mirror of
https://github.com/betaflight/betaflight-configurator.git
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Merge pull request #2235 from limonspb/motor_reordering_extra_configs
Added missing configurations for motor reordering (Octo X8, Octo Flat +, Octo Flat X, Bicopter, V-tail Quad, A-tail Quad, Y4, Y6)
This commit is contained in:
Michael Keller
GitHub
commit
e96a01f682
2 changed files with 391 additions and 127 deletions
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@ -70,10 +70,11 @@ class MotorOutputReorderCanvas
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{
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this._ctx.clearRect(-this._width / 2, -this._height / 2, this._width, this._height);
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this._drawBottomMotors();
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this._drawFrame();
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this._drawDirectionArrow();
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this._markMotors();
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this._drawMotors();
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this._drawTopMotors();
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if (this._keepDrawing) {
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window.requestAnimationFrame(() =>
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@ -183,6 +184,7 @@ class MotorOutputReorderCanvas
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let result = -1;
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let currentDist = Number.MAX_SAFE_INTEGER;
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let resultTopMotors = -1;
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const motors = this._config[this._droneConfiguration].Motors;
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for (let i = 0; i < motors.length; i++) {
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@ -191,26 +193,85 @@ class MotorOutputReorderCanvas
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if (dist < this._config[this._droneConfiguration].PropRadius && dist < currentDist) {
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currentDist = dist;
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result = i;
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if ('top' in motors[i]) {
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resultTopMotors = i;
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}
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}
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}
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if (resultTopMotors > -1) { // priority for top motors
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result = resultTopMotors;
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}
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return result;
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}
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_drawMotors()
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_drawTopMotors()
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{
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this._drawMotors(false);
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}
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this._ctx.lineWidth = this._config.PropEdgeLineWidth;
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this._ctx.strokeStyle = this._config.PropEdgeColor;
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_drawBottomMotors()
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{
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this._drawMotors(true);
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this._clipTopMotors();
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}
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_clipTopMotors()
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{
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const motors = this._config[this._droneConfiguration].Motors;
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for (let i = 0; i < motors.length; i++) {
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this._ctx.beginPath();
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this._ctx.arc(motors[i].x, motors[i].y, this._config[this._droneConfiguration].PropRadius, 0, 2 * Math.PI);
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this._ctx.stroke();
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if ('top' in motors[i]) {
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this._clipSingleMotor(i);
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}
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}
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}
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_drawMotors(drawBottom)
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{
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this._ctx.lineWidth = this._config.PropEdgeLineWidth;
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this._ctx.strokeStyle = this._config.PropEdgeColor;
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const motors = this._config[this._droneConfiguration].Motors;
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this._ctx.fillStyle = this._config.PropColor;
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for (let i = 0; i < motors.length; i++) {
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const drawCurrentMotor = 'bottom' in motors[i] === drawBottom;
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if (drawCurrentMotor) {
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this._drawSingleMotor(i);
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}
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}
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}
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_clipSingleMotor(motorIndex)
