Delete Dterm setpoint and add Feedforward

Author: atomiix

src/SCRIPTS/BF/HORUS/horuspre.lua

@@ -1,6 +1,7 @@
 PageFiles =
 {
-    "pids.lua",
+    "pids1.lua",
+    "pids2.lua",
     "rates1.lua",
     "rates2.lua",
     "filters.lua",

src/SCRIPTS/BF/HORUS/pids.lua renamed to src/SCRIPTS/BF/HORUS/pids1.lua

@@ -2,7 +2,7 @@
 return {
    read           = 112, -- MSP_PID
    write          = 202, -- MSP_SET_PID
-   title          = "PIDs",
+   title          = "PIDs (1/2)",
    reboot         = false,
    eepromWrite    = true,
    minBytes       = 8,
@@ -27,4 +27,4 @@ return {
       { x = 340, y = 100, min = 0, max = 200, vals = { 3 }, to = MIDSIZE },
       { x = 340, y = 150, min = 0, max = 200, vals = { 6 }, to = MIDSIZE },
    },
-}
+}

src/SCRIPTS/BF/HORUS/pids2.lua

@@ -0,0 +1,27 @@
+
+return {
+   read           = 94, -- MSP_PID_ADVANCED
+   write          = 95, -- MSP_SET_PID_ADVANCED
+   title          = "PIDs (2/2)",
+   reboot         = false,
+   eepromWrite    = true,
+   minBytes       = 38,
+   text = {
+      { t = "Feed",       x =  135,  y = 52 },
+      { t = "forward",    x =  120,  y = 70 },
+      { t = "Transition", x =  250,  y = 150 },
+      { t = "ROLL",       x =  28,   y = 100 },
+      { t = "PITCH",      x =  28,   y = 150 },
+      { t = "YAW",        x =  28,   y = 200 },
+   },
+   fields = {
+      --   ROLL FF
+      { x =  140, y = 100, min = 0, max = 200, vals = { 33, 34 }, to = MIDSIZE },
+      --   PITCH FF
+      { x =  140, y = 150, min = 0, max = 200, vals = { 35, 36 }, to = MIDSIZE },
+      --   YAW FF
+      { x =  140, y = 200, min = 0, max = 200, vals = { 37, 38 }, to = MIDSIZE },
+      --   TRANSITION
+      { x =  350, y = 150, min = 0, max = 100, vals = { 9 },      to = MIDSIZE, scale = 100 },
+   },
+}

src/SCRIPTS/BF/HORUS/rates2.lua

@@ -8,24 +8,16 @@ return {
    minBytes       = 23,
    outputBytes    = 23,
    text = {
-      { t = "Anti-Gravity",       x =  28, y =  62 },
-      { t = "Gain",               x =  38, y = 100 },
-      { t = "Threshold",          x =  38, y = 142 },
-      { t = "Dterm Setpoint",     x = 232, y =  62 },
-      { t = "Weight",             x = 242, y = 100 },
-      { t = "Transition",         x = 242, y = 142 },
-      { t = "VBAT Compensation",  x =  28, y = 200 }
+      { t = "Anti-Gravity Gain",      x = 45, y = 68 },
+      { t = "Anti-Gravity Threshold", x = 45, y = 110 },
+      { t = "VBAT Compensation",      x = 45, y = 155 }
    },
    fields = {
       --  GAIN
-      { x = 144, y = 100, min = 1000, max = 30000, vals = { 22, 23 }, to = MIDSIZE, scale = 1000, mult = 100 },
-      --  THRESHOLD
-      { x = 144, y = 142, min = 20,   max = 1000,  vals = { 20, 21 }, to = MIDSIZE },
-      --  WEIGHT
-      { x = 348, y = 100, min = 0,    max = 254,   vals = { 10 },     to = MIDSIZE, scale = 100 },
-      --  TRANSITION
-      { x = 348, y = 142, min = 0,    max = 100,   vals = { 9 },      to = MIDSIZE, scale = 100 },
-      --  VBAT COMPENSATION
-      { x = 236, y = 200, min = 0,    max = 1,     vals = { 8 },      to = MIDSIZE, table = { [0]="OFF", "ON" } },
+      { x = 300, y = 68,  min = 1000, max = 30000, vals = { 22, 23 }, to = MIDSIZE, scale = 1000, mult = 100 },
+      --   THRESHOLD
+      { x = 300, y = 110, min = 20,   max = 1000,  vals = { 20, 21 }, to = MIDSIZE },
+      --   VBAT COMPENSATION
+      { x = 300, y = 155, min = 0,    max = 1,     vals = { 8 },      to = MIDSIZE,  table = { [0]="OFF", "ON" } },
    }
 }

