From a0ef597c6aff2a21d843d55a2987f915164189b7 Mon Sep 17 00:00:00 2001 From: Mark Haslinghuis Date: Fri, 7 Jun 2024 12:16:55 +0200 Subject: [PATCH] Increment minimal supported API to 1_44 (firmware 4.3) (3/4) (#4010) Refactor PID tuning to use API > 1.44 --- locales/en/messages.json | 46 -- src/js/TuningSliders.js | 531 +++----------- src/js/tabs/pid_tuning.js | 1401 +++++++++++++------------------------ src/tabs/pid_tuning.html | 235 +------ 4 files changed, 579 insertions(+), 1634 deletions(-) diff --git a/locales/en/messages.json b/locales/en/messages.json index 4aaf81566e..506094f0ee 100755 --- a/locales/en/messages.json +++ b/locales/en/messages.json @@ -1801,9 +1801,6 @@ "message": "Derivative", "description": "Table header of the D Min feature in the PIDs tab" }, - "pidTuningDMinDisabledNote": { - "message": "Note: D Max feature is disabled and its parameters are hidden. To use D Max please enable it in $t(pidTuningPidSettings.message)." - }, "pidTuningDMinFeatureTitle": { "message": "Dynamic Damping / D Max settings", "description": "Title for the options panel for the D Max feature" @@ -4235,31 +4232,6 @@ "message": "Increases all PID parameters equally. Don't change this slider unless you run out of adjustment on the other sliders. Typically this is only needed for low authority or high moment of inertia (MoI) quads like X-Class or cinelifter builds. Too much master gain may cause trilling oscillations or hot motors.", "description": "Master Gain tuning slider helpicon message" }, - "pidTuningPDRatioSlider": { - "message": "PD Balance:", - "description": "PD balance tuning slider label" - }, - "pidTuningPDRatioSliderHelp": { - "message": "Changes D and D max. Relatively high D will dampen stick responsiveness and may make motors hot, but should help control P-term oscillations and will improve prop-wash oscillation.

Relatively low D-term gives quicker stick responsiveness, but will weaken prop-wash performance and reacting to external forces (wind).", - "description": "D_term tuning slider helpicon message" - }, - "pidTuningPDGainSlider": { - "message": "P and D Gain:", - "description": "P and D Gain tuning slider label" - }, - "pidTuningPDGainSliderHelp":{ - "message": "Lower P and D Gain will result in cooler motors but also in more prop-wash oscillation. Too low value may cause the quad to be unstable.

P and D terms work together to reduce prop-wash.

Higher values will increase motor heat and could increase oscillations during smooth forward flight due to higher D term gains.", - "description": "P and D gain tuning slider helpicon message" - }, - "pidTuningResponseSliderLegacy": { - "message": "Stick Response Gain:", - "description": "Response tuning slider label" - }, - "pidTuningResponseSliderLegacyHelp": { - "message": "Lower FF values will worsen the stick response and may result in slow bounceback at the end of a flip or roll due to the quad lagging the sticks too much and I-term winding up and cousing 'I-term Bounceback'.

Higher FF values will give snappier stick responses in sharp moves. Excessively high FF values can cause overshoots and fast bounceback at the end of a flip or roll.

Note:
The feature I-term Relax can stop the I-term from winding up on stick move for a low authority quads or if low Stick Response Gains are used.", - "description": "Stick response gain tuning slider helpicon message" - }, - "pidTuningDGainSlider": { "message": "Damping:
D Gains", "description": "D Gain (Damping) tuning slider label" @@ -4341,18 +4313,12 @@ "pidTuningLowpassFilterType": { "message": "Filter Type" }, - "pidTuningGyroLowpassDyn": { - "message": "Gyro Lowpass Dynamic Filter" - }, "pidTuningMinCutoffFrequency": { "message": "Min Cutoff Frequency [Hz]" }, "pidTuningMaxCutoffFrequency": { "message": "Max Cutoff Frequency [Hz]" }, - "pidTuningGyroLowpassDynType": { - "message": "Gyro Lowpass 1 Dynamic Filter Type" - }, "pidTuningGyroLowpass2": { "message": "Gyro Lowpass 2" }, @@ -4411,9 +4377,6 @@ "pidTuningDynamicNotchRange": { "message": "Dynamic Notch Filter Range" }, - "pidTuningDynamicNotchWidthPercent": { - "message": "Dynamic Notch Width Percent" - }, "pidTuningDynamicNotchQ": { "message": "Q factor" }, @@ -4429,9 +4392,6 @@ "pidTuningDynamicNotchRangeHelp": { "message": "The dynamic notch has three frequency ranges in which it can operate: LOW(80-330hz) for lower revving quads like 6+ inches, MEDIUM(140-550hz) for a normal 5 inch quad, HIGH(230-800hz) for very high revving 2.5-3 inch quads. AUTO option selects the range depending on the value of the Gyro Dynamic Lowpass 1 Filter's max cutoff frequency." }, - "pidTuningDynamicNotchWidthPercentHelp": { - "message": "This sets the width between two dynamic notch filters. Setting it at 0 will disable the second dynamic notch filter and will reduce filter delay, however it may make motor temperatures higher." - }, "pidTuningDynamicNotchQHelp": { "message": "Q factor adjust how narrow or wide the dynamic notch filters are. Higher value makes it narrower and more precise and lower value makes it wider and broader. Having a really low value will greatly increase filter delay." }, @@ -4500,15 +4460,9 @@ "pidTuningDTermLowpass2Type": { "message": "Filter Type" }, - "pidTuningDTermLowpassDyn": { - "message": "D Term Lowpass Dynamic Filter" - }, "pidTuningDTermLowpassDynExpo": { "message": "Dynamic Curve Expo" }, - "pidTuningDTermLowpassDynType": { - "message": "Dynamic Filter Type" - }, "pidTuningDTermNotchFiltersGroup": { "message": "D Term Notch Filter" }, diff --git a/src/js/TuningSliders.js b/src/js/TuningSliders.js index 0606886292..3da354d8c2 100644 --- a/src/js/TuningSliders.js +++ b/src/js/TuningSliders.js @@ -1,20 +1,11 @@ import MSP from "./msp"; import FC from "./fc"; import MSPCodes from "./msp/MSPCodes"; -import { API_VERSION_1_44 } from './data_storage'; import { isExpertModeEnabled } from "./utils/isExportModeEnabled"; -import semver from "semver"; import { mspHelper } from "./msp/MSPHelper"; -import { TABS } from "./gui"; import $ from 'jquery'; const TuningSliders = { - // Legacy Sliders - sliderMasterMultiplierLegacy: 1, - sliderPDRatio: 1, - sliderPDGain: 1, - sliderFeedforwardGainLegacy: 1, - // Firmware Sliders introduced in API 1.44 sliderPidsMode: 2, sliderDGain: 1, sliderPIGain: 1, @@ -56,15 +47,6 @@ const TuningSliders = { const D_MIN_RATIO = 0.85; -TuningSliders.setDMinFeatureEnabled = function(dMinFeatureEnabled) { - this.dMinFeatureEnabled = dMinFeatureEnabled; - if (this.dMinFeatureEnabled) { - this.defaultPDRatio = this.PID_DEFAULT[2] / this.PID_DEFAULT[0]; - } else { - this.defaultPDRatio = this.PID_DEFAULT[2] / (this.PID_DEFAULT[0] * (1 / D_MIN_RATIO)); - } -}; - TuningSliders.initialize = function() { this.PID_DEFAULT = FC.getPidDefaults(); this.FILTER_DEFAULT = FC.getFilterDefaults(); @@ -77,47 +59,21 @@ TuningSliders.initialize = function() { this.cachedGyroSliderValues = false; this.cachedDTermSliderValues = false; - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - this.initPidSlidersPosition(); - this.initGyroFilterSliderPosition(); - this.initDTermFilterSliderPosition(); - - // If reading manual values while sliders are on we set the sliders off - this.validateTuningSliders(); - - this.updatePidSlidersDisplay(); - this.updateGyroFilterSliderDisplay(); - this.updateDTermFilterSliderDisplay(); + this.initPidSlidersPosition(); + this.initGyroFilterSliderPosition(); + this.initDTermFilterSliderPosition(); - this.updateFilterSlidersWarning(); + // If reading manual values while sliders are on we set the sliders off + this.validateTuningSliders(); - $('.subtab-pid .slidersDisabled').hide(); - $('.subtab-filter .slidersDisabled').hide(); - } else { - $('#sliderGyroFilterMultiplier, #sliderDTermFilterMultiplier').attr("min", "0.5"); - $('#sliderGyroFilterMultiplier, #sliderDTermFilterMultiplier').attr("max", "1.5"); - this.setDMinFeatureEnabled($('#dMinSwitch').is(':checked')); - - this.initPidSlidersPosition(); - this.initGyroFilterSliderPosition(); - this.initDTermFilterSliderPosition(); - - if (this.dMinFeatureEnabled) { - FC.ADVANCED_TUNING.dMinRoll = FC.PIDS_ACTIVE[0][2]; - FC.ADVANCED_TUNING.dMinPitch = FC.PIDS_ACTIVE[1][2]; - FC.ADVANCED_TUNING.dMinYaw = FC.PIDS_ACTIVE[2][2]; - } else { - FC.PIDS[0][2] = FC.ADVANCED_TUNING.dMinRoll; - FC.PIDS[1][2] = FC.ADVANCED_TUNING.dMinPitch; - FC.PIDS[2][2] = FC.ADVANCED_TUNING.dMinYaw; - } + this.updatePidSlidersDisplay(); + this.updateGyroFilterSliderDisplay(); + this.updateDTermFilterSliderDisplay(); - this.updatePidSlidersDisplay(); - this.updateFilterSlidersDisplay(); + this.updateFilterSlidersWarning(); - $('select[id="sliderGyroFilterModeSelect"]').hide(); - $('select[id="sliderDTermFilterModeSelect"]').hide(); - } + $('.subtab-pid .slidersDisabled').hide(); + $('.subtab-filter .slidersDisabled').hide(); }; TuningSliders.updateExpertModePidSlidersDisplay = function() { @@ -192,24 +148,13 @@ TuningSliders.updateExpertModeFilterSlidersDisplay = function() { TuningSliders.setExpertMode = function(expertModeEnabled) { this.expertMode = expertModeEnabled; - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - - this.updateExpertModePidSlidersDisplay(); - this.updateExpertModeFilterSlidersDisplay(); + this.updateExpertModePidSlidersDisplay(); + this.updateExpertModeFilterSlidersDisplay(); - $('.tab-pid_tuning .legacySlider').hide(); - $('.legacyNonExpertModeSlidersNote').hide(); - $('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode); - $('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.GyroSliderUnavailable || !this.DTermSliderUnavailable) && !this.expertMode); - } else { - $('#slidersPidsBox, #slidersFilterBox').toggleClass('nonExpertModeSliders', !this.expertMode); - $('.tab-pid_tuning .baseSlider').hide(); - $('.tab-pid_tuning .advancedSlider').hide(); - $('.nonExpertModeSlidersNote').hide(); - $('.expertSettingsDetectedNote').hide(); - $('.subtab-pid .legacyNonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode); - $('.subtab-filter .legacyNonExpertModeSlidersNote').toggle((!this.GyroSliderUnavailable || !this.DTermSliderUnavailable) && !this.expertMode); - } + $('.tab-pid_tuning .legacySlider').hide(); + $('.legacyNonExpertModeSlidersNote').hide(); + $('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode); + $('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.GyroSliderUnavailable || !this.DTermSliderUnavailable) && !this.expertMode); }; TuningSliders.scaleSliderValue = function(value) { @@ -229,92 +174,48 @@ TuningSliders.downscaleSliderValue = function(value) { }; TuningSliders.initPidSlidersPosition = function() { - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - this.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_mode; - this.sliderDGain = FC.TUNING_SLIDERS.slider_d_gain / 100; - this.sliderPIGain = FC.TUNING_SLIDERS.slider_pi_gain / 100; - this.sliderFeedforwardGain = FC.TUNING_SLIDERS.slider_feedforward_gain / 100; - this.sliderDMaxGain = FC.TUNING_SLIDERS.slider_dmax_gain / 100; - this.sliderIGain = FC.TUNING_SLIDERS.slider_i_gain / 100; - this.sliderRollPitchRatio = FC.TUNING_SLIDERS.slider_roll_pitch_ratio / 100; - this.sliderPitchPIGain = FC.TUNING_SLIDERS.slider_pitch_pi_gain / 100; - this.sliderMasterMultiplier = FC.TUNING_SLIDERS.slider_master_multiplier / 100; - - $('output[name="sliderDGain-number"]').val(this.sliderDGain); - $('output[name="sliderPIGain-number"]').val(this.sliderPIGain); - $('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain); - $('output[name="sliderDMaxGain-number"]').val(this.sliderDMaxGain); - $('output[name="sliderIGain-number"]').val(this.sliderIGain); - $('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio); - $('output[name="sliderPitchPIGain-number"]').val(this.sliderPitchPIGain); - $('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier); - - $('#sliderDGain').val(this.sliderDGain); - $('#sliderPIGain').val(this.sliderPIGain); - $('#sliderFeedforwardGain').val(this.sliderFeedforwardGain); - $('#sliderDMaxGain').val(this.sliderDMaxGain); - $('#sliderIGain').val(this.sliderIGain); - $('#sliderRollPitchRatio').val(this.sliderRollPitchRatio); - $('#sliderPitchPIGain').val(this.sliderPitchPIGain); - $('#sliderMasterMultiplier').val(this.sliderMasterMultiplier); - - } else { - // used to estimate PID slider positions based on PIDF values, and set respective slider position - // provides only an estimation due to limitation of feature without firmware support, to be improved in later versions - this.sliderMasterMultiplierLegacy = Math.round(FC.PIDS_ACTIVE[2][1] / this.PID_DEFAULT[11] * 10) / 10; - this.sliderPDRatio = Math.round(FC.PIDS_ACTIVE[0][2] / FC.PIDS_ACTIVE[0][0] / this.defaultPDRatio * 10) / 10; - - if (this.dMinFeatureEnabled) { - this.sliderPDGain = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.sliderPDRatio / this.sliderMasterMultiplierLegacy / this.PID_DEFAULT[3] * 10) / 10; - } else { - this.sliderPDGain = Math.round(FC.PIDS_ACTIVE[0][0] / this.sliderMasterMultiplierLegacy / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10; - } - - this.sliderFeedforwardGainLegacy = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.sliderMasterMultiplierLegacy / this.PID_DEFAULT[4] * 10) / 10; - - $('output[name="sliderMasterMultiplierLegacy-number"]').val(this.sliderMasterMultiplierLegacy); - $('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio); - $('output[name="sliderPDGain-number"]').val(this.sliderPDGain); - $('output[name="sliderFeedforwardGainLegacy-number"]').val(this.sliderFeedforwardGainLegacy); - - $('#sliderMasterMultiplierLegacy').val(this.downscaleSliderValue(this.sliderMasterMultiplierLegacy)); - $('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio)); - $('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain)); - $('#sliderFeedforwardGainLegacy').val(this.downscaleSliderValue(this.sliderFeedforwardGainLegacy)); - } + this.sliderPidsMode = FC.TUNING_SLIDERS.slider_pids_mode; + this.sliderDGain = FC.TUNING_SLIDERS.slider_d_gain / 100; + this.sliderPIGain = FC.TUNING_SLIDERS.slider_pi_gain / 