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haslinghuishaslinghuis
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RFC Dynamic Idle
1 parent dd183f0 commit fde01eb

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6 files changed

+50
-2
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6 files changed

+50
-2
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‎locales/en/messages.json‎

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Original file line numberDiff line numberDiff line change
@@ -1281,6 +1281,9 @@
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"configurationDigitalIdlePercent": {
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"message": "Motor Idle Throttle Value [percent]"
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},
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"configurationDigitalIdlePercentDisabled": {
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"message": "Motor Idle Throttle Value [percent] is disabled because Dynamic Idle is enabled in PID tuning tab"
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},
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"configurationDigitalIdlePercentHelp": {
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"message": "The 'DShot idle' value is the percent of maximum throttle that is sent to the ESCs when the throttle at minimum stick position and the craft is armed. Increase it to gain more idle speed and avoid desyncs. Too high and the craft feels floaty."
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},
@@ -1788,6 +1791,18 @@
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"pidTuningFeedforwardTransitionHelp": {
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"message": "With this parameter, the Feedforward term can be reduced near the center of the sticks, which results in smoother end of flips and rolls.<br>The value represents a point of stick deflection: 0 - stick centered, 1 - full deflection. When the stick is above that point, Feedforward is kept constant at its configured value. When the stick is positioned below that point, Feedforward is reduced proportionally, reaching 0 at the stick center position.<br>Value of 1 gives maximum smoothing effect, while value of 0 keeps the Feedforward fixed at its configured value over the whole stick range."
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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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"pidTuningDtermSetpointTransition": {
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"message": "D Setpoint transition"
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},

‎src/js/msp/MSPHelper.js‎

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Original file line numberDiff line numberDiff line change
@@ -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)
2156+
.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/motors.js‎

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Original file line numberDiff line numberDiff line change
@@ -61,6 +61,7 @@ TABS.motors.initialize = function (callback) {
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}
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MSP.promise(MSPCodes.MSP_STATUS)
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.then(() => MSP.promise(MSPCodes.MSP_PID_ADVANCED))
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.then(() => MSP.promise(MSPCodes.MSP_FEATURE_CONFIG))
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.then(() => MSP.promise(MSPCodes.MSP_MIXER_CONFIG))
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.then(() => FC.MOTOR_CONFIG.use_dshot_telemetry || FC.MOTOR_CONFIG.use_esc_sensor ? MSP.promise(MSPCodes.MSP_MOTOR_TELEMETRY) : true)
@@ -735,6 +736,15 @@ TABS.motors.initialize = function (callback) {
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divUnsyncedPWMFreq.toggle(protocolConfigured && !digitalProtocol);
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$('div.digitalIdlePercent').toggle(protocolConfigured && digitalProtocol);
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$('input[name="digitalIdlePercent"]').prop('disabled', protocolConfigured && digitalProtocol && FC.ADVANCED_TUNING.idleMinRpm && FC.MOTOR_CONFIG.use_dshot_telemetry);
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if (FC.ADVANCED_TUNING.idleMinRpm && FC.MOTOR_CONFIG.use_dshot_telemetry) {
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$('span.digitalIdlePercentDisabled').text(i18n.getMessage('configurationDigitalIdlePercentDisabled'));
744+
} else {
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$('span.digitalIdlePercentDisabled').text(i18n.getMessage('configurationDigitalIdlePercent'));
746+
}
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$('.escSensor').toggle(protocolConfigured && digitalProtocol);
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$('div.checkboxDshotBidir').toggle(protocolConfigured && semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42) && digitalProtocol);

‎src/js/tabs/pid_tuning.js‎

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Original file line numberDiff line numberDiff line change
@@ -457,6 +457,7 @@ TABS.pid_tuning.initialize = function (callback) {
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$('.pid_tuning input[name="motorLimit"]').val(FC.ADVANCED_TUNING.motorOutputLimit);
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$('.pid_tuning input[name="cellCount"]').val(FC.ADVANCED_TUNING.autoProfileCellCount);
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$('input[name="idleMinRpm-number"]').val(FC.ADVANCED_TUNING.idleMinRpm);
460+
$('.idleMinRpm').toggle(FC.MOTOR_CONFIG.use_dshot_telemetry);
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} else {
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$('.motorOutputLimit').hide();
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$('.idleMinRpm').hide();
@@ -509,6 +510,8 @@ TABS.pid_tuning.initialize = function (callback) {
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$('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);
513+
$('input[name="feedforwardMaxRateLimit"]').val(FC.ADVANCED_TUNING.feedforward_max_rate_limit);
514+
$('input[name="feedforwardJitterFactor"]').val(FC.ADVANCED_TUNING.feedforward_jitter);
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// Vbat Sag Compensation
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const vbatSagCompensationCheck = $('input[id="vbatSagCompensation"]');
@@ -534,6 +537,8 @@ TABS.pid_tuning.initialize = function (callback) {
534537
} else {
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$('.vbatSagCompensation').hide();
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$('.thrustLinearization').hide();
540+
$('.feedforwardMaxRateLimit').hide();
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$('.feedforwardJitter').hide();
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538543
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 +1071,8 @@ 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 = 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/motors.html‎

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@@ -105,9 +105,9 @@
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<div class="numberspacer">
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<input type="number" name="digitalIdlePercent" min="0.00" max="20.00" step="0.01"/>
107107
</div>
108-
<span i18n="configurationDigitalIdlePercent"></span>
108+
<span class="digitalIdlePercentDisabled"></span>
109+
<div class="helpicon cf_tip" i18n_title="configurationDigitalIdlePercentHelp"></div>
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</label>
110-
<div class="helpicon cf_tip" i18n_title="configurationDigitalIdlePercentHelp"></div>
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</div>
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<div class="number minthrottle">
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<label>

‎src/tabs/pid_tuning.html‎

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@@ -613,6 +613,18 @@
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<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
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</span>
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616+
<span class="feedforwardMaxRateLimit suboption">
617+
<input type="number" name="feedforwardMaxRateLimit" step="0.01" min="0.00" max="1.00"/>
618+
<label><span i18n="pidTuningFeedforwardMaxRateLimit"></span></label>
619+
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardMaxRateLimitHelp"></div>
620+
</span>
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622+
<span class="feedforwardJitter suboption">
623+
<input type="number" name="feedforwardJitterFactor" step="0.01" min="0.00" max="1.00"/>
624+
<label><span i18n="pidTuningFeedforwardJitter"></span></label>
625+
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardJitterHelp"></div>
626+
</span>
627+
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<span class="feedforwardOption feedforwardAveraging suboption">
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<select id="feedforwardAveraging">
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<option i18n="pidTuningOptionOff" value="0"/>

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