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Add support for MAG gain calibration

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Pawel Spychalski (DzikuVx) 2020-07-24 18:52:04 +02:00
parent 14e2e1ad1b
commit b85c671b77
4 changed files with 41 additions and 5 deletions
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5
js/fc.js
View file

@ -401,6 +401,11 @@ var FC = {
}, },
opflow: { opflow: {
Scale: null Scale: null
},
magGain: {
X: null,
Y: null,
Z: null
} }
}; };

18
js/msp/MSPHelper.js
View file

@ -1271,6 +1271,12 @@ var mspHelper = (function (gui) {
CALIBRATION_DATA.magZero.Z = data.getInt16(17, true); CALIBRATION_DATA.magZero.Z = data.getInt16(17, true);
CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0); CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0);
if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
CALIBRATION_DATA.magGain.X = data.getInt16(21, true);
CALIBRATION_DATA.magGain.Y = data.getInt16(23, true);
CALIBRATION_DATA.magGain.Z = data.getInt16(25, true);
}
break; break;
case MSPCodes.MSP_SET_CALIBRATION_DATA: case MSPCodes.MSP_SET_CALIBRATION_DATA:
@ -1919,6 +1925,18 @@ var mspHelper = (function (gui) {
buffer.push(lowByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256))); buffer.push(lowByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
buffer.push(highByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256))); buffer.push(highByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
buffer.push(lowByte(CALIBRATION_DATA.magGain.X));
buffer.push(highByte(CALIBRATION_DATA.magGain.X));
buffer.push(lowByte(CALIBRATION_DATA.magGain.Y));
buffer.push(highByte(CALIBRATION_DATA.magGain.Y));
buffer.push(lowByte(CALIBRATION_DATA.magGain.Z));
buffer.push(highByte(CALIBRATION_DATA.magGain.Z));
}
break; break;
case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG: case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:

18
tabs/calibration.html
View file

@ -98,17 +98,29 @@
</div> </div>
<table id="mag-calibrated-data" class="cf_table"> <table id="mag-calibrated-data" class="cf_table">
<tr> <tr>
<td><label for="MagX"><span>X</span></label></td> <td><label for="MagX"><span>Zero X</span></label></td>
<td><input type="number" name="MagX" min="0" max="2000"></td> <td><input type="number" name="MagX" min="0" max="2000"></td>
</tr> </tr>
<tr> <tr>
<td><label for="MagY"><span>Y</span></label></td> <td><label for="MagY"><span>Zero Y</span></label></td>
<td><input type="number" name="MagY" min="0" max="2000"></td> <td><input type="number" name="MagY" min="0" max="2000"></td>
</tr> </tr>
<tr> <tr>
<td><label for="MagZ"><span>Z</span></label></td> <td><label for="MagZ"><span>Zero Z</span></label></td>
<td><input type="number" name="MagZ" min="0" max="2000"></td> <td><input type="number" name="MagZ" min="0" max="2000"></td>
</tr> </tr>
<tr>
<td><label for="MagGainX"><span>Gain X</span></label></td>
<td><input type="number" name="MagGainX" min="0" max="2000"></td>
</tr>
<tr>
<td><label for="MagGainY"><span>Gain Y</span></label></td>
<td><input type="number" name="MagGainY" min="0" max="2000"></td>
</tr>
<tr>
<td><label for="MagGainZ"><span>Gain Z</span></label></td>
<td><input type="number" name="MagGainZ" min="0" max="2000"></td>
</tr>
</table> </table>
</div> </div>
</div> </div>

1
tabs/calibration.js
View file

@ -103,6 +103,7 @@ TABS.calibration.initialize = function (callback) {
$('[name=accGain' + item + ']').val(CALIBRATION_DATA.accGain[item]); $('[name=accGain' + item + ']').val(CALIBRATION_DATA.accGain[item]);
$('[name=accZero' + item + ']').val(CALIBRATION_DATA.accZero[item]); $('[name=accZero' + item + ']').val(CALIBRATION_DATA.accZero[item]);
$('[name=Mag' + item + ']').val(CALIBRATION_DATA.magZero[item]); $('[name=Mag' + item + ']').val(CALIBRATION_DATA.magZero[item]);
$('[name=MagGain' + item + ']').val(CALIBRATION_DATA.magGain[item]);
}); });
$('[name=OpflowScale]').val(CALIBRATION_DATA.opflow.Scale); $('[name=OpflowScale]').val(CALIBRATION_DATA.opflow.Scale);
updateCalibrationSteps(); updateCalibrationSteps();