Merge pull request #1047 from iNavFlight/dzikuvx-setpoint-kalman-ui

UI for setpoint Kalman filter

tabs/pid_tuning.html

@@ -327,6 +327,24 @@
                                 <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 class="requires-v2_5">
+                            <th>Unicorn Filter</th>
+                            <td>
+                                <select data-setting="setpoint_kalman_enabled" />
+                            </td>
+                        </tr>
+                        <tr class="requires-v2_6">
+                            <th>Unicorn Filter Q Factor</th>
+                            <td>
+                                <input data-setting="setpoint_kalman_q" type="number" class="rate-tpa_input" />
+                            </td>
+                        </tr>
+                        <tr class="requires-v2_6">
+                            <th>Unicorn Filter Window Size</th>
+                            <td>
+                                <input data-setting="setpoint_kalman_w" type="number" class="rate-tpa_input" />
+                            </td>
+                        </tr>
                         <tr>
                             <th data-i18n="gyro_lpf_type"></th>
                             <td>

tabs/pid_tuning.js

@@ -126,6 +126,14 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.hides-v2_5').show();
         }
 
+        if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
+            $('.requires-v2_6').show();
+            $('.hides-v2_6').hide();
+        } else {
+            $('.requires-v2_6').hide();
+            $('.hides-v2_6').show();
+        }
+
         helper.tabs.init($('.tab-pid_tuning'));
         helper.features.updateUI($('.tab-pid_tuning'), BF_CONFIG.features);