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Tools: FilterTool: add support for PIDs

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Tools: FilterTool: add support for PIDs
This commit is contained in:
Iampete1 2022-07-31 17:50:53 +01:00 committed by Andrew Tridgell
parent 0c8d65b80d
commit e49607db54
2 changed files with 495 additions and 89 deletions
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368
Tools/autotest/web-firmware/Tools/FilterTool/filters.js
View File

@ -7,6 +7,44 @@ function calc_lowpass_alpha_dt(dt, cutoff_freq)
return dt/(dt+rc);
}
function PID(sample_rate,kP,kI,kD,filtE,filtD) {
this._kP = kP;
this._kI = kI;
this._kD = kD;
this._dt = 1.0/sample_rate;
this.E_alpha = calc_lowpass_alpha_dt(this._dt,filtE)
this.D_alpha = calc_lowpass_alpha_dt(this._dt,filtD)
this._error = 0.0;
this._derivative = 0.0;
this._integrator = 0.0;
this.reset = function(sample) {
this._error = 0.0;
this._derivative = 0.0;
this._integrator = 0.0;
}
this.apply = function(error) {
var error_last = this._error;
this._error += this.E_alpha * (error - this._error);
var derivative = (this._error - error_last) / this._dt;
this._derivative += this.D_alpha * (derivative - this._derivative)
this._integrator += this._error * this._kI * this._dt;
var P_out = this._error * this._kP;
var D_out = this._derivative * this._kD;
return P_out + this._integrator + D_out;
}
return this;
}
function LPF_1P(sample_rate,cutoff) {
this.reset = function(sample) {
this.value = sample;
@ -318,13 +356,10 @@ function linear_interpolate(low_output, high_output, var_value, var_low, var_hig
}
var chart;
var freq_log_scale;
function calculate_filter() {
var sample_rate = get_form("GyroSampleRate");
function get_filters(sample_rate) {
var filters = []
var freq_max = get_form("MaxFreq");
var samples = 10000;
var freq_step = 0.5;
filters.push(new HarmonicNotchFilter(sample_rate,
get_form("INS_HNTCH_ENABLE"),
get_form("INS_HNTCH_MODE"),
@ -346,10 +381,19 @@ function calculate_filter() {
get_form("INS_HNTC2_HMNCS"),
get_form("INS_HNTC2_OPTS")));
filters.push(new DigitalBiquadFilter(sample_rate,get_form("INS_GYRO_FILTER")));
filters.push(new LPF_1P(sample_rate,get_form("FLTD")));
var scale = document.getElementById("ScaleLog");
var use_dB = scale.checked;
return filters;
}
function calculate_filter() {
var sample_rate = get_form("GyroSampleRate");
var freq_max = get_form("MaxFreq");
var samples = 1000;
var freq_step = 0.1;
var filters = get_filters(sample_rate);
var use_dB = document.getElementById("ScaleLog").checked;
var use_RPM = document.getElementById("freq_Scale_RPM").checked;
var attenuation = []
var phase_lag = []
var min_phase_lag = 0.0;
@ -358,18 +402,22 @@ function calculate_filter() {
var min_atten = 0.0;
var max_atten = 1.0;
var last_phase = 0.0;
var atten_string = "Attenuation";
var atten_string = "Magnitude";
if (use_dB) {
max_atten = 0;
min_atten = -10;
atten_string = "Attenuation (dB)";
atten_string = "Magnitude (dB)";
}
var freq_string = "Frequency (Hz)";
if (use_RPM) {
freq_string = "Frequency (RPM)";
}
// start at zero
attenuation.push({x:0, y:0});
attenuation.push({x:0, y:1});
phase_lag.push({x:0, y:0});
for (freq=1; freq<=freq_max; freq+=freq_step) {
for (freq=freq_step; freq<=freq_max; freq+=freq_step) {
var v = run_filters(filters, freq, sample_rate, samples);
var aten = v[0];
var phase = v[1] + phase_wrap;
@ -418,8 +466,206 @@ function calculate_filter() {
data: {
datasets: [
{
label: 'Attenuation',
yAxisID: 'Attenuation',
label: 'Magnitude',
yAxisID: 'Magnitude',
pointRadius: 0,
