Add center sensitity for Betaflight rates

betaflight · Apr 27, 2024 · 7d8bf57 · 7d8bf57
1 parent 76ab111
commit 7d8bf57
Showing 1 changed file with 28 additions and 9 deletions.
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
@@ -2698,23 +2698,42 @@ pid_tuning.updateRatesLabels = function() {
             }
 
             // Add labels for angleCenterSensitivity
+
+            const maxAngleRollRate = parseInt(maxAngularVelRoll);
+            const maxAnglePitchRate = parseInt(maxAngularVelPitch);
+            const angleLimit = FC.ADVANCED_TUNING.levelAngleLimit;
+            const rcRate = self.currentRates.rc_rate;
+            const rcRatePitch = self.currentRates.rc_rate_pitch;
+
             if (self.currentRatesType === FC.RATES_TYPE.ACTUAL) {
                 drawAxisLabel(stickContext, `Angle Mode`, (curveWidth - 10) / textScale, curveHeight - 250, 'right');
 
-                const centerSensitivityRoll = self.currentRates.rc_rate;
-                const centerSensitivityPitch = self.currentRates.rc_rate_pitch;
+                const angleCenterSensitivityRoll = (rcRate / maxAngleRollRate * angleLimit).toFixed(1);
+                const angleCenterSensitivityPitch = (rcRatePitch / maxAnglePitchRate * angleLimit).toFixed(1);
 
-                const maxAngleRollRate = parseInt(maxAngularVelRoll);
-                const maxAnglePitchRate = parseInt(maxAngularVelPitch);
+                balloons.push(
+                    {value: parseInt(angleCenterSensitivityRoll), balloon: function() {drawBalloonLabel(stickContext, `${angleCenterSensitivityRoll}...${angleLimit}`, ((curveWidth / 2) - 10) / textScale, curveHeight - 150, 'none', BALLOON_COLORS.roll, balloonsDirty);}},
+                    {value: parseInt(angleCenterSensitivityPitch), balloon: function() {drawBalloonLabel(stickContext, `${angleCenterSensitivityPitch}...${angleLimit}`, ((curveWidth / 2) - 10) / textScale, curveHeight - 50, 'none', BALLOON_COLORS.pitch, balloonsDirty);}},
+                );
+            }
+
+            if (self.currentRatesType === FC.RATES_TYPE.BETAFLIGHT) {
+                drawAxisLabel(stickContext, `Angle Mode`, (curveWidth - 10) / textScale, curveHeight - 250, 'right');
 
-                const angleLimit = FC.ADVANCED_TUNING.levelAngleLimit;
+                const RC_RATE_INCREMENTAL = 14.54;
 
-                const angleCenterSensitivityRoll = (centerSensitivityRoll / maxAngleRollRate * angleLimit).toFixed(1);
-                const angleCenterSensitivityPitch = (centerSensitivityPitch / maxAnglePitchRate * angleLimit).toFixed(1);
+                // ROLL
+                const expo = self.currentRates.rc_expo;
+                const rcRateModified = rcRate > 2.0 ? rcRate + RC_RATE_INCREMENTAL * (rcRate - 2.0) : rcRate;
+                const sensitivityFractionRoll = (angleLimit * ((1 - expo) * rcRateModified * 200 / maxAngleRollRate)).toFixed(1);
+                // PITCH
+                const expoPitch = self.currentRates.rc_pitch_expo;
+                const rcRateModifiedPitch = rcRatePitch > 2.0 ? rcRatePitch + RC_RATE_INCREMENTAL * (rcRatePitch - 2.0) : rcRatePitch;
+                const sensitivityFractionPitch = (angleLimit * ((1 - expoPitch) * rcRateModifiedPitch * 200 / maxAnglePitchRate)).toFixed(1);
 
                 balloons.push(
-                    {value: parseInt(angleCenterSensitivityRoll), balloon: function() {drawBalloonLabel(stickContext, `${angleCenterSensitivityRoll}...${angleLimit}`, ((curveWidth / 2) - 10) / textScale, curveHeight - 150, 'none', BALLOON_COLORS.roll, balloonsDirty);}},
-                    {value: parseInt(angleCenterSensitivityPitch), balloon: function() {drawBalloonLabel(stickContext, `${angleCenterSensitivityPitch}...${angleLimit}`, ((curveWidth / 2) - 10) / textScale, curveHeight - 50, 'none', BALLOON_COLORS.pitch, balloonsDirty);}},
+                    {value: parseInt(sensitivityFractionRoll), balloon: function() {drawBalloonLabel(stickContext, `${sensitivityFractionRoll}...${angleLimit}`, ((curveWidth / 2) - 10) / textScale, curveHeight - 150, 'none', BALLOON_COLORS.roll, balloonsDirty);}},
+                    {value: parseInt(sensitivityFractionPitch), balloon: function() {drawBalloonLabel(stickContext, `${sensitivityFractionPitch}...${angleLimit}`, ((curveWidth / 2) - 10) / textScale, curveHeight - 50, 'none', BALLOON_COLORS.pitch, balloonsDirty);}},
                 );
             }