mirror of
https://github.com/iNavFlight/inav-configurator.git
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Merge pull request #1806 from RomanLut/submit-fc-display
magnetometer alignment tool => alignment tool
This commit is contained in:
Paweł Spychalski
GitHub
commit
b738fdb22a
7 changed files with 468 additions and 205 deletions
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@ -900,18 +900,6 @@
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"configurationSerialRXHelp": {
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"message": "<strong>Note:</strong> Remember to configure a Serial Port (via Ports tab) for the serial receiver"
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},
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"configurationBoardAlignment": {
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"message": "Board and Sensor Alignment"
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},
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"configurationBoardAlignmentRoll": {
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"message": "Roll Degrees"
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},
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"configurationBoardAlignmentPitch": {
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"message": "Pitch Degrees"
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},
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"configurationBoardAlignmentYaw": {
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"message": "Yaw Degrees"
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},
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"configurationSensorAlignmentMag": {
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"message": "MAG Alignment"
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},
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@ -2035,19 +2023,22 @@
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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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"message": "Alignment tool"
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},
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"magnetometerHelp": {
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"message": "Adjust the magnetometer orientation to match physical orientation on the aircraft.<br/>If magnetometer is not BN-880, adjust according to \"compass direction\" arrow or axis markings on your magnetometer model.<br/><strong>Note:</strong> Magnetometer alignment is relative to FC. Make sure to align FC first (board_align_yaw, board_align_pitch, board_align_roll)."
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"message": "1. Adjust Flight Controller orientation to match physical orientation on the aircraft <u>according to \"direction\" arrow on Flight Controller</u>.<br/>2. Adjust magnetometer orientation to match physical orientation on the aircraft <u>according to \"compass direction\" arrow or axis markings on magnetometer</u>.<br/><strong>Note:</strong> Magnetometer orientation preset (align_mag) is relative to FC. Make sure to align FC first (align_board_pitch, align_board_roll, align_board_yaw).<br/>If preset is not used (orientation is set using align_mag_roll, align_mag_pitch and align_mag_yaw), then magnetometer orientation is independent."
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},
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"magnetometerOrientationPreset": {
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"message": "Orientation presets"
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"message": "Orientation preset (align_mag). Relative to FC orientation"
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},
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"boardInfo": {
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"message": "1. Select Flight Controller alignment<br>(align_board_roll, align_board_pitch, align_board_yaw)"
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},
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"magnetometerInfo": {
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"message": "Select a preset or create a custom configuration moving the sliders"
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"message": "2. Select a preset (align_mag) or create a custom configuration using the sliders<br>(align_mag_roll, align_mag_pitch, align_mag_yaw)"
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},
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"magnetometerElementToShow": {
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"message": "Element to show"
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"message": "Element to show: Magnetometer model or axes"
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},
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"axisTableTitleAxis": {
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@ -2060,9 +2051,6 @@
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"message": "Value [degree]"
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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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@ -2070,7 +2058,7 @@
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"message": "Mag Statistics"
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},
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"tabMAGNETOMETER": {
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"message": "Magnetometer"
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"message": "Alignment tool"
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},
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"motors": {
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"message": "Motors"
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@ -4826,9 +4814,6 @@
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"WaypointOptionP2": {
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"message": "P2"
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},
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"rollPitchAdjustmentsMoved": {
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"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>)."
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},
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"pidId": {
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"message": "#"
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},
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@ -136,8 +136,9 @@
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.tab-magnetometer #interactive_block {
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position: absolute;
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width: calc(100% - 40px);
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height: calc(100% - 245px);
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width: calc(100% - 655px);
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height: 771px;
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min-height: calc(100% - 200px);
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background-color: #f9f9f9;
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border-radius: 5px;
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border: 1px solid #e4e4e4;
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@ -190,6 +191,17 @@ progress[value]::-webkit-progress-value {
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box-shadow: 0 0 3px rgba(0, 0, 0, 0.25) inset;
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}
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.tab-magnetometer-left-wrapper {
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float:left;
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width: calc( 100% - 655px );
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}
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.tab-magnetometer-right-wrapper {
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float:right;
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width: 600px;
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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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@ -40,6 +40,21 @@
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float: left;
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}
