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Fix integrated yaw usage #2651

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Merged
merged 2 commits into from
Dec 10, 2021
Merged

Fix integrated yaw usage #2651

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5a13439
fix integrated yaw usage
asizon Nov 7, 2021
476ba71
disable only if rpy
asizon Dec 8, 2021
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6 changes: 4 additions & 2 deletions src/js/TuningSliders.js
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Original file line number Diff line number Diff line change
Expand Up @@ -405,8 +405,10 @@ TuningSliders.updatePidSlidersDisplay = function() {
});
});

if ($('input[id="useIntegratedYaw"]').is(':checked')) {
this.pidSlidersUnavailable = true;
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
if ($('input[id="useIntegratedYaw"]').is(':checked')) {
this.pidSlidersUnavailable = true;
}
}

if (!this.pidSlidersUnavailable) {
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30 changes: 26 additions & 4 deletions src/js/tabs/pid_tuning.js
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Original file line number Diff line number Diff line change
Expand Up @@ -547,6 +547,10 @@ TABS.pid_tuning.initialize = function (callback) {

$('input[id="useIntegratedYaw"]').change(function() {
const checked = $(this).is(':checked');
// 4.3 firmware has RP mode.
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
$('#pid_main .pid_data input').prop('disabled', !checked);
}
$('#pidTuningIntegratedYawCaution').toggle(checked);
}).change();

Expand Down Expand Up @@ -1802,9 +1806,11 @@ TABS.pid_tuning.initialize = function (callback) {
});
});

// exclude integratedYaw from setDirty for 4.3 as it uses RP mode.
$('#pid-tuning').find('input').each(function (k, item) {
if ($(item).attr('class') !== "feature toggle"
&& $(item).attr('class') !== "nonProfile") {
&& $(item).attr('class') !== "nonProfile"
&& (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44) && $(item).attr('id'))) {
$(item).change(function () {
self.setDirty(true);
});
Expand Down Expand Up @@ -1927,12 +1933,23 @@ TABS.pid_tuning.initialize = function (callback) {
});
}

// disable slides if Integrated Yaw is enabled or Slider PID mode is set to OFF
$('input[id="useIntegratedYaw"]').change(() => TuningSliders.updatePidSlidersDisplay());
const useIntegratedYaw = $('input[id="useIntegratedYaw"]');

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();
}
});

// trigger Slider Display update when PID mode is changed
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
$('select[id="sliderPidsModeSelect"]').on('change', function () {
sliderPidsModeSelect.on('change', function () {
const setMode = parseInt($(this).val());

TuningSliders.sliderPidsMode = setMode;
Expand All @@ -1943,6 +1960,11 @@ TABS.pid_tuning.initialize = function (callback) {
const disableRP = !!setMode;
const disableY = setMode > 1;

// disable Integrated Yaw when going into RPY mode
if (setMode === 2) {
useIntegratedYaw.prop('checked', false).trigger('change');
}

$('#pid_main .ROLL .pid_data input, #pid_main .PITCH .pid_data input').each(function() {
$(this).prop('disabled', disableRP);
});
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