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pid_tuning.js
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pid_tuning.js
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'use strict';
TABS.pid_tuning = {
RATE_PROFILE_MASK: 128,
showAllPids: false,
updating: true,
dirty: false,
currentProfile: null,
currentRateProfile: null,
SETPOINT_WEIGHT_RANGE_LOW: 2.55,
SETPOINT_WEIGHT_RANGE_HIGH: 20,
SETPOINT_WEIGHT_RANGE_LEGACY: 2.54
};
TABS.pid_tuning.initialize = function (callback) {
var self = this;
if (GUI.active_tab !== 'pid_tuning') {
GUI.active_tab = 'pid_tuning';
}
// Update filtering defaults based on API version
var FILTER_DEFAULT = FC.getFilterDefaults();
// requesting MSP_STATUS manually because it contains CONFIG.profile
MSP.promise(MSPCodes.MSP_STATUS).then(function() {
if (semver.gte(CONFIG.apiVersion, CONFIGURATOR.pidControllerChangeMinApiVersion)) {
return MSP.promise(MSPCodes.MSP_PID_CONTROLLER);
}
}).then(function() {
return MSP.promise(MSPCodes.MSP_PIDNAMES)
}).then(function() {
return MSP.promise(MSPCodes.MSP_PID);
}).then(function() {
if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
return MSP.promise(MSPCodes.MSP_PID_ADVANCED);
}
}).then(function() {
return MSP.promise(MSPCodes.MSP_RC_TUNING);
}).then(function() {
return MSP.promise(MSPCodes.MSP_FILTER_CONFIG);
}).then(function() {
return MSP.promise(MSPCodes.MSP_RC_DEADBAND);
}).then(function() {
MSP.send_message(MSPCodes.MSP_MIXER_CONFIG, false, false, load_html);
});
function load_html() {
$('#content').load("./tabs/pid_tuning.html", process_html);
}
function pid_and_rc_to_form() {
self.setProfile();
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
self.setRateProfile();
}
// Fill in the data from PIDs array
// For each pid name
PID_names.forEach(function(elementPid, indexPid) {
// Look into the PID table to a row with the name of the pid
var searchRow = $('.pid_tuning .' + elementPid + ' input');
// Assign each value
searchRow.each(function (indexInput) {
if (PIDs[indexPid][indexInput] !== undefined) {
$(this).val(PIDs[indexPid][indexInput]);
}
});
});
// Fill in data from RC_tuning object
$('.pid_tuning input[name="rc_rate"]').val(RC_tuning.RC_RATE.toFixed(2));
$('.pid_tuning input[name="roll_pitch_rate"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
$('.pid_tuning input[name="roll_rate"]').val(RC_tuning.roll_rate.toFixed(2));
$('.pid_tuning input[name="pitch_rate"]').val(RC_tuning.pitch_rate.toFixed(2));
$('.pid_tuning input[name="yaw_rate"]').val(RC_tuning.yaw_rate.toFixed(2));
$('.pid_tuning input[name="rc_expo"]').val(RC_tuning.RC_EXPO.toFixed(2));
$('.pid_tuning input[name="rc_yaw_expo"]').val(RC_tuning.RC_YAW_EXPO.toFixed(2));
$('.throttle input[name="mid"]').val(RC_tuning.throttle_MID.toFixed(2));
$('.throttle input[name="expo"]').val(RC_tuning.throttle_EXPO.toFixed(2));
$('.tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
$('.tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint);
if (semver.lt(CONFIG.apiVersion, "1.10.0")) {
$('.pid_tuning input[name="rc_yaw_expo"]').hide();
$('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3");
}
if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
$('input[id="vbatpidcompensation"]').prop('checked', ADVANCED_TUNING.vbatPidCompensation !== 0);
}
if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
$('#pid-tuning .delta select').val(ADVANCED_TUNING.deltaMethod);
}
if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
$('.pid_tuning input[name="rc_rate_yaw"]').val(RC_tuning.rcYawRate.toFixed(2));
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FILTER_CONFIG.gyro_lowpass_hz);
$('.pid_filter input[name="dtermLowpassFrequency"]').val(FILTER_CONFIG.dterm_lowpass_hz);
$('.pid_filter input[name="yawLowpassFrequency"]').val(FILTER_CONFIG.yaw_lowpass_hz);
} else {
$('.tab-pid_tuning .subtab-filter').hide();
$('.tab-pid_tuning .tab_container').hide();
$('.pid_tuning input[name="rc_rate_yaw"]').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.20.0")
|| semver.gte(CONFIG.apiVersion, "1.16.0") && FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES')) {
$('#pid-tuning .rate').text(i18n.getMessage("pidTuningSuperRate"));
} else {
$('#pid-tuning .rate').text(i18n.getMessage("pidTuningRate"));
}
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
$('.pid_filter input[name="gyroNotch1Frequency"]').val(FILTER_CONFIG.gyro_notch_hz);
$('.pid_filter input[name="gyroNotch1Cutoff"]').val(FILTER_CONFIG.gyro_notch_cutoff);
$('.pid_filter input[name="dTermNotchFrequency"]').val(FILTER_CONFIG.dterm_notch_hz);
$('.pid_filter input[name="dTermNotchCutoff"]').val(FILTER_CONFIG.dterm_notch_cutoff);
var dtermSetpointTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