100; + this.sliderFeedforwardGain = FC.TUNING_SLIDERS.slider_feedforward_gain / 100; + this.sliderDMaxGain = FC.TUNING_SLIDERS.slider_dmax_gain / 100; + this.sliderIGain = FC.TUNING_SLIDERS.slider_i_gain / 100; + this.sliderRollPitchRatio = FC.TUNING_SLIDERS.slider_roll_pitch_ratio / 100; + this.sliderPitchPIGain = FC.TUNING_SLIDERS.slider_pitch_pi_gain / 100; + this.sliderMasterMultiplier = FC.TUNING_SLIDERS.slider_master_multiplier / 100; + + $('output[name="sliderDGain-number"]').val(this.sliderDGain); + $('output[name="sliderPIGain-number"]').val(this.sliderPIGain); + $('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain); + $('output[name="sliderDMaxGain-number"]').val(this.sliderDMaxGain); + $('output[name="sliderIGain-number"]').val(this.sliderIGain); + $('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio); + $('output[name="sliderPitchPIGain-number"]').val(this.sliderPitchPIGain); + $('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier); + + $('#sliderDGain').val(this.sliderDGain); + $('#sliderPIGain').val(this.sliderPIGain); + $('#sliderFeedforwardGain').val(this.sliderFeedforwardGain); + $('#sliderDMaxGain').val(this.sliderDMaxGain); + $('#sliderIGain').val(this.sliderIGain); + $('#sliderRollPitchRatio').val(this.sliderRollPitchRatio); + $('#sliderPitchPIGain').val(this.sliderPitchPIGain); + $('#sliderMasterMultiplier').val(this.sliderMasterMultiplier); }; TuningSliders.initGyroFilterSliderPosition = function() { - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - this.sliderGyroFilter = FC.TUNING_SLIDERS.slider_gyro_filter; - this.sliderGyroFilterMultiplier = FC.TUNING_SLIDERS.slider_gyro_filter_multiplier / 100; - $('#sliderGyroFilterMultiplier').val(this.sliderGyroFilterMultiplier); - } else { - this.sliderGyroFilterMultiplier = - Math.round( - (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.FILTER_CONFIG.gyro_lowpass2_hz) / - (this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + - this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100; - $('#sliderGyroFilterMultiplier').val(this.downscaleSliderValue(this.sliderGyroFilterMultiplier)); - } + this.sliderGyroFilter = FC.TUNING_SLIDERS.slider_gyro_filter; + this.sliderGyroFilterMultiplier = FC.TUNING_SLIDERS.slider_gyro_filter_multiplier / 100; + $('#sliderGyroFilterMultiplier').val(this.sliderGyroFilterMultiplier); $('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier); }; TuningSliders.initDTermFilterSliderPosition = function() { - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - this.sliderDTermFilter = FC.TUNING_SLIDERS.slider_dterm_filter; - this.sliderDTermFilterMultiplier = FC.TUNING_SLIDERS.slider_dterm_filter_multiplier / 100; - $('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier); - } else { - this.sliderDTermFilterMultiplier = - Math.round( - (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) / - (this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + - this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100; - $('#sliderDTermFilterMultiplier').val(this.downscaleSliderValue(this.sliderDTermFilterMultiplier)); - } + this.sliderDTermFilter = FC.TUNING_SLIDERS.slider_dterm_filter; + this.sliderDTermFilterMultiplier = FC.TUNING_SLIDERS.slider_dterm_filter_multiplier / 100; + $('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier); $('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier); }; @@ -340,99 +241,34 @@ TuningSliders.dtermFilterSliderDisable = function() { TuningSliders.updateSlidersWarning = function(slidersUnavailable = false) { const WARNING_P_GAIN = 70; - let WARNING_I_GAIN = 120; const WARNING_DMAX_GAIN = 60; - let WARNING_DMIN_GAIN = 40; - let enableWarning; + const WARNING_I_GAIN = 2.5 * FC.PIDS[0][0]; + const WARNING_DMIN_GAIN = 42; + const enableWarning = FC.PIDS[0][0] > WARNING_P_GAIN || FC.PIDS[0][1] > WARNING_I_GAIN || FC.PIDS[0][2] > WARNING_DMAX_GAIN || FC.ADVANCED_TUNING.dMinRoll > WARNING_DMIN_GAIN; - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - WARNING_I_GAIN = 2.5 * FC.PIDS[0][0]; - WARNING_DMIN_GAIN = 42; - enableWarning = FC.PIDS[0][0] > WARNING_P_GAIN || FC.PIDS[0][1] > WARNING_I_GAIN || FC.PIDS[0][2] > WARNING_DMAX_GAIN || FC.ADVANCED_TUNING.dMinRoll > WARNING_DMIN_GAIN; - } else { - enableWarning = FC.PIDS[1][0] > WARNING_P_GAIN || FC.PIDS[1][1] > WARNING_I_GAIN || FC.PIDS[1][2] > WARNING_DMAX_GAIN || FC.ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN; - } $('.subtab-pid .slidersWarning').toggle(enableWarning && !slidersUnavailable); }; TuningSliders.updateFilterSlidersWarning = function() { - let WARNING_FILTER_GYRO_LOW_GAIN = 0.7; - let WARNING_FILTER_GYRO_HIGH_GAIN = 1.4; - let WARNING_FILTER_DTERM_LOW_GAIN = 0.7; - let WARNING_FILTER_DTERM_HIGH_GAIN = 1.4; - - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - WARNING_FILTER_GYRO_LOW_GAIN = 0.45; - WARNING_FILTER_GYRO_HIGH_GAIN = 1.55; - WARNING_FILTER_DTERM_LOW_GAIN = 0.75; - WARNING_FILTER_DTERM_HIGH_GAIN = 1.25; - } + const WARNING_FILTER_GYRO_LOW_GAIN = 0.45; + const WARNING_FILTER_GYRO_HIGH_GAIN = 1.55; + const WARNING_FILTER_DTERM_LOW_GAIN = 0.75; + const WARNING_FILTER_DTERM_HIGH_GAIN = 1.25; - $('.subtab-filter .slidersWarning').toggle((this.sliderGyroFilterMultiplier >= WARNING_FILTER_GYRO_HIGH_GAIN || - this.sliderGyroFilterMultiplier <= WARNING_FILTER_GYRO_LOW_GAIN) || - (this.sliderDTermFilterMultiplier >= WARNING_FILTER_DTERM_HIGH_GAIN || this.sliderDTermFilterMultiplier <= WARNING_FILTER_DTERM_LOW_GAIN)); + $('.subtab-filter .slidersWarning').toggle((this.sliderGyroFilterMultiplier >= WARNING_FILTER_GYRO_HIGH_GAIN + || this.sliderGyroFilterMultiplier <= WARNING_FILTER_GYRO_LOW_GAIN) + || (this.sliderDTermFilterMultiplier >= WARNING_FILTER_DTERM_HIGH_GAIN || this.sliderDTermFilterMultiplier <= WARNING_FILTER_DTERM_LOW_GAIN)); }; TuningSliders.updatePidSlidersDisplay = function() { // check if pid values changed manually by comparing the current values with those calculated by the sliders, // if all of them are equal the values haven't been changed manually - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - $('#pid_main .ROLL .pid_data input, #pid_main .PITCH .pid_data input').each((_, el) => $(el).prop('disabled', this.sliderPidsMode > 0)); - $('#pid_main .YAW .pid_data input').each((_, el) => $(el).prop('disabled', this.sliderPidsMode === 2)); - - this.updateExpertModePidSlidersDisplay(); - - $('#sliderPidsModeSelect').val(this.sliderPidsMode); - } else { - this.pidSlidersUnavailable = false; + $('#pid_main .ROLL .pid_data input, #pid_main .PITCH .pid_data input').each((_, el) => $(el).prop('disabled', this.sliderPidsMode > 0)); + $('#pid_main .YAW .pid_data input').each((_, el) => $(el).prop('disabled', this.sliderPidsMode === 2)); - this.calculateNewPids(true); + this.updateExpertModePidSlidersDisplay(); - FC.PID_NAMES.forEach(function (elementPid, indexPid) { - const pidElements = $(`.pid_tuning .${elementPid} input`); - - pidElements.each(function (indexInput) { - const val = parseInt($(this).val()); - - if (indexPid < 3 && indexInput < 3) { - if (val !== FC.PIDS[indexPid][indexInput]) { - TuningSliders.pidSlidersUnavailable = true; - } - } else { - if (indexPid < 3 && indexInput === 3 && !this.dMinFeatureEnabled) { - const dMinRoll = (val !== FC.ADVANCED_TUNING.dMinRoll) && indexPid === 0; - const dMinPitch = (val !== FC.ADVANCED_TUNING.dMinPitch) && indexPid === 1; - const dMinYaw = (val !== FC.ADVANCED_TUNING.dMinYaw) && indexPid === 2; - - if (dMinRoll || dMinPitch || dMinYaw) { - TuningSliders.pidSlidersUnavailable = true; - } - } else if ((indexPid < 3 && indexInput === 3 && this.dMinFeatureEnabled) || - (indexPid < 3 && indexInput === 4 && !this.dMinFeatureEnabled)) { - const feedforwardRoll = (val !== FC.ADVANCED_TUNING.feedforwardRoll) && indexPid === 0; - const feedforwardPitch = (val !== FC.ADVANCED_TUNING.feedforwardPitch) && indexPid === 1; - const feedforwardYaw = (val !== FC.ADVANCED_TUNING.feedforwardYaw) && indexPid === 2; - - if (feedforwardRoll || feedforwardPitch || feedforwardYaw) { - TuningSliders.pidSlidersUnavailable = true; - } - } - } - }); - }); - - if ($('input[id="useIntegratedYaw"]').is(':checked')) { - this.pidSlidersUnavailable = true; - } - - if (!this.pidSlidersUnavailable) { - this.cachedPidSliderValues = true; - } - - $('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable); - $('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable); - $('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode); - } + $('#sliderPidsModeSelect').val(this.sliderPidsMode); this.updateSlidersWarning(this.pidSlidersUnavailable); }; @@ -514,13 +350,8 @@ TuningSliders.updateDTermFilterSliderDisplay = function() { TuningSliders.updateFilterSlidersDisplay = function() { // check if filters changed manually by comparing current value and those based on slider position - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - this.updateGyroFilterSliderDisplay(); - this.updateDTermFilterSliderDisplay(); - } else { - this.legacyUpdateFilterSlidersDisplay(); - this.updateFilterSlidersWarning(); - } + this.updateGyroFilterSliderDisplay(); + this.updateDTermFilterSliderDisplay(); $('.subtab-filter .nonExpertModeSlidersNote').toggle((!this.GyroSliderUnavailable || !this.DTermSliderUnavailable) && !this.expertMode); }; @@ -545,21 +376,14 @@ TuningSliders.updateFormPids = function(updateSlidersOnly = false) { $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw); } - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - $('output[name="sliderDGain-number"]').val(this.sliderDGain); - $('output[name="sliderPIGain-number"]').val(this.sliderPIGain); - $('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain); - $('output[name="sliderDMaxGain-number"]').val(this.sliderDMaxGain); - $('output[name="sliderIGain-number"]').val(this.sliderIGain); - $('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio); - $('output[name="sliderPitchPIGain-number"]').val(this.sliderPitchPIGain); - $('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier); - } else { - $('output[name="sliderMasterMultiplierLegacy-number"]').val(this.sliderMasterMultiplierLegacy); - $('output[name="sliderPDRatio-number"]').val(this.sliderPDRatio); - $('output[name="sliderPDGain-number"]').val(this.sliderPDGain); - $('output[name="sliderFeedforwardGainLegacy-number"]').val(this.sliderFeedforwardGainLegacy); - } + $('output[name="sliderDGain-number"]').val(this.sliderDGain); + $('output[name="sliderPIGain-number"]').val(this.sliderPIGain); + $('output[name="sliderFeedforwardGain-number"]').val(this.sliderFeedforwardGain); + $('output[name="sliderDMaxGain-number"]').val(this.sliderDMaxGain); + $('output[name="sliderIGain-number"]').val(this.sliderIGain); + $('output[name="sliderRollPitchRatio-number"]').val(this.sliderRollPitchRatio); + $('output[name="sliderPitchPIGain-number"]').val(this.sliderPitchPIGain); + $('output[name="sliderMasterMultiplier-number"]').val(this.sliderMasterMultiplier); this.updateSlidersWarning(); }; @@ -567,43 +391,31 @@ TuningSliders.updateFormPids = function(updateSlidersOnly = false) { TuningSliders.calculateNewPids = function(updateSlidersOnly = false) { // this is the main calculation for PID sliders, inputs are in form of slider position values // values get set both into forms and their respective variables - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - FC.TUNING_SLIDERS.slider_pids_mode = this.sliderPidsMode; - //rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20 - FC.TUNING_SLIDERS.slider_d_gain = Math.round(this.sliderDGain * 20) * 5; - FC.TUNING_SLIDERS.slider_pi_gain = Math.round(this.sliderPIGain * 20) * 5; - FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(this.sliderFeedforwardGain * 20) * 5; - FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(this.sliderDMaxGain * 20) * 5; - FC.TUNING_SLIDERS.slider_i_gain = Math.round(this.sliderIGain * 20) * 5; - FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(this.sliderRollPitchRatio * 20) * 5; - FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(this.sliderPitchPIGain * 20) * 5; - FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(this.sliderMasterMultiplier * 20) * 5; - - this.readSimplifiedPids(); - } else { - this.legacyCalculatePids(updateSlidersOnly); - } + FC.TUNING_SLIDERS.slider_pids_mode = this.sliderPidsMode; + //rounds slider values to nearies multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20 + FC.TUNING_SLIDERS.slider_d_gain = Math.round(this.sliderDGain * 20) * 5; + FC.TUNING_SLIDERS.slider_pi_gain = Math.round(this.sliderPIGain * 20) * 5; + FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(this.sliderFeedforwardGain * 20) * 5; + FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(this.sliderDMaxGain * 20) * 5; + FC.TUNING_SLIDERS.slider_i_gain = Math.round(this.sliderIGain * 20) * 5; + FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(this.sliderRollPitchRatio * 20) * 5; + FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(this.sliderPitchPIGain * 20) * 5; + FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(this.sliderMasterMultiplier * 20) * 5; + + this.readSimplifiedPids(); }; TuningSliders.calculateNewGyroFilters = function() { // this is the main calculation for Gyro Filter slider, inputs are in form of slider position values // values get set both into forms and their respective variables - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - this.readSimplifiedGyroFilters(); - } else { - this.calculateLegacyGyroFilters(); - } + this.readSimplifiedGyroFilters(); }; TuningSliders.calculateNewDTermFilters = function() { // this is the main calculation for DTerm Filter slider, inputs are in form of slider position values // values get set both into forms and their respective variables - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - this.readSimplifiedDTermFilters(); - } else { - this.calculateLegacyDTermFilters(); - } + this.readSimplifiedDTermFilters(); }; TuningSliders.readSimplifiedPids = function(updateSlidersOnly = false) { @@ -666,171 +478,4 @@ TuningSliders.validateTuningSliders = function() { }); }; -/* -* -* LEGACY SLIDERS CODE -* -*/ - -TuningSliders.legacyCalculatePids = function(updateSlidersOnly = false) { - const MAX_PID_GAIN = 200; - const MAX_DMIN_GAIN = 100; - const MAX_FEEDFORWARD_GAIN = 2000; - - // only used for 4.1 where calculation is not done in firmware - if (this.dMinFeatureEnabled) { - //dmin - FC.ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.sliderPDGain * this.sliderPDRatio); - FC.ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.sliderPDGain * this.sliderPDRatio); - // dmax - FC.PIDS[0][2] = Math.round(this.PID_DEFAULT[2] * this.sliderPDGain * this.sliderPDRatio); - FC.PIDS[1][2] = Math.round(this.PID_DEFAULT[7] * this.sliderPDGain * this.sliderPDRatio); - } else { - FC.ADVANCED_TUNING.dMinRoll = 0; - FC.ADVANCED_TUNING.dMinPitch = 0; - FC.PIDS[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio); - FC.PIDS[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio); - } - - FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.sliderPDGain); - FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.sliderPDGain); - FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.sliderPDGain); - // feedforward - FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFeedforwardGainLegacy); - FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFeedforwardGainLegacy); - FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.sliderFeedforwardGainLegacy); - // master slider part - // these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation - FC.PIDS[0][1] = this.PID_DEFAULT[1]; - FC.PIDS[1][1] = this.PID_DEFAULT[6]; - FC.PIDS[2][1] = this.PID_DEFAULT[11]; - // yaw d, dmin - FC.PIDS[2][2] = this.PID_DEFAULT[12]; - FC.ADVANCED_TUNING.dMinYaw = this.PID_DEFAULT[13]; - - //master slider multiplication, max value 200 for main PID values - for (let i = 0; i < 3; i++) { - for (let j = 0; j < 3; j++) { - FC.PIDS[j][i] = Math.min(Math.round(FC.PIDS[j][i] * this.sliderMasterMultiplierLegacy), MAX_PID_GAIN); - } - } - - FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.sliderMasterMultiplierLegacy), MAX_FEEDFORWARD_GAIN); - FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.sliderMasterMultiplierLegacy), MAX_FEEDFORWARD_GAIN); - FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplierLegacy), MAX_FEEDFORWARD_GAIN); - - if (this.dMinFeatureEnabled) { - FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplierLegacy), MAX_DMIN_GAIN); - FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplierLegacy), MAX_DMIN_GAIN); - FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplierLegacy), MAX_DMIN_GAIN); - } - - this.updateFormPids(updateSlidersOnly); - TABS.pid_tuning.updatePIDColors(); - this.updateSlidersWarning(); -}; - -TuningSliders.calculateLegacyGyroFilters = function() { - // calculate, set and display new values in forms based on slider position - FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier); - FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier); - FC.FILTER_CONFIG.gyro_lowpass2_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier); - FC.FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type; - FC.FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type; - - $('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz); - $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz); - $('.pid_filter input[name="gyroLowpassFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_hz); - $('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz); - $('output[name="sliderGyroFilterMultiplier-number"]').val(this.sliderGyroFilterMultiplier); - - this.updateFilterSlidersWarning(); -}; - -TuningSliders.calculateLegacyDTermFilters = function() { - // calculate, set and display new values in forms based on slider position - FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier); - FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier); - FC.FILTER_CONFIG.dterm_lowpass_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_hz * this.sliderDTermFilterMultiplier); - FC.FILTER_CONFIG.dterm_lowpass2_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier); - FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type; - FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type; - - $('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz); - $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz); - $('.pid_filter input[name="dtermLowpassFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_hz); - $('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz); - $('output[name="sliderDTermFilterMultiplier-number"]').val(this.sliderDTermFilterMultiplier); - - this.updateFilterSlidersWarning(); -}; - -TuningSliders.legacyUpdateFilterSlidersDisplay = function() { - this.GyroSliderUnavailable = false; - this.DTermSliderUnavailable = false; - - if (parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()) !== - Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.sliderGyroFilterMultiplier) || - parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()) !== - Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.sliderGyroFilterMultiplier) || - parseInt($('.pid_filter select[name="gyroLowpassDynType"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass_type || - parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val()) !== - Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.sliderGyroFilterMultiplier) || - parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val()) !== this.FILTER_DEFAULT.gyro_lowpass2_type) { - this.GyroSliderUnavailable = true; - } else { - this.cachedGyroSliderValues = true; - } - - if (parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()) !== - Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.sliderDTermFilterMultiplier) || - parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()) !== - Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.sliderDTermFilterMultiplier) || - parseInt($('.pid_filter select[name="dtermLowpassDynType"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass_type || - parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val()) !== - Math.round(this.FILTER_DEFAULT.dterm_lowpass_hz * this.sliderDTermFilterMultiplier) || - parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val()) !== - Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.sliderDTermFilterMultiplier) || - parseInt($('.pid_filter select[name="dtermLowpass2Type"]').val()) !== this.FILTER_DEFAULT.dterm_lowpass2_type) { - this.DTermSliderUnavailable = true; - } else { - this.cachedDTermSliderValues = true; - } - - $('.tuningFilterSliders .sliderLabels tr:nth-child(2)').toggle(!this.GyroSliderUnavailable); - $('.tuningFilterSliders .sliderLabels tr:last-child').toggle(!this.DTermSliderUnavailable); - - $('.tuningFilterSliders').toggle(!(this.GyroSliderUnavailable && this.DTermSliderUnavailable)); - $('.subtab-filter .slidersDisabled').toggle(this.GyroSliderUnavailable || this.DTermSliderUnavailable); -}; - -TuningSliders.resetPidSliders = function() { - if (!this.cachedPidSliderValues) { - this.sliderMasterMultiplierLegacy = 1; - this.sliderPDRatio = 1; - this.sliderPDGain = 1; - this.sliderFeedforwardGainLegacy = 1; - } - - $('#sliderMasterMultiplierLegacy').val(this.downscaleSliderValue(this.sliderMasterMultiplierLegacy)); - $('#sliderPDRatio').val(this.downscaleSliderValue(this.sliderPDRatio)); - $('#sliderPDGain').val(this.downscaleSliderValue(this.sliderPDGain)); - $('#sliderFeedforwardGainLegacy').val(this.downscaleSliderValue(this.sliderFeedforwardGainLegacy)); - this.calculateNewPids(); -}; - -TuningSliders.resetGyroFilterSlider = function() { - this.sliderGyroFilterMultiplier = 1; - $('#sliderGyroFilterMultiplier').val(this.sliderGyroFilterMultiplier); - this.calculateNewGyroFilters(); - this.updateFilterSlidersDisplay(); -}; - -TuningSliders.resetDTermFilterSlider = function() { - this.sliderDTermFilterMultiplier = 1; - $('#sliderDTermFilterMultiplier').val(this.sliderDTermFilterMultiplier); - this.calculateNewDTermFilters(); - this.updateFilterSlidersDisplay(); -}; - export default TuningSliders; diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js index abeebc2bf6..2e1c902372 100644 --- a/src/js/tabs/pid_tuning.js +++ b/src/js/tabs/pid_tuning.js @@ -10,7 +10,7 @@ import TuningSliders from "../TuningSliders"; import Model from "../model"; import RateCurve from "../RateCurve"; import MSPCodes from "../msp/MSPCodes"; -import { API_VERSION_1_42, API_VERSION_1_43, API_VERSION_1_44, API_VERSION_1_45 } from "../data_storage"; +import { API_VERSION_1_45 } from "../data_storage"; import { gui_log } from "../gui_log"; import { degToRad, isInt } from "../utils/common"; import semver from "semver"; @@ -53,7 +53,6 @@ pid_tuning.initialize = function (callback) { // Update filtering and pid defaults based on API version const FILTER_DEFAULT = FC.getFilterDefaults(); - const PID_DEFAULT = FC.getPidDefaults(); MSP.promise(MSPCodes.MSP_PID_CONTROLLER) .then(() => MSP.promise(MSPCodes.MSP_PIDNAMES)) @@ -67,15 +66,15 @@ pid_tuning.initialize = function (callback) { mspHelper.crunch(MSPCodes.MSP2_GET_TEXT, MSPCodes.PID_PROFILE_NAME)) : true) .then(() => semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45) ? MSP.promise(MSPCodes.MSP2_GET_TEXT, mspHelper.crunch(MSPCodes.MSP2_GET_TEXT, MSPCodes.RATE_PROFILE_NAME)) : true) - .then(() => semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? MSP.promise(MSPCodes.MSP_SIMPLIFIED_TUNING) : true) - .then(() => semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? MSP.promise(MSPCodes.MSP_ADVANCED_CONFIG) : true) + .then(() => MSP.promise(MSPCodes.MSP_SIMPLIFIED_TUNING)) + .then(() => MSP.promise(MSPCodes.MSP_ADVANCED_CONFIG)) .then(() => MSP.send_message(MSPCodes.MSP_MIXER_CONFIG, false, false, load_html)); function load_html() { $('#content').load("./tabs/pid_tuning.html", process_html); } - const vbatpidcompensationIsUsed = semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44); + const vbatpidcompensationIsUsed = false; // removed in API 1_44 function pid_and_rc_to_form() { self.setProfile(); @@ -161,7 +160,7 @@ pid_tuning.initialize = function (callback) { $('.pid_filter select[name="dtermLowpassType"]').val(FC.FILTER_CONFIG.dterm_lowpass_type); - const ITERM_ACCELERATOR_GAIN_OFF = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 0 : 1000; + const ITERM_ACCELERATOR_GAIN_OFF = 0; if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) { // we keep the same name in html - just switching variable. @@ -173,11 +172,9 @@ pid_tuning.initialize = function (callback) { antiGravitySwitch.prop('checked', FC.ADVANCED_TUNING.itermAcceleratorGain !== ITERM_ACCELERATOR_GAIN_OFF); } - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - antiGravityGain.attr("min", "0.1"); - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) { - antiGravityGain.attr({ "min": "0.1", "max": "25.0", "step": "0.1" }); - } + + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) { + antiGravityGain.attr({ "min": "0.1", "max": "25.0", "step": "0.1" }); } antiGravitySwitch.on("change", function() { @@ -185,7 +182,7 @@ pid_tuning.initialize = function (callback) { if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) { antiGravityGain.val(Number.parseFloat(FC.ADVANCED_TUNING.antiGravityGain / 10 || 8).toFixed(1)); } else { - const DEFAULT_ACCELERATOR_GAIN = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) ? 3.5 : 1.1; + const DEFAULT_ACCELERATOR_GAIN = 3.5; if (FC.ADVANCED_TUNING.itermAcceleratorGain === ITERM_ACCELERATOR_GAIN_OFF) { antiGravityGain.val(DEFAULT_ACCELERATOR_GAIN); @@ -241,20 +238,12 @@ pid_tuning.initialize = function (callback) { $('select[id="itermrelaxType"]').val(FC.ADVANCED_TUNING.itermRelaxType); $('input[name="itermRelaxCutoff"]').val(FC.ADVANCED_TUNING.itermRelaxCutoff); - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { - $('.itermrelax input[name="itermRelaxCutoff"]').attr("max","50"); - } - itermRelaxCheck.change(function() { const checked = $(this).is(':checked'); if (checked) { $('.itermrelax .suboption').show(); - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) { - $('.itermRelaxCutoff').show(); - } else { - $('.itermRelaxCutoff').hide(); - } + $('.itermRelaxCutoff').show(); } else { $('.itermrelax .suboption').hide(); } @@ -320,236 +309,165 @@ pid_tuning.initialize = function (callback) { //dmin column $('#pid_main .pid_titlebar2 th').attr('colspan', 6); - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) { - - $('.smartfeedforward').hide(); + $('.smartfeedforward').hide(); - // Dynamic Notch Filter - const sampleRateHz = FC.CONFIG.sampleRateHz / FC.PID_ADVANCED_CONFIG.pid_process_denom; + // Dynamic Notch Filter + const sampleRateHz = FC.CONFIG.sampleRateHz / FC.PID_ADVANCED_CONFIG.pid_process_denom; - let isDynamicNotchActive = FC.FEATURE_CONFIG.features.isEnabled('DYNAMIC_FILTER'); - isDynamicNotchActive = isDynamicNotchActive || FC.FILTER_CONFIG.dyn_notch_count !== 0; - isDynamicNotchActive = isDynamicNotchActive && sampleRateHz >= 2000; + let isDynamicNotchActive = FC.FEATURE_CONFIG.features.isEnabled('DYNAMIC_FILTER'); + isDynamicNotchActive = isDynamicNotchActive || FC.FILTER_CONFIG.dyn_notch_count !