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<!DOCTYPE html>
<html class="no-js isBF">
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
<title>CleanFlight - Blackbox Explorer</title>
<link rel="icon" type="image/png" href="images/cf_icon_128.png">
<meta name="description" content="">
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" href="css/bootstrap.min.css">
<link rel="stylesheet" href="css/bootstrap-theme.min.css">
<link rel="stylesheet" href="css/jquery.nouislider.min.css">
<link rel="stylesheet" href="css/main.css">
<link rel="stylesheet" href="css/header_dialog.css">
<link rel="stylesheet" href="css/keys_dialog.css">
<link rel="stylesheet" href="css/user_settings_dialog.css">
<script src="js/vendor/modernizr-2.6.2-respond-1.1.0.min.js"></script>
</head>
<body>
<!-- Welcome Page -->
<div class="welcome-pane">
<div class="container">
<div class="jumbotron">
<h1>Welcome to the Enhanced Blackbox Explorer!</h1>
<p>This tool allows you to view and analyze logs created by Cleanflight's and Betaflight's Blackbox feature.</p>
<span class="btn btn-primary btn-lg btn-file" data-toggle="tooltip" title="Start by opening a log or video file"> Open log file/video <input type="file" class="file-open" multiple></span>
</div>
</div>
<div class="container">
<div class="row">
<div class="col-sm-4">
<div class="panel panel-default">
<div class="panel-heading">
Introduction to Blackbox
</div>
<div class="panel-body">
<p>
The Blackbox feature is built in to <a href="https://github.com/cleanflight/cleanflight" target="_blank">Cleanflight</a> and <a href="https://github.com/betaflight/betaflight/releases" target="_blank">Betaflight</a>,
and is supported on most of CF's flight controllers (Naze32, CC3D, SPRacingF3, etc.).
</p>
<p>
To get started with Blackbox recording, read
<a href="https://github.com/cleanflight/cleanflight/blob/master/docs/Blackbox.md" target="_blank">Cleanflight and Betaflight's
Blackbox feature documentation</a>.
</p>
<p>
Already have a log recorded? View
<a href="https://github.com/cleanflight/blackbox-log-viewer/blob/master/Readme.md" target="_blank">the
documentation for this log viewer</a> for details on how to best use this tool.
</p>
<p>
If you believe you've found a bug in this viewer (e.g. the viewer crashes upon attempting to
open a log file), or you have a suggestion, please add it to
<a href="https://github.com/cleanflight/blackbox-log-viewer/issues" target="_blank">the viewer's GitHub bug tracker</a>.
</p>
</div>
</div>
</div>
<div class="col-sm-4">
<div class="panel panel-default">
<div class="panel-heading">
Tuning your craft
</div>
<div class="panel-body">
<p>
The Blackbox can deliver insights on your flight performance that will allow you to tune
variables such as your PIDs and low-pass filter settings.
</p>
<p>
For help and instructions on how to tune your craft, please read some of these resources:
</p>
<ul>
<li>
<a href="http://www.rcgroups.com/forums/showthread.php?t=2439428" target="_blank">Mini quad PID tuning from start to finish</a> by Joshua Bardwell on RCGroups.com
</li>
<li>
<a href="http://www.rcgroups.com/forums/showthread.php?t=2386267" target="_blank">Blackbox log analyzation/help thread</a> on RCGroups.com
</li>
<li>
<a href="https://github.com/cleanflight/cleanflight/blob/master/docs/PID%20tuning.md" target="_blank">Cleanflight and Betaflight's PID tuning documentation</a>
</li>
<li>
<a href="http://www.rcgroups.com/forums/showthread.php?t=2249574" target="_blank">Cleanflight support topic</a> on RCGroups.com
</li>
<li>
<a href="http://www.rcgroups.com/forums/showthread.php?t=2464844" target="_blank">Betaflight support topic</a> on RCGroups.com
</li>
<li>
<a href="http://www.rcgroups.com/forums/showthread.php?t=2299805" target="_blank">Blackbox announcement topic (original viewer)</a> on RCGroups.com
</li>
<li>
<a href="http://www.rcgroups.com/forums/showthread.php?t=2649495" target="_blank">Enhanced Blackbox announcement topic (this viewer)</a> on RCGroups.com
</li>
</ul>
</div>
</div>
</div>
<div class="col-sm-4">
<div class="panel panel-default">
<div class="panel-heading">
Other tools
</div>
<div class="panel-body">
<p>
If you want to analyze your logs with your own mathematics package (such as Matlab)
you can use the separate <a href="https://github.com/cleanflight/blackbox-tools" target="_blank">blackbox_decode tool</a>
to convert your log file into a CSV file for analysis.
</p>
<p>
If you want to share your log as a video, you can use the "export video" button at the
top to render a WebM video, or use the commandline
<a href="https://github.com/cleanflight/blackbox-tools" target="_blank">blackbox_render tool</a>
tool to turn your log into a series of PNG files, or use a
screen recording tool to record the playback of this log viewer.
