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PID sliders #1513

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merged 5 commits into from
May 11, 2022
Merged

PID sliders #1513

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c2ad26d
Basic Slider PIDs
DzikuVx May 9, 2022
eec23b6
Show other PID controllers conditionally
DzikuVx May 9, 2022
7556c52
Dynamic scaling
DzikuVx May 9, 2022
f697bc2
Drop nouislider
DzikuVx May 9, 2022
600aac2
Simplifications
DzikuVx May 9, 2022
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12 changes: 12 additions & 0 deletions _locales/en/messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4262,5 +4262,17 @@
},
"BLACKBOX_FEATURE_MOTORS": {
"message": "Motors output"
},
"axisRoll": {
"message": "Roll"
},
"axisPitch": {
"message": "Pitch"
},
"axisYaw": {
"message": "Yaw"
},
"showAdvancedPIDs": {
"message": "Show advanced PID controllers"
}
}
4 changes: 2 additions & 2 deletions gulpfile.js
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ sources.css = [
'./js/libraries/jbox/jBox.css',
'./node_modules/openlayers/dist/ol.css',
'./src/css/logic.css',
'./src/css/defaults_dialog.css'
'./src/css/defaults_dialog.css',
];

sources.js = [
Expand Down Expand Up @@ -133,7 +133,7 @@ sources.js = [
'./js/waypointCollection.js',
'./js/waypoint.js',
'./node_modules/openlayers/dist/ol.js',
'./js/libraries/plotly-latest.min.js'
'./js/libraries/plotly-latest.min.js',
];

sources.receiverCss = [
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6 changes: 6 additions & 0 deletions js/helpers.js
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Expand Up @@ -57,4 +57,10 @@ function generateFilename(prefix, suffix) {
+ zeroPad(date.getSeconds(), 2);

return filename + '.' + suffix;
}

function scaleRangeInt(x, srcMin, srcMax, destMin, destMax) {
let a = (destMax - destMin) * (x - srcMin);
let b = srcMax - srcMin;
return Math.round((a / b) + destMin);
}
2 changes: 1 addition & 1 deletion main.css
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Original file line number Diff line number Diff line change
Expand Up @@ -2274,5 +2274,5 @@ ol li {
}

.controlProfileHighlightActive {
background-color: #d5ebfe;
background-color: #d5ebfe !important ;
}
5 changes: 5 additions & 0 deletions package-lock.json
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51 changes: 51 additions & 0 deletions src/css/tabs/pid_tuning.css
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Expand Up @@ -395,3 +395,54 @@
.settings-table tbody {
/* background: #D6D6D6 linear-gradient(-45deg, rgba(255, 255, 255, .2) 10%, transparent 10%, transparent 20%, rgba(255, 255, 255, .2) 20%, rgba(255, 255, 255, .2) 30%, transparent 30%, transparent 40%, rgba(255, 255, 255, .2) 40%, rgba(255, 255, 255, .2) 50%, transparent 50%, transparent 60%, rgba(255, 255, 255, .2) 60%, rgba(255, 255, 255, .2) 70%, transparent 70%, transparent 80%, rgba(255, 255, 255, .2) 80%, rgba(255, 255, 255, .2) 90%, transparent 90%, transparent 100%, rgba(255, 255, 255, .2) 100%, transparent); */
}

.pid-slider-row {
display: flex;
padding: 4px;
}

.pid-slider-row span {
margin-right: 2em;
width: 120px;
line-height: 22px;;
}

.pid-slider-row input[type="number"] {
font-family: 'open_sansregular', 'Segoe UI', Tahoma, sans-serif;
background-color: #fff;
border: 1px solid #ccc;
font-size: 0.95em;
border-radius: 3px;
padding: 0.3em;
margin-right: 2em;
}

.pid-slider-row input[type="range"] {
display: block;
flex-grow: 100;
}

.pid-sliders-axis {
padding: 0.5em;
margin-bottom: 1em;
}

.pid-sliders-axis h3 {
padding: 4px;
}

.pid-sliders-axis[data-axis="roll"] {
background-color: #afe4fe;
}

.pid-sliders-axis[data-axis="pitch"] {
background-color: #C4B5FF;
}

.pid-sliders-axis[data-axis="yaw"] {
background-color: #E6B6F0;
}

#pid-sliders {
margin-bottom: 1em;
}
102 changes: 97 additions & 5 deletions tabs/pid_tuning.html
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Expand Up @@ -22,7 +22,99 @@
</div>
<div class="tab_subtitle" style="margin-top: 1em;" data-i18n="pidTuning_PIDgains"></div>
<div class="clear-both"></div>
<div class="cf_column pid-section">

<div class="cf_column" id="pid-sliders">
<div class="pid-sliders-axis" data-axis="roll">
<h3 data-i18n="axisRoll"></h3>
<div class="pid-slider-row">
<span data-i18n="pidTuning_Proportional"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="110">
</div>

<div class="pid-slider-row">
<span data-i18n="pidTuning_Integral"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="110">
</div>

<div class="pid-slider-row">
<span data-i18n="pidTuning_Derivative"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="60">
</div>

<div class="pid-slider-row">
<span data-i18n="pidTuning_FeedForward"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="150">
</div>

</div>

<div class="pid-sliders-axis" data-axis="pitch">
<h3 data-i18n="axisPitch"></h3>
<div class="pid-slider-row">
<span data-i18n="pidTuning_Proportional"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="110">
</div>

<div class="pid-slider-row">
<span data-i18n="pidTuning_Integral"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="110">
</div>

<div class="pid-slider-row">
<span data-i18n="pidTuning_Derivative"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="60">
</div>

<div class="pid-slider-row">
<span data-i18n="pidTuning_FeedForward"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="150">
</div>

