Move TPA from Rates to PID tuning (UI)

4 files changed, 40 insertions, 17 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/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index 82b00090..20abf3f2 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -1271,7 +1271,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
                                                         FC.ADVANCED_TUNING.thrustLinearization = data.readU8();
 
                                                         if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
-                                                            FC.ADVANCED_TUNING.tpaRate = data.readU8();
+                                                            FC.ADVANCED_TUNING.tpaRate = parseFloat((data.readU8() / 100).toFixed(2));
                                                             FC.ADVANCED_TUNING.tpaBreakpoint = data.readU16();
                                                         }
                                                     }
@@ -2292,7 +2292,7 @@ MspHelper.prototype.crunch = function(code) {
                                                           .push8(FC.ADVANCED_TUNING.thrustLinearization);
 
                                                     if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
-                                                        buffer.push8(FC.ADVANCED_TUNING.tpaRate);
+                                                        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 3039bd45..a57089cd 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -111,11 +111,11 @@ pid_tuning.initialize = function (callback) {
 
         if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
             // Moved tpa to profile
-            $('.tpa input[name="tpa"]').val(FC.ADVANCED_TUNING.tpaRate);
-            $('.tpa input[name="tpa-breakpoint"]').val(FC.ADVANCED_TUNING.tpaBreakpoint);
+            $('input[id="tpaRate"]').val(FC.ADVANCED_TUNING.tpaRate.toFixed(2));
+            $('input[id="tpaBreakpoint"]').val(FC.ADVANCED_TUNING.tpaBreakpoint);
         } else {
-            $('.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);
+            $('.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")) {
@@ -1191,11 +1191,11 @@ pid_tuning.initialize = function (callback) {
         FC.RC_TUNING.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val());
 
         if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_45)) {
-            FC.ADVANCED_TUNING.tpaRate = parseFloat($('.tpa input[name="tpa"]').val());
-            FC.ADVANCED_TUNING.tpaBreakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
+            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($('.tpa input[name="tpa"]').val());
-            FC.RC_TUNING.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
+            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());
@@ -1782,7 +1782,7 @@ 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();
@@ -1790,6 +1790,12 @@ 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 e0209bb1..4620c9e9 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -813,6 +813,21 @@
                         </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>
@@ -1022,7 +1037,7 @@
                 </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>
@@ -1032,8 +1047,8 @@
                             </thead>
                             <tbody>
                                 <tr>
-                                    <td class="leftzero"><input type="number" name="tpa" step="1" min="0" max="100" /></td>
-                                    <td class="tpa-breakpoint"><input type="number" name="tpa-breakpoint" step="10" min="750" max="2250" /></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>