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Alexander van Saase 2021-04-21 19:16:52 +02:00
commit a31a5ea07b
193 changed files with 10365 additions and 4035 deletions

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@ -1049,6 +1049,9 @@
"portsFunction_DJI_FPV": {
"message": "DJI FPV VTX"
},
"portsFunction_IMU2": {
"message": "Secondary IMU"
},
"pidTuningName": {
"message": "Name"
},
@ -2449,6 +2452,12 @@
"posholdHoverMidThrottle": {
"message": "Use mid. throttle for ALTHOLD"
},
"mcWpSlowdown": {
"message": "Slow down when approaching waypoint"
},
"mcWpSlowdownHelp": {
"message": "When enabled, NAV engine will slow down when switching to the next waypoint. This prioritizes turning over forward movement. When disabled, NAV engine will continue to the next waypoint and turn as it goes."
},
"positionEstimatorConfiguration": {
"message": "Position Estimator"
},
@ -2494,9 +2503,18 @@
"rthClimbFirst": {
"message": "Climb before RTH"
},
"rthClimbFirstHelp": {
"message": "If set to ON or ON_FW_SPIRAL, aircraft will climb to nav_rth_altitude first before turning to head home. If set to OFF, aircraft will turn and head home immediately climbing on the way. For a fixed wing, ON will use a linear climb, ON_FW_SPIRAL will use a loiter turning climb with climb rate set by nav_auto_climb_rate and turn rate set by nav_fw_loiter_radius (ON_FW_SPIRAL is a fixed wing setting and behaves the same as ON for a multirotor)."
},
"rthClimbIgnoreEmergency": {
"message": "Climb regardless of position sensors health"
},
"rthAltControlOverride": {
"message": "Override RTH altitude and climb setting with roll/pitch stick"
},
"rthAltControlOverrideHELP": {
"message": "When enabled, the climb on RTH can be canceled by holding full pitch down for >1 second so aircraft will fly home at the current altitude. On fixed wing aircraft, the 'Climb before RTH' setting can be overriden by holding full roll left or right for >1 second so that the plane will turn towards home immediately."
},
"rthTailFirst": {
"message": "Tail first"
},
@ -2524,8 +2542,11 @@
"rthHomeAltitudeHelp": {
"message": "Used when not landing at the home point. Upon arriving at home, the plane will loiter and change altitude to the RTH Home Altitude. Default is 0, which is feature disabled."
},
"landDescentRate": {
"message": "Landing vertical speed [cm/s]"
"landMinAltVspd": {
"message": "Vertical descent velocity under min. vertical landing speed altitude [cm/s]"
},
"landMaxAltVspd": {
"message": "Vertical descent velocity above slowdown altitude [cm/s]"
},
"landSlowdownMinAlt": {
"message": "Min. vertical landing speed at altitude [cm]"
@ -3214,6 +3235,15 @@
"missionDefaultSettingsHead": {
"message": "Default settings"
},
"missionSafehomeHead": {
"message": "Safe Home manager"
},
"missionTemplateHead": {
"message": "Mission template"
},
"missionActionMenuHead": {
"message": "Action Menu"
},
"useOnlyStandalone": {
"message": "Use stand-alone application.<br> Please visit the <a href=\"https://github.com/iNavFlight/inav-configurator/releases\" target=\"_blank\">website</a> to read the release notes and download."
},
@ -3223,6 +3253,9 @@
"confirm_delete_all_points": {
"message": "Do you really want to delete all points?"
},
"confirm_delete_point_with_options": {
"message": "Do you really want to delete this Waypoint with non-Geo JUMP/SET_HEAD/RTH options? \nIf yes, Non-Geo options attached will be removed also!"
},
"servoMixer": {
"message": "Servo mixer"
},
@ -3694,6 +3727,54 @@
"configurationCurrentMeterType": {
"message": "Current Meter Type"
},
"MissionPlannerJumpSettingsCheck": {
"message": "JUMP settings incorrect : Check it again! \nBeing forced to WP 1!"
},
"MissionPlannerJump2SettingsCheck": {
"message": "JUMP settings incorrect : Repeat should not exceed 10! \nCheck it again! Being forced to number of repeat equal 0!"
},
"MissionPlannerJump3SettingsCheck": {
"message": "JUMP settings incorrect : not able to Jump to a POI! \nBeing forced to WP 1!"
},
"MissionPlannerHeadSettingsCheck": {
"message": "Heading value is incorrect : Check it again! Being forced by default to -1 thence!"
},
"MissionPlannerRTHSettingsCheck": {
"message": "RTH option is incorrect : Should be 0 or 1. Check it again! \nBeing forced by default to 0, i.e no LAND after RTH!"
},
"MissionPlannerJumpTargetRemoval": {
"message": "You can't remove a Waypoint which is defined as a JUMP target! \nYou first need to remove the target on the waypoint triggering the JUMP."