</p>
</div>
</div>
</div>
<div class="col-sm-4">
<div class="panel panel-default">
<div class="panel-heading">
Version
</div>
<div class="panel-body">
<p>
<div id="viewer-version"><!-- current version shown here --></div>
</p>
<p class="viewer-download">
The latest official version is <a class="btn btn-default btn-md btn-viewer-download" data-toggle="tooltip" title="Goto the latest version download page" href="https://github.com/cleanflight/blackbox-log-viewer/releases/latest"> vX.X.XX </a>
</p>
</div>
</div>
</div>
</div>
</div>
<!-- the changelog floats outside of the page. -->
<div id="changelog">
<div class="button">
<a id="changelog_toggle" href="#">Changelog</a>
</div>
<div class="wrapper">
<iframe src="./changelog.html"></iframe>
</div>
</div>
</div>
<!-- Navigation Bar -->
<nav class="navbar navbar-inverse navbar-static-top" role="navigation">
<div class="container header-pane">
<div class="navbar-header">
<button type="button" class="navbar-toggle collapsed" data-toggle="collapse" data-target="#navbar" aria-expanded="false" aria-controls="navbar">
<span class="sr-only">Toggle navigation</span> <span class="icon-bar"></span> <span class="icon-bar"></span> <span class="icon-bar"></span>
</button>
<div class="navbar-logo">
<div>
<img src="./images/cf_logo_white.svg" class="navbar-brand"/>
<span>Blackbox Explorer</span>
</div>
<a class="navbar-brand log-filename" html="#"></a>
</div>
</div>
<div id="navbar" class="navbar-collapse collapse">
<div class="navbar-form navbar-right" role="form">
<div class="btn-group">
<a class="btn btn-default btn-new-window" data-toggle="tooltip" title="Open a new Blackbox Log Viewer window"> New Window </a>
<a class="btn btn-primary btn-video-export" data-toggle="tooltip" title="Export your vide and chart setup to file"> Export video...</a>
<a class="btn btn-primary btn-workspaces-export" data-toggle="tooltip" title="Export your workspace configurations to file"> Export Workspaces...</a>
<span class="btn btn-primary btn-file" data-toggle="tooltip" title="Open another log file, video file, exported workspace file or configuration dump file"> Open log file/video <input type="file" class="file-open" multiple></span>
<button type="button" class="btn btn-default view-zoom-in" data-toggle="tooltip" title="Zoom In Window" style="display: none;">
<span class="glyphicon glyphicon-zoom-in"></span>
</button>
<button type="button" class="btn btn-default view-zoom-out" data-toggle="tooltip" title="Zoom Out Window" style="display: none;">
<span class="glyphicon glyphicon-zoom-out"></span>
</button>
</div>
</div>
</div>
</div>
</nav>
<!-- Main Page -->
<div class="container-fluid main-pane">
<ul class="video-top-controls list-unstyled">
<li class="log-view-panel">
<h4>View</h4>
<div>
<div class="btn-group view-buttons" role="group">
<button type="button" class="btn btn-default open-header-dialog" data-toggle="tooltip" title="View/hide header">
<span class="glyphicon glyphicon-info-sign"></span>
</button>
</div>
<div class="btn-group view-menu">
<div class="dropdown">
<button type="button" class="btn btn-default dropdown-toggle" data-toggle="dropdown" id="view-menu" >
View <span class="caret"></span></button>
<ul class="dropdown-menu" role="menu" aria-labelledby="view-menu">
<li>
<a href="#" class="open-header-dialog auto-hide-menu" data-toggle="tooltip" title="View/hide header">
<span class="glyphicon glyphicon-info-sign"></span> Header<span class="pull-right">H</span>
</a>
</li>
<li class="divider"></li>
<li class="dropdown-header">Overlays</li>
<li>
<a href="#" id="auto-hide-menu" class="view-video auto-hide-menu" data-toggle="tooltip" title="View/hide video display">
<span class="glyphicon glyphicon-film"></span> Video
</a>
</li>
<li>
<a href="#" id="auto-hide-menu" class="view-craft auto-hide-menu" data-toggle="tooltip" title="View/hide craft display">
<span class="glyphicon glyphicon-plane"></span> Craft
</a>
</li>
<li>
<a href="#" id="auto-hide-menu" class="view-sticks auto-hide-menu" data-toggle="tooltip" title="View/hide stick display">
<span class="glyphicon glyphicon-pawn"></span> Sticks
</a>
</li>
<li class="divider"></li>
<li class="dropdown-header">Details</li>
<li>
<a href="#" class="view-table auto-hide-menu" data-toggle="tooltip" title="View/hide statistics display">
<span class="glyphicon glyphicon-list-alt"></span> Values Table<span class="pull-right">T</span>
</a>
</li>
<li>
<a href="#" class="view-config auto-hide-menu" data-toggle="tooltip" title="View/hide configuration file">
<span class="glyphicon glyphicon-list-alt"></span> Config<span class="pull-right">C</span>
</a>
</li>
<li class="divider has-analyser"></li>
<li class="dropdown-header has-analyser">Analyser</li>
<li>
<a href="#" class="view-analyser auto-hide-menu" data-toggle="tooltip" title="View/hide analyser display">
<span class="glyphicon glyphicon-equalizer"></span> Show/Hide<span class="pull-right">A</span>
</a>
</li>
<li>
<a href="#" class="view-analyser-fullscreen auto-hide-menu" data-toggle="tooltip" title="Zoom Analyser Window">
<span class="glyphicon glyphicon-resize-full"></span><span class="glyphicon glyphicon-resize-small"></span> Re-size<span class="pull-right">⇧A</span>
</a>
</li>
<li class="divider"></li>
<li>
<a href="#" class="open-user-settings-dialog auto-hide-menu" data-toggle="tooltip" title="Show User Settings">
<span class="glyphicon glyphicon-cog"></span> Preferences
</a>
</li>
</ul>
</div>
</div>
<div class="btn-group view-buttons-expanded" role="group">
<button type="button" class="btn btn-default view-video" data-toggle="tooltip" title="View/hide video display">
<span class="glyphicon glyphicon-film"></span>
</button>
<button type="button" class="btn btn-default view-craft" data-toggle="tooltip" title="View/hide craft display">
<span class="glyphicon glyphicon-plane"></span>
</button>
<button type="button" class="btn btn-default view-sticks" data-toggle="tooltip" title="View/hide stick display">
<span class="glyphicon glyphicon-pawn"></span>
</button>
<button type="button" class="btn btn-default view-table" data-toggle="tooltip" title="View/hide statistics display">
<span class="glyphicon glyphicon-list-alt"></span>
</button>
<button type="button" class="btn btn-default view-analyser-sticks" style="display:none" data-toggle="tooltip" title="View/hide stick analyser">
<span class="glyphicon glyphicon-screenshot"></span>
</button>
<button type="button" class="btn btn-default view-analyser" data-toggle="tooltip" title="View/hide analyser display">
<span class="glyphicon glyphicon-equalizer"></span>
</button>
<button type="button" class="btn btn-default view-analyser-fullscreen" data-toggle="tooltip" title="Zoom Analyser Window">
<span class="glyphicon glyphicon-resize-full"></span><span class="glyphicon glyphicon-resize-small"></span>
</button>
</div>
</div>
</li>
<li class="log-playback-panel">
<h4>Playback</h4>
<div>
<div class="btn-group" role="group">
<button type="button" class="btn btn-default video-jump-start" data-toggle="tooltip" title="Jump to start of video">
<span class="glyphicon glyphicon-fast-backward"></span> <span class="glyphicon-text-alike">VID</span>
</button>
<button type="button" class="btn btn-default log-jump-start" data-toggle="tooltip" title="Jump to start of log">
<span class="glyphicon glyphicon-fast-backward"></span>
</button>
<button type="button" class="btn btn-default log-jump-back" data-toggle="tooltip" title="Jump back">
<span class="glyphicon glyphicon-step-backward"></span>
</button>
<button type="button" class="btn btn-default log-play-pause" data-toggle="tooltip" title="Play/Pause log/video">
<span class="glyphicon glyphicon-play"></span>
</button>
<button type="button" class="btn btn-default log-jump-forward" data-toggle="tooltip" title="Jump forward">
<span class="glyphicon glyphicon-step-forward"></span>
</button>
<button type="button" class="btn btn-default log-jump-end" data-toggle="tooltip" title="Jump to end of log">
<span class="glyphicon glyphicon-fast-forward"></span>
</button>
<button type="button" class="btn btn-default video-jump-end" data-toggle="tooltip" title="Jump to end of video">
<span class="glyphicon-text-alike">VID</span> <span class="glyphicon glyphicon-fast-forward"></span>
</button>
</div>
</div>
</li>
<li class="log-playback-rate-panel">
<h4>Speed</h4>
<div class="form-inline">
<div class="form-group">
<div class="btn-group playback-menu">
<div class="dropdown">
<button type="button" class="btn btn-default dropdown-toggle" data-toggle="dropdown" id="playback-menu" >
Speed <span class="caret"></span></button>
<ul class="dropdown-menu pull-right" role="menu" aria-labelledby="playback-menu">
<li>
<div class="pull-right">
<div class="panel-body">
Speed
<div class="playback-rate-control btn-group btn-group-vertical"></div>
<input type="text" class="form-control playback-rate small-screen" value="1.0" size="5" data-toggle="tooltip" title="Directly set the playback speed">