var dtermSetpointTransitionRangeElement = $('input[name="dtermSetpointTransition-range"]');
if (semver.gte(CONFIG.apiVersion, "1.38.0")) {
dtermSetpointTransitionNumberElement.attr('min', 0.00);
dtermSetpointTransitionRangeElement.attr('min', 0.00);
} else {
dtermSetpointTransitionNumberElement.attr('min', 0.01);
dtermSetpointTransitionRangeElement.attr('min', 0.01);
}
dtermSetpointTransitionNumberElement.val(ADVANCED_TUNING.dtermSetpointTransition / 100);
dtermSetpointTransitionRangeElement.val(ADVANCED_TUNING.dtermSetpointTransition / 100);
$('input[name="dtermSetpoint-number"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100);
$('input[name="dtermSetpoint-range"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100)
.trigger('input'); // trigger adjustRangeElement()
} else {
$('.pid_filter .newFilter').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
$('.pid_filter input[name="gyroNotch2Frequency"]').val(FILTER_CONFIG.gyro_notch2_hz);
$('.pid_filter input[name="gyroNotch2Cutoff"]').val(FILTER_CONFIG.gyro_notch2_cutoff);
} else {
$('.pid_filter .gyroNotch2').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
$('.pid_tuning input[name="angleLimit"]').val(ADVANCED_TUNING.levelAngleLimit);
$('.pid_tuning input[name="sensitivity"]').val(ADVANCED_TUNING.levelSensitivity);
} else {
$('.pid_sensitivity').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
$('.pid_filter select[name="dtermLowpassType"]').val(FILTER_CONFIG.dterm_lowpass_type);
$('.antigravity input[name="itermThrottleThreshold"]').val(ADVANCED_TUNING.itermThrottleThreshold);
$('.antigravity input[name="itermAcceleratorGain"]').val(ADVANCED_TUNING.itermAcceleratorGain / 1000);
} else {
$('.dtermLowpassType').hide();
$('.antigravity').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.37.0")) {
$('.pid_tuning input[name="rc_rate_pitch"]').val(RC_tuning.rcPitchRate.toFixed(2));
$('.pid_tuning input[name="rc_pitch_expo"]').val(RC_tuning.RC_PITCH_EXPO.toFixed(2));
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(FILTER_CONFIG.gyro_lowpass2_hz);
$('.pid_filter select[name="gyroLowpassType"]').val(FILTER_CONFIG.gyro_lowpass_type);
$('.pid_filter select[name="gyroLowpass2Type"]').val(FILTER_CONFIG.gyro_lowpass2_type);
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(FILTER_CONFIG.dterm_lowpass2_hz);
// We load it again because the limits are now bigger than in 1.16.0
$('.pid_filter input[name="gyroLowpassFrequency"]').attr("max","16000");
$('.pid_filter input[name="gyroLowpassFrequency"]').val(FILTER_CONFIG.gyro_lowpass_hz);
} else {
$('.gyroLowpass2').hide();
$('.gyroLowpass2Type').hide();
$('.dtermLowpass2').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
// I Term Rotation
$('input[id="itermrotation"]').prop('checked', ADVANCED_TUNING.itermRotation !== 0);
// Smart Feed Forward
$('input[id="smartfeedforward"]').prop('checked', ADVANCED_TUNING.smartFeedforward !== 0);
// I Term Relax
var itermRelaxCheck = $('input[id="itermrelax"]');
itermRelaxCheck.prop('checked', ADVANCED_TUNING.itermRelax !== 0);
$('select[id="itermrelaxAxes"]').val(ADVANCED_TUNING.itermRelax > 0 ? ADVANCED_TUNING.itermRelax : 1);
$('select[id="itermrelaxType"]').val(ADVANCED_TUNING.itermRelaxType);
itermRelaxCheck.change(function() {
var checked = $(this).is(':checked');
if (checked) {
$('.itermrelax .suboption').show();
} else {
$('.itermrelax .suboption').hide();
}
});
itermRelaxCheck.change();
// Absolute Control
var absoluteControlGainNumberElement = $('input[name="absoluteControlGain-number"]');
var absoluteControlGainRangeElement = $('input[name="absoluteControlGain-range"]');
//Use 'input' event for coupled controls to allow synchronized update
absoluteControlGainNumberElement.on('input', function () {
absoluteControlGainRangeElement.val($(this).val());
});
absoluteControlGainRangeElement.on('input', function () {
absoluteControlGainNumberElement.val($(this).val());
});
absoluteControlGainNumberElement.val(ADVANCED_TUNING.absoluteControlGain).trigger('input');
// Throttle Boost
var throttleBoostNumberElement = $('input[name="throttleBoost-number"]');
var throttleBoostRangeElement = $('input[name="throttleBoost-range"]');
//Use 'input' event for coupled controls to allow synchronized update
throttleBoostNumberElement.on('input', function () {
throttleBoostRangeElement.val($(this).val());
});
throttleBoostRangeElement.on('input', function () {
throttleBoostNumberElement.val($(this).val());
});
throttleBoostNumberElement.val(ADVANCED_TUNING.throttleBoost).trigger('input');
// Acro Trainer
var acroTrainerAngleLimitNumberElement = $('input[name="acroTrainerAngleLimit-number"]');
var acroTrainerAngleLimitRangeElement = $('input[name="acroTrainerAngleLimit-range"]');
//Use 'input' event for coupled controls to allow synchronized update
acroTrainerAngleLimitNumberElement.on('input', function () {
acroTrainerAngleLimitRangeElement.val($(this).val());
});
acroTrainerAngleLimitRangeElement.on('input', function () {
acroTrainerAngleLimitNumberElement.val($(this).val());
});
acroTrainerAngleLimitNumberElement.val(ADVANCED_TUNING.acroTrainerAngleLimit).trigger('input');
// Yaw D
$('.pid_tuning .YAW input[name="d"]').val(PIDs[2][2]); // PID Yaw D
// Feedforward
$('.pid_tuning .ROLL input[name="f"]').val(ADVANCED_TUNING.feedforwardRoll);
$('.pid_tuning .PITCH input[name="f"]').val(ADVANCED_TUNING.feedforwardPitch);
$('.pid_tuning .YAW input[name="f"]').val(ADVANCED_TUNING.feedforwardYaw);
var feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]');
var feedforwardTransitionRangeElement = $('input[name="feedforwardTransition-range"]');
feedforwardTransitionNumberElement.val(ADVANCED_TUNING.feedforwardTransition / 100);
feedforwardTransitionRangeElement.val(ADVANCED_TUNING.feedforwardTransition / 100);
//Use 'input' event for coupled controls to allow synchronized update
feedforwardTransitionNumberElement.on('input', function () {
feedforwardTransitionRangeElement.val($(this).val());
});
feedforwardTransitionRangeElement.on('input', function () {
feedforwardTransitionNumberElement.val($(this).val());
});
$('.helpicon[i18n_title="pidTuningPidTuningTip"]').hide();
// AntiGravity Mode
var antiGravityModeSelect = $('.antigravity select[id="antiGravityMode"]');
antiGravityModeSelect.change(function () {
var antiGravityModeValue = $('.antigravity select[id="antiGravityMode"]').val();
// Smooth
if (antiGravityModeValue == 0) {
$('.antigravity table th:nth-child(3)').hide();
$('.antigravity table td:nth-child(3)').hide();
} else {
$('.antigravity table th:nth-child(3)').show();
$('.antigravity table td:nth-child(3)').show();
}
});
antiGravityModeSelect.val(ADVANCED_TUNING.antiGravityMode).change();
} else {
$('.itermrotation').hide();
$('.smartfeedforward').hide();
$('.itermrelax').hide();
$('.absoluteControlGain').hide();
$('.throttleBoost').hide();
$('.acroTrainerAngleLimit').hide();
$('.pid_tuning .YAW input[name="d"]').hide();
// Feedforward column
$('#pid_main tr :nth-child(5)').hide();
$('#pid_main .pid_titlebar2 th').attr("colspan", 8);
$('.helpicon[i18n_title="pidTuningPidTuningTipFeedforward"]').hide();
$('#pid-tuning .feedforwardTransition').hide();
$('.antigravity table th:first-child').hide();
$('.antigravity table td:first-child').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
$('select[id="throttleLimitType"]').val(RC_tuning.throttleLimitType);
$('.throttle_limit input[name="throttleLimitPercent"]').val(RC_tuning.throttleLimitPercent);
$('.pid_filter select[name="dtermLowpass2Type"]').val(FILTER_CONFIG.dterm_lowpass2_type);
$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_min_hz);
$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_max_hz);
$('.pid_filter select[name="gyroLowpassDynType"]').val(FILTER_CONFIG.gyro_lowpass_type);
$('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_min_hz);
$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
$('.pid_filter select[name="dtermLowpassDynType"]').val(FILTER_CONFIG.dterm_lowpass_type);
$('.dminGroup input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll);
$('.dminGroup input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch);
$('.dminGroup input[name="dMinYaw"]').val(ADVANCED_TUNING.dMinYaw);
$('.dminGroup input[name="dMinGain"]').val(ADVANCED_TUNING.dMinGain);
$('.dminGroup input[name="dMinAdvance"]').val(ADVANCED_TUNING.dMinAdvance);
$('input[id="useIntegratedYaw"]').prop('checked', ADVANCED_TUNING.useIntegratedYaw !== 0);
} else {
$('.throttle_limit').hide();
$('.gyroLowpassDyn').hide();
$('.dtermLowpassDyn').hide();
$('.dtermLowpass2TypeGroup').hide();
$('.dminGroup').hide();
$('.integratedYaw').hide();
}
if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
$('.smartfeedforward').hide();
}
$('input[id="useIntegratedYaw"]').change(function() {
var checked = $(this).is(':checked');
$('#pidTuningIntegratedYawCaution').toggle(checked);
}).change();
function adjustDMin(dElement, dMinElement) {
var dValue = parseInt(dElement.val());
var dMinValue = parseInt(dMinElement.val());
var dMinLimit = dValue > 0 ? dValue - 1 : 0;
if (dMinValue > dMinLimit) {
dMinElement.val(dMinLimit);
}
dMinElement.attr("max", dMinLimit);
}
$('.pid_tuning .ROLL input[name="d"]').change(function() {
var dMinElement= $('.dminGroup input[name="dMinRoll"]');
adjustDMin($(this), dMinElement);
}).change();
$('.pid_tuning .PITCH input[name="d"]').change(function() {
var dMinElement= $('.dminGroup input[name="dMinPitch"]');
adjustDMin($(this), dMinElement);
}).change();