== 0; + isDynamicNotchActive = isDynamicNotchActive && sampleRateHz >= 2000; - if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - if (isDynamicNotchActive) { - $('.dynamicNotch span.inputSwitch').hide(); - } else { - $('.dynamicNotch').hide(); - } - } + const dynamicNotchRange_e = $('.pid_filter select[name="dynamicNotchRange"]'); + const dynamicNotchWidthPercent_e = $('.pid_filter input[name="dynamicNotchWidthPercent"]'); + const dynamicNotchCount_e = $('.pid_filter input[name="dynamicNotchCount"]'); + const dynamicNotchQ_e = $('.pid_filter input[name="dynamicNotchQ"]'); + const dynamicNotchMinHz_e = $('.pid_filter input[name="dynamicNotchMinHz"]'); + const dynamicNotchMaxHz_e = $('.pid_filter input[name="dynamicNotchMaxHz"]'); - const dynamicNotchRange_e = $('.pid_filter select[name="dynamicNotchRange"]'); - const dynamicNotchWidthPercent_e = $('.pid_filter input[name="dynamicNotchWidthPercent"]'); - const dynamicNotchCount_e = $('.pid_filter input[name="dynamicNotchCount"]'); - const dynamicNotchQ_e = $('.pid_filter input[name="dynamicNotchQ"]'); - const dynamicNotchMinHz_e = $('.pid_filter input[name="dynamicNotchMinHz"]'); - const dynamicNotchMaxHz_e = $('.pid_filter input[name="dynamicNotchMaxHz"]'); - - dynamicNotchRange_e.val(FC.FILTER_CONFIG.dyn_notch_range); - dynamicNotchWidthPercent_e.val(FC.FILTER_CONFIG.dyn_notch_width_percent); - dynamicNotchCount_e.val(FC.FILTER_CONFIG.dyn_notch_count); - dynamicNotchQ_e.val(FC.FILTER_CONFIG.dyn_notch_q); - dynamicNotchMinHz_e.val(FC.FILTER_CONFIG.dyn_notch_min_hz); - dynamicNotchMaxHz_e.val(FC.FILTER_CONFIG.dyn_notch_max_hz); - - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { - dynamicNotchMinHz_e.attr("max","250"); - } else { - $('.dynamicNotchMaxHz').hide(); - } + dynamicNotchRange_e.val(FC.FILTER_CONFIG.dyn_notch_range); + dynamicNotchWidthPercent_e.val(FC.FILTER_CONFIG.dyn_notch_width_percent); + dynamicNotchCount_e.val(FC.FILTER_CONFIG.dyn_notch_count); + dynamicNotchQ_e.val(FC.FILTER_CONFIG.dyn_notch_q); + dynamicNotchMinHz_e.val(FC.FILTER_CONFIG.dyn_notch_min_hz); + dynamicNotchMaxHz_e.val(FC.FILTER_CONFIG.dyn_notch_max_hz); - $('.pid_filter input[id="dynamicNotchEnabled"]').on('change', function() { + $('.pid_filter input[id="dynamicNotchEnabled"]').on('change', function() { - const count = parseInt(dynamicNotchCount_e.val()); - const checked = $(this).is(':checked'); + const count = parseInt(dynamicNotchCount_e.val()); + const checked = $(this).is(':checked'); - if (checked && !count) { - dynamicNotchCount_e.val(FILTER_DEFAULT.dyn_notch_count); - } + if (checked && !count) { + dynamicNotchCount_e.val(FILTER_DEFAULT.dyn_notch_count); + } - $('.dynamicNotch span.suboption').toggle(checked); - $('.dynamicNotchRange').toggle(semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_43) && checked); - $('.dynamicNotchMaxHz').toggle(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) && checked); - $('.dynamicNotchWidthPercent').toggle(semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44) && checked); - $('.dynamicNotchCount').toggle(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) && checked); + $('.dynamicNotch span.suboption').toggle(checked); + $('.dynamicNotchMaxHz').toggle(checked); + $('.dynamicNotchCount').toggle(checked); - }).prop('checked', isDynamicNotchActive).trigger('change'); + }).prop('checked', isDynamicNotchActive).trigger('change'); - // RPM Filter - $('.rpmFilter').toggle(FC.MOTOR_CONFIG.use_dshot_telemetry); + // RPM Filter + $('.rpmFilter').toggle(FC.MOTOR_CONFIG.use_dshot_telemetry); - const rpmFilterHarmonics_e = $('.pid_filter input[name="rpmFilterHarmonics"]'); - const rpmFilterMinHz_e = $('.pid_filter input[name="rpmFilterMinHz"]'); + const rpmFilterHarmonics_e = $('.pid_filter input[name="rpmFilterHarmonics"]'); + const rpmFilterMinHz_e = $('.pid_filter input[name="rpmFilterMinHz"]'); - rpmFilterHarmonics_e.val(FC.FILTER_CONFIG.gyro_rpm_notch_harmonics); - rpmFilterMinHz_e.val(FC.FILTER_CONFIG.gyro_rpm_notch_min_hz); + rpmFilterHarmonics_e.val(FC.FILTER_CONFIG.gyro_rpm_notch_harmonics); + rpmFilterMinHz_e.val(FC.FILTER_CONFIG.gyro_rpm_notch_min_hz); - $('.pid_filter #rpmFilterEnabled').on('change', function() { + $('.pid_filter #rpmFilterEnabled').on('change', function() { - const harmonics = rpmFilterHarmonics_e.val(); - const checked = $(this).is(':checked') && harmonics !== 0; + const harmonics = rpmFilterHarmonics_e.val(); + const checked = $(this).is(':checked') && harmonics !== 0; - rpmFilterHarmonics_e.attr('disabled', !checked); - rpmFilterMinHz_e.attr('disabled', !checked); - self.previousFilterDynQ = FC.FILTER_CONFIG.dyn_notch_q; - self.previousFilterDynCount = FC.FILTER_CONFIG.dyn_notch_count; + rpmFilterHarmonics_e.attr('disabled', !checked); + rpmFilterMinHz_e.attr('disabled', !checked); + self.previousFilterDynQ = FC.FILTER_CONFIG.dyn_notch_q; + self.previousFilterDynCount = FC.FILTER_CONFIG.dyn_notch_count; - if (harmonics == 0) { - rpmFilterHarmonics_e.val(FILTER_DEFAULT.gyro_rpm_notch_harmonics); - } + if (harmonics == 0) { + rpmFilterHarmonics_e.val(FILTER_DEFAULT.gyro_rpm_notch_harmonics); + } - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - const dialogDynFilterSettings = { - title: i18n.getMessage("dialogDynFiltersChangeTitle"), - text: i18n.getMessage("dialogDynFiltersChangeNote"), - buttonYesText: i18n.getMessage("presetsWarningDialogYesButton"), - buttonNoText: i18n.getMessage("presetsWarningDialogNoButton"), - buttonYesCallback: () => _dynFilterChange(), - buttonNoCallback: null, - }; - - const _dynFilterChange = function() { - if (checked) { - dynamicNotchCount_e.val(FILTER_DEFAULT.dyn_notch_count_rpm); - dynamicNotchQ_e.val(FILTER_DEFAULT.dyn_notch_q_rpm); - } else { - dynamicNotchCount_e.val(FILTER_DEFAULT.dyn_notch_count); - dynamicNotchQ_e.val(FILTER_DEFAULT.dyn_notch_q); - } - }; + const dialogDynFilterSettings = { + title: i18n.getMessage("dialogDynFiltersChangeTitle"), + text: i18n.getMessage("dialogDynFiltersChangeNote"), + buttonYesText: i18n.getMessage("presetsWarningDialogYesButton"), + buttonNoText: i18n.getMessage("presetsWarningDialogNoButton"), + buttonYesCallback: () => _dynFilterChange(), + buttonNoCallback: null, + }; - if (checked !== (FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0)) { - GUI.showYesNoDialog(dialogDynFilterSettings); - } else { - dynamicNotchCount_e.val(self.previousFilterDynCount); - dynamicNotchQ_e.val(self.previousFilterDynQ); - } + const _dynFilterChange = function() { + if (checked) { + dynamicNotchCount_e.val(FILTER_DEFAULT.dyn_notch_count_rpm); + dynamicNotchQ_e.val(FILTER_DEFAULT.dyn_notch_q_rpm); + } else { + dynamicNotchCount_e.val(FILTER_DEFAULT.dyn_notch_count); + dynamicNotchQ_e.val(FILTER_DEFAULT.dyn_notch_q); } + }; - $('.rpmFilter span.suboption').toggle(checked); + if (checked !== (FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0)) { + GUI.showYesNoDialog(dialogDynFilterSettings); + } else { + dynamicNotchCount_e.val(self.previousFilterDynCount); + dynamicNotchQ_e.val(self.previousFilterDynQ); + } - }).prop('checked', FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0).trigger('change'); - } else { - $('.itermRelaxCutoff').hide(); - $('.dynamicNotch').hide(); - $('.rpmFilter').hide(); - } + $('.rpmFilter span.suboption').toggle(checked); + + }).prop('checked', FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0).trigger('change'); if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) { $('input[name="idleMinRpm-number"]').attr("max", 200); } - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { - $('.tab-pid_tuning input[name="motorLimit"]').val(FC.ADVANCED_TUNING.motorOutputLimit); - $('.tab-pid_tuning select[name="cellCount"]').val(FC.ADVANCED_TUNING.autoProfileCellCount); - $('input[name="idleMinRpm-number"]').val(FC.ADVANCED_TUNING.idleMinRpm).prop('disabled', !FC.MOTOR_CONFIG.use_dshot_telemetry); + $('.tab-pid_tuning input[name="motorLimit"]').val(FC.ADVANCED_TUNING.motorOutputLimit); + $('.tab-pid_tuning select[name="cellCount"]').val(FC.ADVANCED_TUNING.autoProfileCellCount); + $('input[name="idleMinRpm-number"]').val(FC.ADVANCED_TUNING.idleMinRpm).prop('disabled', !FC.MOTOR_CONFIG.use_dshot_telemetry); - if (FC.MOTOR_CONFIG.use_dshot_telemetry) { - $('span.pidTuningIdleMinRpmDisabled').text(i18n.getMessage('pidTuningIdleMinRpm')); - } else { - $('span.pidTuningIdleMinRpmDisabled').text(i18n.getMessage('pidTuningIdleMinRpmDisabled')); - } + if (FC.MOTOR_CONFIG.use_dshot_telemetry) { + $('span.pidTuningIdleMinRpmDisabled').text(i18n.getMessage('pidTuningIdleMinRpm')); } else { - $('.motorOutputLimit').hide(); - $('.idleMinRpm').hide(); + $('span.pidTuningIdleMinRpmDisabled').text(i18n.getMessage('pidTuningIdleMinRpmDisabled')); } - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { - const ratesTypeListElement = $('select[id="ratesType"]'); // generates list - const ratesList = [ - {name: "Betaflight"}, - {name: "Raceflight"}, - {name: "KISS"}, - {name: "Actual"}, - {name: "QuickRates"}, - ]; - // add future rates types here with FC.CONFIG.apiVersion check - for (let i = 0; i < ratesList.length; i++) { - ratesTypeListElement.append(``); - } - ratesTypeListElement.sortSelect(); + const ratesTypeListElement = $('select[id="ratesType"]'); // generates list + const ratesList = [ + {name: "Betaflight"}, + {name: "Raceflight"}, + {name: "KISS"}, + {name: "Actual"}, + {name: "QuickRates"}, + ]; + // add future rates types here with FC.CONFIG.apiVersion check + for (let i = 0; i < ratesList.length; i++) { + ratesTypeListElement.append(``); + } - self.currentRatesType = FC.RC_TUNING.rates_type; - self.previousRatesType = null; - ratesTypeListElement.val(self.currentRatesType); + ratesTypeListElement.sortSelect(); - self.changeRatesType(self.currentRatesType); // update rate type code when updating the tab + self.currentRatesType = FC.RC_TUNING.rates_type; + self.previousRatesType = null; + ratesTypeListElement.val(self.currentRatesType); - } else { - self.currentRatesType = null; - self.previousRatesType = null; - $('.rates_type').hide(); - } + self.changeRatesType(self.currentRatesType); // update rate type code when updating the tab - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - // hide legacy filter switches - $('.gyroLowpassLegacy').hide(); - $('.gyroLowpassDynLegacy').hide(); - $('.dtermLowpassLegacy').hide(); - $('.dtermLowpassDynLegacy').hide(); - $('.pid_filter input[name="dtermLowpassExpo"]').val(FC.FILTER_CONFIG.dyn_lpf_curve_expo); - } else { - // hide firmware filter switches - $('.gyroLowpass').hide(); - $('.dtermLowpass').hide(); - - // Previous html attributes for legacy sliders - $('.pid_tuning .ROLL input[name="p"]').attr("max", "200"); - $('.pid_tuning .ROLL input[name="i"]').attr("max", "200"); - $('.pid_tuning .ROLL input[name="d"]').attr("max", "200"); - $('.pid_tuning .ROLL input[name="dMinPitch"]').attr("max", "100"); - $('.pid_tuning .PITCH input[name="p"]').attr("max", "200"); - $('.pid_tuning .PITCH input[name="i"]').attr("max", "200"); - $('.pid_tuning .PITCH input[name="d"]').attr("max", "200"); - $('.pid_tuning .PITCH input[name="dMinPitch"]').attr("max", "100"); - $('.pid_tuning .YAW input[name="p"]').attr("max", "200"); - $('.pid_tuning .YAW input[name="i"]').attr("max", "200"); - $('.pid_tuning .YAW input[name="d"]').attr("max", "200"); - $('.pid_tuning .YAW input[name="dMinPitch"]').attr("max", "100"); - } + $('.pid_filter input[name="dtermLowpassExpo"]').val(FC.FILTER_CONFIG.dyn_lpf_curve_expo); // Feedforward - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - $('select[id="feedforwardAveraging"]').val(FC.ADVANCED_TUNING.feedforward_averaging); - $('input[name="feedforwardSmoothFactor"]').val(FC.ADVANCED_TUNING.feedforward_smooth_factor); - $('input[name="feedforwardBoost"]').val(FC.ADVANCED_TUNING.feedforward_boost); - $('input[name="feedforwardMaxRateLimit"]').val(FC.ADVANCED_TUNING.feedforward_max_rate_limit); - $('input[name="feedforwardJitterFactor"]').val(FC.ADVANCED_TUNING.feedforward_jitter_factor); - - // Vbat Sag Compensation - const vbatSagCompensationCheck = $('input[id="vbatSagCompensation"]'); - - vbatSagCompensationCheck.prop('checked', FC.ADVANCED_TUNING.vbat_sag_compensation !== 0); - $('input[name="vbatSagValue"]').val(FC.ADVANCED_TUNING.vbat_sag_compensation > 0 ? FC.ADVANCED_TUNING.vbat_sag_compensation : 100); - - vbatSagCompensationCheck.change(function() { - const checked = $(this).is(':checked'); - $('.vbatSagCompensation .suboption').toggle(checked); - }).change(); - - // Thrust Linearization - const thrustLinearizationCheck = $('input[id="thrustLinearization"]'); - - thrustLinearizationCheck.prop('checked', FC.ADVANCED_TUNING.thrustLinearization !== 0); - $('input[name="thrustLinearValue"]').val(FC.ADVANCED_TUNING.thrustLinearization > 0 ? FC.ADVANCED_TUNING.thrustLinearization : 20); - - thrustLinearizationCheck.change(function() { - const checked = $(this).is(':checked'); - $('.thrustLinearization .suboption').toggle(checked); - }).change(); - } else { - $('.vbatSagCompensation').hide(); - $('.thrustLinearization').hide(); + $('select[id="feedforwardAveraging"]').val(FC.ADVANCED_TUNING.feedforward_averaging); + $('input[name="feedforwardSmoothFactor"]').val(FC.ADVANCED_TUNING.feedforward_smooth_factor); + $('input[name="feedforwardBoost"]').val(FC.ADVANCED_TUNING.feedforward_boost); + $('input[name="feedforwardMaxRateLimit"]').val(FC.ADVANCED_TUNING.feedforward_max_rate_limit); + $('input[name="feedforwardJitterFactor"]').val(FC.ADVANCED_TUNING.feedforward_jitter_factor); - $('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll > 0 ? FC.ADVANCED_TUNING.feedforwardRoll : PID_DEFAULT[4]); - $('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch > 0 ? FC.ADVANCED_TUNING.feedforwardPitch : PID_DEFAULT[9]); - $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw > 0 ? FC.ADVANCED_TUNING.feedforwardYaw : PID_DEFAULT[14]); - $('span.feedforwardOption').hide(); - } + // Vbat Sag Compensation + const vbatSagCompensationCheck = $('input[id="vbatSagCompensation"]'); + + vbatSagCompensationCheck.prop('checked', FC.ADVANCED_TUNING.vbat_sag_compensation !== 0); + $('input[name="vbatSagValue"]').val(FC.ADVANCED_TUNING.vbat_sag_compensation > 0 ? FC.ADVANCED_TUNING.vbat_sag_compensation : 100); + + vbatSagCompensationCheck.change(function() { + const checked = $(this).is(':checked'); + $('.vbatSagCompensation .suboption').toggle(checked); + }).change(); + + // Thrust Linearization + const thrustLinearizationCheck = $('input[id="thrustLinearization"]'); + + thrustLinearizationCheck.prop('checked', FC.ADVANCED_TUNING.thrustLinearization !