forked from betaflight/betaflight-configurator
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pid_tuning.html
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/
pid_tuning.html
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<div class="tab-pid_tuning toolbar_fixed_bottom">
<div class="content_wrapper">
<div class="tab_title" i18n="tabPidTuning"></div>
<div class="cf_doc_version_bt">
<a id="button-documentation" href="https://github.com/betaflight/betaflight/releases" target="_blank" rel="noopener noreferrer"></a>
</div>
<div class="content_wrapper_header">
<div class="profile single-field">
<div class="helpicon cf_tip topspacer" i18n_title="pidTuningProfileTip"></div>
<div class="head" i18n="pidTuningProfile"></div>
<div class="bottomarea">
<select name="profile">
<!-- list generated here -->
</select>
</div>
</div>
<div class="rate_profile single-field">
<div class="helpicon cf_tip topspacer" i18n_title="pidTuningRateProfileTip"></div>
<div class="head" i18n="pidTuningRateProfile"></div>
<div class="bottomarea">
<select name="rate_profile">
<!-- list generated here -->
</select>
</div>
</div>
<div class="controller single-field">
<div class="helpicon cf_tip topspacer" i18n_title="pidTuningPidControllerTip"></div>
<div class="head" i18n="pidTuningControllerHead"></div>
<div class="bottomarea">
<select name="controller">
<!-- list generated here -->
</select>
</div>
</div>
<div class="content_wrapper_header_btns">
<div class="default_btn copyprofilebtn">
<a href="#" id="copyProfile" i18n="pidTuningCopyProfile"></a>
</div>
<div class="default_btn copyrateprofilebtn">
<a href="#" id="copyRateProfile" i18n="pidTuningCopyRateProfile"></a>
</div>
<div class="default_btn resetbt">
<a href="#" id="resetPidProfile" i18n="pidTuningResetPidProfile"></a>
</div>
<div class="default_btn show showAllPids">
<a href="#" id="showAllPids" i18n="pidTuningShowAllPids"></a>
</div>
</div>
</div>
<div class="tab-container">
<div class="tab pid active">
<a href="#" i18n="pidTuningSubTabPid"></a>
</div>
<div class="tab rates">
<a href="#" i18n="pidTuningSubTabRates"></a>
</div>
<div class="tab filter">
<a href="#" i18n="pidTuningSubTabFilter"></a>
</div>
</div>
<div class="tabarea">
<form name="pid-tuning" id="pid-tuning">
<div class="subtab-pid">
<div class="clear-both"></div>
<div class="cf_column">
<div class="note dMinDisabledNote">
<p i18n="pidTuningDMinDisabledNote"></p>
</div>
<div class="note slidersWarning">
<p i18n="pidTuningSliderWarning"></p>
</div>
<div class="gui_box grey">
<table id="pid_main" class="pid_tuning">
<tr class="pid_titlebar">
<th class="name"></th>
<th class="proportional">
<div class="name-helpicon-flex">
<div class="xs">Proportional</div>
<div class="cf_tip sm-min" i18n="pidTuningProportional" i18n_title="pidTuningProportionalHelp"></div>
</div>
</th>
<th class="integral">
<div class="name-helpicon-flex">
<div class="xs">Integral</div>
<div class="cf_tip sm-min" i18n="pidTuningIntegral" i18n_title="pidTuningIntegralHelp"></div>
</div>
</th>
<th class="derivative">
<div class="name-helpicon-flex">
<div class="xs">D Max</div>
<div class="cf_tip sm-min" i18n="pidTuningDMax" i18n_title="pidTuningDMaxHelp"></div>
</div>
</th>
<th class="dmin">
<div class="name-helpicon-flex">
<div class="xs">Derivative</div>
<div class="cf_tip sm-min" i18n="pidTuningDMin" i18n_title="pidTuningDMinHelp"></div>
</div>
</th>
<th class="feedforward">
<div class="name-helpicon-flex">
<div class="xs">Feedforward</div>
<div class="cf_tip sm-min" i18n="pidTuningFeedforward" i18n_title="pidTuningFeedforwardHelp"></div>
</div>
</th>
</tr>
<tr class="pid_titlebar2">
<th colspan="6">
<div class="pid_mode">
<div i18n="pidTuningBasic" class="float-left"></div>
</div>
</th>
</tr>
<tr class="ROLL">
<!-- 0 -->
<td class="pid_roll"></td>
<td class="pid_data"><input type="number" name="p" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="i" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="d" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="dMinRoll" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="f" step="1" min="0" max="2000" /></td>
</tr>
<tr class="PITCH">
<!-- 1 -->
<td class="pid_pitch"></td>
<td class="pid_data"><input type="number" name="p" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="i" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="d" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="dMinPitch" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="f" step="1" min="0" max="2000" /></td>
</tr>
<tr class="YAW">
<!-- 2 -->
<td class="pid_yaw"></td>
<td class="pid_data"><input type="number" name="p" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="i" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="d" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="dMinYaw" step="1" min="0" max="250" /></td>
<td class="pid_data"><input type="number" name="f" step="1" min="0" max="2000" /></td>
</tr>
<tr class="YAW_JUMP_PREVENTION">
<td colspan="3">
<div>
<div i18n="pidTuningYawJumpPrevention" class="float-left"></div>
<div class="helpicon cf_tip" i18n_title="pidTuningYawJumpPreventionHelp"></div>
</div>
</td>
<td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
<td colspan="4"></td>
</tr>
</table>
</div>
<div class="gui_box topspacer slidersDisabled">
<table class="note-button">
<td i18n="pidTuningPidSlidersDisabled"></td>
<td>
<a href="#" class="buttonPidTuningSliders regular-button" i18n="pidTuningSliderEnableButton"></a>
</td>
</table>
</div>
<div class="gui_box topspacer legacyNonExpertModeSlidersNote">
<p i18n="pidTuningSlidersNonExpertMode"></p>
</div>
<!-- TUNING SLIDERS-->
<div id="slidersPidsBox" class="gui_box grey topspacer tuningPIDSliders">
<table class="pid_titlebar">
<tr>
<th scope="col">
<div i18n="pidTuningSliderPidsMode" class="sm-min"></div>
</th>
<th scope="col">
<select id="sliderPidsModeSelect" class="sliderMode">
<option value="0" i18n="pidTuningOptionOff"></option>
<option value="1" i18n="pidTuningOptionRP"></option>
<option value="2" i18n="pidTuningOptionRPY"></option>
</select>
</th>
<th scope="col">
<div class="helpicon cf_tip" i18n_title="pidTuningSliderModeHelp"></div>
</th>
<th i18n="pidTuningSliderLow"></th>
<th i18n="pidTuningSliderDefault"></th>
<th i18n="pidTuningSliderHigh"></th>
<th>
<div class="helpicon cf_tip" i18n_title="pidTuningPidSlidersHelp"></div>
</th>
</tr>
</table>
<table class="sliderLabels">
<tr class="legacySlider">
<td>
<span i18n="pidTuningMasterSlider"></span>
</td>
<td>
<output type="number" name="sliderMasterMultiplierLegacy-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderMasterMultiplierLegacy" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div>
</td>
</tr>
<tr class="legacySlider">
<td>
<span i18n="pidTuningPDRatioSlider"></span>
</td>
<td>
<output type="number" name="sliderPDRatio-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderPDRatio" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningPDRatioSliderHelp"></div>
</td>
</tr>
<tr class="legacySlider">
<td>