$('.pid_tuning .YAW input[name="d"]').change(function() {
var dMinElement= $('.dminGroup input[name="dMinYaw"]');
adjustDMin($(this), dMinElement);
}).change();
$('input[id="gyroNotch1Enabled"]').change(function() {
var checked = $(this).is(':checked');
var hz = FILTER_CONFIG.gyro_notch_hz > 0 ? FILTER_CONFIG.gyro_notch_hz : FILTER_DEFAULT.gyro_notch_hz;
$('.pid_filter input[name="gyroNotch1Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
.attr("min", checked ? 1 : 0).change();
$('.pid_filter input[name="gyroNotch1Cutoff"]').attr('disabled', !checked).change();
});
$('input[id="gyroNotch2Enabled"]').change(function() {
var checked = $(this).is(':checked');
var hz = FILTER_CONFIG.gyro_notch2_hz > 0 ? FILTER_CONFIG.gyro_notch2_hz : FILTER_DEFAULT.gyro_notch2_hz;
$('.pid_filter input[name="gyroNotch2Frequency"]').val(checked ? hz : 0).attr('disabled', !checked)
.attr("min", checked ? 1 : 0).change();
$('.pid_filter input[name="gyroNotch2Cutoff"]').attr('disabled', !checked).change();
});
$('input[id="dtermNotchEnabled"]').change(function() {
var checked = $(this).is(':checked');
var hz = FILTER_CONFIG.dterm_notch_hz > 0 ? FILTER_CONFIG.dterm_notch_hz : FILTER_DEFAULT.dterm_notch_hz;
$('.pid_filter input[name="dTermNotchFrequency"]').val(checked ? hz : 0).attr('disabled', !checked)
.attr("min", checked ? 1 : 0).change();
$('.pid_filter input[name="dTermNotchCutoff"]').attr('disabled', !checked).change();
});
$('input[id="gyroLowpassEnabled"]').change(function() {
var checked = $(this).is(':checked');
var disabledByDynamicLowpass = $('input[id="gyroLowpassDynEnabled"]').is(':checked');
var cutoff = FILTER_CONFIG.gyro_lowpass_hz > 0 ? FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz;
var type = FILTER_CONFIG.gyro_lowpass_hz > 0 ? FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type;
$('.pid_filter input[name="gyroLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="gyroLowpassType"]').val(type).attr('disabled', !checked);
if (checked) {
$('input[id="gyroLowpassDynEnabled"]').prop('checked', false).change();
}
self.updateFilterWarning();
});
$('input[id="gyroLowpassDynEnabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff_min = FILTER_DEFAULT.gyro_lowpass_dyn_min_hz;
var type = FILTER_DEFAULT.gyro_lowpass_type;
if (FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz) {
cutoff_min = FILTER_CONFIG.gyro_lowpass_dyn_min_hz;
type = FILTER_CONFIG.gyro_lowpass_type;
}
$('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(checked ? cutoff_min : 0).attr('disabled', !checked);
$('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').attr('disabled', !checked);
$('.pid_filter select[name="gyroLowpassDynType"]').val(type).attr('disabled', !checked);
if (checked) {
$('input[id="gyroLowpassEnabled"]').prop('checked', false).change();
} else if (FILTER_CONFIG.gyro_lowpass_hz > 0 && !$('input[id="gyroLowpassEnabled"]').is(':checked')) {
$('input[id="gyroLowpassEnabled"]').prop('checked', true).change();
}
self.updateFilterWarning();
});
$('input[id="gyroLowpass2Enabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff = FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz;
var type = FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type;
$('.pid_filter input[name="gyroLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="gyroLowpass2Type"]').val(type).attr('disabled', !checked);
});
$('input[id="dtermLowpassEnabled"]').change(function() {
var checked = $(this).is(':checked');
var disabledByDynamicLowpass = $('input[id="dtermLowpassDynEnabled"]').is(':checked');
var cutoff = FILTER_CONFIG.dterm_lowpass_hz > 0 ? FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz;
var type = FILTER_CONFIG.dterm_lowpass_hz > 0 ? FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type;
$('.pid_filter input[name="dtermLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="dtermLowpassType"]').val(type).attr('disabled', !checked);
if (checked) {
$('input[id="dtermLowpassDynEnabled"]').prop('checked', false).change();
}
self.updateFilterWarning();
});
$('input[id="dtermLowpassDynEnabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff_min = FILTER_DEFAULT.dterm_lowpass_dyn_min_hz;
var type = FILTER_DEFAULT.dterm_lowpass_type;
if (FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz) {
cutoff_min = FILTER_CONFIG.dterm_lowpass_dyn_min_hz;
type = FILTER_CONFIG.dterm_lowpass_type;
}
$('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(checked ? cutoff_min : 0).attr('disabled', !checked);
$('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').attr('disabled', !checked);
$('.pid_filter select[name="dtermLowpassDynType"]').val(type).attr('disabled', !checked);
if (checked) {
$('input[id="dtermLowpassEnabled"]').prop('checked', false).change();
} else if (FILTER_CONFIG.dterm_lowpass_hz > 0 && !$('input[id="dtermLowpassEnabled"]').is(':checked')) {
$('input[id="dtermLowpassEnabled"]').prop('checked', true).change();
}
self.updateFilterWarning();
});
$('input[id="dtermLowpass2Enabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff = FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz;
var type = FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type;
$('.pid_filter input[name="dtermLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
$('.pid_filter select[name="dtermLowpass2Type"]').val(type).attr('disabled', !checked);
});
$('input[id="yawLowpassEnabled"]').change(function() {
var checked = $(this).is(':checked');
var cutoff = FILTER_CONFIG.yaw_lowpass_hz > 0 ? FILTER_CONFIG.yaw_lowpass_hz : FILTER_DEFAULT.yaw_lowpass_hz;
$('.pid_filter input[name="yawLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked);
});
// The notch cutoff must be smaller than the notch frecuency
function adjustNotchCutoff(frequencyName, cutoffName) {
var frecuency = parseInt($(".pid_filter input[name='" + frequencyName + "']").val());
var cutoff = parseInt($(".pid_filter input[name='" + cutoffName + "']").val());
// Change the max and refresh the value if needed
var maxCutoff = frecuency == 0 ? 0 : frecuency - 1;
$(".pid_filter input[name='" + cutoffName + "']").attr("max", maxCutoff);
if (cutoff >= frecuency) {
$(".pid_filter input[name='" + cutoffName + "']").val(maxCutoff);
}
}
$('input[name="gyroNotch1Frequency"]').change(function() {
adjustNotchCutoff("gyroNotch1Frequency", "gyroNotch1Cutoff");
}).change();
$('input[name="gyroNotch2Frequency"]').change(function() {
adjustNotchCutoff("gyroNotch2Frequency", "gyroNotch2Cutoff");
}).change();
$('input[name="dTermNotchFrequency"]').change(function() {
adjustNotchCutoff("dTermNotchFrequency", "dTermNotchCutoff");
}).change();
// Initial state of the filters: enabled or disabled
$('input[id="gyroNotch1Enabled"]').prop('checked', FILTER_CONFIG.gyro_notch_hz != 0).change();
$('input[id="gyroNotch2Enabled"]').prop('checked', FILTER_CONFIG.gyro_notch2_hz != 0).change();
$('input[id="dtermNotchEnabled"]').prop('checked', FILTER_CONFIG.dterm_notch_hz != 0).change();
$('input[id="gyroLowpassEnabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass_hz != 0).change();
$('input[id="gyroLowpassDynEnabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass_dyn_min_hz != 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz).change();
$('input[id="gyroLowpass2Enabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass2_hz != 0).change();
$('input[id="dtermLowpassEnabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass_hz != 0).change();
$('input[id="dtermLowpassDynEnabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass_dyn_min_hz != 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz).change();
$('input[id="dtermLowpass2Enabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass2_hz != 0).change();
$('input[id="yawLowpassEnabled"]').prop('checked', FILTER_CONFIG.yaw_lowpass_hz != 0).change();
}
function form_to_pid_and_rc() {
// Fill in the data from PIDs array
// Catch all the changes and stuff the inside PIDs array
// For each pid name
PID_names.forEach(function(elementPid, indexPid) {
// Look into the PID table to a row with the name of the pid
var searchRow = $('.pid_tuning .' + elementPid + ' input');
// Assign each value
searchRow.each(function (indexInput) {
if ($(this).val()) {
PIDs[indexPid][indexInput] = parseFloat($(this).val());
}
});
});
// catch RC_tuning changes
RC_tuning.RC_RATE = parseFloat($('.pid_tuning input[name="rc_rate"]').val());
RC_tuning.roll_pitch_rate = parseFloat($('.pid_tuning input[name="roll_pitch_rate"]').val());
RC_tuning.roll_rate = parseFloat($('.pid_tuning input[name="roll_rate"]').val());
RC_tuning.pitch_rate = parseFloat($('.pid_tuning input[name="pitch_rate"]').val());
RC_tuning.yaw_rate = parseFloat($('.pid_tuning input[name="yaw_rate"]').val());
RC_tuning.RC_EXPO = parseFloat($('.pid_tuning input[name="rc_expo"]').val());
RC_tuning.RC_YAW_EXPO = parseFloat($('.pid_tuning input[name="rc_yaw_expo"]').val());
RC_tuning.rcYawRate = parseFloat($('.pid_tuning input[name="rc_rate_yaw"]').val());
RC_tuning.rcPitchRate = parseFloat($('.pid_tuning input[name="rc_rate_pitch"]').val());
RC_tuning.RC_PITCH_EXPO = parseFloat($('.pid_tuning input[name="rc_pitch_expo"]').val());
RC_tuning.throttle_MID = parseFloat($('.throttle input[name="mid"]').val());
RC_tuning.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val());
RC_tuning.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val());
RC_tuning.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val());
FILTER_CONFIG.gyro_lowpass_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val());
FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val());
FILTER_CONFIG.yaw_lowpass_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val());
if (semver.gte(CONFIG.apiVersion, "1.16.0") && !semver.gte(CONFIG.apiVersion, "1.20.0")) {
FEATURE_CONFIG.features.updateData($('input[name="SUPEREXPO_RATES"]'));
}
if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
ADVANCED_TUNING.vbatPidCompensation = $('input[id="vbatpidcompensation"]').is(':checked') ? 1 : 0;
}
if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
ADVANCED_TUNING.deltaMethod = $('#pid-tuning .delta select').val();
}
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
ADVANCED_TUNING.dtermSetpointTransition = parseInt($('input[name="dtermSetpointTransition-number"]').val() * 100);
ADVANCED_TUNING.dtermSetpointWeight = parseInt($('input[name="dtermSetpoint-number"]').val() * 100);
FILTER_CONFIG.gyro_notch_hz = parseInt($('.pid_filter input[name="gyroNotch1Frequency"]').val());
FILTER_CONFIG.gyro_notch_cutoff = parseInt($('.pid_filter input[name="gyroNotch1Cutoff"]').val());
FILTER_CONFIG.dterm_notch_hz = parseInt($('.pid_filter input[name="dTermNotchFrequency"]').val());
FILTER_CONFIG.dterm_notch_cutoff = parseInt($('.pid_filter input[name="dTermNotchCutoff"]').val());
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
FILTER_CONFIG.gyro_notch2_hz = parseInt($('.pid_filter input[name="gyroNotch2Frequency"]').val());
FILTER_CONFIG.gyro_notch2_cutoff = parseInt($('.pid_filter input[name="gyroNotch2Cutoff"]').val());
}
}
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
ADVANCED_TUNING.levelAngleLimit = parseInt($('.pid_tuning input[name="angleLimit"]').val());
ADVANCED_TUNING.levelSensitivity = parseInt($('.pid_tuning input[name="sensitivity"]').val());
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassType"]').val();
ADVANCED_TUNING.itermThrottleThreshold = parseInt($('.antigravity input[name="itermThrottleThreshold"]').val());
ADVANCED_TUNING.itermAcceleratorGain = parseInt($('.antigravity input[name="itermAcceleratorGain"]').val() * 1000);
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
FILTER_CONFIG.gyro_lowpass2_hz = parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val());
FILTER_CONFIG.gyro_lowpass_type = parseInt($('.pid_filter select[name="gyroLowpassType"]').val());
FILTER_CONFIG.gyro_lowpass2_type = parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val());
FILTER_CONFIG.dterm_lowpass2_hz = parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val());
}
if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
ADVANCED_TUNING.itermRotation = $('input[id="itermrotation"]').is(':checked') ? 1 : 0;
ADVANCED_TUNING.smartFeedforward = $('input[id="smartfeedforward"]').is(':checked') ? 1 : 0;
ADVANCED_TUNING.itermRelax = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxAxes"]').val() : 0;
ADVANCED_TUNING.itermRelaxType = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxType"]').val() : 0;
ADVANCED_TUNING.absoluteControlGain = $('input[name="absoluteControlGain-number"]').val();
ADVANCED_TUNING.throttleBoost = $('input[name="throttleBoost-number"]').val();
ADVANCED_TUNING.acroTrainerAngleLimit = $('input[name="acroTrainerAngleLimit-number"]').val();
ADVANCED_TUNING.feedforwardRoll = parseInt($('.pid_tuning .ROLL input[name="f"]').val());
ADVANCED_TUNING.feedforwardPitch = parseInt($('.pid_tuning .PITCH input[name="f"]').val());
ADVANCED_TUNING.feedforwardYaw = parseInt($('.pid_tuning .YAW input[name="f"]').val());
ADVANCED_TUNING.feedforwardTransition = parseInt($('input[name="feedforwardTransition-number"]').val() * 100);
ADVANCED_TUNING.antiGravityMode = $('select[id="antiGravityMode"]').val();
}
if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
RC_tuning.throttleLimitType = $('select[id="throttleLimitType"]').val();
RC_tuning.throttleLimitPercent = parseInt($('.throttle_limit input[name="throttleLimitPercent"]').val());
FILTER_CONFIG.dterm_lowpass2_type = $('.pid_filter select[name="dtermLowpass2Type"]').val();
FILTER_CONFIG.gyro_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val());
FILTER_CONFIG.gyro_lowpass_dyn_max_hz = parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val());
FILTER_CONFIG.dterm_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val());
FILTER_CONFIG.dterm_lowpass_dyn_max_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val());
if (FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz ) {
FILTER_CONFIG.gyro_lowpass_type = $('.pid_filter select[name="gyroLowpassDynType"]').val();
}
if (FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz ) {
FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassDynType"]').val();
}
