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Merge remote-tracking branch 'origin/master' into dzikuvx-new-mixer-approach

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-03-27 22:05:59 +02:00
commit c4735d2690
51 changed files with 4149 additions and 1231 deletions
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9
js/debug_trace.js Normal file
View file

@ -0,0 +1,9 @@
function debugTraceOnLoad()
{
var output = document.getElementById('debug-trace');
setInterval(function() {
output.innerText = getDebugTrace();
}, 100);
}
window.onload = debugTraceOnLoad;

99
js/fc.js
View file

@ -24,10 +24,12 @@ var CONFIG,
MOTOR_DATA,
SERVO_DATA,
GPS_DATA,
MISSION_PLANER,
ANALOG,
ARMING_CONFIG,
FC_CONFIG,
MISC,
VOLTMETER_CONFIG,
_3D,
DATAFLASH,
SDCARD,
@ -48,7 +50,8 @@ var CONFIG,
CALIBRATION_DATA,
POSITION_ESTIMATOR,
RTH_AND_LAND_CONFIG,
FW_CONFIG;
FW_CONFIG,
DEBUG_TRACE;
var FC = {
MAX_SERVO_RATE: 125,
@ -141,7 +144,12 @@ var FC = {
throttle_MID: 0,
throttle_EXPO: 0,
dynamic_THR_breakpoint: 0,
RC_YAW_EXPO: 0
RC_YAW_EXPO: 0,
manual_RC_EXPO: 0,
manual_RC_YAW_EXPO: 0,
manual_roll_rate: 0,
manual_pitch_rate: 0,
manual_yaw_rate: 0,
};
AUX_CONFIG = [];
@ -171,6 +179,7 @@ var FC = {
altitude: 0,
barometer: 0,
sonar: 0,
air_speed: 0,
kinematics: [0.0, 0.0, 0.0],
debug: [0, 0, 0, 0]
};
@ -198,11 +207,34 @@ var FC = {
packetCount: 0
};
MISSION_PLANER = {
maxWaypoints: 0,
isValidMission: 0,
countBusyPoints: 0,
bufferPoint: {
number: 0,
action: 0,
lat: 0,
lon: 0,
alt: 0,
endMission: 0,
p1: 0
}
};
ANALOG = {
voltage: 0,
mAhdrawn: 0,
mWhdrawn: 0,
rssi: 0,
amperage: 0
amperage: 0,
power: 0,
cell_count: 0,
battery_percentage: 0,
battery_full_when_plugged_in: false,
use_capacity_thresholds: false,
battery_remaining_capacity: 0,
battery_flags: 0
};
ARMING_CONFIG = {
@ -230,7 +262,24 @@ var FC = {
vbatscale: 0,
vbatmincellvoltage: 0,
vbatmaxcellvoltage: 0,
vbatwarningcellvoltage: 0
vbatwarningcellvoltage: 0,
battery_capacity: 0,
battery_capacity_warning: 0,
battery_capacity_critical: 0,
battery_capacity_unit: 'mAh'
};
BATTERY_CONFIG = {
vbatscale: 0,
vbatmincellvoltage: 0,
vbatmaxcellvoltage: 0,
vbatwarningcellvoltage: 0,
current_offset: 0,
current_scale: 0,
capacity: 0,
capacity_warning: 0,
capacity_critical: 0,
capacity_unit: 0
};
ADVANCED_CONFIG = {
@ -500,6 +549,13 @@ var FC = {
);
}
if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
features.push(
{bit: 30, group: 'other', name: 'FW_LAUNCH', haveTip: false, showNameInTip: false},
{bit: 2, group: 'other', name: 'TX_PROF_SEL', haveTip: false, showNameInTip: false}
);
}
return features.reverse();
},
isFeatureEnabled: function (featureName, features) {
@ -720,6 +776,10 @@ var FC = {
data.push('TBS Crossfire');
}
if (semver.gte(CONFIG.flightControllerVersion, "1.9.1")) {
data.push('FPort');
}
return data;
},
getSPIProtocolTypes: function () {
@ -837,13 +897,13 @@ var FC = {
}
},
getOsdDisabledFields: function () {
return ['CRAFT_NAME'];
return [];
},
getAccelerometerNames: function () {