src/SCRIPTS/BF/X7/pids.lua renamed to src/SCRIPTS/BF/X7/pids1.lua

@@ -2,7 +2,7 @@
 return {
    read           = 112, -- MSP_PID
    write          = 202, -- MSP_SET_PID
-   title          = "PIDs",
+   title          = "PIDs (1/2)",
    reboot         = false,
    eepromWrite    = true,
    minBytes       = 8,

src/SCRIPTS/BF/X7/pids2.lua

@@ -0,0 +1,27 @@
+
+return {
+   read           = 94, -- MSP_PID_ADVANCED
+   write          = 95, -- MSP_SET_PID_ADVANCED
+   title          = "PIDs (2/2)",
+   reboot         = false,
+   eepromWrite    = true,
+   minBytes       = 38,
+   text = {
+      { t = "Feed",    x =  45,  y = 11, to=SMLSIZE },
+      { t = "forward", x =  37,  y = 18, to=SMLSIZE },
+      { t = "Transn",  x =  86,  y = 31, to=SMLSIZE },
+      { t = "ROLL",    x =  10,  y = 26, to=SMLSIZE },
+      { t = "PITCH",   x =  10,  y = 36, to=SMLSIZE },
+      { t = "YAW",     x =  10,  y = 46, to=SMLSIZE },
+   },
+   fields = {
+      --   ROLL FF
+      { x =  48, y = 26, min = 0, max = 200, vals = { 33, 34 }, to=SMLSIZE },
+      --   PITCH FF
+      { x =  48, y = 36, min = 0, max = 200, vals = { 35, 36 }, to=SMLSIZE },
+      --   YAW FF
+      { x =  48, y = 46, min = 0, max = 200, vals = { 37, 38 }, to=SMLSIZE },
+      -- TRANSITION
+      { x =  94, y = 40, min = 0, max = 100, vals = { 9 },      to=SMLSIZE, scale = 100 },
+   },
+}

src/SCRIPTS/BF/X7/rates1.lua

@@ -1,7 +1,7 @@
 return {
    read           = 111, -- MSP_RC_TUNING
    write          = 204, -- MSP_SET_RC_TUNING
-   title          = "Rates (1/4)",
+   title          = "Rates (1/3)",
    reboot         = false,
    eepromWrite    = true,
    minBytes       = 12,

src/SCRIPTS/BF/X7/rates2.lua

@@ -1,7 +1,7 @@
 return {
    read           = 111, -- MSP_RC_TUNING
    write          = 204, -- MSP_SET_RC_TUNING
-   title          = "Rates (2/4)",
+   title          = "Rates (2/3)",
    reboot         = false,
    eepromWrite    = true,
    minBytes       = 12,

src/SCRIPTS/BF/X7/rates3.lua

@@ -2,7 +2,7 @@
 return {
    read           = 94, -- MSP_PID_ADVANCED
    write          = 95, -- MSP_SET_PID_ADVANCED
-   title          = "Rates (3/4)",
+   title          = "Rates (3/3)",
    reboot         = false,
    eepromWrite    = true,
    minBytes       = 23,