diff --git a/build/script.js b/build/script.js
index 49e7b55a..e4e20f51 100644
--- a/build/script.js
+++ b/build/script.js
@@ -11493,7 +11493,12 @@ var FC = {
return ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "FAKE"];
},
getBarometerNames: function () {
- return ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "FAKE"];
+ if (semver.gte(CONFIG.flightControllerVersion, "1.6.2")) {
+ return ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "FAKE"];
+ }
+ else {
+ return ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "FAKE"];
+ }
},
getPitotNames: function () {
return ["NONE", "AUTO", "MS4525", "FAKE"];
@@ -11534,6 +11539,25 @@ var FC = {
"Attitude",
"Cruise"
]
+ },
+ getPidNames: function () {
+
+ if (semver.lt(CONFIG.flightControllerVersion, "1.6.0")) {
+ return PID_names;
+ } else {
+ return [
+ 'Roll',
+ 'Pitch',
+ 'Yaw',
+ 'Position Z',
+ 'Position XY',
+ 'Velocity XY',
+ 'Surface',
+ 'Level',
+ 'Heading',
+ 'Velocity Z'
+ ];
+ }
}
};
@@ -20166,38 +20190,21 @@ TABS.pid_tuning.initialize = function (callback) {
$('#content').load("./tabs/pid_tuning.html", process_html);
}
- var sectionClasses = [
- 'ROLL', // 0
- 'PITCH', // 1
- 'YAW', // 2
- 'ALT', // 3
- 'Pos', // 4
- 'PosR', // 5
- 'NavR', // 6
- 'LEVEL', // 7
- 'MAG', // 8
- 'Vario' // 9
- ];
-
function pid_and_rc_to_form() {
// Fill in the data from PIDs array
- var i;
- /*
- * Iterate over registered sections/PID controllers
- */
- for (var sectionId = 0; sectionId < sectionClasses.length; sectionId++) {
+ var pidNames = FC.getPidNames();
- i = 0;
- /*
- * Now, iterate over inputs inside PID constroller section
- */
- $('.pid_tuning .' + sectionClasses[sectionId] + ' input').each(function () {
- $(this).val(PIDs[sectionId][i]);
- i++;
- });
+ $('[data-pid-bank-position]').each(function () {
+ var $this = $(this),
+ bankPosition = $this.data('pid-bank-position');
- }
+ $this.find('td:first').text(pidNames[bankPosition]);
+
+ $this.find('input').each(function (index) {
+ $(this).val(PIDs[bankPosition][index]);
+ });
+ });
// Fill in data from RC_tuning object
$('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
@@ -20218,14 +20225,14 @@ TABS.pid_tuning.initialize = function (callback) {
function form_to_pid_and_rc() {
- var i;
- for (var sectionId = 0; sectionId < sectionClasses.length; sectionId++) {
- i = 0;
- $('table.pid_tuning tr.' + sectionClasses[sectionId] + ' input').each(function () {
- PIDs[sectionId][i] = parseFloat($(this).val());
- i++;
- });
- }
+ $('[data-pid-bank-position]').each(function () {
+ var $this = $(this),
+ bankPosition = $this.data('pid-bank-position');
+
+ $this.find('input').each(function (index) {
+ PIDs[bankPosition][index] = parseFloat($(this).val());
+ })
+ });
// catch RC_tuning changes
RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
@@ -20276,16 +20283,6 @@ TABS.pid_tuning.initialize = function (callback) {
updateActivatedTab();
});
- var i;
-
- $('.pid_tuning tr').each(function(){
- for(i = 0; i < PID_names.length; i++) {
- if($(this).hasClass(PID_names[i])) {
- $(this).find('td:first').text(PID_names[i]);
- }
- }
- });
-
pid_and_rc_to_form();
if (FC.isRatesInDps()) {
@@ -20314,11 +20311,11 @@ TABS.pid_tuning.initialize = function (callback) {
$gyroSoftLpfHz.val(FILTER_CONFIG.gyroSoftLpfHz);
$accSoftLpfHz.val(INAV_PID_CONFIG.accSoftLpfHz);
$dtermLpfHz.val(FILTER_CONFIG.dtermLpfHz);
- $yawLpfHz.val(FILTER_CONFIG.yawLpfHz),
+ $yawLpfHz.val(FILTER_CONFIG.yawLpfHz);
$rollPitchItermIgnoreRate.val(PID_ADVANCED.rollPitchItermIgnoreRate);
$yawItermIgnoreRate.val(PID_ADVANCED.yawItermIgnoreRate);
$axisAccelerationLimitRollPitch.val(PID_ADVANCED.axisAccelerationLimitRollPitch * 10);
- $axisAccelerationLimitYaw.val(PID_ADVANCED.axisAccelerationLimitYaw * 10)
+ $axisAccelerationLimitYaw.val(PID_ADVANCED.axisAccelerationLimitYaw * 10);
$magHoldYawRate.change(function () {
INAV_PID_CONFIG.magHoldRateLimit = parseInt($magHoldYawRate.val(), 10);
@@ -23254,15 +23251,15 @@ helper.mspQueue = (function (serial, MSP) {