<span i18n="pidTuningPDGainSlider"></span>
</td>
<td>
<output type="number" name="sliderPDGain-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderPDGain" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningPDGainSliderHelp"></div>
</td>
</tr>
<tr class="legacySlider">
<td>
<span i18n="pidTuningResponseSliderLegacy"></span>
</td>
<td>
<output type="number" name="sliderFeedforwardGainLegacy-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.5" max="1.5" step="0.025" class="tuningSlider" id="sliderFeedforwardGainLegacy" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningResponseSliderLegacyHelp"></div>
</td>
</tr>
<tr class="baseSlider baseSliderDGain">
<td>
<span i18n="pidTuningDGainSlider"></span>
</td>
<td>
<output type="number" name="sliderDGain-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderDGain" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningDGainSliderHelp"></div>
</td>
</tr>
<tr class="baseSlider baseSliderPIGain">
<td>
<span i18n="pidTuningPIGainSlider"></span>
</td>
<td>
<output type="number" name="sliderPIGain-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderPIGain" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningPIGainSliderHelp"></div>
</td>
</tr>
<tr class="baseSlider baseSliderFeedforwardGain">
<td>
<span i18n="pidTuningResponseSlider"></span>
</td>
<td>
<output type="number" name="sliderFeedforwardGain-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderFeedforwardGain" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningResponseSliderHelp"></div>
</td>
</tr>
<tr class="advancedSlider">
<td colspan="6" class="sliderDivider"><hr /></td>
</tr>
<tr class="advancedSlider advancedSliderDmaxGain">
<td>
<span i18n="pidTuningDMaxGainSlider"></span>
</td>
<td>
<output type="number" name="sliderDMaxGain-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderDMaxGain" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningDMaxGainSliderHelp"></div>
</td>
</tr>
<tr class="advancedSlider advancedSliderIGain">
<td>
<span i18n="pidTuningIGainSlider"></span>
</td>
<td>
<output type="number" name="sliderIGain-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderIGain" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningIGainSliderHelp"></div>
</td>
</tr>
<tr class="advancedSlider advancedSliderRollPitchRatio">
<td>
<span i18n="pidTuningRollPitchRatioSlider"></span>
</td>
<td>
<output type="number" name="sliderRollPitchRatio-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderRollPitchRatio" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningRollPitchRatioSliderHelp"></div>
</td>
</tr>
<tr class="advancedSlider advancedSliderPitchPIGain">
<td>
<span i18n="pidTuningPitchPIGainSlider"></span>
</td>
<td>
<output type="number" name="sliderPitchPIGain-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderPitchPIGain" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningPitchPIGainSliderHelp"></div>
</td>
</tr>
<tr class="advancedSlider advancedSliderMaster">
<td>
<span i18n="pidTuningMasterSlider"></span>
</td>
<td>
<output type="number" name="sliderMasterMultiplier-number"></output>
</td>
<td colspan="3">
<input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderMasterMultiplier" />
</td>
<td>
<div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div>
</td>
</tr>
</table>
</div>
<div class="gui_box topspacer nonExpertModeSlidersNote">
<p i18n="pidTuningPidSlidersNonExpertMode"></p>
</div>
<div class="gui_box topspacer expertSettingsDetectedNote">
<p i18n="pidTuningSlidersExpertSettingsDetectedNote"></p>
</div>
<!-- BARO, MAG, GPS -->
<div id="pid_baro_mag_gps" class="pid_optional needed_by_ALT needed_by_VEL needed_by_MAG needed_by_Pos needed_by_PosR needed_by_NavR gui_box grey topspacer pid_tuning">
<table class="pid_titlebar needed_by_ALT needed_by_VEL needed_by_MAG">
<tr class="needed_by_ALT needed_by_VEL needed_by_MAG">
<th class="name"></th>
<th class="proportional" i18n="pidTuningProportional"></th>
<th class="integral" i18n="pidTuningIntegral"></th>
<th class="derivative" i18n="pidTuningDerivative"></th>
</tr>
</table>
<table id="pid_baro" class="pid_tuning needed_by_ALT needed_by_VEL">
<tr class="needed_by_ALT needed_by_VEL">
<th colspan="4">
<div class="pid_mode" i18n="pidTuningAltitude"></div>
</th>
</tr>
<tr class="ALT">
<!-- 3 -->
<td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
<tr class="VEL">
<!-- 9 -->
<td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
</table>
<table id="pid_mag" class="pid_tuning needed_by_MAG">
<tr class="needed_by_MAG">
<th colspan="4">
<div class="pid_mode" i18n="pidTuningMag"></div>
</th>
</tr>
<tr class="MAG">
<!-- 8 -->
<td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td></td>
<td></td>
</tr>
</table>
<table id="pid_gps" class="pid_tuning needed_by_Pos needed_by_PosR needed_by_NavR">
<tr class="needed_by_Pos needed_by_PosR needed_by_NavR">
<th colspan="4">
<div class="pid_mode" i18n="pidTuningGps"></div>
</th>
</tr>
<tr class="Pos">
<!-- 4 -->
<td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td></td>
<td></td>
</tr>
<tr class="PosR">
<!-- 5 -->
<td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
<tr class="NavR">
<!-- 6 -->
<td></td>
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
<td><input type="number" name="i" step="1" min="0" max="255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
</table>
</div>
<div id="pid_accel" class="pid_optional needed_by_LEVEL gui_box grey topspacer pid_tuning">
<table id="pid_level" class="pid_tuning needed_by_LEVEL">
<tr class="needed_by_LEVEL">
<th colspan="3">
<div class="pid_mode">
<div i18n="pidTuningLevel" class="float-left"></div>
<div class="helpicon cf_tip" i18n_title="pidTuningLevelHelp"></div>
</div>
</th>
</tr>
</table>
<table class="pid_titlebar pid_titlebar_extended needed_by_LEVEL">
<tr class="needed_by_LEVEL">
<th class="third"></th>
<th class="third" i18n="pidTuningStrength" style="width: 33%;"></th>
<th class="third" i18n="pidTuningTransition" style="width: 33%;"></th>
</tr>
</table>
<table class="needed_by_LEVEL">
<tr class="LEVEL">
<!-- 7 -->
<td class="third" i18n="pidTuningAngle"></td>
<td class="third"><input type="number" name="p" step="1" min="0" max="255" /></td>
<td class="third"></td>
</tr>
<tr class="LEVEL">
<!-- 7 -->
<td class="third" i18n="pidTuningHorizon"></td>
<td class="third"><input type="number" name="i" step="1" min="0" max="255" /></td>
<td class="third"><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
</table>
<table class="needed_by_LEVEL pid_titlebar pid_titlebar_extended pid_sensitivity">
<tr class="needed_by_LEVEL">
<th class="third"></th>
<th class="third" i18n="pidTuningLevelAngleLimit" style="width: 33%;"></th>
<th class="third levelSensitivityHeader" i18n="pidTuningLevelSensitivity" style="width: 33%;"></th>
</tr>
</table>
<table id="pid_sensitivity" class="needed_by_LEVEL pid_tuning pid_sensitivity">
<tr class="needed_by_LEVEL">
<td class="third"></td>
<td class="third"><input type="number" name="angleLimit" step="1" min="10" max="200" /></td>
<td class="third"><input type="number" name="sensitivity" step="1" min="10" max="120" /></td>
</tr>
</table>
</div>
</div>
<div class="cf_column_right">
<!-- Pid controller advanced settings -->
<div class="gui_box grey pidTuningSuperexpoRates spacer_left">
<table class="pid_titlebar new_rates">
<tr>
<th i18n="pidTuningNonProfilePidSettings"></th>
</tr>
</table>
<table class="pidTuningSuperexpoRates new_rates">
<tbody class="features superexpoRates">
<!-- table generated here -->
</tbody>
</table>
</div>
<div class="gui_box grey pidControllerAdvancedSettings spacer_left">
<table class="pid_titlebar new_rates">
<tr>
<th i18n="pidTuningPidSettings"></th>
</tr>
</table>
<table class="compensation">
<tr class="delta">
<td>
<select id="delta-select">
<option value="0" i18n="pidTuningDeltaError"/>
<option value="1" i18n="pidTuningDeltaMeasurement"/>
</select>
</td>
<td>
<div>
<label for="delta-select">
<span i18n="pidTuningDelta"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningDeltaTip"></div>
</div>
</td>
</tr>
<tr class="dtermSetpoint">
<td><input type="number" name="dtermSetpoint-number" step="0.01" min="0.00" max="20"/></td>
<td>
<div>
<label>
<span i18n="pidTuningDtermSetpoint"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningDtermSetpointHelp"></div>
</div>
</td>
</tr>
<tr class="dtermSetpointTransition">
<td><input type="number" name="dtermSetpointTransition-number" step="0.01" min="0.01" max="1.00"/></td>
<td colspan="1">
<div>
<label>
<span i18n="pidTuningDtermSetpointTransition"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningDtermSetpointTransitionHelp"></div>
</div>
</td>
</tr>
<tr class="dtermSetpointTransitionWarning">
<td colspan="3">
<span i18n="pidTuningDtermSetpointTransitionWarning"></span>
</td>
</tr>
<tr class="feedforwardGroup">
<td><span i18n="pidTuningFeedforwardGroup"></span></td>
<td colspan="2">
<span class="feedforwardOption feedforwardJitterFactor suboption">
<input type="number" name="feedforwardJitterFactor" step="1" min="0" max="20"/>
<label>
<span i18n="pidTuningFeedforwardJitter"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardJitterHelp"></div>
</span>
<span class="feedforwardOption feedforwardSmoothFactor suboption">
<input type="number" name="feedforwardSmoothFactor" step="1" min="0" max="75" />
<label for="feedforwardSmoothFactor">
<span i18n="pidTuningFeedforwardSmoothFactor"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardSmoothnessHelp"></div>
</span>
<span class="feedforwardOption feedforwardAveraging suboption">
<select id="feedforwardAveraging">
<option i18n="pidTuningOptionOff" value="0"/>
<option i18n="pidTuningFeedforwardAveragingOption2Point" value="1"/>
<option i18n="pidTuningFeedforwardAveragingOption3Point" value="2"/>
<option i18n="pidTuningFeedforwardAveragingOption4Point" value="3"/>
</select>
<label for="feedforwardAveraging">
<span i18n="pidTuningFeedforwardAveraging"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardAveragingHelp"></div>
</span>
<span class="feedforwardOption feedforwardBoost suboption">
<input type="number" name="feedforwardBoost" step="1" min="0" max="50" />
<label for="feedforwardBoost">
<span i18n="pidTuningFeedforwardBoost"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardBoostHelp"></div>
</span>
<span class="feedforwardOption feedforwardMaxRateLimit suboption">
<input type="number" name="feedforwardMaxRateLimit" step="1" min="0" max="150"/>
<label>
<span i18n="pidTuningFeedforwardMaxRateLimit"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardMaxRateLimitHelp"></div>
</span>
<span class="feedforwardTransition suboption">
<input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/>
<label>
<span i18n="pidTuningFeedforwardTransition"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
</span>
</td>
</tr>
<tr class="itermrelax">
<td><input type="checkbox" id="itermrelax" class="toggle" /></td>
<td colspan="2">
<div class="helpicon cf_tip" i18n_title="pidTuningItermRelaxHelp"></div>
<span i18n="pidTuningItermRelax"></span>
<span class="suboption">
<select id="itermrelaxAxes">
<option i18n="pidTuningOptionRP" value="1">
<option i18n="pidTuningOptionRPY" value="2"/>
<option i18n="pidTuningItermRelaxAxesOptionRPInc" value="3"/>
<option i18n="pidTuningItermRelaxAxesOptionRPYInc" value="4"/>
</select>
<label for="itermrelaxAxes">
<span i18n="pidTuningItermRelaxAxes"></span>
</label>
</span>
<span class="suboption">
<select id="itermrelaxType">
<option i18n="pidTuningItermRelaxTypeOptionGyro" value="0"/>
<option i18n="pidTuningItermRelaxTypeOptionSetpoint" value="1"/>
</select>
<label for="itermrelaxType">
<span i18n="pidTuningItermRelaxType"></span>
</label>
</span>
<span class="itermRelaxCutoff suboption">
<input type="number" name="itermRelaxCutoff" step="1" min="1" max="100" />
<label for="itermRelaxCutoff">
<span i18n="pidTuningItermRelaxCutoff"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningItermRelaxCutoffHelp"></div>
</span>
</td>
</tr>
<tr class="antigravity">
<td><input type="checkbox" id="antiGravitySwitch" class="toggle" /></td>
<td colspan="3">
<div class="helpicon cf_tip" i18n_title="pidTuningAntiGravityHelp"></div>
<span i18n="pidTuningAntiGravity"></span>
<span class="suboption">
<table>
<tbody class="features antiGravity">
<!-- table generated here -->
</tbody>
</table>
</span>
<span class="suboption antiGravityMode">
<select id="antiGravityMode">
<option i18n="pidTuningAntiGravityModeOptionSmooth" value="0"/>
<option i18n="pidTuningAntiGravityModeOptionStep" value="1"/>
</select>
<label for="antiGravityMode">
<span i18n="pidTuningAntiGravityMode"></span>
</label>
</span>
<span class="suboption">
<input type="number" name="itermAcceleratorGain" step="0.1" min="1.1" max="30" />
<label for="antiGravityGain">
<span i18n="pidTuningAntiGravityGain"></span>
</label>
</span>
<span class="suboption antiGravityThres">
<input type="number" name="itermThrottleThreshold" step="10" min="20" max="1000" />
<label for="antiGravityThres">
<span i18n="pidTuningAntiGravityThres"></span>
</label>
</span>
</td>
</tr>
<tr class="itermrotation">
<td><input type="checkbox" id="itermrotation" class="toggle" /></td>
<td colspan="2">
<span i18n="pidTuningItermRotation"></span>
<div class="helpicon cf_tip" i18n_title="pidTuningItermRotationHelp"></div>
</td>
</tr>
<tr class="dminGroup">
<td class="dMinGroupCheckbox"><input type="checkbox" id="dMinSwitch" class="toggle" /><span i18n="pidTuningDMaxSettingTitle"></span></td>
<td colspan="3">
<span class="suboption">
<input type="number" name="dMinGain" step="1" min="0" max="100" />
<label for="dMinGain">
<span i18n="pidTuningDMinGain"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningDMaxGainHelp"></div>
</span>
<span class="suboption">
<input type="number" name="dMinAdvance" step="1" min="0" max="200" />
<label for="dMinAdvance">
<span i18n="pidTuningDMinAdvance"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningDMaxAdvanceHelp"></div>
</span>
</td>
</tr>
</table>
</div>
<div class="gui_box grey pidControllerAdvancedSettings spacer_left">
<table class="pid_titlebar new_rates">
<tr>
<th i18n="pidTuningMotorSettings"></th>
</tr>
</table>
<table class="compensation">
<tr class="throttleBoost">
<td><input type="number" name="throttleBoost-number" step="1" min="0" max="100"/></td>
<td colspan="2">
<div>
<label>
<span i18n="pidTuningThrottleBoost"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningThrottleBoostHelp"></div>
</div>
</td>
</tr>
<tr class="motorOutputLimit">
<td><input type="number" name="motorLimit" step="1" min="1" max="100"/></td>
<td colspan="2">
<div>
<label>
<span i18n="pidTuningMotorOutputLimit"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningMotorLimitHelp"></div>
</div>
</td>
</tr>
<tr class="idleMinRpm">
<td><input type="number" name="idleMinRpm-number" step="1" min="0" max="100"/></td>
<td colspan="2">
<div>
<label>
<span class="pidTuningIdleMinRpmDisabled"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningIdleMinRpmHelp"></div>
</div>
</td>
</tr>
<tr class="vbatSagCompensation">
<td><input type="checkbox" id="vbatSagCompensation" class="toggle" /></td>
<td colspan="2">
<span i18n="pidTuningVbatSagCompensation"></span>
<div class="helpicon cf_tip" i18n_title="pidTuningVbatSagCompensationHelp"></div>
<span class="vbatSagValue suboption">
<input type="number" name="vbatSagValue" step="1" min="1" max="150" />
<label for="vbatSagValue">
<span i18n="pidTuningVbatSagValue"></span>
</label>
</span>
</td>
</tr>
<tr class="thrustLinearization">
<td><input type="checkbox" id="thrustLinearization" class="toggle" /></td>
<td colspan="2">
<span i18n="pidTuningThrustLinearization"></span>
<div class="helpicon cf_tip" i18n_title="pidTuningThrustLinearizationHelp"></div>
<span class="thrustLinearValue suboption">
<input type="number" name="thrustLinearValue" step="1" min="1" max="150" />
<label for="thrustLinearValue">
<span i18n="pidTuningThrustLinearValue"></span>
</label>
</span>
</td>
</tr>
<tr class="vbatpidcompensation">
<td><input type="checkbox" id="vbatpidcompensation" class="toggle" /></td>
<td colspan="2">
<span i18n="pidTuningVbatPidCompensation"></span>
<div class="helpicon cf_tip" i18n_title="pidTuningVbatPidCompensationHelp"></div>
</td>
</tr>
</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>
<th i18n="pidTuningMiscSettings"></th>
</tr>
</table>
<table class="compensation">
<tr class="cellCount">
<td>
<select name="cellCount">
<option value="-1" i18n="pidTuningCellCountChange"></option>
<option value="0" i18n="pidTuningCellCountStay"></option>
<option value="1" i18n="pidTuningCellCount1S"></option>
<option value="2" i18n="pidTuningCellCount2S"></option>
<option value="3" i18n="pidTuningCellCount3S"></option>
<option value="4" i18n="pidTuningCellCount4S"></option>
<option value="5" i18n="pidTuningCellCount5S"></option>
<option value="6" i18n="pidTuningCellCount6S"></option>
<option value="7" i18n="pidTuningCellCount7S"></option>
<option value="8" i18n="pidTuningCellCount8S"></option>
</select>
</td>
<td colspan="2">
<div>
<label>
<span i18n="pidTuningCellCount"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningCellCountHelp"></div>
</div>
</td>
</tr>
<tr class="acroTrainerAngleLimit">
<td><input type="number" name="acroTrainerAngleLimit-number" step="1" min="10" max="80"/></td>
<td colspan="2">
<div>
<label>
<span i18n="pidTuningAcroTrainerAngleLimit"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningAcroTrainerAngleLimitHelp"></div>
</div>
</td>
</tr>
<tr class="smartfeedforward">
<td><input type="checkbox" id="smartfeedforward" class="toggle" /></td>
<td colspan="2">
<span i18n="pidTuningSmartFeedforward"></span>
<div class="helpicon cf_tip" i18n_title="pidTuningSmartFeedforwardHelp"></div>
</td>
</tr>
<tr class="integratedYaw">
<td><input type="checkbox" id="useIntegratedYaw" class="toggle" /></td>
<td colspan="2">
<div class="helpicon cf_tip" i18n_title="pidTuningIntegratedYawHelp"></div>
<span i18n="pidTuningIntegratedYaw"></span>
<span class="spacer_left" id="pidTuningIntegratedYawCaution" i18n="pidTuningIntegratedYawCaution"></span>
</td>
</tr>
<tr class="absoluteControlGain">
<td><input type="number" name="absoluteControlGain-number" step="1" min="0" max="20"/></td>
<td colspan="2">
<div>
<label>
<span i18n="pidTuningAbsoluteControlGain"></span>
</label>
<div class="helpicon cf_tip" i18n_title="pidTuningAbsoluteControlGainHelp"></div>
</div>
</td>
</tr>
</table>
</div>
</div>
</div>
<!-- RATES SUBTAB -->
<div class="subtab-rates" style="display: none;">
<div class="clear-both"></div>
<div class="cf_column">
<div class="gui_box rates_type pid_tuning">
<table class="cf">
<thead>
<tr>
<th>
<div>
<div i18n="pidTuningRatesType" class="float-left"></div>
<div class="helpicon cf_tip" i18n_title="pidTuningRatesTypeTip"></div>
</div>
</th>
<th class="rates_logo_bg"></th>
</tr>
</thead>
<tbody>
<tr>
<td>
<select id="ratesType">
<!-- list generated here -->
</select>
</td>
<td class="rates_logo_bg">
<div class="rates_logo_div">
<img id="ratesLogo" src="../images/rate_logos/betaflight.svg" class="rates_logo" alt="Rates logo"/>
</div>
</td>
</tr>
</tbody>
</table>
</div>
<div class="note rates-tab-warning maxRateWarning">
<p i18n="pidTuningMaxRateWarning"></p>
</div>
<div class="gui_box grey rateSetup">
<table id="rateSetup" class="pid_tuning">
<tr class="pid_titlebar">
<th class="name"></th>
<th class="rc_rate" i18n="pidTuningRcRate"></th>
<th class="rate" i18n="pidTuningRate"></th>
<th class="rc_expo" i18n="pidTuningRcExpo"></th>
<th class="new_rates maxVel" i18n="pidTuningMaxVel"></th>
</tr>
<tr class="pid_titlebar2">
<th colspan="5">
<div class="pid_mode">
<div i18n="pidTuningRateSetup" class="float-left"></div>
<div class="helpicon cf_tip" i18n_title="pidTuningRatesTuningHelp"></div>
</div>
</th>
</tr>
<tr class="ROLL">
<td class="pid_roll"></td>
<td class="rc_rate">
<input type="number" class="rc_rate_input" name="rc_rate" step="0.01" min="0.01" max="2.55" />
</td>
<td class="roll_rate">
<input type="number" class="rate_input" name="roll_rate" step="0.01" min="0" max="1.00" />
</td>
<td class="roll_pitch_rate" rowspan="2">
<input type="number" name="roll_pitch_rate" step="0.01" min="0" max="1.00" />
</td>
<td rowspan="2" class="inputBackground">
<input type="number" class="expo_input" name="rc_expo" step="0.01" min="0" max="1" />
<div class="bracket"></div>
</td>
<td class="new_rates maxAngularVelRoll"></td>
</tr>
<tr class="PITCH">
<td class="pid_pitch"></td>
<td>
<input type="number" class="rc_rate_input" name="rc_rate_pitch" step="0.01" min="0.01" max="2.55" />
</td>
<td class="pitch_rate">
<input type="number" class="rate_input" name="pitch_rate" step="0.01" min="0" max="1.00" />
</td>
<td>
<input type="number" class="expo_input" name="rc_pitch_expo" step="0.01" min="0" max="1" />
</td>
<td class="new_rates maxAngularVelPitch"></td>
</tr>
<tr class="YAW">
<td class="pid_yaw"></td>
<td rowspan="1">
<input type="number" class="rc_rate_input" name="rc_rate_yaw" step="0.01" min="0.01" max="2.55" />
</td>
<td>