== 0); + $('input[name="thrustLinearValue"]').val(FC.ADVANCED_TUNING.thrustLinearization > 0 ? FC.ADVANCED_TUNING.thrustLinearization : 20); + + thrustLinearizationCheck.change(function() { + const checked = $(this).is(':checked'); + $('.thrustLinearization .suboption').toggle(checked); + }).change(); $('input[id="useIntegratedYaw"]').change(function() { const checked = $(this).is(':checked'); @@ -561,12 +479,7 @@ pid_tuning.initialize = function (callback) { function adjustDMin(dElement, dMinElement) { const dValue = parseInt(dElement.val()); const dMinValue = parseInt(dMinElement.val()); - let dMinLimit = Math.min(Math.max(dValue - 1, 0), 100); - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - dMinLimit = Math.min(Math.max(dValue, 0), 250); - } else { - dMinElement.attr("max", dMinLimit); - } + const dMinLimit = Math.min(Math.max(dValue, 0), 250); if (dMinValue > dMinLimit) { dMinElement.val(dMinLimit); } @@ -589,13 +502,12 @@ pid_tuning.initialize = function (callback) { // if user increases Dmin, don't allow Dmax below Dmin function adjustD(dMinElement, dElement) { - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - const dValue2 = parseInt(dElement.val()); - const dMinValue2 = parseInt(dMinElement.val()); - const dLimit = Math.min(Math.max(dMinValue2, 0), 250); - if (dValue2 < dLimit) { - dElement.val(dLimit); - } + const dValue2 = parseInt(dElement.val()); + const dMinValue2 = parseInt(dMinElement.val()); + const dLimit = Math.min(Math.max(dMinValue2, 0), 250); + + if (dValue2 < dLimit) { + dElement.val(dLimit); } } @@ -629,55 +541,6 @@ pid_tuning.initialize = function (callback) { adjustDMin($(this), dMinElement); }).change(); - // dMinSwitch toggle - renamed to Dynamic Damping and disabled in 4.3 - const dMinSwitch = $('#dMinSwitch'); - - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - const box = document.getElementById('dMinSwitch'); - if (box.parentNode) { - box.parentNode.removeChild(box); - } - $('.dMinDisabledNote').hide(); - } else { - dMinSwitch.prop('checked', FC.ADVANCED_TUNING.dMinRoll > 0 || FC.ADVANCED_TUNING.dMinPitch > 0 || FC.ADVANCED_TUNING.dMinYaw > 0); - - dMinSwitch.on('change', function() { - const checked = $(this).is(':checked'); - - if (checked) { - if ($('.pid_tuning input[name="dMinRoll"]').val() == 0 && $('.pid_tuning input[name="dMinPitch"]').val() == 0 && $('.pid_tuning input[name="dMinYaw"]').val() == 0) { - // when enabling dmin set its value based on 0.57x of actual dmax, dmin is limited to 100 - $('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.57), 100)); - $('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.57), 100)); - $('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.57), 100)); - if (semver.eq(FC.CONFIG.apiVersion, API_VERSION_1_43)) { - $('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.65), 100)); - $('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.65), 100)); - $('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.65), 100)); - } - } else { - $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll); - $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch); - $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw); - } - $('.dMinDisabledNote').hide(); - $('.dminGroup .suboption').show(); - $('#pid_main tr :nth-child(5)').show(); - $('#pid_main .pid_titlebar2 th').attr('colspan', 6); - $('.derivativeText').text(i18n.getMessage("pidTuningDMax")); - } else { - $('.dMinDisabledNote').show(); - $('.dminGroup .suboption').hide(); - $('#pid_main tr :nth-child(5)').hide(); - $('#pid_main .pid_titlebar2 th').attr('colspan', 5); - $('.derivativeText').text(i18n.getMessage("pidTuningDerivative")); - $('.pid_tuning input[name="dMinRoll"]').val(0); - $('.pid_tuning input[name="dMinPitch"]').val(0); - $('.pid_tuning input[name="dMinYaw"]').val(0); - } - }).trigger('change'); - } - $('input[id="gyroNotch1Enabled"]').change(function() { const checked = $(this).is(':checked'); const hz = FC.FILTER_CONFIG.gyro_notch_hz > 0 ? FC.FILTER_CONFIG.gyro_notch_hz : FILTER_DEFAULT.gyro_notch_hz; @@ -716,11 +579,6 @@ pid_tuning.initialize = function (callback) { const gyroLowpassDynMaxFrequency = $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]'); const gyroLowpassFrequency = $('.pid_filter input[name="gyroLowpassFrequency"]'); const gyroLowpass2Frequency = $('.pid_filter input[name="gyroLowpass2Frequency"]'); - const gyroLowpassType = $('.pid_filter select[name="gyroLowpassType"]'); - const gyroLowpass2Type = $('.pid_filter select[name="gyroLowpass2Type"]'); - const gyroLowpassDynType = $('.pid_filter select[name="gyroLowpassDynType"]'); - - const gyroLowpassDynEnabled = $('.pid_filter input[id="gyroLowpassDynEnabled"]'); const gyroLowpassEnabled = $('.pid_filter input[id="gyroLowpassEnabled"]'); const gyroLowpass2Enabled = $('.pid_filter input[id="gyroLowpass2Enabled"]'); @@ -736,11 +594,7 @@ pid_tuning.initialize = function (callback) { const dtermLowpassDynMaxFrequency = $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]'); const dtermLowpassFrequency = $('.pid_filter input[name="dtermLowpassFrequency"]'); const dtermLowpass2Frequency = $('.pid_filter input[name="dtermLowpass2Frequency"]'); - const dtermLowpassType = $('.pid_filter select[name="dtermLowpassType"]'); - const dtermLowpass2Type = $('.pid_filter select[name="dtermLowpass2Type"]'); - const dtermLowpassDynType = $('.pid_filter select[name="dtermLowpassDynType"]'); - const dtermLowpassDynEnabled = $('.pid_filter input[id="dtermLowpassDynEnabled"]'); const dtermLowpassEnabled = $('input[id="dtermLowpassEnabled"]'); const dtermLowpass2Enabled = $('input[id="dtermLowpass2Enabled"]'); @@ -751,217 +605,119 @@ pid_tuning.initialize = function (callback) { const dtermLowpassFilterMode = $('.pid_filter select[name="dtermLowpassFilterMode"]'); - if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - - // Legacy filter selectors for lowpass 1 and 2 - gyroLowpassEnabled.change(function() { - const checked = $(this).is(':checked'); - const disabledByDynamicLowpass = gyroLowpassDynEnabled.is(':checked'); - - const cutoff = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz; - const type = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type; - - gyroLowpassFrequency.val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked); - gyroLowpassType.each((i, el) => $(el).val(type).attr('disabled', !checked)); - - if (checked) { - gyroLowpassDynEnabled.prop('checked', false).change(); - } - self.updateFilterWarning(); - }); - - gyroLowpassDynEnabled.change(function() { - const checked = $(this).is(':checked'); - let cutoff_min = FILTER_DEFAULT.gyro_lowpass_dyn_min_hz; - let type = FILTER_DEFAULT.gyro_lowpass_type; - if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz) { - cutoff_min = FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz; - type = FC.FILTER_CONFIG.gyro_lowpass_type; - } - - gyroLowpassDynMinFrequency.val(checked ? cutoff_min : 0).attr('disabled', !checked); - gyroLowpassDynMaxFrequency.attr('disabled', !checked); - gyroLowpassDynType.each((i, el) => $(el).val(type).attr('disabled', !checked)); + // firmware 4.3 filter selectors for lowpass 1 and 2; sliders are not yet initialized here + gyroLowpassEnabled.change(function() { + const checked = $(this).is(':checked'); - if (checked) { - gyroLowpassEnabled.prop('checked', false).change(); - } else if (FC.FILTER_CONFIG.gyro_lowpass_hz > 0 && !gyroLowpassEnabled.is(':checked')) { - gyroLowpassEnabled.prop('checked', true).change(); + if (checked) { + if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 || FC.FILTER_CONFIG.gyro_lowpass_hz > 0) { + // lowpass1 is enabled, set the master switch on, show the label, mode selector and type fields + gyroLowpassFilterMode.val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 ? 1 : 0).change(); + } else { + // lowpass 1 is disabled, set the master switch off, only show label + // user is trying to enable the lowpass filter, but it was off (both cutoffs are zero) + // initialise in dynamic mode with values at sliders, or use defaults + gyroLowpassFilterMode.val(1).change(); } - self.updateFilterWarning(); - }); - - gyroLowpass2Enabled.change(function() { - const checked = $(this).is(':checked'); - const cutoff = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz; - const type = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type; + } else { + // the user is disabling Lowpass 1 so set everything to zero + gyroLowpassDynMinFrequency.val(0); + gyroLowpassDynMaxFrequency.val(0); + gyroLowpassFrequency.val(0); - gyroLowpass2Frequency.val(checked ? cutoff : 0).attr('disabled', !checked); - gyroLowpass2Type.each((i, el) => $(el).val(type).attr('disabled', !checked)); - }); + self.calculateNewGyroFilters(); + } - dtermLowpassEnabled.change(function() { - const checked = $(this).is(':checked'); - const disabledByDynamicLowpass = dtermLowpassDynEnabled.is(':checked'); + gyroLowpassOption.toggle(checked); + gyroLowpassOptionStatic.toggle(checked && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz === 0); + gyroLowpassOptionDynamic.toggle(checked && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz !== 0); + }); - const cutoff = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz; - const type = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type; + gyroLowpassFilterMode.change(function() { + const dynMode = parseInt($(this).val()); - dtermLowpassFrequency.val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked); - dtermLowpassType.each((i, el) => $(el).val(type).attr('disabled', !checked)); + const cutoff = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz; + const cutoffMin = FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz : FILTER_DEFAULT.gyro_lowpass_dyn_min_hz; + const cutoffMax = FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz : FILTER_DEFAULT.gyro_lowpass_dyn_max_hz; - if (checked) { - dtermLowpassDynEnabled.prop('checked', false).change(); - } - self.updateFilterWarning(); - }); + gyroLowpassFrequency.val(dynMode ? 0 : cutoff); + gyroLowpassDynMinFrequency.val(dynMode ? cutoffMin : 0); + gyroLowpassDynMaxFrequency.val(dynMode ? cutoffMax : 0); - dtermLowpassDynEnabled.change(function() { - const checked = $(this).is(':checked'); - let cutoff_min = FILTER_DEFAULT.dterm_lowpass_dyn_min_hz; - let type = FILTER_DEFAULT.dterm_lowpass_type; - if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz) { - cutoff_min = FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz; - type = FC.FILTER_CONFIG.dterm_lowpass_type; - } + self.calculateNewGyroFilters(); - dtermLowpassDynMinFrequency.val(checked ? cutoff_min : 0).attr('disabled', !checked); - dtermLowpassDynMaxFrequency.attr('disabled', !checked); - dtermLowpassDynType.each((i, el) => $(el).val(type).attr('disabled', !checked)); + gyroLowpassOptionStatic.toggle(!dynMode); + gyroLowpassOptionDynamic.toggle(!!dynMode); + }); - if (checked) { - dtermLowpassEnabled.prop('checked', false).change(); - } else if (FC.FILTER_CONFIG.dterm_lowpass_hz > 0 && !dtermLowpassEnabled.is(':checked')) { - dtermLowpassEnabled.prop('checked', true).change(); - } - self.updateFilterWarning(); - }); + // switch gyro lpf2 + gyroLowpass2Enabled.change(function() { + const checked = $(this).is(':checked'); + const cutoff = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz; - dtermLowpass2Enabled.change(function() { - const checked = $(this).is(':checked'); - const cutoff = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz; - const type = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type; + gyroLowpass2Frequency.val(checked ? cutoff : 0).attr('disabled', !checked); - dtermLowpass2Frequency.val(checked ? cutoff : 0).attr('disabled', !checked); - dtermLowpass2Type.each((i, el) => $(el).val(type).attr('disabled', !checked)); - }); + self.calculateNewGyroFilters(); - } else { + gyroLowpass2Option.toggle(checked); + self.updateFilterWarning(); + }); - // firmware 4.3 filter selectors for lowpass 1 and 2; sliders are not yet initialized here - gyroLowpassEnabled.change(function() { - const checked = $(this).is(':checked'); + dtermLowpassEnabled.change(function() { + const checked = $(this).is(':checked'); - if (checked) { - if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 || FC.FILTER_CONFIG.gyro_lowpass_hz > 0) { + if (checked) { + if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 || FC.FILTER_CONFIG.dterm_lowpass_hz > 0) { // lowpass1 is enabled, set the master switch on, show the label, mode selector and type fields - gyroLowpassFilterMode.val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 ? 1 : 0).change(); - } else { - // lowpass 1 is disabled, set the master switch off, only show label - // user is trying to enable the lowpass filter, but it was off (both cutoffs are zero) - // initialise in dynamic mode with values at sliders, or use defaults - gyroLowpassFilterMode.val(1).change(); - } + dtermLowpassFilterMode.val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 ? 1 : 0).change(); } else { - // the user is disabling Lowpass 1 so set everything to zero - gyroLowpassDynMinFrequency.val(0); - gyroLowpassDynMaxFrequency.val(0); - gyroLowpassFrequency.val(0); - - self.calculateNewGyroFilters(); + // lowpass 1 is disabled, set the master switch off, only show label + // user is trying to enable the lowpass filter, but it was off (both cutoffs are zero) + // initialise in dynamic mode with values at sliders, or use defaults + dtermLowpassFilterMode.val(1).change(); } + } else { + // the user is disabling Lowpass 1 so set everything to zero + dtermLowpassDynMinFrequency.val(0); + dtermLowpassDynMaxFrequency.val(0); + dtermLowpassFrequency.val(0); - gyroLowpassOption.toggle(checked); - gyroLowpassOptionStatic.toggle(checked && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz === 0); - gyroLowpassOptionDynamic.toggle(checked && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz !== 0); - }); - - gyroLowpassFilterMode.change(function() { - const dynMode = parseInt($(this).val()); - - const cutoff = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz; - const cutoffMin = FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz : FILTER_DEFAULT.gyro_lowpass_dyn_min_hz; - const cutoffMax = FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz : FILTER_DEFAULT.gyro_lowpass_dyn_max_hz; - - gyroLowpassFrequency.val(dynMode ? 