > < / th >
< td >
< input data-setting = "dterm_lpf_hz" type = "number" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" data-i18n_title = "dtermLpfCutoffFrequencyHelp" > < / div >
< / td >
< / tr >
< / tbody >
< / table >
< / div >
< div class = "clear-both requires-v2_4" > < / div >
< div class = "tab_subtitle requires-v2_4" data-i18n = "rpmFilters" style = "margin-top: 1em;" > < / div >
< div class = "cf_column requires-v2_4" >
< table class = "settings-table settings-table--filtering" >
< tbody >
< tr >
< th data-i18n = "rpm_gyro_filter_enabled" > < / th >
< td >
< select data-setting = "rpm_gyro_filter_enabled" / >
< / td >
< / tr >
< tr >
< th data-i18n = "rpm_gyro_min_hz" > < / th >
< td >
< input data-setting = "rpm_gyro_min_hz" type = "number" class = "rate-tpa_input" / >
< / td >
< / tr >
< / tbody >
< / table >
< / div >
< / div >
< div id = "subtab-mechanics" class = "subtab__content" >
< div class = "clear-both" > < / div >
< div class = "tab_subtitle" data-i18n = "iTermMechanics" style = "margin-top: 1em;" > < / div >
< div class = "cf_column" >
< table class = "settings-table settings-table--filtering" >
< tbody >
< tr >
< th data-i18n = "itermRelaxCutoff" > < / th >
< td >
< input data-setting = "mc_iterm_relax_cutoff" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" data-i18n_title = "itermRelaxCutoffHelp" > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "antigravityGain" > < / th >
< td >
< input class = "rate-tpa_input" data-setting = "antigravity_gain" / >
< / td >
< / tr >
< tr >
< th data-i18n = "antigravityAccelerator" > < / th >
< td >
< input class = "rate-tpa_input" data-setting = "antigravity_accelerator" / >
< / td >
< / tr >
< tr >
< th data-i18n = "antigravityCutoff" > < / th >
< td >
< input class = "rate-tpa_input" data-setting = "antigravity_cutoff_lpf_hz" / >
< / td >
< / tr >
< tr >
< th data-i18n = "itermBankAngleFreeze" > < / th >
< td >
< input class = "rate-tpa_input" data-setting = "fw_yaw_iterm_freeze_bank_angle" type = "number" step = "1" min = "0" max = "90" / >
< div class = "helpicon cf_tip" data-i18n_title = "itermBankAngleFreezeHelp" > < / div >
< / td >
< / tr >
< / tbody >
< / table >
< / div >
< div class = "clear-both" > < / div >
< div class = "tab_subtitle" data-i18n = "dTermMechanics" style = "margin-top: 1em;" > < / div >
< div class = "cf_column" >
< table class = "settings-table settings-table--filtering" >
< tbody >
< tr >
< th data-i18n = "d_boost_min" > < / th >
< td >
< input data-setting = "d_boost_min" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" data-i18n_title = "d_boost_min_help" > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "d_boost_max" > < / th >
< td >
< input data-setting = "d_boost_max" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" data-i18n_title = "d_boost_max_help" > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "d_boost_max_at_acceleration" > < / th >
< td >
< input data-setting = "d_boost_max_at_acceleration" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" data-i18n_title = "d_boost_max_at_acceleration_help" > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "d_boost_gyro_delta_lpf_hz" > < / th >
< td >
< input data-setting = "d_boost_gyro_delta_lpf_hz" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" data-i18n_title = "d_boost_gyro_delta_lpf_hz_help" > < / div >
< / td >
< / tr >
< / tbody >
< / table >
< / div >
< div class = "clear-both" > < / div >
< div class = "tab_subtitle" data-i18n = "tpaMechanics" style = "margin-top: 1em;" > < / div >
< div class = "cf_column" style = "margin-top:1em;" >
< table class = "settings-table settings-table--misc" >
< tr >
< th data-i18n = "pidTuningTPA" > < / th >
< td >
< input type = "number" class = "rate-tpa_input" id = "tpa" step = "1" min = "0" max = "100" / >
%
< div class = "helpicon cf_tip" data-i18n_title = "pidTuningTPAHelp" > < / div >
< / td >
< / tr >
< tr >
< th data-i18n = "pidTuningTPABreakPoint" > < / th >
< td >
< input type = "number" class = "rate-tpa_input" id = "tpa-breakpoint" step = "10" min = "1000"
max="2000" />
< div class = "helpicon cf_tip" data-i18n_title = "pidTuningTPABreakPointHelp" > < / div >
< / td >
< / tr >
< / table >
< / div >
< div class = "clear-both" > < / div >
< div class = "tab_subtitle" data-i18n = "fwLevelTrimMechanics" style = "margin-top: 1em;" > < / div >
< div class = "cf_column" >
< table class = "settings-table settings-table--filtering" >
< tbody >
< tr >
< th data-i18n = "fw_level_pitch_trim" > < / th >
< td >
< input data-setting = "fw_level_pitch_trim" class = "rate-tpa_input" / >
< div class = "helpicon cf_tip" data-i18n_title = "fw_level_pitch_trim_help" > < / div >
< / td >
< / tr >
< / tbody >
< / table >
< / div >
< / div >
< / div >
< div class = "clear-both" > < / div >
< div class = "content_toolbar" >
< div class = "btn save_btn" >
< a class = "update" href = "#" data-i18n = "pidTuningButtonSave" > < / a >
< / div >
< div class = "btn refresh_btn" >
< a class = "refresh" href = "#" data-i18n = "pidTuningButtonRefresh" > < / a >
< / div >
< / div >
< / div >
