From 37c576bd24679c01ad73f4465e79849b62ea9c6a Mon Sep 17 00:00:00 2001 From: cTn Date: Tue, 9 Apr 2013 14:31:37 +0200 Subject: [PATCH] saving of PID tunings is fully working now --- js/serial_backend.js | 51 +++++++++++++++++++++++--------------------- tabs/pid_tuning.js | 40 +++++++++++++++++++++++++++++++++- 2 files changed, 66 insertions(+), 25 deletions(-) diff --git a/js/serial_backend.js b/js/serial_backend.js index 4372fcb942..45134a5a36 100644 --- a/js/serial_backend.js +++ b/js/serial_backend.js @@ -46,13 +46,14 @@ var CONFIG = { cycleTime: 0, i2cError: 0, activeSensors: 0, - mode: 0, - gyroscope: [0, 0, 0], - accelerometer: [0, 0, 0], - magnetometer: [0, 0, 0], - altitude: 0 + mode: 0 }; +var PIDs = new Array(10); +for (var i = 0; i < 10; i++) { + PIDs[i] = new Array(3); +} + var RC = { roll: 0, pitch: 0, @@ -64,10 +65,12 @@ var RC = { AUX4: 0 }; -var PIDs = new Array(10); -for (var i = 0; i < 10; i++) { - PIDs[i] = new Array(3); -} +var SENSOR_DATA = { + gyroscope: [0, 0, 0], + accelerometer: [0, 0, 0], + magnetometer: [0, 0, 0], + altitude: 0 +}; $(document).ready(function() { port_picker = $('div#port-picker .port select'); @@ -257,9 +260,9 @@ function onCharRead(readInfo) { } } -function send_message(code, data, bytes_n) { - if (typeof data === 'array') { // array portion of this code is untested TODO: test ? - var size = 6 + data.length; +function send_message(code, data, bytes_n) { + if (typeof data === 'object') { + var size = 6 + bytes_n; var checksum = 0; var bufferOut = new ArrayBuffer(size); @@ -294,7 +297,7 @@ function send_message(code, data, bytes_n) { chrome.serial.write(connectionId, bufferOut, function(writeInfo) { // used for debugging purposes (should be disabled in "stable" buildsS - // console.log("Wrote: " + writeInfo.bytesWritten + " bytes"); + //console.log("Wrote: " + writeInfo.bytesWritten + " bytes"); }); } @@ -318,17 +321,17 @@ function process_message(code, data) { sensor_status(CONFIG.activeSensors); break; case MSP_codes.MSP_RAW_IMU: - CONFIG.accelerometer[0] = view.getInt16(0, 1); - CONFIG.accelerometer[1] = view.getInt16(2, 1); - CONFIG.accelerometer[2] = view.getInt16(4, 1); + SENSOR_DATA.accelerometer[0] = view.getInt16(0, 1); + SENSOR_DATA.accelerometer[1] = view.getInt16(2, 1); + SENSOR_DATA.accelerometer[2] = view.getInt16(4, 1); - CONFIG.gyroscope[0] = view.getInt16(6, 1) / 8; - CONFIG.gyroscope[1] = view.getInt16(8, 1) / 8; - CONFIG.gyroscope[2] = view.getInt16(10, 1) / 8; + SENSOR_DATA.gyroscope[0] = view.getInt16(6, 1) / 8; + SENSOR_DATA.gyroscope[1] = view.getInt16(8, 1) / 8; + SENSOR_DATA.gyroscope[2] = view.getInt16(10, 1) / 8; - CONFIG.magnetometer[0] = view.getInt16(12, 1) / 3; - CONFIG.magnetometer[1] = view.getInt16(14, 1) / 3; - CONFIG.magnetometer[2] = view.getInt16(16, 1) / 3; + SENSOR_DATA.magnetometer[0] = view.getInt16(12, 1) / 3; + SENSOR_DATA.magnetometer[1] = view.getInt16(14, 1) / 3; + SENSOR_DATA.magnetometer[2] = view.getInt16(16, 1) / 3; break; case MSP_codes.MSP_SERVO: console.log(data); @@ -357,7 +360,7 @@ function process_message(code, data) { console.log(data); break; case MSP_codes.MSP_ALTITUDE: - CONFIG.altitude = view.getUint32(0, 1); + SENSOR_DATA.altitude = view.getUint32(0, 1); break; case MSP_codes.MSP_BAT: console.log(data); @@ -419,7 +422,7 @@ function process_message(code, data) { console.log(data); break; case MSP_codes.MSP_SET_PID: - console.log(data); + console.log('PID settings saved'); break; case MSP_codes.MSP_SET_BOX: console.log(data); diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js index f1cd2bd58a..50e0976418 100644 --- a/tabs/pid_tuning.js +++ b/tabs/pid_tuning.js @@ -92,8 +92,46 @@ function tab_initialize_pid_tuning() { } }); - // Send over the changes + var PID_buffer_out = new Array(); + var PID_buffer_needle = 0; + for (var i = 0; i < PIDs.length; i++) { + switch (i) { + case 0: + case 1: + case 2: + case 3: + case 7: + case 8: + case 9: + PID_buffer_out[PID_buffer_needle] = parseInt(PIDs[i][0] * 10); + PID_buffer_out[PID_buffer_needle + 1] = parseInt(PIDs[i][1] * 1000); + PID_buffer_out[PID_buffer_needle + 2] = parseInt(PIDs[i][2]); + break; + case 4: + PID_buffer_out[PID_buffer_needle] = parseInt(PIDs[i][0] * 100); + PID_buffer_out[PID_buffer_needle + 1] = parseInt(PIDs[i][1] * 100); + PID_buffer_out[PID_buffer_needle + 2] = parseInt(PIDs[i][2]); + break; + case 5: + case 6: + PID_buffer_out[PID_buffer_needle] = parseInt(PIDs[i][0] * 10); + PID_buffer_out[PID_buffer_needle + 1] = parseInt(PIDs[i][1] * 100); + PID_buffer_out[PID_buffer_needle + 2] = parseInt(PIDs[i][2] * 1000); + 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); // remove the active status $(this).removeClass('active');