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.attitude_note1 {
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position: absolute;
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left: 130px;
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top: 29px;
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font-size: 10px;
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}
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.attitude_note2 {
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position: absolute;
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left: 130px;
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top: 13px;
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font-size: 10px;
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}
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#interactive_block a.reset {
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position: absolute;
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display: block;
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@ -54,28 +54,6 @@
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</div>
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</div>
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<div class="board gui_box grey">
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<div class="gui_box_titlebar">
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<div class="spacer_box_title" data-i18n="configurationBoardAlignment"></div>
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<div class="helpicon cf_tip" data-i18n_title="configHelp2"></div>
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</div>
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<div class="spacer_box">
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<div class="info-box" data-i18n="rollPitchAdjustmentsMoved"></div>
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<div class="number">
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<input id="board_align_yaw" type="number" name="board_align_yaw" step="0.1" min="-180" max="360" />
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<div class="alignicon yaw"></div>
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<label for="board_align_yaw" data-i18n="configurationBoardAlignmentYaw"></label>
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</div>
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<div class="select" style="position: relative; top: -3px;">
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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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<div class="alignicon yaw"></div>
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<label for="magalign" data-i18n="configurationSensorAlignmentMag"></label>
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</div>
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</div>
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</div>
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<div class="config-section gui_box grey other">
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<div class="gui_box_titlebar">
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@ -30,12 +30,10 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
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var saveChainer = new MSPChainerClass();
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var saveChain = [
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mspHelper.saveSensorAlignment,
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mspHelper.saveAccTrim,
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mspHelper.saveArmingConfig,
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mspHelper.saveAdvancedConfig,
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mspHelper.saveVTXConfig,
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mspHelper.saveBoardAlignment,
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mspHelper.saveCurrentMeterConfig,
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mspHelper.saveMiscV2,
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saveSettings,
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@ -115,14 +113,6 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
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// translate to user-selected language
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localize();
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let alignments = FC.getSensorAlignments();
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let orientation_mag_e = $('select.magalign');
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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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}
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orientation_mag_e.val(SENSOR_ALIGNMENT.align_mag);
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// VTX
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var config_vtx = $('.config-vtx');
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if (VTX_CONFIG.device_type != VTX.DEV_UNKNOWN) {
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@ -209,7 +199,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
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$('input[name="board_align_yaw"]').val((BOARD_ALIGNMENT.yaw / 10.0).toFixed(1));
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// fill magnetometer
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$('#mag_declination').val(MISC.mag_declination);
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//UPDATE: moved to GPS tab and hidden
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//$('#mag_declination').val(MISC.mag_declination);
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// fill battery voltage
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$('#voltagesource').val(MISC.voltage_source);
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@ -264,7 +255,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
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$i2cSpeed.change();
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$('a.save').click(function () {
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MISC.mag_declination = parseFloat($('#mag_declination').val());
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//UPDATE: moved to GPS tab and hidden
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//MISC.mag_declination = parseFloat($('#mag_declination').val());
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ARMING_CONFIG.auto_disarm_delay = parseInt($('input[name="autodisarmdelay"]').val());
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@ -281,8 +273,6 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
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MISC.battery_capacity_critical = parseInt($('#battery_capacity_critical').val() * MISC.battery_capacity / 100);
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MISC.battery_capacity_unit = $('#battery_capacity_unit').val();
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SENSOR_ALIGNMENT.align_mag = parseInt(orientation_mag_e.val());
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googleAnalytics.sendEvent('Setting', 'I2CSpeed', $('#i2c_speed').children("option:selected").text());
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googleAnalytics.sendEvent('Board', 'Accelerometer', $('#sensor-acc').children("option:selected").text());
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@ -300,7 +290,6 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
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helper.features.reset();
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helper.features.fromUI($('.tab-configuration'));
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helper.features.execute(function () {
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BOARD_ALIGNMENT.yaw = Math.round(parseFloat($('input[name="board_align_yaw"]').val()) * 10);
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CURRENT_METER_CONFIG.scale = parseInt($('#currentscale').val());
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CURRENT_METER_CONFIG.offset = Math.round(parseFloat($('#currentoffset').val()) * 10);
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saveChainer.execute();
