Merge branch 'master' of https://github.com/RomanLut/inav-configurator into submit-serial-receiver

.github/workflows/ci.yml

@@ -85,7 +85,7 @@ jobs:
             cache: 'npm'
         # Workaround due to a bug in node-gyp: https://github.com/electron/rebuild/issues/1116
         - name: Install Setuptools
-          run: pip install setuptools
+          run: python3 -m pip install --break-system-packages setuptools
         - name: Install deps
           uses: nick-fields/retry@v2
           with:

README.md

@@ -20,32 +20,32 @@ everything, the hardware is not working, or you have any other _support_ problem
 
 ## Installation
 
-Depending on the target operating system, _INAV Configurator_ is distributed as a  _standalone_ application or Chrome App.
+ _INAV Configurator_ is distributed as a  _standalone_ application.
 
 ### Windows
 
 1. Visit [release page](https://github.com/iNavFlight/inav-configurator/releases)
-2. Download Configurator for Windows platform (win32 or win64 is present)
+2. Download Configurator for Windows platform (ia32 or win64 is present)
 3. Install
     * Extract ZIP archive and run the INAV Configurator app from the unpacked folder
-    * OR just use the setup program `INAV Configurator.msi`
+    * OR just use the setup program `INAV-Configurator_win32_arch_x.y.z.msi`, **arch** is your computer architecture (ia32 (32bit) or x64 (64bit)), **x.y.z** is the INAV Configurator version number.
 
 4.  Configurator is not signed, so you have to allow Windows to run untrusted applications. There might be a monit for it during the first run
 
 ### Linux
 
 1. Visit [release page](https://github.com/iNavFlight/inav-configurator/releases)
-2. Download Configurator for Linux platform (linux32 and linux64 are present)
+2. Download Configurator for Linux platform (only linux64 is present)
-   *  **.rpm** is the Fedora installation file. Just download and install using `sudo dnf localinstall /path/to/INAV-Configurator_linux64-x.y.z-x86_64.rpm` or open it with a package manager (e.g. via Files)
+   *  **.rpm** is the Fedora installation file. Just download and install using `sudo dnf localinstall /path/to/INAV-Configurator_linux_x64-x.y.z.rpm` or open it with a package manager (e.g. via Files)
-   *  **.deb** is the Debian/Ubuntu installation file. Just download and install using `sudo apt install /path/to/INAV-Configurator_linux64_x.y.z.deb` or open it with a package manager (e.g. via the File Manager)
+   *  **.deb** is the Debian/Ubuntu installation file. Just download and install using `sudo apt install /path/to/INAV-Configurator_linux_x64_x.y.z.deb` or open it with a package manager (e.g. via the File Manager)
    *  **.zip** is a universal archive. Download and continue with these instructions to install
 3. Change to the directory containing the downloaded **zip** file
 4. download [this](https://raw.githubusercontent.com/iNavFlight/inav-configurator/master/assets/linux/inav-configurator.desktop) file to the same directory. Its filename should be `inav-configurator.desktop`.
 5. Extract **zip** archive
 ```
-unzip INAV-Configurator_linuxNN_x.y.z.tar.gz -d /tmp/
+unzip INAV-Configurator_linux_arch_x.y.z.zip -d /tmp/
 ```
-   **NN** is the bits of your OS. **x.y.z** is the INAV Configurator version number.
+  **arch** is your computer architecture (x64, armv7l, ...), **x.y.z** is the INAV Configurator version number.
 
 6. If this is the first time installing INAV Configurator, create a home for its files
 ```
@@ -93,21 +93,27 @@ Options:
 
 See [Electron Forge CLI Documentation](https://www.electronforge.io/cli#options-2) for details
 
+Note: Not all architectures are available for all platforms. For example, ia32 (32bit) support is not available for Linux. 
+Tested architectures:
+- Windows: x64 and ia32
+- Linux: x64 and armv7l
+- MacOS: x64 and arm64
+
 To build the setup program for windows, you have to install [WiX Toolset V3](https://github.com/wixtoolset/wix3/releases) and add the `bin` folder to you `PATH`, e.g.
 ```C:\Program Files (x86)\WiX Toolset v3.14\bin```
 
 To build deb and rpm packages for Linux, you have to install the following packages: 
-- Ubuntu/Debian: `dpkg, fakeroot, rpmbuild, build-essential, libudev-dev`
+- Ubuntu/Debian: `dpkg, fakeroot, rpm, build-essential, libudev-dev`
 - OpenSuse/Fedora: `dpkg, fakeroot, rpmbuild, systemd-devel, devel-basis (zypper install -t pattern devel_basis), zip`
 
 Example (note the double -- ):
-``` npm run make -- --arch="x64" ```
+```npm run make -- --arch="x64"```
 
 ### Running with debug | Inspector
 
 To be able to open Inspector, set envorinment variable `NODE_ENV` to `develpoment` or set the flag directly when run `npm start`:
 
-```NODE_ENV=development npm start```
+```NODE_ENV=development npm start``` or ```$env:NODE_ENV="development" | npm start``` for Windows PowerShell
 
 Or use vscode and start a debug session `Debug Configurator` (Just hit F5!)
 

forge.config.js

@@ -74,7 +74,8 @@ module.exports = {
       name: '@electron-forge/maker-dmg',
       config: {
         name: "INAV Configurator",
-        background: "./assets/osx/dmg-background.png"
+        background: "./assets/osx/dmg-background.png",
+        icon: "./images/inav.icns"
       }
     },
     {

index.html

@@ -339,9 +339,6 @@
             <div>
                 <span id="hardware-roundtrip"> </span>
             </div>
-            <div>
-                <span id="drop-rate"> </span>
-            </div>
             <div>
                 <span data-i18n="statusbar_arming_flags"></span> <span class="arming-flags">-</span>
             </div>

js/connection/connection.js

@@ -255,8 +255,10 @@ class Connection {
     getTimeout() {
         if (this._bitrate >= 57600) {
             return 3000;
-        } else {
+        } if (this._bitrate >= 19200) {
             return 4000;
+        } else {
+            return 6000;
         }
     }
 }

js/connection/connectionSerial.js

@@ -112,7 +112,16 @@ class ConnectionSerial extends Connection {
                 GUI.log("Unable to list serial ports.");
             } else {
                 ports.forEach(port => {
+                    if (GUI.operating_system == 'Linux') {
+			/* Limit to: USB serial, RFCOMM (BT), 6 legacy devices */
+			if (port.pnpId ||
+			    port.path.match(/rfcomm\d*/) ||
+			    port.path.match(/ttyS[0-5]$/)) {
 			    devices.push(port.path);
+                        }
+		    } else {
+			devices.push(port.path);
+		    }
                 });
             }
             if (callback)

js/gui.js

@@ -1,11 +1,12 @@
 'use strict';
+const { dialog } = require("@electron/remote");
+
 
 const CONFIGURATOR = require('./data_storage');
 const Switchery = require('./libraries/switchery/switchery')
 const MSP = require('./msp');
 const FC = require('./fc');
 const interval = require('./intervals');
-const mspBalancedInterval = require('./msp_balanced_interval');
 const { scaleRangeInt } = require('./helpers');
 const i18n = require('./localization');
 
@@ -92,7 +93,6 @@ GUI_control.prototype.tab_switch_cleanup = function (callback) {
     MSP.callbacks_cleanup(); // we don't care about any old data that might or might not arrive
 
     interval.killAll(['global_data_refresh', 'msp-load-update', 'ltm-connection-check']);
-    mspBalancedInterval.flush();
 
     if (this.active_tab) {
         TABS[this.active_tab].cleanup(callback);
@@ -529,6 +529,13 @@ GUI_control.prototype.update_dataflash_global = function () {
     }
 };
 
+/**
+* Don't use alert() in Electron, it has a nasty bug: https://github.com/electron/electron/issues/31917
+*/ 
+GUI_control.prototype.alert = function(message) {
+    dialog.showMessageBoxSync({ message: message, icon: "./images/inav_icon_128.png" });
+}
+
 // initialize object into GUI variable
 var GUI = new GUI_control();
 

js/main.js

@@ -1,4 +1,4 @@
-const { app, BrowserWindow, ipcMain } = require('electron');
+const { app, BrowserWindow, ipcMain, Menu, MenuItem } = require('electron');
 const windowStateKeeper = require('electron-window-state');
 const path = require('path');
 const Store = require('electron-store');
@@ -53,6 +53,10 @@ function createDeviceChooser() {
 }
 
 app.on('ready', () => {
+  createWindow();
+});
+
+function createWindow() {
 
   let mainWindowState = windowStateKeeper({
     defaultWidth: 800,
@@ -72,6 +76,24 @@ app.on('ready', () => {
     },
   });
 
