Lua_scripts/pidDsm.lua

   1 --
   2 -- This telemetry script displays the Flight Log Gain
   3 -- Parameters streamed from the Blade 150S Spektrum AR6335A
   4 -- Flybarless Controller.
   5
   6 -- The script facilitates the setting of the FBL's
   7 -- Gain Parameters including PID  for both
   8 -- cyclic and tail.  It is similar to the Telemetry Based
   9 -- Text Generator available on Spektrum transmitters.
  10
  11 -- Supporting similar Blade micros such as the Fusion 180
  12 -- would possibly require minor modifications to this script.
  13
  14 -- This script reads telemetry data from the Spektrum
  15 -- receiver and thus functionality relies on data being
  16 -- captured by the OpenTX transmitter.  A DSM
  17 -- telemetry-ready module is required.  Please see the
  18 -- MULTI-Module project at https://www.multi-module.org/.
  19
  20 -- The only supported display is the Taranis'.  It may work
  21 -- with higher res screens.
  22 --
  23
  24
  25 -- Sensor names
  26 local PSensor = "FdeA"
  27 local ISensor = "FdeB"
  28 local DSensor = "FdeL"
  29 local RSensor = "FdeR"
  30 local ActiveParamSensor = "Hold"
  31
  32 local tags = {"P", "I", "D"}
  33
  34
  35 local function getPage(iParam)
  36   -- get page from 0-based index
  37   -- {0,1,2,3}: cyclic (1), {4,5,6,7}: tail (2)
  38   local res = (math.floor(iParam/4)==0) and 1 or 2
  39   return res
  40 end
  41
  42 function round(v)
  43   -- round float
  44   local factor = 100
  45   return math.floor(v * factor + 0.5) / factor
  46 end
  47
  48
  49 local function readValue(sensor)
  50   -- read from sensor, round and return
  51   local v = getValue(sensor)
  52   v = round(v)
  53   return v
  54 end
  55
  56 local function readActiveParamValue(sensor)
  57   --  read and return a validated active parameter value
  58   local v = getValue(sensor)
  59   if (v<1 or v>8) then
  60     return nil
  61   end
  62   return v
  63 end
  64
  65 local function readParameters()
  66   -- read and return parameters
  67   local p = readValue(PSensor)
  68   local i = readValue(ISensor)
  69   local d = readValue(DSensor)
  70   local r = readValue(RSensor)
  71   local a = readActiveParamValue(ActiveParamSensor)
  72   return {p,i,d,r,a}
  73 end
  74
  75 local function drawParameters()
  76   -- draw labels and params on screen
  77   local params = readParameters()
  78   local activeParam = params[5]
  79
  80   -- if active gain does not validate then assume
  81   -- Gain Adjustment Mode is disabled
  82   if not activeParam then
  83     lcd.clear()
  84     lcd.drawText(20,30,"Please enter Gain Adjustment Mode")
  85     return
  86   end
  87
  88   local activePage = getPage(activeParam-1)
  89   for iParam=0,7 do
  90     -- highlight selected parameter
  91     local attr = (activeParam==iParam+1) and 2 or 0
  92     -- circular index (per page)
  93     local perPageIndx = iParam % 4 + 1
  94     -- check if displaying cyclic params.
  95     local isCyclicPage = (getPage(iParam)==1)
  96     -- set y draw coord
  97     local y = perPageIndx*10+2
  98
  99     -- labels
 100     local x = isCyclicPage and 6 or 120
 101     -- labels are P,I,D for both pages except for last param
 102     local val = iParam==3 and "Response" or
 103                   (iParam==7 and "Filtering" or tags[perPageIndx])
 104     lcd.drawText (x, y, val, attr)
 105
 106     -- gains
 107     -- set all params for non-active page to '--' rather than 'last value'
 108     val = (getPage(iParam)==activePage) and params[perPageIndx] or '--'
 109     x = isCyclicPage and 70 or 180
 110     lcd.drawText (x, y, val, attr)
 111   end
 112 end
 113
 114
 115 local function run_func(event)
 116   -- TODO: calling clear() on every function call redrawing all labels is not ideal
 117   lcd.clear()
 118   lcd.drawText (8, 2, "Cyclic (0...200)")
 119   lcd.drawText (114, 2, "Tail (0...200)")
 120   drawParameters()
 121 end
 122
 123 local function init_func() end
 124 local function bg_func() end
 125
 126
 127 return { run=run_func, background=bg_func, init=init_func  }