return [ "NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE"];
},
getMagnetometerNames: function () {
return ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "FAKE"];
return ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "FAKE"];
},
getBarometerNames: function () {
if (semver.gte(CONFIG.flightControllerVersion, "1.6.2")) {
@ -862,7 +922,7 @@ var FC = {
}
},
getRangefinderNames: function () {
return [ "NONE", "HCSR04", "SRF10"];
return [ "NONE", "HCSR04", "SRF10", "HCSR04I2C", "VL53L0X", "UIB"];
},
getArmingFlags: function () {
return {
@ -936,7 +996,30 @@ var FC = {
}
},
getRcMapLetters: function () {
return ['A', 'E', 'R', 'T', '5', '6', '7', '8'];
if (semver.gte(CONFIG.flightControllerVersion, '1.9.1'))
return ['A', 'E', 'R', 'T'];
else
return ['A', 'E', 'R', 'T', '5', '6', '7', '8'];
},
isRcMapValid: function (val) {
var strBuffer = val.split(''),
duplicityBuffer = [];
if (val.length != FC.getRcMapLetters().length)
return false;
// check if characters inside are all valid, also check for duplicity
for (var i = 0; i < val.length; i++) {
if (FC.getRcMapLetters().indexOf(strBuffer[i]) < 0)
return false;
if (duplicityBuffer.indexOf(strBuffer[i]) < 0)
duplicityBuffer.push(strBuffer[i]);
else
return false;
}
return true;
},
getServoMixInputNames: function () {
return [

3
js/gui.js
View file

@ -38,7 +38,8 @@ var GUI_control = function () {
'setup',
'osd',
'profiles',
'advanced_tuning'
'advanced_tuning',
'mission_control'
];
this.allowedTabs = this.defaultAllowedTabsWhenDisconnected;

23
js/msp/MSPCodes.js
View file

@ -20,7 +20,9 @@ var MSPCodes = {
MSP_POSITION_ESTIMATION_CONFIG: 16,
MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
MSP_WP_MISSION_LOAD: 18,
MSP_WP_MISSION_SAVE: 19,
MSP_WP_GETINFO: 20,
MSP_RTH_AND_LAND_CONFIG: 21,
MSP_SET_RTH_AND_LAND_CONFIG: 22,
MSP_FW_CONFIG: 23,
@ -151,9 +153,20 @@ var MSPCodes = {
MSP_BF_BUILD_INFO: 69, // build date as well as some space for future expansion
// INAV specific codes
MSPV2_SETTING: 0x1003,
MSPV2_SET_SETTING: 0x1004,
MSPV2_SETTING: 0x1003,
MSPV2_SET_SETTING: 0x1004,
MSP2_COMMON_MOTOR_MIXER: 0x1005,
MSP2_COMMON_SET_MOTOR_MIXER: 0x1006
MSP2_COMMON_MOTOR_MIXER: 0x1005,
MSP2_COMMON_SET_MOTOR_MIXER: 0x1006,
MSPV2_INAV_STATUS: 0x2000,
MSPV2_INAV_OPTICAL_FLOW: 0x2001,
MSPV2_INAV_ANALOG: 0x2002,
MSPV2_INAV_MISC: 0x2003,
MSPV2_INAV_SET_MISC: 0x2004,
MSPV2_INAV_BATTERY_CONFIG: 0x2005,
MSPV2_INAV_SET_BATTERY_CONFIG: 0x2006,
MSPV2_INAV_RATE_PROFILE: 0x2007,
MSPV2_INAV_SET_RATE_PROFILE: 0x2008,
MSPV2_INAV_AIR_SPEED: 0x2009,
};

357
js/msp/MSPHelper.js
View file

@ -42,11 +42,17 @@ var mspHelper = (function (gui) {
'BLACKBOX': 7,
'TELEMETRY_MAVLINK': 8,
'TELEMETRY_IBUS': 9,
'RUNCAM_DEVICE_CONTROL' : 10,
'RUNCAM_DEVICE_CONTROL': 10,
'TBS_SMARTAUDIO': 11,
'IRC_TRAMP': 12
};
// Required for MSP_DEBUGMSG because console.log() doesn't allow omitting
// the newline at the end, so we keep the pending message here until we find a
// '\0', then print it. Messages sent by MSP_DEBUGMSG are guaranteed to
// always finish with a '\0'.