+  mainWindow.webContents.on('context-menu', (_, props) => {
+    const menu = new Menu()  ;
+    menu.append(new MenuItem({ label: "Undo", role: "undo", accelerator: 'CmdOrCtrl+Z', visible: props.isEditable }));
+    menu.append(new MenuItem({ label: "Redo", role: "redo", accelerator: 'CmdOrCtrl+Y', visible: props.isEditable }));
+    menu.append(new MenuItem({ type: "separator", visible: props.isEditable }));
+    menu.append(new MenuItem({ label: 'Cut', role: 'cut', accelerator: 'CmdOrCtrl+X', visible: props.isEditable && props.selectionText }));
+    menu.append(new MenuItem({ label: 'Copy', role: 'copy', accelerator: 'CmdOrCtrl+C', visible: props.selectionText }));
+    menu.append(new MenuItem({ label: 'Paste', role: 'paste', accelerator: 'CmdOrCtrl+V', visible: props.isEditable }));
+    menu.append(new MenuItem({ label: "Select all", role: 'selectAll', accelerator: 'CmdOrCtrl+A', visible: props.isEditable}));
+
+    menu.items.forEach(item => {
+      if (item.visible) {
+        menu.popup();
+        return;
+      } 
+    });
+  });
+
   mainWindow.webContents.on('select-bluetooth-device', (event, deviceList, callback) => {
     event.preventDefault();
     selectBluetoothCallback = callback;
@@ -147,7 +169,7 @@ app.on('ready', () => {
   if (process.env.NODE_ENV === 'development') {
     mainWindow.webContents.openDevTools();
   }
-});
+};
 
 app.on('window-all-closed', () => {
   

js/msp.js

@@ -2,6 +2,8 @@
 
 const MSPCodes = require('./msp/MSPCodes')
 const mspQueue = require('./serial_queue');
+const eventFrequencyAnalyzer = require('./eventFrequencyAnalyzer');
+const timeout = require('./timeouts');
 
 /**
  *
@@ -265,7 +267,9 @@ var MSP = {
         /*
          * Free port
          */
+        timeout.add('delayedFreeHardLock', function() {
             mspQueue.freeHardLock();
+        }, 10);
 
         // Reset variables
         this.message_length_received = 0;
@@ -301,6 +305,8 @@ var MSP = {
         var checksum;
         var ii;
 
+        eventFrequencyAnalyzer.put('MPS ' + code);
+
         if (!protocolVersion) {
             protocolVersion = this.protocolVersion;
         }

js/msp/MSPHelper.js

@@ -18,6 +18,8 @@ const ProgrammingPid = require('./../programmingPid');
 const Safehome = require('./../safehome');
 const { FwApproach } = require('./../fwApproach');
 const Waypoint = require('./../waypoint');
+const mspDeduplicationQueue = require('./mspDeduplicationQueue');
+const mspStatistics = require('./mspStatistics');
 
 var mspHelper = (function () {
     var self = {};
@@ -922,7 +924,7 @@ var mspHelper = (function () {
 
                         directions = [];
                         for (directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
-                            if (bit_check(directionMask, directionLetterIndex)) {
+                            if (BitHelper.bit_check(directionMask, directionLetterIndex)) {
                                 directions.push(MSP.ledDirectionLetters[directionLetterIndex]);
                             }
                         }
@@ -932,7 +934,7 @@ var mspHelper = (function () {
 
                         functions = [];
                         for (var functionLetterIndex = 0; functionLetterIndex < MSP.ledFunctionLetters.length; functionLetterIndex++) {
-                            if (bit_check(functionMask, functionLetterIndex)) {
+                            if (BitHelper.bit_check(functionMask, functionLetterIndex)) {
                                 functions.push(MSP.ledFunctionLetters[functionLetterIndex]);
                             }
                         }
@@ -962,7 +964,7 @@ var mspHelper = (function () {
 
                         var overlayMask = (mask >> 12) & 0x3F;
                         for (var overlayLetterIndex = 0; overlayLetterIndex < MSP.ledOverlayLetters.length; overlayLetterIndex++) {
-                            if (bit_check(overlayMask, overlayLetterIndex)) {
+                            if (BitHelper.bit_check(overlayMask, overlayLetterIndex)) {
                                 functions.push(MSP.ledOverlayLetters[overlayLetterIndex]);
                             }
                         }
@@ -971,7 +973,7 @@ var mspHelper = (function () {
 
                         directions = [];
                         for (directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
-                            if (bit_check(directionMask, directionLetterIndex)) {
+                            if (BitHelper.bit_check(directionMask, directionLetterIndex)) {
                                 directions.push(MSP.ledDirectionLetters[directionLetterIndex]);
                             }
                         }
@@ -1017,7 +1019,7 @@ var mspHelper = (function () {
 
                     var overlayMask = (mask >> 16) & 0xFF;
                     for (var overlayLetterIndex = 0; overlayLetterIndex < MSP.ledOverlayLetters.length; overlayLetterIndex++) {
-                        if (bit_check(overlayMask, overlayLetterIndex)) {
+                        if (BitHelper.bit_check(overlayMask, overlayLetterIndex)) {
                             functions.push(MSP.ledOverlayLetters[overlayLetterIndex]);
                         }
                     }
@@ -1026,7 +1028,7 @@ var mspHelper = (function () {
 
                     directions = [];
                     for (directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
-                        if (bit_check(directionMask, directionLetterIndex)) {
+                        if (BitHelper.bit_check(directionMask, directionLetterIndex)) {
                             directions.push(MSP.ledDirectionLetters[directionLetterIndex]);
                         }
                     }
@@ -1618,9 +1620,17 @@ var mspHelper = (function () {
                      */
                     if (dataHandler.callbacks[i]) {
                         mspQueue.putRoundtrip(new Date().getTime() - dataHandler.callbacks[i].createdOn);
-                        mspQueue.putHardwareRoundtrip(new Date().getTime() - dataHandler.callbacks[i].sentOn);
+
+                        const hardwareRountrip = new Date().getTime() - dataHandler.callbacks[i].sentOn;
+
+                        mspQueue.putHardwareRoundtrip(hardwareRountrip);
+
+                        mspStatistics.add(dataHandler.code, hardwareRountrip);
                     }
 
+                    //remove message from queue as received
+                    mspDeduplicationQueue.remove(dataHandler.code);
+
                     // remove object from array
                     dataHandler.callbacks.splice(i, 1);
 
@@ -2260,7 +2270,7 @@ var mspHelper = (function () {
             buffer.push(BitHelper.lowByte(servoConfiguration.middle));
             buffer.push(BitHelper.highByte(servoConfiguration.middle));
 
-            buffer.push(lowByte(servoConfiguration.rate));
+            buffer.push(BitHelper.lowByte(servoConfiguration.rate));
 
             // prepare for next iteration
             servoIndex++;
@@ -2650,7 +2660,7 @@ var mspHelper = (function () {
 
                 bitIndex = MSP.ledOverlayLetters.indexOf(led.functions[overlayLetterIndex]);
                 if (bitIndex >= 0) {
-                    mask |= bit_set(mask, bitIndex + 16);
+                    mask |= BitHelper.bit_set(mask, bitIndex + 16);
                 }
 
             }
@@ -2662,9 +2672,9 @@ var mspHelper = (function () {
                 bitIndex = MSP.ledDirectionLetters.indexOf(led.directions[directionLetterIndex]);
                 if (bitIndex >= 0) {
                     if(bitIndex < 4) {
-                        mask |= bit_set(mask, bitIndex + 28);
+                        mask |= BitHelper.bit_set(mask, bitIndex + 28);
                     } else {
-                        extra |= bit_set(extra, bitIndex - 4);
+                        extra |= BitHelper.bit_set(extra, bitIndex - 4);
                     }
                 }
             }
@@ -3065,6 +3075,7 @@ var mspHelper = (function () {
     };
 
     self._getSetting = function (name) {
+        console.log("Getting setting " + name);
         if (FC.SETTINGS[name]) {
             return Promise.resolve(FC.SETTINGS[name]);
         }

js/msp/mspDeduplicationQueue.js

@@ -0,0 +1,41 @@
+'use strict';
+
+/**
+ * This module is a queue for deduplication of MSP requests.
+ * We do not want to process the same request multiple times unless response is received.
+ * This improves wireless handling and lower amount of data that is put on the air
+ */
+var mspDeduplicationQueue = function() {
+
+    let publicScope = {},
+        privateScope = {};
+
+    privateScope.queue = [];
+
+    publicScope.put = function(item) {
+        privateScope.queue.push(item);
+    };
+
+    publicScope.remove = function(item) {
+        const index = privateScope.queue.indexOf(item);
+        if (index > -1) {
+            privateScope.queue.splice(index, 1);
+        }
+    };
+
+    publicScope.check = function(item) {
+        return privateScope.queue.includes(item);
+    };
+
+    publicScope.flush = function() {
+        privateScope.queue = [];
+    };
+
+    publicScope.get = function() {
+        return privateScope.queue;
+    };
+
+    return publicScope;
+}();
+
+module.exports = mspDeduplicationQueue;

