mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-25 09:15:49 +03:00
Changes as per review comment
This commit is contained in:
Bas Delfos
parent
24c81375a4
commit
fd8e47706d
141 changed files with 248 additions and 263 deletions
634
src/js/tabs/motors.js
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634
src/js/tabs/motors.js
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@ -0,0 +1,634 @@
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'use strict';
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TABS.motors = {
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feature3DEnabled: false,
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escProtocolIsDshot: false,
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sensor: "gyro",
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sensorGyroRate: 20,
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sensorGyroScale: 2000,
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sensorAccelRate: 20,
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sensorAccelScale: 2,
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sensorSelectValues: {
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"gyroScale": {"50":50,"100":100,"200":200,"300":300,"400":400,"500":500,"1000":1000,"2000":2000},
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"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}
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},
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// These are translated into proper Dshot values on the flight controller
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DSHOT_DISARMED_VALUE: 1000,
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DSHOT_MAX_VALUE: 2000,
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DSHOT_3D_NEUTRAL: 1500
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};
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TABS.motors.initialize = function (callback) {
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var self = this;
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self.armed = false;
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self.escProtocolIsDshot = false;
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if (GUI.active_tab != 'motors') {
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GUI.active_tab = 'motors';
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}
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function get_arm_status() {
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MSP.send_message(MSPCodes.MSP_STATUS, false, false, load_feature_config);
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}
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function load_feature_config() {
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MSP.send_message(MSPCodes.MSP_FEATURE_CONFIG, false, false, load_motor_3d_config);
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}
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function load_motor_3d_config() {
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MSP.send_message(MSPCodes.MSP_MOTOR_3D_CONFIG, false, false, load_esc_protocol);
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}
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function load_esc_protocol() {
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MSP.send_message(MSPCodes.MSP_ADVANCED_CONFIG, false, false, load_motor_data);
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}
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function load_motor_data() {
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MSP.send_message(MSPCodes.MSP_MOTOR, false, false, load_html);
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}
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function load_html() {
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$('#content').load("./tabs/motors.html", process_html);
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}
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// Get information from Betaflight
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if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
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// BF 3.2.0+
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MSP.send_message(MSPCodes.MSP_MOTOR_CONFIG, false, false, get_arm_status);
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} else {
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// BF 3.1.x or older
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MSP.send_message(MSPCodes.MSP_MISC, false, false, get_arm_status);
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}
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function update_arm_status() {
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self.armed = bit_check(CONFIG.mode, 0);
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}
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function initSensorData() {
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for (var i = 0; i < 3; i++) {
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SENSOR_DATA.accelerometer[i] = 0;
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SENSOR_DATA.gyroscope[i] = 0;
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}
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}
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function initDataArray(length) {
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var data = new Array(length);
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for (var i = 0; i < length; i++) {
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data[i] = [];
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data[i].min = -1;
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data[i].max = 1;
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}
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return data;
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}
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function addSampleToData(data, sampleNumber, sensorData) {
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for (var i = 0; i < data.length; i++) {
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var dataPoint = sensorData[i];
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data[i].push([sampleNumber, dataPoint]);
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if (dataPoint < data[i].min) {
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data[i].min = dataPoint;
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}
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if (dataPoint > data[i].max) {
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data[i].max = dataPoint;
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}
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}
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while (data[0].length > 300) {
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for (i = 0; i < data.length; i++) {
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data[i].shift();
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}
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}
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return sampleNumber + 1;
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}