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@ -1,109 +1,188 @@
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<div class="tab-magnetometer">
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<div class="content_wrapper" style="height: calc(80% - 40px)">
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<div class="tab-magnetometer toolbar_fixed_bottom">
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<div class="content_wrapper">
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<div class="tab_title" data-i18n="tabMagnetometer">Magnetometer</div>
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<div class="note spacebottom">
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<div class="note_spacer">
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<p i18n="magnetometerHelp"></p>
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</div>
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</div>
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<div style="height: calc(100% - 150px);">
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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 class="cf_column tab-magnetometer-left-wrapper">
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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 class="attitude_info">
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<dl>
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<dt>Heading:</dt>
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<dd class="heading"> </dd>
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<dt>Pitch:</dt>
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<dd class="pitch"> </dd>
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<dt>Roll:</dt>
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<dd class="roll"> </dd>
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</dl>
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</div>
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<a class="reset" href="#" data-i18n="initialSetupButtonResetZaxis"></a>
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<div class="attitude_note1" >(Values according to <b>saved</b> settings)</div>
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<div class="attitude_note2" >(North: 0, East: 90, South: 180, West: 270)</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="config-section gui_box grey">
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<div class="spacer_box">
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<div id="alignment-info" class="info-box">
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<span data-i18n="magnetometerInfo"></span>
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</div>
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<div class="select" style="display: flex; justify-content: left;">
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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="magnetometerOrientationPreset"></label>
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</div>
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<div class="select" style="display: flex; justify-content: left;">
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<select id="element_to_show">
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<option value="0" selected>Magnetometer</option>
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<option value="1">XYZ</option>
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<!-- list generated here -->
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</select>
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<label for="element_to_show" data-i18n="magnetometerElementToShow"></label>
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</div>
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<div class="cf_column tab-magnetometer-right-wrapper">
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<div class="config-section gui_box grey">
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<div class="spacer_box">
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<div id="board-alignment-info" class="info-box">
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<span data-i18n="boardInfo"></span>
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</div>
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<table class="axis-table">
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<thead>
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<tr>
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<td style="width: 5%; padding-bottom: 10px;">
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<p class="table-title">
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<span data-i18n="axisTableTitleAxis"></span>
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</p>
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</td>
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<td style="width: 90%; padding-bottom: 10px;">
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<p class="table-title">
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<span data-i18n="axisTableTitleSlider"></span>
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</p>
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</td>
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<td style="width: 5%; padding-bottom: 10px;">
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<a class="table-title">
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<span data-i18n="axisTableTitleValue"></span>
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</a>
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<table class="axis-table">
|
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<thead>
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<tr>
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<td style="width: 5%; padding-bottom: 10px;">
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<p class="table-title">
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<span data-i18n="axisTableTitleAxis"></span>
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</p>
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</td>
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<td style="width: 90%; padding-bottom: 10px;">
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<p class="table-title">
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<span data-i18n="axisTableTitleSlider"></span>
|
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</p>
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</td>
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<td style="width: 5%; padding-bottom: 10px;">
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<a class="table-title">
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<span data-i18n="axisTableTitleValue"></span>
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</a>
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|
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</td>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="info">
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<p class="title" data-i18n="configurationSensorAlignmentMagPitch"></p>
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</td>
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<td>
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<div id="roll_slider" class="slider"></div>
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</td>
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<td>
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<input type="number" id="alignRoll" class="tab-magnetometer" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="180" />
|
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</td>
|
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</tr>
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<tr>
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<td class="info">
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<p class="title" data-i18n="configurationSensorAlignmentMagRoll"></p>
|
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</td>
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<td>
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<div id="pitch_slider" class="slider"></div>
|
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</td>
|
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<td>
|
