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inav-configurator
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Restructure PID Tab to have more settings

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pull/770/head
Pawel Spychalski (DzikuVx) 5 years ago
parent 150f6c9dc3
commit 2fc21f6c1f
2 changed files with 170 additions and 46 deletions
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39
_locales/en/messages.json
Unescape Escape View File

@ -3057,5 +3057,44 @@
},
"itermRelaxCutoffHelp": {
"message": "Lower values open a longer time window for Iterm Relax to work on and stronger Iterm supression. Higher values shortens the time windows and reduces supression."
},
"gyro_lpf_type": {
"message": "Gyro LPF type"
},
"gyro_lpf_type_help": {
"message": "BIQUAD offers better noise attenuation for a price of higher delay. PT1 has lower attenuation but offers lower delay."
},
"tabFilteringAdvanced": {
"message": "Advanced filtering"
},
"acc_lpf_type": {
"message": "Accelerometer LPF type"
},
"acc_lpf_type_help": {
"message": "BIQUAD offers better noise attenuation for a price of higher delay. PT1 has lower attenuation but offers lower delay."
},
"dTermMechanics": {
"message": "D-term mechanics"
},
"d_boost_factor": {
"message": "D-Boost Factor"
},
"d_boost_factor_help": {
"message": "Defines the max. Dterm boost when max. angular acceleration is reached. 1.0 means D-Boost is diabled, 2.0 means Dterm is allowed grow by 100%. Values between 1.5 and 1.7 are usually the sweet spot."
},
"d_boost_max_at_acceleration": {
"message": "Top D-Boost at acceleration [dps^2]"
},
"d_boost_max_at_acceleration_help": {
"message": "D-Boost is fully active when angular acceleration (either detected by gyro or rate target) reached given acceleration. Between 0 and this value, D-Boost factor is scaled lineary"
},
"d_boost_gyro_delta_lpf_hz": {
"message": "D-Boost gyro LPF"
},
"d_boost_gyro_delta_lpf_hz_help": {
"message": "Should be set to the frequency of propwash oscillations. 5-inch quads work best at around 80Hz, 7-inch quads at around 50Hz"
},
"iTermMechanics": {
"message": "I-term mechanics"
}
}

