+
-
+
+
+
+
diff --git a/tabs/motors.js b/tabs/motors.js
index 9de84d13..8cbc1995 100644
--- a/tabs/motors.js
+++ b/tabs/motors.js
@@ -4,8 +4,18 @@ TABS.motors = {
allowTestMode: false,
feature3DEnabled: false,
feature3DSupported: false,
- escProtocolIsDshot: false
+ escProtocolIsDshot: false,
+ sensor: "gyro",
+ sensorGyroRate: 20,
+ sensorGyroScale: 2000,
+ sensorAccelRate: 20,
+ sensorAccelScale: 2,
+ sensorSelectValues: {
+ "gyroScale": {"50":50,"100":100,"200":200,"300":300,"400":400,"500":500,"1000":1000,"2000":2000},
+ "accelScale": {"0.05":0.05,"0.1":0.1,"0.2":0.2,"0.3":0.3,"0.4":0.4,"0.5":0.5,"1":1,"2":2}
+ }
};
+
TABS.motors.initialize = function (callback) {
var self = this;
@@ -13,7 +23,7 @@ TABS.motors.initialize = function (callback) {
self.feature3DSupported = false;
self.allowTestMode = true;
self.feature3DSupported = true;
-
+
if (GUI.active_tab != 'motors') {
GUI.active_tab = 'motors';
}
@@ -21,11 +31,11 @@ TABS.motors.initialize = function (callback) {
function get_arm_status() {
MSP.send_message(MSPCodes.MSP_STATUS, false, false, load_feature_config);
}
-
+
function load_feature_config() {
MSP.send_message(MSPCodes.MSP_FEATURE_CONFIG, false, false, load_motor_3d_config);
}
-
+
function load_motor_3d_config() {
MSP.send_message(MSPCodes.MSP_MOTOR_3D_CONFIG, false, false, load_esc_protocol);
}
@@ -57,6 +67,7 @@ TABS.motors.initialize = function (callback) {
function initSensorData() {
for (var i = 0; i < 3; i++) {
+ SENSOR_DATA.accelerometer[i] = 0;
SENSOR_DATA.gyroscope[i] = 0;
}
}
@@ -150,6 +161,7 @@ TABS.motors.initialize = function (callback) {
}
function drawGraph(graphHelpers, data, sampleNumber) {
+
var svg = d3.select(graphHelpers.selector);
if (graphHelpers.dynamicHeightDomain) {
@@ -176,18 +188,18 @@ TABS.motors.initialize = function (callback) {
function update_model(mixer) {
var reverse = "";
-
+
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
reverse = MIXER_CONFIG.reverseMotorDir ? "_reversed" : "";
}
-
+
$('.mixerPreview img').attr('src', './resources/motor_order/' + mixerList[mixer - 1].image + reverse + '.svg');
}
-
+
function process_html() {
// translate to user-selected language
localize();
-
+
update_arm_status();
self.feature3DEnabled = FEATURE_CONFIG.features.isEnabled('3D');
@@ -204,17 +216,25 @@ TABS.motors.initialize = function (callback) {
$('#motorsEnableTestMode').prop('checked', false)
.prop('disabled', true);
-
+
update_model(MIXER_CONFIG.mixer);
-
+
// Always start with default/empty sensor data array, clean slate all
initSensorData();
// Setup variables
var samples_gyro_i = 0,
- gyro_data = initDataArray(3),
- gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-2, 2]),
- gyro_max_read = [0, 0, 0];
+ gyro_data = initDataArray(3),
+ gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-2, 2]),
+ gyro_max_read = [0, 0, 0];
+
+ var samples_accel_i = 0,
+ accel_data = initDataArray(3),
+ accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-2, 2]),
+ accel_max_read = [0, 0, 0],
+ accel_offset = [0, 0, 0],
+ accel_offset_established = false;
+
var raw_data_text_ements = {
x: [],
@@ -237,69 +257,153 @@ TABS.motors.initialize = function (callback) {
});
// set refresh speeds according to configuration saved in storage
- chrome.storage.local.get('motors_tab_gyro_settings', function (result) {
- if (result.motors_tab_gyro_settings) {
- $('.tab-motors select[name="gyro_refresh_rate"]').val(result.motors_tab_gyro_settings.rate);
- $('.tab-motors select[name="gyro_scale"]').val(result.motors_tab_gyro_settings.scale);
-
- // start polling data by triggering refresh rate change event
- $('.tab-motors .rate select:first').change();
- } else {
- // start polling immediatly (as there is no configuration saved in the storage)
- $('.tab-motors .rate select:first').change();
+ chrome.storage.local.get(['motors_tab_sensor_settings', 'motors_tab_gyro_settings', 'motors_tab_accel_settings'], function (result) {
+ if (result.motors_tab_sensor_settings) {
+ var sensor = result.motors_tab_sensor_settings.sensor;
+ $('.tab-motors select[name="sensor_choice"]').val(result.motors_tab_sensor_settings.sensor);
}
+
+ if (result.motors_tab_gyro_settings) {
+ TABS.motors.sensorGyroRate = result.motors_tab_gyro_settings.rate;
+ TABS.motors.sensorGyroScale = result.motors_tab_gyro_settings.scale;
+ }
+
+ if (result.motors_tab_accel_settings) {
+ TABS.motors.sensorAccelRate = result.motors_tab_accel_settings.rate;
+ TABS.motors.sensorAccelScale = result.motors_tab_accel_settings.scale;
+ }
+ $('.tab-motors .sensor select:first').change();
+ });
+
+
+ function loadScaleSelector(selectorValues, selectedValue) {
+ $('.tab-motors select[name="scale"]').find('option').remove();
+
+ $.each(selectorValues, function(key, val) {
+ $('.tab-motors select[name="scale"]').append(new Option(key, val));
+ });
+
+ $('.tab-motors select[name="scale"]').val(selectedValue);
+ }
+
+ function selectRefresh(refreshValue){
+ $('.tab-motors select[name="rate"]').val(refreshValue);
+ }
+
+ $('.tab-motors .sensor select').change(function(){
+ TABS.motors.sensor = $('.tab-motors select[name="sensor_choice"]').val()
+ chrome.storage.local.set({'motors_tab_sensor_settings': {'sensor': TABS.motors.sensor}});
+
+ switch(TABS.motors.sensor){
+ case "gyro":
+ loadScaleSelector(TABS.motors.sensorSelectValues.gyroScale,
+ TABS.motors.sensorGyroScale);
+ selectRefresh(TABS.motors.sensorGyroRate);
+ break;
+ case "accel":
+ loadScaleSelector(TABS.motors.sensorSelectValues.accelScale,
+ TABS.motors.sensorAccelScale);
+ selectRefresh(TABS.motors.sensorAccelRate);
+ break;
+ }
+
+ $('.tab-motors .rate select:first').change();
});
+
$('.tab-motors .rate select, .tab-motors .scale select').change(function () {
- var rate = parseInt($('.tab-motors select[name="gyro_refresh_rate"]').val(), 10);
- var scale = parseFloat($('.tab-motors select[name="gyro_scale"]').val());
+ var rate = parseInt($('.tab-motors select[name="rate"]').val(), 10);
+ var scale = parseFloat($('.tab-motors select[name="scale"]').val());
- // store current/latest refresh rates in the storage
- chrome.storage.local.set({'motors_tab_gyro_settings': {'rate': rate, 'scale': scale}});
+ GUI.interval_kill_all(['motor_and_status_pull']);
- gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-scale, scale]);
+ switch(TABS.motors.sensor) {
+ case "gyro":
+ chrome.storage.local.set({'motors_tab_gyro_settings': {'rate': rate, 'scale': scale}});
+ TABS.motors.sensorGyroRate = rate;
+ TABS.motors.sensorGyroScale = scale;
- // timer initialization
- GUI.interval_kill_all(['motor_and_status_pull']);
+ gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-scale, scale]);
- GUI.interval_add('IMU_pull', function imu_data_pull() {
- MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_gyro_graph);
- }, rate, true);
+ GUI.interval_add('IMU_pull', function imu_data_pull() {
+ MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_gyro_graph);
+ }, rate, true);
+ break;
+ case "accel":
+ chrome.storage.local.set({'motors_tab_accel_settings': {'rate': rate, 'scale': scale}});
+ TABS.motors.sensorAccelRate = rate;
+ TABS.motors.sensorAccelScale = scale;
+ accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-scale, scale]);
- function update_gyro_graph() {
- var gyro = [
- SENSOR_DATA.gyroscope[0],
- SENSOR_DATA.gyroscope[1],
- SENSOR_DATA.gyroscope[2]
- ];
+ GUI.interval_add('IMU_pull', function imu_data_pull() {
+ MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_accel_graph);
+ }, rate, true);
+ break;
+ }
- updateGraphHelperSize(gyroHelpers);
- samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, gyro);
- drawGraph(gyroHelpers, gyro_data, samples_gyro_i);
+ function update_accel_graph() {
+ if (!accel_offset_established) {
+ for (var i = 0; i < 3; i++) {
+ accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1;
+ }
- // Compute RMS of gyroscope readings in displayed period of time
- // This is particularly useful for motor balancing as it
- // eliminates the need for external tools
- var sum = 0.0;
- for (var j = 0; j < gyro_data.length; j++)
- for (var k = 0; k < gyro_data[j].length; k++)
- sum += gyro_data[j][k][1]*gyro_data[j][k][1];
- var rms = Math.sqrt(sum/(gyro_data[0].length+gyro_data[1].length+gyro_data[2].length));
+ accel_offset_established = true;
+ }
- raw_data_text_ements.x[0].text(gyro[0].toFixed(2) + ' (' + gyro_max_read[0].toFixed(2) + ')');
- raw_data_text_ements.y[0].text(gyro[1].toFixed(2) + ' (' + gyro_max_read[1].toFixed(2) + ')');
- raw_data_text_ements.z[0].text(gyro[2].toFixed(2) + ' (' + gyro_max_read[2].toFixed(2) + ')');
- raw_data_text_ements.rms[0].text(rms.toFixed(4));
+ var accel_with_offset = [
+ accel_offset[0] + SENSOR_DATA.accelerometer[0],
+ accel_offset[1] + SENSOR_DATA.accelerometer[1],
+ accel_offset[2] + SENSOR_DATA.accelerometer[2]
+ ];
- for (var i = 0; i < 3; i++) {
- if (Math.abs(gyro[i]) > Math.abs(gyro_max_read[i])) gyro_max_read[i] = gyro[i];
- }
+ updateGraphHelperSize(accel_helpers);
+ samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset);
+ drawGraph(accel_helpers, accel_data, samples_accel_i);
+ for (var i = 0; i < 3; i++) {
+ if (Math.abs(accel_with_offset[i]) > Math.abs(accel_max_read[i])) accel_max_read[i] = accel_with_offset[i];
+ }
+ computeAndUpdate(accel_with_offset, accel_data, accel_max_read);
+
+ }
+
+ function update_gyro_graph() {
+ var gyro = [
+ SENSOR_DATA.gyroscope[0],
+ SENSOR_DATA.gyroscope[1],
+ SENSOR_DATA.gyroscope[2]
+ ];
+
+ updateGraphHelperSize(gyro_helpers);
+ samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, gyro);
+ drawGraph(gyro_helpers, gyro_data, samples_gyro_i);
+ for (var i = 0; i < 3; i++) {
+ if (Math.abs(gyro[i]) > Math.abs(gyro_max_read[i])) gyro_max_read[i] = gyro[i];
+ }
+ computeAndUpdate(gyro, gyro_data, gyro_max_read);
+ }
+
+ function computeAndUpdate(sensor_data, data, max_read) {
+ var sum = 0.0;
+ for (var j = 0, jlength = data.length; j < jlength; j++) {
+ for (var k = 0, klength = data[j].length; k < klength; k++){
+ sum += data[j][k][1]*data[j][k][1];
+ }
+ }
+ var rms = Math.sqrt(sum/(data[0].length+data[1].length+data[2].length));
+
+ raw_data_text_ements.x[0].text(sensor_data[0].toFixed(2) + ' (' + max_read[0].toFixed(2) + ')');
+ raw_data_text_ements.y[0].text(sensor_data[1].toFixed(2) + ' (' + max_read[1].toFixed(2) + ')');
+ raw_data_text_ements.z[0].text(sensor_data[2].toFixed(2) + ' (' + max_read[2].toFixed(2) + ')');
+ raw_data_text_ements.rms[0].text(rms.toFixed(4));
}
});
- $('a.reset_gyro_max').click(function () {
- gyro_max_read = [0, 0, 0];
- });
+
+ $('a.reset_max').click(function () {
+ gyro_max_read = [0, 0, 0];
+ accel_max_read = [0, 0, 0];
+ accel_offset_established = false;
+ });
var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8;
@@ -337,24 +441,24 @@ TABS.motors.initialize = function (callback) {
$('div.sliders input').prop('min', MOTOR_CONFIG.mincommand)
.prop('max', MOTOR_CONFIG.maxthrottle);
$('div.values li:not(:last)').text(MOTOR_CONFIG.mincommand);
-
+
if(self.feature3DEnabled && self.feature3DSupported) {
//Arbitrary sanity checks
//Note: values may need to be revisited
if(MOTOR_3D_CONFIG.neutral > 1575 || MOTOR_3D_CONFIG.neutral < 1425)
MOTOR_3D_CONFIG.neutral = 1500;
-
+
$('div.sliders input').val(MOTOR_3D_CONFIG.neutral);
} else {
- $('div.sliders input').val(MOTOR_CONFIG.mincommand);
+ $('div.sliders input').val(MOTOR_CONFIG.mincommand);
}
- if(self.allowTestMode){
+ if(self.allowTestMode){
// UI hooks
var buffering_set_motor = [],
buffer_delay = false;
$('div.sliders input:not(.master)').on('input', function () {
-
+
var index = $(this).index(),
buffer = [],
i;
@@ -365,20 +469,20 @@ TABS.motors.initialize = function (callback) {
var val = parseInt($('div.sliders input').eq(i).val());
buffer.push16(val);
}
-
+
buffering_set_motor.push(buffer);
if (!buffer_delay) {
buffer_delay = setTimeout(function () {
buffer = buffering_set_motor.pop();
-
+
MSP.send_message(MSPCodes.MSP_SET_MOTOR, buffer);
buffering_set_motor = [];
buffer_delay = false;
}, 10);
}
- });
+ });
}
$('div.sliders input.master').on('input', function () {
@@ -406,7 +510,7 @@ TABS.motors.initialize = function (callback) {
$('div.sliders input').val(MOTOR_CONFIG.mincommand);
}
- $('div.sliders input').trigger('input');
+ $('div.sliders input').trigger('input');
}
});
@@ -455,9 +559,9 @@ TABS.motors.initialize = function (callback) {
}
$('#motorsEnableTestMode').change();
-
+
// data pulling functions used inside interval timer
-
+
function get_status() {
// status needed for arming flag
MSP.send_message(MSPCodes.MSP_STATUS, false, false, get_motor_data);
@@ -480,9 +584,9 @@ TABS.motors.initialize = function (callback) {
full_block_scale = MOTOR_CONFIG.maxthrottle - MOTOR_CONFIG.mincommand;
motorOffset = MOTOR_CONFIG.mincommand;
}
-
- function update_ui() {
- var previousArmState = self.armed;
+
+ function update_ui() {
+ var previousArmState = self.armed;
var block_height = $('div.m-block:first').height();
for (var i = 0; i < MOTOR_DATA.length; i++) {
@@ -511,21 +615,21 @@ TABS.motors.initialize = function (callback) {
$('.servo-' + i + ' .indicator', servos_wrapper).css({'margin-top' : margin_top + 'px', 'height' : height + 'px', 'background-color' : 'rgba(255,187,0,1'+ color +')'});
}
//keep the following here so at least we get a visual cue of our motor setup
- update_arm_status();
+ update_arm_status();
if (!self.allowTestMode) return;
-
+
if (self.armed) {
$('#motorsEnableTestMode').prop('disabled', true)
.prop('checked', false);
} else {
if (self.allowTestMode) {
- $('#motorsEnableTestMode').prop('disabled', false);
+ $('#motorsEnableTestMode').prop('disabled', false);
}
}
if (previousArmState != self.armed) {
console.log('arm state change detected');
- $('#motorsEnableTestMode').change();
+ $('#motorsEnableTestMode').change();
}
}