mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-25 17:25:14 +03:00
dropped PID values scaling and some cleanup
This commit is contained in:
Pawel Spychalski (DzikuVx)
parent
3ab5336135
commit
c6e81d991f
3 changed files with 100 additions and 242 deletions
143
js/msp.js
143
js/msp.js
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@ -133,8 +133,8 @@ var MSP = {
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ledDirectionLetters: ['n', 'e', 's', 'w', 'u', 'd'], // in LSB bit order
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ledFunctionLetters: ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l'], // in LSB bit order
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ledBaseFunctionLetters: ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit
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ledOverlayLetters: ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit
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ledBaseFunctionLetters: ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit
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ledOverlayLetters: ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit
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last_received_timestamp: null,
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analog_last_received_timestamp: null,
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@ -283,7 +283,7 @@ var MSP = {
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$('span.cycle-time').text(CONFIG.cycleTime);
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$('span.cpu-load').text(chrome.i18n.getMessage('statusbar_cpu_load', [CONFIG.cpuload]));
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break;
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case MSP_codes.MSP_RAW_IMU:
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// 512 for mpu6050, 256 for mma
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// currently we are unable to differentiate between the sensor types, so we are goign with 512
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@ -407,31 +407,9 @@ var MSP = {
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case MSP_codes.MSP_PID:
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// PID data arrived, we need to scale it and save to appropriate bank / array
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for (var i = 0, needle = 0; i < (message_length / 3); i++, needle += 3) {
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// main for loop selecting the pid section
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switch (i) {
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case 0:
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case 1:
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case 2:
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case 3:
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case 7:
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case 8:
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case 9:
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PIDs[i][0] = data.getUint8(needle) / 10;
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PIDs[i][1] = data.getUint8(needle + 1) / 1000;
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PIDs[i][2] = data.getUint8(needle + 2);
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break;
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case 4:
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PIDs[i][0] = data.getUint8(needle) / 100;
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PIDs[i][1] = data.getUint8(needle + 1) / 100;
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PIDs[i][2] = data.getUint8(needle + 2) / 1000;
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break;
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case 5:
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case 6:
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PIDs[i][0] = data.getUint8(needle) / 10;
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PIDs[i][1] = data.getUint8(needle + 1) / 100;
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PIDs[i][2] = data.getUint8(needle + 2) / 1000;
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break;
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}
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PIDs[i][0] = data.getUint8(needle);
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PIDs[i][1] = data.getUint8(needle + 1);
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PIDs[i][2] = data.getUint8(needle + 2);
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}
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break;
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// Disabled, cleanflight does not use MSP_BOX.
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@ -939,7 +917,7 @@ var MSP = {
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} else {
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var mask = data.getUint32(offset, 1);
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offset +=4;
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var functionId = (mask >> 8) & 0xF;
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var functions = [];
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for (var baseFunctionLetterIndex = 0; baseFunctionLetterIndex < MSP.ledBaseFunctionLetters.length; baseFunctionLetterIndex++) {
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@ -948,14 +926,14 @@ var MSP = {
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break;
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}
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}
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var overlayMask = (mask >> 12) & 0x3F;
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for (var overlayLetterIndex = 0; overlayLetterIndex < MSP.ledOverlayLetters.length; overlayLetterIndex++) {
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if (bit_check(overlayMask, overlayLetterIndex)) {
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functions.push(MSP.ledOverlayLetters[overlayLetterIndex]);
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}
