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267 lines
9.8 KiB
JavaScript
267 lines
9.8 KiB
JavaScript
/*global chrome*/
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'use strict';
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TABS.pid_tuning = {
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};
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TABS.pid_tuning.initialize = function (callback) {
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var loadChainer = new MSPChainerClass();
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var loadChain = [
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mspHelper.loadPidNames,
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mspHelper.loadPidData,
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mspHelper.loadINAVPidConfig,
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mspHelper.loadPidAdvanced,
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mspHelper.loadFilterConfig
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];
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if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
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loadChain.push(mspHelper.loadRateProfileData);
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} else {
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loadChain.push(mspHelper.loadRcTuningData);
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}
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loadChainer.setChain(loadChain);
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loadChainer.setExitPoint(load_html);
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loadChainer.execute();
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if (GUI.active_tab != 'pid_tuning') {
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GUI.active_tab = 'pid_tuning';
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googleAnalytics.sendAppView('PID Tuning');
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}
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function load_html() {
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$('#content').load("./tabs/pid_tuning.html", process_html);
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}
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function pid_and_rc_to_form() {
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// Fill in the data from PIDs array
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var pidNames = FC.getPidNames();
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$('[data-pid-bank-position]').each(function () {
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var $this = $(this),
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bankPosition = $this.data('pid-bank-position');
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$this.find('td:first').text(pidNames[bankPosition]);
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$this.find('input').each(function (index) {
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$(this).val(PIDs[bankPosition][index]);
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});
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});
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// Fill in data from RC_tuning object
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$('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
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$('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate);
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$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate);
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$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate);
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$('.rate-tpa input[name="manual_roll"]').val(RC_tuning.manual_roll_rate);
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$('.rate-tpa input[name="manual_pitch"]').val(RC_tuning.manual_pitch_rate);
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$('.rate-tpa input[name="manual_yaw"]').val(RC_tuning.manual_yaw_rate);
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$('#tpa').val(RC_tuning.dynamic_THR_PID);
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$('#tpa-breakpoint').val(RC_tuning.dynamic_THR_breakpoint);
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}
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function form_to_pid_and_rc() {
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$('[data-pid-bank-position]').each(function () {
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var $this = $(this),
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bankPosition = $this.data('pid-bank-position');
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$this.find('input').each(function (index) {
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PIDs[bankPosition][index] = parseFloat($(this).val());
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})
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});
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// catch RC_tuning changes
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RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
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RC_tuning.roll_rate = parseFloat($('.rate-tpa input[name="roll"]:visible').val());
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RC_tuning.pitch_rate = parseFloat($('.rate-tpa input[name="pitch"]:visible').val());
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RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]:visible').val());
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RC_tuning.dynamic_THR_PID = parseInt($('#tpa').val());
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RC_tuning.dynamic_THR_breakpoint = parseInt($('#tpa-breakpoint').val());
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RC_tuning.manual_roll_rate = $('.rate-tpa input[name="manual_roll"]:visible').val();
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RC_tuning.manual_pitch_rate = $('.rate-tpa input[name="manual_pitch"]:visible').val();
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RC_tuning.manual_yaw_rate = $('.rate-tpa input[name="manual_yaw"]:visible').val();
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}
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function hideUnusedPids(sensors_detected) {
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$('.tab-pid_tuning table.pid_tuning').hide();
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$('#pid_main').show();
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if (have_sensor(sensors_detected, 'acc')) {
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$('#pid_accel').show();
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}
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if (have_sensor(sensors_detected, 'baro')) {
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$('#pid_baro').show();
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}
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if (have_sensor(sensors_detected, 'mag')) {
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$('#pid_mag').show();
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}
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if (bit_check(BF_CONFIG.features, 7)) { //This will need to be reworked to remove BF_CONFIG reference eventually
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$('#pid_gps').show();
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}
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if (have_sensor(sensors_detected, 'sonar')) {
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$('#pid_baro').show();
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}
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}
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function process_html() {
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// translate to user-selected language
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localize();
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hideUnusedPids(CONFIG.activeSensors);
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$('#showAllPids').on('click', function(){
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if($(this).text() == "Show all PIDs") {
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$('.tab-pid_tuning table.pid_tuning').show();
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$(this).text('Hide unused PIDs');
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} else {
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hideUnusedPids(CONFIG.activeSensors);
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$(this).text('Show all PIDs');
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}
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});
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$('#resetPIDs').on('click', function(){
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MSP.send_message(MSPCodes.MSP_SET_RESET_CURR_PID, false, false, false);
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updateActivatedTab();
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});
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pid_and_rc_to_form();
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var $magHoldYawRate = $("#magHoldYawRate"),
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$yawJumpPreventionLimit = $('#yawJumpPreventionLimit'),
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$yawPLimit = $('#yawPLimit'),
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$gyroSoftLpfHz = $('#gyroSoftLpfHz'),
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$accSoftLpfHz = $('#accSoftLpfHz'),
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$dtermLpfHz = $('#dtermLpfHz'),
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$yawLpfHz = $('#yawLpfHz'),
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$rollPitchItermIgnoreRate = $('#rollPitchItermIgnoreRate'),
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$yawItermIgnoreRate = $('#yawItermIgnoreRate'),
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$axisAccelerationLimitRollPitch = $('#axisAccelerationLimitRollPitch'),
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$axisAccelerationLimitYaw = $('#axisAccelerationLimitYaw');
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$magHoldYawRate.val(INAV_PID_CONFIG.magHoldRateLimit);
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$yawJumpPreventionLimit.val(INAV_PID_CONFIG.yawJumpPreventionLimit);
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$yawPLimit.val(PID_ADVANCED.yawPLimit);
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$gyroSoftLpfHz.val(FILTER_CONFIG.gyroSoftLpfHz);
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$accSoftLpfHz.val(INAV_PID_CONFIG.accSoftLpfHz);
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$dtermLpfHz.val(FILTER_CONFIG.dtermLpfHz);
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$yawLpfHz.val(FILTER_CONFIG.yawLpfHz);
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$rollPitchItermIgnoreRate.val(PID_ADVANCED.rollPitchItermIgnoreRate);
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$yawItermIgnoreRate.val(PID_ADVANCED.yawItermIgnoreRate);
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$axisAccelerationLimitRollPitch.val(PID_ADVANCED.axisAccelerationLimitRollPitch * 10);
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$axisAccelerationLimitYaw.val(PID_ADVANCED.axisAccelerationLimitYaw * 10);
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$magHoldYawRate.change(function () {
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INAV_PID_CONFIG.magHoldRateLimit = parseInt($magHoldYawRate.val(), 10);
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});
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$yawJumpPreventionLimit.change(function () {
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INAV_PID_CONFIG.yawJumpPreventionLimit = parseInt($yawJumpPreventionLimit.val(), 10);
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});
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$yawPLimit.change(function () {
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PID_ADVANCED.yawPLimit = parseInt($yawPLimit.val(), 10);
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});
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$gyroSoftLpfHz.change(function () {
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FILTER_CONFIG.gyroSoftLpfHz = parseInt($gyroSoftLpfHz.val(), 10);
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});
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$accSoftLpfHz.change(function () {
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INAV_PID_CONFIG.accSoftLpfHz = parseInt($accSoftLpfHz.val(), 10);
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});
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$dtermLpfHz.change(function () {
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FILTER_CONFIG.dtermLpfHz = parseInt($dtermLpfHz.val(), 10);
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});
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$yawLpfHz.change(function () {
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FILTER_CONFIG.yawLpfHz = parseInt($yawLpfHz.val(), 10);
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});
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$rollPitchItermIgnoreRate.change(function () {
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PID_ADVANCED.rollPitchItermIgnoreRate = parseInt($rollPitchItermIgnoreRate.val(), 10);
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});
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$yawItermIgnoreRate.change(function () {
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PID_ADVANCED.yawItermIgnoreRate = parseInt($yawItermIgnoreRate.val(), 10);
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});
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$axisAccelerationLimitRollPitch.change(function () {
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PID_ADVANCED.axisAccelerationLimitRollPitch = Math.round(parseInt($axisAccelerationLimitRollPitch.val(), 10) / 10);
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});
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$axisAccelerationLimitYaw.change(function () {
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PID_ADVANCED.axisAccelerationLimitYaw = Math.round(parseInt($axisAccelerationLimitYaw.val(), 10) / 10);
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});
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if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
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$('.requires-v1_6').show();
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} else {
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$('.requires-v1_6').hide();
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}
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GUI.simpleBind();
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// UI Hooks
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$('a.refresh').click(function () {
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GUI.tab_switch_cleanup(function () {
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GUI.log(chrome.i18n.getMessage('pidTuningDataRefreshed'));
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TABS.pid_tuning.initialize();
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});
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});
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// update == save.
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$('a.update').click(function () {
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form_to_pid_and_rc();
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function send_pids() {
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MSP.send_message(MSPCodes.MSP_SET_PID, mspHelper.crunch(MSPCodes.MSP_SET_PID), false, send_rc_tuning_changes);
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}
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function send_rc_tuning_changes() {
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if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
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MSP.send_message(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE), false, saveINAVPidConfig);
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} else {
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MSP.send_message(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING), false, saveINAVPidConfig);
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}
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}
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function saveINAVPidConfig() {
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MSP.send_message(MSPCodes.MSP_SET_INAV_PID, mspHelper.crunch(MSPCodes.MSP_SET_INAV_PID), false, savePidAdvanced);
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}
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function savePidAdvanced() {
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MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED, mspHelper.crunch(MSPCodes.MSP_SET_PID_ADVANCED), false, saveFilterConfig);
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}
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function saveFilterConfig() {
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MSP.send_message(MSPCodes.MSP_SET_FILTER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FILTER_CONFIG), false, save_to_eeprom);
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}
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function save_to_eeprom() {
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MSP.send_message(MSPCodes.MSP_EEPROM_WRITE, false, false, function () {
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GUI.log(chrome.i18n.getMessage('pidTuningEepromSaved'));
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});
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}
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send_pids();
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});
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GUI.content_ready(callback);
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}
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};
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TABS.pid_tuning.cleanup = function (callback) {
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if (callback) {
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callback();
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}
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};
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