</div>
</div>
</li>
</ul>
</div>
</div>
<div class="playback-rate-expanded">
<div class="playback-rate-control btn-group btn-group-vertical"></div>
<input type="text" class="form-control playback-rate small-screen" value="1.0" size="5" data-toggle="tooltip" title="Directly set the playback speed">
</div>
</div>
</div>
</li>
<li class="log-chart-zoom-panel">
<h4>Zoom</h4>
<div class="form-inline">
<div class="form-group">
<div class="btn-group zoom-menu">
<div class="dropdown">
<button type="button" class="btn btn-default dropdown-toggle" data-toggle="dropdown" id="zoom-menu" >
Zoom <span class="caret"></span></button>
<ul class="dropdown-menu pull-right" role="menu" aria-labelledby="zoom-menu">
<li>
<div class="pull-right">
<div class="panel-body">
Zoom
<div class="graph-zoom-control btn-group btn-group-vertical"></div>
<input type="text" class="form-control graph-zoom small-screen" value="-" size="6" data-toggle="tooltip" title="Directly set the zoom level"/>
</div>
</div>
</li>
<li>
<a href="#" class="toggle-smoothing auto-hide-menu" data-toggle="tooltip" title="Smoothing On/Off">
<span class="glyphicon glyphicon-ok has-smoothing-override"></span> Disable Smoothing<span class="pull-right">S</span>
</a>
</li>
<li>
<a href="#" class="toggle-expo auto-hide-menu" data-toggle="tooltip" title="Expo On/Off">
<span class="glyphicon glyphicon-ok has-expo-override"></span> Disable Expo<span class="pull-right">X</span>
</a>
</li>
<li>
<a href="#" class="toggle-grid auto-hide-menu" data-toggle="tooltip" title="Grid On/Off">
<span class="glyphicon glyphicon-ok has-grid-override"></span> Disable Grid Lines<span class="pull-right">G</span>
</a>
</li>
</ul>
</div>
</div>
<div class="graph-zoom-expanded">
<div class="graph-zoom-control btn-group btn-group-vertical"></div>
<input type="text" class="form-control graph-zoom small-screen" value="-" size="6" data-toggle="tooltip" title="Directly set the zoom level">
</div>
</div>
</div>
</li>
<li class="log-chart-time-panel small-screen">
<h4>Time</h4>
<div class="form-inline">
<div class="form-group">
<input type="text" class="form-control graph-time" value="1.0" size="8" data-toggle="tooltip" title="Enter a time to jump to">
</div>
</div>
</li>
<li class="log-sync-panel">
<h4>Log sync</h4>
<div class="form-inline">
<div class="form-group">
<div class="btn-group sync-menu">
<div class="dropdown">
<button type="button" class="btn btn-default dropdown-toggle" data-toggle="dropdown" id="sync-menu" >
Sync <span class="caret"></span></button>
<ul class="dropdown-menu pull-right" role="menu" aria-labelledby="sync-menu">
<li>
<div class="pull-right">
<div class="panel-body">
Sync
<button type="button" class="btn btn-default log-sync-back" data-toggle="tooltip" title="Move log earlier">
<span class="glyphicon glyphicon-step-backward"></span>
</button>
<input type="text" class="form-control video-offset" value="+0.0" size="7" data-toggle="tooltip" title="Enter a time offset">
<button type="button" class="btn btn-default log-sync-forward" data-toggle="tooltip" title="Move log later">
<span class="glyphicon glyphicon-step-forward"></span>
</button>
</div>
</div>
</li>
<li>
<a href="#" class="log-sync-here auto-hide-menu" data-toggle="tooltip" title="Set the log start to this video frame">
<span class="glyphicon glyphicon-fast-backward"></span> Start Log Here
</a>
</li>
<li class="has-marker">
<a href="#" class="log-smart-sync auto-hide-menu" data-toggle="tooltip" title="Set the marked position to here...">
<span class="glyphicon glyphicon-object-align-left"></span> Smart Sync<span class="pull-right">⌥M</span>
</a>
</li>
</ul>
</div>
</div>
<div class="log-sync-expanded">
<div class="btn-group" role="group">
<button type="button" class="btn btn-default log-sync-back" data-toggle="tooltip" title="Move log earlier">
<span class="glyphicon glyphicon-step-backward"></span>
</button>
<button type="button" class="btn btn-default log-sync-here">Start log here</button>
<button type="button" class="btn btn-default log-sync-forward" data-toggle="tooltip" title="Move log later">
<span class="glyphicon glyphicon-step-forward"></span>
</button>
</div>
<input type="text" class="form-control video-offset" value="+0.0" size="7" data-toggle="tooltip" title="Enter a time offset">
</div>
</div>
</div>
</li>
</ul>
<div class="graph-row">
<div class="log-graph">
<video></video>
<canvas width="200" height="100" id="graphCanvas"></canvas>