privateScope.handlerFrequency = 100;
privateScope.balancerFrequency = 20;
- privateScope.loadFilter = new classes.SimpleSmoothFilter(1, 0.9);
- privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.99);
- privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(10, 0.99);
+ privateScope.loadFilter = new classes.SimpleSmoothFilter(1, 0.85);
+ privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.95);
+ privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(10, 0.95);
/**
* Target load for MSP queue. When load is above target, throttling might start to appear
* @type {number}
*/
- privateScope.targetLoad = 1.5;
+ privateScope.targetLoad = 2;
privateScope.statusDropFactor = 0.75;
privateScope.currentLoad = 0;
@@ -23274,7 +23271,7 @@ helper.mspQueue = (function (serial, MSP) {
privateScope.loadPidController = new classes.PidController();
privateScope.loadPidController.setTarget(privateScope.targetLoad);
privateScope.loadPidController.setOutput(0, 99, 0);
- privateScope.loadPidController.setGains(10, 4, 1);
+ privateScope.loadPidController.setGains(5, 6, 3);
privateScope.loadPidController.setItermLimit(0, 90);
privateScope.dropRatio = 0;
diff --git a/build/styles.css b/build/styles.css
index e421bb6c..9a74dd91 100644
--- a/build/styles.css
+++ b/build/styles.css
@@ -396,7 +396,7 @@ input[type="number"]::-webkit-inner-spin-button {
}
.sonaricon.active {
- background-image: url("images/icons/sensor_sonar_on.png");
+ background-image: url("../images/icons/sensor_sonar_on.png");
color: #818181;
}
diff --git a/js/fc.js b/js/fc.js
index 6900ccc2..44831a43 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -696,7 +696,12 @@ var FC = {
return ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "FAKE"];
},
getBarometerNames: function () {
- return ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "FAKE"];
+ if (semver.gte(CONFIG.flightControllerVersion, "1.6.2")) {
+ return ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "FAKE"];
+ }
+ else {
+ return ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "FAKE"];
+ }
},
getPitotNames: function () {
return ["NONE", "AUTO", "MS4525", "FAKE"];
@@ -737,5 +742,24 @@ var FC = {
"Attitude",
"Cruise"
]
+ },
+ getPidNames: function () {
+
+ if (semver.lt(CONFIG.flightControllerVersion, "1.6.0")) {
+ return PID_names;
+ } else {
+ return [
+ 'Roll',
+ 'Pitch',
+ 'Yaw',
+ 'Position Z',
+ 'Position XY',
+ 'Velocity XY',
+ 'Surface',
+ 'Level',
+ 'Heading',
+ 'Velocity Z'
+ ];
+ }
}
};
diff --git a/js/serial_queue.js b/js/serial_queue.js
index a033f076..0c6b14cd 100644
--- a/js/serial_queue.js
+++ b/js/serial_queue.js
@@ -10,15 +10,15 @@ helper.mspQueue = (function (serial, MSP) {
privateScope.handlerFrequency = 100;
privateScope.balancerFrequency = 20;
- privateScope.loadFilter = new classes.SimpleSmoothFilter(1, 0.9);
- privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.99);
- privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(10, 0.99);
+ privateScope.loadFilter = new classes.SimpleSmoothFilter(1, 0.85);
+ privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.95);
+ privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(10, 0.95);
/**
* Target load for MSP queue. When load is above target, throttling might start to appear
* @type {number}
*/
- privateScope.targetLoad = 1.5;
+ privateScope.targetLoad = 2;
privateScope.statusDropFactor = 0.75;
privateScope.currentLoad = 0;
@@ -30,7 +30,7 @@ helper.mspQueue = (function (serial, MSP) {
privateScope.loadPidController = new classes.PidController();
privateScope.loadPidController.setTarget(privateScope.targetLoad);
privateScope.loadPidController.setOutput(0, 99, 0);
- privateScope.loadPidController.setGains(10, 4, 1);
+ privateScope.loadPidController.setGains(5, 6, 3);
privateScope.loadPidController.setItermLimit(0, 90);
privateScope.dropRatio = 0;
diff --git a/main.css b/main.css
index e5280058..b62c5b56 100644
--- a/main.css
+++ b/main.css