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<input type="number" id="alignPitch" class="tab-magnetometer" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="180" />
|
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</td>
|
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</tr>
|
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<tr>
|
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<td class="info">
|
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<p class="title" data-i18n="configurationSensorAlignmentMagYaw"></p>
|
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</td>
|
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<td>
|
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<div id="yaw_slider" class="slider"></div>
|
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</td>
|
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<td>
|
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<input type="number" id="alignYaw" class="tab-magnetometer" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="360" />
|
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</td>
|
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</tr>
|
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</tbody>
|
||||
</table>
|
||||
</td>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
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<tr>
|
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<td class="info">
|
||||
<p class="title" data-i18n="configurationSensorAlignmentMagRoll"></p>
|
||||
</td>
|
||||
<td>
|
||||
<div id="board_roll_slider" class="slider"></div>
|
||||
</td>
|
||||
<td>
|
||||
<input type="number" id="boardAlignRoll" class="tab-magnetometer" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="360" />
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="info">
|
||||
<p class="title" data-i18n="configurationSensorAlignmentMagPitch" style="margin: 5px"></p>
|
||||
</td>
|
||||
<td>
|
||||
<div id="board_pitch_slider" class="slider"></div>
|
||||
</td>
|
||||
<td>
|
||||
<input type="number" id="boardAlignPitch" class="tab-magnetometer" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="360" />
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="info">
|
||||
<p class="title" data-i18n="configurationSensorAlignmentMagYaw"></p>
|
||||
</td>
|
||||
<td>
|
||||
<div id="board_yaw_slider" class="slider"></div>
|
||||
</td>
|
||||
<td>
|
||||
<input type="number" id="boardAlignYaw" class="tab-magnetometer" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="360" />
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="config-section gui_box grey">
|
||||
<div class="spacer_box">
|
||||
<div id="alignment-info" class="info-box">
|
||||
<span data-i18n="magnetometerInfo"></span>
|
||||
</div>
|
||||
<div class="select" style="display: flex; justify-content: left;">
|
||||
<select id="magalign" class="magalign">
|
||||
<option value="0">Default</option>
|
||||
<!-- list generated here -->
|
||||
</select>
|
||||
<label for="magalign" data-i18n="magnetometerOrientationPreset"></label>
|
||||
</div>
|
||||
<div class="select" style="display: flex; justify-content: left;">
|
||||
<select id="element_to_show">
|
||||
<option value="0" selected>Magnetometer</option>
|
||||
<option value="1">XYZ</option>
|
||||
<!-- list generated here -->
|
||||
</select>
|
||||
<label for="element_to_show" data-i18n="magnetometerElementToShow"></label>
|
||||
</div>
|
||||
|
||||
<table class="axis-table">
|
||||
<thead>
|
||||
<tr>
|
||||
<td style="width: 5%; padding-bottom: 10px;">
|
||||
<p class="table-title">
|
||||
<span data-i18n="axisTableTitleAxis"></span>
|
||||
</p>
|
||||
</td>
|
||||
<td style="width: 90%; padding-bottom: 10px;">
|
||||
<p class="table-title">
|
||||
<span data-i18n="axisTableTitleSlider"></span>
|
||||
</p>
|
||||
</td>
|
||||
<td style="width: 5%; padding-bottom: 10px;">
|
||||
<a class="table-title">
|
||||
<span data-i18n="axisTableTitleValue"></span>
|
||||
</a>
|
||||
|
||||
</td>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td class="info">
|
||||
<p class="title" data-i18n="configurationSensorAlignmentMagRoll"></p>
|
||||
</td>
|
||||
<td>
|
||||
<div id="roll_slider" class="slider"></div>
|
||||
</td>
|
||||
<td>
|
||||
<input type="number" id="alignRoll" class="tab-magnetometer" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="360" />
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="info">
|
||||
<p class="title" data-i18n="configurationSensorAlignmentMagPitch" style="margin: 5px"></p>
|
||||
</td>
|
||||
<td>
|
||||
<div id="pitch_slider" class="slider"></div>
|
||||
</td>
|
||||
<td>
|
||||
<input type="number" id="alignPitch" class="tab-magnetometer" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="360" />
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="info">
|
||||
<p class="title" data-i18n="configurationSensorAlignmentMagYaw"></p>
|
||||
</td>
|
||||
<td>
|
||||
<div id="yaw_slider" class="slider"></div>
|
||||
</td>
|
||||
<td>
|
||||
<input type="number" id="alignYaw" class="tab-magnetometer" data-setting="tz_offset" data-setting-multiplier="1" step="1" min="-180" max="360" />
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="content_toolbar">
|
||||
<div class="btn save_btn">
|
||||
<a class="save" href="#" data-i18n="configurationButtonSave"></a>
|
||||
</div>
|
||||
<div class="clear-both"></div>
|
||||
</div>
|
||||
<div class="content_toolbar supported hide">
|
||||
<div class="btn save_btn">
|
||||
<a class="save" href="#" data-i18n="configurationButtonSave"></a>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
|
||||
<div id="tab-auxiliary-templates">
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
'use strict';
|
||||
/*global chrome,GUI,BOARD_ALIGNMENT,TABS,nwdialog,$*/
|
||||
/*global chrome,GUI,BOARD_ALIGNMENT,TABS,nwdialog,helper,$*/
|
||||
|
||||
TABS.magnetometer = {};
|
||||
|
||||
|
|
@ -18,6 +18,12 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
yaw: 0
|
||||
};
|
||||
|
||||
self.boardAlignmentConfig = {
|
||||
pitch: 0,
|
||||
roll: 0,
|
||||
yaw: 0
|
||||
};
|
||||
|
||||
self.pageElements = {};
|
||||
self.isSavePreset = true;
|
||||
self.showMagnetometer = true;
|
||||
|
|
@ -29,6 +35,12 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
var loadChain = [
|
||||
mspHelper.loadMixerConfig,
|
||||
mspHelper.loadBoardAlignment,
|
||||
function (callback) {
|
||||
self.boardAlignmentConfig.pitch = Math.round(BOARD_ALIGNMENT.pitch / 10);
|
||||
self.boardAlignmentConfig.roll = Math.round(BOARD_ALIGNMENT.roll / 10);
|
||||
self.boardAlignmentConfig.yaw = Math.round(BOARD_ALIGNMENT.yaw / 10);
|
||||
callback();
|
||||
},
|
||||
mspHelper.loadSensorAlignment,
|
||||
// Pitch and roll must be inverted
|
||||
function (callback) {
|
||||
|
|
@ -38,7 +50,7 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
},
|
||||
function (callback) {
|
||||
mspHelper.getSetting("align_mag_pitch").then(function (data) {
|
||||
self.alignmentConfig.pitch = (parseInt(data.value, 10) / 10) - 180;
|
||||
self.alignmentConfig.pitch = parseInt(data.value, 10) / 10;
|
||||
}).then(callback)
|
||||
},
|
||||
function (callback) {
|
||||
|
|
@ -52,12 +64,27 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
loadChainer.setExitPoint(load_html);
|
||||
loadChainer.execute();
|
||||
|
||||
function areAnglesZero() {
|
||||
return self.alignmentConfig.pitch === 0 && self.alignmentConfig.roll === 0 && self.alignmentConfig.yaw === 0
|
||||
}
|
||||
|
||||
function isBoardAlignmentZero() {
|
||||
return (self.boardAlignmentConfig.pitch == 0 ) && (self.boardAlignmentConfig.roll == 0 ) && (self.boardAlignmentConfig.yaw == 0);
|
||||
}
|
||||
|
||||
//========================
|
||||
// Save chain
|
||||
// =======================
|
||||
var saveChainer = new MSPChainerClass();
|
||||
|
||||
var saveChain = [
|
||||
function (callback) {
|
||||
BOARD_ALIGNMENT.pitch = self.boardAlignmentConfig.pitch * 10;
|
||||
BOARD_ALIGNMENT.roll = self.boardAlignmentConfig.roll * 10;
|
||||
BOARD_ALIGNMENT.yaw = self.boardAlignmentConfig.yaw * 10;
|
||||
callback();
|
||||
},
|
||||
mspHelper.saveBoardAlignment,
|
||||
// Magnetometer alignment
|
||||
function (callback) {
|
||||
let orientation_mag_e = $('select.magalign');
|
||||
|
|
@ -66,7 +93,7 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
},
|
||||
mspHelper.saveSensorAlignment,
|
||||
// Pitch/Roll/Yaw
|
||||
// Pitch and roll must be inverted
|
||||
// Pitch and roll must be inverted - ???