</div>

<div class="pid-sliders-axis" data-axis="yaw">
<h3 data-i18n="axisYaw"></h3>
<div class="pid-slider-row">
<span data-i18n="pidTuning_Proportional"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="110">
</div>

<div class="pid-slider-row">
<span data-i18n="pidTuning_Integral"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="110">
</div>

<div class="pid-slider-row"">
<span data-i18n="pidTuning_Derivative"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="60">
</div>

<div class="pid-slider-row">
<span data-i18n="pidTuning_FeedForward"></span>
<input type="number" name="value-input" value="42" min="0" max="255" step="1" class="controlProfileHighlightActive">
<input type="range" name="value-slider" value="42" min="0" max="1000" step="1" data-normal-max="150">
</div>

</div>
</div>

<div class="toolbox" style="margin-bottom: 1em;">
<input type="checkbox" id="show-advanced-pids" class="toggle" />
<label data-i18n="showAdvancedPIDs" for="show-advanced-pids"></label>
</div>

<div class="cf_column pid-section is-hidden" id="the-other-pids">
<div class="gui_box grey">
<table class="pid_titlebar">
<tr>
Expand All @@ -34,28 +126,28 @@
</tr>
</table>
<table id="pid_main" class="pid_tuning">
<tr>
<tr class="is-hidden">
<th colspan="5">
<div class="pid_mode" data-i18n="pidTuning_Basic"></div>
</th>
</tr>
<tr class="ROLL" data-pid-bank-position="0">
<tr class="is-hidden" class="ROLL" data-pid-bank-position="0">
<!-- 0 -->
<td></td>
<td><input class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" class="rpy_ff" name="ff" step="1" min="0" max="255" /></td>
</tr>
<tr class="PITCH" data-pid-bank-position="1">
<tr class="is-hidden" class="PITCH" data-pid-bank-position="1">
<!-- 1 -->
<td></td>
<td><input class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" name="i" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" class="rpy_d" name="d" step="1" min="0" max="255" /></td>
<td><input class="controlProfileHighlight" type="number" class="rpy_ff" name="ff" step="1" min="0" max="255" /></td>
</tr>
<tr class="YAW" data-pid-bank-position="2">
<tr class="is-hidden" class="YAW" data-pid-bank-position="2">
<!-- 2 -->
<td></td>
<td><input class="controlProfileHighlight" type="number" name="p" step="1" min="0" max="255" /></td>
Expand Down
75 changes: 71 additions & 4 deletions tabs/pid_tuning.js
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Expand Up @@ -66,9 +66,14 @@ TABS.pid_tuning.initialize = function (callback) {
function form_to_pid_and_rc() {

$('[data-pid-bank-position]').each(function () {

var $this = $(this),
bankPosition = $this.data('pid-bank-position');

if ($this.hasClass('is-hidden')) {
return;
}

if (PIDs[bankPosition]) {
$this.find('input').each(function (index) {
PIDs[bankPosition][index] = parseFloat($(this).val());
Expand Down Expand Up @@ -157,12 +162,74 @@ TABS.pid_tuning.initialize = function (callback) {

pid_and_rc_to_form();

let $magHoldYawRate = $("#magHoldYawRate");
let $theOtherPids = $('#the-other-pids');
let $showAdvancedPids = $('#show-advanced-pids');

chrome.storage.local.get('showOtherPids', function (result) {
if (result.showOtherPids) {
$theOtherPids.removeClass("is-hidden");
$showAdvancedPids.prop('checked', true);
} else {
$theOtherPids.addClass("is-hidden");
$showAdvancedPids.prop('checked', false);
}
$showAdvancedPids.change();
});

$showAdvancedPids.on('change', function() {
if ($showAdvancedPids.is(':checked')) {
$theOtherPids.removeClass("is-hidden");
chrome.storage.local.set({ showOtherPids: true });
} else {
$theOtherPids.addClass("is-hidden");
chrome.storage.local.set({ showOtherPids: false });
}
});

$(".pid-slider-row [name='value-slider']").on('input', function () {
let val = $(this).val();
let normalMax = parseInt($(this).data('normal-max'));

$magHoldYawRate.val(INAV_PID_CONFIG.magHoldRateLimit);
if (val <= 800) {
val = scaleRangeInt(val, 0, 800, 0, normalMax);
} else {
val = scaleRangeInt(val, 801, 1000, normalMax + 1, 255);
}

$(this).parent().find('input[name="value-input"]').val(val);
PIDs[$(this).parent().data('axis')][$(this).parent().data('bank')] = val;
});

$magHoldYawRate.change(function () {
INAV_PID_CONFIG.magHoldRateLimit = parseInt($magHoldYawRate.val(), 10);
$(".pid-slider-row [name='value-input']").on('change', function () {
let val = $(this).val();
let newVal;
let normalMax = parseInt($(this).parent().find('input[name="value-slider"]').data('normal-max'));

if (val <= 110) {
newVal = scaleRangeInt(val, 0, normalMax, 0, 800);
} else {
newVal = scaleRangeInt(val, normalMax + 1, 255, 801, 1000);
}

$(this).parent().find('input[name="value-slider"]').val(newVal);
PIDs[$(this).parent().data('axis')][$(this).parent().data('bank')] = $(this).val();
});

let axis = 0;
$('#pid-sliders').find('.pid-sliders-axis').each(function () {

let $this = $(this);
let bank = 0;

$this.find('.pid-slider-row').each(function () {
let $this = $(this);
$this.data('axis', axis);
$this.data('bank', bank);
$this.find('input[name="value-input"]').val(PIDs[axis][bank]).trigger('change');
bank++;
});

axis++;
});

if (!FC.isRpyFfComponentUsed()) {
Expand Down