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}
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var directionMask = (mask >> 22) & 0x3F;
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var directions = [];
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for (var directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
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@ -971,7 +949,7 @@ var MSP = {
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directions: directions,
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parameters: (mask >> 28) & 0xF
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};
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LED_STRIP.push(led);
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}
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}
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@ -980,11 +958,11 @@ var MSP = {
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console.log('Led strip config saved');
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break;
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case MSP_codes.MSP_LED_COLORS:
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LED_COLORS = [];
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var colorCount = data.byteLength / 4;
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var offset = 0;
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for (var i = 0; offset < data.byteLength && i < colorCount; i++) {
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@ -998,10 +976,10 @@ var MSP = {
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s: s,
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v: v
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};
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LED_COLORS.push(color);
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}
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break;
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case MSP_codes.MSP_SET_LED_COLORS:
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console.log('Led strip colors saved');
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@ -1010,9 +988,9 @@ var MSP = {
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if (semver.gte(CONFIG.apiVersion, "1.19.0")) {
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LED_MODE_COLORS = [];
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var colorCount = data.byteLength / 3;
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var offset = 0;
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for (var i = 0; offset < data.byteLength && i < colorCount; i++) {
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@ -1025,7 +1003,7 @@ var MSP = {
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direction: direction,
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color: color
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};
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LED_MODE_COLORS.push(mode_color);
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}
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}
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@ -1033,8 +1011,8 @@ var MSP = {
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case MSP_codes.MSP_SET_LED_STRIP_MODECOLOR:
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console.log('Led strip mode colors saved');
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break;
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case MSP_codes.MSP_DATAFLASH_SUMMARY:
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if (data.byteLength >= 13) {
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@ -1136,13 +1114,13 @@ var MSP = {
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if (this.callbacks[i].code == code) {
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// save callback reference
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var callback = this.callbacks[i].callback;
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// remove timeout
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clearInterval(this.callbacks[i].timer);
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// remove object from array
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this.callbacks.splice(i, 1);
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// fire callback
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if (callback) callback({'command': code, 'data': data, 'length': message_length});
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}
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@ -1268,30 +1246,9 @@ MSP.crunch = function (code) {
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break;
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case MSP_codes.MSP_SET_PID:
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for (var i = 0; i < PIDs.length; i++) {
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switch (i) {
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case 0:
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case 1:
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case 2:
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case 3:
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case 7:
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case 8:
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case 9:
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buffer.push(Math.round(PIDs[i][0] * 10));
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buffer.push(Math.round(PIDs[i][1] * 1000));
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buffer.push(parseInt(PIDs[i][2]));
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break;
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case 4:
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buffer.push(Math.round(PIDs[i][0] * 100));
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buffer.push(Math.round(PIDs[i][1] * 100));
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buffer.push(parseInt(PIDs[i][2]));
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break;
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case 5:
