You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
251 lines
8.1 KiB
JavaScript
251 lines
8.1 KiB
JavaScript
/*global chrome,helper,mspHelper*/
|
|
'use strict';
|
|
|
|
TABS.pid_tuning = {
|
|
|
|
};
|
|
|
|
TABS.pid_tuning.initialize = function (callback) {
|
|
|
|
var loadChainer = new MSPChainerClass();
|
|
|
|
var loadChain = [
|
|
mspHelper.loadPidNames,
|
|
mspHelper.loadPidData,
|
|
mspHelper.loadINAVPidConfig,
|
|
mspHelper.loadPidAdvanced,
|
|
mspHelper.loadFilterConfig,
|
|
mspHelper.loadBfConfig
|
|
];
|
|
loadChain.push(mspHelper.loadRateProfileData);
|
|
|
|
loadChainer.setChain(loadChain);
|
|
loadChainer.setExitPoint(load_html);
|
|
loadChainer.execute();
|
|
|
|
if (GUI.active_tab != 'pid_tuning') {
|
|
GUI.active_tab = 'pid_tuning';
|
|
googleAnalytics.sendAppView('PID Tuning');
|
|
}
|
|
|
|
function load_html() {
|
|
GUI.load("./tabs/pid_tuning.html", Settings.processHtml(process_html));
|
|
}
|
|
|
|
function pid_and_rc_to_form() {
|
|
|
|
// Fill in the data from PIDs array
|
|
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-roll').val(RC_tuning.roll_rate);
|
|
$('#rate-pitch').val(RC_tuning.pitch_rate);
|
|
$('#rate-yaw').val(RC_tuning.yaw_rate);
|
|
|
|
$('#rate-manual-roll').val(RC_tuning.manual_roll_rate);
|
|
$('#rate-manual-pitch').val(RC_tuning.manual_pitch_rate);
|
|
$('#rate-manual-yaw').val(RC_tuning.manual_yaw_rate);
|
|
|
|
$('#tpa').val(RC_tuning.dynamic_THR_PID);
|
|
$('#tpa-breakpoint').val(RC_tuning.dynamic_THR_breakpoint);
|
|
}
|
|
|
|
function form_to_pid_and_rc() {
|
|
|
|
$('[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_rate = parseFloat($('#rate-roll').val());
|
|
RC_tuning.pitch_rate = parseFloat($('#rate-pitch').val());
|
|
RC_tuning.yaw_rate = parseFloat($('#rate-yaw').val());
|
|
|
|
RC_tuning.dynamic_THR_PID = parseInt($('#tpa').val());
|
|
RC_tuning.dynamic_THR_breakpoint = parseInt($('#tpa-breakpoint').val());
|
|
|
|
RC_tuning.manual_roll_rate = $('#rate-manual-roll').val();
|
|
RC_tuning.manual_pitch_rate = $('#rate-manual-pitch').val();
|
|
RC_tuning.manual_yaw_rate = $('#rate-manual-yaw').val();
|
|
}
|
|
function hideUnusedPids(sensors_detected) {
|
|
$('.tab-pid_tuning table.pid_tuning').hide();
|
|
$('#pid_main').show();
|
|
|
|
if (have_sensor(sensors_detected, 'acc')) {
|
|
$('#pid_accel').show();
|
|
}
|
|
if (have_sensor(sensors_detected, 'baro')) {
|
|
$('#pid_baro').show();
|
|
}
|
|
if (have_sensor(sensors_detected, 'mag')) {
|
|
$('#pid_mag').show();
|
|
}
|
|
if (bit_check(BF_CONFIG.features, 7)) { //This will need to be reworked to remove BF_CONFIG reference eventually
|
|
$('#pid_gps').show();
|
|
}
|
|
if (have_sensor(sensors_detected, 'sonar')) {
|
|
$('#pid_baro').show();
|
|
}
|
|
}
|
|
function process_html() {
|
|
// translate to user-selected language
|
|
localize();
|
|
|
|
helper.tabs.init($('.tab-pid_tuning'));
|
|
helper.features.updateUI($('.tab-pid_tuning'), BF_CONFIG.features);
|
|
|
|
hideUnusedPids(CONFIG.activeSensors);
|
|
|
|
$('#showAllPids').on('click', function(){
|
|
if($(this).text() == "Show all PIDs") {
|
|
$('.tab-pid_tuning table.pid_tuning').show();
|
|
$(this).text('Hide unused PIDs');
|
|
} else {
|
|
hideUnusedPids(CONFIG.activeSensors);
|
|
$(this).text('Show all PIDs');
|
|
}
|
|
});
|
|
|
|
$('#resetPIDs').on('click', function(){
|
|
MSP.send_message(MSPCodes.MSP_SET_RESET_CURR_PID, false, false, false);
|
|
updateActivatedTab();
|
|
});
|
|
|
|
pid_and_rc_to_form();
|
|
|
|
var $magHoldYawRate = $("#magHoldYawRate"),
|
|
$gyroSoftLpfHz = $('#gyroSoftLpfHz'),
|
|
$accSoftLpfHz = $('#accSoftLpfHz'),
|
|
$dtermLpfHz = $('#dtermLpfHz'),
|
|
$yawLpfHz = $('#yawLpfHz');
|
|
|
|
$magHoldYawRate.val(INAV_PID_CONFIG.magHoldRateLimit);
|
|
$gyroSoftLpfHz.val(FILTER_CONFIG.gyroSoftLpfHz);
|
|
$accSoftLpfHz.val(INAV_PID_CONFIG.accSoftLpfHz);
|
|
$dtermLpfHz.val(FILTER_CONFIG.dtermLpfHz);
|
|
$yawLpfHz.val(FILTER_CONFIG.yawLpfHz);
|
|
|
|
$magHoldYawRate.change(function () {
|
|
INAV_PID_CONFIG.magHoldRateLimit = parseInt($magHoldYawRate.val(), 10);
|
|
});
|
|
|
|
$gyroSoftLpfHz.change(function () {
|
|
FILTER_CONFIG.gyroSoftLpfHz = parseInt($gyroSoftLpfHz.val(), 10);
|
|
});
|
|
|
|
$accSoftLpfHz.change(function () {
|
|
INAV_PID_CONFIG.accSoftLpfHz = parseInt($accSoftLpfHz.val(), 10);
|
|
});
|
|
|
|
$dtermLpfHz.change(function () {
|
|
FILTER_CONFIG.dtermLpfHz = parseInt($dtermLpfHz.val(), 10);
|
|
});
|
|
|
|
$yawLpfHz.change(function () {
|
|
FILTER_CONFIG.yawLpfHz = parseInt($yawLpfHz.val(), 10);
|
|
});
|
|
|
|
if (semver.gte(CONFIG.flightControllerVersion, "2.2.0")) {
|
|
$('.requires-v2_2').show();
|
|
} else {
|
|
$('.requires-v2_2').hide();
|
|
}
|
|
|
|
if (semver.gte(CONFIG.flightControllerVersion, "2.2.2")) {
|
|
$('.requires-v2_2_2').show();
|
|
} else {
|
|
$('.requires-v2_2_2').hide();
|
|
}
|
|
|
|
if (semver.gte(CONFIG.flightControllerVersion, "2.3.0")) {
|
|
$('.requires-v2_3').show();
|
|
} else {
|
|
$('.requires-v2_3').hide();
|
|
}
|
|
|
|
if (semver.lt(CONFIG.flightControllerVersion, "2.2.0")) {
|
|
$('[name=ff]').prop('disabled', 'disabled');
|
|
}
|
|
|
|
if (!FC.isRpyFfComponentUsed()) {
|
|
$('.rpy_ff').prop('disabled', 'disabled');
|
|
}
|
|
if (!FC.isRpyDComponentUsed()) {
|
|
$('.rpy_d').prop('disabled', 'disabled');
|
|
}
|
|
|
|
GUI.simpleBind();
|
|
|
|
// UI Hooks
|
|
|
|
$('a.refresh').click(function () {
|
|
GUI.tab_switch_cleanup(function () {
|
|
GUI.log(chrome.i18n.getMessage('pidTuningDataRefreshed'));
|
|
TABS.pid_tuning.initialize();
|
|
});
|
|
});
|
|
|
|
// update == save.
|
|
$('a.update').click(function () {
|
|
form_to_pid_and_rc();
|
|
|
|
function send_rc_tuning_changes() {
|
|
MSP.send_message(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE), false, saveINAVPidConfig);
|
|
}
|
|
|
|
function saveINAVPidConfig() {
|
|
MSP.send_message(MSPCodes.MSP_SET_INAV_PID, mspHelper.crunch(MSPCodes.MSP_SET_INAV_PID), false, savePidAdvanced);
|
|
}
|
|
|
|
function savePidAdvanced() {
|
|
MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED, mspHelper.crunch(MSPCodes.MSP_SET_PID_ADVANCED), false, saveFilterConfig);
|
|
}
|
|
|
|
function saveFilterConfig() {
|
|
MSP.send_message(MSPCodes.MSP_SET_FILTER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FILTER_CONFIG), false, saveSettings);
|
|
}
|
|
|
|
function saveSettings() {
|
|
Settings.saveInputs().then(save_to_eeprom);
|
|
}
|
|
|
|
function save_to_eeprom() {
|
|
MSP.send_message(MSPCodes.MSP_EEPROM_WRITE, false, false, function () {
|
|
GUI.log(chrome.i18n.getMessage('pidTuningEepromSaved'));
|
|
});
|
|
}
|
|
|
|
helper.features.reset();
|
|
helper.features.fromUI($('.tab-pid_tuning'));
|
|
helper.features.execute(function () {
|
|
mspHelper.savePidData(send_rc_tuning_changes);
|
|
});
|
|
});
|
|
|
|
GUI.content_ready(callback);
|
|
}
|
|
};
|
|
|
|
TABS.pid_tuning.cleanup = function (callback) {
|
|
if (callback) {
|
|
callback();
|
|
}
|
|
};
|