},
"SafehomeSelected": {
"message": ""
},
"SafehomeId": {
"message": "#"
},
"SafehomeEnabled": {
"message": "Enabled"
},
"SafehomeLon": {
"message": "Lon"
},
"SafehomeLat": {
"message": "Lat"
},
"WaypointOptionSelected": {
"message": "+"
},
"WaypointOptionId": {
"message": "#"
},
"WaypointOptionAction": {
"message": "Type"
},
"WaypointOptionP1": {
"message": "P1"
},
"WaypointOptionP2": {
"message": "P2"
},
"rollPitchAdjustmentsMoved": {
"message": "Roll & Pitch board orientation is available only in the CLI. Do not use it to trim the airplane for the level flight! Use Fixed Wing Level Trim on the PID tuning tab under Mechanics instead (<strong>fw_level_pitch_trim</strong>)."
},

View file

@ -123,6 +123,10 @@ sources.js = [
'./js/appUpdater.js',
'./js/feature_framework.js',
'./js/defaults_dialog.js',
'./js/safehomeCollection.js',
'./js/safehome.js',
'./js/waypointCollection.js',
'./js/waypoint.js',
'./node_modules/openlayers/dist/ol.js'
];

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@ -62,7 +62,8 @@ var CONFIG,
BATTERY_CONFIG,
OUTPUT_MAPPING,
SETTINGS,
BRAKING_CONFIG;
BRAKING_CONFIG,
SAFEHOMES;
var FC = {
MAX_SERVO_RATE: 125,
@ -244,7 +245,7 @@ var FC = {
packetCount: 0
};
MISSION_PLANER = {
/* MISSION_PLANER = {
maxWaypoints: 0,
isValidMission: 0,
countBusyPoints: 0,
@ -255,9 +256,13 @@ var FC = {
lon: 0,
alt: 0,
endMission: 0,
p1: 0
p1: 0,
p2: 0,
p3: 0
}
};
}; */
MISSION_PLANER = new WaypointCollection();
ANALOG = {
voltage: 0,
@ -552,6 +557,8 @@ var FC = {
OUTPUT_MAPPING = new OutputMappingCollection();
SETTINGS = {};
SAFEHOMES = new SafehomeCollection();
},
getOutputUsages: function() {
return {

View file

@ -218,5 +218,14 @@ var MSPCodes = {
MSP2_PID: 0x2030,
MSP2_SET_PID: 0x2031,
MSP2_INAV_OPFLOW_CALIBRATION: 0x2032
MSP2_INAV_OPFLOW_CALIBRATION: 0x2032,
MSP2_INAV_FWUPDT_PREPARE: 0x2033,
MSP2_INAV_FWUPDT_STORE: 0x2034,
MSP2_INAV_FWUPDT_EXEC: 0x2035,
MSP2_INAV_FWUPDT_ROLLBACK_PREPARE: 0x2036,
MSP2_INAV_FWUPDT_ROLLBACK_EXEC: 0x2037,
MSP2_INAV_SAFEHOME: 0x2038,
MSP2_INAV_SET_SAFEHOME: 0x2039
};

View file

@ -43,6 +43,7 @@ var mspHelper = (function (gui) {
'FRSKY_OSD': 20,
'DJI_FPV': 21,
'SMARTPORT_MASTER': 23,
'IMU2': 24,
};
// Required for MSP_DEBUGMSG because console.log() doesn't allow omitting
@ -65,8 +66,7 @@ var mspHelper = (function (gui) {
flags,
colorCount,
color;
if (!dataHandler.unsupported) switch (dataHandler.code) {
if (!dataHandler.unsupported || dataHandler.unsupported) switch (dataHandler.code) {
case MSPCodes.MSP_IDENT:
//FIXME remove this frame when proven not needed
console.log('Using deprecated msp command: MSP_IDENT');
@ -441,13 +441,16 @@ var mspHelper = (function (gui) {
}
break;
case MSPCodes.MSP_WP:
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);
MISSION_PLANER.bufferPoint.p1 = data.getInt16(14, true);
MISSION_PLANER.put(new Waypoint(
data.getUint8(0),
data.getUint8(1),
data.getInt32(2, true),
data.getInt32(6, true),
data.getInt32(10, true),
data.getInt16(14, true),
data.getInt16(16, true),
data.getInt16(18, true)
));
break;
case MSPCodes.MSP_BOXIDS:
//noinspection JSUndeclaredVariable
@ -1324,10 +1327,11 @@ var mspHelper = (function (gui) {
RTH_AND_LAND_CONFIG.rthAltControlMode = data.getUint8(6);
RTH_AND_LAND_CONFIG.rthAbortThreshold = data.getUint16(7, true);
RTH_AND_LAND_CONFIG.rthAltitude = data.getUint16(9, true);
RTH_AND_LAND_CONFIG.landDescentRate = data.getUint16(11, true);
RTH_AND_LAND_CONFIG.landSlowdownMinAlt = data.getUint16(13, true);
RTH_AND_LAND_CONFIG.landSlowdownMaxAlt = data.getUint16(15, true);
RTH_AND_LAND_CONFIG.emergencyDescentRate = data.getUint16(17, true);
RTH_AND_LAND_CONFIG.landMinAltVspd = data.getUint16(11, true);
RTH_AND_LAND_CONFIG.landMaxAltVspd = data.getUint16(13, true);
RTH_AND_LAND_CONFIG.landSlowdownMinAlt = data.getUint16(15, true);
RTH_AND_LAND_CONFIG.landSlowdownMaxAlt = data.getUint16(17, true);
RTH_AND_LAND_CONFIG.emergencyDescentRate = data.getUint16(19, true);
break;
case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
@ -1411,9 +1415,9 @@ var mspHelper = (function (gui) {
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);
MISSION_PLANER.setMaxWaypoints(data.getUint8(1));
MISSION_PLANER.setValidMission(data.getUint8(2));
MISSION_PLANER.setCountBusyPoints(data.getUint8(3));
break;
case MSPCodes.MSP_SET_WP:
console.log('Point saved');
@ -1493,7 +1497,18 @@ var mspHelper = (function (gui) {
