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Replaced looptime with gyro/pid denom settings #26

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merged 1 commit into from
Jun 20, 2016
Merged

Replaced looptime with gyro/pid denom settings #26

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8 changes: 7 additions & 1 deletion _locales/en/messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -1635,5 +1635,11 @@
},
"configurationUnsyncedPWMFreq": {
"message": "Unsynced PWM frequency"
}
},
"configurationGyroSyncDenom": {
"message": "Gyro update frequency"
},
"configurationPidProcessDenom": {
"message": "PID loop frequency"
}
}
19 changes: 13 additions & 6 deletions tabs/configuration.html
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Original file line number Diff line number Diff line change
Expand Up @@ -355,16 +355,23 @@
<p i18n="configurationLoopTimeHelp"></p>
</div>
</div>
<div class="number">
<label> <input type="number" name="looptime" step="100" min="0" max="9000" /> <span
i18n="configurationLoopTime"></span>
<div class="select">
<label>
<select class="gyroSyncDenom">
<!-- list generated here -->
</select>
<span i18n="configurationGyroSyncDenom"></span>
</label>
</div>
<div class="number">
<label> <input type="text" name="looptimehz" readonly class="disabled" /> <span
i18n="configurationCalculatedCyclesSec"></span>
<div class="select">
<label>
<select class="pidProcessDenom">
<!-- list generated here -->
</select>
<span i18n="configurationPidProcessDenom"></span>
</label>
</div>

</div>
</div>
</div>
Expand Down
68 changes: 62 additions & 6 deletions tabs/configuration.js
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Original file line number Diff line number Diff line change
Expand Up @@ -297,6 +297,65 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
$('div.unsyncedpwmfreq').hide();
}

// Gyro and PID update
var gyroFreq = [
"8KHz",
"4KHz",
"2.67KHz",
"2KHz",
"1.6KHz",
"1.33KHz",
"1.14KHz",
"1KHz"
];

var gyro_select_e = $('select.gyroSyncDenom');

for (var i = 0; i < gyroFreq.length; i++) {
gyro_select_e.append('<option value="'+(i+1)+'">'+gyroFreq[i]+'</option>');
}
gyro_select_e.val(PID_ADVANCED_CONFIG.gyro_sync_denom);

var gyroDenom = PID_ADVANCED_CONFIG.gyro_sync_denom;
var pidFreq = [
8 / (gyroDenom * 1),
8 / (gyroDenom * 2),
8 / (gyroDenom * 3),
8 / (gyroDenom * 4),
8 / (gyroDenom * 5),
8 / (gyroDenom * 6),
8 / (gyroDenom * 7),
8 / (gyroDenom * 8)
];

var pid_select_e = $('select.pidProcessDenom');
for (var i = 0; i < pidFreq.length; i++) {
var pidF = (1000 * pidFreq[i] / 10); // Could be done better
pidF = pidF.toFixed(0);
pid_select_e.append('<option value="'+(i+1)+'">'+(pidF / 100).toString()+'KHz</option>');
}
pid_select_e.val(PID_ADVANCED_CONFIG.pid_process_denom);

$('select.gyroSyncDenom').change(function() {
var gyroDenom = $('select.gyroSyncDenom').val();
var newPidFreq = [
8 / (gyroDenom * 1),
8 / (gyroDenom * 2),
8 / (gyroDenom * 3),
8 / (gyroDenom * 4),
8 / (gyroDenom * 5),
8 / (gyroDenom * 6),
8 / (gyroDenom * 7),
8 / (gyroDenom * 8)
];
for (var i=0; i<newPidFreq.length;i++) {
var pidF = (1000 * newPidFreq[i] / 10); // Could be done better
pidF = pidF.toFixed(0);
$('select.pidProcessDenom option[value="'+(i+1)+'"]').text((pidF / 100).toString()+'KHz');}

});


// generate GPS
var gpsProtocols = [
'NMEA',
Expand Down Expand Up @@ -552,7 +611,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
PID_ADVANCED_CONFIG.fast_pwm_protocol = parseInt(esc_protocol_e.val()-1);
PID_ADVANCED_CONFIG.use_unsyncedPwm = ~~$('input[name="unsyncedPWMSwitch"]').is(':checked');
PID_ADVANCED_CONFIG.motor_pwm_rate = parseInt($('input[name="unsyncedpwmfreq"]').val());

PID_ADVANCED_CONFIG.gyro_sync_denom = parseInt(gyro_select_e.val());
PID_ADVANCED_CONFIG.pid_process_denom = parseInt(pid_select_e.val());

function save_serial_config() {
if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
Expand Down Expand Up @@ -598,11 +658,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
}

function save_arming_config() {
MSP.send_message(MSP_codes.MSP_SET_ARMING_CONFIG, MSP.crunch(MSP_codes.MSP_SET_ARMING_CONFIG), false, save_looptime_config);
}

function save_looptime_config() {
MSP.send_message(MSP_codes.MSP_SET_LOOP_TIME, MSP.crunch(MSP_codes.MSP_SET_LOOP_TIME), false, save_to_eeprom);
MSP.send_message(MSP_codes.MSP_SET_ARMING_CONFIG, MSP.crunch(MSP_codes.MSP_SET_ARMING_CONFIG), false, save_to_eeprom);
}

function save_to_eeprom() {
Expand Down