Mirror/inav-configurator
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav-configurator.git synced 2025-07-24 08:45:26 +03:00
Code Wiki Activity

Merge pull request #324 from Afinogen/mission-planer

Browse source 
Mission planer
This commit is contained in:
Konstantin Sharlaimov 2018-02-17 21:27:54 +10:00 • committed by GitHub
commit 23ef794d5b
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
13 changed files with 1054 additions and 245 deletions
Download patch file Download diff file Expand all files Collapse all files

130
js/msp/MSPHelper.js
View file

@ -42,7 +42,7 @@ var mspHelper = (function (gui) {
'BLACKBOX': 7,
'TELEMETRY_MAVLINK': 8,
'TELEMETRY_IBUS': 9,
'RUNCAM_DEVICE_CONTROL' : 10,
'RUNCAM_DEVICE_CONTROL': 10,
'TBS_SMARTAUDIO': 11,
'IRC_TRAMP': 12
};
@ -138,14 +138,14 @@ var mspHelper = (function (gui) {
case MSPCodes.MSP_SENSOR_STATUS:
SENSOR_STATUS.isHardwareHealthy = data.getUint8(0);
SENSOR_STATUS.gyroHwStatus = data.getUint8(1);
SENSOR_STATUS.accHwStatus = data.getUint8(2);
SENSOR_STATUS.magHwStatus = data.getUint8(3);
SENSOR_STATUS.baroHwStatus = data.getUint8(4);
SENSOR_STATUS.gpsHwStatus = data.getUint8(5);
SENSOR_STATUS.rangeHwStatus = data.getUint8(6);
SENSOR_STATUS.speedHwStatus = data.getUint8(7);
SENSOR_STATUS.flowHwStatus = data.getUint8(8);
SENSOR_STATUS.gyroHwStatus = data.getUint8(1);
SENSOR_STATUS.accHwStatus = data.getUint8(2);
SENSOR_STATUS.magHwStatus = data.getUint8(3);
SENSOR_STATUS.baroHwStatus = data.getUint8(4);
SENSOR_STATUS.gpsHwStatus = data.getUint8(5);
SENSOR_STATUS.rangeHwStatus = data.getUint8(6);
SENSOR_STATUS.speedHwStatus = data.getUint8(7);
SENSOR_STATUS.flowHwStatus = data.getUint8(8);
if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
sensor_status_ex(SENSOR_STATUS);
}
@ -345,7 +345,12 @@ var mspHelper = (function (gui) {
}
break;
case MSPCodes.MSP_WP:
console.log(data);
MISSION_PLANER.bufferPoint.number = data.getUint8(0);
MISSION_PLANER.bufferPoint.action = data.getUint8(1);
MISSION_PLANER.bufferPoint.lat = data.getInt32(2, true) / 10000000;
MISSION_PLANER.bufferPoint.lon = data.getInt32(6, true) / 10000000;
MISSION_PLANER.bufferPoint.alt = data.getInt32(10, true);
break;
case MSPCodes.MSP_BOXIDS:
//noinspection JSUndeclaredVariable
@ -1144,6 +1149,23 @@ var mspHelper = (function (gui) {
case MSPCodes.MSPV2_SET_SETTING:
console.log("Setting set");
break;
case MSPCodes.MSP_WP_GETINFO:
// Reserved for waypoint capabilities data.getUint8(0);
MISSION_PLANER.maxWaypoints = data.getUint8(1);
MISSION_PLANER.isValidMission = data.getUint8(2);
MISSION_PLANER.countBusyPoints = data.getUint8(3);
break;
case MSPCodes.MSP_SET_WP:
console.log('Point saved');
break;
case MSPCodes.MSP_WP_MISSION_SAVE:
// buffer.push(0);
console.log(data);
break;
case MSPCodes.MSP_WP_MISSION_LOAD:
console.log('Mission load');
break;
default:
console.log('Unknown code detected: ' + dataHandler.code);
} else {
@ -1323,7 +1345,7 @@ var mspHelper = (function (gui) {
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
}
}
if (semver.gte(CONFIG.flightControllerVersion, "1.7.4")) {
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_min_distance));
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_min_distance));
@ -1624,6 +1646,44 @@ var mspHelper = (function (gui) {
buffer.push(SENSOR_CONFIG.opflow);
break;
case MSPCodes.MSP_SET_WP:
buffer.push(MISSION_PLANER.bufferPoint.number); // sbufReadU8(src); // number
buffer.push(MISSION_PLANER.bufferPoint.action); // sbufReadU8(src); // action
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 0)); // sbufReadU32(src); // lat
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 1));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 2));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 3));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 0)); // sbufReadU32(src); // lon
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 1));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 2));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 3));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 0)); // sbufReadU32(src); // to set altitude (cm)
buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 1));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 2));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 3));
buffer.push(lowByte(0)); //sbufReadU16(src); // P1
buffer.push(highByte(0));
buffer.push(lowByte(0)); //sbufReadU16(src); // P2
buffer.push(highByte(0));
buffer.push(lowByte(0)); //sbufReadU16(src); // P3
buffer.push(highByte(0));
buffer.push(MISSION_PLANER.bufferPoint.endMission); //sbufReadU8(src); // future: to set nav flag
break;