SENSOR_DATA.temperature[i] = temp_decidegrees / 10; // °C
}
break;
case MSPCodes.MSP2_INAV_SAFEHOME:
SAFEHOMES.put(new Safehome(
data.getUint8(0),
data.getUint8(1),
data.getInt32(2, true),
data.getInt32(6, true)
));
break;
case MSPCodes.MSP2_INAV_SET_SAFEHOME:
console.log('Safehome points saved');
break;
default:
console.log('Unknown code detected: ' + dataHandler.code);
} else {
@ -1993,8 +2008,11 @@ var mspHelper = (function (gui) {
buffer.push(lowByte(RTH_AND_LAND_CONFIG.rthAltitude));
buffer.push(highByte(RTH_AND_LAND_CONFIG.rthAltitude));
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landDescentRate));
buffer.push(highByte(RTH_AND_LAND_CONFIG.landDescentRate));
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landMinAltVspd));
buffer.push(highByte(RTH_AND_LAND_CONFIG.landMinAltVspd));
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landMaxAltVspd));
buffer.push(highByte(RTH_AND_LAND_CONFIG.landMaxAltVspd));
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
buffer.push(highByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
@ -2101,34 +2119,7 @@ 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(MISSION_PLANER.bufferPoint.p1)); //sbufReadU16(src); // P1 speed or landing
buffer.push(highByte(MISSION_PLANER.bufferPoint.p1));
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);
@ -2194,17 +2185,17 @@ var mspHelper = (function (gui) {
};
self.sendBlackboxConfiguration = function (onDataCallback) {
var buffer = [];
var messageId = MSPCodes.MSP_SET_BLACKBOX_CONFIG;
buffer.push(BLACKBOX.blackboxDevice & 0xFF);
messageId = MSPCodes.MSP2_SET_BLACKBOX_CONFIG;
buffer.push(lowByte(BLACKBOX.blackboxRateNum));
buffer.push(highByte(BLACKBOX.blackboxRateNum));
buffer.push(lowByte(BLACKBOX.blackboxRateDenom));
buffer.push(highByte(BLACKBOX.blackboxRateDenom));
var buffer = [];
var messageId = MSPCodes.MSP_SET_BLACKBOX_CONFIG;
buffer.push(BLACKBOX.blackboxDevice & 0xFF);
messageId = MSPCodes.MSP2_SET_BLACKBOX_CONFIG;
buffer.push(lowByte(BLACKBOX.blackboxRateNum));
buffer.push(highByte(BLACKBOX.blackboxRateNum));
buffer.push(lowByte(BLACKBOX.blackboxRateDenom));
buffer.push(highByte(BLACKBOX.blackboxRateDenom));
//noinspection JSUnusedLocalSymbols
MSP.send_message(messageId, buffer, false, function (response) {
onDataCallback();
onDataCallback();
});
};
@ -2822,7 +2813,7 @@ var mspHelper = (function (gui) {
};
self.loadBatteryConfig = function (callback) {
MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
};
self.loadArmingConfig = function (callback) {
@ -2988,6 +2979,76 @@ var mspHelper = (function (gui) {
self.getMissionInfo = function (callback) {
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
};
self.loadWaypoints = function (callback) {
MISSION_PLANER.reinit();
let waypointId = 1;
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getFirstWP);
function getFirstWP() {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint)
};
function nextWaypoint() {
waypointId++;
if (waypointId < MISSION_PLANER.getCountBusyPoints()) {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint);
}
else {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
}
};
};
self.saveWaypoints = function (callback) {
let waypointId = 1;
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint)
function nextWaypoint() {
waypointId++;
if (waypointId < MISSION_PLANER.get().length) {
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint);
}
else {
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, endMission);
}
};
function endMission() {
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
}
};
self.loadSafehomes = function (callback) {
SAFEHOMES.flush();
let safehomeId = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
function nextSafehome() {
safehomeId++;
if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
}
else {
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, callback);
}
};
};
self.saveSafehomes = function (callback) {
let safehomeId = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
function nextSendSafehome() {
safehomeId++;
if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
}
else {
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, callback);
}
};
};
self._getSetting = function (name) {
if (SETTINGS[name]) {

61
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@ -0,0 +1,61 @@
/*global $*/
'use strict';
