diff --git a/locales/en/messages.json b/locales/en/messages.json
index 6be388677e..9bbed4446a 100644
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -1791,6 +1791,18 @@
"pidTuningDtermSetpointTransition": {
"message": "D Setpoint transition"
},
+ "pidTuningFeedforwardMaxRateLimit": {
+ "message": "Max Rate Limit"
+ },
+ "pidTuningFeedforwardMaxRateLimitHelp": {
+ "message": "Attenuates feedforward towards zero as the sticks move quickly towards maximum deflection (maximum set turn rate), eg at the start of a quick flip or roll, to minimise overshoot. Does nothing at the end of a flip or roll. Lower values make the attenuation start earlier. Usually this value does not require modification. The highest value consistent with acceptable overshoot at the start of rolls or flips is best."
+ },
+ "pidTuningFeedforwardJitter": {
+ "message": "Jitter Reduction"
+ },
+ "pidTuningFeedforwardJitterHelp": {
+ "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."
+ },
"pidTuningDtermSetpoint": {
"message": "D Setpoint Weight"
},
diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index 07c6b09f39..9643962565 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -1178,6 +1178,8 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ADVANCED_TUNING.feedforward_averaging = data.readU8();
FC.ADVANCED_TUNING.feedforward_smooth_factor = data.readU8();
FC.ADVANCED_TUNING.feedforward_boost = data.readU8();
+ FC.ADVANCED_TUNING.feedforward_max_rate_limit = data.readU8();
+ FC.ADVANCED_TUNING.feedforward_jitter_factor = data.readU8();
FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
FC.ADVANCED_TUNING.thrustLinearization = data.readU8();
}
@@ -2151,6 +2153,8 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(FC.ADVANCED_TUNING.feedforward_averaging)
.push8(FC.ADVANCED_TUNING.feedforward_smooth_factor)
.push8(FC.ADVANCED_TUNING.feedforward_boost)
+ .push8(FC.ADVANCED_TUNING.feedforward_max_rate_limit)
+ .push8(FC.ADVANCED_TUNING.feedforward_jitter_factor)
.push8(FC.ADVANCED_TUNING.vbat_sag_compensation)
.push8(FC.ADVANCED_TUNING.thrustLinearization);
}
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 89ae49eb6f..d03533c68c 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -509,6 +509,8 @@ TABS.pid_tuning.initialize = function (callback) {
$('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"]');
@@ -534,6 +536,8 @@ TABS.pid_tuning.initialize = function (callback) {
} else {
$('.vbatSagCompensation').hide();
$('.thrustLinearization').hide();
+ $('.feedforwardMaxRateLimit').hide();
+ $('.feedforwardJitterFactor').hide();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
$('.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) {
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;
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index 203e08973b..00defa7d3d 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -605,12 +605,19 @@
-
-
+
+
+
+
+
+
+
+
-
@@ -625,19 +632,28 @@
-
-
-
-
-
+
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+
+
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+
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+