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{
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this._ctx.save();
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const motor = this._config[this._droneConfiguration].Motors[motorIndex];
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this._ctx.beginPath();
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const propRadius = this._config[this._droneConfiguration].PropRadius;
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this._arcSingleMotor(motorIndex);
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this._ctx.clip();
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this._ctx.clearRect(motor.x - propRadius, motor.y - propRadius, propRadius * 2, propRadius * 2);
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this._ctx.closePath();
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this._ctx.restore();
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}
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_drawSingleMotor(motorIndex)
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{
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this._ctx.beginPath();
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this._arcSingleMotor(motorIndex);
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this._ctx.stroke();
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this._ctx.closePath();
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}
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_arcSingleMotor(motorIndex)
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{
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const motor = this._config[this._droneConfiguration].Motors[motorIndex];
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this._ctx.arc(motor.x, motor.y, this._config[this._droneConfiguration].PropRadius, 0, 2 * Math.PI);
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}
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_drawDirectionArrow()
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{
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this._ctx.beginPath();
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@ -236,6 +297,7 @@ class MotorOutputReorderCanvas
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switch(this._droneConfiguration) {
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case "Quad X":
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case "Quad +":
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case "Octo X8":
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this._ctx.moveTo(motors[0].x, motors[0].y);
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this._ctx.lineTo(motors[3].x, motors[3].y);
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this._ctx.moveTo(motors[1].x, motors[1].y);
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@ -262,7 +324,52 @@ class MotorOutputReorderCanvas
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this._ctx.moveTo(motors[4].x, motors[4].y);
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this._ctx.lineTo(motors[5].x, motors[5].y);
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break;
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}
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case "Octo Flat +":
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case "Octo Flat X":
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this._ctx.moveTo(motors[0].x, motors[0].y);
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this._ctx.lineTo(motors[2].x, motors[2].y);
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this._ctx.moveTo(motors[1].x, motors[1].y);
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this._ctx.lineTo(motors[3].x, motors[3].y);
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this._ctx.moveTo(motors[4].x, motors[4].y);
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this._ctx.lineTo(motors[6].x, motors[6].y);
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this._ctx.moveTo(motors[5].x, motors[5].y);
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this._ctx.lineTo(motors[7].x, motors[7].y);
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break;
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case "Bicopter":
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this._ctx.moveTo(motors[0].x, motors[0].y);
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this._ctx.lineTo(motors[1].x, motors[1].y);
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break;
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case "V-tail Quad":
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this._ctx.moveTo(motors[0].x, motors[0].y);
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this._ctx.lineTo(0, motors[0].y * 1.3);
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this._ctx.lineTo(motors[2].x, motors[2].y);
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this._ctx.moveTo(0, motors[0].y * 1.3);
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this._ctx.lineTo(0, motors[1].y);
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this._ctx.moveTo(motors[1].x, motors[1].y);
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this._ctx.lineTo(motors[3].x, motors[3].y);
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break;
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case "A-tail Quad":
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this._ctx.moveTo(motors[0].x, motors[0].y);
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this._ctx.lineTo(0, motors[0].y * 0.7);
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this._ctx.lineTo(motors[2].x, motors[2].y);
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this._ctx.moveTo(0, motors[0].y * 0.7);
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this._ctx.lineTo(0, motors[1].y);
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this._ctx.moveTo(motors[1].x, motors[1].y);