let Safehome = function (number, enabled, lat, lon) {
var self = {};
self.getNumber = function () {
return number;
};
self.setNumber = function (data) {
number = data;
};
self.getLon = function () {
return lon;
};
self.setLon = function (data) {
lon = data;
};
self.getLonMap = function () {
return lon / 1e7;
};
self.getLat = function () {
return lat;
};
self.setLat = function (data) {
lat = data;
};
self.getLatMap = function () {
return lat / 1e7;
};
self.isUsed = function () {
return enabled == 1;
};
self.getEnabled = function () {
return enabled;
};
self.setEnabled = function (data) {
enabled = data;
};
self.cleanup = function () {
number = 0;
enabled = 0;
lon = 0;
lat = 0;
};
return self;
};

130
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@ -0,0 +1,130 @@
'use strict';
let SafehomeCollection = function () {
let self = {},
data = [],
maxSafehomeCount = 8;
self.setMaxSafehomeCount = function (value) {
maxSafehomeCount = value;
};
self.getMaxSafehomeCount = function () {
return maxSafehomeCount;
}
self.put = function (element) {
data.push(element);
};
self.get = function () {
return data;
};
self.clean = function (index){
data[index].cleanup();
};
self.flush = function () {
data = [];
};
self.inflate = function () {
while (self.hasFreeSlots()) {
self.put(new Safehome(data.length, 0, 0, 0));
}
};
self.hasFreeSlots = function () {
return data.length < self.getMaxSafehomeCount();
};
self.isSafehomeConfigured = function(safehomeId) {
for (let safehomeIndex in data) {
if (data.hasOwnProperty(safehomeIndex)) {
let safehome = data[safehomeIndex];
if (safehome.getNumber() == safehomeId && safehome.isUsed()) {
return true;
}
}
}
return false;
};
self.getNumberOfConfiguredSafehome = function () {
let count = 0;
for (let i = 0; i < self.getMaxSafehomeCount(); i ++) {
if (self.isSafehomeConfigured(i)) {
count++;
}
}
return count;
};
self.getUsedSafehomeIndexes = function () {
let out = [];
for (let safehomeIndex in data) {
if (data.hasOwnProperty(safehomeIndex)) {
let safehome = data[safehomeIndex];
out.push(safehome.getNumber());
}
}
let unique = [...new Set(out)];
return unique.sort(function(a, b) {
return a-b;
});
}
self.getSafehome = function(safehomeId) {
for (let safehomeIndex in data) {
if (data.hasOwnProperty(safehomeIndex)) {
let safehome = data[safehomeIndex];
if (safehome.getNumber() == safehomeId ) {
return safehome;
}
}
}
};
self.updateSafehome = function(newSafehome) {
data[newSafehome.getNumber()] = newSafehome;
};
self.extractBuffer = function(safehomeId) {
let buffer = [];
let safehome = self.getSafehome(safehomeId);
buffer.push(safehome.getNumber()); // sbufReadU8(src); // number
buffer.push(safehome.getEnabled()); // sbufReadU8(src); // action
buffer.push(specificByte(safehome.getLat(), 0)); // sbufReadU32(src); // lat
buffer.push(specificByte(safehome.getLat(), 1));
buffer.push(specificByte(safehome.getLat(), 2));
buffer.push(specificByte(safehome.getLat(), 3));
buffer.push(specificByte(safehome.getLon(), 0)); // sbufReadU32(src); // lon
buffer.push(specificByte(safehome.getLon(), 1));
buffer.push(specificByte(safehome.getLon(), 2));
buffer.push(specificByte(safehome.getLon(), 3));
return buffer;
}
self.safehomeDisplayDebug = function() {
if (data && data.length != 0) {
data.forEach(function (element) {
console.log("N° : ", element.getNumber(),
"Enabled : ", element.getEnabled(),
"Lon : ", element.getLon(),
"Lat : ", element.getLat(),
);
});
}
}
return self;
};

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@ -0,0 +1,140 @@
/*global $*/
'use strict';
let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endMission=0, isUsed=true, isAttached=false, attachedId="") {
var self = {};
let layerNumber = "undefined";
let attachedNumber = "undefined";
let poiNumber = "undefined";
self.getNumber = function () {
return number;
};
self.setNumber = function (data) {
number = data;
};
self.getLayerNumber = function () {
return layerNumber;
};
self.setLayerNumber = function (data) {
layerNumber = data;
};
self.getPoiNumber = function () {
return poiNumber;
};
self.setPoiNumber = function (data) {
poiNumber = data;
};
self.isUsed = function () {
return isUsed;
};
self.setUsed = function (data) {
isUsed = data;
};
self.isAttached = function () {
return isAttached;
};
self.setAttached = function (data) {
isAttached = data;
};
self.getLon = function () {
return lon;
};
self.getLonMap = function () {