0 : cutoff); - gyroLowpassDynMinFrequency.val(dynMode ? cutoffMin : 0); - gyroLowpassDynMaxFrequency.val(dynMode ? cutoffMax : 0); - - self.calculateNewGyroFilters(); - - gyroLowpassOptionStatic.toggle(!dynMode); - gyroLowpassOptionDynamic.toggle(!!dynMode); - }); - - // switch gyro lpf2 - gyroLowpass2Enabled.change(function() { - const checked = $(this).is(':checked'); - const cutoff = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz; - - gyroLowpass2Frequency.val(checked ? cutoff : 0).attr('disabled', !checked); - - self.calculateNewGyroFilters(); - - gyroLowpass2Option.toggle(checked); - self.updateFilterWarning(); - }); - - dtermLowpassEnabled.change(function() { - const checked = $(this).is(':checked'); - - if (checked) { - if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 || FC.FILTER_CONFIG.dterm_lowpass_hz > 0) { - // lowpass1 is enabled, set the master switch on, show the label, mode selector and type fields - dtermLowpassFilterMode.val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 ? 1 : 0).change(); - } else { - // lowpass 1 is disabled, set the master switch off, only show label - // user is trying to enable the lowpass filter, but it was off (both cutoffs are zero) - // initialise in dynamic mode with values at sliders, or use defaults - dtermLowpassFilterMode.val(1).change(); - } - } else { - // the user is disabling Lowpass 1 so set everything to zero - dtermLowpassDynMinFrequency.val(0); - dtermLowpassDynMaxFrequency.val(0); - dtermLowpassFrequency.val(0); - - self.calculateNewDTermFilters(); - } + self.calculateNewDTermFilters(); + } - dtermLowpassOption.toggle(checked); - dtermLowpassOptionStatic.toggle(checked && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz === 0); - dtermLowpassOptionDynamic.toggle(checked && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz !== 0); - }); + dtermLowpassOption.toggle(checked); + dtermLowpassOptionStatic.toggle(checked && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz === 0); + dtermLowpassOptionDynamic.toggle(checked && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz !== 0); + }); - dtermLowpassFilterMode.change(function() { - const dynMode = parseInt($(this).val()); + dtermLowpassFilterMode.change(function() { + const dynMode = parseInt($(this).val()); - const cutoff = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz; - const cutoffMin = FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz : FILTER_DEFAULT.dterm_lowpass_dyn_min_hz; - const cutoffMax = FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz : FILTER_DEFAULT.dterm_lowpass_dyn_max_hz; + const cutoff = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz; + const cutoffMin = FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz : FILTER_DEFAULT.dterm_lowpass_dyn_min_hz; + const cutoffMax = FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz : FILTER_DEFAULT.dterm_lowpass_dyn_max_hz; - dtermLowpassFrequency.val(dynMode ? 0 : cutoff); - dtermLowpassDynMinFrequency.val(dynMode ? cutoffMin : 0); - dtermLowpassDynMaxFrequency.val(dynMode ? cutoffMax : 0); + dtermLowpassFrequency.val(dynMode ? 0 : cutoff); + dtermLowpassDynMinFrequency.val(dynMode ? cutoffMin : 0); + dtermLowpassDynMaxFrequency.val(dynMode ? cutoffMax : 0); - self.calculateNewDTermFilters(); + self.calculateNewDTermFilters(); - dtermLowpassOptionStatic.toggle(!dynMode); - dtermLowpassOptionDynamic.toggle(!!dynMode); - }); + dtermLowpassOptionStatic.toggle(!dynMode); + dtermLowpassOptionDynamic.toggle(!!dynMode); + }); - dtermLowpass2Enabled.change(function() { - const checked = $(this).is(':checked'); - const cutoff = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz; + dtermLowpass2Enabled.change(function() { + const checked = $(this).is(':checked'); + const cutoff = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz; - dtermLowpass2Frequency.val(checked ? cutoff : 0).attr('disabled', !checked); + dtermLowpass2Frequency.val(checked ? cutoff : 0).attr('disabled', !checked); - self.calculateNewDTermFilters(); + self.calculateNewDTermFilters(); - dtermLowpass2Option.toggle(checked); - self.updateFilterWarning(); - }); - } + dtermLowpass2Option.toggle(checked); + self.updateFilterWarning(); + }); $('input[id="yawLowpassEnabled"]').change(function() { const checked = $(this).is(':checked'); @@ -1001,17 +757,8 @@ pid_tuning.initialize = function (callback) { $('input[id="gyroNotch2Enabled"]').prop('checked', FC.FILTER_CONFIG.gyro_notch2_hz !== 0).change(); $('input[id="dtermNotchEnabled"]').prop('checked', FC.FILTER_CONFIG.dterm_notch_hz !== 0).change(); - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - gyroLowpassEnabled.prop('checked', FC.FILTER_CONFIG.gyro_lowpass_hz !== 0 || FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz !== 0).change(); - dtermLowpassEnabled.prop('checked', FC.FILTER_CONFIG.dterm_lowpass_hz !== 0 || FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz !== 0).change(); - } else { - gyroLowpassEnabled.prop('checked', FC.FILTER_CONFIG.gyro_lowpass_hz !== 0).change(); - gyroLowpassDynEnabled.prop('checked', FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz !== 0 && - FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz).change(); - dtermLowpassEnabled.prop('checked', FC.FILTER_CONFIG.dterm_lowpass_hz !== 0).change(); - dtermLowpassDynEnabled.prop('checked', FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz !== 0 && - FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz).change(); - } + gyroLowpassEnabled.prop('checked', FC.FILTER_CONFIG.gyro_lowpass_hz !== 0 || FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz !== 0).change(); + dtermLowpassEnabled.prop('checked', FC.FILTER_CONFIG.dterm_lowpass_hz !== 0 || FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz !== 0).change(); gyroLowpass2Enabled.prop('checked', FC.FILTER_CONFIG.gyro_lowpass2_hz !== 0).change(); dtermLowpass2Enabled.prop('checked', FC.FILTER_CONFIG.dterm_lowpass2_hz !== 0).change(); @@ -1066,43 +813,41 @@ pid_tuning.initialize = function (callback) { FC.RC_TUNING.rcPitchRate = parseFloat(rc_rate_pitch_e.val()); FC.RC_TUNING.RC_PITCH_EXPO = parseFloat(rc_pitch_expo_e.val()); - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { - switch (self.currentRatesType) { - case FC.RATES_TYPE.RACEFLIGHT: - FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 100; - FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 100; - FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 100; - FC.RC_TUNING.rcPitchRate = parseFloat(rc_rate_pitch_e.val()) / 1000; - FC.RC_TUNING.RC_RATE = parseFloat(rc_rate_e.val()) / 1000; - FC.RC_TUNING.rcYawRate = parseFloat(rc_rate_yaw_e.val()) / 1000; - FC.RC_TUNING.RC_PITCH_EXPO = parseFloat(rc_pitch_expo_e.val()) / 100; - FC.RC_TUNING.RC_EXPO = parseFloat(rc_expo_e.val()) / 100; - FC.RC_TUNING.RC_YAW_EXPO = parseFloat(rc_yaw_expo_e.val()) / 100; - - break; - - case FC.RATES_TYPE.ACTUAL: - FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000; - FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 1000; - FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000; - FC.RC_TUNING.rcPitchRate = parseFloat(rc_rate_pitch_e.val()) / 1000; - FC.RC_TUNING.RC_RATE = parseFloat(rc_rate_e.val()) / 1000; - FC.RC_TUNING.rcYawRate = parseFloat(rc_rate_yaw_e.val()) / 1000; - - break; - - case FC.RATES_TYPE.QUICKRATES: - FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000; - FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 1000; - FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000; - - break; - - // add future rates types here - default: // BetaFlight - - break; - } + switch (self.currentRatesType) { + case FC.RATES_TYPE.RACEFLIGHT: + FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 100; + FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 100; + FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 100; + FC.RC_TUNING.rcPitchRate = parseFloat(rc_rate_pitch_e.val()) / 1000; + FC.RC_TUNING.RC_RATE = parseFloat(rc_rate_e.val()) / 1000; + FC.RC_TUNING.rcYawRate = parseFloat(rc_rate_yaw_e.val()) / 1000; + FC.RC_TUNING.RC_PITCH_EXPO = parseFloat(rc_pitch_expo_e.val()) / 100; + FC.RC_TUNING.RC_EXPO = parseFloat(rc_expo_e.val()) / 100; + FC.RC_TUNING.RC_YAW_EXPO = parseFloat(rc_yaw_expo_e.val()) / 100; + + break; + + case FC.RATES_TYPE.ACTUAL: + FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000; + FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 1000; + FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000; + FC.RC_TUNING.rcPitchRate = parseFloat(rc_rate_pitch_e.val()) / 1000; + FC.RC_TUNING.RC_RATE = parseFloat(rc_rate_e.val()) / 1000; + FC.RC_TUNING.rcYawRate = parseFloat(rc_rate_yaw_e.val()) / 1000; + + break; + + case FC.RATES_TYPE.QUICKRATES: + FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000; + FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 1000; + FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000; + + break; + + // add future rates types here + default: // BetaFlight + + break; } FC.RC_TUNING.throttle_MID = parseFloat($('.throttle input[name="mid"]').val()); @@ -1192,15 +937,6 @@ pid_tuning.initialize = function (callback) { FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()); FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()); - if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz ) { - FC.FILTER_CONFIG.gyro_lowpass_type = $('.pid_filter select[name="gyroLowpassDynType"]').val(); - } - if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz ) { - FC.FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassDynType"]').val(); - } - } - FC.ADVANCED_TUNING.dMinRoll = parseInt($('.pid_tuning input[name="dMinRoll"]').val()); FC.ADVANCED_TUNING.dMinPitch = parseInt($('.pid_tuning input[name="dMinPitch"]').val()); FC.ADVANCED_TUNING.dMinYaw = parseInt($('.pid_tuning input[name="dMinYaw"]').val()); @@ -1209,63 +945,57 @@ pid_tuning.initialize = function (callback) { FC.ADVANCED_TUNING.useIntegratedYaw = $('input[id="useIntegratedYaw"]').is(':checked') ? 1 : 0; - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) { - FC.FILTER_CONFIG.dyn_notch_range = parseInt($('.pid_filter select[name="dynamicNotchRange"]').val()); - FC.FILTER_CONFIG.dyn_notch_width_percent = parseInt($('.pid_filter input[name="dynamicNotchWidthPercent"]').val()); - FC.FILTER_CONFIG.dyn_notch_q = parseInt($('.pid_filter input[name="dynamicNotchQ"]').val()); - FC.FILTER_CONFIG.dyn_notch_min_hz = parseInt($('.pid_filter input[name="dynamicNotchMinHz"]').val()); + FC.FILTER_CONFIG.dyn_notch_range = parseInt($('.pid_filter select[name="dynamicNotchRange"]').val()); + FC.FILTER_CONFIG.dyn_notch_width_percent = parseInt($('.pid_filter input[name="dynamicNotchWidthPercent"]').val()); + FC.FILTER_CONFIG.dyn_notch_q = parseInt($('.pid_filter input[name="dynamicNotchQ"]').val()); + FC.FILTER_CONFIG.dyn_notch_min_hz = parseInt($('.pid_filter input[name="dynamicNotchMinHz"]').val()); - const rpmFilterEnabled = $('.pid_filter #rpmFilterEnabled').is(':checked'); - FC.FILTER_CONFIG.gyro_rpm_notch_harmonics = rpmFilterEnabled ? parseInt($('.pid_filter input[name="rpmFilterHarmonics"]').val()) : 0; - FC.FILTER_CONFIG.gyro_rpm_notch_min_hz = parseInt($('.pid_filter input[name="rpmFilterMinHz"]').val()); - } + const rpmFilterEnabled = $('.pid_filter #rpmFilterEnabled').is(':checked'); + FC.FILTER_CONFIG.gyro_rpm_notch_harmonics = rpmFilterEnabled ? parseInt($('.pid_filter input[name="rpmFilterHarmonics"]').val()) : 0; + FC.FILTER_CONFIG.gyro_rpm_notch_min_hz = parseInt($('.pid_filter input[name="rpmFilterMinHz"]').val()); - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { - FC.FILTER_CONFIG.dyn_notch_max_hz = parseInt($('.pid_filter input[name="dynamicNotchMaxHz"]').val()); - FC.ADVANCED_TUNING.motorOutputLimit = parseInt($('.tab-pid_tuning input[name="motorLimit"]').val()); - FC.ADVANCED_TUNING.autoProfileCellCount = parseInt($('.tab-pid_tuning select[name="cellCount"]').val()); - FC.ADVANCED_TUNING.idleMinRpm = parseInt($('input[name="idleMinRpm-number"]').val()); + FC.FILTER_CONFIG.dyn_notch_max_hz = parseInt($('.pid_filter input[name="dynamicNotchMaxHz"]').val()); + FC.ADVANCED_TUNING.motorOutputLimit = parseInt($('.tab-pid_tuning input[name="motorLimit"]').val()); + FC.ADVANCED_TUNING.autoProfileCellCount = parseInt($('.tab-pid_tuning select[name="cellCount"]').val()); + FC.ADVANCED_TUNING.idleMinRpm = parseInt($('input[name="idleMinRpm-number"]').val()); - const selectedRatesType = $('select[id="ratesType"]').val(); // send analytics for rates type - let selectedRatesTypeName = undefined; - if (selectedRatesType !== FC.RC_TUNING.rates_type) { - selectedRatesTypeName = $('select[id="ratesType"]').find('option:selected').text(); - } - self.analyticsChanges['RatesType'] = selectedRatesTypeName; - - FC.RC_TUNING.rates_type = selectedRatesType; - } - - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - FC.ADVANCED_TUNING.feedforward_averaging = $('select[id="feedforwardAveraging"]').val(); - FC.ADVANCED_TUNING.feedforward_smooth_factor = parseInt($('input[name="feedforwardSmoothFactor"]').val()); - FC.ADVANCED_TUNING.feedforward_boost = parseInt($('input[name="feedforwardBoost"]').val()); - FC.ADVANCED_TUNING.feedforward_max_rate_limit = parseInt($('input[name="feedforwardMaxRateLimit"]').val()); - FC.ADVANCED_TUNING.feedforward_jitter_factor = parseInt($('input[name="feedforwardJitterFactor"]').val()); - FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val()); - FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0; - FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0; - FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassExpo"]').val()); - - const dynamicNotchEnabled = $('.pid_filter input[id="dynamicNotchEnabled"]').is(':checked'); - FC.FILTER_CONFIG.dyn_notch_count = dynamicNotchEnabled ? parseInt($('.pid_filter input[name="dynamicNotchCount"]').val()) : 0; - - FC.TUNING_SLIDERS.slider_pids_mode = TuningSliders.sliderPidsMode; - //round slider values to nearest multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20 - FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(TuningSliders.sliderMasterMultiplier * 20) * 5; - FC.TUNING_SLIDERS.slider_d_gain = Math.round(TuningSliders.sliderDGain * 20) * 5; - FC.TUNING_SLIDERS.slider_pi_gain = Math.round(TuningSliders.sliderPIGain * 20) * 5; - FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(TuningSliders.sliderFeedforwardGain * 20) * 5; - FC.TUNING_SLIDERS.slider_i_gain = Math.round(TuningSliders.sliderIGain * 20) * 5; - FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(TuningSliders.sliderDMaxGain * 20) * 5; - FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(TuningSliders.sliderRollPitchRatio * 20) * 5; - FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(TuningSliders.sliderPitchPIGain * 20) * 5; - - FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter; - FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = Math.round(TuningSliders.sliderDTermFilterMultiplier * 20) * 5; - FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter; - FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = Math.round(TuningSliders.sliderGyroFilterMultiplier * 20) * 5; + const selectedRatesType = $('select[id="ratesType"]').val(); // send analytics for rates type + let selectedRatesTypeName = undefined; + if (selectedRatesType !