mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-22 07:45:16 +03:00
WIP: Add magnetometer alignment tab
This commit is contained in:
Hofer Lukas
parent
979199cd69
commit
15c697daf7
9 changed files with 571 additions and 1 deletions
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@ -115,6 +115,9 @@
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"tabGPS": {
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"message": "GPS"
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},
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"tabMagnetometer": {
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"message": "Magnetometer"
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},
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"tabOutputs": {
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"message": "Outputs"
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},
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@ -768,6 +771,15 @@
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"configurationSensorAlignmentMag": {
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"message": "MAG Alignment"
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},
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"configurationSensorAlignmentMagRoll": {
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"message": "Roll Degrees"
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},
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"configurationSensorAlignmentMagPitch": {
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"message": "Pitch Degrees"
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},
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"configurationSensorAlignmentMagYaw": {
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"message": "Yaw Degrees"
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},
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"configurationAccelTrims": {
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"message": "Accelerometer Trim"
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},
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@ -1692,6 +1704,15 @@
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"gpsSignalStr": {
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"message": "Signal Strength"
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},
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"magnetometerHead": {
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"message": "Magnetometer Alignment"
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},
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"configurationMagnetometerHelp": {
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"message": "<strong>Note:</strong> Remember to configure a Serial Port (via Ports tab) when using the Magnetometer feature."
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},
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"magnetometerStatHead": {
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"message": "Mag Statistics"
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},
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"motors": {
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"message": "Motors"
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},
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@ -24,6 +24,7 @@ var GUI_control = function () {
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'cli',
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'configuration',
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'gps',
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'magnetometer',
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'led_strip',
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'logging',
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'onboard_logging',
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2
main.css
2
main.css
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@ -1643,7 +1643,7 @@ dialog {
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/* fixing padding for all Tabs*/
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.tab-setup, .tab-landing, .tab-adjustments, .tab-auxiliary, .tab-cli, .tab-configuration, .tab-failsafe, .tab-onboard_logging,
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.tab-firmware_flasher, .tab-gps, .tab-help, .tab-led-strip, .tab-logging, .tab-modes, .tab-motors, .tab-pid_tuning,
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.tab-firmware_flasher, .tab-gps, .tab-magnetometer, .tab-help, .tab-led-strip, .tab-logging, .tab-modes, .tab-motors, .tab-pid_tuning,
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.tab-ports, .tab-receiver, .tab-sensors, .tab-servos, .tab-osd, .tab-calibration {
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height: 100%;
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position: relative;
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@ -225,6 +225,9 @@
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<li class="tab_gps">
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<a href="#" data-i18n="tabGPS" class="tabicon ic_gps" title="GPS"></a>
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</li>
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<li class="tab_magnetometer">
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<a href="#" data-i18n="tabMAGNETOMETER" class="tabicon ic_mag" title="MAGNETOMETER"></a>
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</li>
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<li class="tab_mission_control">
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<a href="#" data-i18n="tabMissionControl" class="tabicon ic_mission" title="Mission Control"></a>
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</li>
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3
main.js
3
main.js
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@ -248,6 +248,9 @@ $(document).ready(function () {
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case 'gps':
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TABS.gps.initialize(content_ready);
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break;
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case 'magnetometer':
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TABS.magnetometer.initialize(content_ready);
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break;
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case 'mission_control':
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TABS.mission_control.initialize(content_ready);
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break;
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34
resources/models/gps.json
Normal file
34
resources/models/gps.json
Normal file
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@ -0,0 +1,34 @@
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{
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"name": "CubeGeometry",
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"faces": [33,0,1,2,3,0,1,2,3,33,4,7,6,5,4,5,6,7,33,0,4,5,1,0,4,7,1,33,1,5,6,2,1,7,6,2,33,2,6,7,3,2,6,5,3,33,4,0,3,7,4,0,3,5],
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"uvs": [],
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"vertices": [1,-0.2,-1,1,-0.2,1,-1,-0.2,1,-1,-0.2,-1,1,0.2,-0.999999,0.999999,0.2,1,-1,0.2,1,-1,0.2,-1],
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"normals": [0.577349,-0.577349,-0.577349,0.577349,-0.577349,0.577349,-0.577349,-0.577349,0.577349,-0.577349,-0.577349,-0.577349,0.577349,0.577349,-0.577349,-0.577349,0.577349,-0.577349,-0.577349,0.577349,0.577349,0.577349,0.577349,0.577349],
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"metadata": {
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"type": "Geometry",
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"generator": "io_three",
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"faces": 6,
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"uvs": 0,
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"vertices": 8,
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"normals": 8,
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"version": 3
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},
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"materials": [{
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"DbgColor": 15658734,
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"specularCoef": 50,
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"colorEmissive": [0.0,0.0,0.0],
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"colorAmbient": [1.0,0.0,0.0],
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"colorDiffuse": [1.0,0.0,0.0],
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"transparent": false,