|
||||
function (callback) {
|
||||
if (self.isSavePreset)
|
||||
mspHelper.setSetting("align_mag_roll", 0, callback);
|
||||
|
|
@ -77,14 +104,19 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
if (self.isSavePreset)
|
||||
mspHelper.setSetting("align_mag_pitch", 0, callback);
|
||||
else
|
||||
mspHelper.setSetting("align_mag_pitch", (180 + self.alignmentConfig.pitch) * 10, callback);
|
||||
mspHelper.setSetting("align_mag_pitch", self.alignmentConfig.pitch * 10, callback);
|
||||
|
||||
},
|
||||
function (callback) {
|
||||
if (self.isSavePreset)
|
||||
mspHelper.setSetting("align_mag_yaw", 0, callback);
|
||||
else
|
||||
mspHelper.setSetting("align_mag_yaw", self.alignmentConfig.yaw * 10, callback);
|
||||
else {
|
||||
var fix = 0;
|
||||
if ( areAnglesZero() ) {
|
||||
fix = 1; //if all angles are 0, then we have to save yaw = 1 (0.1 deg) to enforce usage of angles, not a usage of preset
|
||||
}
|
||||
mspHelper.setSetting("align_mag_yaw", self.alignmentConfig.yaw * 10 + fix, callback);
|
||||
}
|
||||
},
|
||||
mspHelper.saveToEeprom
|
||||
];
|
||||
|
|
@ -118,35 +150,98 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
return arr;
|
||||
}
|
||||
|
||||
function toUpperRange(input, max) {
|
||||
while (input > max) input -= 360;
|
||||
while (input + 360 <= max) input += 360;
|
||||
return input;
|
||||
}
|
||||
|
||||
/*
|
||||
Returns pitch, roll and yaw in degree by the id of a preset.
|
||||
Degree are the ones used in the slider
|
||||
*/
|
||||
function getAxisDegreeWithPreset(selectedPreset) {
|
||||
//pitch, roll, yaw
|
||||
switch (selectedPreset) {
|
||||
case 1: //CW0_DEG = 1
|
||||
return [180, 0, 0];
|
||||
case 2: //CW90_DEG = 2
|
||||
return [180, 0, 90];
|
||||
case 3: //CW180_DEG = 3
|
||||
return [180, 0, 180];
|
||||
case 4: //CW270_DEG = 4
|
||||
return [180, 0, 270];
|
||||
case 5: //CW0_DEG_FLIP = 5
|
||||
return [0, 0, 0];
|
||||
case 6: //CW90_DEG_FLIP = 5
|
||||
case 2: //CW90_DEG = 2
|
||||
return [0, 0, 90];
|
||||
case 7: //CW180_DEG_FLIP = 5
|
||||
case 3: //CW180_DEG = 3
|
||||
return [0, 0, 180];
|
||||
case 4: //CW270_DEG = 4
|
||||
return [0, 0, 270];
|
||||
case 5: //CW0_DEG_FLIP = 5
|
||||
return [180, 0, 0];
|
||||
case 6: //CW90_DEG_FLIP = 5
|
||||
return [180, 0, 90];
|
||||
case 7: //CW180_DEG_FLIP = 5
|
||||
return [180, 0, 180];
|
||||
case 0: //ALIGN_DEFAULT = 0
|
||||
case 8: //CW270_DEG_FLIP = 5
|
||||
default://If not recognized, returns defualt
|
||||
return [0, 0, 270];
|
||||
return [180, 0, 270];
|
||||
}
|
||||
}
|
||||
|
||||
function isUsingAPreset() {
|
||||
return self.alignmentConfig.pitch === -180 && self.alignmentConfig.roll === 0 && self.alignmentConfig.yaw === 0
|
||||
function getAxisDegreeWithPresetAndBoardOrientation(selectedPreset) {
|
||||
var degree = getAxisDegreeWithPreset(selectedPreset);
|
||||
|
||||
if (isBoardAlignmentZero()) {
|
||||
return degree;
|
||||
}
|
||||
|
||||
//degree[0] - pitch
|
||||
//degree[1] - roll
|
||||
//degree[2] - yaw
|
||||
//-(pitch-180), -180 - yaw, roll
|
||||
var magRotation = new THREE.Euler(-THREE.Math.degToRad(degree[0]-180), THREE.Math.degToRad(-180 - degree[2]), THREE.Math.degToRad(degree[1]), 'YXZ');
|
||||
var matrix = (new THREE.Matrix4()).makeRotationFromEuler(magRotation);
|
||||
|
||||
var boardRotation = new THREE.Euler( THREE.Math.degToRad( -self.boardAlignmentConfig.pitch ), THREE.Math.degToRad( -self.boardAlignmentConfig.yaw ), THREE.Math.degToRad( -self.boardAlignmentConfig.roll ), 'YXZ');
|
||||
var matrix1 = (new THREE.Matrix4()).makeRotationFromEuler(boardRotation);
|
||||
|
||||
matrix.premultiply(matrix1);
|
||||
|
||||
var euler = new THREE.Euler();
|
||||
euler.setFromRotationMatrix(matrix, 'YXZ');
|
||||
|
||||
var pitch = toUpperRange( Math.round( THREE.Math.radToDeg(-euler.x)) + 180, 180 );
|
||||
var yaw = toUpperRange( Math.round( -180 - THREE.Math.radToDeg(euler.y)), 359 );
|
||||
var roll = toUpperRange( Math.round( THREE.Math.radToDeg(euler.z)), 180 );