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this._ctx.lineTo(motors[3].x, motors[3].y);
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break;
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case "Y4":
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this._ctx.moveTo(motors[1].x, motors[1].y);
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this._ctx.lineTo(motors[3].x, motors[3].y);
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this._ctx.moveTo(motors[0].x, motors[0].y);
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this._ctx.lineTo(motors[0].x, motors[3].y);
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break;
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case "Y6":
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this._ctx.moveTo(motors[1].x, motors[1].y);
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this._ctx.lineTo(motors[2].x, motors[2].y);
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this._ctx.moveTo(motors[0].x, motors[0].y);
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this._ctx.lineTo(motors[0].x, motors[1].y);
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break;
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}
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this._ctx.stroke();
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}
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@ -1,140 +1,297 @@
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'use strict';
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function MotorOutputReorderConfig(screenSize)
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class MotorOutputReorderConfig
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{
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this.FrameColor = 'rgb(186, 186, 186)';
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this.PropEdgeColor = 'rgb(255, 187, 0)';
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this.PropEdgeLineWidth = 3;
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this.MotorNumberTextFont = `${screenSize * 0.1}px 'Open Sans', 'Segoe UI', Tahoma, sans-serif`;
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this.MotorNumberTextColor = 'rgb(0, 0, 0)';
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this.MotorMouseHoverColor = 'rgba(255, 187, 0, 0.4)';
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this.MotorSpinningColor = 'rgba(255, 0, 0, 0.4)';
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this.MotorReadyColor = 'rgba(0,128,0,0.4)';
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this.ArrowColor = 'rgb(182,67,67)';
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this.DirectionArrowPoints = [
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{x: -0.03 * screenSize, y: 0.11 * screenSize},
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{x: -0.03 * screenSize, y: -0.01 * screenSize},
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{x: -0.07 * screenSize, y: -0.01 * screenSize},
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{x: 0.0 * screenSize, y: -0.13 * screenSize},
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{x: 0.07 * screenSize, y: -0.01 * screenSize},
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{x: 0.03 * screenSize, y: -0.01 * screenSize},
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{x: 0.03 * screenSize, y: 0.11 * screenSize},
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];
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//===========================================
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let frameRaduis = 0.28 * screenSize;
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this["Quad X"] =
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constructor (screenSize)
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{
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PropRadius: 0.2 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: frameRaduis, y: frameRaduis},
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{x: frameRaduis, y: -frameRaduis},
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{x: -frameRaduis, y: frameRaduis},
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{x: -frameRaduis, y: -frameRaduis},
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],
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};
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this.FrameColor = 'rgb(186, 186, 186)';
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this.PropEdgeColor = 'rgb(255, 187, 0)';
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this.PropColor = 'rgb(186, 186, 186, 0.4)';
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this.PropEdgeLineWidth = 3;
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this.MotorNumberTextFont = `${screenSize * 0.1}px 'Open Sans', 'Segoe UI', Tahoma, sans-serif`;
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this.MotorNumberTextColor = 'rgb(0, 0, 0)';
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this.MotorMouseHoverColor = 'rgba(255, 187, 0, 0.4)';
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this.MotorSpinningColor = 'rgba(255, 0, 0, 0.4)';
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this.MotorReadyColor = 'rgba(0,128,0,0.4)';
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//===========================================
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frameRaduis = 0.28 * screenSize;
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this["Quad X 1234"] =
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this.ArrowColor = 'rgb(182,67,67)';
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this.DirectionArrowPoints = [
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{x: -0.03 * screenSize, y: 0.11 * screenSize},
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{x: -0.03 * screenSize, y: -0.01 * screenSize},
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{x: -0.07 * screenSize, y: -0.01 * screenSize},
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{x: 0.0 * screenSize, y: -0.13 * screenSize},
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{x: 0.07 * screenSize, y: -0.01 * screenSize},
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{x: 0.03 * screenSize, y: -0.01 * screenSize},
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{x: 0.03 * screenSize, y: 0.11 * screenSize},
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];
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//===========================================
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let frameRadius = 0.28 * screenSize;
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this["Quad X"] =
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{
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PropRadius: 0.2 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: frameRadius, y: frameRadius},
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{x: frameRadius, y: -frameRadius},
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{x: -frameRadius, y: frameRadius},
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{x: -frameRadius, y: -frameRadius},
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],
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};
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//===========================================
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frameRadius = 0.28 * screenSize;
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this["Quad X 1234"] =
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{
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PropRadius: 0.2 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: -frameRadius, y: -frameRadius},
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{x: frameRadius, y: -frameRadius},
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{x: frameRadius, y: frameRadius},
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{x: -frameRadius, y: frameRadius},
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],
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};
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//===========================================
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frameRadius = 0.32 * screenSize;
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this["Quad +"] =
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{
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PropRadius: 0.15 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: 0, y: frameRadius},
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{x: frameRadius, y: 0 },
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{x: -frameRadius, y: 0 },
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{x: 0, y: -frameRadius},
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],
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};
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//===========================================
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frameRadius = 0.30 * screenSize;
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this["Tricopter"] =
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{
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PropRadius: 0.15 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: 0, y: frameRadius},
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{x: frameRadius, y: -frameRadius},
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{x: -frameRadius, y: -frameRadius},
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],
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};
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//===========================================
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frameRadius = 0.35 * screenSize;
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this["Hex +"] =
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{
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PropRadius: 0.14 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors: [],
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};
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let dAngle = Math.PI / 3;
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let angle = 0;
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angle = dAngle * 1;
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this["Hex +"].Motors.push({x: Math.sin(angle) * frameRadius, y: Math.cos(angle) * frameRadius});
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angle = dAngle * 2;
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this["Hex +"].Motors.push({x: Math.sin(angle) * frameRadius, y: Math.cos(angle) * frameRadius});
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angle = -dAngle * 1;
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this["Hex +"].Motors.push({x: Math.sin(angle) * frameRadius, y: Math.cos(angle) * frameRadius});
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angle = -dAngle * 2;
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this["Hex +"].Motors.push({x: Math.sin(angle) * frameRadius, y: Math.cos(angle) * frameRadius});
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angle = dAngle * 3;
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this["Hex +"].Motors.push({x: Math.sin(angle) * frameRadius, y: Math.cos(angle) * frameRadius});
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angle = dAngle * 0;
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this["Hex +"].Motors.push({x: Math.sin(angle) * frameRadius, y: Math.cos(angle) * frameRadius});
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//===========================================
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frameRadius = 0.35 * screenSize;
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this["Hex X"] =
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{