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"depthWrite": true,
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"colorSpecular": [0.25,0.25,0.25],
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"DbgName": "Material.005",
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"wireframe": false,
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"shading": "phong",
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"depthTest": true,
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"visible": true,
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"blending": "NormalBlending",
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"DbgIndex": 0,
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"opacity": 1.0
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}]
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}
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148
src/css/tabs/magnetometer.css
Normal file
148
src/css/tabs/magnetometer.css
Normal file
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@ -0,0 +1,148 @@
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/* TODO This needs a LOT of work. It's basically just the GPS tab copied */
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.tab-magnetometer progress {
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width: 100%;
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border-radius: 3px;
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}
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.tab-magnetometer .magnetometer_info .head, .tab-magnetometer .magnetometer_signal_strength .head {
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display: block;
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text-align: center;
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line-height: 20px;
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font-weight: bold;
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border-bottom: 1px solid silver;
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background-color: #ececec;
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}
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.tab-magnetometer #connect {
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display: none;
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text-align: center;
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padding-top: 40%;
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}
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.tab-magnetometer #waiting {
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margin-top: 0;
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display: none;
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text-align: center;
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padding-top: 0;
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background-size: 15%;
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min-height: 400px;
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background: url(../../../images/loading-bars.svg) no-repeat center 40%;
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float: left;
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width: 100%;
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}
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.tab-magnetometer #waiting .info {
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margin-top: 30%;
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}
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/* .tab-magnetometer #loadmap {
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margin-top: 0;
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display: none;
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} */
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.tab-magnetometer #connect a {
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font-weight: bold;
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margin-top: 10px;
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}
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.tab-magnetometer #loadmap {
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height: 100%;
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width: 100%;
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float: left;
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}
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.map-button {
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z-index:1;
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position: absolute;
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background-color: #37A8DB;
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color: white;
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padding: 5px;
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left: 10px;
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bottom: 10px;
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border-style: solid;
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border-width: 2px;
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border-color: #E4E4E4;
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border-radius: 2px;
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opacity: 0.8;
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}
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.map-button:hover {
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opacity: 1;
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}
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.tab-magnetometer #loadmap .controls {
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width: 100%;
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float: left;
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height: 33px;
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border-bottom-left-radius: 3px;
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border-bottom-right-radius: 3px;
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background-color: #D1D1D1;
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}
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.tab-magnetometer #loadmap .controls a {
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background-color: white;
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border-radius: 4px;
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border: 1px silver solid;
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color: grey;
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height: 10px;
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width: 10px;
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text-align: center;
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font-size: 20px;
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line-height: 10px;
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padding: 6px;
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margin-top: 5px;
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float: right;
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}
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.tab-magnetometer #loadmap .controls a:hover {
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background-color: #f5f5f5;
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}
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.tab-magnetometer #loadmap .controls a:active {
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background-color: #e6e6e6;
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}
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.tab-magnetometer #loadmap .controls a:first-child {
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margin-left: -1px;
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margin-right: 5px;
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border-bottom-left-radius: 0;
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border-top-left-radius: 0;
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}
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.tab-magnetometer #loadmap .controls a:last-child {
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margin-right: 0;
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border-bottom-right-radius: 0;
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border-top-right-radius: 0;
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}
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#magnetometer-map {
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height: 400px;
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width: 100%;
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float: left;
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position: relative;
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}
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/*noinspection ALL*/