<canvas width="0" height="0" id="craftCanvas"></canvas>
<div class="analyser">
<canvas width="0" height="0" id="analyserCanvas"></canvas>
<input id="analyserZoomX" type="range" name="analyserZoomX" value="100" min="100" max="500" step="10" title="" list="analyserZoomXTicks"/>
<input id="analyserZoomY" type="range" name="analyserZoomY" value="100" min="10" max="1000" step="10" list="analyserZoomYTicks"/>
<datalist id="analyserZoomXTicks">
<option>100</option>
<option>200</option>
<option>300</option>
<option>400</option>
<option>500</option>
</datalist>
<datalist id="analyserZoomYTicks">
<option>100</option>
</datalist>
</div>
<canvas width="0" height="0" id="analyserStickCanvas"></canvas>
<span class="log-open-legend-dialog glyphicon glyphicon-cog" data-toggle="tooltip" title="Show the legend"></span>
</div>
<div class="log-graph-config no-wheel">
<h2 class="no-wheel">Legend <span class="log-close-legend-dialog glyphicon glyphicon-remove no-wheel" data-toggle="tooltip" title="Hide the legend"></span><span class="open-keys-dialog glyphicon glyphicon-question-sign no-wheel" data-toggle="tooltip" title="Show the keyboard shortcuts"></span></h2>
<div class="log-index no-wheel"></div>
<div class="log-graph-legend no-wheel">
</div>
<button type="button" class="btn btn-default btn-block open-graph-configuration-dialog no-wheel" data-toggle="tooltip" title="Setup chart pens">Graph setup</button>
</div>
<div class="mouseNotification"></div>
</div>
<div class="log-field-values" id="log-field-values">
<a href="#log-field-values"><h4>Field values</h4></a>
<table class="table table-condensed">
<thead>
<tr>
<th> </th>
<th>Raw value</th>
<th>Decoded</th>
<th> </th>
<th>Raw value</th>
<th>Decoded</th>
</tr>
</thead>
<tbody>
<tr><!-- auto filled by updateValues function --></tr>
</tbody>
</table>
</div>
<div class="configuration-file" id="configuration-file">
<!-- auto filled by configuration function -->
</div>
</div>
<!-- Log Scroll bar -->
<div class="log-seek-bar">
<canvas width="200" height="100"></canvas>
</div>
<!-- Status Bar -->
<div id="status-bar">
<div>
<span class="version">-</span>
</div>
<div>
<span class="log-cells">-</span>
</div>
<div>
<span class="looptime">-</span>
</div>
<div>
<span class="lograte">-</span>
</div>
<div>
<span class="flight-mode">-</span>
</div>
<div>
<span class="marker-offset">00:00.000</span>
</div>
<div>
<span class="overrides"></span>
</div>
<div class="bookmark-1">
<span>1</span>
</div>
<div class="bookmark-2">
<span>2</span>
</div>
<div class="bookmark-3">
<span>3</span>
</div>
<div class="bookmark-4">
<span>4</span>
</div>
<div class="bookmark-5">
<span>5</span>
</div>
<div class="bookmark-6">
<span>6</span>
</div>
<div class="bookmark-7">
<span>7</span>
</div>
<div class="bookmark-8">
<span>8</span>
</div>
<div class="bookmark-9">
<span>9</span>
</div>
<div class="bookmark-clear">
<span>Clear All</span>
</div>
<div>
<span class="configuration-file-name">-</span>
</div>
<div>
<span class="viewer-version">-</span>
</div>
</div>
<!-- Dialog Boxes and Popup Windows -->
<div class="modal fade graph-configuration-dialog" id="dlgGraphConfiguration">
<div class="modal-dialog">
<div class="modal-content">
<div class="modal-header">
<button type="button" class="close" data-dismiss="modal" aria-label="Close" data-toggle="tooltip" title="Close without saving changes">
<span aria-hidden="true">×</span>
</button>
<h4 class="modal-title">Configure graphs</h4>
</div>
<div class="modal-body">
<div class="btn-group">
<button type="button" class="btn btn-primary dropdown-toggle config-graphs-add" data-toggle="dropdown" aria-expanded="false">
<span class="glyphicon glyphicon-plus"></span> Add graph <span class="caret"></span>
</button>
<ul class="dropdown-menu" role="menu">
</ul>
</div>
<button type="button" class="btn btn-default config-graphs-remove-all-graphs pull-right" style="display:none;" >
<span class="glyphicon glyphicon-trash"></span> Remove all graphs
</button>
<ul class="list-unstyled config-graphs-list">
</ul>
</div>
<div class="modal-footer">
<button type="button" class="btn btn-default graph-configuration-dialog-cancel" data-dismiss="modal" data-toggle="tooltip" title="Close without saving changes">Cancel</button>
<button type="button" class="btn btn-primary graph-configuration-dialog-save" data-dismiss="modal" data-toggle="tooltip" title="Close and save changes">Save changes</button>
</div>
</div>
</div>
</div>
<div class="modal fade header-dialog" id="dlgHeaderDialog">
<div class="modal-dialog">
<div class="modal-content">
<div class="modal-header">
<button type="button" class="close" data-dismiss="modal" aria-label="Close" data-toggle="tooltip" title="Close without saving changes">
<span aria-hidden="true">×</span>
</button>
<h4 class="modal-title">Log Header Information</h4>
<h5 class="modal-title-revision"></h5>
<h5 class="modal-title-date"></h5>
<h5 class="modal-title-craft"></h5>
</div>
<div class="modal-body">
<form name="header-information" id="pid-tuning">
<div class="cf_column half left">
<div class="gui_box grey PID-settings">
<div class="gui_box_titlebar">
<div class="spacer_box_title">PID Settings</div>
</div>
<div class="spacer_box">
<table class="no-inav parameter cf">
<tbody>
<tr>
<td name='pidController'><label>Controller</label><select ><!-- list generated here --></select></td>
</tr>
</tbody>
</table>
<table class="pid_titlebar">
<tr>
<th class="name">Name</th>
<th class="proportional">Proportional</th>
<th class="integral">Integral</th>
<th class="derivative">Derivative</th>
</tr>
</table>
<table id="pid_main" class="pid_tuning">
<tr>
<th colspan="4">
<div class="pid_mode">Basic/Acro</div>
</th>
</tr>
<tr class="rollPID">
<!-- 0 -->
<td>ROLL</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="pitchPID">
<!-- 1 -->
<td>PITCH</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="yawPID">
<!-- 2 -->
<td>YAW</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_baro" class="pid_tuning">
<tr>
<th colspan="4">
<div class="pid_mode">Barometer & Sonar/Altitude</div>
</th>
</tr>
<tr class="altPID">
<!-- 3 -->
<td>ALT</td>
<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
<tr class="velPID">
<!-- 9 -->
<td>VEL</td>
<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
</table>
<table id="pid_mag" class="pid_tuning">
<tr>
<th colspan="4">
<div class="pid_mode">Heading</div>
</th>
</tr>
<tr class="magPID">
<!-- 8 -->
<td>MAG</td>
<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
<td></td>
<td></td>
</tr>
</table>
<table id="pid_gps" class="pid_tuning">
<tr>
<th colspan="4">
<div class="pid_mode">GPS</div>
</th>
</tr>
<tr class="posPID">
<!-- 4 -->
<td>POS</td>
<td><input type="number" name="p" step="0.01" min="0" max="2.55" /></td>
<td><input type="number" name="i" step="0.01" min="0" max="2.55" /></td>
<td></td>
</tr>
<tr class="posrPID">
<!-- 5 -->
<td>POSR</td>
<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
<td><input type="number" name="i" step="0.01" min="0" max="2.55" /></td>
<td><input type="number" name="d" step="0.001" min="0" max="0.255" /></td>
</tr>
<tr class="navrPID">
<!-- 6 -->
<td>NAVR</td>
<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
<td><input type="number" name="i" step="0.01" min="0" max="2.55" /></td>
<td><input type="number" name="d" step="0.001" min="0" max="0.255" /></td>
</tr>
</table>
<table id="pid_accel" class="pid_tuning">
<tr>
<th colspan="4">
<div class="pid_mode borderleft">
<div class="textleft">
<div class="pidTuningLevel">Angle/Horizon</div>
</div>
<div class="pids">Strength (Angle)</div>
<div class="pids">Strength (Horizon)</div>
<div class="pids">Transition (Horizon)</div>
</div>
</th>
</tr>
<tr class="levelPID">
<!-- 7 -->
<td>LEVEL</td>
<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
</tr>
</table>
</div>
</div>
<div class="gui_box grey PID-extra">
<div class="gui_box_titlebar">
<div class="spacer_box_title">PID Other</div>
</div>
<div class="spacer_box">
<table class="parameter cf">
<tbody>
<tr>
<td name="ptermSRateWeight" class="bf-only"><label>P-Term<br> </label><input type="number" step="0.01" min="0" max="999" /></td>
<td name="setpointRelaxRatio" class="bf-only"><label>Setpoint Relax<br>Ratio</label><input type="number" step="0.01" min="0" max="999" /></td>
<td name="dtermSetpointWeight" class="bf-only"><label>D-Term Setpoint<br>Weight</label><input type="number" step="0.01" min="0" max="999" /></td>
<td name="rateAccelLimit" class="bf-only"><label>Roll/Pitch Rate<br>Acceleration Limit</label><input type="number" step="1" min="0" max="999" /></td>
<td name="yawRateAccelLimit" class="bf-only"><label>Yaw Rate<br>Acceleration Limit</label><input type="number" step="1" min="0" max="999" /></td>
</tr>
<tr>
<td name="antiGravityGain" class="bf-only"><label>AG Gain</label><input type="number" step="0.01" min="0" max="999" /></td>
<td name="antiGravityThreshold" class="bf-only"><label>AG Threshold</label><input type="number" step="0.01" min="0" max="999" /></td>
<td name="itermWindupPointPercent" class="bf-only"><label>Windup Threshold</label><input type="number" step="1" min="0" max="999" /></td>
</tr>
</tbody>
</table>
</div>
<div class="spacer_box">
<table class="no-inav parameter cf">
<tbody>
<tr>
<td name='dynamic_pid' class="bf-only"><label>Dynamic PID</label><select><!-- list generated here --></select></td>
</tr>
</tbody>
</table>
<table class="parameter cf">
<thead class="BFPIDController">
<tr>
<th colspan="2">P-Term</th>
<th class="bf-only" colspan="2">I-Term</th>
</tr>
</thead>
<tbody class="BFPIDController">
<tr>
<td name='dynamic_pterm' class="bf-only"><label>Dynamic P</label><select><!-- list generated here --></select></td>
<td name="yaw_p_limit"><label>Yaw Limit</label><input type="number" step="1" min="0" max="999" /></td>
<td name="rollPitchItermResetRate" class="bf-only"><label>Roll/Pitch Reset</label><input type="number" step="1" min="0" max="999" /></td>
<td name="rollPitchItermIgnoreRate" class="bf-only"><label>Roll/Pitch Ignore Rate</label><input type="number" step="1" min="0" max="999" /></td>
<td name="yawItermResetRate" class="bf-only"><label>Yaw Reset</label><input type="number" step="1" min="0" max="999" /></td>
<td name="yawItermIgnoreRate" class="bf-only"><label>Yaw Ignore Rate</label><input type="number" step="1" min="0" max="999" /></td>
</tr>
</tbody>
<tbody class="BFPIDController">
<tr>
<td></td>
<td name="iterm_reset_offset" class="bf-only"><label>Reset Offset</label><input type="number" step="1" min="0" max="999" /></td>
</tr>
</tbody>
</table>
</div>
<div class="spacer_box">
<table class="bf-only" cellpadding="0" cellspacing="0">
<tbody class="static-features noline">
<tr>
<td name="pidAtMinThrottle"><label class="option"><input class="ios-switch" type="checkbox"/><div><div></div></div></label></td>
<td><label>pidAtMinThrottle</label></td>
<td><span>Stabilisation at zero throttle ?</span></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="gui_box grey filters">
<div class="gui_box_titlebar">
<div class="spacer_box_title">Filters</div>
</div>
<div class="spacer_box">
<table class="parameter cf">
<thead>
<tr>
<th colspan="4">Gyro Filters</th>
</tr>
</thead>
<tbody>
<tr>
<td name='gyro_lpf'><label>Hardware</label><select><!-- list generated here --></select></td>
<td name='gyro_soft_type'><label>Type</label><select><!-- list generated here --></select></td>
<td name="gyro_lowpass_hz"><label>Soft (Hz)</label><input type="number" step="0.01" min="0" max="999.00" /></td>
<td></td>
</tr>
<tr>
<td name='gyro_notch_hz'><label>Notch 1<br>(Hz)</label><input type="number" step="0.01" min="0" max="999.00" /></td>
<td name="gyro_notch_cutoff"><label>Notch 1 Cutoff<br>(Hz)</label><input type="number" step="0.1" min="0" max="999.00" /></td>
<td name='gyro_notch_hz_2'><label>Notch 2<br>(Hz)</label><input type="number" step="0.01" min="0" max="999.00" /></td>
<td name="gyro_notch_cutoff_2"><label>Notch 2 Cutoff<br>(Hz)</label><input type="number" step="0.1" min="0" max="999.00" /></td>
</tr>
</tbody>
</table>
<table class="parameter cf">
<thead>
<tr>
<th colspan="4">D-Term Filters</th>
</tr>
</thead>
<tbody>
<tr>
<td name='dterm_filter_type'><label>Type<br> </label><select><!-- list generated here --></select></td>
<td name="dterm_lpf_hz" ><label>Cut-off<br>(Hz)</label><input type="number" step="0.01" min="0" max="999.00" /></td>
<td name="dterm_average_count" class="bf-only"><label>Average Count</label><input type="number" step="1" min="0" max="12" /></td>
<td name='dterm_notch_hz'><label>Notch<br>(Hz)</label><input type="number" step="0.01" min="0" max="999.00" /></td>
<td name="dterm_notch_cutoff"><label>Notch Cutoff<br>(Hz)</label><input type="number" step="0.1" min="0" max="999.00" /></td>
</tr>
</tbody>
</table>
<table class="parameter cf">
<thead>
<tr>
<th colspan="4">Other Filters</th>
</tr>
</thead>
<tbody>
<tr>
<td name="acc_lpf_hz"><label>Acc (Hz)</label><input type="number" step="0.01" min="0" max="999.00" /></td>
<td name="yaw_lpf_hz" class="bf-only"><label>Yaw (Hz)</label><input type="number" step="0.01" min="0" max="999.00" /></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="gui_box grey rxMode">
<div class="gui_box_titlebar">
<div class="spacer_box_title">Receiver Mode</div>
</div>
<div class="spacer_box">
<table cellpadding="0" cellspacing="0">
<thead class="rxMode noline">
<tr>
<th class="cbox"></th>
<th class="item"></th>
<th class="description"></th>
</tr>
</thead>
<tbody class="features rxMode noline">
<!-- table generated here -->
</tbody>
</table>
<table class="parameter cf">
<tbody>
<tr>
<td name='serialrx_provider'><label>Provider</label><select><!-- list generated here --></select></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="gui_box grey hardware">
<div class="gui_box_titlebar">
<div class="spacer_box_title">Hardware Options</div>
</div>
<div class="spacer_box">
<table class="parameter cf">
<tbody>
<tr>
<td name="loopTime"><label>Looptime</label><input type="number" step="25" min="0" max="3000"/></td>
<td name="gyro_sync_denom"><label>Gyro Sync</label><input type="number" step="1" min="0" max="8"/></td>
<td name="pid_process_denom"><label>PID Process</label><input type="number" step="1" min="0" max="8"/></td>
</tr>
</tbody>
<tbody>
<tr>
<td name='acc_hardware'><label>Accelerometer</label><select><!-- list generated here --></select></td>
<td name='mag_hardware'><label>Magnetometer</label><select><!-- list generated here --></select></td>
<td name='baro_hardware'><label>Barometer</label><select><!-- list generated here --></select></td>
</tr>
</tbody>
</table>
<table class="bf-only" cellpadding="0" cellspacing="0">
<tbody class="static-features noline">
<tr>
<td name="gyro_cal_on_first_arm"><label class="option"><input class="ios-switch" type="checkbox"/><div><div></div></div></label></td>
<td><label>GYRO_CAL_ON_FIRST_ARM</label></td>
<td><span>Calibrate Gyro on first arm</span></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="gui_box grey debug">
<div class="gui_box_titlebar">
<div class="spacer_box_title">Debug Settings</div>
</div>
<div class="spacer_box">
<table class="parameter cf">
<tbody>
<tr>
<td name='debug_mode'><label>Debug Mode</label><select><!-- list generated here --></select></td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
<div class="cf_column half right">
<div class="spacer_left">
<div class="gui_box grey rates">
<div class="gui_box_titlebar">
<div class="spacer_box_title">RC Command and Motor Protocols</div>
</div>
<div class="spacer_box">
<table class="parameter cf">
<thead>
<tr>
<th colspan="3">ROLL/PITCH</th>
</tr>
</thead>
<tbody>
<tr>
<td name="rcRate" class="no-inav"><label>Rate</label><input type="number" step="0.01" min="0" max="1.00"/></td>
<td name="rcExpo"><label>Expo</label><input type="number" step="0.01" min="0" max="1.00"/></td>
<td name="deadband"><label>Deadband</label><input type="number" step="1" min="0" max="32"/></td>
</tr>
<tr>
<th colspan="3">YAW</th>
</tr>
<tr>
<td name="rcYawRate" class="no-inav"><label>Rate</label><input type="number" step="0.01" min="0" max="1.00"/></td>
<td name="rcYawExpo" ><label>Expo</label><input type="number" step="0.01" min="0" max="1.00"/></td>
<td name="yaw_deadband" ><label>Deadband</label><input type="number" step="1" min="0" max="100"/></td>
</tr>
</tbody>
</table>
<table class="parameter cf">
<thead>
<tr>
<th colspan="5">Super Expo Rates</th>
</tr>
</thead>
<tbody>
<tr>
<td name="rates[0]"><label>ROLL Rate</label><input type="number" step="0.01" min="0" max="1.00" /></td>
<td name="rates[1]"><label>PITCH Rate</label><input type="number" step="0.01" min="0" max="1.00" /></td>
<td name="rates[2]"><label>YAW Rate</label><input type="number" step="0.01" min="0" max="2.55" /></td>
</tr>
<tr>
<td name="superExpoFactor" class="bf-only"><label>ROLL/PITCH SuperExpo</label><input type="number" step="0.01" min="0" max="1.00"/></td>
<td name="superExpoFactorYaw" class="bf-only"><label>YAW SuperExpo</label><input type="number" step="0.01" min="0" max="1.00"/></td>
<td></td>
</tr>
<tr>
<td></td>
<td name='superExpoYawMode' class="bf-only"><select><!-- list generated here --></select></td>
<td></td>
</tr>
</tbody>
</table>
<table class="parameter cf">
<tbody>
<tr>
<td name='rc_interpolation'><label>RC Interpolation</label><select><!-- list generated here --></select></td>
<td name="rc_interpolation_interval"><label>RC Interval (ms)</label><input type="number" step="0.01" min="0" max="999.00" /></td>
</tr>
</tbody>
</table>
<table class="noline" cellpadding="0" cellspacing="0">
<tbody class="static-features misc noline">
<tr>
<td name="rc_smoothing"><label class="option"><input class="ios-switch orange" type="checkbox"/><div><div></div></div></label></td>
<td><label>RC_SMOOTHING</label></td>
<td><span>RC Smoothing Enabled</span></td>
</tr>
</tbody>