js/msp/mspStatistics.js

@@ -0,0 +1,39 @@
+'use strict';
+
+var mspStatistics = function() {
+
+    let publicScope = {},
+        privateScope = {};
+
+    privateScope.statistics = {};
+
+
+    publicScope.add = function(code, duration) {
+        if (!privateScope.statistics[code]) {
+            privateScope.statistics[code] = {
+                ctime: new Date().getTime(),
+                count: 0,
+                duration: 0,
+                average: 0,
+                callsPerSecond: 0
+            };
+        }
+        privateScope.statistics[code].count++;
+        privateScope.statistics[code].duration += duration;
+        privateScope.statistics[code].average = privateScope.statistics[code].duration / privateScope.statistics[code].count;
+        privateScope.statistics[code].callsPerSecond = privateScope.statistics[code].count / ((new Date().getTime() - privateScope.statistics[code].ctime) / 1000);
+    };
+
+    publicScope.get = function() {
+        return privateScope.statistics;
+    };
+
+    publicScope.reset = function() {
+        privateScope.statistics = {};
+    };
+
+    return publicScope;
+
+}();
+
+module.exports = mspStatistics;

js/msp_balanced_interval.js

@@ -1,75 +0,0 @@
-'use strict';
-
-const mspQueue = require('./serial_queue');
-const interval = require('./intervals');
-
-var mspBalancedInterval = (function (mspQueue, intervalHandler) {
-
-    var publicScope = {},
-        privateScope = {};
-
-    /**
-     * How often balancing should be executed [Hz]
-     * @type {number}
-     */
-    privateScope.balancingFrequency = 0.5;
-
-    privateScope.intervals = [];
-
-    /**
-     *
-     * @param {string} name
-     * @param {number} requestedInterval
-     * @param {number} messagesInInterval
-     * @param {function} code
-     */
-    publicScope.add = function (name, requestedInterval, messagesInInterval, code) {
-        privateScope.intervals.push({
-            name: name,
-            requestedInterval: requestedInterval,
-            messagesInInterval: messagesInInterval,
-            code: code
-        });
-
-        intervalHandler.add(name, code, mspQueue.getIntervalPrediction(requestedInterval, messagesInInterval));
-    };
-
-    /**
-     * Periodically executed balancing handler
-     */
-    publicScope.balancer = function () {
-
-        var interval;
-
-        for (var i in privateScope.intervals) {
-            if (privateScope.intervals.hasOwnProperty(i)) {
-                interval = privateScope.intervals[i];
-
-                intervalHandler.remove(interval.name);
-                intervalHandler.add(
-                    interval.name,
-                    interval.code,
-                    mspQueue.getIntervalPrediction(
-                        interval.requestedInterval,
-                        interval.messagesInInterval
-                    )
-                );
-            }
-        }
-
-    };
-
-    /**
-     * Real interval cleaning happens win interval.killAll method
-     * both methods have to be executed
-     */
-    publicScope.flush = function () {
-        privateScope.intervals = [];
-    };
-
-    setInterval(publicScope.balancer, Math.round(1000 / privateScope.balancingFrequency));
-
-    return publicScope;
-})(mspQueue, interval);
-
-module.exports = mspBalancedInterval;

js/periodicStatusUpdater.js

@@ -104,11 +104,6 @@ const mspQueue = require('./serial_queue');
 
         if (!stoppped && GUI.active_tab != 'cli') {
 
-            if (mspQueue.shouldDropStatus()) {
-                return;
-            }
-
-            
             MSP.send_message(MSPCodes.MSP_SENSOR_STATUS, false, false);
             MSP.send_message(MSPCodes.MSPV2_INAV_STATUS, false, false);
             MSP.send_message(MSPCodes.MSP_ACTIVEBOXES, false, false);

js/pid_controller.js

@@ -1,130 +0,0 @@
-'use strict';
-
-
-var PidController = function () {
-
-    var self = {},
-        privateScope = {};
-
-    /**
-     *
-     * @type {number}
-     */
-    privateScope.target = null;
-
-    /**
-     *
-     * @type {{P: null, I: null, D: null}}
-     */
-    privateScope.gains = {
-        P: null,
-        I: null,
-        D: null
-    };
-
-    /**
-     *
-     * @type {number}
-     */
-    privateScope.Iterm = 0;
-
-    /**
-     *
-     * @type {{min: number, max: number}}
-     */
-    privateScope.ItermLimit = {
-        min: -1000,
-        max: 1000
-    };
-
-    /**
-     *
-     * @type {number}
-     */
-    privateScope.previousError = 0;
-
-    /**
-     *
-     * @type {{min: number, max: number, minThreshold: number}}
-     */
-    privateScope.output = {
-        min: null,
-        max: null,
-        minThreshold: null
-    };
-
-    /**
-     *
-     * @param {number} value
-     */
-    self.setTarget = function (value) {
-        privateScope.target = value;
-    };
-
-    /**
-     * @param {number} Pgain
-     * @param {number} Igain
-     * @param {number} Dgain
-     */
-    self.setGains = function (Pgain, Igain, Dgain) {
-        privateScope.gains.P = Pgain;
-        privateScope.gains.I = Igain;
-        privateScope.gains.D = Dgain;
-    };
-
-    /**
-     * Sets min and max value for output
-     * @param {number} min
-     * @param {number} max
-     * @param {number} minThreshold if output is below this value, [min] is returned
-     */
-    self.setOutput = function (min, max, minThreshold) {
-        privateScope.output.min = min;
-        privateScope.output.max = max;
-        privateScope.output.minThreshold = minThreshold;
-    };
-
-    /**
-     * Sets upper and lower limit for Iterm accumulator
-     * @param {number} min
-     * @param {number} max
-     */
-    self.setItermLimit = function (min, max) {
-        privateScope.ItermLimit.min = min;
-        privateScope.ItermLimit.max = max;
-    };
-
-    /**
-     * Executes PID controller based on current value and target
-     * @param {number} current
-     * @returns {number}
-     */
-    self.run = function (current) {
-        var error = current - privateScope.target,
-            Pterm = error * privateScope.gains.P,
-            Dterm = (error - privateScope.previousError) * privateScope.gains.D,
-            output;
-
-        privateScope.previousError = error;
-
-        privateScope.Iterm += error * privateScope.gains.I;
-        if (privateScope.Iterm > privateScope.ItermLimit.max) {
-            privateScope.Iterm = privateScope.ItermLimit.max;
-        } else if (privateScope.Iterm < privateScope.ItermLimit.min) {
-            privateScope.Iterm = privateScope.ItermLimit.min;
-        }
-
-        output = Pterm + privateScope.Iterm + Dterm;
-        if (output < privateScope.output.minThreshold) {
-            output = privateScope.output.min;
-        } else if (output > privateScope.output.max) {
-            output = privateScope.output.max;
-        }
-
-        return output;
-    };
-
-    return self;
-};
-
-module.exports = PidController;

js/serial_backend.js

@@ -18,7 +18,6 @@ const interval = require('./intervals');
 const periodicStatusUpdater = require('./periodicStatusUpdater');
 const mspQueue = require('./serial_queue');
 const timeout = require('./timeouts');
-const mspBalancedInterval = require('./msp_balanced_interval'); 
 const defaultsDialog = require('./defaults_dialog');
 const { SITLProcess } = require('./sitl');
 const update = require('./globalUpdates');
@@ -27,6 +26,7 @@ const BOARD = require('./boards');
 const jBox = require('./libraries/jBox/jBox.min');
 const groundstation = require('./groundstation');
 const ltmDecoder = require('./ltmDecoder');
+const mspDeduplicationQueue = require('./msp/mspDeduplicationQueue');
 
 var SerialBackend = (function () {
 
@@ -35,6 +35,8 @@ var SerialBackend = (function () {
         
     privateScope.isDemoRunning = false;
 
+    privateScope.isWirelessMode = false;
+
     /*
      * Handle "Wireless" mode with strict queueing of messages
      */
@@ -215,7 +217,6 @@ var SerialBackend = (function () {
 
                         timeout.killAll();
                         interval.killAll(['global_data_refresh', 'msp-load-update']);
-                        mspBalancedInterval.flush();
 
                         if (CONFIGURATOR.cliActive) {
                             GUI.tab_switch_cleanup(finishDisconnect);
@@ -237,6 +238,7 @@ var SerialBackend = (function () {
                             mspQueue.flush();
                             mspQueue.freeHardLock();
                             mspQueue.freeSoftLock();
+                            mspDeduplicationQueue.flush();
 
                             CONFIGURATOR.connection.disconnect(privateScope.onClosed);
                             MSP.disconnect_cleanup();
@@ -374,6 +376,7 @@ var SerialBackend = (function () {
                         mspQueue.flush();
                         mspQueue.freeHardLock();
                         mspQueue.freeSoftLock();
+                        mspDeduplicationQueue.flush();
                         CONFIGURATOR.connection.emptyOutputBuffer();
 
                     $('div.connect_controls a').click(); // disconnect
@@ -451,8 +454,7 @@ var SerialBackend = (function () {
         $('.mode-disconnected').hide();
         $('.mode-connected').show();
 
-        MSP.send_message(MSPCodes.MSP_DATAFLASH_SUMMARY, false, false);
+        MSP.send_message(MSPCodes.MSP_DATAFLASH_SUMMARY, false, false, function () {
-
             $('#sensor-status').show();
             $('#portsinput').hide();
             $('#dataflash_wrapper_global').show();
@@ -460,8 +462,7 @@ var SerialBackend = (function () {
             /*
             * Get BOXNAMES since it is used for some reason....
             */
-        MSP.send_message(MSPCodes.MSP_BOXNAMES, false, false);
+            MSP.send_message(MSPCodes.MSP_BOXNAMES, false, false, function () {
-
                 /*
                 * Init PIDs bank with a length that depends on the version
                 */
@@ -476,10 +477,12 @@ var SerialBackend = (function () {
                     $('#msp-load').text("MSP load: " + mspQueue.getLoad().toFixed(1));
                     $('#msp-roundtrip').text("MSP round trip: " + mspQueue.getRoundtrip().toFixed(0));
                     $('#hardware-roundtrip').text("HW round trip: " + mspQueue.getHardwareRoundtrip().toFixed(0));
-            $('#drop-rate').text("Drop ratio: " + mspQueue.getDropRatio().toFixed(0) + "%");
                 }, 100);
 
                 interval.add('global_data_refresh', periodicStatusUpdater.run, periodicStatusUpdater.getUpdateInterval(CONFIGURATOR.connection.bitrate), false);
+            });
+        });
+
     }
 
     privateScope.onClosed = function (result) {

js/serial_queue.js

@@ -3,8 +3,8 @@
 const CONFIGURATOR = require('./data_storage');
 const MSPCodes = require('./msp/MSPCodes');
 const SimpleSmoothFilter = require('./simple_smooth_filter');
-const PidController = require('./pid_controller');
 const eventFrequencyAnalyzer = require('./eventFrequencyAnalyzer');
+const mspDeduplicationQueue = require('./msp/mspDeduplicationQueue');
 
 var mspQueue = function () {
 
@@ -27,29 +27,9 @@ var mspQueue = function () {
 
     privateScope.currentLoad = 0;
 
-    /**
-     * PID controller used to perform throttling
-     * @type {PidController}
-     */
-    privateScope.loadPidController = new PidController();
-    privateScope.loadPidController.setTarget(privateScope.targetLoad);
-    privateScope.loadPidController.setOutput(0, 99, 0);
-    privateScope.loadPidController.setGains(5, 6, 3);
-    privateScope.loadPidController.setItermLimit(0, 90);
-
-    privateScope.dropRatio = 0;
-
     privateScope.removeCallback = null;
     privateScope.putCallback = null;
 
-    publicScope.computeDropRatio = function () {
-        privateScope.dropRatio = privateScope.loadPidController.run(publicScope.getLoad());
-    };
-
-    publicScope.getDropRatio = function () {
-        return privateScope.dropRatio;
-    };
-
     privateScope.queue = [];
 
     privateScope.softLock = false;
@@ -86,6 +66,10 @@ var mspQueue = function () {
         privateScope.lockMethod = method;
     };
 
+    publicScope.getLockMethod = function () {   
+        return privateScope.lockMethod;
+    };
+
     publicScope.setSoftLock = function () {
         privateScope.softLock = new Date().getTime();
     };
@@ -160,6 +144,7 @@ var mspQueue = function () {
 
             request.timer = setTimeout(function () {
                 console.log('MSP data request timed-out: ' + request.code);
+                mspDeduplicationQueue.remove(request.code);
                 /*
                  * Remove current callback
                  */
@@ -223,10 +208,19 @@ var mspQueue = function () {
      */
     publicScope.put = function (mspRequest) {
 
+        const isMessageInQueue = mspDeduplicationQueue.check(mspRequest.code);
+
+        if (isMessageInQueue) {
+            eventFrequencyAnalyzer.put('MSP Duplicate ' + mspRequest.code);
+            return false;
+        }
+
         if (privateScope.queueLocked === true) {
             return false;
         }
 
+        mspDeduplicationQueue.put(mspRequest.code);
+
         privateScope.queue.push(mspRequest);
         return true;
     };
@@ -269,7 +263,6 @@ var mspQueue = function () {
 
     publicScope.balancer = function () {
         privateScope.currentLoad = privateScope.loadFilter.get();
-        publicScope.computeDropRatio();
 
         /*
          * Also, check if port lock if hanging. Free is so
@@ -277,29 +270,25 @@ var mspQueue = function () {
         var currentTimestamp = new Date().getTime(),
             threshold = publicScope.getHardwareRoundtrip() * 3;
 
-        if (threshold > 1000) {
+        if (threshold > 5000) {
+            threshold = 5000;
+        }
+        if (threshold < 1000) {
             threshold = 1000;
         }
 
         if (privateScope.softLock !== false && currentTimestamp - privateScope.softLock > threshold) {
-            privateScope.softLock = false;
+            publicScope.freeSoftLock();
             eventFrequencyAnalyzer.put('force free soft lock');
         }
         if (privateScope.hardLock !== false && currentTimestamp - privateScope.hardLock > threshold) {
-            privateScope.hardLock = false;
+            console.log('Force free hard lock');
+            publicScope.freeHardLock();
             eventFrequencyAnalyzer.put('force free hard lock');
         }
 
     };
 
-    publicScope.shouldDrop = function () {
-        return (Math.round(Math.random()*100) < privateScope.dropRatio);
-    };
-
-    publicScope.shouldDropStatus = function () {
-        return (Math.round(Math.random()*100) < (privateScope.dropRatio * privateScope.statusDropFactor));
-    };
-
     /**
      * This method return periodic for polling interval that should populate queue in 80% or less
      * @param {number} requestedInterval
@@ -317,6 +306,10 @@ var mspQueue = function () {
         }
     };
 
+    publicScope.getQueue = function () {
+        return privateScope.queue;
+    };
+
     setInterval(publicScope.executor, Math.round(1000 / privateScope.handlerFrequency));
     setInterval(publicScope.balancer, Math.round(1000 / privateScope.balancerFrequency));
 

js/sitl.js

@@ -67,10 +67,11 @@ var SitlSerialPortUtils = {
                         if (m)
                           devices.push(m[0]);
                 } else {
-                    if (device.displayName != null) {
+			/* Limit to: USB serial, RFCOMM (BT), 6 legacy devices */
-                            var m = device.path.match(/\/dev\/.*/)
+			if (device.pnpId ||
-                        if (m)
+			    device.path.match(/rfcomm\d*/) ||
-                          devices.push(m[0]);
+			    device.path.match(/ttyS[0-5]$/)) {
+			    devices.push(device.path);
                     }
                     }
             });
@@ -239,4 +240,4 @@ var SITLProcess = {
     }
 };
 
-module.exports = { SITLProcess };
+module.exports = { SITLProcess, SitlSerialPortUtils };

js/waypoint.js

@@ -146,7 +146,7 @@ let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endM
     self.getElevation = async function (globalSettings) {
         let elevation = "N/A";
         if (globalSettings.mapProviderType == 'bing') {
-            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "sealevel" : "ellipsoid";
+            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "ellipsoid" : "sealevel";
 
             const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/List?points='+self.getLatMap()+','+self.getLonMap()+'&heights='+elevationEarthModel+'&key='+globalSettings.mapApiKey);
             const myJson = await response.json();

tabs/adjustments.js

@@ -6,12 +6,10 @@ const wNumb = require('wnumb/wNumb')
 const mspHelper = require('./../js/msp/MSPHelper');
 const MSPCodes = require('./../js/msp/MSPCodes');
 const MSP = require('./../js/msp');
-const mspQueue = require('./../js/serial_queue');
 const { GUI, TABS } = require('./../js/gui');
 const FC = require('./../js/fc');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const i18n = require('./../js/localization');
-
+const interval = require('./../js/intervals');
 
 TABS.adjustments = {};
 
@@ -260,11 +258,6 @@ TABS.adjustments.initialize = function (callback) {
 
         // data pulling functions used inside interval timer
         function get_rc_data() {
-
-            if (mspQueue.shouldDrop()) {
-                return;
-            }
-
             MSP.send_message(MSPCodes.MSP_RC, false, false, update_ui);
         }
 