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case 6:
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buffer.push(Math.round(PIDs[i][0] * 10));
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buffer.push(Math.round(PIDs[i][1] * 100));
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buffer.push(Math.round(PIDs[i][2] * 1000));
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break;
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}
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buffer.push(parseInt(PIDs[i][0]));
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buffer.push(parseInt(PIDs[i][1]));
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buffer.push(parseInt(PIDs[i][2]));
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}
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break;
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case MSP_codes.MSP_SET_RC_TUNING:
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@ -1730,7 +1687,7 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
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}
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function send_next_led_strip_config() {
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var led = LED_STRIP[ledIndex];
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/*
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var led = {
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@ -1740,9 +1697,9 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
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y: data.getUint8(offset++, 1),
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color: data.getUint8(offset++, 1)
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};
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*/
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*/
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var buffer = [];
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buffer.push(ledIndex);
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if (semver.lt(CONFIG.apiVersion, "1.20.0")) {
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@ -1755,7 +1712,7 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
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}
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buffer.push(specificByte(directionMask, 0));
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buffer.push(specificByte(directionMask, 1));
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var functionMask = 0;
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for (var functionLetterIndex = 0; functionLetterIndex < led.functions.length; functionLetterIndex++) {
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var bitIndex = MSP.ledFunctionLetters.indexOf(led.functions[functionLetterIndex]);
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@ -1765,19 +1722,19 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
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}
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buffer.push(specificByte(functionMask, 0));
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buffer.push(specificByte(functionMask, 1));
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buffer.push(led.x);
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buffer.push(led.y);
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buffer.push(led.color);
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} else {
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var mask = 0;
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/*
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ledDirectionLetters: ['n', 'e', 's', 'w', 'u', 'd'], // in LSB bit order
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ledFunctionLetters: ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l'], // in LSB bit order
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ledBaseFunctionLetters: ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit
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ledOverlayLetters: ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit
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ledBaseFunctionLetters: ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit
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ledOverlayLetters: ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit
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*/
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mask |= (led.y << 0);
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mask |= (led.x << 4);
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@ -1789,7 +1746,7 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
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break;
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}
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}
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for (var overlayLetterIndex = 0; overlayLetterIndex < led.functions.length; overlayLetterIndex++) {
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var bitIndex = MSP.ledOverlayLetters.indexOf(led.functions[overlayLetterIndex]);
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if (bitIndex >= 0) {
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@ -1805,22 +1762,22 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
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mask |= bit_set(mask, bitIndex + 22);
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}
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}
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mask |= (0 << 28); // parameters
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buffer.push(specificByte(mask, 0));
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buffer.push(specificByte(mask, 1));
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buffer.push(specificByte(mask, 2));
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buffer.push(specificByte(mask, 3));
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}
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// prepare for next iteration
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ledIndex++;
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if (ledIndex == LED_STRIP.length) {
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nextFunction = onCompleteCallback;
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}
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MSP.send_message(MSP_codes.MSP_SET_LED_STRIP_CONFIG, buffer, false, nextFunction);
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}
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}
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@ -1830,10 +1787,10 @@ MSP.sendLedStripColors = function(onCompleteCallback) {
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onCompleteCallback();
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} else {
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var buffer = [];
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for (var colorIndex = 0; colorIndex < LED_COLORS.length; colorIndex++) {
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var color = LED_COLORS[colorIndex];
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buffer.push(specificByte(color.h, 0));
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buffer.push(specificByte(color.h, 1));
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buffer.push(color.s);
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@ -1844,21 +1801,21 @@ MSP.sendLedStripColors = function(onCompleteCallback) {
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}
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MSP.sendLedStripModeColors = function(onCompleteCallback) {
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var nextFunction = send_next_led_strip_mode_color;
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var nextFunction = send_next_led_strip_mode_color;
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var index = 0;
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if (LED_MODE_COLORS.length == 0) {
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onCompleteCallback();
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} else {
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send_next_led_strip_mode_color();
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}
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function send_next_led_strip_mode_color() {
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var buffer = [];
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var mode_color = LED_MODE_COLORS[index];
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buffer.push(mode_color.mode);
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buffer.push(mode_color.direction);
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buffer.push(mode_color.color);
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@ -1934,4 +1891,4 @@ MSP.SDCARD_STATE_NOT_PRESENT = 0;
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MSP.SDCARD_STATE_FATAL = 1;
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MSP.SDCARD_STATE_CARD_INIT = 2;
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MSP.SDCARD_STATE_FS_INIT = 3;
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MSP.SDCARD_STATE_READY = 4;
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MSP.SDCARD_STATE_READY = 4;
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@ -23,7 +23,7 @@
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<div class="gui_box grey">
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<table class="pid_titlebar">
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<tr>
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<th class="name" i18n="pidTuningName""></th>
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<th class="name" i18n="pidTuningName"></th>
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<th class="proportional" i18n="pidTuningProportional"></th>
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<th class="integral" i18n="pidTuningIntegral"></th>
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<th class="derivative" i18n="pidTuningDerivative"></th>
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@ -38,22 +38,22 @@
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<tr class="ROLL">
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<!-- 0 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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<tr class="PITCH">
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<!-- 1 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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<tr class="YAW">
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<!-- 2 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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</table>
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@ -66,15 +66,15 @@
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<tr class="ALT">
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<!-- 3 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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<tr class="Vario">
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<!-- 9 -->
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<td>VEL</td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td><input type="number" name="d" step="1" min="0" max="255" /></td>
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</tr>
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</table>
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@ -87,7 +87,7 @@
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<tr class="MAG">
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<!-- 8 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td></td>
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<td></td>
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</tr>
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@ -101,23 +101,23 @@
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<tr class="Pos">
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<!-- 4 -->
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<td></td>
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<td><input type="number" name="p" step="0.01" min="0" max="2.55" /></td>
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<td><input type="number" name="i" step="0.01" min="0" max="2.55" /></td>
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<td><input type="number" name="p" step="1" min="0" max="255" /></td>
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<td><input type="number" name="i" step="1" min="0" max="255" /></td>
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<td></td>
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</tr>
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<tr class="PosR">
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<!-- 5 -->
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<td></td>
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<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
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<td><input type="number" name="i" step="0.01" min="0" max="2.55" /></td>
|
||||
<td><input type="number" name="d" step="0.001" min="0" max="0.255" /></td>
|
||||
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
|
||||
<td><input type="number" name="i" step="1" min="0" max="255" /></td>
|
||||
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
|
||||
</tr>
|
||||
<tr class="NavR">
|
||||
<!-- 6 -->
|
||||
<td></td>
|
||||
<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
|
||||
<td><input type="number" name="i" step="0.01" min="0" max="2.55" /></td>
|
||||
<td><input type="number" name="d" step="0.001" min="0" max="0.255" /></td>
|
||||
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
|
||||
<td><input type="number" name="i" step="1" min="0" max="255" /></td>
|
||||
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div>
|
||||
|
|
@ -139,8 +139,8 @@
|
|||
<tr class="LEVEL">
|
||||
<!-- 7 -->
|
||||
<td></td>
|
||||
<td><input type="number" name="p" step="0.1" min="0" max="25.5" /></td>
|
||||
<td><input type="number" name="i" step="0.001" min="0" max="0.255" /></td>
|
||||
<td><input type="number" name="p" step="1" min="0" max="255" /></td>
|
||||
<td><input type="number" name="i" step="1" min="0" max="255" /></td>
|
||||
<td><input type="number" name="d" step="1" min="0" max="255" /></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
|
|
|||
|
|
@ -32,136 +32,37 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
MSP.send_message(MSP_codes.MSP_STATUS, false, false, get_pid_names);
|
||||
|
||||
function pid_and_rc_to_form() {
|
||||
|
||||
var sectionClasses = [
|
||||
'ROLL', // 0
|
||||
'PITCH', // 1
|
||||
'YAW', // 2
|
||||
'ALT', // 3
|
||||
'Pos', // 4
|
||||
'PosR', // 5
|
||||
'NavR', // 6
|
||||
'LEVEL', // 7
|
||||
'MAG', // 8
|
||||
'Vario' // 9
|
||||
]
|
||||
|
||||
// Fill in the data from PIDs array
|
||||
var i = 0;
|
||||
$('.pid_tuning .ROLL input').each(function () {
|
||||
switch (i) {
|
||||
case 0:
|
||||
$(this).val(PIDs[0][i++].toFixed(1));
|
||||
break;
|
||||
case 1:
|
||||
$(this).val(PIDs[0][i++].toFixed(3));
|
||||
break;
|
||||
case 2:
|
||||
$(this).val(PIDs[0][i++].toFixed(0));
|
||||
break;
|
||||
}
|
||||
});
|
||||
var i;
|
||||
/*
|
||||
* Iterate over registered sections/PID controllers
|
||||
*/
|
||||
for (var sectionId = 0; sectionId < sectionClasses.length; sectionId++) {
|
||||
|
||||
i = 0;
|
||||
$('.pid_tuning .PITCH input').each(function () {
|
||||
switch (i) {
|
||||
case 0:
|
||||
$(this).val(PIDs[1][i++].toFixed(1));
|
||||
break;
|
||||
case 1:
|
||||
$(this).val(PIDs[1][i++].toFixed(3));
|
||||
break;
|
||||
case 2:
|
||||
$(this).val(PIDs[1][i++].toFixed(0));
|
||||
break;
|
||||
}
|
||||
});
|
||||
i = 0;
|
||||
/*
|
||||
* Now, iterate over inputs inside PID constroller section
|
||||
*/
|
||||
$('.pid_tuning .' + sectionClasses[sectionId] + ' input').each(function () {
|
||||
$(this).val(PIDs[sectionId][i].toFixed(0));
|
||||
i++;
|
||||
});
|
||||
|
||||
i = 0;
|
||||
$('.pid_tuning .YAW input').each(function () {
|
||||
switch (i) {
|
||||
case 0:
|
||||
$(this).val(PIDs[2][i++].toFixed(1));
|
||||
break;
|
||||
case 1:
|
||||
$(this).val(PIDs[2][i++].toFixed(3));
|
||||
break;
|
||||
case 2:
|
||||
$(this).val(PIDs[2][i++].toFixed(0));
|
||||
break;
|
||||
}
|
||||
});
|
||||
|
||||
i = 0;
|
||||
$('.pid_tuning .ALT input').each(function () {
|
||||
switch (i) {
|
||||
case 0:
|
||||
$(this).val(PIDs[3][i++].toFixed(1));
|
||||
break;
|
||||
case 1:
|
||||
$(this).val(PIDs[3][i++].toFixed(3));
|
||||
break;
|
||||
case 2:
|
||||
$(this).val(PIDs[3][i++].toFixed(0));
|
||||
break;
|
||||
}
|
||||
});
|
||||
|
||||
i = 0;
|
||||
$('.pid_tuning .Pos input').each(function () {
|
||||
$(this).val(PIDs[4][i++].toFixed(2));
|
||||
});
|
||||
|
||||
i = 0;
|
||||
$('.pid_tuning .PosR input').each(function () {
|
||||
switch (i) {
|
||||
case 0:
|
||||
$(this).val(PIDs[5][i++].toFixed(1));
|
||||
break;
|
||||
case 1:
|
||||
$(this).val(PIDs[5][i++].toFixed(2));
|
||||
break;
|
||||
case 2:
|
||||
$(this).val(PIDs[5][i++].toFixed(3));
|
||||
break;
|
||||
}
|
||||
});
|
||||
|
||||
i = 0;
|
||||
$('.pid_tuning .NavR input').each(function () {
|
||||
switch (i) {
|
||||
case 0:
|
||||
$(this).val(PIDs[6][i++].toFixed(1));
|
||||
break;
|
||||
case 1:
|
||||
$(this).val(PIDs[6][i++].toFixed(2));
|
||||
break;
|
||||
case 2:
|
||||
$(this).val(PIDs[6][i++].toFixed(3));
|
||||
break;
|
||||
}
|
||||
});
|
||||
|
||||
i = 0;
|
||||
$('.pid_tuning .LEVEL input').each(function () {
|
||||
switch (i) {
|
||||
case 0:
|
||||
$(this).val(PIDs[7][i++].toFixed(1));
|
||||
break;
|
||||
case 1:
|
||||
$(this).val(PIDs[7][i++].toFixed(3));
|
||||
break;
|
||||
case 2:
|
||||
$(this).val(PIDs[7][i++].toFixed(0));
|
||||
break;
|
||||
}
|
||||
});
|
||||
|
||||
i = 0;
|
||||
$('.pid_tuning .MAG input').each(function () {
|
||||
$(this).val(PIDs[8][i++].toFixed(1));
|
||||
});
|
||||
|
||||
i = 0;
|
||||
$('.pid_tuning .Vario input').each(function () {
|
||||
switch (i) {
|
||||
case 0:
|
||||
$(this).val(PIDs[9][i++].toFixed(1));
|
||||
break;
|
||||
case 1:
|
||||
$(this).val(PIDs[9][i++].toFixed(3));
|
||||
break;
|
||||
case 2:
|
||||
$(this).val(PIDs[9][i++].toFixed(0));
|
||||
break;
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
// Fill in data from RC_tuning object
|
||||
$('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue