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full PID tuning support

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RC related tunings like expos, etc will be available inside Receiver tab
This commit is contained in:
cTn 2013-04-09 17:58:54 +02:00
parent 5119fb2050
commit d450a3f518
5 changed files with 77 additions and 42 deletions
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34
js/serial_backend.js
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@ -65,6 +65,16 @@ var RC = {
AUX4: 0
};
var RC_tuning = {
RC_RATE: 0,
RC_EXPO: 0,
roll_pitch_rate: 0,
yaw_rate: 0,
dynamic_THR_PID: 0,
throttle_MID: 0,
throttle_EXPO: 0,
};
var SENSOR_DATA = {
gyroscope: [0, 0, 0],
accelerometer: [0, 0, 0],
@ -154,6 +164,7 @@ function onOpen(openInfo) {
send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT);
send_message(MSP_codes.MSP_STATUS, MSP_codes.MSP_STATUS);
send_message(MSP_codes.MSP_PID, MSP_codes.MSP_PID);
send_message(MSP_codes.MSP_RC_TUNING, MSP_codes.MSP_RC_TUNING);
}, connection_delay * 1000);
}
@ -260,9 +271,9 @@ function onCharRead(readInfo) {
}
}
function send_message(code, data, bytes_n) {
function send_message(code, data) {
if (typeof data === 'object') {
var size = 6 + bytes_n;
var size = 6 + data.length; // 6 bytes for protocol overhead
var checksum = 0;
var bufferOut = new ArrayBuffer(size);
@ -275,10 +286,11 @@ function send_message(code, data, bytes_n) {
bufView[4] = code; // code
checksum = bufView[3] ^ bufView[4];
for (var i = 5; i < data.length; i++) {
bufView[i] = data[i - 5];
for (var i = 0; i < data.length; i++) {
bufView[i + 5] = data[i];
checksum ^= bufView[i];
checksum ^= bufView[i + 5];
}
bufView[5 + data.length] = checksum;
@ -289,7 +301,7 @@ function send_message(code, data, bytes_n) {
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
bufView[3] = bytes_n; // data length
bufView[3] = 0; // data length
bufView[4] = code; // code
bufView[5] = data; // data
bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
@ -366,7 +378,13 @@ function process_message(code, data) {
console.log(data);
break;
case MSP_codes.MSP_RC_TUNING:
console.log(data);
RC_tuning.RC_RATE = parseFloat((view.getUint8(0) / 100).toFixed(2));
RC_tuning.RC_EXPO = parseFloat((view.getUint8(1) / 100).toFixed(2));
RC_tuning.roll_pitch_rate = parseFloat((view.getUint8(2) / 100).toFixed(2));
RC_tuning.yaw_rate = parseFloat((view.getUint8(3) / 100).toFixed(2));
RC_tuning.dynamic_THR_PID = parseFloat((view.getUint8(4) / 100).toFixed(2));
RC_tuning.throttle_MID = parseFloat((view.getUint8(5) / 100).toFixed(2));
RC_tuning.throttle_EXPO = parseFloat((view.getUint8(6) / 100).toFixed(2));
break;
case MSP_codes.MSP_PID:
// PID data arrived, we need to scale it and save to appropriate bank / array
@ -428,7 +446,7 @@ function process_message(code, data) {
console.log(data);
break;
case MSP_codes.MSP_SET_RC_TUNING:
console.log(data);
console.log('RC Tuning saved');
break;
case MSP_codes.MSP_ACC_CALIBRATION:
console.log('Accel calibration executed');