|
||||
|
||||
return [pitch, roll, yaw];
|
||||
}
|
||||
|
||||
function updateMagOrientationWithPreset() {
|
||||
if (self.isSavePreset) {
|
||||
const degrees = getAxisDegreeWithPresetAndBoardOrientation(SENSOR_ALIGNMENT.align_mag);
|
||||
presetUpdated(degrees);
|
||||
}
|
||||
}
|
||||
|
||||
function updateBoardRollAxis(value) {
|
||||
self.boardAlignmentConfig.roll = Number(value);
|
||||
self.pageElements.board_roll_slider.val(self.boardAlignmentConfig.roll);
|
||||
self.pageElements.orientation_board_roll.val(self.boardAlignmentConfig.roll);
|
||||
updateMagOrientationWithPreset();
|
||||
self.render3D();
|
||||
}
|
||||
|
||||
function updateBoardPitchAxis(value) {
|
||||
self.boardAlignmentConfig.pitch = Number(value);
|
||||
self.pageElements.board_pitch_slider.val(self.boardAlignmentConfig.pitch);
|
||||
self.pageElements.orientation_board_pitch.val(self.boardAlignmentConfig.pitch);
|
||||
updateMagOrientationWithPreset();
|
||||
self.render3D();
|
||||
}
|
||||
|
||||
function updateBoardYawAxis(value) {
|
||||
self.boardAlignmentConfig.yaw = Number(value);
|
||||
self.pageElements.board_yaw_slider.val(self.boardAlignmentConfig.yaw);
|
||||
self.pageElements.orientation_board_yaw.val(self.boardAlignmentConfig.yaw);
|
||||
updateMagOrientationWithPreset();
|
||||
self.render3D();
|
||||
}
|
||||
|
||||
//Called when roll values change
|
||||
|
|
@ -173,10 +268,22 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
self.render3D();
|
||||
}
|
||||
|
||||
//Called when a preset is selected
|
||||
function presetUpdated(degrees) {
|
||||
function enableSavePreset() {
|
||||
self.isSavePreset = true;
|
||||
self.pageElements.orientation_mag_e.css("opacity", 1);
|
||||
self.pageElements.orientation_mag_e.css("text-decoration", "");
|
||||
}
|
||||
|
||||
function disableSavePreset() {
|
||||
self.isSavePreset = false;
|
||||
self.pageElements.orientation_mag_e.css("opacity", 0.5);
|
||||
self.pageElements.orientation_mag_e.css("text-decoration", "line-through");
|
||||
}
|
||||
|
||||
|
||||
//Called when a preset is selected
|
||||
function presetUpdated(degrees) {
|
||||
enableSavePreset();
|
||||
updatePitchAxis(degrees[0]);
|
||||
updateRollAxis(degrees[1]);
|
||||
updateYawAxis(degrees[2]);
|
||||
|
|
@ -184,12 +291,21 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
|
||||
|
||||
function process_html() {
|
||||
|
||||
localize();
|
||||
|
||||
// initialize 3D
|
||||
self.initialize3D();
|
||||
|
||||
let alignments = FC.getSensorAlignments();
|
||||
|
||||
self.pageElements.orientation_board_roll = $('#boardAlignRoll');
|
||||
self.pageElements.orientation_board_pitch = $('#boardAlignPitch');
|
||||
self.pageElements.orientation_board_yaw = $('#boardAlignYaw');
|
||||
self.pageElements.board_roll_slider = $('#board_roll_slider');
|
||||
self.pageElements.board_pitch_slider = $('#board_pitch_slider');
|
||||
self.pageElements.board_yaw_slider = $('#board_yaw_slider');
|
||||
|
||||
self.pageElements.orientation_mag_e = $('select.magalign');
|
||||
self.pageElements.orientation_mag_roll = $('#alignRoll');
|
||||
self.pageElements.orientation_mag_pitch = $('#alignPitch');
|
||||
|
|
@ -198,24 +314,97 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
self.pageElements.pitch_slider = $('#pitch_slider');
|
||||
self.pageElements.yaw_slider = $('#yaw_slider');
|
||||
|
||||
self.roll_e = $('dd.roll'),
|
||||
self.pitch_e = $('dd.pitch'),
|
||||
self.heading_e = $('dd.heading');
|
||||
|
||||
for (i = 0; i < alignments.length; i++) {
|
||||
self.pageElements.orientation_mag_e.append('<option value="' + (i + 1) + '">' + alignments[i] + '</option>');
|
||||
}
|
||||
self.pageElements.orientation_mag_e.val(SENSOR_ALIGNMENT.align_mag);
|
||||
|
||||
if (isUsingAPreset()) {
|
||||
if (areAnglesZero()) {
|
||||
//If using a preset, checking if custom values are equal to 0
|
||||
//Update the slider, but don't save the value until they will be not modified.
|
||||
const degrees = getAxisDegreeWithPreset(SENSOR_ALIGNMENT.align_mag);
|
||||
const degrees = getAxisDegreeWithPresetAndBoardOrientation(SENSOR_ALIGNMENT.align_mag);
|
||||
presetUpdated(degrees);
|
||||
}
|
||||
else {
|
||||
updateRollAxis(self.alignmentConfig.roll);
|
||||
updatePitchAxis(self.alignmentConfig.pitch);
|
||||
updateYawAxis(self.alignmentConfig.yaw);
|
||||
self.pageElements.orientation_mag_e.css("opacity", 0.5);
|
||||
disableSavePreset();
|
||||
}
|
||||
|
||||
|
||||
self.pageElements.orientation_board_roll.change(function () {
|
||||
updateBoardRollAxis(clamp(this, -180, 360));
|
||||
});
|
||||
|
||||
self.pageElements.orientation_board_pitch.change(function () {
|
||||
updateBoardPitchAxis(clamp(this, -180, 360));
|
||||
});
|
||||
|
||||
self.pageElements.orientation_board_yaw.change(function () {
|
||||
updateBoardYawAxis(clamp(this, -180, 360));
|
||||
});
|
||||
|
||||
self.pageElements.board_roll_slider.noUiSlider({
|
||||
start: [self.boardAlignmentConfig.roll],
|
||||
range: {
|
||||
'min': [-180],
|
||||
'max': [360]
|
||||
},
|
||||
step: 1,
|
||||
});
|
||||
self.pageElements.board_roll_slider.noUiSlider_pips({
|
||||
mode: 'values',
|
||||
values: generateRange(-180, 360, 45),
|
||||
density: 4,
|
||||
stepped: true
|
||||
});
|
||||
|
||||
self.pageElements.board_pitch_slider.noUiSlider({
|
||||
start: [self.boardAlignmentConfig.pitch],
|
||||
range: {
|
||||
'min': [-180],
|
||||
'max': [360]
|
||||
},
|
||||
step: 1,
|
||||
});
|
||||
self.pageElements.board_pitch_slider.noUiSlider_pips({
|
||||
mode: 'values',
|
||||
values: generateRange(-180, 360, 45),
|
||||
density: 4,
|
||||
stepped: true
|
||||
});
|
||||
|
||||
self.pageElements.board_yaw_slider.noUiSlider({
|
||||
start: [self.boardAlignmentConfig.yaw],
|
||||
range: {
|
||||
'min': [-180],
|
||||
'max': [360]
|
||||
},
|
||||
step: 1,
|
||||
});
|
||||
self.pageElements.board_yaw_slider.noUiSlider_pips({
|
||||
mode: 'values',
|
||||
values: generateRange(-180, 360, 45),
|
||||
density: 4,
|
||||
stepped: true
|
||||
});
|
||||
|
||||
|
||||
self.pageElements.board_pitch_slider.Link('lower').to((e) => {
|
||||
updateBoardPitchAxis(e);
|
||||
});
|
||||
self.pageElements.board_roll_slider.Link('lower').to((e) => {
|
||||
updateBoardRollAxis(e);
|
||||
});
|
||||
self.pageElements.board_yaw_slider.Link('lower').to((e) => {
|
||||
updateBoardYawAxis(e);
|
||||
});
|
||||
|
||||
const elementToShow = $("#element_to_show");
|
||||
elementToShow.change(function () {
|
||||
const value = parseInt($(this).val());
|
||||
|
|
@ -229,28 +418,28 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
|
||||
self.pageElements.orientation_mag_e.change(function () {
|
||||
SENSOR_ALIGNMENT.align_mag = parseInt($(this).val());
|
||||
const degrees = getAxisDegreeWithPreset(SENSOR_ALIGNMENT.align_mag);
|
||||
const degrees = getAxisDegreeWithPresetAndBoardOrientation(SENSOR_ALIGNMENT.align_mag);
|
||||
presetUpdated(degrees);
|
||||
});
|
||||
|
||||
self.pageElements.orientation_mag_e.on('mousedown', function () {
|
||||
const degrees = getAxisDegreeWithPresetAndBoardOrientation(SENSOR_ALIGNMENT.align_mag);
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||||
presetUpdated(degrees);
|
||||
});
|
||||
|
||||
self.pageElements.orientation_mag_roll.change(function () {
|
||||
self.isSavePreset = false;
|
||||
self.pageElements.orientation_mag_e.css("opacity", 0.5);
|
||||
updateRollAxis(clamp(this, -180, 180));
|
||||
disableSavePreset();
|
||||
updateRollAxis(clamp(this, -180, 360));
|
||||
});
|
||||
|
||||
self.pageElements.orientation_mag_pitch.change(function () {
|
||||
self.isSavePreset = false;
|
||||
self.pageElements.orientation_mag_e.css("opacity", 0.5);
|
||||
updatePitchAxis(clamp(this, -180, 180));
|
||||
|
||||
disableSavePreset();
|
||||
updatePitchAxis(clamp(this, -180, 360));
|
||||
});
|
||||
|
||||
self.pageElements.orientation_mag_yaw.change(function () {
|
||||
self.isSavePreset = false;
|
||||
self.pageElements.orientation_mag_e.css("opacity", 0.5);
|
||||
disableSavePreset();
|
||||
updateYawAxis(clamp(this, -180, 360));
|
||||
|
||||
});
|
||||
|
||||
$('a.save').click(function () {
|
||||
|
|
@ -261,13 +450,13 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
start: [self.alignmentConfig.roll],
|
||||
range: {
|
||||
'min': [-180],
|
||||
'max': [180]
|
||||
'max': [360]
|
||||
},
|
||||
step: 1,
|
||||
});
|
||||
self.pageElements.roll_slider.noUiSlider_pips({
|
||||
mode: 'values',
|
||||
values: generateRange(-180, 180, 15),
|
||||
values: generateRange(-180, 360, 45),
|
||||
density: 4,
|
||||
stepped: true
|
||||
});
|
||||
|
|
@ -276,13 +465,13 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
start: [self.alignmentConfig.pitch],
|
||||
range: {
|
||||
'min': [-180],
|
||||
'max': [180]
|
||||
'max': [360]
|
||||
},
|
||||
step: 1,
|
||||
});
|
||||
self.pageElements.pitch_slider.noUiSlider_pips({
|
||||
mode: 'values',
|
||||
values: generateRange(-180, 180, 15),
|
||||
values: generateRange(-180, 360, 45),
|
||||
density: 4,
|
||||
stepped: true
|
||||
});
|
||||
|
|
@ -293,7 +482,7 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
'min': [-180],
|
||||
'max': [360]
|
||||
},
|
||||
step: 45,
|
||||
step: 1,
|
||||
});
|
||||
self.pageElements.yaw_slider.noUiSlider_pips({
|
||||
mode: 'values',
|
||||
|
|
@ -302,6 +491,7 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
stepped: true
|
||||
});
|
||||
|
||||
|
||||
self.pageElements.pitch_slider.Link('lower').to((e) => {
|
||||
updatePitchAxis(e);
|
||||
});
|
||||
|
|
@ -312,19 +502,31 @@ TABS.magnetometer.initialize = function (callback) {
|
|||
updateYawAxis(e);
|
||||
});
|
||||
|
||||
self.pageElements.pitch_slider.change((e) => {
|
||||
self.isSavePreset = false;
|
||||
self.pageElements.orientation_mag_e.css("opacity", 0.5);
|
||||
self.pageElements.pitch_slider.on('slide', (e) => {
|
||||
disableSavePreset();
|
||||
});
|
||||
self.pageElements.roll_slider.change((e) => {
|
||||
self.isSavePreset = false;
|
||||
self.pageElements.orientation_mag_e.css("opacity", 0.5);
|
||||
self.pageElements.roll_slider.on('slide', (e) => {
|
||||
disableSavePreset();
|
||||
});
|
||||
self.pageElements.yaw_slider.change((e) => {
|
||||
self.isSavePreset = false;
|
||||
self.pageElements.orientation_mag_e.css("opacity", 0.5);
|
||||
self.pageElements.yaw_slider.on('slide', (e) => {
|
||||
disableSavePreset();
|
||||
});
|
||||
|
||||
function get_fast_data() {
|
||||
if (helper.mspQueue.shouldDrop()) {
|
||||
return;
|
||||
}
|
||||
|
||||
MSP.send_message(MSPCodes.MSP_ATTITUDE, false, false, function () {
|
||||
self.roll_e.text(chrome.i18n.getMessage('initialSetupAttitude', [SENSOR_DATA.kinematics[0]]));
|
||||
self.pitch_e.text(chrome.i18n.getMessage('initialSetupAttitude', [SENSOR_DATA.kinematics[1]]));
|
||||
self.heading_e.text(chrome.i18n.getMessage('initialSetupAttitude', [SENSOR_DATA.kinematics[2]]));
|
||||
self.render3D();
|
||||
});
|
||||
}
|
||||
|
||||
helper.mspBalancedInterval.add('setup_data_pull_fast', 40, 1, get_fast_data);
|
||||
|
||||
GUI.content_ready(callback);
|
||||
}
|
||||
|
||||
|
|
@ -395,14 +597,17 @@ TABS.magnetometer.initialize3D = function () {
|
|||
xyz.visible = !self.showMagnetometer;
|
||||
fc.visible = true;
|
||||
|
||||
var magRotation = new THREE.Euler(-THREE.Math.degToRad(self.alignmentConfig.pitch), THREE.Math.degToRad(-180 - self.alignmentConfig.yaw), THREE.Math.degToRad(self.alignmentConfig.roll), 'YXZ');
|
||||
var magRotation = new THREE.Euler(-THREE.Math.degToRad(self.alignmentConfig.pitch-180), THREE.Math.degToRad(-180 - self.alignmentConfig.yaw), THREE.Math.degToRad(self.alignmentConfig.roll), 'YXZ');
|
||||
var matrix = (new THREE.Matrix4()).makeRotationFromEuler(magRotation);
|
||||
|
||||
var boardRotation = new THREE.Euler( THREE.Math.degToRad( -BOARD_ALIGNMENT.pitch / 10.0 ), THREE.Math.degToRad( -BOARD_ALIGNMENT.yaw / 10.0 ), THREE.Math.degToRad( -BOARD_ALIGNMENT.roll / 10.0 ), 'YXZ');
|
||||
var boardRotation = new THREE.Euler( THREE.Math.degToRad( -self.boardAlignmentConfig.pitch ), THREE.Math.degToRad( -self.boardAlignmentConfig.yaw ), THREE.Math.degToRad( -self.boardAlignmentConfig.roll ), 'YXZ');
|
||||
var matrix1 = (new THREE.Matrix4()).makeRotationFromEuler(boardRotation);
|
||||
|
||||
matrix.multiply(matrix1);
|
||||
|
||||
/*
|
||||
if ( self.isSavePreset ) {
|
||||
matrix.premultiply(matrix1); //preset specifies orientation relative to FC, align_max_xxx specify absolute orientation
|
||||
}
|
||||
*/
|
||||
gps.rotation.setFromRotationMatrix(matrix);
|
||||
xyz.rotation.setFromRotationMatrix(matrix);
|
||||
fc.rotation.setFromRotationMatrix(matrix1);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue