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inav-configurator
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inav-configurator/tabs/pid_tuning.html

452 lines
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<!--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" data-i18n="pidTuning_PIDgains"></span>
<span class="subtab__header_label" for="subtab-rates" data-i18n="pidTuning_RatesAndExpo"></span>
<span class="subtab__header_label" for="subtab-filters" data-i18n="pidTuning_Filters"></span>
<span class="subtab__header_label" for="subtab-mechanics" data-i18n="pidTuning_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" data-i18n="pidTuning_ShowAllPIDs"></a>
</div>
<div class="default_btn resetbt">
<a href="#" id="resetDefaults" data-i18n="pidTuning_SelectNewDefaults"></a>
</div>
<div class="default_btn resetbt">
<a href="#" id="resetPIDs" data-i18n="pidTuning_ResetPIDController"></a>
</div>
</div>
<div class="tab_subtitle" style="margin-top: 1em;" data-i18n="pidTuning_PIDgains"></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="pidTuning_Name"></th>
<th class="proportional" data-i18n="pidTuning_Proportional"></th>
<th class="integral" data-i18n="pidTuning_Integral"></th>
<th class="derivative" data-i18n="pidTuning_Derivative"></th>
<th class="feedforward" data-i18n="pidTuning_FeedForward"></th>
</tr>
</table>
<table id="pid_main" class="pid_tuning">
<tr>
<th colspan="5">
<div class="pid_mode" data-i18n="pidTuning_Basic"></div>
</th>
</tr>
<tr class="ROLL" data-pid-bank-position="0">
<!-- 0 -->
<td></td>
<td><input class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" 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 class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" 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 class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" 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="pidTuning_Altitude"></div>
</th>
</tr>
<tr class="ALT" data-pid-bank-position="3">
<!-- 3 -->
<td></td>
<td><input class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" 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 class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" 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="pidTuning_Mag"></div>
</th>
</tr>
<tr class="MAG" data-pid-bank-position="8">
<!-- 8 -->
<td></td>
<td><input class="controlProfileHighlight" 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 class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" 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="pidTuning_GPS"></div>
</th>
</tr>
<tr class="Pos" data-pid-bank-position="4">
<!-- 4 -->
<td></td>
<td><input class="controlProfileHighlight" 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 class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="d" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" 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="pidTuning_Level"></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_LevelHelp"></div>
</div>
<div class="pids" data-i18n="pidTuning_LevelP"></div>
<div class="pids" data-i18n="pidTuning_LevelI"></div>
<div class="pids" data-i18n="pidTuning_LevelD"></div>
</div>
</th>
</tr>
<tr class="LEVEL" data-pid-bank-position="7">
<!-- 7 -->
<td></td>
<td><input class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" 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;" data-i18n="pidTuning_RatesAndExpo"></div>
<div class="clear-both"></div>
<div class="cf_column">
<table class="settings-table settings-table--inav">
<tbody>
<tr>
<th class="roll" data-i18n="pidTuning_RollRate"></th>
<td class="roll">
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="roll_rate" data-unit="decadegps" /></div>
</td>
</tr>
<tr>
<th class="pitch" data-i18n="pidTuning_PitchRate"></th>
<td class="pitch">
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="pitch_rate" data-unit="decadegps" /></div>
</td>
</tr>
<tr>
<th class="yaw" data-i18n="pidTuning_YawRate"></th>
<td class="yaw">
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="yaw_rate" data-unit="decadegps" /></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_RollAndPitchExpo"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="rc_expo" data-unit="percent" /></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_YawExpo"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="rc_yaw_expo" data-unit="percent" /></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_MaxRollAngle"></th>
<td>
<div class="pidTuning_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="pidTuning_MaxRollAngleHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_MaxPitchAngle"></th>
<td>
<div class="pidTuning_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="pidTuning_MaxPitchAngleHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_magHoldYawRate"></th>
<td>
<div class="pidTuning_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="pidTuning_MagHoldYawRateHelp"></div>
</td>
</tr>
<tr>
<th class="roll" data-i18n="pidTuning_ManualRollRate"></th>
<td class="roll">
<div class="pidTuning_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="pidTuning_ManualPitchRate"></th>
<td class="pitch">
<div class="pidTuning_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="pidTuning_ManualYawRate"></th>
<td class="yaw">
<div class="pidTuning_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="pidTuning_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="pidTuning_gyro_main_lpf_hz"></th>
<td>
<div class="pidTuning_number"><input data-setting="gyro_main_lpf_hz" type="number" class="rate-tpa_input" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_gyro_main_lpf_hz_help"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_MatrixFilterMinFrequency"></th>
<td>
<div class="pidTuning_number"><input data-setting="dynamic_gyro_notch_min_hz" type="number" class="rate-tpa_input" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_MatrixFilterMinFrequencyHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_MatrixFilterQFactor"></th>
<td>
<div class="pidTuning_number"><input data-setting="dynamic_gyro_notch_q" type="number" class="rate-tpa_input" /></div>
<div class="helpicon cf_tip" title=""></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_UnicornFilterQFactor"></th>
<td>
<div class="pidTuning_number"><input data-setting="setpoint_kalman_q" type="number" class="rate-tpa_input" /></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="clear-both"></div>
<div class="tab_subtitle" data-i18n="pidTuning_dtermFilters" style="margin-top: 1em;"></div>
<div class="cf_column">
<table class="settings-table settings-table--filtering">
<tbody>
<tr>
<th data-i18n="pidTuning_dtermLpfCutoffFrequency"></th>
<td>
<div class="pidTuning_number"><input data-setting="dterm_lpf_hz" type="number" class="rate-tpa_input" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_dtermLpfCutoffFrequencyHelp"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="clear-both"></div>
<div class="tab_subtitle" data-i18n="pidTuning_rpmFilters" style="margin-top: 1em;"></div>
<div class="cf_column">
<table class="settings-table settings-table--filtering">
<tbody>
<tr>
<th data-i18n="pidTuning_rpm_gyro_filter_enabled"></th>
<td>
<div class="pidTuning_number"><input type="checkbox" class="toggle update_preview" data-setting="rpm_gyro_filter_enabled" /></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_rpm_gyro_min_hz"></th>
<td>
<div class="pidTuning_number"><input data-setting="rpm_gyro_min_hz" type="number" class="rate-tpa_input" /></div>
</td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="subtab-mechanics" class="subtab__content">
<div class="clear-both"></div>
<div class="tab_subtitle" data-i18n="pidTuning_ITermMechanics" style="margin-top: 1em;"></div>
<div class="cf_column">
<table class="settings-table settings-table--filtering">
<tbody>
<tr>
<th data-i18n="pidTuning_itermRelaxCutoff"></th>
<td>
<div class="pidTuning_number"><input type="number" data-setting="mc_iterm_relax_cutoff" class="rate-tpa_input" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_itermRelaxCutoffHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_antigravityGain"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="antigravity_gain" data-step="0.001" /></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_antigravityAccelerator"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="antigravity_accelerator" data-step="0.001" /></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_antigravityCutoff"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="antigravity_cutoff_lpf_hz" /></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_itermBankAngleFreeze"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="fw_yaw_iterm_freeze_bank_angle" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_itermBankAngleFreezeHelp"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="clear-both"></div>
<div class="tab_subtitle" data-i18n="pidTuning_dTermMechanics" style="margin-top: 1em;"></div>
<div class="cf_column">
<table class="settings-table settings-table--filtering">
<tbody>
<tr>
<th data-i18n="pidTuning_d_boost_min"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="d_boost_min" data-step="0.001" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_d_boost_min_help"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_d_boost_max"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="d_boost_max" data-step="0.001" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_d_boost_max_help"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_d_boost_max_at_acceleration"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="d_boost_max_at_acceleration" data-step="0.001" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_d_boost_max_at_acceleration_help"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_d_boost_gyro_delta_lpf_hz"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="d_boost_gyro_delta_lpf_hz" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_d_boost_gyro_delta_lpf_hz_help"></div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="clear-both"></div>
<div class="tab_subtitle" data-i18n="pidTuning_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="pidTuning_TPA"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="tpa_rate" data-unit="percent" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuningTPAHelp"></div>
</td>
</tr>
<tr>
<th data-i18n="pidTuning_TPABreakPoint"></th>
<td>
<div class="pidTuning_number"><input type="number" class="rate-tpa_input" data-setting="tpa_breakpoint" /></div>
<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="pidTuning_fwLevelTrimMechanics" style="margin-top: 1em;"></div>
<div class="cf_column">
<table class="settings-table settings-table--filtering">
<tbody>
<tr>
<th data-i18n="pidTuning_fw_level_pitch_trim"></th>
<td>
<div class="pidTuning_number"><input class="rate-tpa_input" data-setting="fw_level_pitch_trim" data-unit="deg" /></div>
<div class="helpicon cf_tip" data-i18n_title="pidTuning_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="pidTuning_ButtonSave"></a>
</div>
<div class="btn refresh_btn">
<a class="refresh" href="#" data-i18n="pidTuning_ButtonRefresh"></a>
</div>
</div>
</div>
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