Merge pull request #456 from haslinghuis/fix-tpa

Fix tpa

Author: haslinghuis

src/SCRIPTS/BF/PAGES/pid_advanced.lua

@@ -16,7 +16,7 @@ if apiVersion >= 1.40 then
     fields[#fields + 1] = { t = "Angle Limit",       x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 20, max = 80, vals = { 32 } }
     fields[#fields + 1] = { t = "Throttle Boost",    x = x,          y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 100, vals = { 31 } }
     fields[#fields + 1] = { t = "Absolute Control",  x = x,          y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 20, vals = { 30 } }
-    fields[#fields + 1] = { t = "I Term Rotation",   x = x,          y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 26 }, table = { [0]="OFF", "ON" } }
+    fields[#fields + 1] = { t = "I Term Rotation",   x = x,          y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 26 }, table = { [0] = "OFF", "ON" } }
 end
 
 if apiVersion >= 1.43 then
@@ -29,7 +29,7 @@ if apiVersion >= 1.43 then
 end
 
 if apiVersion >= 1.16 and apiVersion <= 1.43 then
-    fields[#fields + 1] = { t = "VBAT Compensation", x = x,          y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 8 },  table = { [0]="OFF", "ON" } }
+    fields[#fields + 1] = { t = "VBAT Compensation", x = x,          y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 8 },  table = { [0] = "OFF", "ON" } }
 end
 
 if apiVersion >= 1.44 then
@@ -39,22 +39,23 @@ end
 
 if apiVersion >= 1.45 then
     labels[#labels + 1] = { t = "TPA",               x = x,          y = inc.y(lineSpacing) }
-    fields[#fields + 1] = { t = "Rate",              x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 100, vals = { 58 } , scale = 100 }
-    fields[#fields + 1] = { t = "Breakpoint",        x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 750, max = 2250, vals = { 59, 60 } }
+    fields[#fields + 1] = { t = "Mode",              x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 58 }, table = { [0] = "PD", "D" } }
+    fields[#fields + 1] = { t = "Rate",              x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 100, vals = { 59 } , scale = 100 }
+    fields[#fields + 1] = { t = "Breakpoint",        x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 750, max = 2250, vals = { 60, 61 } }
 end
 
 if apiVersion >= 1.40 and apiVersion <= 1.41 then
     fields[#fields + 1] = { t = "Smart Feedforward", x = x,          y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 27 }, table = { [0] = "OFF", "ON" } } 
 end
 
 if apiVersion >= 1.41 then
-    fields[#fields + 1] = { t = "Integrated Yaw",    x = x,          y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 45 }, table = { [0]="OFF", "ON" } }
+    fields[#fields + 1] = { t = "Integrated Yaw",    x = x,          y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 45 }, table = { [0] = "OFF", "ON" } }
 end
 
 if apiVersion >= 1.40 then
     labels[#labels + 1] = { t = "I Term Relax",      x = x,          y = inc.y(lineSpacing) }
-    fields[#fields + 1] = { t = "Axes",              x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 4, vals = { 28 }, table = { [0]="NONE", "RP", "RPY", "RP (inc)", "RPY (inc)" } }
-    fields[#fields + 1] = { t = "Type",              x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 29 }, table = { [0]="Gyro", "Setpoint" } }
+    fields[#fields + 1] = { t = "Axes",              x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 4, vals = { 28 }, table = { [0] = "NONE", "RP", "RPY", "RP (inc)", "RPY (inc)" } }
+    fields[#fields + 1] = { t = "Type",              x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 29 }, table = { [0] = "Gyro", "Setpoint" } }
     if apiVersion >= 1.43 then
         fields[#fields + 1] = { t = "Cutoff",        x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 1, max = 50, vals = { 47 } }
     elseif apiVersion >= 1.42 then
@@ -65,7 +66,7 @@ end
 if apiVersion >= 1.36 then
     labels[#labels + 1] = { t = "Anti Gravity",      x = x,          y = inc.y(lineSpacing) }
     if apiVersion >= 1.40 and apiVersion <= 1.44 then
-        fields[#fields + 1] = { t = "Mode",          x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 39 }, table = { [0]="Smooth", "Step" } }
+        fields[#fields + 1] = { t = "Mode",          x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 1, vals = { 39 }, table = { [0] = "Smooth", "Step" } }
     end
     if apiVersion >= 1.45 then
         fields[#fields + 1] = { t = "Gain",          x = x + indent, y = inc.y(lineSpacing), sp = x + sp, min = 0, max = 250, vals = { 22, 23 }, scale = 10 }