var debugMsgBuffer = '';
/**
*
* @param {MSP} dataHandler
@ -132,14 +138,14 @@ var mspHelper = (function (gui) {
case MSPCodes.MSP_SENSOR_STATUS:
SENSOR_STATUS.isHardwareHealthy = data.getUint8(0);
SENSOR_STATUS.gyroHwStatus = data.getUint8(1);
SENSOR_STATUS.accHwStatus = data.getUint8(2);
SENSOR_STATUS.magHwStatus = data.getUint8(3);
SENSOR_STATUS.baroHwStatus = data.getUint8(4);
SENSOR_STATUS.gpsHwStatus = data.getUint8(5);
SENSOR_STATUS.rangeHwStatus = data.getUint8(6);
SENSOR_STATUS.speedHwStatus = data.getUint8(7);
SENSOR_STATUS.flowHwStatus = data.getUint8(8);
SENSOR_STATUS.gyroHwStatus = data.getUint8(1);
SENSOR_STATUS.accHwStatus = data.getUint8(2);
SENSOR_STATUS.magHwStatus = data.getUint8(3);
SENSOR_STATUS.baroHwStatus = data.getUint8(4);
SENSOR_STATUS.gpsHwStatus = data.getUint8(5);
SENSOR_STATUS.rangeHwStatus = data.getUint8(6);
SENSOR_STATUS.speedHwStatus = data.getUint8(7);
SENSOR_STATUS.flowHwStatus = data.getUint8(8);
if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
sensor_status_ex(SENSOR_STATUS);
}
@ -225,11 +231,36 @@ var mspHelper = (function (gui) {
case MSPCodes.MSP_SONAR:
SENSOR_DATA.sonar = data.getInt32(0, true);
break;
case MSPCodes.MSPV2_INAV_AIR_SPEED:
SENSOR_DATA.air_speed = data.getInt32(0, true);
break;
case MSPCodes.MSP_ANALOG:
ANALOG.voltage = data.getUint8(0) / 10.0;
ANALOG.mAhdrawn = data.getUint16(1, true);
ANALOG.rssi = data.getUint16(3, true); // 0-1023
ANALOG.amperage = data.getInt16(5, true) / 100; // A
break;
case MSPCodes.MSPV2_INAV_ANALOG:
ANALOG.voltage = data.getUint16(offset, true) / 100.0;
offset += 2;
ANALOG.cell_count = data.getUint8(offset++);
ANALOG.battery_percentage = data.getUint8(offset++);
ANALOG.power = data.getUint16(offset, true);
offset += 2;
ANALOG.mAhdrawn = data.getUint16(offset, true);
offset += 2;
ANALOG.mWhdrawn = data.getUint16(offset, true);
offset += 2;
ANALOG.rssi = data.getUint16(offset, true); // 0-1023
offset += 2;
ANALOG.amperage = data.getInt16(offset, true) / 100; // A
offset += 2;
var battery_flags = data.getUint8(offset++);
ANALOG.battery_full_when_plugged_in = (battery_flags & 1 ? true : false);
ANALOG.use_capacity_thresholds = ((battery_flags & 2) >> 1 ? true : false);
ANALOG.battery_state = (battery_flags & 12) >> 2;
ANALOG.battery_remaining_capacity = data.getUint32(offset, true);
offset += 4;
//noinspection JSValidateTypes
dataHandler.analog_last_received_timestamp = Date.now();
break;
@ -255,6 +286,32 @@ var mspHelper = (function (gui) {
offset += 2;
RC_tuning.RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
break;
case MSPCodes.MSPV2_INAV_RATE_PROFILE:
// compat
RC_tuning.RC_RATE = 100;
RC_tuning.roll_pitch_rate = 0;
// throttle
RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.dynamic_THR_PID = parseInt(data.getUint8(offset++));
RC_tuning.dynamic_THR_breakpoint = data.getUint16(offset, true);
offset += 2;
// stabilized
RC_tuning.RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.roll_rate = data.getUint8(offset++) * 10;
RC_tuning.pitch_rate = data.getUint8(offset++) * 10;
RC_tuning.yaw_rate = data.getUint8(offset++) * 10;
// manual
RC_tuning.manual_RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.manual_RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
RC_tuning.manual_roll_rate = data.getUint8(offset++);
RC_tuning.manual_pitch_rate = data.getUint8(offset++);
RC_tuning.manual_yaw_rate = data.getUint8(offset++);
break;
case MSPCodes.MSP_PID:
// PID data arrived, we need to scale it and save to appropriate bank / array
for (i = 0, needle = 0; i < (dataHandler.message_length_expected / 3); i++, needle += 3) {
@ -294,6 +351,60 @@ var mspHelper = (function (gui) {
MISC.vbatmaxcellvoltage = data.getUint8(offset++) / 10; // 10-50
MISC.vbatwarningcellvoltage = data.getUint8(offset++) / 10; // 10-50
break;
case MSPCodes.MSPV2_INAV_MISC:
MISC.midrc = data.getInt16(offset, true);
offset += 2;
MISC.minthrottle = data.getUint16(offset, true); // 0-2000
offset += 2;
MISC.maxthrottle = data.getUint16(offset, true); // 0-2000
offset += 2;
MISC.mincommand = data.getUint16(offset, true); // 0-2000
offset += 2;
MISC.failsafe_throttle = data.getUint16(offset, true); // 1000-2000
offset += 2;
MISC.gps_type = data.getUint8(offset++);
MISC.sensors_baudrate = data.getUint8(offset++);
MISC.gps_ubx_sbas = data.getInt8(offset++);
MISC.rssi_channel = data.getUint8(offset++);
MISC.mag_declination = data.getInt16(offset, 1) / 10; // -18000-18000
offset += 2;
MISC.vbatscale = data.getUint16(offset, true);
offset += 2;
MISC.vbatmincellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
MISC.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
MISC.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
MISC.battery_capacity = data.getUint32(offset, true);
offset += 4;
MISC.battery_capacity_warning = data.getUint32(offset, true);
offset += 4;
MISC.battery_capacity_critical = data.getUint32(offset, true);
offset += 4;
MISC.battery_capacity_unit = (data.getUint8(offset++) ? 'mWh' : 'mAh');
break;
case MSPCodes.MSPV2_INAV_BATTERY_CONFIG:
BATTERY_CONFIG.vbatscale = data.getUint16(offset, true);
offset += 2;
BATTERY_CONFIG.vbatmincellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
BATTERY_CONFIG.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
BATTERY_CONFIG.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
BATTERY_CONFIG.current_offset = data.getUint16(offset, true);
offset += 2;
BATTERY_CONFIG.current_scale = data.getUint16(offset, true);
offset += 2;
BATTERY_CONFIG.capacity = data.getUint32(offset, true);
offset += 4;
BATTERY_CONFIG.capacity_warning = data.getUint32(offset, true);
offset += 4;
BATTERY_CONFIG.capacity_critical = data.getUint32(offset, true);
offset += 4;
BATTERY_CONFIG.battery_capacity_unit = (data.getUint8(offset++) ? 'mWh' : 'mAh');
break;
case MSPCodes.MSP_3D:
_3D.deadband3d_low = data.getUint16(offset, true);
offset += 2;
@ -340,7 +451,13 @@ var mspHelper = (function (gui) {
}
break;
case MSPCodes.MSP_WP:
console.log(data);
MISSION_PLANER.bufferPoint.number = data.getUint8(0);
MISSION_PLANER.bufferPoint.action = data.getUint8(1);
MISSION_PLANER.bufferPoint.lat = data.getInt32(2, true) / 10000000;
MISSION_PLANER.bufferPoint.lon = data.getInt32(6, true) / 10000000;
MISSION_PLANER.bufferPoint.alt = data.getInt32(10, true);
MISSION_PLANER.bufferPoint.p1 = data.getInt16(14, true);
break;
case MSPCodes.MSP_BOXIDS:
//noinspection JSUndeclaredVariable
@ -462,6 +579,19 @@ var mspHelper = (function (gui) {
console.log('Settings Saved in EEPROM');
break;
case MSPCodes.MSP_DEBUGMSG:
for (var ii = 0; ii < data.byteLength; ii++) {
var c = data.readU8();
if (c == 0) {
// End of message
if (debugMsgBuffer.length > 1) {
console.log('[DEBUG] ' + debugMsgBuffer);
DEBUG_TRACE = (DEBUG_TRACE || '') + debugMsgBuffer;
}
debugMsgBuffer = '';
continue;
}
debugMsgBuffer += String.fromCharCode(c);
}
break;
case MSPCodes.MSP_DEBUG:
for (i = 0; i < 4; i++)
@ -503,7 +633,7 @@ var mspHelper = (function (gui) {
BF_CONFIG.board_align_pitch = data.getInt16(8, true); // -180 - 360
BF_CONFIG.board_align_yaw = data.getInt16(10, true); // -180 - 360
BF_CONFIG.currentscale = data.getInt16(12, true);
BF_CONFIG.currentoffset = data.getUint16(14, true);
BF_CONFIG.currentoffset = data.getInt16(14, true);
break;
case MSPCodes.MSP_SET_BF_CONFIG:
console.log('BF_CONFIG saved');
@ -1147,6 +1277,23 @@ var mspHelper = (function (gui) {
case MSPCodes.MSPV2_SET_SETTING:
console.log("Setting set");
break;
case MSPCodes.MSP_WP_GETINFO:
// Reserved for waypoint capabilities data.getUint8(0);
MISSION_PLANER.maxWaypoints = data.getUint8(1);
MISSION_PLANER.isValidMission = data.getUint8(2);
MISSION_PLANER.countBusyPoints = data.getUint8(3);
break;
case MSPCodes.MSP_SET_WP:
console.log('Point saved');
break;
case MSPCodes.MSP_WP_MISSION_SAVE:
// buffer.push(0);
console.log(data);
break;
case MSPCodes.MSP_WP_MISSION_LOAD:
console.log('Mission load');
break;
default:
console.log('Unknown code detected: ' + dataHandler.code);
} else {
@ -1231,6 +1378,28 @@ var mspHelper = (function (gui) {
buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
break;
case MSPCodes.MSPV2_INAV_SET_RATE_PROFILE:
// throttle
buffer.push(Math.round(RC_tuning.throttle_MID * 100));
buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
buffer.push(RC_tuning.dynamic_THR_PID);
buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
// stabilized
buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
buffer.push(Math.round(RC_tuning.roll_rate / 10));
buffer.push(Math.round(RC_tuning.pitch_rate / 10));
buffer.push(Math.round(RC_tuning.yaw_rate / 10));
// manual
buffer.push(Math.round(RC_tuning.manual_RC_EXPO * 100));
buffer.push(Math.round(RC_tuning.manual_RC_YAW_EXPO * 100));
buffer.push(RC_tuning.manual_roll_rate);
buffer.push(RC_tuning.manual_pitch_rate);
buffer.push(RC_tuning.manual_yaw_rate);
break;
case MSPCodes.MSP_SET_RX_MAP:
for (i = 0; i < RC_MAP.length; i++) {
@ -1275,6 +1444,60 @@ var mspHelper = (function (gui) {
buffer.push(Math.round(MISC.vbatmaxcellvoltage * 10));
buffer.push(Math.round(MISC.vbatwarningcellvoltage * 10));
break;
case MSPCodes.MSPV2_INAV_SET_MISC:
buffer.push(lowByte(MISC.midrc));
buffer.push(highByte(MISC.midrc));
buffer.push(lowByte(MISC.minthrottle));
buffer.push(highByte(MISC.minthrottle));
buffer.push(lowByte(MISC.maxthrottle));
buffer.push(highByte(MISC.maxthrottle));
buffer.push(lowByte(MISC.mincommand));
buffer.push(highByte(MISC.mincommand));
buffer.push(lowByte(MISC.failsafe_throttle));
buffer.push(highByte(MISC.failsafe_throttle));
buffer.push(MISC.gps_type);
buffer.push(MISC.sensors_baudrate);
buffer.push(MISC.gps_ubx_sbas);
buffer.push(MISC.rssi_channel);
buffer.push(lowByte(Math.round(MISC.mag_declination * 10)));
buffer.push(highByte(Math.round(MISC.mag_declination * 10)));
buffer.push(lowByte(MISC.vbatscale));
buffer.push(highByte(MISC.vbatscale));
buffer.push(lowByte(Math.round(MISC.vbatmincellvoltage * 100)));
buffer.push(highByte(Math.round(MISC.vbatmincellvoltage * 100)));
buffer.push(lowByte(Math.round(MISC.vbatmaxcellvoltage * 100)));
buffer.push(highByte(Math.round(MISC.vbatmaxcellvoltage * 100)));
buffer.push(lowByte(Math.round(MISC.vbatwarningcellvoltage * 100)));
buffer.push(highByte(Math.round(MISC.vbatwarningcellvoltage * 100)));
for (byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(specificByte(MISC.battery_capacity, byte_index));
for (byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(specificByte(MISC.battery_capacity_warning, byte_index));
for (byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(specificByte(MISC.battery_capacity_critical, byte_index));
buffer.push((MISC.battery_capacity_unit == 'mAh') ? 0 : 1);
break;
case MSPCodes.MSPV2_INAV_SET_BATTERY_CONFIG:
buffer.push(lowByte(BATTERY_CONFIG.vbatscale));
buffer.push(highByte(BATTERY_CONFIG.vbatscale));
buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 100)));
buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 100)));
buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
buffer.push(lowByte(BATTERY_CONFIG.current_offset));
buffer.push(highByte(BATTERY_CONFIG.current_offset));
buffer.push(lowByte(BATTERY_CONFIG.current_scale));
buffer.push(highByte(BATTERY_CONFIG.current_scale));
for (byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(specificByte(BATTERY_CONFIG.capacity, byte_index));
for (byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(specificByte(BATTERY_CONFIG.capacity_warning, byte_index));
for (byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(specificByte(BATTERY_CONFIG.capacity_critical, byte_index));
buffer.push(BATTERY_CONFIG.capacity_unit);
break;
case MSPCodes.MSP_SET_RX_CONFIG:
buffer.push(RX_CONFIG.serialrx_provider);
@ -1326,7 +1549,7 @@ var mspHelper = (function (gui) {
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
}
}
if (semver.gte(CONFIG.flightControllerVersion, "1.7.4")) {
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_min_distance));
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_min_distance));
@ -1627,6 +1850,44 @@ var mspHelper = (function (gui) {
buffer.push(SENSOR_CONFIG.opflow);
break;
case MSPCodes.MSP_SET_WP:
buffer.push(MISSION_PLANER.bufferPoint.number); // sbufReadU8(src); // number
buffer.push(MISSION_PLANER.bufferPoint.action); // sbufReadU8(src); // action
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 0)); // sbufReadU32(src); // lat
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 1));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 2));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 3));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 0)); // sbufReadU32(src); // lon
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 1));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 2));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 3));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 0)); // sbufReadU32(src); // to set altitude (cm)
buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 1));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 2));
buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 3));
buffer.push(lowByte(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);
break;
case MSPCodes.MSP_WP_MISSION_LOAD:
// buffer.push(0);
console.log(buffer);
break;
default:
return false;
}
@ -1652,9 +1913,9 @@ var mspHelper = (function (gui) {
self.sendBlackboxConfiguration = function (onDataCallback) {
var message = [
BLACKBOX.blackboxDevice & 0xFF,
BLACKBOX.blackboxRateNum & 0xFF,
BLACKBOX.blackboxRateDenom & 0xFF
BLACKBOX.blackboxDevice & 0xFF,
BLACKBOX.blackboxRateNum & 0xFF,
BLACKBOX.blackboxRateDenom & 0xFF
];
//noinspection JSUnusedLocalSymbols
@ -2149,7 +2410,7 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_IDENT, false, false, callback);
};
self.loadINAVPidConfig = function(callback) {
self.loadINAVPidConfig = function (callback) {
if (semver.gt(CONFIG.flightControllerVersion, "1.3.0")) {
MSP.send_message(MSPCodes.MSP_INAV_PID, false, false, callback);
} else {
@ -2161,7 +2422,7 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_LOOP_TIME, false, false, callback);
};
self.loadAdvancedConfig = function(callback) {
self.loadAdvancedConfig = function (callback) {
if (semver.gte(CONFIG.flightControllerVersion, "1.3.0")) {
MSP.send_message(MSPCodes.MSP_ADVANCED_CONFIG, false, false, callback);
} else {
@ -2189,6 +2450,10 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_RC_TUNING, false, false, callback);
};
self.loadRateProfileData = function (callback) {
MSP.send_message(MSPCodes.MSPV2_INAV_RATE_PROFILE, false, false, callback);
};
self.loadPidData = function (callback) {
MSP.send_message(MSPCodes.MSP_PID, false, false, callback);
};
@ -2213,6 +2478,14 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_MISC, false, false, callback);
};
self.loadMiscV2 = function (callback) {
MSP.send_message(MSPCodes.MSPV2_INAV_MISC, false, false, callback);
};
self.loadBatteryConfig = function (callback) {
MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
};
self.loadArmingConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_ARMING_CONFIG, false, false, callback);
};
@ -2309,6 +2582,10 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING), false, callback);
};
self.saveRateProfileData = function (callback) {
MSP.send_message(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE), false, callback);
};
self.savePidAdvanced = function (callback) {
if (semver.gte(CONFIG.flightControllerVersion, "1.4.0")) {
MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED, mspHelper.crunch(MSPCodes.MSP_SET_PID_ADVANCED), false, callback);
@ -2325,6 +2602,14 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_SET_MISC, mspHelper.crunch(MSPCodes.MSP_SET_MISC), false, callback);
};
self.saveMiscV2 = function (callback) {
MSP.send_message(MSPCodes.MSPV2_INAV_SET_MISC, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_MISC), false, callback);
};
self.saveBatteryConfig = function (callback) {
MSP.send_message(MSPCodes.MSPV2_SET_BATTERY_CONFIG, mspHelper.crunch(MSPCodes.MSPV2_SET_BATTERY_CONFIG), false, callback);
};
self.save3dConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_3D, mspHelper.crunch(MSPCodes.MSP_SET_3D), false, callback);
};
@ -2342,7 +2627,7 @@ var mspHelper = (function (gui) {
};
self.saveRxConfig = function (callback) {
if(semver.gte(CONFIG.apiVersion, "1.21.0")) {
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
MSP.send_message(MSPCodes.MSP_SET_RX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RX_CONFIG), false, callback);
} else {
callback();
@ -2350,7 +2635,7 @@ var mspHelper = (function (gui) {
};
self.saveSensorConfig = function (callback) {
if(semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
MSP.send_message(MSPCodes.MSP_SET_SENSOR_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_SENSOR_CONFIG), false, callback);
} else {
callback();
@ -2437,20 +2722,28 @@ var mspHelper = (function (gui) {
}
};
self._getSetting = function(name) {
self.getMissionInfo = function (callback) {
if (semver.gte(CONFIG.flightControllerVersion, "1.8.1")) {
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
} else {
callback();
}
};
self._getSetting = function (name) {
var promise;
if (this._settings) {
promise = Promise.resolve(this._settings);
} else {
promise = new Promise(function(resolve, reject) {
promise = new Promise(function (resolve, reject) {
var $this = this;
$.ajax({
url: chrome.runtime.getURL('/resources/settings.json'),
dataType: 'json',
error: function(jqXHR, text, error) {
error: function (jqXHR, text, error) {
reject(error);
},
success: function(data) {
success: function (data) {
$this._settings = data;
resolve(data);
}
@ -2462,19 +2755,19 @@ var mspHelper = (function (gui) {
});
};
self._encodeSettingName = function(name, data) {
self._encodeSettingName = function (name, data) {
for (var ii = 0; ii < name.length; ii++) {
data.push(name.charCodeAt(ii));
}
data.push(0);
};
self.getSetting = function(name, callback) {
self.getSetting = function (name, callback) {
var $this = this;
return this._getSetting(name).then(function (setting) {
var data = [];
var data = [];
$this._encodeSettingName(name, data);
MSP.send_message(MSPCodes.MSPV2_SETTING, data, false, function(resp) {
MSP.send_message(MSPCodes.MSPV2_SETTING, data, false, function (resp) {
var value;
switch (setting.type) {
case "uint8_t":
@ -2511,7 +2804,7 @@ var mspHelper = (function (gui) {
});
};
self.encodeSetting = function(name, value) {
self.encodeSetting = function (name, value) {
var $this = this;
return this._getSetting(name).then(function (setting) {
if (setting.table) {
@ -2554,15 +2847,15 @@ var mspHelper = (function (gui) {
});
};
self.setSetting = function(name, value, callback) {
self.setSetting = function (name, value, callback) {
this.encodeSetting(name, value).then(function (data) {
MSP.send_message(MSPCodes.MSPV2_SET_SETTING, data, false, callback);
});
};
self.getRTC = function(callback) {
self.getRTC = function (callback) {
if (semver.gt(CONFIG.flightControllerVersion, "1.7.3")) {
MSP.send_message(MSPCodes.MSP_RTC, false, false, function(resp) {
MSP.send_message(MSPCodes.MSP_RTC, false, false, function (resp) {
var seconds = resp.data.read32();
var millis = resp.data.readU16();
if (callback) {
@ -2574,7 +2867,7 @@ var mspHelper = (function (gui) {
}
};
self.setRTC = function(callback) {
self.setRTC = function (callback) {
if (semver.gt(CONFIG.flightControllerVersion, "1.7.3")) {
var now = Date.now();
var secs = now / 1000;

37
js/periodicStatusUpdater.js
View file

@ -61,18 +61,31 @@ helper.periodicStatusUpdater = (function () {
}
if (ANALOG != undefined) {
var nbCells = Math.floor(ANALOG.voltage / MISC.vbatmaxcellvoltage) + 1;
if (ANALOG.voltage == 0)
nbCells = 1;
var nbCells;
if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
nbCells = ANALOG.cell_count;
} else {
nbCells = Math.floor(ANALOG.voltage / MISC.vbatmaxcellvoltage) + 1;
if (ANALOG.voltage == 0)
nbCells = 1;
}
var min = MISC.vbatmincellvoltage * nbCells;
var max = MISC.vbatmaxcellvoltage * nbCells;
var warn = MISC.vbatwarningcellvoltage * nbCells;
$(".battery-status").css({
width: ((ANALOG.voltage - min) / (max - min) * 100) + "%",
display: 'inline-block'
});
if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
$(".battery-status").css({
width: ANALOG.battery_percentage + "%",
display: 'inline-block'
});
} else {
$(".battery-status").css({
width: ((ANALOG.voltage - min) / (max - min) * 100) + "%",
display: 'inline-block'
});
}
if (active) {
$(".linkicon").css({
@ -84,7 +97,7 @@ helper.periodicStatusUpdater = (function () {
});
}
if (ANALOG.voltage < warn) {
if (((semver.gte(CONFIG.flightControllerVersion, '1.8.1')) && (((ANALOG.use_capacity_thresholds) && (ANALOG.battery_remaining_capacity <= (MISC.battery_capacity_warning - MISC.battery_capacity_critical))) || ((!ANALOG.use_capacity_thresholds) && (ANALOG.voltage < warn))) || (ANALOG.voltage < min)) || ((semver.lt(CONFIG.flightControllerVersion, '1.8.1')) && (ANALOG.voltage < warn))) {
$(".battery-status").css('background-color', '#D42133');
} else {
$(".battery-status").css('background-color', '#59AA29');
@ -123,11 +136,15 @@ helper.periodicStatusUpdater = (function () {
MSP.send_message(MSPCodes.MSP_STATUS, false, false);
}
MSP.send_message(MSPCodes.MSP_ANALOG, false, false);
if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
MSP.send_message(MSPCodes.MSPV2_INAV_ANALOG, false, false);
} else {
MSP.send_message(MSPCodes.MSP_ANALOG, false, false);
}
privateScope.updateView();
}
};
return publicScope;
})();
})();