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haslinghuishaslinghuis
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RFC feedforward max_rate_limit and jitter_factor
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4 files changed

+49
-11
lines changed

4 files changed

+49
-11
lines changed

‎locales/en/messages.json‎

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Original file line numberDiff line numberDiff line change
@@ -1791,6 +1791,18 @@
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"pidTuningDtermSetpointTransition": {
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"message": "D Setpoint transition"
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},
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"pidTuningFeedforwardMaxRateLimit": {
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"message": "Max Rate Limit"
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},
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"pidTuningFeedforwardMaxRateLimitHelp": {
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"message": "pidTuningFeedforwardMaxRateLimitHelp Placeholder"
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},
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"pidTuningFeedforwardJitter": {
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"message": "Jitter Reduction"
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},
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"pidTuningFeedforwardJitterHelp": {
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"message": "Jitter reduction reduces Feedforward when the sticks move slowly. This allows smooth, jitter-free flight when making smooth slow arcs, yet provides full feedforward without any delay when the sticks are moved quickly. A higher threshold value (10-12) is more useful for cinematic or HD freestyle purposes, and a slightly lower value (5) better for racing or higher speed RC links."
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},
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"pidTuningDtermSetpoint": {
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"message": "D Setpoint Weight"
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},

‎src/js/msp/MSPHelper.js‎

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@@ -1178,6 +1178,8 @@ MspHelper.prototype.process_data = function(dataHandler) {
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FC.ADVANCED_TUNING.feedforward_averaging = data.readU8();
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FC.ADVANCED_TUNING.feedforward_smooth_factor = data.readU8();
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FC.ADVANCED_TUNING.feedforward_boost = data.readU8();
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FC.ADVANCED_TUNING.feedforward_max_rate_limit = data.readU8();
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FC.ADVANCED_TUNING.feedforward_jitter_factor = data.readU8();
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FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
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FC.ADVANCED_TUNING.thrustLinearization = data.readU8();
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}
@@ -2151,6 +2153,8 @@ MspHelper.prototype.crunch = function(code) {
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buffer.push8(FC.ADVANCED_TUNING.feedforward_averaging)
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.push8(FC.ADVANCED_TUNING.feedforward_smooth_factor)
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.push8(FC.ADVANCED_TUNING.feedforward_boost)
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.push8(FC.ADVANCED_TUNING.feedforward_max_rate_limit)
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.push8(FC.ADVANCED_TUNING.feedforward_jitter_factor)
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.push8(FC.ADVANCED_TUNING.vbat_sag_compensation)
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.push8(FC.ADVANCED_TUNING.thrustLinearization);
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}

‎src/js/tabs/pid_tuning.js‎

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Original file line numberDiff line numberDiff line change
@@ -509,6 +509,8 @@ TABS.pid_tuning.initialize = function (callback) {
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$('select[id="feedforwardAveraging"]').val(FC.ADVANCED_TUNING.feedforward_averaging);
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$('input[name="feedforwardSmoothFactor"]').val(FC.ADVANCED_TUNING.feedforward_smooth_factor);
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$('input[name="feedforwardBoost"]').val(FC.ADVANCED_TUNING.feedforward_boost);
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$('input[name="feedforwardMaxRateLimit"]').val(FC.ADVANCED_TUNING.feedforward_max_rate_limit);
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$('input[name="feedforwardJitterFactor"]').val(FC.ADVANCED_TUNING.feedforward_jitter_factor);
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// Vbat Sag Compensation
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const vbatSagCompensationCheck = $('input[id="vbatSagCompensation"]');
@@ -534,6 +536,8 @@ TABS.pid_tuning.initialize = function (callback) {
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} else {
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$('.vbatSagCompensation').hide();
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$('.thrustLinearization').hide();
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$('.feedforwardMaxRateLimit').hide();
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$('.feedforwardJitter').hide();
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if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
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$('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll > 0 ? FC.ADVANCED_TUNING.feedforwardRoll : PID_DEFAULT[4]);
@@ -1066,6 +1070,8 @@ TABS.pid_tuning.initialize = function (callback) {
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FC.ADVANCED_TUNING.feedforward_averaging = $('select[id="feedforwardAveraging"]').val();
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FC.ADVANCED_TUNING.feedforward_smooth_factor = parseInt($('input[name="feedforwardSmoothFactor"]').val());
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FC.ADVANCED_TUNING.feedforward_boost = parseInt($('input[name="feedforwardBoost"]').val());
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FC.ADVANCED_TUNING.feedforward_max_rate_limit = parseInt($('input[name="feedforwardMaxRateLimit"]').val());
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FC.ADVANCED_TUNING.feedforward_jitter_factor = parseInt($('input[name="feedforwardJitterFactor"]').val());
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FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val());
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FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0;
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FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0;

‎src/tabs/pid_tuning.html‎

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Original file line numberDiff line numberDiff line change
@@ -605,12 +605,19 @@
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardGroupHelp"></div>
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<span i18n="pidTuningFeedforwardGroup"></span>
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<span class="feedforwardTransition suboption">
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<input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/>
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<span class="feedforwardJitter suboption">
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<input type="number" name="feedforwardJitterFactor" step="0.01" min="0.00" max="1.00"/>
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<label>
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<span i18n="pidTuningFeedforwardTransition"></span>
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<span i18n="pidTuningFeedforwardJitter"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardJitterHelp"></div>
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</span>
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<span class="feedforwardOption feedforwardSmoothFactor suboption">
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<input type="number" name="feedforwardSmoothFactor" step="1" min="0" max="75" />
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<label for="feedforwardSmoothFactor">
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<span i18n="pidTuningFeedforwardSmoothFactor"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
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</span>
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<span class="feedforwardOption feedforwardAveraging suboption">
@@ -625,19 +632,28 @@
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</label>
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</span>
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628-
<span class="feedforwardOption feedforwardSmoothFactor suboption">
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<input type="number" name="feedforwardSmoothFactor" step="1" min="0" max="75" />
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<label for="feedforwardSmoothFactor">
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<span i18n="pidTuningFeedforwardSmoothFactor"></span>
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</label>
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</span>
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<span class="feedforwardOption feedforwardBoost suboption">
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<input type="number" name="feedforwardBoost" step="1" min="0" max="50" />
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<label for="feedforwardBoost">
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<span i18n="pidTuningFeedforwardBoost"></span>
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</label>
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</span>
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<span class="feedforwardMaxRateLimit suboption">
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<input type="number" name="feedforwardMaxRateLimit" step="0.01" min="0.00" max="1.00"/>
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<label>
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<span i18n="pidTuningFeedforwardMaxRateLimit"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardMaxRateLimitHelp"></div>
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</span>
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<span class="feedforwardTransition suboption">
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<input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/>
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<label>
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<span i18n="pidTuningFeedforwardTransition"></span>
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</label>
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
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</span>
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</td>
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</tr>
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