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pid_tuning.js
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import { i18n } from "../localization";
import { colorTables, getColorForPercentage } from '../utils/css.js';
import GUI, { TABS } from '../gui';
import { tracking } from "../Analytics";
import { have_sensor } from "../sensor_helpers";
import { mspHelper } from "../msp/MSPHelper";
import FC from "../fc";
import MSP from "../msp";
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 { gui_log } from "../gui_log";
import { degToRad, isInt } from "../utils/common";
import semver from "semver";
import * as THREE from "three";
import $ from 'jquery';
const pid_tuning = {
RATE_PROFILE_MASK: 128,
showAllPids: false,
updating: true,
dirty: false,
previousFilterDynQ: null,
previousFilterDynCount: null,
currentProfile: null,
currentRateProfile: null,
currentRatesType: null,
previousRatesType: null,
SETPOINT_WEIGHT_RANGE_LOW: 2.55,
SETPOINT_WEIGHT_RANGE_HIGH: 20,
SETPOINT_WEIGHT_RANGE_LEGACY: 2.54,
activeSubtab: 'pid',
analyticsChanges: {},
CONFIGURATOR_PIDS: [],
CONFIGURATOR_ADVANCED_TUNING: {},
CONFIGURATOR_FILTER_CONFIG: {},
CONFIGURATOR_RC_TUNING: {},
CONFIGURATOR_FEATURE_CONFIG: {},
CONFIGURATOR_TUNING_SLIDERS: {},
};
pid_tuning.initialize = function (callback) {
const self = this;
if (GUI.active_tab !== 'pid_tuning') {
GUI.active_tab = 'pid_tuning';
self.activeSubtab = 'pid';
}
// 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))
.then(() => MSP.promise(MSPCodes.MSP_PID))
.then(() => MSP.promise(MSPCodes.MSP_PID_ADVANCED))
.then(() => MSP.promise(MSPCodes.MSP_RC_TUNING))
.then(() => MSP.promise(MSPCodes.MSP_FILTER_CONFIG))
.then(() => MSP.promise(MSPCodes.MSP_RC_DEADBAND))
.then(() => MSP.promise(MSPCodes.MSP_MOTOR_CONFIG))
.then(() => semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45) ? MSP.promise(MSPCodes.MSP2_GET_TEXT,
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.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);
function pid_and_rc_to_form() {
self.setProfile();
self.setRateProfile();
// Profile names
if (semver.gte(FC.CONFIG.apiVersion, "1.45.0")) {
$('input[name="pidProfileName"]').val(FC.CONFIG.pidProfileNames[FC.CONFIG.profile]);
$('input[name="rateProfileName"]').val(FC.CONFIG.rateProfileNames[FC.CONFIG.rateProfile]);
} else {
$('.profile_name').hide();
}
// Fill in the data from PIDs array for each pid name
FC.PID_NAMES.forEach(function(elementPid, indexPid) {
// Look into the PID table to a row with the name of the pid
const searchRow = $(`.pid_tuning .${elementPid} input`);
// Assign each value
searchRow.each((indexInput, element) => {
if (FC.PIDS[indexPid][indexInput] !== undefined) {
$(element).val(FC.PIDS_ACTIVE[indexPid][indexInput]);
}
});
});
// Fill in data from RC_tuning object
$('.pid_tuning input[name="rc_rate"]').val(FC.RC_TUNING.RC_RATE.toFixed(2));
$('.pid_tuning input[name="roll_pitch_rate"]').val(FC.RC_TUNING.roll_pitch_rate.toFixed(2));
$('.pid_tuning input[name="roll_rate"]').val(FC.RC_TUNING.roll_rate.toFixed(2));
$('.pid_tuning input[name="pitch_rate"]').val(FC.RC_TUNING.pitch_rate.toFixed(2));
$('.pid_tuning input[name="yaw_rate"]').val(FC.RC_TUNING.yaw_rate.toFixed(2));
$('.pid_tuning input[name="rc_expo"]').val(FC.RC_TUNING.RC_EXPO.toFixed(2));
$('.pid_tuning input[name="rc_yaw_expo"]').val(FC.RC_TUNING.RC_YAW_EXPO.toFixed(2));
$('.throttle input[name="mid"]').val(FC.RC_TUNING.throttle_MID.toFixed(2));
$('.throttle input[name="expo"]').val(FC.RC_TUNING.throttle_EXPO.toFixed(2));
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
// Moved tpa to profile
$('select[id="tpaMode"]').val(FC.ADVANCED_TUNING.tpaMode);
$('input[id="tpaRate"]').val(FC.ADVANCED_TUNING.tpaRate * 100);
$('input[id="tpaBreakpoint"]').val(FC.ADVANCED_TUNING.tpaBreakpoint);
} else {
$('.tpa-old input[name="tpa"]').val(FC.RC_TUNING.dynamic_THR_PID.toFixed(2));
$('.tpa-old input[name="tpa-breakpoint"]').val(FC.RC_TUNING.dynamic_THR_breakpoint);
}
$('.vbatpidcompensation').toggle(vbatpidcompensationIsUsed);
$('input[id="vbatpidcompensation"]').prop('checked', FC.ADVANCED_TUNING.vbatPidCompensation !== 0);
$('#pid-tuning .delta select').val(FC.ADVANCED_TUNING.deltaMethod);
$('.pid_tuning input[name="rc_rate_yaw"]').val(FC.RC_TUNING.rcYawRate.toFixed(2));
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_hz);
$('.pid_filter input[name="dtermLowpassFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_hz);
$('.pid_filter input[name="yawLowpassFrequency"]').val(FC.FILTER_CONFIG.yaw_lowpass_hz);
$('#pid-tuning .rate').text(i18n.getMessage("pidTuningSuperRate"));
$('.pid_filter input[name="gyroNotch1Frequency"]').val(FC.FILTER_CONFIG.gyro_notch_hz);
$('.pid_filter input[name="gyroNotch1Cutoff"]').val(FC.FILTER_CONFIG.gyro_notch_cutoff);
$('.pid_filter input[name="dTermNotchFrequency"]').val(FC.FILTER_CONFIG.dterm_notch_hz);
$('.pid_filter input[name="dTermNotchCutoff"]').val(FC.FILTER_CONFIG.dterm_notch_cutoff);
const dtermSetpointTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
dtermSetpointTransitionNumberElement.attr('min', 0.00);
dtermSetpointTransitionNumberElement.val(FC.ADVANCED_TUNING.dtermSetpointTransition / 100);
$('input[name="dtermSetpoint-number"]').val(FC.ADVANCED_TUNING.dtermSetpointWeight / 100);
$('.pid_filter input[name="gyroNotch2Frequency"]').val(FC.FILTER_CONFIG.gyro_notch2_hz);
$('.pid_filter input[name="gyroNotch2Cutoff"]').val(FC.FILTER_CONFIG.gyro_notch2_cutoff);
$('.pid_tuning input[name="angleLimit"]').val(FC.ADVANCED_TUNING.levelAngleLimit);
$('.pid_tuning input[name="sensitivity"]').hide();
$('.pid_tuning .levelSensitivityHeader').empty();
const antiGravitySwitch = $('#antiGravitySwitch');
const antiGravityGain = $('.antigravity input[name="itermAcceleratorGain"]');
$('.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;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
// we keep the same name in html - just switching variable.
antiGravityGain.val(FC.ADVANCED_TUNING.antiGravityGain / 10);
antiGravitySwitch.prop('checked', FC.ADVANCED_TUNING.antiGravityGain !== ITERM_ACCELERATOR_GAIN_OFF);
} else {
$('.antigravity input[name="itermThrottleThreshold"]').val(FC.ADVANCED_TUNING.itermThrottleThreshold);
antiGravityGain.val(FC.ADVANCED_TUNING.itermAcceleratorGain / 1000);
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" });
}
}
antiGravitySwitch.on("change", function() {
if (antiGravitySwitch.is(':checked')) {
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;
if (FC.ADVANCED_TUNING.itermAcceleratorGain === ITERM_ACCELERATOR_GAIN_OFF) {
antiGravityGain.val(DEFAULT_ACCELERATOR_GAIN);
} else {
const itermAcceleratorGain = (FC.ADVANCED_TUNING.itermAcceleratorGain / 1000);
antiGravityGain.val(itermAcceleratorGain);
}
}
$('.antigravity .suboption').show();
$('.antigravity .antiGravityThres').toggle(semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45) && FC.ADVANCED_TUNING.itermAcceleratorGain === 0);
$('.antigravity .antiGravityMode').toggle(semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45));
} else {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
antiGravityGain.val(ITERM_ACCELERATOR_GAIN_OFF / 1000);
} else {
$('.antigravity select[id="antiGravityMode"]').val(0);
antiGravityGain.val(ITERM_ACCELERATOR_GAIN_OFF);
}
$('.antigravity .suboption').hide();
}
});
antiGravitySwitch.trigger("change");
$('.pid_tuning input[name="rc_rate_pitch"]').val(FC.RC_TUNING.rcPitchRate.toFixed(2));
$('.pid_tuning input[name="rc_pitch_expo"]').val(FC.RC_TUNING.RC_PITCH_EXPO.toFixed(2));
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz);
$('.pid_filter select[name="gyroLowpassType"]').val(FC.FILTER_CONFIG.gyro_lowpass_type);
$('.pid_filter select[name="gyroLowpass2Type"]').val(FC.FILTER_CONFIG.gyro_lowpass2_type);
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz);
$('.pid_filter select[name="dtermLowpass2Type"]').val(FC.FILTER_CONFIG.dterm_lowpass2_type);
// We load it again because the limits are now bigger than in 1.16.0
$('.pid_filter input[name="gyroLowpassFrequency"]').attr("max","16000");
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_hz);
//removes 5th column which is Feedforward
$('#pid_main .pid_titlebar2 th').attr('colspan', 4);
// I Term Rotation
$('input[id="itermrotation"]').prop('checked', FC.ADVANCED_TUNING.itermRotation !== 0);
// Smart Feed Forward
$('input[id="smartfeedforward"]').prop('checked', FC.ADVANCED_TUNING.smartFeedforward !== 0);
// I Term Relax
const itermRelaxCheck = $('input[id="itermrelax"]');
itermRelaxCheck.prop('checked', FC.ADVANCED_TUNING.itermRelax !== 0);
$('select[id="itermrelaxAxes"]').val(FC.ADVANCED_TUNING.itermRelax > 0 ? FC.ADVANCED_TUNING.itermRelax : 1);
$('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();
}
} else {
$('.itermrelax .suboption').hide();
}
});
itermRelaxCheck.change();
// Absolute Control
const absoluteControlGainNumberElement = $('input[name="absoluteControlGain-number"]');
absoluteControlGainNumberElement.val(FC.ADVANCED_TUNING.absoluteControlGain).trigger('input');
// Throttle Boost
const throttleBoostNumberElement = $('input[name="throttleBoost-number"]');
throttleBoostNumberElement.val(FC.ADVANCED_TUNING.throttleBoost).trigger('input');
// Acro Trainer
const acroTrainerAngleLimitNumberElement = $('input[name="acroTrainerAngleLimit-number"]');
acroTrainerAngleLimitNumberElement.val(FC.ADVANCED_TUNING.acroTrainerAngleLimit).trigger('input');
// Yaw D
$('.pid_tuning .YAW input[name="d"]').val(FC.PIDS[2][2]); // PID Yaw D
// Feedforward
$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll);
$('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
$('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
$('#pid_main .pid_titlebar2 th').attr('colspan', 5);
const feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]');
feedforwardTransitionNumberElement.val(Number.parseFloat(FC.ADVANCED_TUNING.feedforwardTransition / 100).toFixed(2));
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
// AntiGravity Mode
const antiGravityModeSelect = $('.antigravity select[id="antiGravityMode"]');
antiGravityModeSelect.on('change', function () {
const antiGravityModeValue = antiGravityModeSelect.val();
// Smooth removes threshold
$('.antiGravityThres').toggle(antiGravityModeValue !== 0);
});
antiGravityModeSelect.val(FC.ADVANCED_TUNING.antiGravityMode).trigger('change');
}
$('select[id="throttleLimitType"]').val(FC.RC_TUNING.throttleLimitType);
$('.throttle_limit input[name="throttleLimitPercent"]').val(FC.RC_TUNING.throttleLimitPercent);
$('.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 select[name="gyroLowpassDynType"]').val(FC.FILTER_CONFIG.gyro_lowpass_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 select[name="dtermLowpassDynType"]').val(FC.FILTER_CONFIG.dterm_lowpass_type);
$('.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);
$('.dminGroup input[name="dMinGain"]').val(FC.ADVANCED_TUNING.dMinGain);
$('.dminGroup input[name="dMinAdvance"]').val(FC.ADVANCED_TUNING.dMinAdvance);
$('input[id="useIntegratedYaw"]').prop('checked', FC.ADVANCED_TUNING.useIntegratedYaw !== 0);
//dmin column
$('#pid_main .pid_titlebar2 th').attr('colspan', 6);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
$('.smartfeedforward').hide();
// 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;
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"]');
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();
}
$('.pid_filter input[id="dynamicNotchEnabled"]').on('change', function() {
const count = parseInt(dynamicNotchCount_e.val());
const checked = $(this).is(':checked');
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);
}).prop('checked', isDynamicNotchActive).trigger('change');
// 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"]');
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() {
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;
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);
}
};
if (checked !== (FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0)) {
GUI.showYesNoDialog(dialogDynFilterSettings);
} else {
dynamicNotchCount_e.val(self.previousFilterDynCount);
dynamicNotchQ_e.val(self.previousFilterDynQ);
}
}
$('.rpmFilter span.suboption').toggle(checked);
}).prop('checked', FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0).trigger('change');
} else {
$('.itermRelaxCutoff').hide();
$('.dynamicNotch').hide();
$('.rpmFilter').hide();
}
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);
if (FC.MOTOR_CONFIG.use_dshot_telemetry) {
$('span.pidTuningIdleMinRpmDisabled').text(i18n.getMessage('pidTuningIdleMinRpm'));
} else {
$('span.pidTuningIdleMinRpmDisabled').text(i18n.getMessage('pidTuningIdleMinRpmDisabled'));
}
} else {
$('.motorOutputLimit').hide();
$('.idleMinRpm').hide();
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
const ratesTypeListElement = $('select[id="ratesType"]'); // generates list
const ratesList = [
{name: "Betaflight"},
{name: "Raceflight"},
{name: "KISS"},
{name: "Actual"},
{name: "QuickRates"},
];
// add future rates types here with FC.CONFIG.apiVersion check
for (let i = 0; i < ratesList.length; i++) {
ratesTypeListElement.append(`<option value="${i}">${ratesList[i].name}</option>`);
}
self.currentRatesType = FC.RC_TUNING.rates_type;
self.previousRatesType = null;
ratesTypeListElement.val(self.currentRatesType);
self.changeRatesType(self.currentRatesType); // update rate type code when updating the tab
} else {
self.currentRatesType = null;
self.previousRatesType = null;
$('.rates_type').hide();
}
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");
}
// 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();
$('.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();
}
$('input[id="useIntegratedYaw"]').change(function() {
const checked = $(this).is(':checked');
// 4.3 firmware has RP mode.
$('#pidTuningIntegratedYawCaution').toggle(checked);
}).change();
// if user decreases Dmax, don't allow Dmin above Dmax
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);
}
if (dMinValue > dMinLimit) {
dMinElement.val(dMinLimit);
}
}
$('.pid_tuning .ROLL input[name="d"]').change(function() {
const dMinElement= $('.pid_tuning input[name="dMinRoll"]');
adjustDMin($(this), dMinElement);
}).change();
$('.pid_tuning .PITCH input[name="d"]').change(function() {
const dMinElement= $('.pid_tuning input[name="dMinPitch"]');
adjustDMin($(this), dMinElement);
}).change();
$('.pid_tuning .YAW input[name="d"]').change(function() {
const dMinElement= $('.pid_tuning input[name="dMinYaw"]');
adjustDMin($(this), dMinElement);
}).change();
// 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);
}
}
}
$('.pid_tuning input[name="dMinRoll"]').change(function() {
const dElement= $('.pid_tuning .ROLL input[name="d"]');
adjustD($(this), dElement);
}).change();
$('.pid_tuning input[name="dMinPitch"]').change(function() {
const dElement= $('.pid_tuning .PITCH input[name="d"]');
adjustD($(this), dElement);
}).change();
$('.pid_tuning input[name="dMinYaw"]').change(function() {
const dElement= $('.pid_tuning .YAW input[name="d"]');
adjustD($(this), dElement);
}).change();
$('.pid_tuning .ROLL input[name="d"]').change(function() {
const dMinElement= $('.pid_tuning input[name="dMinRoll"]');
adjustDMin($(this), dMinElement);
}).change();
$('.pid_tuning .PITCH input[name="d"]').change(function() {
const dMinElement= $('.pid_tuning input[name="dMinPitch"]');
adjustDMin($(this), dMinElement);
}).change();
$('.pid_tuning .YAW input[name="d"]').change(function() {
const dMinElement= $('.pid_tuning input[name="dMinYaw"]');
adjustDMin($(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;
$('.pid_filter input[name="gyroNotch1Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
.attr("min", checked ? 1 : 0).change();
$('.pid_filter input[name="gyroNotch1Cutoff"]').attr('disabled', !checked).change();
$('.gyroNotch1 span.suboption').toggle(checked);
});
$('input[id="gyroNotch2Enabled"]').change(function() {
const checked = $(this).is(':checked');
const hz = FC.FILTER_CONFIG.gyro_notch2_hz > 0 ? FC.FILTER_CONFIG.gyro_notch2_hz : FILTER_DEFAULT.gyro_notch2_hz;
$('.pid_filter input[name="gyroNotch2Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
.attr("min", checked ? 1 : 0).change();
$('.pid_filter input[name="gyroNotch2Cutoff"]').attr('disabled', !checked).change();
$('.gyroNotch2 span.suboption').toggle(checked);
});
$('input[id="dtermNotchEnabled"]').change(function() {
const checked = $(this).is(':checked');
const hz = FC.FILTER_CONFIG.dterm_notch_hz > 0 ? FC.FILTER_CONFIG.dterm_notch_hz : FILTER_DEFAULT.dterm_notch_hz;
$('.pid_filter input[name="dTermNotchFrequency"]').val(checked ? hz : 0).attr('disabled', !checked)
.attr("min", checked ? 1 : 0).change();
$('.pid_filter input[name="dTermNotchCutoff"]').attr('disabled', !checked).change();
$('.dtermNotch span.suboption').toggle(checked);
});
// gyro filter selectors
const gyroLowpassDynMinFrequency = $('.pid_filter input[name="gyroLowpassDynMinFrequency"]');
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"]');
const gyroLowpassOption = $('.gyroLowpass span.suboption');
const gyroLowpassOptionStatic = $('.gyroLowpass span.suboption.static');
const gyroLowpassOptionDynamic = $('.gyroLowpass span.suboption.dynamic');
const gyroLowpass2Option = $('.gyroLowpass2 span.suboption');
const gyroLowpassFilterMode = $('.pid_filter select[name="gyroLowpassFilterMode"]');
// dterm filter selectors
const dtermLowpassDynMinFrequency = $('.pid_filter input[name="dtermLowpassDynMinFrequency"]');
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"]');
const dtermLowpassOption = $('.dtermLowpass span.suboption');
const dtermLowpassOptionStatic = $('.dtermLowpass span.suboption.static');
const dtermLowpassOptionDynamic = $('.dtermLowpass span.suboption.dynamic');
const dtermLowpass2Option = $('.dtermLowpass2 span.suboption');
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));
if (checked) {
gyroLowpassEnabled.prop('checked', false).change();
} else if (FC.FILTER_CONFIG.gyro_lowpass_hz > 0 && !gyroLowpassEnabled.is(':checked')) {
gyroLowpassEnabled.prop('checked', true).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;
gyroLowpass2Frequency.val(checked ? cutoff : 0).attr('disabled', !checked);
gyroLowpass2Type.each((i, el) => $(el).val(type).attr('disabled', !checked));
});
dtermLowpassEnabled.change(function() {
const checked = $(this).is(':checked');
const disabledByDynamicLowpass = dtermLowpassDynEnabled.is(':checked');
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;
dtermLowpassFrequency.val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked);
dtermLowpassType.each((i, el) => $(el).val(type).attr('disabled', !checked));
if (checked) {
dtermLowpassDynEnabled.prop('checked', false).change();
}
self.updateFilterWarning();
});
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;
}
dtermLowpassDynMinFrequency.val(checked ? cutoff_min : 0).attr('disabled', !checked);
dtermLowpassDynMaxFrequency.attr('disabled', !checked);
dtermLowpassDynType.each((i, el) => $(el).val(type).attr('disabled', !checked));
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();
});
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;
dtermLowpass2Frequency.val(checked ? cutoff : 0).attr('disabled', !checked);
dtermLowpass2Type.each((i, el) => $(el).val(type).attr('disabled', !checked));
});
} else {
// firmware 4.3 filter selectors for lowpass 1 and 2; sliders are not yet initialized here
gyroLowpassEnabled.change(function() {
const checked = $(this).is(':checked');
if (checked) {
if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 || FC.FILTER_CONFIG.gyro_lowpass_hz > 0) {
// lowpass1 is enabled, set the master switch on, show the label, mode selector and type fields
gyroLowpassFilterMode.val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 ? 1 : 0).change();
} else {
// lowpass 1 is disabled, set the master switch off, only show label
// user is trying to enable the lowpass filter, but it was off (both cutoffs are zero)
// initialise in dynamic mode with values at sliders, or use defaults
gyroLowpassFilterMode.val(1).change();
}
} else {
// the user is disabling Lowpass 1 so set everything to zero
gyroLowpassDynMinFrequency.val(0);
gyroLowpassDynMaxFrequency.val(0);
gyroLowpassFrequency.val(0);
self.calculateNewGyroFilters();
}
gyroLowpassOption.toggle(checked);
gyroLowpassOptionStatic.toggle(checked && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz === 0);
gyroLowpassOptionDynamic.toggle(checked && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz !== 0);
});
gyroLowpassFilterMode.change(function() {
const dynMode = parseInt($(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 = $(this).is(':checked');
if (checked) {
if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 || FC.FILTER_CONFIG.dterm_lowpass_hz > 0) {
// lowpass1 is enabled, set the master switch on, show the label, mode selector and type fields
dtermLowpassFilterMode.val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 ? 1 : 0).change();
} else {
// lowpass 1 is disabled, set the master switch off, only show label
// user is trying to enable the lowpass filter, but it was off (both cutoffs are zero)
// initialise in dynamic mode with values at sliders, or use defaults
dtermLowpassFilterMode.val(1).change();
}
} else {
// the user is disabling Lowpass 1 so set everything to zero
dtermLowpassDynMinFrequency.val(0);
dtermLowpassDynMaxFrequency.val(0);
dtermLowpassFrequency.val(0);
self.calculateNewDTermFilters();
}
dtermLowpassOption.toggle(checked);
dtermLowpassOptionStatic.toggle(checked && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz === 0);
dtermLowpassOptionDynamic.toggle(checked && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz !== 0);
});
dtermLowpassFilterMode.change(function() {
const dynMode = parseInt($(this).val());
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);
self.calculateNewDTermFilters();
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;
dtermLowpass2Frequency.val(checked ? cutoff : 0).attr('disabled', !checked);
self.calculateNewDTermFilters();
dtermLowpass2Option.toggle(checked);
self.updateFilterWarning();
});
}
$('input[id="yawLowpassEnabled"]').change(function() {
const checked = $(this).is(':checked');
const cutoff = FC.FILTER_CONFIG.yaw_lowpass_hz > 0 ? FC.FILTER_CONFIG.yaw_lowpass_hz : FILTER_DEFAULT.yaw_lowpass_hz;
$('.pid_filter input[name="yawLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
$('.yawLowpass span.suboption').toggle(checked);
});
// The notch cutoff must be smaller than the notch frecuency
function adjustNotchCutoff(frequencyName, cutoffName) {
const frecuency = parseInt($(`.pid_filter input[name='${frequencyName}']`).val());
const cutoff = parseInt($(`.pid_filter input[name='${cutoffName}']`).val());
// Change the max and refresh the value if needed
const maxCutoff = frecuency == 0 ? 0 : frecuency - 1;
$(`.pid_filter input[name='${cutoffName}']`).attr("max", maxCutoff);
if (cutoff >= frecuency) {
$(`.pid_filter input[name='${cutoffName}']`).val(maxCutoff);
}
}
$('input[name="gyroNotch1Frequency"]').change(function() {
adjustNotchCutoff("gyroNotch1Frequency", "gyroNotch1Cutoff");
}).change();
$('input[name="gyroNotch2Frequency"]').change(function() {
adjustNotchCutoff("gyroNotch2Frequency", "gyroNotch2Cutoff");
}).change();
$('input[name="dTermNotchFrequency"]').change(function() {
adjustNotchCutoff("dTermNotchFrequency", "dTermNotchCutoff");
}).change();
// Initial state of the filters: enabled or disabled
$('input[id="gyroNotch1Enabled"]').prop('checked', FC.FILTER_CONFIG.gyro_notch_hz !== 0).change();
$('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();