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PropRadius: 0.14 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors: [],
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};
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dAngle = Math.PI / 3;
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angle = dAngle * 1;
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this["Hex X"].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
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angle = -dAngle * 1;
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this["Hex X"].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
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angle = dAngle * 2;
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this["Hex X"].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
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angle = -dAngle * 2;
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this["Hex X"].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
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angle = dAngle * 0;
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this["Hex X"].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
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angle = dAngle * 3;
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this["Hex X"].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
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//===========================================
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this._addOcto("Octo Flat +", -Math.PI / 2.0, screenSize);
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this._addOcto("Octo Flat X", -Math.PI / 2.0 + Math.PI / 8.0, screenSize);
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this._addOctoX8(screenSize);
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this._addBicopter(screenSize);
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this._addVTailQuad(screenSize);
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this._addATailQuad(screenSize);
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this._addY4(screenSize);
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this._addY6(screenSize);
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}
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_addY6(screenSize)
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{
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PropRadius: 0.2 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: -frameRaduis, y: -frameRaduis},
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{x: frameRaduis, y: -frameRaduis},
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{x: frameRaduis, y: frameRaduis},
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{x: -frameRaduis, y: frameRaduis},
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],
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};
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const frameRadius = 0.30 * screenSize;
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this["Y6"] =
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{
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PropRadius: 0.15 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: 0, y: frameRadius * 0.7, top: true},
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{x: frameRadius * 0.7, y: -frameRadius * 0.7, top: true},
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{x: -frameRadius * 0.7, y: -frameRadius * 0.7, top: true},
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{x: 0, y: frameRadius * 1.1, bottom: true},
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{x: frameRadius * 1.1, y: -frameRadius * 1.1, bottom: true},
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{x: -frameRadius * 1.1, y: -frameRadius * 1.1, bottom: true},
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],
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};
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}
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//===========================================
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frameRaduis = 0.32 * screenSize;
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this["Quad +"] =
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_addY4(screenSize)
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{
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PropRadius: 0.15 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: 0, y: frameRaduis},
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{x: frameRaduis, y: 0 },
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{x: -frameRaduis, y: 0 },
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{x: 0, y: -frameRaduis},
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],
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};
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const frameRadius = 0.30 * screenSize;
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this["Y4"] =
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{
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PropRadius: 0.15 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: 0, y: frameRadius * 0.7, top: true},
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{x: frameRadius, y: -frameRadius},
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{x: 0, y: frameRadius * 1.1, bottom: true},
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{x: -frameRadius, y: -frameRadius},
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],
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};
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}
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//===========================================
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frameRaduis = 0.30 * screenSize;
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this["Tricopter"] =