ADVANCED_TUNING.dMinRoll = parseInt($('.dminGroup input[name="dMinRoll"]').val());
ADVANCED_TUNING.dMinPitch = parseInt($('.dminGroup input[name="dMinPitch"]').val());
ADVANCED_TUNING.dMinYaw = parseInt($('.dminGroup input[name="dMinYaw"]').val());
ADVANCED_TUNING.dMinGain = parseInt($('.dminGroup input[name="dMinGain"]').val());
ADVANCED_TUNING.dMinAdvance = parseInt($('.dminGroup input[name="dMinAdvance"]').val());
ADVANCED_TUNING.useIntegratedYaw = $('input[id="useIntegratedYaw"]').is(':checked') ? 1 : 0;
}
}
function showAllPids() {
// Hide all optional elements
$('.pid_optional tr').hide(); // Hide all rows
$('.pid_optional table').hide(); // Hide tables
$('.pid_optional').hide(); // Hide general div
// Only show rows supported by the firmware
PID_names.forEach(function(elementPid) {
// Show rows for the PID
$('.pid_tuning .' + elementPid).show();
// Show titles and other elements needed by the PID
$('.needed_by_' + elementPid).show();
});
// Special case
if (semver.lt(CONFIG.apiVersion, "1.24.0")) {
$('#pid_sensitivity').hide();
}
}
function hideUnusedPids() {
if (!have_sensor(CONFIG.activeSensors, 'acc')) {
$('#pid_accel').hide();
}
var hideSensorPid = function(element, sensorReady) {
var isVisible = element.is(":visible");
if (!isVisible || !sensorReady) {
element.hide();
isVisible = false;
}
return isVisible;
}
var isVisibleBaroMagGps = false;
isVisibleBaroMagGps |= hideSensorPid($('#pid_baro'), have_sensor(CONFIG.activeSensors, 'baro') || have_sensor(CONFIG.activeSensors, 'sonar'));
isVisibleBaroMagGps |= hideSensorPid($('#pid_mag'), have_sensor(CONFIG.activeSensors, 'mag'));
isVisibleBaroMagGps |= hideSensorPid($('#pid_gps'), have_sensor(CONFIG.activeSensors, 'GPS'));
if (!isVisibleBaroMagGps) {
$('#pid_baro_mag_gps').hide();
}
}
function drawAxes(curveContext, width, height) {
curveContext.strokeStyle = '#000000';
curveContext.lineWidth = 4;
// Horizontal
curveContext.beginPath();
curveContext.moveTo(0, height / 2);
curveContext.lineTo(width, height / 2);
curveContext.stroke();
// Vertical
curveContext.beginPath();
curveContext.moveTo(width / 2, 0);
curveContext.lineTo(width / 2, height);
curveContext.stroke();
}
function checkInput(element) {
var value = parseFloat(element.val());
if (value < parseFloat(element.prop('min'))
|| value > parseFloat(element.prop('max'))) {
value = undefined;
}
return value;
}
var useLegacyCurve = false;
if (!semver.gte(CONFIG.apiVersion, "1.16.0")) {
useLegacyCurve = true;
}
self.rateCurve = new RateCurve(useLegacyCurve);
function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVelElement) {
var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit).toFixed(0);
maxAngularVelElement.text(maxAngularVel);
return maxAngularVel;
}
function drawCurve(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVel, colour, yOffset, context) {
context.save();
context.strokeStyle = colour;
context.translate(0, yOffset);
self.rateCurve.draw(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVel, context);
context.restore();
}
function process_html() {
if (semver.gte(CONFIG.apiVersion, "1.16.0") && !semver.gte(CONFIG.apiVersion, "1.20.0")) {
FEATURE_CONFIG.features.generateElements($('.tab-pid_tuning .features'));
} else {
$('.tab-pid_tuning .pidTuningFeatures').hide();
}
if (semver.lt(CONFIG.apiVersion, "1.39.0")) {
$('input[name="dtermSetpoint-number"]').attr('max', self.SETPOINT_WEIGHT_RANGE_LEGACY);
$('input[name="dtermSetpoint-range"]').attr('max', self.SETPOINT_WEIGHT_RANGE_LEGACY);
}
// translate to user-selected language
i18n.localizePage();
// Local cache of current rates
self.currentRates = {
roll_rate: RC_tuning.roll_rate,
pitch_rate: RC_tuning.pitch_rate,
yaw_rate: RC_tuning.yaw_rate,
rc_rate: RC_tuning.RC_RATE,
rc_rate_yaw: RC_tuning.rcYawRate,
rc_expo: RC_tuning.RC_EXPO,
rc_yaw_expo: RC_tuning.RC_YAW_EXPO,
rc_rate_pitch: RC_tuning.rcPitchRate,
rc_pitch_expo: RC_tuning.RC_PITCH_EXPO,
superexpo: FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'),
deadband: RC_DEADBAND_CONFIG.deadband,
yawDeadband: RC_DEADBAND_CONFIG.yaw_deadband,
roll_rate_limit: RC_tuning.roll_rate_limit,
pitch_rate_limit: RC_tuning.pitch_rate_limit,
yaw_rate_limit: RC_tuning.yaw_rate_limit
};
if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
self.currentRates.roll_rate = RC_tuning.roll_pitch_rate;
self.currentRates.pitch_rate = RC_tuning.roll_pitch_rate;
}
if (semver.lt(CONFIG.apiVersion, "1.16.0")) {
self.currentRates.rc_rate_yaw = self.currentRates.rc_rate;
}
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
self.currentRates.superexpo = true;
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
$('.pid_tuning input[name="sensitivity"]').hide();
$('.pid_tuning .levelSensitivityHeader').empty();
}
if (semver.lt(CONFIG.apiVersion, "1.37.0")) {
self.currentRates.rc_rate_pitch = self.currentRates.rc_rate;
self.currentRates.rc_expo_pitch = self.currentRates.rc_expo;
}
$('.tab-pid_tuning .tab_container .pid').on('click', function () {
$('.tab-pid_tuning .subtab-pid').show();
$('.tab-pid_tuning .subtab-filter').hide();
$('.tab-pid_tuning .tab_container td').removeClass('active');
$(this).addClass('active');
});
$('.tab-pid_tuning .tab_container .filter').on('click', function () {
$('.tab-pid_tuning .subtab-filter').show();
$('.tab-pid_tuning .subtab-pid').hide();
$('.tab-pid_tuning .tab_container td').removeClass('active');
$(this).addClass('active');
});
function loadProfilesList() {
var numberOfProfiles = 3;
if (semver.gte(CONFIG.apiVersion, "1.20.0")
&& CONFIG.numProfiles === 2) {
numberOfProfiles = 2;
}
var profileElements = [];
for (var i=0; i<numberOfProfiles; i++) {
profileElements.push(i18n.getMessage("pidTuningProfileOption",[(i + 1)]));
}
return profileElements;
}
function loadRateProfilesList() {
var numberOfRateProfiles = 6;
if (semver.lt(CONFIG.apiVersion, "1.37.0")) {
numberOfRateProfiles = 3;
}
var rateProfileElements = [];
for (var i=0; i<numberOfRateProfiles; i++) {
rateProfileElements.push(i18n.getMessage("pidTuningRateProfileOption",[(i + 1)]));
}
return rateProfileElements;
}
// This vars are used here for populate the profile (and rate profile) selector AND in the copy profile (and rate profile) window
var selectRateProfileValues = loadRateProfilesList();
var selectProfileValues = loadProfilesList();
function populateProfilesSelector(selectProfileValues) {
var profileSelect = $('select[name="profile"]');
selectProfileValues.forEach(function(value, key) {
profileSelect.append('<option value="' + key + '">' + value + '</option>');
});
}
populateProfilesSelector(selectProfileValues);
function populateRateProfilesSelector(selectRateProfileValues) {
var rateProfileSelect = $('select[name="rate_profile"]');
selectRateProfileValues.forEach(function(value, key) {
rateProfileSelect.append('<option value="' + key + '">' + value + '</option>');
});
}
populateRateProfilesSelector(selectRateProfileValues);
var showAllButton = $('#showAllPids');
function updatePidDisplay() {
if (!self.showAllPids) {
hideUnusedPids();
showAllButton.text(i18n.getMessage("pidTuningShowAllPids"));
} else {
showAllPids();
showAllButton.text(i18n.getMessage("pidTuningHideUnusedPids"));
}
}
showAllPids();
updatePidDisplay();
showAllButton.on('click', function(){
self.showAllPids = !self.showAllPids;
updatePidDisplay();
});
$('#resetProfile').on('click', function(){
self.updating = true;
MSP.promise(MSPCodes.MSP_SET_RESET_CURR_PID).then(function () {
self.refresh(function () {
self.updating = false;
GUI.log(i18n.getMessage('pidTuningProfileReset'));
});
});
});
$('.tab-pid_tuning select[name="profile"]').change(function () {
self.currentProfile = parseInt($(this).val());
self.updating = true;
$(this).prop('disabled', 'true');
MSP.promise(MSPCodes.MSP_SELECT_SETTING, [self.currentProfile]).then(function () {
self.refresh(function () {
self.updating = false;
$('.tab-pid_tuning select[name="profile"]').prop('disabled', 'false');
CONFIG.profile = self.currentProfile;
GUI.log(i18n.getMessage('pidTuningLoadedProfile', [self.currentProfile + 1]));
});
});
});
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
$('.tab-pid_tuning select[name="rate_profile"]').change(function () {
self.currentRateProfile = parseInt($(this).val());
self.updating = true;
$(this).prop('disabled', 'true');
MSP.promise(MSPCodes.MSP_SELECT_SETTING, [self.currentRateProfile + self.RATE_PROFILE_MASK]).then(function () {
self.refresh(function () {
self.updating = false;
$('.tab-pid_tuning select[name="rate_profile"]').prop('disabled', 'false');
CONFIG.rateProfile = self.currentRateProfile;
GUI.log(i18n.getMessage('pidTuningLoadedRateProfile', [self.currentRateProfile + 1]));
});
});
});
var dtermTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
var dtermTransitionRangeElement = $('input[name="dtermSetpointTransition-range"]');
var dtermTransitionWarningElement = $('#pid-tuning .dtermSetpointTransitionWarning');
function checkUpdateDtermTransitionWarning(value) {
if (value > 0 && value < 0.1) {
dtermTransitionWarningElement.show();
} else {
dtermTransitionWarningElement.hide();
}
}
checkUpdateDtermTransitionWarning(dtermTransitionNumberElement.val());
//Use 'input' event for coupled controls to allow synchronized update
dtermTransitionNumberElement.on('input', function () {
checkUpdateDtermTransitionWarning($(this).val());
dtermTransitionRangeElement.val($(this).val());
});
dtermTransitionRangeElement.on('input', function () {
checkUpdateDtermTransitionWarning($(this).val());
dtermTransitionNumberElement.val($(this).val());
});