diff --git a/locales/en/messages.json b/locales/en/messages.json index d7db2b92..7ed013d8 100644 --- a/locales/en/messages.json +++ b/locales/en/messages.json @@ -2306,6 +2306,22 @@ "motorsSensorAccelSelect":{ "message": "accel" }, + "motorsTelemetryHelp": { + "message": "This numbers show the telemetry info received from the ESCs if available. It can show the actual speed of motors (in RPM), the error rate of the telemetry link and the temperature of the ESCs.", + "description": "Help text for the telemetry values in the motors tab." + }, + "motorsRPM": { + "message": "R: {{motorsRpmValue}}", + "description": "To put under the motors in the motors tab. KEEP IT SHORT or not translate. Keep the letters as prefix. Shows the RPM of the motor if telemetry is available." + }, + "motorsRPMError": { + "message": "E: {{motorsErrorValue}}%", + "description": "To put under the motors in the motors tab. KEEP IT SHORT or not translate. Shows the error of motor telemetry if available." + }, + "motorsESCTemperature": { + "message": "T: {{motorsESCTempValue}}°C", + "description": "To put under the motors in the motors tab. KEEP IT SHORT or not translate. Shows the ESC temperature if available." + }, "motorsMaster": { "message": "Master" }, diff --git a/src/css/tabs/motors.css b/src/css/tabs/motors.css index 572e6e3c..95826081 100644 --- a/src/css/tabs/motors.css +++ b/src/css/tabs/motors.css @@ -182,12 +182,12 @@ .tab-motors .left.motors { float: left; - width: calc(50% - 50px); + width: calc(60% - 20px); } .tab-motors .right.servos { float: right; - width: 50%; + width: 40%; } .tab-motors .title { @@ -251,9 +251,14 @@ bottom: 45px; text-align: center; font-weight: bold; + font-size: 10px; color: #474747; } +.tab-motors .m-block .label.rpm_info { + bottom: 28px; +} + .tab-motors .m-block .indicator .label { color: white; } @@ -274,11 +279,11 @@ } .tab-motors .motor_testing { - margin-top: 15px; + margin-top: 5px; } .tab-motors .motor_testing .left { - width: calc(50% - 50px); + width: calc(60% - 20px); } .tab-motors .motor_testing .sliders input { @@ -296,20 +301,36 @@ margin-top: 5px; } -.tab-motors .motor_testing .values li:first-child { +.tab-motors .motor_testing .telemetry { + display: flow-root; + margin-bottom: 5px; +} + +.tab-motors .motor_testing .telemetry .warning { + color: var(--error); +} + +.tab-motors .motor_testing .values li:first-child, +.tab-motors .motor_testing .telemetry li:first-child { margin-left: 0px; } -.tab-motors .motor_testing .values li { +.tab-motors .motor_testing .values li, +.tab-motors .motor_testing .telemetry li { float: left; width: calc((100% / 9) - 10px); margin-left: 10px; text-align: center; + font-size: 10px; +} + +.tab-motors .motor_testing .telemetry li { + white-space: pre; } .tab-motors .motor_testing .notice { float: right; - width: calc(50% - 24px); + width: calc(40% - 24px); padding: 5px; border: 2px solid #ccc; border-radius: 3px; diff --git a/src/js/fc.js b/src/js/fc.js index bac0c8e4..d258f75f 100644 --- a/src/js/fc.js +++ b/src/js/fc.js @@ -26,6 +26,7 @@ var SERVO_RULES; var SERIAL_CONFIG; var SENSOR_DATA; var MOTOR_DATA; +var MOTOR_TELEMETRY_DATA; var SERVO_DATA; var GPS_DATA; var ANALOG; @@ -210,6 +211,15 @@ var FC = { MOTOR_DATA = new Array(8); SERVO_DATA = new Array(8); + MOTOR_TELEMETRY_DATA = { + rpm: [0, 0, 0, 0, 0, 0, 0, 0], + invalidPercent: [0, 0, 0, 0, 0, 0, 0, 0], + temperature: [0, 0, 0, 0, 0, 0, 0, 0], + voltage: [0, 0, 0, 0, 0, 0, 0, 0], + current: [0, 0, 0, 0, 0, 0, 0, 0], + consumption: [0, 0, 0, 0, 0, 0, 0, 0], + }; + GPS_DATA = { fix: 0, numSat: 0, @@ -277,6 +287,10 @@ var FC = { minthrottle: 0, maxthrottle: 0, mincommand: 0, + motor_count: 0, + motor_poles: 0, + use_dshot_telemetry: false, + use_esc_sensor: false, }; GPS_CONFIG = { diff --git a/src/js/msp/MSPCodes.js b/src/js/msp/MSPCodes.js index eeadb375..b0319e26 100644 --- a/src/js/msp/MSPCodes.js +++ b/src/js/msp/MSPCodes.js @@ -115,6 +115,8 @@ var MSPCodes = { MSP_VTXTABLE_BAND: 137, MSP_VTXTABLE_POWERLEVEL: 138, + MSP_MOTOR_TELEMETRY: 139, + MSP_STATUS_EX: 150, MSP_UID: 160, diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js index 487dc8c0..075cc2be 100644 --- a/src/js/msp/MSPHelper.js +++ b/src/js/msp/MSPHelper.js @@ -142,6 +142,17 @@ MspHelper.prototype.process_data = function(dataHandler) { MOTOR_DATA[i] = data.readU16(); } break; + case MSPCodes.MSP_MOTOR_TELEMETRY: + var telemMotorCount = data.readU8(); + for (let i = 0; i < telemMotorCount; i++) { + MOTOR_TELEMETRY_DATA.rpm[i] = data.readU32(); // RPM + MOTOR_TELEMETRY_DATA.invalidPercent[i] = data.readU16(); // 10000 = 100.00% + MOTOR_TELEMETRY_DATA.temperature[i] = data.readU8(); // degrees celsius + MOTOR_TELEMETRY_DATA.voltage[i] = data.readU16(); // 0.01V per unit + MOTOR_TELEMETRY_DATA.current[i] = data.readU16(); // 0.01A per unit + MOTOR_TELEMETRY_DATA.consumption[i] = data.readU16(); // mAh + } + break; case MSPCodes.MSP_RC: RC.active_channels = data.byteLength / 2; for (var i = 0; i < RC.active_channels; i++) { @@ -392,6 +403,12 @@ MspHelper.prototype.process_data = function(dataHandler) { MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000 MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000 MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000 + if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + MOTOR_CONFIG.motor_count = data.readU8(); + MOTOR_CONFIG.motor_poles = data.readU8(); + MOTOR_CONFIG.use_dshot_telemetry = data.readU8() != 0; + MOTOR_CONFIG.use_esc_sensor = data.readU8() != 0; + } break; case MSPCodes.MSP_COMPASS_CONFIG: COMPASS_CONFIG.mag_declination = data.read16() / 100; // -18000-18000 @@ -1608,7 +1625,10 @@ MspHelper.prototype.crunch = function(code) { buffer.push16(MOTOR_CONFIG.minthrottle) .push16(MOTOR_CONFIG.maxthrottle) .push16(MOTOR_CONFIG.mincommand); - break; + if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + buffer.push8(MOTOR_CONFIG.motor_poles); + } + break; case MSPCodes.MSP_SET_GPS_CONFIG: buffer.push8(GPS_CONFIG.provider) .push8(GPS_CONFIG.ublox_sbas); diff --git a/src/js/tabs/motors.js b/src/js/tabs/motors.js index 56c44326..abb5c108 100644 --- a/src/js/tabs/motors.js +++ b/src/js/tabs/motors.js @@ -45,7 +45,15 @@ TABS.motors.initialize = function (callback) { } function load_motor_data() { - MSP.send_message(MSPCodes.MSP_MOTOR, false, false, load_mixer_config); + MSP.send_message(MSPCodes.MSP_MOTOR, false, false, load_motor_telemetry_data); + } + + function load_motor_telemetry_data() { + if (MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor) { + MSP.send_message(MSPCodes.MSP_MOTOR_TELEMETRY, false, false, load_mixer_config); + } else { + load_mixer_config(); + } } function load_mixer_config() { @@ -216,6 +224,15 @@ TABS.motors.initialize = function (callback) { $('#motorsEnableTestMode').prop('checked', false); + if (semver.lt(CONFIG.apiVersion, "1.42.0") || !(MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor)) { + $(".motor_testing .telemetry").hide(); + } else { + // Hide telemetry from unused motors (to hide the tooltip in an empty blank space) + for (let i = MOTOR_CONFIG.motor_count; i < MOTOR_DATA.length; i++) { + $(".motor_testing .telemetry .motor-" + i).hide(); + } + } + update_model(MIXER_CONFIG.mixer); // Always start with default/empty sensor data array, clean slate all @@ -434,7 +451,7 @@ TABS.motors.initialize = function (callback) { } var motors_wrapper = $('.motors .bar-wrapper'), - servos_wrapper = $('.servos .bar-wrapper'); + servos_wrapper = $('.servos .bar-wrapper'); for (var i = 0; i < 8; i++) { motors_wrapper.append('\ @@ -592,7 +609,15 @@ TABS.motors.initialize = function (callback) { } function get_motor_data() { - MSP.send_message(MSPCodes.MSP_MOTOR, false, false, get_servo_data); + MSP.send_message(MSPCodes.MSP_MOTOR, false, false, get_motor_telemetry_data); + } + + function get_motor_telemetry_data() { + if (MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor) { + MSP.send_message(MSPCodes.MSP_MOTOR_TELEMETRY, false, false, get_servo_data); + } else { + get_servo_data(); + } } function get_servo_data() { @@ -618,6 +643,48 @@ TABS.motors.initialize = function (callback) { 'height' : height + 'px', 'background-color' : 'rgba(255,187,0,1.'+ color +')' }); + + if (i < MOTOR_CONFIG.motor_count && (MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor)) { + + const MAX_INVALID_PERCENT = 100, + MAX_VALUE_SIZE = 6; + + let rpmMotorValue = MOTOR_TELEMETRY_DATA.rpm[i]; + + // Reduce the size of the value if too big + if (rpmMotorValue > 999999) { + rpmMotorValue = (rpmMotorValue / 1000000).toFixed(5 - (rpmMotorValue / 1000000).toFixed(0).toString().length) + "M"; + } + + rpmMotorValue = rpmMotorValue.toString().padStart(MAX_VALUE_SIZE); + let telemetryText = i18n.getMessage('motorsRPM', {motorsRpmValue: rpmMotorValue}); + + + if (MOTOR_CONFIG.use_dshot_telemetry) { + + let invalidPercent = MOTOR_TELEMETRY_DATA.invalidPercent[i]; + + let classError = (invalidPercent > MAX_INVALID_PERCENT) ? "warning" : ""; + invalidPercent = (invalidPercent / 100).toFixed(2).toString().padStart(MAX_VALUE_SIZE); + + telemetryText += "
"; + telemetryText += i18n.getMessage('motorsRPMError', {motorsErrorValue: invalidPercent}); + telemetryText += ""; + } + + if (MOTOR_CONFIG.use_esc_sensor) { + + let escTemperature = MOTOR_TELEMETRY_DATA.temperature[i]; + + telemetryText += "
"; + escTemperature = escTemperature.toString().padStart(MAX_VALUE_SIZE); + telemetryText += i18n.getMessage('motorsESCTemperature', {motorsESCTempValue: escTemperature}); + } + + $('.motor_testing .telemetry .motor-' + i).html(telemetryText); + } + + } // servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly diff --git a/src/tabs/motors.html b/src/tabs/motors.html index 14599ab7..567a31f2 100644 --- a/src/tabs/motors.html +++ b/src/tabs/motors.html @@ -141,6 +141,19 @@
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