@@ -280,7 +273,7 @@ TABS.adjustments.initialize = function (callback) {
         update_ui();
 
         // enable data pulling
-        mspBalancedInterval.add('aux_data_pull', 50, 1, get_rc_data);
+        interval.add('aux_data_pull', get_rc_data, 50);
 
         GUI.content_ready(callback);
     }

tabs/auxiliary.js

@@ -9,13 +9,11 @@ const store = new Store();
 const mspHelper = require('./../js/msp/MSPHelper');
 const MSPCodes = require('./../js/msp/MSPCodes');
 const MSP = require('./../js/msp');
-const mspQueue = require('./../js/serial_queue');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const { GUI, TABS } = require('./../js/gui');
 const FC = require('./../js/fc');
 const adjustBoxNameIfPeripheralWithModeID = require('./../js/peripherals');
 const i18n = require('./../js/localization');
-
+const interval = require('./../js/intervals');
 
 var ORIG_AUX_CONFIG_IDS = [];
 
@@ -375,11 +373,6 @@ TABS.auxiliary.initialize = function (callback) {
 
         // data pulling functions used inside interval timer
         function get_rc_data() {
-
-            if (mspQueue.shouldDrop()) {
-                return;
-            }
-
             MSP.send_message(MSPCodes.MSP_RC, false, false, update_ui);
         }
 
@@ -516,7 +509,7 @@ TABS.auxiliary.initialize = function (callback) {
         update_ui();
 
         // enable data pulling
-        mspBalancedInterval.add('aux_data_pull', 50, 1, get_rc_data);
+        interval.add('aux_data_pull', get_rc_data, 50);
 
         $(".tab-auxiliary .acroEnabled").width($("#mode-0 .info").width());
 

tabs/cli.js

@@ -1,6 +1,7 @@
 'use strict';
 
 const path = require('path');
+const fs = require('fs');
 const { dialog } = require("@electron/remote");
 
 const MSP = require('./../js/msp');
@@ -13,6 +14,7 @@ const { globalSettings } = require('./../js/globalSettings');
 const CliAutoComplete = require('./../js/CliAutoComplete');
 const { ConnectionType } = require('./../js/connection/connection');
 const jBox = require('./../js/libraries/jBox/jBox.min');
+const mspDeduplicationQueue = require('./msp/mspDeduplicationQueue');
 
 TABS.cli = {
     lineDelayMs: 50,
@@ -94,6 +96,7 @@ TABS.cli.initialize = function (callback) {
 
     // Flush MSP queue as well as all MSP registered callbacks
     mspQueue.flush();
+    mspDeduplicationQueue.flush();
     MSP.callbacks_cleanup();
 
     self.outputHistory = "";
@@ -170,7 +173,6 @@ TABS.cli.initialize = function (callback) {
                     return;
                 }
                 
-                const fs = require('fs');
                 fs.writeFile(result.filePath, self.outputHistory, (err) => {
                     if (err) {
                         GUI.log(i18n.getMessage('ErrorWritingFile'));
@@ -255,7 +257,6 @@ TABS.cli.initialize = function (callback) {
                 }
 
                 if (result.filePaths.length == 1) {
-                    const fs = require('fs');
                     fs.readFile(result.filePaths[0], (err, data) => {
                         if (err) {
                             GUI.log(i18n.getMessage('ErrorReadingFile'));

tabs/firmware_flasher.js

@@ -1,6 +1,7 @@
 'use strict';
 
 const { marked } = require('marked');
+const fs = require('fs');
 const path = require('path');
 const semver = require('semver');
 const { dialog } = require('@electron/remote');
@@ -17,11 +18,11 @@ const CONFIGURATOR = require('./../js/data_storage');
 const SerialBackend = require('./../js/serial_backend');
 const timeout = require('./../js/timeouts');
 const interval = require('./../js/intervals');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const mspQueue = require('./../js/serial_queue');
 const mspHelper = require('./../js/msp/MSPHelper');
 const STM32 = require('./../js/protocols/stm32');
 const STM32DFU = require('./../js/protocols/stm32usbdfu');
+const mspDeduplicationQueue = require('./msp/mspDeduplicationQueue');
 
 TABS.firmware_flasher = {};
 TABS.firmware_flasher.initialize = function (callback) {
@@ -255,8 +256,6 @@ TABS.firmware_flasher.initialize = function (callback) {
                     filename = result.filePaths[0];
                 }
                 
-                const fs = require('fs');
-                
                 $('div.git_info').slideUp();
 
                 console.log('Loading file from: ' + filename);
@@ -775,11 +774,11 @@ TABS.firmware_flasher.onValidFirmware = function() {
 TABS.firmware_flasher.closeTempConnection = function() {
     timeout.killAll();
     interval.killAll(['global_data_refresh', 'msp-load-update', 'ltm-connection-check']);
-    mspBalancedInterval.flush();
 
     mspQueue.flush();
     mspQueue.freeHardLock();
     mspQueue.freeSoftLock();
+    mspDeduplicationQueue.flush();
     CONFIGURATOR.connection.emptyOutputBuffer();
 
     CONFIGURATOR.connectionValid = false;

tabs/gps.js

@@ -8,8 +8,7 @@ const MSPChainerClass = require('./../js/msp/MSPchainer');
 const mspHelper = require('./../js/msp/MSPHelper');
 const MSPCodes = require('./../js/msp/MSPCodes');
 const MSP = require('./../js/msp');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
+const interval = require('./../js/intervals');
-const mspQueue = require('./../js/serial_queue');
 const { GUI, TABS } = require('./../js/gui');
 const FC = require('./../js/fc');
 const i18n = require('./../js/localization');
@@ -262,7 +261,6 @@ TABS.gps.initialize = function (callback) {
         }
 
         function update_ui() {
-
             let lat = FC.GPS_DATA.lat / 10000000;
             let lon = FC.GPS_DATA.lon / 10000000;
 
@@ -400,19 +398,15 @@ TABS.gps.initialize = function (callback) {
          * enable data pulling
          * GPS is usually refreshed at 5Hz, there is no reason to pull it much more often, really...
          */
-        mspBalancedInterval.add('gps_pull', 200, 3, function gps_update() {
+        interval.add('gps_pull', function gps_update() {
             // avoid usage of the GPS commands until a GPS sensor is detected for targets that are compiled without GPS support.
             if (!SerialBackend.have_sensor(FC.CONFIG.activeSensors, 'gps')) {
                 update_ui();
                 return;
             }
 
-            if (mspQueue.shouldDrop()) {
-                return;
-            }
-
             get_raw_gps_data();
-        });
+        }, 200);
 
 
         $('a.save').on('click', function () {

tabs/led_strip.js

@@ -230,9 +230,8 @@ TABS.led_strip.initialize = function (callback, scrollPosition) {
 
         $('.colors').on('dblclick', 'button', function(e) {
 
-            var pp = $('.tab-led-strip').position();
+            var moveLeft = $('.tab-led-strip').offset().left + ($('.colorDefineSliders').width() / 2);
-            var moveLeft = $('.tab-led-strip').position().left + ($('.colorDefineSliders').width() / 2);
+            var moveUp =   $('.tab-led-strip').offset().top  + $('.colorDefineSliders').height() + 20;
-            var moveUp =   $('.tab-led-strip').position().top  + $('.colorDefineSliders').height() + 20;
 
             $('.colorDefineSliders').css('left', e.pageX - e.offsetX - moveLeft);
             $('.colorDefineSliders').css('top', e.pageY - e.offsetY - moveUp);

tabs/logging.js

@@ -1,13 +1,13 @@
 'use strict';
 
 const path = require('path');
+const fs = require('fs');
 const { dialog } = require("@electron/remote");
 const Store = require('electron-store');
 const store = new Store();
 
 const MSPCodes = require('./../js/msp/MSPCodes');
 const MSP = require('./../js/msp');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const { GUI, TABS } = require('./../js/gui');
 const FC = require('./../js/fc');
 const CONFIGURATOR = require('./../js/data_storage');
@@ -84,7 +84,6 @@ TABS.logging.initialize = function (callback) {
                             }
 
                             interval.add('log_data_poll', log_data_poll, parseInt($('select.speed').val()), true); // refresh rate goes here
-                            const fs = require('fs');
                             interval.add('write_data', function write_data() {
                                 if (log_buffer.length && readyToWrite) { // only execute when there is actual data to write
 
@@ -106,7 +105,6 @@ TABS.logging.initialize = function (callback) {
                         }
                     } else {
                         interval.killAll(['global_data_refresh', 'msp-load-update', 'ltm-connection-check']);
-                        mspBalancedInterval.flush();
 
