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Updated to MSP API v1.42 & rebased onto master.

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This commit is contained in:
Ian Murphy 2019-04-12 20:33:50 +01:00
parent d912de75f1
commit 991c051e80
5 changed files with 42 additions and 31 deletions
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22
src/js/RateCurve.js
View file

@ -24,7 +24,7 @@ var RateCurve = function (useLegacyCurve) {
return result; return result;
}; };
this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, deadband, maxAngularVel, context, width, height) { this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, deadband, limit, maxAngularVel, context, width, height) {
var canvasHeightScale = height / (2 * maxAngularVel); var canvasHeightScale = height / (2 * maxAngularVel);
var stepWidth = context.lineWidth; var stepWidth = context.lineWidth;
@ -34,10 +34,10 @@ var RateCurve = function (useLegacyCurve) {
context.beginPath(); context.beginPath();
var rcData = minRc; var rcData = minRc;
context.moveTo(-500, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband)); context.moveTo(-500, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit));
rcData = rcData + stepWidth; rcData = rcData + stepWidth;
while (rcData <= maxRc) { while (rcData <= maxRc) {
context.lineTo(rcData - midRc, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband)); context.lineTo(rcData - midRc, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit));
rcData = rcData + stepWidth; rcData = rcData + stepWidth;
} }
@ -58,12 +58,12 @@ var RateCurve = function (useLegacyCurve) {
context.stroke(); context.stroke();
} }
this.drawStickPosition = function (rcData, rate, rcRate, rcExpo, superExpoActive, deadband, maxAngularVel, context, stickColor) { this.drawStickPosition = function (rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit, maxAngularVel, context, stickColor) {
const DEFAULT_SIZE = 60; // canvas units, relative size of the stick indicator (larger value is smaller indicator) const DEFAULT_SIZE = 60; // canvas units, relative size of the stick indicator (larger value is smaller indicator)
const rateScaling = (context.canvas.height / 2) / maxAngularVel; const rateScaling = (context.canvas.height / 2) / maxAngularVel;
var currentValue = this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband); var currentValue = this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit);
if(rcData!=undefined) { if(rcData!=undefined) {
context.save(); context.save();
@ -80,7 +80,7 @@ var RateCurve = function (useLegacyCurve) {
}; };
RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive, deadband) { RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive, deadband, limit) {
var angleRate; var angleRate;
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) { if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
if (rcRate > 2) { if (rcRate > 2) {
@ -113,16 +113,16 @@ RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcR
angleRate = (((rate * 100) + 27) * rcCommandf / 16) / 4.1; // Only applies to old versions ? angleRate = (((rate * 100) + 27) * rcCommandf / 16) / 4.1; // Only applies to old versions ?
} }
angleRate = this.constrain(angleRate, -1998, 1998); // Rate limit protection angleRate = this.constrain(angleRate, -1 * limit, limit); // Rate limit from profile
} }
return angleRate; return angleRate;
}; };
RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive, deadband) { RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive, deadband, limit) {
var maxAngularVel; var maxAngularVel;
if (!this.useLegacyCurve) { if (!this.useLegacyCurve) {
maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive, deadband); maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive, deadband, limit);
} }
return maxAngularVel; return maxAngularVel;
@ -134,7 +134,7 @@ RateCurve.prototype.setMaxAngularVel = function (value) {
}; };
RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, deadband, maxAngularVel, context) { RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, deadband, limit, maxAngularVel, context) {
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) { if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
var height = context.canvas.height; var height = context.canvas.height;
var width = context.canvas.width; var width = context.canvas.width;
@ -142,7 +142,7 @@ RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, dead
if (this.useLegacyCurve) { if (this.useLegacyCurve) {
this.drawLegacyRateCurve(rate, rcRate, rcExpo, context, width, height); this.drawLegacyRateCurve(rate, rcRate, rcExpo, context, width, height);
} else { } else {
this.drawRateCurve(rate, rcRate, rcExpo, superExpoActive, deadband, maxAngularVel, context, width, height); this.drawRateCurve(rate, rcRate, rcExpo, superExpoActive, deadband, limit, maxAngularVel, context, width, height);
} }
} }
}; };

3
src/js/fc.js
View file

@ -169,6 +169,9 @@ var FC = {
rcYawRate: 0, rcYawRate: 0,
rcPitchRate: 0, rcPitchRate: 0,
RC_PITCH_EXPO: 0, RC_PITCH_EXPO: 0,
roll_rate_limit: 1998,
pitch_rate_limit: 1998,
yaw_rate_limit: 1998,
}; };
AUX_CONFIG = []; AUX_CONFIG = [];

5
src/js/msp/MSPHelper.js
View file

@ -337,6 +337,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
RC_tuning.throttleLimitType = data.readU8(); RC_tuning.throttleLimitType = data.readU8();
RC_tuning.throttleLimitPercent = data.readU8(); RC_tuning.throttleLimitPercent = data.readU8();
} }
if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
RC_tuning.roll_rate_limit = data.readU16();
RC_tuning.pitch_rate_limit = data.readU16();
RC_tuning.yaw_rate_limit = data.readU16();
}
break; break;
case MSPCodes.MSP_PID: case MSPCodes.MSP_PID:
// PID data arrived, we need to scale it and save to appropriate bank / array // PID data arrived, we need to scale it and save to appropriate bank / array

37
src/js/tabs/pid_tuning.js
View file

@ -765,18 +765,18 @@ TABS.pid_tuning.initialize = function (callback) {
self.rateCurve = new RateCurve(useLegacyCurve); self.rateCurve = new RateCurve(useLegacyCurve);
function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, maxAngularVelElement) { function printMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVelElement) {
var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband).toFixed(0); var maxAngularVel = self.rateCurve.getMaxAngularVel(rate, rcRate, rcExpo, useSuperExpo, deadband, limit).toFixed(0);
maxAngularVelElement.text(maxAngularVel); maxAngularVelElement.text(maxAngularVel);
return maxAngularVel; return maxAngularVel;
} }
function drawCurve(rate, rcRate, rcExpo, useSuperExpo, deadband, maxAngularVel, colour, yOffset, context) { function drawCurve(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVel, colour, yOffset, context) {
context.save(); context.save();
context.strokeStyle = colour; context.strokeStyle = colour;
context.translate(0, yOffset); context.translate(0, yOffset);
self.rateCurve.draw(rate, rcRate, rcExpo, useSuperExpo, deadband, maxAngularVel, context); self.rateCurve.draw(rate, rcRate, rcExpo, useSuperExpo, deadband, limit, maxAngularVel, context);
context.restore(); context.restore();
} }
@ -808,7 +808,10 @@ TABS.pid_tuning.initialize = function (callback) {
rc_pitch_expo: RC_tuning.RC_PITCH_EXPO, rc_pitch_expo: RC_tuning.RC_PITCH_EXPO,
superexpo: FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'), superexpo: FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'),
deadband: RC_DEADBAND_CONFIG.deadband, deadband: RC_DEADBAND_CONFIG.deadband,
yawDeadband: RC_DEADBAND_CONFIG.yaw_deadband yawDeadband: RC_DEADBAND_CONFIG.yaw_deadband,
roll_rate_limit: RC_tuning.roll_rate_limit,
pitch_rate_limit: RC_tuning.pitch_rate_limit,
yaw_rate_limit: RC_tuning.yaw_rate_limit
}; };
if (semver.lt(CONFIG.apiVersion, "1.7.0")) { if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
@ -1201,9 +1204,9 @@ TABS.pid_tuning.initialize = function (callback) {
if (!useLegacyCurve) { if (!useLegacyCurve) {
maxAngularVel = Math.max( maxAngularVel = Math.max(
printMaxAngularVel(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.maxAngularVelRollElement), printMaxAngularVel(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.roll_rate_limit, self.maxAngularVelRollElement),
printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.maxAngularVelPitchElement), printMaxAngularVel(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.pitch_rate_limit, self.maxAngularVelPitchElement),
printMaxAngularVel(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.maxAngularVelYawElement)); printMaxAngularVel(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.currentRates.yaw_rate_limit, self.maxAngularVelYawElement));
// make maxAngularVel multiple of 200deg/s so that the auto-scale doesn't keep changing for small changes of the maximum curve // make maxAngularVel multiple of 200deg/s so that the auto-scale doesn't keep changing for small changes of the maximum curve
maxAngularVel = self.rateCurve.setMaxAngularVel(maxAngularVel); maxAngularVel = self.rateCurve.setMaxAngularVel(maxAngularVel);
@ -1215,9 +1218,9 @@ TABS.pid_tuning.initialize = function (callback) {
} }
curveContext.lineWidth = 2 * lineScale; curveContext.lineWidth = 2 * lineScale;
drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, '#ff0000', 0, curveContext); drawCurve(self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.roll_rate_limit, maxAngularVel, '#ff0000', 0, curveContext);
drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, '#00ff00', -4, curveContext); drawCurve(self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.pitch_rate_limit, maxAngularVel, '#00ff00', -4, curveContext);
drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, maxAngularVel, '#0000ff', 4, curveContext); drawCurve(self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.currentRates.yaw_rate_limit, maxAngularVel, '#0000ff', 4, curveContext);
self.updateRatesLabels(); self.updateRatesLabels();
@ -1443,9 +1446,9 @@ TABS.pid_tuning.renderModel = function () {
if (RC.channels[0] && RC.channels[1] && RC.channels[2]) { if (RC.channels[0] && RC.channels[1] && RC.channels[2]) {
var delta = this.clock.getDelta(); var delta = this.clock.getDelta();
var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband), var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.roll_rate_limit),
pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], this.currentRates.pitch_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband), pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], this.currentRates.pitch_rate, this.currentRates.rc_rate_pitch, this.currentRates.rc_pitch_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.pitch_rate_limit),
yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], this.currentRates.yaw_rate, this.currentRates.rc_rate_yaw, this.currentRates.rc_yaw_expo, this.currentRates.superexpo, this.currentRates.yawDeadband); yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], this.currentRates.yaw_rate, this.currentRates.rc_rate_yaw, this.currentRates.rc_yaw_expo, this.currentRates.superexpo, this.currentRates.yawDeadband, this.currentRates.yaw_rate_limit);
this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll)); this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));
@ -1724,9 +1727,9 @@ TABS.pid_tuning.updateRatesLabels = function() {
} }
if(RC.channels[0] && RC.channels[1] && RC.channels[2]) { if(RC.channels[0] && RC.channels[1] && RC.channels[2]) {
currentValues.push(self.rateCurve.drawStickPosition(RC.channels[0], self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, stickContext, '#FF8080') + ' deg/s'); currentValues.push(self.rateCurve.drawStickPosition(RC.channels[0], self.currentRates.roll_rate, self.currentRates.rc_rate, self.currentRates.rc_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.roll_rate_limit, maxAngularVel, stickContext, '#FF8080') + ' deg/s');
currentValues.push(self.rateCurve.drawStickPosition(RC.channels[1], self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, maxAngularVel, stickContext, '#80FF80') + ' deg/s'); currentValues.push(self.rateCurve.drawStickPosition(RC.channels[1], self.currentRates.pitch_rate, self.currentRates.rc_rate_pitch, self.currentRates.rc_pitch_expo, self.currentRates.superexpo, self.currentRates.deadband, self.currentRates.pitch_rate_limit, maxAngularVel, stickContext, '#80FF80') + ' deg/s');
currentValues.push(self.rateCurve.drawStickPosition(RC.channels[2], self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, maxAngularVel, stickContext, '#8080FF') + ' deg/s'); currentValues.push(self.rateCurve.drawStickPosition(RC.channels[2], self.currentRates.yaw_rate, self.currentRates.rc_rate_yaw, self.currentRates.rc_yaw_expo, self.currentRates.superexpo, self.currentRates.yawDeadband, self.currentRates.yaw_rate_limit, maxAngularVel, stickContext, '#8080FF') + ' deg/s');
} else { } else {
currentValues = []; currentValues = [];
} }

6
src/js/tabs/receiver.js
View file

@ -574,9 +574,9 @@ TABS.receiver.renderModel = function () {
if (RC.channels[0] && RC.channels[1] && RC.channels[2]) { if (RC.channels[0] && RC.channels[1] && RC.channels[2]) {
var delta = this.clock.getDelta(); var delta = this.clock.getDelta();
var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], RC_tuning.roll_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo, this.deadband), var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], RC_tuning.roll_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo, this.deadband, RC_tuning.roll_rate_limit),
pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], RC_tuning.pitch_rate, RC_tuning.rcPitchRate, RC_tuning.RC_PITCH_EXPO, this.useSuperExpo, this.deadband), pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], RC_tuning.pitch_rate, RC_tuning.rcPitchRate, RC_tuning.RC_PITCH_EXPO, this.useSuperExpo, this.deadband, RC_tuning.pitch_rate_limit),
yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], RC_tuning.yaw_rate, RC_tuning.rcYawRate, RC_tuning.RC_YAW_EXPO, this.useSuperExpo, this.yawDeadband); yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], RC_tuning.yaw_rate, RC_tuning.rcYawRate, RC_tuning.RC_YAW_EXPO, this.useSuperExpo, this.yawDeadband, RC_tuning.yaw_rate_limit);
this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll)); this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));
} }