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var margin = {top: 20, right: 30, bottom: 10, left: 20};
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function updateGraphHelperSize(helpers) {
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helpers.width = helpers.targetElement.width() - margin.left - margin.right;
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helpers.height = helpers.targetElement.height() - margin.top - margin.bottom;
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helpers.widthScale.range([0, helpers.width]);
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helpers.heightScale.range([helpers.height, 0]);
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helpers.xGrid.tickSize(-helpers.height, 0, 0);
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helpers.yGrid.tickSize(-helpers.width, 0, 0);
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}
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function initGraphHelpers(selector, sampleNumber, heightDomain) {
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var helpers = {selector: selector, targetElement: $(selector), dynamicHeightDomain: !heightDomain};
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helpers.widthScale = d3.scale.linear()
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.clamp(true)
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.domain([(sampleNumber - 299), sampleNumber]);
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helpers.heightScale = d3.scale.linear()
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.clamp(true)
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.domain(heightDomain || [1, -1]);
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helpers.xGrid = d3.svg.axis();
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helpers.yGrid = d3.svg.axis();
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updateGraphHelperSize(helpers);
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helpers.xGrid
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.scale(helpers.widthScale)
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.orient("bottom")
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.ticks(5)
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.tickFormat("");
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helpers.yGrid
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.scale(helpers.heightScale)
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.orient("left")
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.ticks(5)
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.tickFormat("");
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helpers.xAxis = d3.svg.axis()
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.scale(helpers.widthScale)
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.ticks(5)
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.orient("bottom")
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.tickFormat(function (d) {return d;});
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helpers.yAxis = d3.svg.axis()
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.scale(helpers.heightScale)
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.ticks(5)
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.orient("left")
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.tickFormat(function (d) {return d;});
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helpers.line = d3.svg.line()
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.x(function (d) { return helpers.widthScale(d[0]); })
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.y(function (d) { return helpers.heightScale(d[1]); });
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return helpers;
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}
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function drawGraph(graphHelpers, data, sampleNumber) {
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var svg = d3.select(graphHelpers.selector);
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if (graphHelpers.dynamicHeightDomain) {
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var limits = [];
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$.each(data, function (idx, datum) {
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limits.push(datum.min);
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limits.push(datum.max);
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});
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graphHelpers.heightScale.domain(d3.extent(limits));
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}
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graphHelpers.widthScale.domain([(sampleNumber - 299), sampleNumber]);
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svg.select(".x.grid").call(graphHelpers.xGrid);
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svg.select(".y.grid").call(graphHelpers.yGrid);
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svg.select(".x.axis").call(graphHelpers.xAxis);
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svg.select(".y.axis").call(graphHelpers.yAxis);
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var group = svg.select("g.data");
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var lines = group.selectAll("path").data(data, function (d, i) {return i;});
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lines.enter().append("path").attr("class", "line");
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lines.attr('d', graphHelpers.line);
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}
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function update_model(mixer) {
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var reverse = "";
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if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
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reverse = MIXER_CONFIG.reverseMotorDir ? "_reversed" : "";
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}
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$('.mixerPreview img').attr('src', './resources/motor_order/' + mixerList[mixer - 1].image + reverse + '.svg');
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}
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function process_html() {
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// translate to user-selected language
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localize();
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update_arm_status();
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self.feature3DEnabled = FEATURE_CONFIG.features.isEnabled('3D');
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if (PID_ADVANCED_CONFIG.fast_pwm_protocol >= TABS.configuration.DSHOT_PROTOCOL_MIN_VALUE) {
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self.escProtocolIsDshot = true;
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} else {
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self.escProtocolIsDshot = false;
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}
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$('#motorsEnableTestMode').prop('checked', false);
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update_model(MIXER_CONFIG.mixer);