hitRadius: 8,
borderColor: "rgba(0,0,255,1.0)",
pointBackgroundColor: "rgba(0,0,255,1.0)",
data: attenuation,
showLine: true,
fill: false
},
{
label: 'Phase',
yAxisID: 'Phase',
pointRadius: 0,
hitRadius: 8,
borderColor: "rgba(255,0,0,1.0)",
pointBackgroundColor: "rgba(255,0,0,1.0)",
data: phase_lag,
showLine: true,
fill: false
}
]
},
options: {
legend: {display: true},
scales: {
yAxes: [
{
scaleLabel: { display: true, labelString: atten_string },
id: 'Magnitude',
position: 'left',
ticks: {min:min_atten, max:max_atten}
},
{
scaleLabel: { display: true, labelString: "Phase (deg)" },
id: 'Phase',
position: 'right',
gridLines: {display:false},
ticks: {min:-max_phase_lag, max:-min_phase_lag}
}
],
xAxes: [
{
type: (freq_log ? "logarithmic" : "linear"),
scaleLabel: { display: true, labelString: freq_string },
ticks:
{
min:0.0,
max:freq_max,
callback: function(value, index, ticks) {
return value;
},
}
}
],
},
tooltips: {
callbacks: {
label: function(tooltipItem, data) {
// round tooltip to two decimal places
return tooltipItem.xLabel.toFixed(2) + ', ' + tooltipItem.yLabel.toFixed(2);
}
}
}
}
});
}
}
var PID_chart;
var PID_freq_log_scale;
function calculate_pid(axis_id) {
//var sample_rate = get_form("GyroSampleRate");
var PID_rate = get_form("SCHED_LOOP_RATE")
var filters = []
var freq_max = get_form("PID_MaxFreq");
var samples = 1000;
var freq_step = 0.1;
// default to roll axis
var axis_prefix = "ATC_RAT_RLL_";
if (axis_id == "CalculatePitch") {
var axis_prefix = "ATC_RAT_PIT_";
document.getElementById("PID_title").innerHTML = "Pitch axis";
} else if (axis_id == "CalculateYaw") {
var axis_prefix = "ATC_RAT_YAW_";
document.getElementById("PID_title").innerHTML = "Yaw axis";
} else {
document.getElementById("PID_title").innerHTML = "Roll axis";
}
filters.push(new PID(PID_rate,
get_form(axis_prefix + "P"),
get_form(axis_prefix + "I"),
get_form(axis_prefix + "D"),
get_form(axis_prefix + "FLTE"),
get_form(axis_prefix + "FLTD")));
var use_dB = document.getElementById("PID_ScaleLog").checked;
var use_RPM = document.getElementById("PID_freq_Scale_RPM").checked;
var attenuation = []
var phase_lag = []
var min_phase_lag = 0.0;
var max_phase_lag = 0.0;
var phase_wrap = 0.0;
var min_atten = Infinity;
var max_atten = -Infinity;
var last_phase = 0.0;
var atten_string = "Gain";
if (use_dB) {
max_atten = 0;
min_atten = -10;
atten_string = "Gain (dB)";
}
var freq_string = "Frequency (Hz)";
if (use_RPM) {
freq_string = "Frequency (RPM)";
}
var fast_filters = null;
var fast_sample_rate = null;
if (document.getElementById("PID_filtering_Post").checked) {
fast_sample_rate = get_form("GyroSampleRate");
fast_filters = get_filters(fast_sample_rate);
}
for (freq=freq_step; freq<=freq_max; freq+=freq_step) {
var v = run_filters(filters, freq, PID_rate, samples, fast_filters, fast_sample_rate);
var aten = v[0];
var phase = v[1] + phase_wrap;
if (use_dB) {
// show power in decibels
aten = 20 * Math.log10(aten);
}
var freq_value = freq;
if (use_RPM) {
freq_value *= 60;
}
var phase_diff = phase - last_phase;
if (phase_diff > 180) {
phase_wrap -= 360.0;
phase -= 360.0;
} else if (phase_diff < -180) {
phase_wrap += 360.0;
phase += 360.0;
}
attenuation.push({x:freq_value, y:aten});
phase_lag.push({x:freq_value, y:-phase});
min_atten = Math.min(min_atten, aten);
max_atten = Math.max(max_atten, aten);
min_phase_lag = Math.min(min_phase_lag, phase)
max_phase_lag = Math.max(max_phase_lag, phase)
last_phase = phase;
}
if (use_RPM) {
freq_max *= 60.0;
}
var mean_atten = (min_atten + max_atten) * 0.5;
var atten_range = Math.max((max_atten - min_atten) * 0.5 * 1.1, 1.0);
min_atten = mean_atten - atten_range;
max_atten = mean_atten + atten_range;
min_phase_lag = Math.floor((min_phase_lag-10)/10)*10;
min_phase_lag = Math.min(Math.max(-get_form("PID_MaxPhaseLag"), min_phase_lag), 0);
max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10;
max_phase_lag = Math.min(get_form("PID_MaxPhaseLag"), max_phase_lag);
var freq_log = document.getElementById("PID_freq_ScaleLog").checked;
if ((PID_freq_log_scale != null) && (PID_freq_log_scale != freq_log)) {
// Scale changed, no easy way to update, delete chart and re-draw
PID_chart.clear();
PID_chart.destroy();
PID_chart = null;
}
PID_freq_log_scale = freq_log;
if (PID_chart) {
PID_chart.data.datasets[0].data = attenuation;
PID_chart.data.datasets[1].data = phase_lag;
PID_chart.options.scales.xAxes[0].ticks.max = freq_max;
PID_chart.options.scales.xAxes[0].scaleLabel.labelString = freq_string
PID_chart.options.scales.yAxes[0].ticks.min = min_atten
PID_chart.options.scales.yAxes[0].ticks.max = max_atten;
PID_chart.options.scales.yAxes[0].scaleLabel.labelString = atten_string;
PID_chart.options.scales.yAxes[1].ticks.min = -max_phase_lag;
PID_chart.options.scales.yAxes[1].ticks.max = -min_phase_lag;
PID_chart.update();
} else {
PID_chart = new Chart("PID_Attenuation", {
type : "scatter",
data: {
datasets: [
{
label: 'Gain',
yAxisID: 'Gain',
pointRadius: 0,
hitRadius: 8,
borderColor: "rgba(0,0,255,1.0)",
@ -447,22 +693,30 @@ function calculate_filter() {
yAxes: [
{
scaleLabel: { display: true, labelString: atten_string },
id: 'Attenuation',
id: 'Gain',
position: 'left',
ticks: {min:min_atten, max:max_atten, stepSize:0.1, reverse:!use_dB}
ticks: {min:min_atten, max:max_atten}
},
{
scaleLabel: { display: true, labelString: "Phase Lag(deg)" },
scaleLabel: { display: true, labelString: "Phase (deg)" },
id: 'PhaseLag',
position: 'right',
gridLines: {display:false},
ticks: {min:-max_phase_lag, max:-min_phase_lag, stepSize:10}
ticks: {min:-max_phase_lag, max:-min_phase_lag}
}
],
xAxes: [
{
scaleLabel: { display: true, labelString: "Frequency(Hz)" },
ticks: {min:0, max:freq_max, stepSize:10}
type: (freq_log ? "logarithmic" : "linear"),
scaleLabel: { display: true, labelString: freq_string },
ticks:
{
min:0.0,
max:freq_max,
callback: function(value, index, ticks) {
return value;
},
}
}
],
},
@ -473,12 +727,10 @@ function calculate_filter() {
return tooltipItem.xLabel.toFixed(2) + ', ' + tooltipItem.yLabel.toFixed(2);
}
}
}
}
}
});
}
//console.log("At 15Hz: " + attenuation[14].y + " " + phase_lag[14].y);
//console.log("At 30Hz: " + attenuation[29].y + " " + phase_lag[29].y);
}
function setCookie(c_name, value) {
@ -506,10 +758,13 @@ function getCookie(c_name, def_value) {
}
function load_cookies() {
var inputs = document.forms["params"].getElementsByTagName("input");
for (const v in inputs) {
var name = inputs[v].name;
inputs[v].value = parseFloat(getCookie(name,inputs[v].value));
var sections = ["params", "PID_params"];
for (var i = 0; i < sections.length; i++) {
var inputs = document.forms[sections[i]].getElementsByTagName("input");
for (const v in inputs) {
var name = inputs[v].name;
inputs[v].value = parseFloat(getCookie(name,inputs[v].value));
}
}
}
@ -542,33 +797,20 @@ async function load_parameters(file) {
var lines = text.split('\n');
for (i in lines) {
var line = lines[i];
if (line.startsWith("INS_")) {
v = line.split(/[\s,=\t]+/);
if (v.length >= 2) {
var vname = v[0];
var value = v[1];
var fvar = document.getElementById(vname);
if (fvar) {
fvar.value = value;
console.log("set " + vname + "=" + value);
}
}
}
if (line.startsWith("ATC_RAT_RLL_FLTD") ||
line.startsWith("Q_A_RAT_RLL_FLTD")) {
var fvar = document.getElementById("FLTD");
line = line.replace("Q_A_RAT_","ATC_RAT_");
v = line.split(/[\s,=\t]+/);
if (v.length >= 2) {
var vname = v[0];
var value = v[1];
var fvar = document.getElementById(vname);
if (fvar) {
v = line.split(/[\s,=\t]+/);
if (v.length >= 2) {
var vname = v[0];
var value = v[1];
fvar.value = value;
console.log("set FLTD=" + value);
}
fvar.value = value;
console.log("set " + vname + "=" + value);
}
}
}
fill_docs();
update_all_hidden();
calculate_filter();
}
@ -698,4 +940,32 @@ function update_hidden(enable_param)
inputs[i].hidden = !enabled;
}
}
update_hidden_mode();
}
function update_hidden_mode()
{
var mode_params = ["INS_HNTCH_MODE", "INS_HNTC2_MODE"];
var mode_options = [[[1], "Throttle_input"], [[3], "ESC_input"], [[2,5], "RPM_input"]];
for (var i =0; i < mode_options.length; i++) {
var hide = true;
for (var j =0; j < mode_params.length; j++) {
// check enable param
if (!(parseFloat(document.getElementById(mode_params[j].replace("MODE","ENABLE")).value) > 0)) {
continue;
}
var mode = Math.floor(get_form(mode_params[j]))
for (var k =0; k < mode_options[i][0].length; k++) {
if (mode == mode_options[i][0][k]) {
hide = false;
}
}
}
document.getElementById(mode_options[i][1]).hidden = hide;
}
}
}

216
Tools/autotest/web-firmware/Tools/FilterTool/index.html
View File

@ -14,7 +14,7 @@
The following form will display the attenuation and phase lag for an
ArduPilot 4.2 filter setup.
<body onload="load_cookies(); calculate_filter(); fill_docs(); update_all_hidden();">
<body onload="load_cookies(); fill_docs(); update_all_hidden(); calculate_filter(); calculate_pid(); ">
<canvas id="Attenuation" style="width:100%;max-width:1200px"></canvas>
<p>
<input type="button" id="calculate" value="Calculate">
@ -51,42 +51,6 @@ ArduPilot 4.2 filter setup.
<input id="INS_GYRO_FILTER" name="INS_GYRO_FILTER" type="number" step="0.1" value="20.0"/>
</p>
</fieldset>
<fieldset style="max-width:1200px">
<legend>PID Settings</legend>
<p>
<label for="FLTD">Roll D Filter</label>
<input id="FLTD" name="FLTD" type="number" step="0.1" value="10.0"/>
</p>
</fieldset>
<fieldset style="max-width:1200px">
<legend>Throttle Based</legend>
<p>
<label for="Throttle">Throttle</label>
<input id="Throttle" name="Throttle" type="number" step="0.01" value="0.3"/>
</p>
</fieldset>
<fieldset style="max-width:1200px">
<legend>ESC Telemetry</legend>
<p>
<label for="NUM_MOTORS">Number of Motors</label>
<input id="NUM_MOTORS" name="NUM_MOTORS" type="number" step="1" value="1"/>
</p>
<p>
<label for="ESC_RPM">ESC RPM</label>
<input id="ESC_RPM" name="ESC_RPM" type="number" step="1" value="2500"/>
</p>
</fieldset>
<fieldset style="max-width:1200px">
<legend>RPM/EFI Based</legend>
<p>
<label for="RPM1">RPM1</label>
<input id="RPM1" name="RPM1" type="number" step="1" value="2500"/>
</p>
<p>
<label for="RPM2">RPM2</label>
<input id="RPM2" name="RPM2" type="number" step="1" value="2500"/>
</p>
</fieldset>
<fieldset style="max-width:1200px">
<legend>First Notch Filter</legend>
<p>
@ -96,7 +60,7 @@ ArduPilot 4.2 filter setup.
</p>
<p>
<label for="INS_HNTCH_MODE">INS_HNTCH_MODE</label>
<input id="INS_HNTCH_MODE" name="INS_HNTCH_MODE" type="number" step="1" value="0"/>
<input id="INS_HNTCH_MODE" name="INS_HNTCH_MODE" type="number" step="1" value="0" onchange="update_hidden_mode(); fill_docs();"/>
<label id="INS_HNTCH_MODE.doc"></label>
</p>
<p>
@ -139,7 +103,7 @@ ArduPilot 4.2 filter setup.
</p>
<p>
<label for="INS_HNTC2_MODE">INS_HNTC2_MODE</label>
<input id="INS_HNTC2_MODE" name="INS_HNTC2_MODE" type="number" step="1" value="0"/>
<input id="INS_HNTC2_MODE" name="INS_HNTC2_MODE" type="number" step="1" value="0" onchange="update_hidden_mode(); fill_docs();"/>
<label id="INS_HNTC2_MODE.doc"></label>
</p>
<p>
@ -173,7 +137,179 @@ ArduPilot 4.2 filter setup.
<label id="INS_HNTC2_OPTS.doc"></label>
</p>
</fieldset>
<hr>
<fieldset style="max-width:1200px" id="Throttle_input">
<legend>Throttle Based</legend>
<p>
<label for="Throttle">Throttle</label>
<input id="Throttle" name="Throttle" type="number" step="0.01" value="0.3"/>
</p>
</fieldset>
<fieldset style="max-width:1200px" id="ESC_input">
<legend>ESC Telemetry</legend>
<p>
<label for="NUM_MOTORS">Number of Motors</label>
<input id="NUM_MOTORS" name="NUM_MOTORS" type="number" step="1" value="1"/>
</p>
<p>
<label for="ESC_RPM">ESC RPM</label>
<input id="ESC_RPM" name="ESC_RPM" type="number" step="1" value="2500"/>
</p>
</fieldset>
<fieldset style="max-width:1200px" id="RPM_input">
<legend>RPM/EFI Based</legend>
<p>
<label for="RPM1">RPM1</label>
<input id="RPM1" name="RPM1" type="number" step="1" value="2500"/>
</p>
<p>
<label for="RPM2">RPM2</label>
<input id="RPM2" name="RPM2" type="number" step="1" value="2500"/>
</p>
</fieldset>
</form>
<h2>PIDs</h2>
<h3><label id="PID_title">Title</label></h3>
<canvas id="PID_Attenuation" style="width:100%;max-width:1200px"></canvas>
<p>
<input type="button" id="CalculateRoll" value="Caculate Roll" onclick="calculate_pid(this.id);">
<input type="button" id="CalculatePitch" value="Caculate Pitch" onclick="calculate_pid(this.id);">
<input type="button" id="CalculateYaw" value="Caculate Yaw" onclick="calculate_pid(this.id);">
</p>
<form id="PID_params" action="">
<fieldset style="max-width:1200px">
<legend>Graph Settings</legend>
<p>
<table>
<tr>
<td>
<fieldset style="width:150px">
<legend>Gain scale</legend>
<input type="radio" id="PID_ScaleLog" name="PID_Scale" value="Log" checked>
<label for="LogScale">dB</label><br>
<input type="radio" id="PID_ScaleLinear" name="PID_Scale" value="Linear">
<label for="LinearScale">Linear</label><br>
</fieldset>
</td>
<td>
<fieldset style="width:150px">
<legend>Frequency scale</legend>
<table>
<tr>
<td>
<input type="radio" id="PID_freq_ScaleLog" name="PID_feq_scale" value="Log" checked>
<label for="LogScale">Log</label><br>
<input type="radio" id="PID_freq_ScaleLinear" name="PID_feq_scale" value="Linear">
<label for="LinearScale">Linear</label><br>
</td>
<td>
<input type="radio" id="PID_freq_Scale_Hz" name="PID_feq_unit" value="Hz" checked>
<label for="Scale_unit_Hz">Hz</label><br>
<input type="radio" id="PID_freq_Scale_RPM" name="PID_feq_unit" value="RPM">
<label for="Scale_unit_RPM">RPM</label><br>
</td>
</tr>
</table>
</fieldset>
</td>
<td>
<fieldset style="width:150px">
<legend>Filtering</legend>
<input type="radio" id="PID_filtering_Pre" name="filtering" value="Pre" checked>
<label for="LogScale">Pre</label><br>
<input type="radio" id="PID_filtering_Post" name="filtering" value="Post">
<label for="LinearScale">Post</label><br>
</fieldset>
</td>
</tr>
</table>
</p>
<p>
<label for="PID_MaxFreq">Maximum Displayed Frequency</label>
<input id="PID_MaxFreq" name="PID_MaxFreq" type="number" step="1" value="150" onchange="check_nyquist();"/>
<label id="PID_MaxFreq_warning"></label>
</p>
<p>
<label for="PID_MaxPhaseLag">Maximum Displayed Phase Lag</label>
<input id="PID_MaxPhaseLag" name="PID_MaxPhaseLag" type="number" step="1" value="360"/>
</p>
</fieldset>
<fieldset style="max-width:1200px">
<legend>Loop Rate</legend>
<p>
<label for="SCHED_LOOP_RATE">SCHED_LOOP_RATE</label>
<input id="SCHED_LOOP_RATE" name="SCHED_LOOP_RATE" type="number" step="1" value="400"/>
</p>
</fieldset>
<fieldset style="max-width:1200px">
<legend>Roll</legend>
<p>
<label for="ATC_RAT_RLL_P">ATC_RAT_RLL_P</label>
<input id="ATC_RAT_RLL_P" name="ATC_RAT_RLL_P" type="number" step="0.01" value="0.135"/>
</p>
<p>
<label for="ATC_RAT_RLL_I">ATC_RAT_RLL_I</label>
<input id="ATC_RAT_RLL_I" name="ATC_RAT_RLL_I" type="number" step="0.01" value="0.135"/>
</p>
<p>
<label for="ATC_RAT_RLL_D">ATC_RAT_RLL_D</label>
<input id="ATC_RAT_RLL_D" name="ATC_RAT_RLL_D" type="number" step="0.0001" value="0.0036"/>
</p>
<p>
<label for="ATC_RAT_RLL_FLTE">ATC_RAT_RLL_FLTE</label>
<input id="ATC_RAT_RLL_FLTE" name="ATC_RAT_RLL_FLTE" type="number" step="0.01" value="0"/>
</p>
<p>
<label for="ATC_RAT_RLL_FLTD">ATC_RAT_RLL_FLTD</label>
<input id="ATC_RAT_RLL_FLTD" name="ATC_RAT_RLL_FLTD" type="number" step="0.01" value="20"/>
</p>
</fieldset>
<fieldset style="max-width:1200px">
<legend>Pitch</legend>
<p>
<label for="ATC_RAT_PIT_P">ATC_RAT_PIT_P</label>
<input id="ATC_RAT_PIT_P" name="ATC_RAT_PIT_P" type="number" step="0.01" value="0.135"/>
</p>
<p>
<label for="ATC_RAT_PIT_I">ATC_RAT_PIT_I</label>
<input id="ATC_RAT_PIT_I" name="ATC_RAT_PIT_I" type="number" step="0.01" value="0.135"/>
</p>
<p>
<label for="ATC_RAT_PIT_D">ATC_RAT_PIT_D</label>
<input id="ATC_RAT_PIT_D" name="ATC_RAT_PIT_D" type="number" step="0.0001" value="0.0036"/>
</p>
<p>
<label for="ATC_RAT_PIT_FLTE">ATC_RAT_PIT_FLTE</label>
<input id="ATC_RAT_PIT_FLTE" name="ATC_RAT_PIT_FLTE" type="number" step="0.01" value="0"/>
</p>
<p>
<label for="ATC_RAT_PIT_FLTD">ATC_RAT_PIT_FLTD</label>
<input id="ATC_RAT_PIT_FLTD" name="ATC_RAT_PIT_FLTD" type="number" step="0.01" value="20"/>
</p>
</fieldset>
<fieldset style="max-width:1200px">
<legend>Yaw</legend>
<p>
<label for="ATC_RAT_YAW_P">ATC_RAT_YAW_P</label>
<input id="ATC_RAT_YAW_P" name="ATC_RAT_YAW_P" type="number" step="0.01" value="0.09"/>
</p>
<p>
<label for="ATC_RAT_YAW_I">ATC_RAT_YAW_I</label>
<input id="ATC_RAT_YAW_I" name="ATC_RAT_YAW_I" type="number" step="0.01" value="0.009"/>
</p>
<p>
<label for="ATC_RAT_YAW_D">ATC_RAT_YAW_D</label>
<input id="ATC_RAT_YAW_D" name="ATC_RAT_YAW_D" type="number" step="0.0001" value="0"/>
</p>
<p>
<label for="ATC_RAT_YAW_FLTE">ATC_RAT_YAW_FLTE</label>
<input id="ATC_RAT_YAW_FLTE" name="ATC_RAT_YAW_FLTE" type="number" step="0.01" value="2.5"/>
</p>
<p>
<label for="ATC_RAT_YAW_FLTD">ATC_RAT_YAW_FLTD</label>
<input id="ATC_RAT_YAW_FLTD" name="ATC_RAT_YAW_FLTD" type="number" step="0.01" value="0"/>
</p>
</fieldset>
</form>
<script>