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progress[value]::-webkit-progress-bar {
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background-color: #d2d2d2;
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border-radius: 2px;
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box-shadow: 0 0 3px rgba(0, 0, 0, 0.25) inset;
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}
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/*noinspection ALL*/
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progress[value]::-webkit-progress-value {
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background-image: -webkit-linear-gradient(top, rgba(255, 255, 255, .15), rgba(0, 0, 0, .15)),
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-webkit-linear-gradient(left, #39a9dc, #39a9dc);
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border-radius: 2px;
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box-shadow: 0 0 3px rgba(0, 0, 0, 0.25) inset;
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}
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@media only screen and (max-width: 1055px) , only screen and (max-device-width: 1055px) {
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#magnetometer-map {
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height: 347px;
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width: 100%;
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float: left;
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}
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}
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74
tabs/magnetometer.html
Normal file
74
tabs/magnetometer.html
Normal file
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@ -0,0 +1,74 @@
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<div class="tab-magnetometer">
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<div class="content_wrapper" style="height: calc(100% - 40px)">
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<div class="tab_title" data-i18n="tabMagnetometer">Magnetometer</div>
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<div class="cf_column fourth">
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<div class="spacer_right">
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<div class="config-section gui_box grey">
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<div class="gui_box_titlebar">
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<div class="spacer_box_title" data-i18n="magnetometerHead"></div>
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</div>
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<div class="spacer_box">
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<div class="note">
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<div class="note_spacer">
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<p data-i18n="configurationMagnetometerHelp"></p>
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</div>
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</div>
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<div class="select">
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<select id="magalign" class="magalign">
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<option value="0">Default</option>
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<!-- list generated here -->
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</select>
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<label for="magalign" data-i18n="configurationSensorAlignmentMag"></label>
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</div>
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<div class="number">
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<input type="number" id="alignRoll" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="180" />
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<label for="alignRoll">
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<span data-i18n="configurationSensorAlignmentMagRoll"></span>
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</label>
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</div>
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<div class="number">
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<input type="number" id="alignPitch" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="180" />
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<label for="alignPitch">
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<span data-i18n="configurationSensorAlignmentMagPitch"></span>
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</label>
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</div>
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<div class="number">
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<input type="number" id="alignYaw" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="180" />
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<label for="alignYaw">
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<span data-i18n="configurationSensorAlignmentMagYaw"></span>
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</label>
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</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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<div class="cf_column threefourth_left" style="height: calc(100% - 100px);">
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<div class="gui_box grey magnetometer_model">
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<div class="gui_box_titlebar" style="margin-bottom: 0;">
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<div class="spacer_box_title" data-i18n="magnetometerMapHead"></div>
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</div>
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<div id="model">
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<div class="model-and-info">
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<div id="interactive_block">
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<div id="canvas_wrapper">
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<canvas id="canvas"></canvas>
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</div>
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<a class="reset" href="#" data-i18n="initialSetupButtonResetZaxis"></a>
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</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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<div class="content_toolbar">
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<div class="btn save_btn">
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<a class="save" href="#" data-i18n="configurationButtonSave"></a>
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</div>
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</div>
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</div>
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</div>
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286
tabs/magnetometer.js
Normal file
286
tabs/magnetometer.js
Normal file
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@ -0,0 +1,286 @@
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'use strict';
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/*global chrome,GUI,TABS,nwdialog,$*/
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TABS.magnetometer = {};
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TABS.magnetometer.initialize = function (callback) {
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var self = this;
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if (GUI.active_tab != 'magnetometer') {
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GUI.active_tab = 'magnetometer';
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googleAnalytics.sendAppView('MAGNETOMETER');
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}
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self.alignmentConfig = {
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pitch: 0,
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roll: 0,
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yaw: 0
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};
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//========================
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// Load chain
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// =======================
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var loadChainer = new MSPChainerClass();
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var loadChain = [
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mspHelper.loadMixerConfig,
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mspHelper.loadSensorAlignment,
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function(callback) {