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// Always start with default/empty sensor data array, clean slate all
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initSensorData();
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// Setup variables
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var samples_gyro_i = 0,
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gyro_data = initDataArray(3),
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gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-2, 2]),
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gyro_max_read = [0, 0, 0];
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var samples_accel_i = 0,
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accel_data = initDataArray(3),
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accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-2, 2]),
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accel_max_read = [0, 0, 0],
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accel_offset = [0, 0, 0],
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accel_offset_established = false;
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var raw_data_text_ements = {
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x: [],
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y: [],
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z: [],
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rms: []
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};
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$('.plot_control .x, .plot_control .y, .plot_control .z, .plot_control .rms').each(function () {
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var el = $(this);
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if (el.hasClass('x')) {
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raw_data_text_ements.x.push(el);
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} else if (el.hasClass('y')) {
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raw_data_text_ements.y.push(el);
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} else if (el.hasClass('z')) {
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raw_data_text_ements.z.push(el);
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} else if (el.hasClass('rms')) {
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raw_data_text_ements.rms.push(el);
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}
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});
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// set refresh speeds according to configuration saved in storage
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chrome.storage.local.get(['motors_tab_sensor_settings', 'motors_tab_gyro_settings', 'motors_tab_accel_settings'], function (result) {
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if (result.motors_tab_sensor_settings) {
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var sensor = result.motors_tab_sensor_settings.sensor;
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$('.tab-motors select[name="sensor_choice"]').val(result.motors_tab_sensor_settings.sensor);
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}
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if (result.motors_tab_gyro_settings) {
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TABS.motors.sensorGyroRate = result.motors_tab_gyro_settings.rate;
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TABS.motors.sensorGyroScale = result.motors_tab_gyro_settings.scale;
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}
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if (result.motors_tab_accel_settings) {
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TABS.motors.sensorAccelRate = result.motors_tab_accel_settings.rate;
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TABS.motors.sensorAccelScale = result.motors_tab_accel_settings.scale;
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}
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$('.tab-motors .sensor select:first').change();
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});
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function loadScaleSelector(selectorValues, selectedValue) {
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$('.tab-motors select[name="scale"]').find('option').remove();
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$.each(selectorValues, function(key, val) {
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$('.tab-motors select[name="scale"]').append(new Option(key, val));
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});
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$('.tab-motors select[name="scale"]').val(selectedValue);
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}
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function selectRefresh(refreshValue){
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$('.tab-motors select[name="rate"]').val(refreshValue);
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}
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$('.tab-motors .sensor select').change(function(){
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TABS.motors.sensor = $('.tab-motors select[name="sensor_choice"]').val()
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chrome.storage.local.set({'motors_tab_sensor_settings': {'sensor': TABS.motors.sensor}});
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switch(TABS.motors.sensor){
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case "gyro":
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loadScaleSelector(TABS.motors.sensorSelectValues.gyroScale,
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TABS.motors.sensorGyroScale);
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selectRefresh(TABS.motors.sensorGyroRate);
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break;
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case "accel":
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loadScaleSelector(TABS.motors.sensorSelectValues.accelScale,
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TABS.motors.sensorAccelScale);
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selectRefresh(TABS.motors.sensorAccelRate);
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break;
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}
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$('.tab-motors .rate select:first').change();
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});
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$('.tab-motors .rate select, .tab-motors .scale select').change(function () {
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var rate = parseInt($('.tab-motors select[name="rate"]').val(), 10);
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var scale = parseFloat($('.tab-motors select[name="scale"]').val());
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GUI.interval_kill_all(['motor_and_status_pull']);
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switch(TABS.motors.sensor) {
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case "gyro":
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chrome.storage.local.set({'motors_tab_gyro_settings': {'rate': rate, 'scale': scale}});
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TABS.motors.sensorGyroRate = rate;
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TABS.motors.sensorGyroScale = scale;
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gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-scale, scale]);
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GUI.interval_add('IMU_pull', function imu_data_pull() {
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MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_gyro_graph);
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}, rate, true);
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break;
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case "accel":
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chrome.storage.local.set({'motors_tab_accel_settings': {'rate': rate, 'scale': scale}});
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TABS.motors.sensorAccelRate = rate;
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TABS.motors.sensorAccelScale = scale;
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accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-scale, scale]);
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GUI.interval_add('IMU_pull', function imu_data_pull() {
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MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_accel_graph);
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}, rate, true);
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break;
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}
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function update_accel_graph() {
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if (!accel_offset_established) {
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for (var i = 0; i < 3; i++) {
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accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1;
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}
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accel_offset_established = true;
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}
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var accel_with_offset = [
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accel_offset[0] + SENSOR_DATA.accelerometer[0],
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accel_offset[1] + SENSOR_DATA.accelerometer[1],
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accel_offset[2] + SENSOR_DATA.accelerometer[2]
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];
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updateGraphHelperSize(accel_helpers);
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samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset);
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drawGraph(accel_helpers, accel_data, samples_accel_i);
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for (var i = 0; i < 3; i++) {
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if (Math.abs(accel_with_offset[i]) > Math.abs(accel_max_read[i])) accel_max_read[i] = accel_with_offset[i];
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}
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computeAndUpdate(accel_with_offset, accel_data, accel_max_read);
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}
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function update_gyro_graph() {
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var gyro = [
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SENSOR_DATA.gyroscope[0],
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SENSOR_DATA.gyroscope[1],
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SENSOR_DATA.gyroscope[2]
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];
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updateGraphHelperSize(gyro_helpers);
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samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, gyro);
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drawGraph(gyro_helpers, gyro_data, samples_gyro_i);
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for (var i = 0; i < 3; i++) {
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if (Math.abs(gyro[i]) > Math.abs(gyro_max_read[i])) gyro_max_read[i] = gyro[i];
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}
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computeAndUpdate(gyro, gyro_data, gyro_max_read);
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}
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function computeAndUpdate(sensor_data, data, max_read) {
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var sum = 0.0;
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for (var j = 0, jlength = data.length; j < jlength; j++) {
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for (var k = 0, klength = data[j].length; k < klength; k++){
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sum += data[j][k][1]*data[j][k][1];
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}
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}
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var rms = Math.sqrt(sum/(data[0].length+data[1].length+data[2].length));
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raw_data_text_ements.x[0].text(sensor_data[0].toFixed(2) + ' (' + max_read[0].toFixed(2) + ')');
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raw_data_text_ements.y[0].text(sensor_data[1].toFixed(2) + ' (' + max_read[1].toFixed(2) + ')');
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raw_data_text_ements.z[0].text(sensor_data[2].toFixed(2) + ' (' + max_read[2].toFixed(2) + ')');
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raw_data_text_ements.rms[0].text(rms.toFixed(4));
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}
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});
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$('a.reset_max').click(function () {
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gyro_max_read = [0, 0, 0];
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accel_max_read = [0, 0, 0];
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accel_offset_established = false;
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});
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var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8;
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var rangeMin;
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var rangeMax;
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var neutral3d;
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if (self.escProtocolIsDshot) {
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rangeMin = self.DSHOT_DISARMED_VALUE;
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rangeMax = self.DSHOT_MAX_VALUE;
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neutral3d = self.DSHOT_3D_NEUTRAL;
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} else {
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rangeMin = MOTOR_CONFIG.mincommand;
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rangeMax = MOTOR_CONFIG.maxthrottle;
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//Arbitrary sanity checks
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//Note: values may need to be revisited
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neutral3d = (MOTOR_3D_CONFIG.neutral > 1575 || MOTOR_3D_CONFIG.neutral < 1425) ? 1500 : MOTOR_3D_CONFIG.neutral;
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}
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var motors_wrapper = $('.motors .bar-wrapper'),
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servos_wrapper = $('.servos .bar-wrapper');
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for (var i = 0; i < 8; i++) {
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motors_wrapper.append('\
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<div class="m-block motor-' + i + '">\
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<div class="meter-bar">\
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<div class="label"></div>\
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<div class="indicator">\
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<div class="label">\
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<div class="label"></div>\
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</div>\
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</div>\
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</div>\
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</div>\
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');
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servos_wrapper.append('\
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<div class="m-block servo-' + (7 - i) + '">\
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<div class="meter-bar">\
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<div class="label"></div>\
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||||
<div class="indicator">\
|
||||
<div class="label">\
|
||||
<div class="label"></div>\
|
||||
</div>\
|
||||
</div>\
|
||||
</div>\
|
||||
</div>\
|
||||
');
|
||||
}
|
||||
|
||||
$('div.sliders input').prop('min', rangeMin)
|
||||
.prop('max', rangeMax);
|
||||
$('div.values li:not(:last)').text(rangeMin);
|
||||
|
||||
// UI hooks
|
||||
function setSlidersDefault() {
|
||||
// change all values to default
|
||||
if (self.feature3DEnabled) {
|
||||
$('div.sliders input').val(neutral3d);
|
||||
} else {
|
||||
$('div.sliders input').val(rangeMin);
|
||||
}
|
||||
}
|
||||
|
||||
function setSlidersEnabled(isEnabled) {
|
||||
if (isEnabled && !self.armed) {
|
||||
$('div.sliders input').slice(0, number_of_valid_outputs).prop('disabled', false);
|
||||
|
||||
// unlock master slider
|
||||
$('div.sliders input:last').prop('disabled', false);
|
||||
} else {
|
||||
setSlidersDefault();
|
||||
|
||||
// disable sliders / min max
|
||||
$('div.sliders input').prop('disabled', true);
|
||||
}
|
||||
|
||||
$('div.sliders input').trigger('input');
|
||||
}
|
||||
|
||||
setSlidersDefault();
|
||||
|
||||
$('#motorsEnableTestMode').change(function () {
|
||||
var enabled = $(this).is(':checked');
|
||||
|
||||
setSlidersEnabled(enabled);
|
||||
|
||||
$('div.sliders input').trigger('input');
|
||||
|
||||
mspHelper.setArmingEnabled(enabled);
|
||||
}).change();
|
||||
|
||||
var buffering_set_motor = [],
|
||||
buffer_delay = false;
|
||||
$('div.sliders input:not(.master)').on('input', function () {
|
||||
var index = $(this).index(),
|
||||
buffer = [];
|
||||
|
||||
$('div.values li').eq(index).text($(this).val());
|
||||
|
||||
for (var i = 0; i < 8; i++) {
|
||||
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 () {
|
||||
var val = $(this).val();
|
||||
|
||||
$('div.sliders input:not(:disabled, :last)').val(val);
|
||||
$('div.values li:not(:last)').slice(0, number_of_valid_outputs).text(val);
|
||||
$('div.sliders input:not(:last):first').trigger('input');
|
||||
});
|
||||
|
||||
// check if motors are already spinning
|
||||
var motors_running = false;
|
||||
|
||||
for (var i = 0; i < number_of_valid_outputs; i++) {
|
||||
if (!self.feature3DEnabled) {
|
||||
if (MOTOR_DATA[i] > rangeMin) {
|
||||
motors_running = true;
|
||||
}
|
||||
} else {
|
||||
if ((MOTOR_DATA[i] < MOTOR_3D_CONFIG.deadband3d_low) || (MOTOR_DATA[i] > MOTOR_3D_CONFIG.deadband3d_high)) {
|
||||
motors_running = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (motors_running) {
|
||||
$('#motorsEnableTestMode').prop('checked', true).change();
|
||||
|
||||
// motors are running adjust sliders to current values
|
||||
|
||||
var sliders = $('div.sliders input:not(.master)');
|
||||
|
||||
var master_value = MOTOR_DATA[0];
|
||||
for (var i = 0; i < MOTOR_DATA.length; i++) {
|
||||
if (MOTOR_DATA[i] > 0) {
|
||||
sliders.eq(i).val(MOTOR_DATA[i]);
|
||||
|
||||
if (master_value != MOTOR_DATA[i]) {
|
||||
master_value = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// only fire events when all values are set
|
||||
sliders.trigger('input');
|
||||
|
||||
// slide master slider if condition is valid
|
||||
if (master_value) {
|
||||
$('div.sliders input.master').val(master_value)
|
||||
.trigger('input');
|
||||
}
|
||||
}
|
||||
|
||||
// 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);
|
||||
}
|
||||
|
||||
function get_motor_data() {
|
||||
MSP.send_message(MSPCodes.MSP_MOTOR, false, false, get_servo_data);
|
||||
}
|
||||
|
||||
function get_servo_data() {
|
||||
MSP.send_message(MSPCodes.MSP_SERVO, false, false, update_ui);
|
||||
}
|
||||
|
||||
var full_block_scale = rangeMax - rangeMin;
|
||||
|
||||
function update_ui() {
|
||||
var previousArmState = self.armed;
|
||||
var block_height = $('div.m-block:first').height();
|
||||
|
||||
for (var i = 0; i < MOTOR_DATA.length; i++) {
|
||||
var motorValue = MOTOR_DATA[i];
|
||||
var barHeight = motorValue - rangeMin,
|
||||
margin_top = block_height - (barHeight * (block_height / full_block_scale)).clamp(0, block_height),
|
||||
height = (barHeight * (block_height / full_block_scale)).clamp(0, block_height),
|
||||
color = parseInt(barHeight * 0.009);
|
||||
|
||||
$('.motor-' + i + ' .label', motors_wrapper).text(motorValue);
|
||||
$('.motor-' + i + ' .indicator', motors_wrapper).css({
|
||||
'margin-top' : margin_top + 'px',
|
||||
'height' : height + 'px',
|
||||
'background-color' : 'rgba(255,187,0,1.'+ color +')'
|
||||
});
|
||||
}
|
||||
|
||||
// servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly
|
||||
for (var i = 0; i < SERVO_DATA.length; i++) {
|
||||
var data = SERVO_DATA[i] - 1000,
|
||||
margin_top = block_height - (data * (block_height / 1000)).clamp(0, block_height),
|
||||
height = (data * (block_height / 1000)).clamp(0, block_height),
|
||||
color = parseInt(data * 0.009);
|
||||
|
||||
$('.servo-' + i + ' .label', servos_wrapper).text(SERVO_DATA[i]);
|
||||
$('.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();
|
||||
|
||||
if (previousArmState != self.armed) {
|
||||
console.log('arm state change detected');
|
||||
|
||||
$('#motorsEnableTestMode').change();
|
||||
}
|
||||
}
|
||||
|
||||
// enable Status and Motor data pulling
|
||||
GUI.interval_add('motor_and_status_pull', get_status, 50, true);
|
||||
|
||||
GUI.content_ready(callback);
|
||||
}
|
||||
};
|
||||
|
||||
TABS.motors.cleanup = function (callback) {
|
||||
if (callback) callback();
|
||||
};
|
||||
Loading…
Add table
Add a link
Reference in a new issue