@@ -396,7 +396,7 @@ input[type="number"]::-webkit-inner-spin-button {
}
.sonaricon.active {
- background-image: url("images/icons/sensor_sonar_on.png");
+ background-image: url("../images/icons/sensor_sonar_on.png");
color: #818181;
}
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index a32f9287..0a6cb927 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -34,21 +34,21 @@
-
+
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-
+
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-
+
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@@ -62,14 +62,14 @@
-
+
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-
+
| VEL |
|
@@ -83,7 +83,7 @@
-
+
|
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@@ -97,21 +97,21 @@
-
+
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-
+
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@@ -135,7 +135,7 @@
-
+
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diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index a192047e..35cb7373 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -29,38 +29,21 @@ TABS.pid_tuning.initialize = function (callback) {
$('#content').load("./tabs/pid_tuning.html", process_html);
}
- var sectionClasses = [
- 'ROLL', // 0
- 'PITCH', // 1
- 'YAW', // 2
- 'ALT', // 3
- 'Pos', // 4
- 'PosR', // 5
- 'NavR', // 6
- 'LEVEL', // 7
- 'MAG', // 8
- 'Vario' // 9
- ];
-
function pid_and_rc_to_form() {
// Fill in the data from PIDs array
- var i;
- /*
- * Iterate over registered sections/PID controllers
- */
- for (var sectionId = 0; sectionId < sectionClasses.length; sectionId++) {
-
- i = 0;
- /*
- * Now, iterate over inputs inside PID constroller section
- */
- $('.pid_tuning .' + sectionClasses[sectionId] + ' input').each(function () {
- $(this).val(PIDs[sectionId][i]);
- i++;
- });
+ var pidNames = FC.getPidNames();
- }
+ $('[data-pid-bank-position]').each(function () {
+ var $this = $(this),
+ bankPosition = $this.data('pid-bank-position');
+
+ $this.find('td:first').text(pidNames[bankPosition]);
+
+ $this.find('input').each(function (index) {
+ $(this).val(PIDs[bankPosition][index]);
+ });
+ });
// Fill in data from RC_tuning object
$('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
@@ -81,14 +64,14 @@ TABS.pid_tuning.initialize = function (callback) {
function form_to_pid_and_rc() {
- var i;
- for (var sectionId = 0; sectionId < sectionClasses.length; sectionId++) {
- i = 0;
- $('table.pid_tuning tr.' + sectionClasses[sectionId] + ' input').each(function () {
- PIDs[sectionId][i] = parseFloat($(this).val());
- i++;
- });
- }
+ $('[data-pid-bank-position]').each(function () {
+ var $this = $(this),
+ bankPosition = $this.data('pid-bank-position');
+
+ $this.find('input').each(function (index) {
+ PIDs[bankPosition][index] = parseFloat($(this).val());
+ })
+ });
// catch RC_tuning changes
RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
@@ -139,16 +122,6 @@ TABS.pid_tuning.initialize = function (callback) {
updateActivatedTab();
});
- var i;
-
- $('.pid_tuning tr').each(function(){
- for(i = 0; i < PID_names.length; i++) {
- if($(this).hasClass(PID_names[i])) {
- $(this).find('td:first').text(PID_names[i]);
- }
- }
- });
-
pid_and_rc_to_form();
if (FC.isRatesInDps()) {
@@ -177,11 +150,11 @@ TABS.pid_tuning.initialize = function (callback) {
$gyroSoftLpfHz.val(FILTER_CONFIG.gyroSoftLpfHz);
$accSoftLpfHz.val(INAV_PID_CONFIG.accSoftLpfHz);
$dtermLpfHz.val(FILTER_CONFIG.dtermLpfHz);
- $yawLpfHz.val(FILTER_CONFIG.yawLpfHz),
+ $yawLpfHz.val(FILTER_CONFIG.yawLpfHz);
$rollPitchItermIgnoreRate.val(PID_ADVANCED.rollPitchItermIgnoreRate);
$yawItermIgnoreRate.val(PID_ADVANCED.yawItermIgnoreRate);
$axisAccelerationLimitRollPitch.val(PID_ADVANCED.axisAccelerationLimitRollPitch * 10);
- $axisAccelerationLimitYaw.val(PID_ADVANCED.axisAccelerationLimitYaw * 10)
+ $axisAccelerationLimitYaw.val(PID_ADVANCED.axisAccelerationLimitYaw * 10);
$magHoldYawRate.change(function () {
INAV_PID_CONFIG.magHoldRateLimit = parseInt($magHoldYawRate.val(), 10);