177
tabs/pid_tuning.html
Unescape Escape View File

@ -221,10 +221,128 @@
</div>
</div>
</form>
<div class="clear-both"></div>
<div class="tab_title" data-i18n="iTermMechanics" style="margin-top: 1em;"></div>
<div class="cf_column half">
<table class="rate-tpa rate-tpa--filtering">
<tbody>
<tr class="requires-v2_2">
<th data-i18n="itermRelax"></th>
<td >
<select data-setting="mc_iterm_relax" />
<div class="helpicon cf_tip" data-i18n_title="itermRelaxHelp"></div>
</td>
</tr>
<tr class="requires-v2_2">
<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>
</tbody>
</table>
</div>
<div class="cf_column half">
<table class="spacer_left rate-tpa rate-tpa--filtering">
<tbody>
<tr class="requires-v2_2">
<th data-i18n="itermRelaxType"></th>
<td >
<select data-setting="mc_iterm_relax_type" />
<div class="helpicon cf_tip" data-i18n_title="itermRelaxTypeHelp"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="clear-both"></div>
<div class="tab_title" data-i18n="dTermMechanics" style="margin-top: 1em;"></div>
<div class="cf_column half">
<table class="rate-tpa rate-tpa--filtering">
<tbody>
<tr>
<th data-i18n="dtermSetpointWeight"></th>
<td >
<input type="number" data-setting="dterm_setpoint_weight" class="rate-tpa_input"/>
<div class="helpicon cf_tip" data-i18n_title="dtermSetpointWeightHelp"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="d_boost_factor"></th>
<td >
<input data-setting="d_boost_factor" class="rate-tpa_input" />
<div class="helpicon cf_tip" data-i18n_title="d_boost_factor_help"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="cf_column half">
<table class="spacer_left rate-tpa rate-tpa--filtering">
<tbody>
<tr class="requires-v2_2">
<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 class="requires-v2_2">
<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_title" data-i18n="tabFiltering" style="margin-top: 1em;"></div>
<div class="cf_column half">
<table class="rate-tpa rate-tpa--filtering">
<tbody>
<tr class="requires-v2_2">
<th data-i18n="gyro_lpf_type"></th>
<td >
<select data-setting="gyro_lpf_type" />
<div class="helpicon cf_tip" data-i18n_title="gyro_lpf_type_help"></div>
</td>
</tr>
<tr class="requires-v2_1">
<th data-i18n="gyroStage2LpfCutoffFrequency"></th>
<td>
<input type="number" id="gyroStage2LpfCutoffFrequency" data-simple-bind="FILTER_CONFIG.gyroStage2LowpassHz" class="rate-tpa_input" step="1" min="0" max="500" /> Hz
<div class="helpicon cf_tip" data-i18n_title="gyroStage2LpfCutoffFrequencyHelp"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="acc_lpf_type"></th>
<td >
<select data-setting="acc_lpf_type" />
<div class="helpicon cf_tip" data-i18n_title="acc_lpf_type_help"></div>
</td>
</tr>
<tr>
<th data-i18n="yawLpfCutoffFrequency"></th>
<td>
<input type="number" id="yawLpfHz" class="rate-tpa_input" step="1" min="0" max="200" /> Hz
<div class="helpicon cf_tip" data-i18n_title="yawLpfCutoffFrequencyHelp"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="cf_column half">
<table class="spacer_left rate-tpa rate-tpa--filtering">
<tbody>
<tr>
<th data-i18n="gyroLpfCutoffFrequency"></th>
@ -233,11 +351,11 @@
<div class="helpicon cf_tip" data-i18n_title="gyroLpfCutoffFrequencyHelp"></div>
</td>
</tr>
<tr class="requires-v2_1">
<th data-i18n="gyroStage2LpfCutoffFrequency"></th>
<tr>
<th data-i18n="dtermLpfCutoffFrequency"></th>
<td>
<input type="number" id="gyroStage2LpfCutoffFrequency" data-simple-bind="FILTER_CONFIG.gyroStage2LowpassHz" class="rate-tpa_input" step="1" min="0" max="500" /> Hz
<div class="helpicon cf_tip" data-i18n_title="gyroStage2LpfCutoffFrequencyHelp"></div>
<input type="number" id="dtermLpfHz" class="rate-tpa_input" step="1" min="0" max="200" /> Hz
<div class="helpicon cf_tip" data-i18n_title="dtermLpfCutoffFrequencyHelp"></div>
</td>
</tr>
<tr>
@ -247,7 +365,15 @@
<div class="helpicon cf_tip" data-i18n_title="accLpfCutoffFrequencyHelp"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="clear-both"></div>
<div class="tab_title" data-i18n="tabFilteringAdvanced" style="margin-top: 1em;"></div>
<div class="cf_column half">
<table class="rate-tpa rate-tpa--filtering">
<tbody>
<tr>
<th data-i18n="gyroNotchHz1"></th>
<td>
@ -280,23 +406,10 @@
</tbody>
</table>
</div>
<div class="cf_column half">
<table class="spacer_left rate-tpa rate-tpa--filtering">
<tbody>
<tr>
<th data-i18n="dtermLpfCutoffFrequency"></th>
<td>
<input type="number" id="dtermLpfHz" class="rate-tpa_input" step="1" min="0" max="200" /> Hz
<div class="helpicon cf_tip" data-i18n_title="dtermLpfCutoffFrequencyHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="yawLpfCutoffFrequency"></th>
<td>
<input type="number" id="yawLpfHz" class="rate-tpa_input" step="1" min="0" max="200" /> Hz
<div class="helpicon cf_tip" data-i18n_title="yawLpfCutoffFrequencyHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="dtermNotchHz"></th>
<td>
@ -333,34 +446,6 @@
<div class="tab_title" data-i18n="tabMisc" style="margin-top: 1em;"></div>
<div class="cf_column half">
<table class="rate-tpa rate-tpa--misc">
<tr>
<th data-i18n="dtermSetpointWeight"></th>
<td >
<input type="number" data-setting="dterm_setpoint_weight" class="rate-tpa_input"/>
<div class="helpicon cf_tip" data-i18n_title="dtermSetpointWeightHelp"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="itermRelax"></th>
<td >
<select data-setting="mc_iterm_relax" />
<div class="helpicon cf_tip" data-i18n_title="itermRelaxHelp"></div>
</td>
</tr>
<tr class="requires-v2_2">
<th data-i18n="itermRelaxType"></th>
<td >
<select data-setting="mc_iterm_relax_type" />
<div class="helpicon cf_tip" data-i18n_title="itermRelaxTypeHelp"></div>
</td>
</tr>
<tr class="requires-v2_2">
<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="yawJumpPreventionLimit"></th>
<td >

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