                         $('.speed').prop('disabled', false);
                         $(this).text(i18n.getMessage('loggingStart'));

tabs/magnetometer.js

@@ -6,12 +6,11 @@ const MSPChainerClass = require('./../js/msp/MSPchainer');
 const MSP = require('./../js/msp');
 const MSPCodes = require('./../js/msp/MSPCodes');
 const mspHelper = require('./../js/msp/MSPHelper');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
-const mspQueue = require('./../js/serial_queue');
 const FC = require('./../js/fc');
 const { GUI, TABS } = require('./../js/gui');
 const i18n = require('./../js/localization');
 const { mixer } = require('./../js/model');
+const interval = require('./../js/intervals');
 
 TABS.magnetometer = {};
 
@@ -524,9 +523,6 @@ TABS.magnetometer.initialize = function (callback) {
         });
 
         function get_fast_data() {
-            if (mspQueue.shouldDrop()) {
-                return;
-            }
 
             MSP.send_message(MSPCodes.MSP_ATTITUDE, false, false, function () {
 	            self.roll_e.text(i18n.getMessage('initialSetupAttitude', [FC.SENSOR_DATA.kinematics[0]]));
@@ -536,7 +532,7 @@ TABS.magnetometer.initialize = function (callback) {
             });
         }
 
-        mspBalancedInterval.add('setup_data_pull_fast', 40, 1, get_fast_data);
+        interval.add('setup_data_pull_fast', get_fast_data, 40);
 
         GUI.content_ready(callback);
     }

tabs/mission_control.js

@@ -1,7 +1,9 @@
 'use strict';
 
 const path = require('path');
+const fs = require('fs');
 const ol = require('openlayers');
+const xml2js = require('xml2js');
 const Store = require('electron-store');
 const store = new Store();
 const { dialog } = require("@electron/remote");
@@ -10,7 +12,6 @@ const MSPChainerClass = require('./../js/msp/MSPchainer');
 const mspHelper = require('./../js/msp/MSPHelper');
 const MSPCodes = require('./../js/msp/MSPCodes');
 const MSP = require('./../js/msp');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const mspQueue = require('./../js/serial_queue');
 const { GUI, TABS } = require('./../js/gui');
 const FC = require('./../js/fc');
@@ -27,6 +28,7 @@ const FwApproachCollection = require('./../js/fwApproachCollection');
 const SerialBackend = require('./../js/serial_backend');
 const { distanceOnLine, wrap_360, calculate_new_cooridatnes } = require('./../js/helpers');
 const Plotly = require('./../js/libraries/plotly-latest.min');
+const interval = require('./../js/intervals');
 
 var MAX_NEG_FW_LAND_ALT = -2000; // cm
 
@@ -334,19 +336,15 @@ TABS.mission_control.initialize = function (callback) {
          */
         if(!isOffline)
         {
-          mspBalancedInterval.add('gps_pull', 200, 3, function gps_update() {
+            interval.add('gps_pull', function gps_update() {
               // avoid usage of the GPS commands until a GPS sensor is detected for targets that are compiled without GPS support.
               if (!SerialBackend.have_sensor(FC.CONFIG.activeSensors, 'gps')) {
                   update_gpsTrack();
                   return;
               }
 
-              if (mspQueue.shouldDrop()) {
-                  return;
-              }
-
               get_raw_gps_data();
-          });
+          }, 200);
         }
 
         GUI.content_ready(callback);
@@ -483,7 +481,7 @@ TABS.mission_control.initialize = function (callback) {
     function checkApproachAltitude(altitude, isSeaLevelRef, sealevel) {
 
         if (altitude - (isSeaLevelRef ? sealevel * 100 : 0 ) < 0) {
-            alert(i18n.getMessage('MissionPlannerAltitudeChangeReset'));
+            GUI.alert(i18n.getMessage('MissionPlannerAltitudeChangeReset'));
             return false;
         }
 
@@ -493,7 +491,7 @@ TABS.mission_control.initialize = function (callback) {
     function checkLandingAltitude(altitude, isSeaLevelRef, sealevel) {
 
         if (altitude - (isSeaLevelRef ? sealevel * 100 : 0 ) < MAX_NEG_FW_LAND_ALT) {
-            alert(i18n.getMessage('MissionPlannerFwLAndingAltitudeChangeReset'));
+            GUI.alert(i18n.getMessage('MissionPlannerFwLAndingAltitudeChangeReset'));
             return false;
         }
 
@@ -1489,26 +1487,26 @@ TABS.mission_control.initialize = function (callback) {
                     if ($(this).val() >= 360 || ($(this).val() < 0 && $(this).val() != -1))
                     {
                       $(this).val(-1);
-                      alert(i18n.getMessage('MissionPlannerHeadSettingsCheck'));
+                      GUI.alert(i18n.getMessage('MissionPlannerHeadSettingsCheck'));
                     }
                 }
                 else if (MWNP.WPTYPE.REV[element.getAction()] == "RTH") {
                     if ($(this).val() != 0 && $(this).val() != 1)
                     {
                       $(this).val(0);
-                      alert(i18n.getMessage('MissionPlannerRTHSettingsCheck'));
+                      GUI.alert(i18n.getMessage('MissionPlannerRTHSettingsCheck'));
                     }
                 }
                 else if (MWNP.WPTYPE.REV[element.getAction()] == "JUMP") {
                     if ($(this).val() > mission.getNonAttachedList().length || $(this).val() < 1)
                     {
                       $(this).val(1);
-                      alert(i18n.getMessage('MissionPlannerJumpSettingsCheck'));
+                      GUI.alert(i18n.getMessage('MissionPlannerJumpSettingsCheck'));
                     }
                     else if (mission.getPoiList().length != 0 && mission.getPoiList()) {
                         if (mission.getPoiList().includes(mission.convertJumpNumberToWaypoint(Number($(this).val())-1))) {
                             $(this).val(1);
-                            alert(i18n.getMessage('MissionPlannerJump3SettingsCheck'));
+                            GUI.alert(i18n.getMessage('MissionPlannerJump3SettingsCheck'));
                         }
                     }
                 }
@@ -1523,7 +1521,7 @@ TABS.mission_control.initialize = function (callback) {
                     if ($(this).val() > 10 || ($(this).val() < 0 && $(this).val() != -1))
                     {
                       $(this).val(0);
-                      alert(i18n.getMessage('MissionPlannerJump2SettingsCheck'));
+                      GUI.alert(i18n.getMessage('MissionPlannerJump2SettingsCheck'));
                     }
                 }
                 element.setP2(Number($(this).val()));
@@ -2310,7 +2308,7 @@ TABS.mission_control.initialize = function (callback) {
                     let found = false;
                     mission.get().forEach(wp => {
                         if (wp.getAction() == MWNP.WPTYPE.LAND) {
-                            alert(i18n.getMessage('MissionPlannerOnlyOneLandWp'));
+                            GUI.alert(i18n.getMessage('MissionPlannerOnlyOneLandWp'));
                             found = true;
                             $(event.currentTarget).val(selectedMarker.getAction());
                         }
@@ -2684,7 +2682,7 @@ TABS.mission_control.initialize = function (callback) {
 
         $('#addSafehome').on('click', () => {
             if (FC.SAFEHOMES.safehomeCount() + 1 > FC.SAFEHOMES.getMaxSafehomeCount()){
-                alert(i18n.getMessage('missionSafehomeMaxSafehomesReached'));
+                GUI.alert(i18n.getMessage('missionSafehomeMaxSafehomesReached'));
                 return;
             }
 
@@ -3016,7 +3014,7 @@ TABS.mission_control.initialize = function (callback) {
         $('#removePoint').on('click', function () {
             if (selectedMarker) {
                 if (mission.isJumpTargetAttached(selectedMarker)) {
-                    alert(i18n.getMessage('MissionPlannerJumpTargetRemoval'));
+                    GUI.alert(i18n.getMessage('MissionPlannerJumpTargetRemoval'));
                 }
                 else if (mission.getAttachedFromWaypoint(selectedMarker) && mission.getAttachedFromWaypoint(selectedMarker).length != 0) {
                     if (confirm(i18n.getMessage('confirm_delete_point_with_options'))) {
@@ -3096,7 +3094,7 @@ TABS.mission_control.initialize = function (callback) {
 
         $('#saveMissionButton').on('click', function () {
             if (mission.isEmpty()) {
-                alert(i18n.getMessage('no_waypoints_to_save'));
+                GUI.alert(i18n.getMessage('no_waypoints_to_save'));
                 return;
             }
             $(this).addClass('disabled');
@@ -3115,7 +3113,7 @@ TABS.mission_control.initialize = function (callback) {
 
         $('#saveEepromMissionButton').on('click', function () {
             if (mission.isEmpty()) {
-                alert(i18n.getMessage('no_waypoints_to_save'));
+                GUI.alert(i18n.getMessage('no_waypoints_to_save'));
                 return;
             }
             $(this).addClass('disabled');
@@ -3161,9 +3159,6 @@ TABS.mission_control.initialize = function (callback) {
     //
     /////////////////////////////////////////////
     function loadMissionFile(filename) {
-        const fs = require('fs');
-        if (!window.xml2js) return GUI.log(i18n.getMessage('errorReadingFileXml2jsNotFound'));
-
         for (let i = FC.SAFEHOMES.getMaxSafehomeCount(); i < FC.FW_APPROACH.getMaxFwApproachCount(); i++) {
             FC.FW_APPROACH.clean(i);
         }
@@ -3174,7 +3169,7 @@ TABS.mission_control.initialize = function (callback) {
                 return console.error(err);
             }
 
-            window.xml2js.Parser({ 'explicitChildren': true, 'preserveChildrenOrder': true }).parseString(data, (err, result) => {
+            xml2js.Parser({ 'explicitChildren': true, 'preserveChildrenOrder': true }).parseString(data, (err, result) => {
                 if (err) {
                     GUI.log(i18n.getMessage('errorParsingFile'));
                     return console.error(err);
@@ -3344,9 +3339,6 @@ TABS.mission_control.initialize = function (callback) {
     }
 
     function saveMissionFile(filename) {
-        const fs = require('fs');
-        if (!window.xml2js) return GUI.log(i18n.getMessage('errorWritingFileXml2jsNotFound'));
-
         var center = ol.proj.toLonLat(map.getView().getCenter());
         var zoom = map.getView().getZoom();
         let multimission = multimissionCount && !singleMissionActive();
@@ -3408,7 +3400,7 @@ TABS.mission_control.initialize = function (callback) {
             approachIdx++;
         }
 
-        var builder = new window.xml2js.Builder({ 'rootName': 'mission', 'renderOpts': { 'pretty': true, 'indent': '\t', 'newline': '\n' } });
+        var builder = new xml2js.Builder({ 'rootName': 'mission', 'renderOpts': { 'pretty': true, 'indent': '\t', 'newline': '\n' } });
         var xml = builder.buildObject(data);
         xml = xml.replace(/missionitem mission/g, 'meta mission');
         fs.writeFile(filename, xml, (err) => {
@@ -3445,7 +3437,7 @@ TABS.mission_control.initialize = function (callback) {
                 $('#loadMissionButton').removeClass('disabled');
             }
             if (!FC.MISSION_PLANNER.getCountBusyPoints()) {
-                alert(i18n.getMessage('no_waypoints_to_load'));
+                GUI.alert(i18n.getMessage('no_waypoints_to_load'));
                 return;
             }
             mission.reinit();
@@ -3555,7 +3547,7 @@ TABS.mission_control.initialize = function (callback) {
         if (AbsAltCheck) {
             if (checkAltitude < 100 * elevation) {
                 if (resetAltitude) {
-                    alert(i18n.getMessage('MissionPlannerAltitudeChangeReset'));
+                    GUI.alert(i18n.getMessage('MissionPlannerAltitudeChangeReset'));
                     altitude = selectedMarker.getAlt();
                 } else {
                     altitude = settings.alt + 100 * elevation;
@@ -3566,7 +3558,7 @@ TABS.mission_control.initialize = function (callback) {
             let elevationAtHome = HOME.getAlt();
             if ((checkAltitude / 100 + elevationAtHome) < elevation) {
                 if (resetAltitude) {
-                    alert(i18n.getMessage('MissionPlannerAltitudeChangeReset'));
+                    GUI.alert(i18n.getMessage('MissionPlannerAltitudeChangeReset'));
                     altitude = selectedMarker.getAlt();
                 } else {
                     let currentGroundClearance = 100 * Number($('#groundClearanceValueAtWP').text());
@@ -3702,9 +3694,9 @@ TABS.mission_control.setBit = function(bits, bit, value) {
 
 // function handleError(evt) {
     // if (evt.message) { // Chrome sometimes provides this
-      // alert("error: "+evt.message +" at linenumber: "+evt.lineno+" of file: "+evt.filename);
+      // GUI.alert("error: "+evt.message +" at linenumber: "+evt.lineno+" of file: "+evt.filename);
     // } else {
-      // alert("error: "+evt.type+" from element: "+(evt.srcElement || evt.target));
+      // GUI.alert("error: "+evt.type+" from element: "+(evt.srcElement || evt.target));
     // }
 // }
 

tabs/mixer.js

@@ -11,8 +11,8 @@ const FC = require('./../js/fc');
 const i18n = require('./../js/localization');
 const { mixer, platform, PLATFORM, INPUT, STABILIZED } = require('./../js/model');
 const Settings = require('./../js/settings');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const jBox = require('../js/libraries/jBox/jBox.min');
+const interval = require('./../js/intervals');
 
 TABS.mixer = {};
 
@@ -825,7 +825,7 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
 
         i18n.localize();;
 
-        mspBalancedInterval.add('logic_conditions_pull', 350, 1, getLogicConditionsStatus);
+        interval.add('logic_conditions_pull', getLogicConditionsStatus, 350);
 
         GUI.content_ready(callback);
     }

tabs/onboard_logging.html

@@ -152,7 +152,6 @@
                                     <div class="legend"></div>
                                 </li>
                             </ul><bbr />
-                            <a class="require-msc-ready regular-button onboardLoggingRebootMsc" href="#" i18n="cliMscBtn"></a>
                         </div>
                     </div>
                 </div>

tabs/onboard_logging.js

@@ -1,9 +1,12 @@
 'use strict';
 
+const { dialog } = require("@electron/remote");
+const fs = require('fs');
 const path = require('path');
 
 const MSPCodes = require('./../js/msp/MSPCodes');
 const MSP = require('./../js/msp');
+const mspHelper = require("./../js/msp/MSPHelper");
 const { GUI, TABS } = require('./../js/gui');
 const FC = require('./../js/fc');
 const CONFIGURATOR = require('./../js/data_storage');
@@ -355,7 +358,6 @@ TABS.onboard_logging.initialize = function (callback) {
                 const maxBytes = FC.DATAFLASH.usedSize;
 
                 prepare_file(function(filename) {
-                    const fs = require('fs');
                     let nextAddress = 0;
 
                     show_saving_dialog();

tabs/osd.js

@@ -1,6 +1,7 @@
 'use strict';
 
 const inflection = require( 'inflection' );
+const fs = require('fs');
 const path = require('path');
 const semver = require('semver');
 const mapSeries = require('promise-map-series');
@@ -269,7 +270,6 @@ FONT.openFontFile = function ($preview) {
             }
             
             if (result.filePaths.length == 1) {
-                const fs = require('fs');
                 const fontData = fs.readFileSync(result.filePaths[0], {flag: "r"});
                 FONT.parseMCMFontFile(fontData.toString());
                 resolve();

tabs/outputs.js

@@ -5,7 +5,6 @@ const path = require('path');
 const MSPChainerClass = require('./../js/msp/MSPchainer');
 const mspHelper = require('./../js/msp/MSPHelper');
 const MSPCodes = require('./../js/msp/MSPCodes');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const mspQueue = require('./../js/serial_queue')
 const MSP = require('./../js/msp');
 const { GUI, TABS } = require('./../js/gui');
@@ -430,18 +429,8 @@ TABS.outputs.initialize = function (callback) {
 
         // timer initialization
         interval.killAll(['motor_and_status_pull', 'global_data_refresh', 'msp-load-update', 'ltm-connection-check']);
-        mspBalancedInterval.flush();
 
         interval.add('IMU_pull', function () {
-
-            /*
-            * Enable balancer
-            */
-            if (mspQueue.shouldDrop()) {
-                update_accel_graph();
-                return;
-            }
-
             MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_accel_graph);
         }, 25, true);
 
@@ -662,21 +651,10 @@ TABS.outputs.initialize = function (callback) {
         $motorsEnableTestMode.trigger('change');
 
         function getPeriodicMotorOutput() {
-
-            if (mspQueue.shouldDrop()) {
-                getPeriodicServoOutput();
-                return;
-            }
-
             MSP.send_message(MSPCodes.MSP_MOTOR, false, false, getPeriodicServoOutput);
         }
 
         function getPeriodicServoOutput() {
-            if (mspQueue.shouldDrop()) {
-                update_ui();
-                return;
-            }
-
             MSP.send_message(MSPCodes.MSP_SERVO, false, false, update_ui);
         }
 

tabs/programming.js

@@ -3,13 +3,12 @@
 const path = require('path');
 
 const MSPChainerClass = require('./../js/msp/MSPchainer');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const mspHelper = require('./../js/msp/MSPHelper');
 const { GUI, TABS } = require('./../js/gui');
 const FC = require('./../js/fc');
 const tabs = require('./../js/tabs');
 const i18n = require('./../js/localization');
-
+const interval = require('./../js/intervals');
 
 TABS.programming = {};
 
@@ -68,9 +67,9 @@ TABS.programming.initialize = function (callback, scrollPosition) {
             GUI.log(i18n.getMessage('programmingEepromSaved'));
         });
 
-        mspBalancedInterval.add('logic_conditions_pull', 100, 1, function () {
+        interval.add('logic_conditions_pull', function () {
             statusChainer.execute();
-        });
+        }, 100);
 
         GUI.content_ready(callback);
     }

tabs/receiver.js

@@ -4,8 +4,6 @@ const path = require('path');
 
 const MSPChainerClass = require('./../js/msp/MSPchainer');
 const mspHelper = require('./../js/msp/MSPHelper');
-const mspQueue = require('./../js/serial_queue');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const MSPCodes = require('./../js/msp/MSPCodes');
 const MSP = require('./../js/msp');
 const { GUI, TABS } = require('./../js/gui');
@@ -13,6 +11,7 @@ const FC = require('./../js/fc');
 const CONFIGURATOR = require('./../js/data_storage');
 const Settings = require('./../js/settings');
 const i18n = require('./../js/localization');
+const interval = require('./../js/intervals');
 
 TABS.receiver = {
     rateChartHeight: 117
@@ -370,21 +369,10 @@ TABS.receiver.initialize = function (callback) {
         });
 
         function get_rc_data() {
-
-            /*
-             * Throttling
-             */
-            if (mspQueue.shouldDrop()) {
-                update_ui();
-                return;
-            }
-
             MSP.send_message(MSPCodes.MSP_RC, false, false, update_ui);
         }
 
         function update_ui() {
-            var i;
-
             // update bars with latest data
             for (let i = 0; i < FC.RC.active_channels; i++) {
                 meter_fill_array[i].css('width', ((FC.RC.channels[i] - meter_scale.min) / (meter_scale.max - meter_scale.min) * 100).clamp(0, 100) + '%');
@@ -393,7 +381,7 @@ TABS.receiver.initialize = function (callback) {
 
         }
 
-        mspBalancedInterval.add('receiver_pull', 35, 1, get_rc_data);
+        interval.add('receiver_pull', get_rc_data, 25);
 
         GUI.content_ready(callback);
     }

tabs/sensors.js

@@ -442,90 +442,36 @@ TABS.sensors.initialize = function (callback) {
             // data pulling timers
             if (checkboxes[0] || checkboxes[1] || checkboxes[2]) {
                 interval.add('IMU_pull', function () {
-
-                    /*
-                     * Enable balancer
-                     */
-                    if (mspQueue.shouldDrop()) {
-                        update_imu_graphs();
-                        return;
-                    }
-
                     MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_imu_graphs);
                 }, fastest, true);
             }
 
             if (checkboxes[3]) {
                 interval.add('altitude_pull', function altitude_data_pull() {
-
-                    /*
-                     * Enable balancer
-                     */
-                    if (mspQueue.shouldDrop()) {
-                        update_altitude_graph();
-                        return;
-                    }
-
                     MSP.send_message(MSPCodes.MSP_ALTITUDE, false, false, update_altitude_graph);
                 }, rates.baro, true);
             }
 
             if (checkboxes[4]) {
                 interval.add('sonar_pull', function sonar_data_pull() {
-
-                    /*
-                     * Enable balancer
-                     */
-                    if (mspQueue.shouldDrop()) {
-                        update_sonar_graphs();
-                        return;
-                    }
-
                     MSP.send_message(MSPCodes.MSP_SONAR, false, false, update_sonar_graphs);
                 }, rates.sonar, true);
             }
 
             if (checkboxes[5]) {
                 interval.add('airspeed_pull', function airspeed_data_pull() {
-
-                    /*
-                     * Enable balancer
-                     */
-                    if (mspQueue.shouldDrop()) {
-                        update_airspeed_graphs();
-                        return;
-                    }
-
                     MSP.send_message(MSPCodes.MSPV2_INAV_AIR_SPEED, false, false, update_airspeed_graphs);
                 }, rates.airspeed, true);
             }
 
             if (checkboxes[6]) {
                 interval.add('temperature_pull', function temperature_data_pull() {
-
-                    /*
-                     * Enable balancer
-                     */
-                    if (mspQueue.shouldDrop()) {
-                        update_temperature_graphs();
-                        return;
-                    }
-
                     MSP.send_message(MSPCodes.MSP2_INAV_TEMPERATURES, false, false, update_temperature_graphs);
                 }, 1000, true);
             }
 
             if (checkboxes[7]) {
                 interval.add('debug_pull', function debug_data_pull() {
-
-                    /*
-                     * Enable balancer
-                     */
-                    if (mspQueue.shouldDrop()) {
-                        update_debug_graphs();
-                        return;
-                    }
-
                     MSP.send_message(MSPCodes.MSP2_INAV_DEBUG, false, false, update_debug_graphs);
                 }, rates.debug, true);
             }

tabs/setup.js

@@ -9,9 +9,7 @@ const MSP = require('./../js/msp');
 const MSPCodes = require('./../js/msp/MSPCodes');
 const i18n = require('./../js/localization');
 const mspHelper = require('./../js/msp/MSPHelper');
-const mspBalancedInterval = require('./../js/msp_balanced_interval');
 const interval = require('./../js/intervals');
-const mspQueue = require('./../js/serial_queue');
 const SerialBackend = require('./../js/serial_backend');
 const { mixer } = require('./../js/model');
 const BitHelper = require('./../js/bitHelper')
@@ -119,14 +117,6 @@ TABS.setup.initialize = function (callback) {
 
         function get_slow_data() {
             if (SerialBackend.have_sensor(FC.CONFIG.activeSensors, 'gps')) {
-
-                /*
-                 * Enable balancer
-                 */
-                if (mspQueue.shouldDrop()) {
-                    return;
-                }
-
                 MSP.send_message(MSPCodes.MSP_RAW_GPS, false, false, function () {
                     var gpsFixType = i18n.getMessage('gpsFixNone');
                     if (FC.GPS_DATA.fix >= 2)
@@ -142,14 +132,6 @@ TABS.setup.initialize = function (callback) {
         }
 
         function get_fast_data() {
-
-            /*
-             * Enable balancer
-             */
-            if (mspQueue.shouldDrop()) {
-                return;
-            }
-
             MSP.send_message(MSPCodes.MSP_ATTITUDE, false, false, function () {
 	            roll_e.text(i18n.getMessage('initialSetupAttitude', [FC.SENSOR_DATA.kinematics[0]]));
 	            pitch_e.text(i18n.getMessage('initialSetupAttitude', [FC.SENSOR_DATA.kinematics[1]]));
@@ -159,8 +141,8 @@ TABS.setup.initialize = function (callback) {
             });
         }
 
-        mspBalancedInterval.add('setup_data_pull_fast', 40, 1, get_fast_data);
+        interval.add('setup_data_pull_fast', get_fast_data, 50);
-        mspBalancedInterval.add('setup_data_pull_slow', 250, 1, get_slow_data);
+        interval.add('setup_data_pull_slow', get_slow_data, 250);
 
         interval.add('gui_analog_update', function () {
             bat_cells_e.text(i18n.getMessage('initialSetupBatteryDetectedCellsValue', [FC.ANALOG.cell_count]));

tabs/sitl.js

@@ -3,7 +3,7 @@ const path = require('path');
 
 const { GUI, TABS } = require('./../js/gui');
 const i18n = require('./../js/localization');
-const { SITLProcess } = require('./../js/sitl');
+const { SITLProcess, SitlSerialPortUtils } = require('./../js/sitl');
 const Store = require('electron-store');
 const store = new Store();
 
@@ -260,7 +260,7 @@ TABS.sitl.initialize = (callback) => {
             return;
 
         if (profiles.find(e => { return e.name == name })) {
-            alert(i18n.getMessage('sitlProfileExists'))
+            GUI.alert(i18n.getMessage('sitlProfileExists'))
             return;
         }
         var eerpromName = name.replace(/[^a-z0-9]/gi, '_').toLowerCase() + ".bin";
@@ -292,7 +292,7 @@ TABS.sitl.initialize = (callback) => {
     profileDeleteBtn_e.on('click', function () {
 
         if (currentProfile.isStdProfile) {
-            alert(i18n.getMessage('sitlStdProfileCantDeleted'));
+            GUI.alert(i18n.getMessage('sitlStdProfileCantDeleted'));            
             return;
         }
 
@@ -391,7 +391,7 @@ TABS.sitl.initialize = (callback) => {
 
     function saveProfiles() {
         if (currentProfile.isStdProfile) {
-            alert(i18n.getMessage('sitlStdProfileCantOverwritten'));
+            GUI.alert(i18n.getMessage('sitlStdProfileCantOverwritten'));
             return;
         }        
         var profilesToSave = [];