diff --git a/css/style.css b/css/style.css
index ac5e7e20..74aef0ae 100644
--- a/css/style.css
+++ b/css/style.css
@@ -203,18 +203,18 @@ a:hover {
border: 1px dotted silver;
}
-table.pid_tuning {
+.tab-pid_tuning table {
width: 100%;
border-collapse:collapse;
}
- table.pid_tuning, table.pid_tuning th, table.pid_tuning td {
+ .tab-pid_tuning table, .tab-pid_tuning table th, .tab-pid_tuning table td {
padding: 5px;
border: 1px solid #8b8b8b;
}
- table.pid_tuning tr:nth-child(odd) {
+ .tab-pid_tuning table tr:nth-child(odd) {
background-color: #ececec;
}
- table.pid_tuning input {
+ .tab-pid_tuning table input {
width: 130px;
height: 18px;
line-height: 18px;
@@ -223,27 +223,12 @@ table.pid_tuning {
border: 1px solid silver;
text-align: right;
}
- table.pid_tuning a.update {
- display: block;
-
- width: 60px;
- height: 18px;
- line-height: 18px;
-
- color: white;
- text-align: center;
-
- border: 1px solid silver;
- background-color: #078814;
- }
- table.pid_tuning a.update:hover {
- text-decoration: none;
- background-color: #13b723;
- }
.tab-pid_tuning .update {
display: block;
float: right;
+ margin-top: 20px;
+
width: 120px;
height: 60px;
line-height: 60px;
@@ -266,6 +251,11 @@ table.pid_tuning {
cursor: pointer;
background-color: #13d81d;
}
+ .tab-pid_tuning .rate-tpa {
+ float: left;
+ width: 400px;
+ margin-top: 20px;
+ }
.tab-receiver {
}
.tab-receiver .bars ul {
diff --git a/js/main.js b/js/main.js
index 50cd43de..83f7114f 100644
--- a/js/main.js
+++ b/js/main.js
@@ -26,6 +26,9 @@ $(document).ready(function() {
}
}
});
+
+ // temporary
+ //$('#content').load("./tabs/pid_tuning.html", tab_initialize_pid_tuning);
});
function disable_timers() {
diff --git a/js/serial_backend.js b/js/serial_backend.js
index 45134a5a..99989181 100644
--- a/js/serial_backend.js
+++ b/js/serial_backend.js
@@ -65,6 +65,16 @@ var RC = {
AUX4: 0
};
+var RC_tuning = {
+ RC_RATE: 0,
+ RC_EXPO: 0,
+ roll_pitch_rate: 0,
+ yaw_rate: 0,
+ dynamic_THR_PID: 0,
+ throttle_MID: 0,
+ throttle_EXPO: 0,
+};
+
var SENSOR_DATA = {
gyroscope: [0, 0, 0],
accelerometer: [0, 0, 0],
@@ -154,6 +164,7 @@ function onOpen(openInfo) {
send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT);
send_message(MSP_codes.MSP_STATUS, MSP_codes.MSP_STATUS);
send_message(MSP_codes.MSP_PID, MSP_codes.MSP_PID);
+ send_message(MSP_codes.MSP_RC_TUNING, MSP_codes.MSP_RC_TUNING);
}, connection_delay * 1000);
}
@@ -260,9 +271,9 @@ function onCharRead(readInfo) {
}
}
-function send_message(code, data, bytes_n) {
+function send_message(code, data) {
if (typeof data === 'object') {
- var size = 6 + bytes_n;
+ var size = 6 + data.length; // 6 bytes for protocol overhead
var checksum = 0;
var bufferOut = new ArrayBuffer(size);
@@ -275,10 +286,11 @@ function send_message(code, data, bytes_n) {
bufView[4] = code; // code
checksum = bufView[3] ^ bufView[4];
- for (var i = 5; i < data.length; i++) {
- bufView[i] = data[i - 5];
+
+ for (var i = 0; i < data.length; i++) {
+ bufView[i + 5] = data[i];
- checksum ^= bufView[i];
+ checksum ^= bufView[i + 5];
}
bufView[5 + data.length] = checksum;
@@ -289,7 +301,7 @@ function send_message(code, data, bytes_n) {
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
- bufView[3] = bytes_n; // data length
+ bufView[3] = 0; // data length
bufView[4] = code; // code
bufView[5] = data; // data
bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
@@ -366,7 +378,13 @@ function process_message(code, data) {
console.log(data);
break;
case MSP_codes.MSP_RC_TUNING:
- console.log(data);
+ RC_tuning.RC_RATE = parseFloat((view.getUint8(0) / 100).toFixed(2));
+ RC_tuning.RC_EXPO = parseFloat((view.getUint8(1) / 100).toFixed(2));
+ RC_tuning.roll_pitch_rate = parseFloat((view.getUint8(2) / 100).toFixed(2));
+ RC_tuning.yaw_rate = parseFloat((view.getUint8(3) / 100).toFixed(2));
+ RC_tuning.dynamic_THR_PID = parseFloat((view.getUint8(4) / 100).toFixed(2));
+ RC_tuning.throttle_MID = parseFloat((view.getUint8(5) / 100).toFixed(2));
+ RC_tuning.throttle_EXPO = parseFloat((view.getUint8(6) / 100).toFixed(2));
break;
case MSP_codes.MSP_PID:
// PID data arrived, we need to scale it and save to appropriate bank / array
@@ -428,7 +446,7 @@ function process_message(code, data) {
console.log(data);
break;
case MSP_codes.MSP_SET_RC_TUNING:
- console.log(data);
+ console.log('RC Tuning saved');
break;
case MSP_codes.MSP_ACC_CALIBRATION:
console.log('Accel calibration executed');
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index 44b7265b..2b928d14 100644
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -12,7 +12,6 @@
|
|
-
| PITCH |
|
@@ -59,5 +58,17 @@
|
+
Update
\ No newline at end of file
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index 50e09764..698209fd 100644
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -56,9 +56,13 @@ function tab_initialize_pid_tuning() {
});
needle++;
- // UI Hooks
+ // Fill in data from RC_tuning object
+ $('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
+ $('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
+ $('.rate-tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
- $('.pid_tuning input').change(function() {
+ // UI Hooks
+ $('.pid_tuning input, .rate-tpa input').change(function() {
// if any of the fields changed, unlock update button
$('a.update').addClass('active');
});
@@ -120,18 +124,27 @@ function tab_initialize_pid_tuning() {
break;
}
PID_buffer_needle += 3;
-
- /*
- for (var ii = 0; ii < PIDs[i].length; ii++) {
- PID_buffer_out[PID_buffer_needle] = PIDs[i][ii];
- PID_buffer_needle++;
- }
- */
}
- //console.log(PID_buffer_out);
- // Send over the changes
- send_message(MSP_codes.MSP_SET_PID, PID_buffer_out, PID_buffer_out.length);
+ // Send over the PID changes
+ send_message(MSP_codes.MSP_SET_PID, PID_buffer_out);
+
+ // catch RC_tuning changes
+ RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
+ RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]').val());
+ RC_tuning.dynamic_THR_PID = parseFloat($('.rate-tpa input[name="tpa"]').val());
+
+ var RC_tuning_buffer_out = new Array();
+ RC_tuning_buffer_out[0] = parseInt(RC_tuning.RC_RATE * 100);
+ RC_tuning_buffer_out[1] = parseInt(RC_tuning.RC_EXPO * 100);
+ RC_tuning_buffer_out[2] = parseInt(RC_tuning.roll_pitch_rate * 100);
+ RC_tuning_buffer_out[3] = parseInt(RC_tuning.yaw_rate * 100);
+ RC_tuning_buffer_out[4] = parseInt(RC_tuning.dynamic_THR_PID * 100);
+ RC_tuning_buffer_out[5] = parseInt(RC_tuning.throttle_MID * 100);
+ RC_tuning_buffer_out[6] = parseInt(RC_tuning.throttle_EXPO * 100);
+
+ // Send over the RC_tuning changes
+ send_message(MSP_codes.MSP_SET_RC_TUNING, RC_tuning_buffer_out);
// remove the active status
$(this).removeClass('active');