case MSPCodes.MSP_WP:
console.log(MISSION_PLANER.bufferPoint.number);
buffer.push(MISSION_PLANER.bufferPoint.number+1);
break;
case MSPCodes.MSP_WP_MISSION_SAVE:
// buffer.push(0);
console.log(buffer);
break;
case MSPCodes.MSP_WP_MISSION_LOAD:
// buffer.push(0);
console.log(buffer);
break;
default:
return false;
}
@ -1649,9 +1709,9 @@ var mspHelper = (function (gui) {
self.sendBlackboxConfiguration = function (onDataCallback) {
var message = [
BLACKBOX.blackboxDevice & 0xFF,
BLACKBOX.blackboxRateNum & 0xFF,
BLACKBOX.blackboxRateDenom & 0xFF
BLACKBOX.blackboxDevice & 0xFF,
BLACKBOX.blackboxRateNum & 0xFF,
BLACKBOX.blackboxRateDenom & 0xFF
];
//noinspection JSUnusedLocalSymbols
@ -2095,7 +2155,7 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_IDENT, false, false, callback);
};
self.loadINAVPidConfig = function(callback) {
self.loadINAVPidConfig = function (callback) {
if (semver.gt(CONFIG.flightControllerVersion, "1.3.0")) {
MSP.send_message(MSPCodes.MSP_INAV_PID, false, false, callback);
} else {
@ -2107,7 +2167,7 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_LOOP_TIME, false, false, callback);
};
self.loadAdvancedConfig = function(callback) {
self.loadAdvancedConfig = function (callback) {
if (semver.gte(CONFIG.flightControllerVersion, "1.3.0")) {
MSP.send_message(MSPCodes.MSP_ADVANCED_CONFIG, false, false, callback);
} else {
@ -2288,7 +2348,7 @@ var mspHelper = (function (gui) {
};
self.saveRxConfig = function (callback) {
if(semver.gte(CONFIG.apiVersion, "1.21.0")) {
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
MSP.send_message(MSPCodes.MSP_SET_RX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RX_CONFIG), false, callback);
} else {
callback();
@ -2296,7 +2356,7 @@ var mspHelper = (function (gui) {
};
self.saveSensorConfig = function (callback) {
if(semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
MSP.send_message(MSPCodes.MSP_SET_SENSOR_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_SENSOR_CONFIG), false, callback);
} else {
callback();
@ -2383,20 +2443,28 @@ var mspHelper = (function (gui) {
}
};
self._getSetting = function(name) {
self.getMissionInfo = function (callback) {
if (semver.gte(CONFIG.flightControllerVersion, "1.8.1")) {
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
} else {
callback();
}
};
self._getSetting = function (name) {
var promise;
if (this._settings) {
promise = Promise.resolve(this._settings);
} else {
promise = new Promise(function(resolve, reject) {
promise = new Promise(function (resolve, reject) {
var $this = this;
$.ajax({
url: chrome.runtime.getURL('/resources/settings.json'),
dataType: 'json',
error: function(jqXHR, text, error) {
error: function (jqXHR, text, error) {
reject(error);
},
success: function(data) {
success: function (data) {
$this._settings = data;
resolve(data);
}
@ -2408,19 +2476,19 @@ var mspHelper = (function (gui) {
});
};
self._encodeSettingName = function(name, data) {
self._encodeSettingName = function (name, data) {
for (var ii = 0; ii < name.length; ii++) {
data.push(name.charCodeAt(ii));
}
data.push(0);
};
self.getSetting = function(name, callback) {
self.getSetting = function (name, callback) {
var $this = this;
return this._getSetting(name).then(function (setting) {
var data = [];
var data = [];
$this._encodeSettingName(name, data);
MSP.send_message(MSPCodes.MSPV2_SETTING, data, false, function(resp) {
MSP.send_message(MSPCodes.MSPV2_SETTING, data, false, function (resp) {
var value;
switch (setting.type) {
case "uint8_t":
@ -2457,7 +2525,7 @@ var mspHelper = (function (gui) {
});
};
self.encodeSetting = function(name, value) {
self.encodeSetting = function (name, value) {
var $this = this;
return this._getSetting(name).then(function (setting) {
if (setting.table) {
@ -2500,15 +2568,15 @@ var mspHelper = (function (gui) {
});
};
self.setSetting = function(name, value, callback) {
self.setSetting = function (name, value, callback) {
this.encodeSetting(name, value).then(function (data) {
MSP.send_message(MSPCodes.MSPV2_SET_SETTING, data, false, callback);
});
};
self.getRTC = function(callback) {
self.getRTC = function (callback) {
if (semver.gt(CONFIG.flightControllerVersion, "1.7.3")) {
MSP.send_message(MSPCodes.MSP_RTC, false, false, function(resp) {
MSP.send_message(MSPCodes.MSP_RTC, false, false, function (resp) {
var seconds = resp.data.read32();
var millis = resp.data.readU16();
if (callback) {
@ -2520,7 +2588,7 @@ var mspHelper = (function (gui) {
}
};
self.setRTC = function(callback) {
self.setRTC = function (callback) {
if (semver.gt(CONFIG.flightControllerVersion, "1.7.3")) {
var now = Date.now();
var secs = now / 1000;