return lon / 10000000;
};
self.setLon = function (data) {
lon = data;
};
self.getLat = function () {
return lat;
};
self.getLatMap = function () {
return lat / 10000000;
};
self.setLat = function (data) {
lat = data;
};
self.getAction = function () {
return action;
};
self.setAction = function (data) {
action = data;
};
self.getAlt = function () {
return alt;
};
self.setAlt = function (data) {
alt = data;
};
self.getP1 = function () {
return p1;
};
self.setP1 = function (data) {
p1 = data;
};
self.getP2 = function () {
return p2;
};
self.setP2 = function (data) {
p2 = data;
};
self.getP3 = function () {
return p3;
};
self.setP3 = function (data) {
p3 = data;
};
self.getEndMission = function () {
return endMission;
};
self.setEndMission = function (data) {
endMission = data;
};
self.getAttachedId = function () {
return attachedId;
};
self.setAttachedId = function (data) {
attachedId = data;
};
self.getAttachedNumber = function () {
return attachedNumber;
};
self.setAttachedNumber = function (data) {
attachedNumber = data;
};
return self;
};

336
js/waypointCollection.js Normal file
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@ -0,0 +1,336 @@
'use strict';
let WaypointCollection = function () {
let self = {},
data = [],
maxWaypoints = 60,
isValidMission = 0,
countBusyPoints = 0,
version = 0,
center = {}
self.getMaxWaypoints = function () {
return maxWaypoints;
};
self.setMaxWaypoints = function (data) {
maxWaypoints = data;
};
self.getValidMission = function () {
return isValidMission;
};
self.setValidMission = function (data) {
isValidMission = data;
};
self.getCountBusyPoints = function () {
return countBusyPoints;
};
self.setCountBusyPoints = function (data) {
countBusyPoints = data;
};
self.getVersion = function () {
return version;
};
self.setVersion = function (data) {
version = data;
};
self.getCenter = function () {
return center;
};
self.setCenter = function (data) {
center = data;
};
self.setCenterZoom = function (data) {
center.zoom = data;
};
self.setCenterLon = function (data) {
center.lon = data;
};
self.setCenterLat = function (data) {
center.lat = data;
};
self.put = function (element) {
data.push(element);
};
self.get = function () {
return data;
};
self.isEmpty = function () {
return data == [];
};
self.flush = function () {
data = [];
};
self.reinit = function () {
data = [];
maxWaypoints = 60;
isValidMission = 0;
countBusyPoints = 0;
version = 0;
center = {};
};
self.getWaypoint = function(waypointId) {
for (let waypointIndex in data) {
if (data.hasOwnProperty(waypointIndex)) {
let waypoint = data[waypointIndex];
if (waypoint.getNumber() == waypointId ) {
return waypoint;
}
}
}
};
self.updateWaypoint = function(newWaypoint) {
if (newWaypoint.isUsed()) {
data[newWaypoint.getNumber()] = newWaypoint;
}
};
self.dropWaypoint = function(newWaypoint) {
self.getWaypoint(newWaypoint.getNumber()).setUsed(false);
let indexId = newWaypoint.getNumber()
data.forEach(function (wp) {
if (wp.getNumber() >= indexId) {
wp.setNumber(wp.getNumber()-1);
}
if (wp.getAction() == MWNP.WPTYPE.JUMP && wp.getP1()>=indexId) {
wp.setP1(wp.getP1()-1);
}
});
data.splice(indexId, 1);
};
self.insertWaypoint = function (newWaypoint, indexId) {
data.forEach(function (wp) {
if (wp.getNumber() >= indexId) {
wp.setNumber(wp.getNumber()+1);
}
if (wp.getAction() == MWNP.WPTYPE.JUMP && wp.getP1()>=indexId) {
wp.setP1(wp.getP1()+1);
}
});
data.splice(indexId, 0, newWaypoint);
};
self.drop = function (waypointId) {
self.getWaypoint(waypointId).setUsed(false);
var tmpData = [];
let idx = 0;
data.forEach(function (element) {
if (element.isUsed()) {
element.setNumber(idx)
tmpData.push(element);
idx++;
}
});
data = tmpData;
};
self.update = function (bMWPfile=false, bReverse=false) {
let oldWPNumber = 0;
let optionIdx = 0;
let idx = 0;
data.forEach(function (element) {
if (element.isUsed()) {
if (bMWPfile && !bReverse) {
element.setNumber(element.getNumber()-1);
if (element.getAction() == MWNP.WPTYPE.JUMP) {
element.setP1(element.getP1()-1);
}
}
else if (bMWPfile && bReverse) {
element.setNumber(element.getNumber()+1);
if (element.getAction() == MWNP.WPTYPE.JUMP) {
element.setP1(element.getP1()+1);
}
}
if ([MWNP.WPTYPE.JUMP,MWNP.WPTYPE.SET_HEAD,MWNP.WPTYPE.RTH].includes(element.getAction())) {
element.setAttachedId(oldWPNumber);
element.setAttachedNumber(optionIdx);
element.setAttached(true);