== FC.RC_TUNING.rates_type) { + selectedRatesTypeName = $('select[id="ratesType"]').find('option:selected').text(); } + self.analyticsChanges['RatesType'] = selectedRatesTypeName; + + FC.RC_TUNING.rates_type = selectedRatesType; + + FC.ADVANCED_TUNING.feedforward_averaging = $('select[id="feedforwardAveraging"]').val(); + FC.ADVANCED_TUNING.feedforward_smooth_factor = parseInt($('input[name="feedforwardSmoothFactor"]').val()); + FC.ADVANCED_TUNING.feedforward_boost = parseInt($('input[name="feedforwardBoost"]').val()); + FC.ADVANCED_TUNING.feedforward_max_rate_limit = parseInt($('input[name="feedforwardMaxRateLimit"]').val()); + FC.ADVANCED_TUNING.feedforward_jitter_factor = parseInt($('input[name="feedforwardJitterFactor"]').val()); + FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val()); + FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0; + FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0; + FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassExpo"]').val()); + + const dynamicNotchEnabled = $('.pid_filter input[id="dynamicNotchEnabled"]').is(':checked'); + FC.FILTER_CONFIG.dyn_notch_count = dynamicNotchEnabled ? parseInt($('.pid_filter input[name="dynamicNotchCount"]').val()) : 0; + + FC.TUNING_SLIDERS.slider_pids_mode = TuningSliders.sliderPidsMode; + //round slider values to nearest multiple of 5 and passes to the FW. Avoid dividing calc by (* x 100)/5 = 20 + FC.TUNING_SLIDERS.slider_master_multiplier = Math.round(TuningSliders.sliderMasterMultiplier * 20) * 5; + FC.TUNING_SLIDERS.slider_d_gain = Math.round(TuningSliders.sliderDGain * 20) * 5; + FC.TUNING_SLIDERS.slider_pi_gain = Math.round(TuningSliders.sliderPIGain * 20) * 5; + FC.TUNING_SLIDERS.slider_feedforward_gain = Math.round(TuningSliders.sliderFeedforwardGain * 20) * 5; + FC.TUNING_SLIDERS.slider_i_gain = Math.round(TuningSliders.sliderIGain * 20) * 5; + FC.TUNING_SLIDERS.slider_dmax_gain = Math.round(TuningSliders.sliderDMaxGain * 20) * 5; + FC.TUNING_SLIDERS.slider_roll_pitch_ratio = Math.round(TuningSliders.sliderRollPitchRatio * 20) * 5; + FC.TUNING_SLIDERS.slider_pitch_pi_gain = Math.round(TuningSliders.sliderPitchPIGain * 20) * 5; + + FC.TUNING_SLIDERS.slider_dterm_filter = TuningSliders.sliderDTermFilter; + FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = Math.round(TuningSliders.sliderDTermFilterMultiplier * 20) * 5; + FC.TUNING_SLIDERS.slider_gyro_filter = TuningSliders.sliderGyroFilter; + FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = Math.round(TuningSliders.sliderGyroFilterMultiplier * 20) * 5; } function showAllPids() { @@ -1515,11 +1245,8 @@ pid_tuning.initialize = function (callback) { const filterTypeValues = []; filterTypeValues.push("PT1"); filterTypeValues.push("BIQUAD"); - - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - filterTypeValues.push("PT2"); - filterTypeValues.push("PT3"); - } + filterTypeValues.push("PT2"); + filterTypeValues.push("PT3"); return filterTypeValues; } @@ -1540,20 +1267,14 @@ pid_tuning.initialize = function (callback) { dynamicNotchRangeSelect.append(``); }); } - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) { - populateDynamicNotchRangeSelect(loadDynamicNotchRangeValues()); - } + + populateDynamicNotchRangeSelect(loadDynamicNotchRangeValues()); populateFilterTypeSelector('gyroLowpassType', loadFilterTypeValues()); populateFilterTypeSelector('gyroLowpass2Type', loadFilterTypeValues()); populateFilterTypeSelector('dtermLowpassType', loadFilterTypeValues()); populateFilterTypeSelector('dtermLowpass2Type', loadFilterTypeValues()); - if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - populateFilterTypeSelector('gyroLowpassDynType', loadFilterTypeValues()); - populateFilterTypeSelector('dtermLowpassDynType', loadFilterTypeValues()); - } - pid_and_rc_to_form(); function activateSubtab(subtabName) { @@ -1646,7 +1367,7 @@ pid_tuning.initialize = function (callback) { updateNeeded = true; } - if (targetElement.attr('id') === 'ratesType' && semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + if (targetElement.attr('id') === 'ratesType') { self.changeRatesType(targetValue); updateNeeded = true; @@ -1921,363 +1642,216 @@ pid_tuning.initialize = function (callback) { * TuningSliders */ - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) { - // filter and tuning sliders - TuningSliders.initialize(); - - // UNSCALED non expert slider constrain values - const NON_EXPERT_SLIDER_MAX = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 1.4 : 1.25; - const NON_EXPERT_SLIDER_MIN = 0.7; - - const SLIDER_STEP_LOWER = 0.05; - const SLIDER_STEP_UPPER = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? 0.05 : 0.1; - - const sliderPidsModeSelect = $('#sliderPidsModeSelect'); - const sliderGyroFilterModeSelect = $('#sliderGyroFilterModeSelect'); - const sliderDTermFilterModeSelect = $('#sliderDTermFilterModeSelect'); - - const useIntegratedYaw = $('input[id="useIntegratedYaw"]'); + TuningSliders.initialize(); - useIntegratedYaw.on('change', () => { - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - // set slider to RP mode if Integrated Yaw is enabled and sliders are enabled - if (useIntegratedYaw.is(':checked') && TuningSliders.sliderPidsMode) { - sliderPidsModeSelect.val(1).trigger('change'); - } - } else { - // disable sliders if Integrated Yaw is enabled or Slider PID mode is set to OFF - TuningSliders.updatePidSlidersDisplay(); - } - }); + // UNSCALED non expert slider constrain values + const NON_EXPERT_SLIDER_MAX = 1.4; + const NON_EXPERT_SLIDER_MIN = 0.7; - // trigger Slider Display update when PID / Filter mode is changed - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + const sliderPidsModeSelect = $('#sliderPidsModeSelect'); + const sliderGyroFilterModeSelect = $('#sliderGyroFilterModeSelect'); + const sliderDTermFilterModeSelect = $('#sliderDTermFilterModeSelect'); - sliderPidsModeSelect.on('change', function () { - const setMode = parseInt($(this).val()); + const useIntegratedYaw = $('input[id="useIntegratedYaw"]'); - TuningSliders.sliderPidsMode = setMode; + useIntegratedYaw.on('change', () => { + // set slider to RP mode if Integrated Yaw is enabled and sliders are enabled + if (useIntegratedYaw.is(':checked') && TuningSliders.sliderPidsMode) { + sliderPidsModeSelect.val(1).trigger('change'); + } + }); - TuningSliders.calculateNewPids(); - TuningSliders.updatePidSlidersDisplay(); + sliderPidsModeSelect.on('change', function () { + const setMode = parseInt($(this).val()); - // disable Integrated Yaw when going into RPY mode - if (setMode === 2) { - useIntegratedYaw.prop('checked', false).trigger('change'); - } - }); + TuningSliders.sliderPidsMode = setMode; - sliderGyroFilterModeSelect.change(function() { - const mode = parseInt($(this).find(':selected').val()); + TuningSliders.calculateNewPids(); + TuningSliders.updatePidSlidersDisplay(); - if (mode === 1) { - TuningSliders.gyroFilterSliderEnable(); - } else { - TuningSliders.gyroFilterSliderDisable(); - } - }); + // disable Integrated Yaw when going into RPY mode + if (setMode === 2) { + useIntegratedYaw.prop('checked', false).trigger('change'); + } + }); - sliderDTermFilterModeSelect.change(function() { - const mode = parseInt($(this).find(':selected').val()); + sliderGyroFilterModeSelect.change(function() { + const mode = parseInt($(this).find(':selected').val()); - if (mode !== 0) { - TuningSliders.dtermFilterSliderEnable(); - } else { - TuningSliders.dtermFilterSliderDisable(); - } - }); + if (mode === 1) { + TuningSliders.gyroFilterSliderEnable(); + } else { + TuningSliders.gyroFilterSliderDisable(); } + }); + + sliderDTermFilterModeSelect.change(function() { + const mode = parseInt($(this).find(':selected').val()); - let allPidTuningSliders; - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - allPidTuningSliders = $('#sliderMasterMultiplier, #sliderDGain, #sliderPIGain, #sliderFeedforwardGain, #sliderIGain, #sliderDMaxGain, #sliderRollPitchRatio, #sliderPitchPIGain'); - $('.tab-pid-tuning .legacySlider').hide(); + if (mode !== 0) { + TuningSliders.dtermFilterSliderEnable(); } else { - allPidTuningSliders = $('#sliderMasterMultiplierLegacy, #sliderPDRatio, #sliderPDGain, #sliderFeedforwardGainLegacy'); - $('.tab-pid_tuning .advancedSlider').hide(); - $('.tab-pid-tuning .baseSlider').hide(); - $('.tab-pid_tuning .sliderMode').hide(); + TuningSliders.dtermFilterSliderDisable(); } + }); - allPidTuningSliders.on('input mouseup', function() { - const slider = $(this); + const allPidTuningSliders = $('#sliderMasterMultiplier, #sliderDGain, #sliderPIGain, #sliderFeedforwardGain, #sliderIGain, #sliderDMaxGain, #sliderRollPitchRatio, #sliderPitchPIGain'); - if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - if (slider.val() >= 1) { - slider.attr('step', SLIDER_STEP_LOWER); - } else { - slider.attr('step', SLIDER_STEP_UPPER); - } - } + $('.tab-pid-tuning .legacySlider').hide(); - if (!TuningSliders.expertMode) { - if (slider.val() > NON_EXPERT_SLIDER_MAX) { - slider.val(NON_EXPERT_SLIDER_MAX); - } else if (slider.val() < NON_EXPERT_SLIDER_MIN) { - slider.val(NON_EXPERT_SLIDER_MIN); - } - } + allPidTuningSliders.on('input mouseup', function() { + const slider = $(this); - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - const sliderValue = isInt(slider.val()) ? parseInt(slider.val()) : parseFloat(slider.val()); - if (slider.is('#sliderDGain')) { - TuningSliders.sliderDGain = sliderValue; - } else if (slider.is('#sliderPIGain')) { - TuningSliders.sliderPIGain = sliderValue; - } else if (slider.is('#sliderFeedforwardGain')) { - TuningSliders.sliderFeedforwardGain = sliderValue; - } else if (slider.is('#sliderDMaxGain')) { - TuningSliders.sliderDMaxGain = sliderValue; - } else if (slider.is('#sliderIGain')) { - TuningSliders.sliderIGain = sliderValue; - } else if (slider.is('#sliderRollPitchRatio')) { - TuningSliders.sliderRollPitchRatio = sliderValue; - } else if (slider.is('#sliderPitchPIGain')) { - TuningSliders.sliderPitchPIGain = sliderValue; - } else if (slider.is('#sliderMasterMultiplier')) { - TuningSliders.sliderMasterMultiplier = sliderValue; - } - } else { - const sliderValue = TuningSliders.scaleSliderValue(slider.val()); - if (slider.is('#sliderMasterMultiplierLegacy')) { - TuningSliders.sliderMasterMultiplierLegacy = sliderValue; - } else if (slider.is('#sliderPDRatio')) { - TuningSliders.sliderPDRatio = sliderValue; - } else if (slider.is('#sliderPDGain')) { - TuningSliders.sliderPDGain = sliderValue; - } else if (slider.is('#sliderFeedforwardGainLegacy')) { - TuningSliders.sliderFeedforwardGainLegacy = sliderValue; - } + if (!TuningSliders.expertMode) { + if (slider.val() > NON_EXPERT_SLIDER_MAX) { + slider.val(NON_EXPERT_SLIDER_MAX); + } else if (slider.val() < NON_EXPERT_SLIDER_MIN) { + slider.val(NON_EXPERT_SLIDER_MIN); } + } - self.calculateNewPids(); - self.analyticsChanges['PidTuningSliders'] = "On"; - }); + const sliderValue = isInt(slider.val()) ? parseInt(slider.val()) : parseFloat(slider.val()); + if (slider.is('#sliderDGain')) { + TuningSliders.sliderDGain = sliderValue; + } else if (slider.is('#sliderPIGain')) { + TuningSliders.sliderPIGain = sliderValue; + } else if (slider.is('#sliderFeedforwardGain')) { + TuningSliders.sliderFeedforwardGain = sliderValue; + } else if (slider.is('#sliderDMaxGain')) { + TuningSliders.sliderDMaxGain = sliderValue; + } else if (slider.is('#sliderIGain')) { + TuningSliders.sliderIGain = sliderValue; + } else if (slider.is('#sliderRollPitchRatio')) { + TuningSliders.sliderRollPitchRatio = sliderValue; + } else if (slider.is('#sliderPitchPIGain')) { + TuningSliders.sliderPitchPIGain = sliderValue; + } else if (slider.is('#sliderMasterMultiplier')) { + TuningSliders.sliderMasterMultiplier = sliderValue; + } - allPidTuningSliders.each(function (i) { - self.sliderOnScroll($(this)); - }); + self.calculateNewPids(); + self.analyticsChanges['PidTuningSliders'] = "On"; + }); - // reset to middle with double click - allPidTuningSliders.dblclick(function() { - const slider = $(this); - let value; - - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - if (slider.is('#sliderDGain')) { - value = FC.DEFAULT_TUNING_SLIDERS.slider_d_gain / 100; - TuningSliders.sliderDGain = value; - } else if (slider.is('#sliderPIGain')) { - value = FC.DEFAULT_TUNING_SLIDERS.slider_pi_gain / 100; - TuningSliders.sliderPIGain = value; - } else if (slider.is('#sliderFeedforwardGain')) { - value = FC.DEFAULT_TUNING_SLIDERS.slider_feedforward_gain / 100; - TuningSliders.sliderFeedforwardGain = value; - } else if (slider.is('#sliderDMaxGain')) { - value = FC.DEFAULT_TUNING_SLIDERS.slider_dmax_gain / 100; - TuningSliders.sliderDMaxGain = value; - } else if (slider.is('#sliderIGain')) { - value = FC.DEFAULT_TUNING_SLIDERS.slider_i_gain / 100; - TuningSliders.sliderIGain = value; - } else if (slider.is('#sliderRollPitchRatio')) { - value = FC.DEFAULT_TUNING_SLIDERS.slider_roll_pitch_ratio / 100; - TuningSliders.sliderRollPitchRatio = value; - } else if (slider.is('#sliderPitchPIGain')) { - value = FC.DEFAULT_TUNING_SLIDERS.slider_pitch_pi_gain / 100; - TuningSliders.sliderPitchPIGain = value; - } else if (slider.is('#sliderMasterMultiplier')) { - value = FC.DEFAULT_TUNING_SLIDERS.slider_master_multiplier / 100; - TuningSliders.sliderMasterMultiplier = value; - } - } else { - value = 1; - if (slider.is('#sliderMasterMultiplierLegacy')) { - TuningSliders.sliderMasterMultiplierLegacy = 1; - } else if (slider.is('#sliderPDRatio')) { - TuningSliders.sliderPDRatio = 1; - } else if (slider.is('#sliderPDGain')) { - TuningSliders.sliderPDGain = 1; - } else if (slider.is('#sliderFeedforwardGainLegacy')) { - TuningSliders.sliderFeedforwardGainLegacy = 1; - } - } - slider.val(value); - self.calculateNewPids(); - }); + allPidTuningSliders.each(function (i) { + self.sliderOnScroll($(this)); + }); - // enable filter sliders inputs - const allFilterTuningSliders = $('#sliderGyroFilterMultiplier, #sliderDTermFilterMultiplier'); - allFilterTuningSliders.on('input mouseup', function() { - const slider = $(this); - - if (!TuningSliders.expertMode) { - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - const NON_EXPERT_SLIDER_MIN_GYRO = 0.5; - const NON_EXPERT_SLIDER_MAX_GYRO = 1.5; - const NON_EXPERT_SLIDER_MIN_DTERM = 0.8; - const NON_EXPERT_SLIDER_MAX_DTERM = 1.2; - - if (slider.is('#sliderGyroFilterMultiplier')) { - if (slider.val() > NON_EXPERT_SLIDER_MAX_GYRO) { - slider.val(NON_EXPERT_SLIDER_MAX_GYRO); - } else if (slider.val() < NON_EXPERT_SLIDER_MIN_GYRO) { - slider.val(NON_EXPERT_SLIDER_MIN_GYRO); - } - } else if (slider.is('#sliderDTermFilterMultiplier')) { - if (slider.val() > NON_EXPERT_SLIDER_MAX_DTERM) { - slider.val(NON_EXPERT_SLIDER_MAX_DTERM); - } else if (slider.val() < NON_EXPERT_SLIDER_MIN_DTERM) { - slider.val(NON_EXPERT_SLIDER_MIN_DTERM); - } - } - } else { - if (slider.val() > NON_EXPERT_SLIDER_MAX) { - slider.val(NON_EXPERT_SLIDER_MAX); - } else if (slider.val() < NON_EXPERT_SLIDER_MIN) { - slider.val(NON_EXPERT_SLIDER_MIN); - } - } - } + // reset to middle with double click + allPidTuningSliders.dblclick(function() { + const slider = $(this); + let value; + + if (slider.is('#sliderDGain')) { + value = FC.DEFAULT_TUNING_SLIDERS.slider_d_gain / 100; + TuningSliders.sliderDGain = value; + } else if (slider.is('#sliderPIGain')) { + value = FC.DEFAULT_TUNING_SLIDERS.slider_pi_gain / 100; + TuningSliders.sliderPIGain = value; + } else if (slider.is('#sliderFeedforwardGain')) { + value = FC.DEFAULT_TUNING_SLIDERS.slider_feedforward_gain / 100; + TuningSliders.sliderFeedforwardGain = value; + } else if (slider.is('#sliderDMaxGain')) { + value = FC.DEFAULT_TUNING_SLIDERS.slider_dmax_gain / 100; + TuningSliders.sliderDMaxGain = value; + } else if (slider.is('#sliderIGain')) { + value = FC.DEFAULT_TUNING_SLIDERS.slider_i_gain / 100; + TuningSliders.sliderIGain = value; + } else if (slider.is('#sliderRollPitchRatio')) { + value = FC.DEFAULT_TUNING_SLIDERS.slider_roll_pitch_ratio / 100; + TuningSliders.sliderRollPitchRatio = value; + } else if (slider.is('#sliderPitchPIGain')) { + value = FC.DEFAULT_TUNING_SLIDERS.slider_pitch_pi_gain / 100; + TuningSliders.sliderPitchPIGain = value; + } else if (slider.is('#sliderMasterMultiplier')) { + value = FC.DEFAULT_TUNING_SLIDERS.slider_master_multiplier / 100; + TuningSliders.sliderMasterMultiplier = value; + } - let sliderValue = isInt(slider.val()) ? parseInt(slider.val()) : parseFloat(slider.val()); - if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - sliderValue = TuningSliders.scaleSliderValue(slider.val()); - } + slider.val(value); + self.calculateNewPids(); + }); - if (slider.is('#sliderGyroFilterMultiplier')) { - TuningSliders.sliderGyroFilterMultiplier = sliderValue; - self.calculateNewGyroFilters(); - self.analyticsChanges['GyroFilterTuningSlider'] = "On"; - } else if (slider.is('#sliderDTermFilterMultiplier')) { - TuningSliders.sliderDTermFilterMultiplier = sliderValue; - self.calculateNewDTermFilters(); - self.analyticsChanges['DTermFilterTuningSlider'] = "On"; - } - }); + // enable filter sliders inputs + const allFilterTuningSliders = $('#sliderGyroFilterMultiplier, #sliderDTermFilterMultiplier'); + allFilterTuningSliders.on('input mouseup', function() { + const slider = $(this); - allFilterTuningSliders.each(function() { - self.sliderOnScroll($(this)); - }); + if (!TuningSliders.expertMode) { + const NON_EXPERT_SLIDER_MIN_GYRO = 0.5; + const NON_EXPERT_SLIDER_MAX_GYRO = 1.5; + const NON_EXPERT_SLIDER_MIN_DTERM = 0.8; + const NON_EXPERT_SLIDER_MAX_DTERM = 1.2; - // reset to middle with double click - allFilterTuningSliders.dblclick(function() { - const slider = $(this); - slider.val(1); if (slider.is('#sliderGyroFilterMultiplier')) { - TuningSliders.sliderGyroFilterMultiplier = 1; - self.calculateNewGyroFilters(); + if (slider.val() > NON_EXPERT_SLIDER_MAX_GYRO) { + slider.val(NON_EXPERT_SLIDER_MAX_GYRO); + } else if (slider.val() < NON_EXPERT_SLIDER_MIN_GYRO) { + slider.val(NON_EXPERT_SLIDER_MIN_GYRO); + } } else if (slider.is('#sliderDTermFilterMultiplier')) { - TuningSliders.sliderDTermFilterMultiplier = 1; - self.calculateNewDTermFilters(); - } - }); - - // update on filter value or type changes - $('.pid_filter tr:not(.newFilter) input, .pid_filter tr:not(.newFilter) select').on('input', function(e) { - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - // because legacy / firmware slider inputs for lowpass1 are duplicate the value isn't updated so set it here. - if (e.target.type === 'number') { - $(`.pid_filter input[name="${e.target.name}"]`).val(e.target.value); - } else if (e.target.type === 'select-one') { - $(`.pid_filter select[name="${e.target.name}"]`).val(e.target.value); + if (slider.val() > NON_EXPERT_SLIDER_MAX_DTERM) { + slider.val(NON_EXPERT_SLIDER_MAX_DTERM); + } else if (slider.val() < NON_EXPERT_SLIDER_MIN_DTERM) { + slider.val(NON_EXPERT_SLIDER_MIN_DTERM); } - } else { - TuningSliders.updateFilterSlidersDisplay(); - } - - if (TuningSliders.GyroSliderUnavailable) { - self.analyticsChanges['GyroFilterTuningSlider'] = "Off"; } - if (TuningSliders.DTermSliderUnavailable) { - self.analyticsChanges['DTermFilterTuningSlider'] = "Off"; - } - }); - - // update on filter switch changes - $('.pid_filter tr:not(.newFilter) .inputSwitch input').change(() => { - $('.pid_filter input').triggerHandler('input'); - self.setDirty(true); - }); - - $('.tuningHelp').hide(); - - // LEGACY SLIDERS CODE - if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) { - $('#dMinSwitch').change(function() { - TuningSliders.setDMinFeatureEnabled($(this).is(':checked')); - // switch dmin and dmax values on dmin on/off if sliders available - if (!TuningSliders.pidSlidersUnavailable) { - if (TuningSliders.dMinFeatureEnabled) { - FC.ADVANCED_TUNING.dMinRoll = FC.PIDS[0][2]; - FC.ADVANCED_TUNING.dMinPitch = FC.PIDS[1][2]; - FC.ADVANCED_TUNING.dMinYaw = FC.PIDS[2][2]; - } else { - FC.PIDS[0][2] = FC.ADVANCED_TUNING.dMinRoll; - FC.PIDS[1][2] = FC.ADVANCED_TUNING.dMinPitch; - FC.PIDS[2][2] = FC.ADVANCED_TUNING.dMinYaw; - } - TuningSliders.calculateNewPids(); - } - }); - - allPidTuningSliders.mouseup(function() { - // readjust dmin maximums - $('.pid_tuning .ROLL input[name="d"]').change(); - $('.pid_tuning .PITCH input[name="d"]').change(); - $('.pid_tuning .YAW input[name="d"]').change(); - }); - - // enable PID sliders button (legacy) - $('a.buttonPidTuningSliders').click(function() { - // if values were previously changed manually and then sliders are reactivated, reset pids to previous valid values if available, else default - TuningSliders.resetPidSliders(); - TuningSliders.updatePidSlidersDisplay(); + } - // disable integrated yaw when enabling sliders - if ($('input[id="useIntegratedYaw"]').is(':checked')) { - $('input[id="useIntegratedYaw"]').prop('checked', true).click(); - } + let sliderValue = isInt(slider.val()) ? parseInt(slider.val()) : parseFloat(slider.val()); - self.analyticsChanges['PidTuningSliders'] = "On"; - }); + if (slider.is('#sliderGyroFilterMultiplier')) { + TuningSliders.sliderGyroFilterMultiplier = sliderValue; + self.calculateNewGyroFilters(); + self.analyticsChanges['GyroFilterTuningSlider'] = "On"; + } else if (slider.is('#sliderDTermFilterMultiplier')) { + TuningSliders.sliderDTermFilterMultiplier = sliderValue; + self.calculateNewDTermFilters(); + self.analyticsChanges['DTermFilterTuningSlider'] = "On"; + } + }); - // enable Filter sliders button (legacy sliders) - $('a.buttonFilterTuningSliders').click(function() { - if (TuningSliders.GyroSliderUnavailable) { - // update switchery dynamically based on defaults - $('input[id="gyroLowpassDynEnabled"]').prop('checked', false).click(); - $('input[id="gyroLowpassEnabled"]').prop('checked', true).click(); - $('input[id="gyroLowpass2Enabled"]').prop('checked', false).click(); - TuningSliders.resetGyroFilterSlider(); + allFilterTuningSliders.each(function() { + self.sliderOnScroll($(this)); + }); - self.analyticsChanges['GyroFilterTuningSlider'] = "On"; - } - if (TuningSliders.DTermSliderUnavailable) { - $('input[id="dtermLowpassDynEnabled"]').prop('checked', false).click(); - $('input[id="dtermLowpassEnabled"]').prop('checked', true).click(); - $('input[id="dtermLowpass2Enabled"]').prop('checked', false).click(); - TuningSliders.resetDTermFilterSlider(); + // reset to middle with double click + allFilterTuningSliders.dblclick(function() { + const slider = $(this); + slider.val(1); + if (slider.is('#sliderGyroFilterMultiplier')) { + TuningSliders.sliderGyroFilterMultiplier = 1; + self.calculateNewGyroFilters(); + } else if (slider.is('#sliderDTermFilterMultiplier')) { + TuningSliders.sliderDTermFilterMultiplier = 1; + self.calculateNewDTermFilters(); + } + }); - self.analyticsChanges['DTermFilterTuningSlider'] = "On"; - } - }); + // update on filter value or type changes + $('.pid_filter tr:not(.newFilter) input, .pid_filter tr:not(.newFilter) select').on('input', function(e) { + // because legacy / firmware slider inputs for lowpass1 are duplicate the value isn't updated so set it here. + if (e.target.type === 'number') { + $(`.pid_filter input[name="${e.target.name}"]`).val(e.target.value); + } else if (e.target.type === 'select-one') { + $(`.pid_filter select[name="${e.target.name}"]`).val(e.target.value); + } - // update on pid table inputs - $('#pid_main input').on('input', function() { - TuningSliders.updatePidSlidersDisplay(); - self.analyticsChanges['PidTuningSliders'] = "Off"; - }); + if (TuningSliders.GyroSliderUnavailable) { + self.analyticsChanges['GyroFilterTuningSlider'] = "Off"; } + if (TuningSliders.DTermSliderUnavailable) { + self.analyticsChanges['DTermFilterTuningSlider'] = "Off"; + } + }); - } else { - // semver.lt API_VERSION_1_42 - $('.tuningPIDSliders').hide(); - $('.tuningFilterSliders').hide(); - $('.slidersDisabled').hide(); - $('.slidersWarning').hide(); - $('.nonExpertModeSlidersNote').hide(); - $('.tuningHelpSliders').hide(); - } + // update on filter switch changes + $('.pid_filter tr:not(.newFilter) .inputSwitch input').change(() => { + $('.pid_filter input').triggerHandler('input'); + self.setDirty(true); + }); + + $('.tuningHelp').hide(); $('#pid-tuning .delta select').change(function() { self.setDirty(true); @@ -2300,7 +1874,7 @@ pid_tuning.initialize = function (callback) { }) .then(() => MSP.promise(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING))) .then(() => MSP.promise(MSPCodes.MSP_SET_FEATURE_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE_CONFIG))) - .then(() => semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) ? MSP.promise(MSPCodes.MSP_SET_SIMPLIFIED_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_SIMPLIFIED_TUNING)) : true) + .then(() => MSP.promise(MSPCodes.MSP_SET_SIMPLIFIED_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_SIMPLIFIED_TUNING))) .then(() => MSP.promise(MSPCodes.MSP_EEPROM_WRITE)) .then(() => { self.updating = false; @@ -2828,16 +2402,15 @@ pid_tuning.updateFilterWarning = function() { const dtermDynamicLowpassEnabled = dtermLowpassFilterMode === 1; const dtermLowpass1Enabled = !dtermLowpassFilterMode; const warningE = $('#pid-tuning .filterWarning'); - const warningDynamicNotchE = $('#pid-tuning .dynamicNotchWarning'); const warningDynamicNotchNyquistE = $('#pid-tuning .dynamicNotchNyquistWarningNote'); warningE.toggle(!(gyroDynamicLowpassEnabled || gyroLowpass1Enabled) || !(dtermDynamicLowpassEnabled || dtermLowpass1Enabled)); - warningDynamicNotchNyquistE.toggle(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) && (FC.CONFIG.sampleRateHz / FC.PID_ADVANCED_CONFIG.pid_process_denom < 2000)); - warningDynamicNotchE.toggle(FC.FEATURE_CONFIG.features.isEnabled('DYNAMIC_FILTER') && (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42) && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44))); + warningDynamicNotchNyquistE.toggle((FC.CONFIG.sampleRateHz / FC.PID_ADVANCED_CONFIG.pid_process_denom < 2000)); }; pid_tuning.updatePIDColors = function(clear = false) { - if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + // Would be nice to make colors work again in the future + if (semver.gte(FC.CONFIG.apiVersion, "1.44.0")) { return; } @@ -3004,14 +2577,10 @@ pid_tuning.changeRatesSystem = function(sameType) { rc_rate_pitch_e.val((FC.RC_TUNING.rcPitchRate * 1000).toFixed(0)); rc_rate_e.val((FC.RC_TUNING.RC_RATE * 1000).toFixed(0)); rc_rate_yaw_e.val((FC.RC_TUNING.rcYawRate * 1000).toFixed(0)); - } else if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + } else { rcRateDefault = (70).toFixed(0); rateDefault = (670).toFixed(0); expoDefault = (0).toFixed(2); - } else { - rcRateDefault = (200).toFixed(0); - rateDefault = (670).toFixed(0); - expoDefault = (0.54).toFixed(2); } break; diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html index ec4566611e..f36def7f67 100644 --- a/src/tabs/pid_tuning.html +++ b/src/tabs/pid_tuning.html @@ -63,9 +63,6 @@
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