Merge pull request #2988 from haslinghuis/update-pidprofile

Move TPA to PID profile

5 files changed, 86 insertions, 24 deletions

diff --git a/src/css/tabs/pid_tuning.less b/src/css/tabs/pid_tuning.less
index 9cbb7cd7..4ce3e6a8 100644
--- a/src/css/tabs/pid_tuning.less
+++ b/src/css/tabs/pid_tuning.less
@@ -287,6 +287,11 @@
 			}
 		}
 	}
+	table.tpa-settings {
+		tr {
+			height: 30px;
+		}
+	}
 	.pidTuningFeatures {
 		td {
 			padding: 5px;
@@ -458,9 +463,6 @@
 		float: left;
 		width: 25%;
 	}
-	.leftzero {
-		padding-left: 0;
-	}
 	.roll {
 		border-bottom-left-radius: 3px;
 	}
diff --git a/src/js/fc.js b/src/js/fc.js
index 0d03c94f..9f281e8c 100644
--- a/src/js/fc.js
+++ b/src/js/fc.js
@@ -229,10 +229,10 @@ const FC = {
             roll_rate:                  0,
             pitch_rate:                 0,
             yaw_rate:                   0,
-            dynamic_THR_PID:            0,
+            dynamic_THR_PID:            0, // moved in 1.45 to ADVANCED_TUNING
             throttle_MID:               0,
             throttle_EXPO:              0,
-            dynamic_THR_breakpoint:     0,
+            dynamic_THR_breakpoint:     0, // moved in 1.45 to ADVANCED_TUNING
             RC_YAW_EXPO:                0,
             rcYawRate:                  0,
             rcPitchRate:                0,
@@ -518,6 +518,8 @@ const FC = {
             feedforward_jitter_factor:  0,
             vbat_sag_compensation:      0,
             thrustLinearization:        0,
+            tpaRate:                    0,
+            tpaBreakpoint:              0,
         };
         this.ADVANCED_TUNING_ACTIVE = { ...this.ADVANCED_TUNING };
 
diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index a14b8868..20abf3f2 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -406,11 +406,19 @@ MspHelper.prototype.process_data = function(dataHandler) {
                     FC.RC_TUNING.pitch_rate = parseFloat((data.readU8() / 100).toFixed(2));
                 }
                 FC.RC_TUNING.yaw_rate = parseFloat((data.readU8() / 100).toFixed(2));
-                FC.RC_TUNING.dynamic_THR_PID = parseFloat((data.readU8() / 100).toFixed(2));
+                if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
+                    FC.RC_TUNING.dynamic_THR_PID = parseFloat((data.readU8() / 100).toFixed(2));
+                } else {
+                    data.readU8();
+                }
                 FC.RC_TUNING.throttle_MID = parseFloat((data.readU8() / 100).toFixed(2));
                 FC.RC_TUNING.throttle_EXPO = parseFloat((data.readU8() / 100).toFixed(2));
                 if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) {
-                    FC.RC_TUNING.dynamic_THR_breakpoint = data.readU16();
+                    if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
+                        FC.RC_TUNING.dynamic_THR_breakpoint = data.readU16();
+                    } else {
+                        data.readU16();
+                    }
                 } else {
                     FC.RC_TUNING.dynamic_THR_breakpoint = 0;
                 }
@@ -1245,15 +1253,15 @@ MspHelper.prototype.process_data = function(dataHandler) {
                                             FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8();
                                             FC.ADVANCED_TUNING.integratedYawRelax = data.readU8();
 
-                                            if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
+                                            if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
                                                 FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8();
 
-                                                if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
+                                                if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
                                                     FC.ADVANCED_TUNING.motorOutputLimit = data.readU8();
                                                     FC.ADVANCED_TUNING.autoProfileCellCount = data.read8();
                                                     FC.ADVANCED_TUNING.idleMinRpm = data.readU8();
 
-                                                    if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
+                                                    if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
                                                         FC.ADVANCED_TUNING.feedforward_averaging = data.readU8();
                                                         FC.ADVANCED_TUNING.feedforward_smooth_factor = data.readU8();
                                                         FC.ADVANCED_TUNING.feedforward_boost = data.readU8();
@@ -1261,6 +1269,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
                                                         FC.ADVANCED_TUNING.feedforward_jitter_factor = data.readU8();
                                                         FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
                                                         FC.ADVANCED_TUNING.thrustLinearization = data.readU8();
+
+                                                        if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
+                                                            FC.ADVANCED_TUNING.tpaRate = parseFloat((data.readU8() / 100).toFixed(2));
+                                                            FC.ADVANCED_TUNING.tpaBreakpoint = data.readU16();
+                                                        }
                                                     }
                                                 }
                                             }
@@ -1830,12 +1843,20 @@ MspHelper.prototype.crunch = function(code) {
                 buffer.push8(Math.round(FC.RC_TUNING.roll_rate * 100))
                     .push8(Math.round(FC.RC_TUNING.pitch_rate * 100));
             }
-            buffer.push8(Math.round(FC.RC_TUNING.yaw_rate * 100))
-                .push8(Math.round(FC.RC_TUNING.dynamic_THR_PID * 100))
-                .push8(Math.round(FC.RC_TUNING.throttle_MID * 100))
-                .push8(Math.round(FC.RC_TUNING.throttle_EXPO * 100));
+            buffer.push8(Math.round(FC.RC_TUNING.yaw_rate * 100));
+            if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
+                buffer.push8(Math.round(FC.RC_TUNING.dynamic_THR_PID * 100));
+            } else {
+                buffer.push8(0);
+            }
+            buffer.push8(Math.round(FC.RC_TUNING.throttle_MID * 100));
+            buffer.push8(Math.round(FC.RC_TUNING.throttle_EXPO * 100));
             if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) {
-                buffer.push16(FC.RC_TUNING.dynamic_THR_breakpoint);
+                if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
+                    buffer.push16(FC.RC_TUNING.dynamic_THR_breakpoint);
+                } else {
+                    buffer.push16(0);
+                }
             }
             if (semver.gte(FC.CONFIG.apiVersion, "1.10.0")) {
                 buffer.push8(Math.round(FC.RC_TUNING.RC_YAW_EXPO * 100));
@@ -2269,6 +2290,11 @@ MspHelper.prototype.crunch = function(code) {
                                                           .push8(FC.ADVANCED_TUNING.feedforward_jitter_factor)
                                                           .push8(FC.ADVANCED_TUNING.vbat_sag_compensation)
                                                           .push8(FC.ADVANCED_TUNING.thrustLinearization);
+
+                                                    if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
+                                                        buffer.push8(Math.round(FC.ADVANCED_TUNING.tpaRate * 100));
+                                                        buffer.push16(FC.ADVANCED_TUNING.tpaBreakpoint);
+                                                    }
                                                 }
                                             }
                                         }
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 6839a80d..befff4e1 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -109,8 +109,14 @@ pid_tuning.initialize = function (callback) {
         $('.throttle input[name="mid"]').val(FC.RC_TUNING.throttle_MID.toFixed(2));
         $('.throttle input[name="expo"]').val(FC.RC_TUNING.throttle_EXPO.toFixed(2));
 
-        $('.tpa input[name="tpa"]').val(FC.RC_TUNING.dynamic_THR_PID.toFixed(2));
-        $('.tpa input[name="tpa-breakpoint"]').val(FC.RC_TUNING.dynamic_THR_breakpoint);
+        if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
+            // Moved tpa to profile
+            $('input[id="tpaRate"]').val(FC.ADVANCED_TUNING.tpaRate.toFixed(2));
+            $('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);
+        }
 
         if (semver.lt(FC.CONFIG.apiVersion, "1.10.0")) {
             $('.pid_tuning input[name="rc_yaw_expo"]').hide();
@@ -1179,8 +1185,14 @@ pid_tuning.initialize = function (callback) {
         FC.RC_TUNING.throttle_MID = parseFloat($('.throttle input[name="mid"]').val());
         FC.RC_TUNING.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val());
 
-        FC.RC_TUNING.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val());
-        FC.RC_TUNING.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
+        if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
+            FC.ADVANCED_TUNING.tpaRate = parseFloat($('input[id="tpaRate"]').val());
+            FC.ADVANCED_TUNING.tpaBreakpoint = parseInt($('input[id="tpaBreakpoint"]').val());
+        } else {
+            FC.RC_TUNING.dynamic_THR_PID = parseFloat($('.tpa-old input[name="tpa"]').val());
+            FC.RC_TUNING.dynamic_THR_breakpoint = parseInt($('.tpa-old input[name="tpa-breakpoint"]').val());
+        }
+
         FC.FILTER_CONFIG.gyro_lowpass_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val());
         FC.FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
         FC.FILTER_CONFIG.yaw_lowpass_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val());
@@ -1765,7 +1777,7 @@ pid_tuning.initialize = function (callback) {
         }
 
         if (semver.lt(FC.CONFIG.apiVersion, "1.7.0")) {
-            $('.tpa .tpa-breakpoint').hide();
+            $('.tpa-old .tpa-breakpoint').hide();
 
             $('.pid_tuning .roll_rate').hide();
             $('.pid_tuning .pitch_rate').hide();
@@ -1773,6 +1785,12 @@ pid_tuning.initialize = function (callback) {
             $('.pid_tuning .roll_pitch_rate').hide();
         }
 
+        if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
+            $('.tpa-old').hide();
+        } else {
+            $('.tpa').hide();
+        }
+
         if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
             $('.pid_tuning .bracket').hide();
             $('.pid_tuning input[name=rc_rate]').parent().attr('class', 'pid_data');
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index 37fe1519..e2e4a8de 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -814,6 +814,21 @@
                         </table>
                     </div>
 
+                    <div class="gui_box grey tpa pidControllerAdvancedSettings spacer_left">
+                        <table class="pid_titlebar tpa-header" aria-labelledby="tpa-header">
+                            <tr>
+                                <th i18n="pidTuningTPA"></th>
+                                <th i18n="pidTuningTPABreakPoint"></th>
+                            </tr>
+                        </table>
+                        <table class="tpa-settings" aria-labelledby="tpa-settings" role="presentation">
+                            <tr>
+                                <td><input type="number" id="tpaRate" step="0.01" min="0" max="1.00" /></td>
+                                <td class="tpa-breakpoint"><input type="number" id="tpaBreakpoint" step="10" min="750" max="2250" /></td>
+                            </tr>
+                        </table>
+                    </div>
+
                     <div class="gui_box grey pidControllerAdvancedSettings spacer_left">
                         <table class="pid_titlebar new_rates">
                             <tr>
@@ -1023,7 +1038,7 @@
                 </div>
 
                 <div class="cf_column">
-                    <div class="gui_box tpa spacer_left">
+                    <div class="gui_box tpa-old spacer_left">
                         <table class="cf">
                             <thead>
                                 <tr>
@@ -1033,9 +1048,8 @@
                             </thead>
                             <tbody>
                                 <tr>
-                                    <td class="leftzero"><input type="number" name="tpa" step="0.01" min="0"
-                                        max="1.00" /></td>
-                                    <td class="tpa-breakpoint"><input type="number" name="tpa-breakpoint" step="10" min="1000" max="2000" /></td>
+                                    <td class="tpaRate"><input type="number" name="tpa" step="0.01" min="0" max="1.00" /></td>
+                                    <td class="tpaBreakpoint"><input type="number" name="tpa-breakpoint" step="10" min="1000" max="2000" /></td>
                                 </tr>
                             </tbody>
                         </table>