optionIdx++;
}
else {
oldWPNumber = element.getNumber();
element.setLayerNumber(idx);
optionIdx = 0;
idx++;
}
if (element.getNumber() == ((bMWPfile && bReverse) ? self.get().length : self.get().length-1)) {
element.setEndMission(0xA5);
}
else {
element.setEndMission(0);
}
}
});
};
self.getNonAttachedList = function () {
let tmpData = [];
data.forEach(function (element) {
if (!element.isAttached()) {
tmpData.push(element);
}
});
return tmpData;
}
self.getAttachedList = function () {
let tmpData = [];
data.forEach(function (element) {
if (element.isAttached()) {
tmpData.push(element);
}
});
return tmpData;
}
self.getAttachedFromWaypoint = function (waypoint) {
let tmpData = [];
data.forEach(function (element) {
if (element.isAttached() && element.getAttachedId() == waypoint.getNumber()) {
tmpData.push(element);
}
});
return tmpData;
}
self.addAttachedFromWaypoint = function (waypoint) {
let tmpNumber = 0;
let tmpData = self.getAttachedFromWaypoint(waypoint);
if (tmpData != 'undefined' && tmpData.length !=0) {
tmpNumber = tmpData.length;
}
let tempWp = new Waypoint(waypoint.getNumber()+tmpNumber+1, MWNP.WPTYPE.JUMP, 0, 0);
tempWp.setAttached(true);
tempWp.setAttachedId(waypoint.getNumber());
self.insertWaypoint(tempWp, waypoint.getNumber()+tmpNumber+1);
self.update();
}
self.dropAttachedFromWaypoint = function (waypoint, waypointAttachedNumber) {
data.forEach(function (element) {
if (element.isAttached() && element.getAttachedId() == waypoint.getNumber() && element.getAttachedNumber() == waypointAttachedNumber) {
self.dropWaypoint(element);
self.update();
}
});
}
self.extractBuffer = function(waypointId) {
let buffer = [];
let waypoint = self.getWaypoint(waypointId);
buffer.push(waypoint.getNumber()); // sbufReadU8(src); // number
buffer.push(waypoint.getAction()); // sbufReadU8(src); // action
buffer.push(specificByte(waypoint.getLat(), 0)); // sbufReadU32(src); // lat
buffer.push(specificByte(waypoint.getLat(), 1));
buffer.push(specificByte(waypoint.getLat(), 2));
buffer.push(specificByte(waypoint.getLat(), 3));
buffer.push(specificByte(waypoint.getLon(), 0)); // sbufReadU32(src); // lon
buffer.push(specificByte(waypoint.getLon(), 1));
buffer.push(specificByte(waypoint.getLon(), 2));
buffer.push(specificByte(waypoint.getLon(), 3));
buffer.push(specificByte(waypoint.getAlt(), 0)); // sbufReadU32(src); // to set altitude (cm)
buffer.push(specificByte(waypoint.getAlt(), 1));
buffer.push(specificByte(waypoint.getAlt(), 2));
buffer.push(specificByte(waypoint.getAlt(), 3));
buffer.push(lowByte(waypoint.getP1())); //sbufReadU16(src); // P1 speed or landing
buffer.push(highByte(waypoint.getP1()));
buffer.push(lowByte(waypoint.getP2())); //sbufReadU16(src); // P2
buffer.push(highByte(waypoint.getP2()));
buffer.push(lowByte(waypoint.getP3())); //sbufReadU16(src); // P3
buffer.push(highByte(waypoint.getP3()));
buffer.push(waypoint.getEndMission()); //sbufReadU8(src); // future: to set nav flag
return buffer;
}
self.missionDisplayDebug = function() {
if (data && data.length != 0) {
data.forEach(function (element) {
console.log("N° : ", element.getNumber(),
"Action : ", element.getAction(),
"Lon : ", element.getLon(),
"Lat : ", element.getLat(),
"Alt : ", element.getAlt(),
"P1 : ", element.getP1(),
"P2 : ", element.getP2(),
"P3 : ", element.getP3(),
"EndMission : ", element.getEndMission());
});
}
}
self.copy = function(mission){
mission.get().forEach(function (element) {
self.put(element);
});
self.setMaxWaypoints(mission.getMaxWaypoints());
self.setValidMission(mission.getValidMission());
self.setCountBusyPoints(mission.getCountBusyPoints());
self.setVersion(mission.getVersion());
self.setCenter(mission.getCenter());
}
self.convertJumpNumberToWaypoint = function(jumpId) {
let outputNumber = 0;
self.getNonAttachedList().forEach(function (element) {
if (element.getLayerNumber() == jumpId) {
outputNumber = element.getNumber();
}
});
return outputNumber;
}
self.isJumpTargetAttached = function(waypoint) {
let lJumptTargetAttached = [];
data.forEach(function (element) {
if (element.getAction() == MWNP.WPTYPE.JUMP && element.getP1() == waypoint.getNumber()) {
lJumptTargetAttached.push(element.getNumber());
}
});
console.log("lJumptTargetAttached ", lJumptTargetAttached);
return (lJumptTargetAttached.length != 0 && lJumptTargetAttached != 'undefined')
}
self.getPoiList = function() {
let poiList = [];
data.forEach(function (element) {
if (element.getAction() == MWNP.WPTYPE.SET_POI) {
poiList.push(element.getNumber());
}
});
return poiList;
}
return self;
};

112
package-lock.json generated
View file

@ -1,6 +1,6 @@
{
"name": "inav-configurator",
"version": "2.7.0",
"version": "3.0.0",
"lockfileVersion": 1,
"requires": true,
"dependencies": {
@ -44,6 +44,7 @@
"version": "0.1.4",
"resolved": "https://registry.npmjs.org/align-text/-/align-text-0.1.4.tgz",
"integrity": "sha1-DNkKVhCT810KmSVsIrcGlDP60Rc=",
"optional": true,
"requires": {
"kind-of": "^3.0.2",
"longest": "^1.0.1",
@ -54,6 +55,7 @@
"version": "3.2.2",
"resolved": "https://registry.npmjs.org/kind-of/-/kind-of-3.2.2.tgz",
"integrity": "sha1-MeohpzS6ubuw8yRm2JOupR5KPGQ=",
"optional": true,
"requires": {
"is-buffer": "^1.1.5"
}
@ -813,11 +815,6 @@
"supports-color": "^2.0.0"
}
},
"charm": {
"version": "0.1.2",
"resolved": "https://registry.npmjs.org/charm/-/charm-0.1.2.tgz",
"integrity": "sha1-BsIe7RobBq62dVPNxT4jJ0usIpY="
},
"chokidar": {
"version": "2.1.6",
"resolved": "https://registry.npmjs.org/chokidar/-/chokidar-2.1.6.tgz",
@ -1059,12 +1056,9 @@
}
},
"commander": {
"version": "2.8.1",
"resolved": "https://registry.npmjs.org/commander/-/commander-2.8.1.tgz",
"integrity": "sha1-Br42f+v9oMMwqh4qBy09yXYkJdQ=",
"requires": {
"graceful-readlink": ">= 1.0.0"
}
"version": "2.20.3",
"resolved": "https://registry.npmjs.org/commander/-/commander-2.20.3.tgz",
"integrity": "sha512-GpVkmM8vF2vQUkj2LvZmD35JxeJOLCwJ9cUkugyk2nuhbv3+mJvpLYYt+0+USMxE+oj+ey/lJEnhZw75x/OMcQ=="
},
"component-bind": {
"version": "1.0.0",
@ -1269,9 +1263,9 @@
"integrity": "sha1-6zkTMzRYd1y4TNGh+uBiEGu4dUU="
},
"decompress": {
"version": "4.2.0",
"resolved": "https://registry.npmjs.org/decompress/-/decompress-4.2.0.tgz",
"integrity": "sha1-eu3YVCflqS2s/lVnSnxQXpbQH50=",
"version": "4.2.1",
"resolved": "https://registry.npmjs.org/decompress/-/decompress-4.2.1.tgz",
"integrity": "sha512-e48kc2IjU+2Zw8cTb6VZcJQ3lgVbS4uuB1TfCHbiZIP/haNXm+SVyhu+87jts5/3ROpd82GSVCoNs/z8l4ZOaQ==",
"requires": {
"decompress-tar": "^4.0.0",
"decompress-tarbz2": "^4.0.0",
@ -2197,7 +2191,8 @@
},
"ansi-regex": {
"version": "2.1.1",
"bundled": true
"bundled": true,
"optional": true
},
"aproba": {
"version": "1.2.0",
@ -2215,11 +2210,13 @@
},
"balanced-match": {
"version": "1.0.0",
"bundled": true
"bundled": true,
"optional": true
},
"brace-expansion": {
"version": "1.1.11",
"bundled": true,
"optional": true,
"requires": {
"balanced-match": "^1.0.0",
"concat-map": "0.0.1"
@ -2232,15 +2229,18 @@
},
"code-point-at": {
"version": "1.1.0",
"bundled": true
"bundled": true,
"optional": true
},
"concat-map": {
"version": "0.0.1",
"bundled": true
"bundled": true,
"optional": true
},
"console-control-strings": {
"version": "1.1.0",
"bundled": true
"bundled": true,
"optional": true
},
"core-util-is": {
"version": "1.0.2",
@ -2343,7 +2343,8 @@
},
"inherits": {
"version": "2.0.3",
"bundled": true
"bundled": true,
"optional": true
},
"ini": {
"version": "1.3.5",
@ -2353,6 +2354,7 @@
"is-fullwidth-code-point": {
"version": "1.0.0",
"bundled": true,
"optional": true,
"requires": {
"number-is-nan": "^1.0.0"
}
@ -2365,17 +2367,20 @@
"minimatch": {
"version": "3.0.4",
"bundled": true,
"optional": true,
"requires": {
"brace-expansion": "^1.1.7"
}
},
"minimist": {
"version": "0.0.8",
"bundled": true
"bundled": true,
"optional": true
},
"minipass": {
"version": "2.3.5",
"bundled": true,
"optional": true,
"requires": {
"safe-buffer": "^5.1.2",
"yallist": "^3.0.0"
@ -2392,6 +2397,7 @@
"mkdirp": {
"version": "0.5.1",
"bundled": true,
"optional": true,
"requires": {
"minimist": "0.0.8"
}
@ -2464,7 +2470,8 @@
},
"number-is-nan": {
"version": "1.0.1",
"bundled": true
"bundled": true,
"optional": true
},
"object-assign": {
"version": "4.1.1",
@ -2474,6 +2481,7 @@
"once": {
"version": "1.4.0",
"bundled": true,
"optional": true,
"requires": {
"wrappy": "1"
}
@ -2549,7 +2557,8 @@
},
"safe-buffer": {
"version": "5.1.2",
"bundled": true
"bundled": true,
"optional": true
},
"safer-buffer": {
"version": "2.1.2",
@ -2579,6 +2588,7 @@
"string-width": {
"version": "1.0.2",
"bundled": true,
"optional": true,
"requires": {
"code-point-at": "^1.0.0",
"is-fullwidth-code-point": "^1.0.0",
@ -2596,6 +2606,7 @@
"strip-ansi": {
"version": "3.0.1",
"bundled": true,
"optional": true,
"requires": {
"ansi-regex": "^2.0.0"
}
@ -2634,11 +2645,13 @@
},
"wrappy": {
"version": "1.0.2",
"bundled": true
"bundled": true,
"optional": true
},
"yallist": {
"version": "3.0.3",
"bundled": true
"bundled": true,
"optional": true
}
}
},
@ -3047,11 +3060,6 @@
"proxyquire": "^1.4.0"
}
},
"graceful-readlink": {
"version": "1.0.1",
"resolved": "https://registry.npmjs.org/graceful-readlink/-/graceful-readlink-1.0.1.tgz",
"integrity": "sha1-TK+tdrxi8C+gObL5Tpo906ORpyU="
},
"gulp": {
"version": "4.0.2",
"resolved": "https://registry.npmjs.org/gulp/-/gulp-4.0.2.tgz",
@ -3916,7 +3924,8 @@
"longest": {
"version": "1.0.1",
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00100010
00010101
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01010101
00100000
00100010
00000101
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00100010
00100001
00101010
10100010
10001000
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10000010
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01000000
00000000
00000001
00101010
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00000001
01000010
00100001
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01001000
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00100001
01001000
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00100001
01010001
01010001
01000101
01010101
01010101
01010101
@ -15319,27 +15319,27 @@ MAX7456
01010101
01010101
01010101
01010101
01010101
01010101
01010101
01010101
01010101
01010101
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01010101
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01010101
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00100001
00000000
00000000
00000001
01010101
01010101
01010101
@ -16323,7 +16323,7 @@ MAX7456
01001110
01000001
01010110
00000001
00000010
01010101
01010101
01010101
@ -16387,7 +16387,7 @@ MAX7456
01001110
01000001
01010110
00000001
00000010
01010101
01010101
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@ -515,178 +515,181 @@ MAX7456
01010101
01010101
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01000101
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10000000
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00000000
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00000000
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00100010
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01010010
00000010
01010101
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01010100
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01010101
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01010101
@ -701,20 +704,54 @@ MAX7456
01010101
01010101
01010101
00010101
01010101
01010100
10000101
01010101
00010100
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10000100
10001000
00010101
00100000
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00000000
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01000001
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@ -725,43 +762,6 @@ MAX7456
01010101
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01000001
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00101000
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@ -11008,120 +11008,120 @@ MAX7456
01010101
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01001000
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@ -15319,27 +15319,27 @@ MAX7456
01010101
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00000000
00000001
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@ -16323,7 +16323,7 @@ MAX7456
01001110
01000001
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00000001
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@ -16387,7 +16387,7 @@ MAX7456
01001110
01000001
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@ -517,186 +517,241 @@ MAX7456
01010101
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@ -704,61 +759,6 @@ MAX7456
01010101
01010101
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00101000
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@ -11008,120 +11008,120 @@ MAX7456
01010101
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@ -15319,27 +15319,27 @@ MAX7456
01010101
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@ -16323,7 +16323,7 @@ MAX7456
01001110
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@ -16387,7 +16387,7 @@ MAX7456
01001110
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