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mspHelper.getSetting("align_mag_roll").then(function (data) {
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self.alignmentConfig.roll = parseInt(data.value, 10) / 10;
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}).then(callback)
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},
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function(callback) {
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mspHelper.getSetting("align_mag_pitch").then(function (data) {
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self.alignmentConfig.pitch = parseInt(data.value, 10) / 10;
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}).then(callback)
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},
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function(callback) {
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mspHelper.getSetting("align_mag_yaw").then(function (data) {
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self.alignmentConfig.yaw = parseInt(data.value, 10) / 10;
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}).then(callback)
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}
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];
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loadChainer.setChain(loadChain);
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loadChainer.setExitPoint(load_html);
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loadChainer.execute();
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//========================
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// Save chain
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// =======================
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var saveChainer = new MSPChainerClass();
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var saveChain = [
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// Magnetometer alignment
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function (callback) {
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let orientation_mag_e = $('select.magalign');
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SENSOR_ALIGNMENT.align_mag = parseInt(orientation_mag_e.val());
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callback();
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},
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mspHelper.saveSensorAlignment,
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// Pitch/Roll/Yaw
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function(callback) {
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mspHelper.setSetting("align_mag_roll", self.alignmentConfig.roll * 10, callback);
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},
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function(callback) {
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mspHelper.setSetting("align_mag_pitch", self.alignmentConfig.pitch * 10, callback);
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},
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function(callback) {
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mspHelper.setSetting("align_mag_yaw", self.alignmentConfig.yaw * 10, callback);
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},
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mspHelper.saveToEeprom
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];
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saveChainer.setChain(saveChain);
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saveChainer.setExitPoint(reboot);
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function reboot() {
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//noinspection JSUnresolvedVariable
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GUI.log(chrome.i18n.getMessage('configurationEepromSaved'));
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GUI.tab_switch_cleanup(function () {
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MSP.send_message(MSPCodes.MSP_SET_REBOOT, false, false, reinitialize);
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});
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}
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function reinitialize() {
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GUI.log(chrome.i18n.getMessage('deviceRebooting'));
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GUI.handleReconnect($('.tab_magnetometer a'));
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}
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function load_html() {
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GUI.load("./tabs/magnetometer.html", process_html);
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}
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function process_html() {
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localize();
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// initialize 3D
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self.initialize3D();
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self.render3D();
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let alignments = FC.getSensorAlignments();
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let orientation_mag_e = $('select.magalign');
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let orientation_mag_roll = $('#alignRoll');
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let orientation_mag_pitch = $('#alignPitch');
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let orientation_mag_yaw = $('#alignYaw');
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for (i = 0; i < alignments.length; i++) {
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orientation_mag_e.append('<option value="' + (i + 1) + '">' + alignments[i] + '</option>');
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}
|
||||
orientation_mag_e.val(SENSOR_ALIGNMENT.align_mag);
|
||||
|
||||
orientation_mag_roll.val(self.alignmentConfig.roll);
|
||||
orientation_mag_pitch.val(self.alignmentConfig.pitch);
|
||||
orientation_mag_yaw.val(self.alignmentConfig.yaw);
|
||||
|
||||
function clamp(input, min, max) {
|
||||
return Math.min(Math.max(parseInt($(input).val()), min), max);
|
||||
}
|
||||
|
||||
orientation_mag_e.change(function () {
|
||||
SENSOR_ALIGNMENT.align_mag = parseInt($(this).val());
|
||||
|
||||
self.render3D();
|
||||
});
|
||||
|
||||
orientation_mag_roll.change(function () {
|
||||
self.alignmentConfig.roll = clamp(this, -180, 180);
|
||||
|
||||
self.render3D();
|
||||
});
|
||||
|
||||
orientation_mag_pitch.change(function () {
|
||||
self.alignmentConfig.pitch = clamp(this, -180, 180)
|
||||
|
||||
self.render3D();
|
||||
});
|
||||
|
||||
orientation_mag_yaw.change(function () {
|
||||
self.alignmentConfig.yaw = clamp(this, -180, 360);
|
||||
|
||||
self.render3D();
|
||||
});
|
||||
|
||||
$('a.save').click(function () {
|
||||
saveChainer.execute()
|
||||
});
|
||||
|
||||
|
||||
GUI.content_ready(callback);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
TABS.magnetometer.initialize3D = function () {
|
||||
var self = this,
|
||||
loader,
|
||||
canvas,
|
||||
wrapper,
|
||||
renderer,
|
||||
camera,
|
||||
scene,
|
||||
light,
|
||||
light2,
|
||||
model,
|
||||
model_file,
|
||||
gps_model,
|
||||
useWebGlRenderer = false;
|
||||
|
||||
canvas = $('.model-and-info #canvas');
|
||||
wrapper = $('.model-and-info #canvas_wrapper');
|
||||
|
||||
// webgl capability detector
|
||||
// it would seem the webgl "enabling" through advanced settings will be ignored in the future
|
||||
// and webgl will be supported if gpu supports it by default (canary 40.0.2175.0), keep an eye on this one
|
||||
var detector_canvas = document.createElement('canvas');
|
||||
if (window.WebGLRenderingContext && (detector_canvas.getContext('webgl') || detector_canvas.getContext('experimental-webgl'))) {
|
||||
renderer = new THREE.WebGLRenderer({canvas: canvas.get(0), alpha: true, antialias: true});
|
||||
useWebGlRenderer = true;
|
||||
} else {
|
||||
renderer = new THREE.CanvasRenderer({canvas: canvas.get(0), alpha: true});
|
||||
}
|
||||
// initialize render size for current canvas size
|
||||
renderer.setSize(wrapper.width()*2, wrapper.height()*2);
|
||||
|
||||
// load the model including materials
|
||||
if (useWebGlRenderer) {
|
||||
if (MIXER_CONFIG.appliedMixerPreset === -1) {
|
||||
model_file = 'custom';
|
||||
GUI_control.prototype.log("<span style='color: red; font-weight: bolder'><strong>" + chrome.i18n.getMessage("mixerNotConfigured") + "</strong></span>");
|
||||
} else {
|
||||
model_file = helper.mixer.getById(MIXER_CONFIG.appliedMixerPreset).model;
|
||||
}
|
||||
} else {
|
||||
model_file = 'fallback'
|
||||
}
|
||||
|
||||
// Temporary workaround for 'custom' model until akfreak's custom model is merged.
|
||||
if (model_file == 'custom') {
|
||||
model_file = 'fallback';
|
||||
}
|
||||
|
||||
// setup scene
|
||||
scene = new THREE.Scene();
|
||||
|
||||
loader = new THREE.JSONLoader();
|
||||
loader.load('./resources/models/' + model_file + '.json', function (geometry, materials) {
|
||||
var modelMaterial = new THREE.MeshFaceMaterial(materials);
|
||||
model = new THREE.Mesh(geometry, modelMaterial);
|
||||
|
||||
model.scale.set(10, 10, 10);
|
||||
|
||||
scene.add(model);
|
||||
|
||||
loader.load('./resources/models/gps.json', function (geometry, materials) {
|
||||
var modelMaterial = new THREE.MeshFaceMaterial(materials);
|
||||
gps_model = new THREE.Mesh(geometry, modelMaterial);
|
||||
|
||||
gps_model.scale.set(5, 5, 5);
|
||||
// TODO This should depend on the selected drone model
|
||||
gps_model.position.set(0, 0, 25);
|
||||
|
||||
scene.add(gps_model);
|
||||
|
||||
self.render3D();
|
||||
}, function() { console.log("Couldn't load model file", arguments)});
|
||||
|
||||
}, function() { console.log("Couldn't load model file", arguments)});
|
||||
|
||||
// stationary camera
|
||||
camera = new THREE.PerspectiveCamera(50, wrapper.width() / wrapper.height(), 1, 10000);
|
||||
|
||||
// some light
|
||||
light = new THREE.AmbientLight(0x404040);
|
||||
light2 = new THREE.DirectionalLight(new THREE.Color(1, 1, 1), 1.5);
|
||||
light2.position.set(0, 1, 0);
|
||||
|
||||
// move camera away from the model
|
||||
camera.position.z = 0;
|
||||
camera.position.y = 50;
|
||||
camera.position.x = -90;
|
||||
camera.lookAt(new THREE.Vector3(0, 0, 0));
|
||||
|
||||
// add camera, model, light to the foreground scene
|
||||
scene.add(light);
|
||||
scene.add(light2);
|
||||
scene.add(camera);
|
||||
|
||||
this.render3D = function () {
|
||||
if (!model) {
|
||||
return;
|
||||
}
|
||||
|
||||
gps_model.rotation.x = THREE.Math.degToRad(self.alignmentConfig.pitch);
|
||||
gps_model.rotation.y = THREE.Math.degToRad(self.alignmentConfig.yaw);
|
||||
gps_model.rotation.z = THREE.Math.degToRad(self.alignmentConfig.roll);
|
||||
|
||||
// draw
|
||||
renderer.render(scene, camera);
|
||||
};
|
||||
|
||||
// handle canvas resize
|
||||
this.resize3D = function () {
|
||||
renderer.setSize(wrapper.width() * 2, wrapper.height() * 2);
|
||||
camera.aspect = wrapper.width() / wrapper.height();
|
||||
camera.updateProjectionMatrix();
|
||||
|
||||
self.render3D();
|
||||
};
|
||||
|
||||
$(window).on('resize', this.resize3D);
|
||||
|
||||
this.render3D()
|
||||
};
|
||||
|
||||
|
||||
TABS.magnetometer.cleanup = function (callback) {
|
||||
$(window).off('resize', this.resize3D);
|
||||
|
||||
if (callback) callback();
|
||||
};
|
||||
Loading…
Add table
Add a link
Reference in a new issue