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_addVTailQuad(screenSize)
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{
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PropRadius: 0.15 * screenSize,
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ArmWidth: 0.1 * screenSize,
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Motors:
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[
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{x: 0, y: frameRaduis},
|
||||
{x: frameRaduis, y: -frameRaduis},
|
||||
{x: -frameRaduis, y: -frameRaduis},
|
||||
],
|
||||
};
|
||||
const frameRadius = 0.30 * screenSize;
|
||||
this["V-tail Quad"] =
|
||||
{
|
||||
PropRadius: 0.15 * screenSize,
|
||||
ArmWidth: 0.1 * screenSize,
|
||||
Motors:
|
||||
[
|
||||
{x: frameRadius * 0.7, y: frameRadius * 0.7},
|
||||
{x: frameRadius, y: -frameRadius},
|
||||
{x: -frameRadius * 0.7, y: frameRadius * 0.7},
|
||||
{x: -frameRadius, y: -frameRadius},
|
||||
],
|
||||
};
|
||||
}
|
||||
|
||||
//===========================================
|
||||
frameRaduis = 0.35 * screenSize;
|
||||
this["Hex +"] =
|
||||
_addATailQuad(screenSize)
|
||||
{
|
||||
PropRadius: 0.14 * screenSize,
|
||||
ArmWidth: 0.1 * screenSize,
|
||||
Motors: [],
|
||||
};
|
||||
let dAngle = Math.PI / 3;
|
||||
let angle = 0;
|
||||
const frameRadius = 0.30 * screenSize;
|
||||
this["A-tail Quad"] =
|
||||
{
|
||||
PropRadius: 0.15 * screenSize,
|
||||
ArmWidth: 0.1 * screenSize,
|
||||
Motors:
|
||||
[
|
||||
{x: -frameRadius * 0.7, y: frameRadius * 0.7},
|
||||
{x: frameRadius, y: -frameRadius},
|
||||
{x: frameRadius * 0.7, y: frameRadius * 0.7},
|
||||
{x: -frameRadius, y: -frameRadius},
|
||||
],
|
||||
};
|
||||
}
|
||||
|
||||
angle = dAngle * 1;
|
||||
this["Hex +"].Motors.push({x: Math.sin(angle) * frameRaduis, y: Math.cos(angle) * frameRaduis});
|
||||
|
||||
angle = dAngle * 2;
|
||||
this["Hex +"].Motors.push({x: Math.sin(angle) * frameRaduis, y: Math.cos(angle) * frameRaduis});
|
||||
|
||||
angle = -dAngle * 1;
|
||||
this["Hex +"].Motors.push({x: Math.sin(angle) * frameRaduis, y: Math.cos(angle) * frameRaduis});
|
||||
|
||||
angle = -dAngle * 2;
|
||||
this["Hex +"].Motors.push({x: Math.sin(angle) * frameRaduis, y: Math.cos(angle) * frameRaduis});
|
||||
|
||||
angle = dAngle * 3;
|
||||
this["Hex +"].Motors.push({x: Math.sin(angle) * frameRaduis, y: Math.cos(angle) * frameRaduis});
|
||||
|
||||
angle = dAngle * 0;
|
||||
this["Hex +"].Motors.push({x: Math.sin(angle) * frameRaduis, y: Math.cos(angle) * frameRaduis});
|
||||
|
||||
//===========================================
|
||||
frameRaduis = 0.35 * screenSize;
|
||||
this["Hex X"] =
|
||||
_addBicopter(screenSize)
|
||||
{
|
||||
PropRadius: 0.14 * screenSize,
|
||||
ArmWidth: 0.1 * screenSize,
|
||||
Motors: [],
|
||||
};
|
||||
dAngle = Math.PI / 3;
|
||||
const frameRadius = 0.35 * screenSize;
|
||||
this["Bicopter"] =
|
||||
{
|
||||
PropRadius: 0.2 * screenSize,
|
||||
ArmWidth: 0.1 * screenSize,
|
||||
Motors:
|
||||
[
|
||||
{x: -frameRadius, y: 0,},
|
||||
{x: frameRadius, y: 0,},
|
||||
],
|
||||
};
|
||||
}
|
||||
|
||||
angle = dAngle * 1;
|
||||
this["Hex X"].Motors.push({x: Math.cos(angle) * frameRaduis, y: Math.sin(angle) * frameRaduis});
|
||||
_addOctoX8(screenSize)
|
||||
{
|
||||
const frameRadius = 0.20 * screenSize;
|
||||
const frameRadius2 = 0.28 * screenSize;
|
||||
this["Octo X8"] =
|
||||
{
|
||||
PropRadius: 0.12 * screenSize,
|
||||
ArmWidth: 0.1 * screenSize,
|
||||
Motors:
|
||||
[
|
||||
{x: frameRadius, y: frameRadius, top: true},
|
||||
{x: frameRadius, y: -frameRadius, top: true},
|
||||
{x: -frameRadius, y: frameRadius, top: true},
|
||||
{x: -frameRadius, y: -frameRadius, top: true},
|
||||
{x: frameRadius2, y: frameRadius2, bottom: true},
|
||||
{x: frameRadius2, y: -frameRadius2, bottom: true},
|
||||
{x: -frameRadius2, y: frameRadius2, bottom: true},
|
||||
{x: -frameRadius2, y: -frameRadius2, bottom: true},
|
||||
],
|
||||
};
|
||||
}
|
||||
|
||||
angle = -dAngle * 1;
|
||||
this["Hex X"].Motors.push({x: Math.cos(angle) * frameRaduis, y: Math.sin(angle) * frameRaduis});
|
||||
_addOcto(frameName, rotateAngle, screenSize)
|
||||
{
|
||||
const frameRadius = 0.35 * screenSize;
|
||||
this[frameName] =
|
||||
{
|
||||
PropRadius: 0.10 * screenSize,
|
||||
ArmWidth: 0.1 * screenSize,
|
||||
Motors: [],
|
||||
};
|
||||
const dAngle = Math.PI / 4;
|
||||
|
||||
angle = dAngle * 2;
|
||||
this["Hex X"].Motors.push({x: Math.cos(angle) * frameRaduis, y: Math.sin(angle) * frameRaduis});
|
||||
let angle = -dAngle * 2 + rotateAngle;
|
||||
this[frameName].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
|
||||
|
||||
angle = -dAngle * 2;
|
||||
this["Hex X"].Motors.push({x: Math.cos(angle) * frameRaduis, y: Math.sin(angle) * frameRaduis});
|
||||
angle = dAngle * 0 + rotateAngle;
|
||||
this[frameName].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
|
||||
|
||||
angle = dAngle * 0;
|
||||
this["Hex X"].Motors.push({x: Math.cos(angle) * frameRaduis, y: Math.sin(angle) * frameRaduis});
|
||||
angle = dAngle * 2 + rotateAngle;
|
||||
this[frameName].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
|
||||
|
||||
angle = dAngle * 3;
|
||||
this["Hex X"].Motors.push({x: Math.cos(angle) * frameRaduis, y: Math.sin(angle) * frameRaduis});
|
||||
angle = dAngle * 4 + rotateAngle;
|
||||
this[frameName].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
|
||||
|
||||
angle = -dAngle * 1 + rotateAngle;
|
||||
this[frameName].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
|
||||
|
||||
angle = dAngle * 1 + rotateAngle;
|
||||
this[frameName].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
|
||||
|
||||
angle = dAngle * 3 + rotateAngle;
|
||||
this[frameName].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
|
||||
|
||||
angle = -dAngle * 3 + rotateAngle;
|
||||
this[frameName].Motors.push({x: Math.cos(angle) * frameRadius, y: Math.sin(angle) * frameRadius});
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue