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29
3D_model_creation.md
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@ -1,17 +1,12 @@
# Creating a 3D model for Configurator
I recently made a couple of 3D models for the setup page of configurator, so thought I'd document the process of getting them in to iNav.
INAV configurator uses the [glTF](https://en.wikipedia.org/wiki/GlTF) format for the 3d models, so any software that can export in this format is fine.
In this tutorial we see how to export glTF from Blender
## Pre-requisites
- Your prefered 3D modeling package. You can use anything, so long as you can export to .obj files, or any other format that can be imported in to Blender.
- [Blender 2.79](https://www.blender.org/download/releases/2-79/). This version is needed for the JSON exporter.
- [Three.js version 0.92](https://github.com/mrdoob/three.js/releases/tag/r92). This is the last version with the Blender addon included.
### Installing Three.js
- Install Blender
- Extract the Three.js zip file, and navigate to __/three.js-r92/utils/exporters/blender/addons__
- Copy the __io_three__ folder and navigate to __install_drive://Program Files/Blender Foundation/Blender/2.79/scripts/addons__
- Paste the __io_three__ folder in to the blender __addons__ folder
- Open Blender and from the menu, head to __File__ > __User Preferences...__
- Go to the __Addons__ tab and type Thr in to the search box
- Check the box to enable the Three.js addon, then click the __Save User Settings__ button
- [Blender](https://www.blender.org/), when i wrote this tutorial i was using the version 3.1, but also the next versions should be fine.
## Creating the model
Create the model in your preferred 3D package. I use Fusion 360 and created quite large models. The size doesn't matter, it can be resized in Blender. I simply created the model, combined most parts, and added colour where I wanted it. The annoying thing is that the materials don't copy across in to Blender. But it's easier to get everything set with the package you're comfortable with. I would also highly reccomend naming each object in the model, as it will make things simpler later on. I also name the materials, as I'm sure Blender understands the material names. Once you're happy with the model, export it as an .obj file.
## Basic modification in Blender
@ -31,8 +26,10 @@ Next up, you will want to replicate the materials that you selected when designi
### Joining
The final stage before exporting the model is joining all the individual parts. You can still edit things afterwards. But if you don't do this, you will only export the last selected part. First, select all the parts of the 3D model that you want visible in configurator. Click on the triangle to the left of the object name, in the obkect list in the top right of the screen. Hold the __shift__ key to select multiples. Once they're all selected, hold __Ctrl__ and press __J__. The parts should all now join, and you will see only one object in the list (objects not selected to be joined will of course still be there). If it didn't work, try __Ctrl__ + __J__ again, as sometimes I have had to issue the command twice.
## Exporting the model to JSON
Select you joined object and head to the top menu with __File__ > __Export__ > __Three.js (.json)__. Selecting the export folder and giving it a name should be pretty straight forward. However, you'll be wanting the __Export THREE__ export settings. These have worked fine for me.
![image](https://user-images.githubusercontent.com/17590174/120716222-a28dd800-c4bd-11eb-99c7-a5c5dd9da32d.png)
## Exporting the model to glTF
Select you joined object and head to the top menu with __File__ > __Export__ > **glTF 2.0 (.glb/.gltf)**. Select the format **glTF Embedded (.gltf)**, Select the export folder and give it a name should be pretty straight forward. These export settings have worked fine for me.
![Immagine 2022-03-28 115931](https://user-images.githubusercontent.com/40276199/160375086-ef0eb587-9574-4f4e-b101-ce24e27e0e12.png)
You can then put the .json model in the Configurator __/resources/models/__ folder, and ammend the code to display the model.
You can then put the .gltf model in the Configurator __/resources/models/__ folder, and ammend the code to display the model.
The old .json files was converted to .glTF using this [tool](https://gist.github.com/donmccurdy/c090dc53c7bfb704ef9de654ecc07632)

36
_locales/en/messages.json
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@ -785,6 +785,15 @@
"configurationSensorAlignmentMag": {
"message": "MAG Alignment"
},
"configurationSensorAlignmentMagRoll": {
"message": "Roll"
},
"configurationSensorAlignmentMagPitch": {
"message": "Pitch"
},
"configurationSensorAlignmentMagYaw": {
"message": "Yaw"
},
"configurationAccelTrims": {
"message": "Accelerometer Trim"
},
@ -1841,6 +1850,30 @@
"gpsSignalStr": {
"message": "Signal Strength"
},
"magnetometerHead": {
"message": "Magnetometer Alignment"
},
"magnetometerHelp": {
"message": "Adjust the magnetometer position until you get the same on the quad.<br/><strong>Note:</strong> If you have changed your flight controller alignment, make your adjustment relative to the FC position and not to the UAV position "
},
"magnetometerOrientationPreset": {
"message": "Orientation presets"
},
"magnetometerInfo": {
"message": "Select a preset or create a custom configuration moving the sliders"
},
"magnetometerElementToShow": {
"message": "Element to show"
},
"configurationMagnetometerHelp": {
"message": "<strong>Note:</strong> Remember to configure a Serial Port (via Ports tab) when using the Magnetometer feature."
},
"magnetometerStatHead": {
"message": "Mag Statistics"
},
"tabMAGNETOMETER": {
"message": "Magnetometer"
},
"motors": {
"message": "Motors"
},
@ -4152,6 +4185,9 @@
"pidOutput": {
"message": "Output"
},
"reset": {
"message": "Reset"
},
"illegalStateRestartRequired": {
"message": "Illegal state. Restart required."
},

4
gulpfile.js
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@ -62,7 +62,9 @@ sources.js = [
'./node_modules/marked/lib/marked.js',
'./js/libraries/d3.min.js',
'./js/libraries/jquery.nouislider.all.min.js',
'./node_modules/three/three.min.js',
'./node_modules/three/build/three.min.js',
'./node_modules/three/examples/js/loaders/GLTFLoader.js',
'./node_modules/three/examples/js/controls/OrbitControls.js',
'./js/libraries/nw-dialog.js',
'./js/libraries/bundle_xml2js.js',
'./js/libraries/Projector.js',

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1
js/gui.js
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@ -23,6 +23,7 @@ var GUI_control = function () {
'cli',
'configuration',
'gps',
'magnetometer',
'led_strip',
'logging',
'onboard_logging',

14
main.css
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@ -991,6 +991,18 @@ li.active .ic_mixer {
background-image: url("../images/icons/cf_icon_mixer_white.svg");
}
.ic_mag {
background-image: url("../images/icons/cf_icon_mag_grey.svg");
}
.ic_mag:hover {
background-image: url("../images/icons/cf_icon_mag_white.svg");
}
li.active .ic_mag {
background-image: url("../images/icons/cf_icon_mag_white.svg");
}
#content {
margin-top: 0;
padding: 0;
@ -1635,7 +1647,7 @@ dialog {
/* fixing padding for all Tabs*/
.tab-setup, .tab-landing, .tab-adjustments, .tab-auxiliary, .tab-cli, .tab-configuration, .tab-failsafe, .tab-onboard_logging,
.tab-firmware_flasher, .tab-gps, .tab-help, .tab-led-strip, .tab-logging, .tab-modes, .tab-motors, .tab-pid_tuning,
.tab-firmware_flasher, .tab-gps, .tab-magnetometer, .tab-help, .tab-led-strip, .tab-logging, .tab-modes, .tab-motors, .tab-pid_tuning,
.tab-ports, .tab-receiver, .tab-sensors, .tab-servos, .tab-osd, .tab-calibration {
height: 100%;
position: relative;

3
main.html
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@ -225,6 +225,9 @@
<li class="tab_gps">
<a href="#" data-i18n="tabGPS" class="tabicon ic_gps" title="GPS"></a>
</li>
<li class="tab_magnetometer">
<a href="#" data-i18n="tabMAGNETOMETER" class="tabicon ic_mag" title="MAGNETOMETER"></a>
</li>
<li class="tab_mission_control">
<a href="#" data-i18n="tabMissionControl" class="tabicon ic_mission" title="Mission Control"></a>
</li>

3
main.js
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@ -257,6 +257,9 @@ $(document).ready(function () {
case 'gps':
TABS.gps.initialize(content_ready);
break;
case 'magnetometer':
TABS.magnetometer.initialize(content_ready);
break;
case 'mission_control':
TABS.mission_control.initialize(content_ready);
break;

18
package-lock.json generated
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@ -4315,9 +4315,9 @@
"integrity": "sha1-CXtgK1NCKlIsGvuHkDGDNpQaAR0="
},
"nw": {
"version": "0.61.0-sdk",
"resolved": "https://registry.npmjs.org/nw/-/nw-0.61.0-sdk.tgz",
"integrity": "sha512-4OcumIvk+998WRswuC+7jW2Pw118+riaCzTgGyGb1cP+pN0Lj1ruKx/Im8LVmSuVlOI4b4kzLG61EUMsJjYM1A==",
"version": "0.61.0",
"resolved": "https://registry.npmjs.org/nw/-/nw-0.61.0.tgz",
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"requires": {
"chalk": "~1.1.3",
"decompress": "^4.2.0",
@ -4382,7 +4382,7 @@
"semver": "^5.5.0",
"simple-glob": "~0.2.0",
"tar-fs": "^1.13.0",
"temp": "github:adam-lynch/node-temp#remove_tmpdir_dep",
"temp": "temp@github:adam-lynch/node-temp#remove_tmpdir_dep",
"thenify": "^3.3.0",
"update-notifier": "^2.4.0",
"winresourcer": "^0.9.0"
@ -4424,8 +4424,8 @@
}
},
"temp": {
"version": "github:adam-lynch/node-temp#279c1350cb7e4f02515d91da9e35d39a40774016",
"from": "github:adam-lynch/node-temp#remove_tmpdir_dep",
"version": "git+ssh://git@github.com/adam-lynch/node-temp.git#279c1350cb7e4f02515d91da9e35d39a40774016",
"from": "temp@github:adam-lynch/node-temp#remove_tmpdir_dep",
"dev": true,
"requires": {
"rimraf": "~2.2.6"
@ -6067,9 +6067,9 @@
}
},
"three": {
"version": "0.72.0",
"resolved": "https://registry.npmjs.org/three/-/three-0.72.0.tgz",
"integrity": "sha1-rE65X9TlsVnA/6u2CWF/7JCjNrI="
"version": "0.139.0",
"resolved": "https://registry.npmjs.org/three/-/three-0.139.0.tgz",
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},
"throttleit": {
"version": "1.0.0",

2
package.json
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@ -40,7 +40,7 @@
"openlayers": "^4.6.5",
"plotly": "^1.0.6",
"temp": "^0.8.3",
"three": "0.72.0",
"three": "0.139.0",
"xml2js": "^0.4.19"
},
"devDependencies": {

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resources/models/fallback.json
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{
"metadata": {
"generator": "io_three",
"materials": 1,
"version": 3,
"uvs": 1,
"faces": 6,
"vertices": 8,
"normals": 8,
"type": "Geometry"
},
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"faces": [43,0,1,2,3,0,0,1,2,3,0,1,2,3,43,4,7,6,5,0,4,5,6,7,4,5,6,7,43,0,4,5,1,0,0,4,7,1,0,4,7,1,43,1,5,6,2,0,8,9,6,10,1,7,6,2,43,2,6,7,3,0,10,6,5,11,2,6,5,3,43,4,0,3,7,0,12,13,11,5,4,0,3,5],
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"normals": [0.5774407386779785,-0.5773491859436035,0.5772576332092285,-0.5772576332092285,-0.5773491859436035,0.5774407386779785,-0.5774407386779785,-0.5773491859436035,-0.5772576332092285,0.5772576332092285,-0.5773491859436035,-0.5774407386779785,0.5774407386779785,0.5773491859436035,0.5772576332092285,0.5772576332092285,0.5773491859436035,-0.5774407386779785,-0.5774407386779785,0.5773491859436035,-0.5772576332092285,-0.5772576332092285,0.5773491859436035,0.5774407386779785],
"name": "Cube.001Geometry",
"materials": [{
"depthTest": true,
"colorDiffuse": [0.6400000190734865,0.6400000190734865,0.6400000190734865],
"colorAmbient": [0.6400000190734865,0.6400000190734865,0.6400000190734865],
"DbgColor": 15658734,
"mapDiffuseAnisotropy": 1.0,
"visible": true,
"mapDiffuseRepeat": [1,1],
"wireframe": false,
"depthWrite": true,
"DbgIndex": 0,
"DbgName": "Material.003",
"colorEmissive": [0.0,0.0,0.0],
"mapDiffuse": "fallback.png",
"opacity": 1.0,
"specularCoef": 50,
"shading": "phong",
"mapDiffuseWrap": ["RepeatWrapping","RepeatWrapping"],
"blending": "NormalBlending",
"colorSpecular": [0.5,0.5,0.5],
"transparent": false
}]
}

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After

Width:  |  Height:  |  Size: 13 KiB

201
src/css/tabs/magnetometer.css Normal file
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@ -0,0 +1,201 @@
/* TODO This needs a LOT of work. It's basically just the GPS tab copied */
.tab-magnetometer progress {
width: 100%;
border-radius: 3px;
}
.tab-magnetometer .magnetometer_info .head, .tab-magnetometer .magnetometer_signal_strength .head {
display: block;
text-align: center;
line-height: 20px;
font-weight: bold;
border-bottom: 1px solid silver;
background-color: #ececec;
}
.tab-magnetometer #connect {
display: none;
text-align: center;
padding-top: 40%;
}
.tab-magnetometer #waiting {
margin-top: 0;
display: none;
text-align: center;
padding-top: 0;
background-size: 15%;
min-height: 400px;
background: url(../../../images/loading-bars.svg) no-repeat center 40%;
float: left;
width: 100%;
}
.tab-magnetometer #waiting .info {
margin-top: 30%;
}
/* .tab-magnetometer #loadmap {
margin-top: 0;
display: none;
} */
.tab-magnetometer #connect a {
font-weight: bold;
margin-top: 10px;
}
.tab-magnetometer #loadmap {
height: 100%;
width: 100%;
float: left;
}
.map-button {
z-index:1;
position: absolute;
background-color: #37A8DB;
color: white;
padding: 5px;
left: 10px;
bottom: 10px;
border-style: solid;
border-width: 2px;
border-color: #E4E4E4;
border-radius: 2px;
opacity: 0.8;
}
.map-button:hover {
opacity: 1;
}
.tab-magnetometer #loadmap .controls {
width: 100%;
float: left;
height: 33px;
border-bottom-left-radius: 3px;
border-bottom-right-radius: 3px;
background-color: #D1D1D1;
}
.tab-magnetometer #loadmap .controls a {
background-color: white;
border-radius: 4px;
border: 1px silver solid;
color: grey;
height: 10px;
width: 10px;
text-align: center;
font-size: 20px;
line-height: 10px;
padding: 6px;
margin-top: 5px;
float: right;
}
.tab-magnetometer #loadmap .controls a:hover {
background-color: #f5f5f5;
}
.tab-magnetometer #loadmap .controls a:active {
background-color: #e6e6e6;
}
.tab-magnetometer #loadmap .controls a:first-child {
margin-left: -1px;
margin-right: 5px;
border-bottom-left-radius: 0;
border-top-left-radius: 0;
}
.tab-magnetometer #loadmap .controls a:last-child {
margin-right: 0;
border-bottom-right-radius: 0;
border-top-right-radius: 0;
}
.tab-magnetometer .axis-table {
width: 100%;
table-layout: auto;
text-align: center;
}
.tab-magnetometer .slider {
width: calc(100% - 40px);
margin-bottom: 50px;
margin-left: auto;
margin-right: auto;
}
.tab-magnetometer input {
width: 90%;
margin-left: auto;
margin-right: auto;
}
.tab-magnetometer #interactive_block {
position: absolute;
width: calc(100% - 40px);
height: calc(100% - 245px);
background-color: #f9f9f9;
border-radius: 5px;
border: 1px solid #e4e4e4;
margin-bottom: 10px;
}
#magnetometer-map {
height: 400px;
width: 100%;
float: left;
position: relative;
}
.tab-magnetometer .buttons a {
background-color: #fff;
color: black;
opacity: 0.8;
transition: all ease 0.3s;
text-align: center;
font-weight: bold;
}
.tab-magnetometer .buttons a:hover {
background-color: #fff;
color: black;
opacity: 0.8;
transition: all ease 0.3s;
}
.tab-magnetometer .info {
background-color: #e4e4e4;
}
.tab-magnetometer .table-title {
font-weight: bold;
}
/*noinspection ALL*/
progress[value]::-webkit-progress-bar {
background-color: #d2d2d2;
border-radius: 2px;
box-shadow: 0 0 3px rgba(0, 0, 0, 0.25) inset;
}
/*noinspection ALL*/
progress[value]::-webkit-progress-value {
background-image: -webkit-linear-gradient(top, rgba(255, 255, 255, .15), rgba(0, 0, 0, .15)),
-webkit-linear-gradient(left, #39a9dc, #39a9dc);
border-radius: 2px;
box-shadow: 0 0 3px rgba(0, 0, 0, 0.25) inset;
}
@media only screen and (max-width: 1055px) , only screen and (max-device-width: 1055px) {
#magnetometer-map {
height: 347px;
width: 100%;
float: left;
}
}

157
tabs/magnetometer.html Normal file
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@ -0,0 +1,157 @@
<div class="tab-magnetometer">
<div class="content_wrapper" style="height: calc(80% - 40px)">
<div class="tab_title" data-i18n="tabMagnetometer">Magnetometer</div>
<div class="note spacebottom">
<div class="note_spacer">
<p i18n="magnetometerHelp"></p>
</div>
</div>
<div style="height: calc(100% - 150px);">
<div id="model">
<div class="model-and-info">
<div id="interactive_block">
<div id="canvas_wrapper">
<canvas id="canvas"></canvas>
</div>
<a class="reset" href="#" data-i18n="initialSetupButtonResetZaxis"></a>
</div>
</div>
</div>
</div>
<div class="config-section gui_box grey">
<div class="spacer_box">
<div id="alignment-info" class="info-box">
<span data-i18n="magnetometerInfo"></span>
</div>
<div class="select" style="display: flex; justify-content: left;">
<select id="magalign" class="magalign">
<option value="0">Default</option>
<!-- list generated here -->
</select>
<label for="magalign" data-i18n="magnetometerOrientationPreset"></label>
</div>
<div class="select" style="display: flex; justify-content: left;">
<select id="element_to_show">
<option value="0" selected>Magnetometer</option>
<option value="1">XYZ</option>
<!-- list generated here -->
</select>
<label for="element_to_show" data-i18n="magnetometerElementToShow"></label>
</div>
<table class="axis-table">
<thead>
<tr>
<td style="width: 5%; padding-bottom: 10px;">
<p class="table-title">
Axis
</p>
</td>
<td style="width: 90%; padding-bottom: 10px;">
<p class="table-title">
Slider
</p>
</td>
<td style="width: 5%; padding-bottom: 10px;">
<a class="table-title">
Value [degree]
</a>
</td>
</tr>
</thead>
<tbody>
<tr>
<td class="info">
<p class="title" data-i18n="configurationSensorAlignmentMagPitch"></p>
</td>
<td>
<div id="roll_slider" class="slider"></div>
</td>
<td>
<input type="number" id="alignRoll" class="tab-magnetometer" data-setting="tz_offset"
data-setting-multiplier="1"
step="1" min="-180" max="180"/>
</td>
</tr>
<tr>
<td class="info">
<p class="title" data-i18n="configurationSensorAlignmentMagRoll"></p>
</td>
<td>
<div id="pitch_slider" class="slider"></div>
</td>
<td>
<input type="number" id="alignPitch" class="tab-magnetometer" data-setting="tz_offset"
data-setting-multiplier="1"
step="1" min="-180" max="180"/>
</td>
</tr>
<tr>
<td class="info">
<p class="title" data-i18n="configurationSensorAlignmentMagYaw"></p>
</td>
<td>
<div id="yaw_slider" class="slider"></div>
</td>
<td>
<input type="number" id="alignYaw" class="tab-magnetometer" data-setting="tz_offset"
data-setting-multiplier="1"
step="1" min="-180" max="360"/>
</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="content_toolbar">
<div class="btn save_btn">
<a class="save" href="#" data-i18n="configurationButtonSave"></a>
</div>
</div>
</div>
</div>
<div id="tab-auxiliary-templates">
<table class="modes">
<tbody>
<tr class="mode">
<td class="info">
<p class="name"></p>
<div class="buttons">
<a class="addRange" href="#" i18n="auxiliaryAddRange"></a>
</div>
</td>
<td class="ranges"></td>
</tr>
</tbody>
</table>
<div class="range">
<div class="channelInfo">
<select class="channel">
<option value=""></option>
</select>
<div class="limits">
<p class="lowerLimit">
<span i18n="auxiliaryMin"></span>: <span class="lowerLimitValue"></span>
</p>
<p class="upperLimit">
<span i18n="auxiliaryMax"></span>: <span class="upperLimitValue"></span>
</p>
</div>
</div>
<div class="channel-slider pips-channel-range">
<div class="marker"></div>
</div>
<div class="delete">
<a class="deleteRange" href="#">&nbsp;</a>
</div>
</div>
<table>
<tr class="modeSection">
<td colspan="2">
<div class="modeSectionArea"><p class="modeSectionName"></p></div>
</td>
</tr>
</table>
</div>

511
tabs/magnetometer.js Normal file
View file

@ -0,0 +1,511 @@
'use strict';
/*global chrome,GUI,TABS,nwdialog,$*/
TABS.magnetometer = {};
TABS.magnetometer.initialize = function (callback) {
var self = this;
if (GUI.active_tab != 'magnetometer') {
GUI.active_tab = 'magnetometer';
googleAnalytics.sendAppView('MAGNETOMETER');
}
self.alignmentConfig = {
pitch: 0,
roll: 0,
yaw: 0
};
self.pageElements = {};
self.isSavePreset = true;
self.showMagnetometer = true;
//========================
// Load chain
// =======================
var loadChainer = new MSPChainerClass();
var loadChain = [
mspHelper.loadMixerConfig,
mspHelper.loadSensorAlignment,
// Pitch and roll must be inverted
function (callback) {
mspHelper.getSetting("align_mag_roll").then(function (data) {
self.alignmentConfig.roll = parseInt(data.value, 10) / 10;
}).then(callback)
},
function (callback) {
mspHelper.getSetting("align_mag_pitch").then(function (data) {
self.alignmentConfig.pitch = (parseInt(data.value, 10) / 10) - 180;
}).then(callback)
},
function (callback) {
mspHelper.getSetting("align_mag_yaw").then(function (data) {
self.alignmentConfig.yaw = parseInt(data.value, 10) / 10;
}).then(callback)
}
];
loadChainer.setChain(loadChain);
loadChainer.setExitPoint(load_html);
loadChainer.execute();
//========================
// Save chain
// =======================
var saveChainer = new MSPChainerClass();
var saveChain = [
// Magnetometer alignment
function (callback) {
let orientation_mag_e = $('select.magalign');
SENSOR_ALIGNMENT.align_mag = parseInt(orientation_mag_e.val());
callback();
},
mspHelper.saveSensorAlignment,
// Pitch/Roll/Yaw
// Pitch and roll must be inverted
function (callback) {
if (self.isSavePreset)
mspHelper.setSetting("align_mag_roll", 0, callback);
else
mspHelper.setSetting("align_mag_roll", self.alignmentConfig.roll * 10, callback);
},
function (callback) {
if (self.isSavePreset)
mspHelper.setSetting("align_mag_pitch", 0, callback);
else
mspHelper.setSetting("align_mag_pitch", (180 + self.alignmentConfig.pitch) * 10, callback);
},
function (callback) {
if (self.isSavePreset)
mspHelper.setSetting("align_mag_yaw", 0, callback);
else
mspHelper.setSetting("align_mag_yaw", self.alignmentConfig.yaw * 10, callback);
},
mspHelper.saveToEeprom
];
saveChainer.setChain(saveChain);
saveChainer.setExitPoint(reboot);
function reboot() {
//noinspection JSUnresolvedVariable
GUI.log(chrome.i18n.getMessage('configurationEepromSaved'));
GUI.tab_switch_cleanup(function () {
MSP.send_message(MSPCodes.MSP_SET_REBOOT, false, false, reinitialize);
});
}
function reinitialize() {
GUI.log(chrome.i18n.getMessage('deviceRebooting'));
GUI.handleReconnect($('.tab_magnetometer a'));
}
function load_html() {
GUI.load("./tabs/magnetometer.html", process_html);
}
function generateRange(min, max, step) {
const arr = [];
for (var i = min; i <= max; i += step) {
arr.push(i)
}
return arr;
}
/*
Returns pitch, roll and yaw in degree by the id of a preset.
Degree are the ones used in the slider
*/
function getAxisDegreeWithPreset(selectedPreset) {
switch (selectedPreset) {
case 1: //CW0_DEG = 1
return [180, 0, 0];
case 2: //CW90_DEG = 2
return [180, 0, 90];
case 3: //CW180_DEG = 3
return [180, 0, 180];
case 4: //CW270_DEG = 4
return [180, 0, 270];
case 5: //CW0_DEG_FLIP = 5
return [0, 0, 0];
case 6: //CW90_DEG_FLIP = 5
return [0, 0, 90];
case 7: //CW180_DEG_FLIP = 5
return [0, 0, 180];
case 0: //ALIGN_DEFAULT = 0
case 8: //CW270_DEG_FLIP = 5
default://If not recognized, returns defualt
return [0, 0, 270];
}
}
function isUsingAPreset() {
return self.alignmentConfig.pitch === -180 && self.alignmentConfig.roll === 0 && self.alignmentConfig.yaw === 0
}
//Called when roll values change
function updateRollAxis(value) {
self.alignmentConfig.roll = Number(value);
self.pageElements.roll_slider.val(self.alignmentConfig.roll);
self.pageElements.orientation_mag_roll.val(self.alignmentConfig.roll);
self.render3D();
}
//Called when pitch values change
function updatePitchAxis(value) {
self.alignmentConfig.pitch = Number(value);
self.pageElements.pitch_slider.val(self.alignmentConfig.pitch);
self.pageElements.orientation_mag_pitch.val(self.alignmentConfig.pitch);
self.render3D();
}
//Called when yaw values change
function updateYawAxis(value) {
self.alignmentConfig.yaw = Number(value);
self.pageElements.yaw_slider.val(self.alignmentConfig.yaw);
self.pageElements.orientation_mag_yaw.val(self.alignmentConfig.yaw);
self.render3D();
}
//Called when a preset is selected
function presetUpdated(degrees) {
self.isSavePreset = true;
self.pageElements.orientation_mag_e.css("opacity", 1);
updatePitchAxis(degrees[0]);
updateRollAxis(degrees[1]);
updateYawAxis(degrees[2]);
}
function process_html() {
localize();
// initialize 3D
self.initialize3D();
let alignments = FC.getSensorAlignments();
self.pageElements.orientation_mag_e = $('select.magalign');
self.pageElements.orientation_mag_roll = $('#alignRoll');
self.pageElements.orientation_mag_pitch = $('#alignPitch');
self.pageElements.orientation_mag_yaw = $('#alignYaw');
self.pageElements.roll_slider = $('#roll_slider');
self.pageElements.pitch_slider = $('#pitch_slider');
self.pageElements.yaw_slider = $('#yaw_slider');
for (i = 0; i < alignments.length; i++) {
self.pageElements.orientation_mag_e.append('<option value="' + (i + 1) + '">' + alignments[i] + '</option>');
}
self.pageElements.orientation_mag_e.val(SENSOR_ALIGNMENT.align_mag);
if (isUsingAPreset()) {
//If using a preset, checking if custom values are equal to 0
//Update the slider, but don't save the value until they will be not modified.
const degrees = getAxisDegreeWithPreset(SENSOR_ALIGNMENT.align_mag);
presetUpdated(degrees);
}
else {
updateRollAxis(self.alignmentConfig.roll);
updatePitchAxis(self.alignmentConfig.pitch);
updateYawAxis(self.alignmentConfig.yaw);
self.pageElements.orientation_mag_e.css("opacity", 0.5);
}
const elementToShow = $("#element_to_show");
elementToShow.change(function () {
const value = parseInt($(this).val());
self.showMagnetometer = (value == 0);
});
function clamp(input, min, max) {
return Math.min(Math.max(parseInt($(input).val()), min), max);
}
self.pageElements.orientation_mag_e.change(function () {
SENSOR_ALIGNMENT.align_mag = parseInt($(this).val());
const degrees = getAxisDegreeWithPreset(SENSOR_ALIGNMENT.align_mag);
presetUpdated(degrees);
});
self.pageElements.orientation_mag_roll.change(function () {
self.isSavePreset = false;
self.pageElements.orientation_mag_e.css("opacity", 0.5);
updateRollAxis(clamp(this, -180, 180));
});
self.pageElements.orientation_mag_pitch.change(function () {
self.isSavePreset = false;
self.pageElements.orientation_mag_e.css("opacity", 0.5);
updatePitchAxis(clamp(this, -180, 180));
});
self.pageElements.orientation_mag_yaw.change(function () {
self.isSavePreset = false;
self.pageElements.orientation_mag_e.css("opacity", 0.5);
updateYawAxis(clamp(this, -180, 360));
});
$('a.save').click(function () {
saveChainer.execute()
});
self.pageElements.roll_slider.noUiSlider({
start: [self.alignmentConfig.roll],
range: {
'min': [-180],
'max': [180]
},
step: 1,
});
self.pageElements.roll_slider.noUiSlider_pips({
mode: 'values',
values: generateRange(-180, 180, 15),
density: 4,
stepped: true
});
self.pageElements.pitch_slider.noUiSlider({
start: [self.alignmentConfig.pitch],
range: {
'min': [-180],
'max': [180]
},
step: 1,
});
self.pageElements.pitch_slider.noUiSlider_pips({
mode: 'values',
values: generateRange(-180, 180, 15),
density: 4,
stepped: true
});
self.pageElements.yaw_slider.noUiSlider({
start: [self.alignmentConfig.yaw],
range: {
'min': [-180],
'max': [360]
},
step: 45,
});
self.pageElements.yaw_slider.noUiSlider_pips({
mode: 'values',
values: generateRange(-180, 360, 45),
density: 4,
stepped: true
});
self.pageElements.pitch_slider.Link('lower').to((e) => {
updatePitchAxis(e);
});
self.pageElements.roll_slider.Link('lower').to((e) => {
updateRollAxis(e);
});
self.pageElements.yaw_slider.Link('lower').to((e) => {
updateYawAxis(e);
});
self.pageElements.pitch_slider.change((e) => {
self.isSavePreset = false;
self.pageElements.orientation_mag_e.css("opacity", 0.5);
});
self.pageElements.roll_slider.change((e) => {
self.isSavePreset = false;
self.pageElements.orientation_mag_e.css("opacity", 0.5);
});
self.pageElements.yaw_slider.change((e) => {
self.isSavePreset = false;
self.pageElements.orientation_mag_e.css("opacity", 0.5);
});
GUI.content_ready(callback);
}
};
TABS.magnetometer.initialize3D = function () {
var self = this,
canvas,
renderer,
wrapper,
modelWrapper,
model_file,
camera,
scene,
gps,
xyz,
useWebGlRenderer = false;
canvas = $('.model-and-info #canvas');
wrapper = $('.model-and-info #canvas_wrapper');
// webgl capability detector
// it would seem the webgl "enabling" through advanced settings will be ignored in the future
// and webgl will be supported if gpu supports it by default (canary 40.0.2175.0), keep an eye on this one
var detector_canvas = document.createElement('canvas');
if (window.WebGLRenderingContext && (detector_canvas.getContext('webgl') || detector_canvas.getContext('experimental-webgl'))) {
renderer = new THREE.WebGLRenderer({canvas: canvas.get(0), alpha: true, antialias: true});
useWebGlRenderer = true;
}
else {
renderer = new THREE.CanvasRenderer({canvas: canvas.get(0), alpha: true});
}
// initialize render size for current canvas size
renderer.setSize(wrapper.width() * 2, wrapper.height() * 2);
// modelWrapper adds an extra axis of rotation to avoid gimbal lock with the euler angles
modelWrapper = new THREE.Object3D();
// load the model including materials
if (useWebGlRenderer) {
if (MIXER_CONFIG.appliedMixerPreset === -1) {
model_file = 'custom';
GUI_control.prototype.log("<span style='color: red; font-weight: bolder'><strong>" + chrome.i18n.getMessage("mixerNotConfigured") + "</strong></span>");
}
else {
model_file = helper.mixer.getById(MIXER_CONFIG.appliedMixerPreset).model;
}
}
else {
model_file = 'fallback'
}
// Temporary workaround for 'custom' model until akfreak's custom model is merged.
if (model_file == 'custom') {
model_file = 'fallback';
}
this.render3D = function () {
if (!gps || !xyz)
return;
gps.visible = self.showMagnetometer;
xyz.visible = !self.showMagnetometer;
gps.rotation.set(-THREE.Math.degToRad(self.alignmentConfig.pitch), THREE.Math.degToRad(-180 - self.alignmentConfig.yaw), THREE.Math.degToRad(self.alignmentConfig.roll), 'YXZ');
xyz.rotation.set(-THREE.Math.degToRad(self.alignmentConfig.pitch), THREE.Math.degToRad(-180 - self.alignmentConfig.yaw), THREE.Math.degToRad(self.alignmentConfig.roll), 'YXZ');
// draw
if (camera != null)
renderer.render(scene, camera);
};
// handle canvas resize
this.resize3D = function () {
renderer.setSize(wrapper.width() * 2, wrapper.height() * 2);
camera.aspect = wrapper.width() / wrapper.height();
camera.updateProjectionMatrix();
this.render3D();
};
$(window).on('resize', this.resize3D);
let getDistanceByModelName = function (name) {
switch (name) {
case "quad_x":
return [0, 0, 3];
case "quad_vtail":
return [0, 0, 4.5];
case "quad_atail":
return [0, 0, 5];
case "y4":
case "y6":
case "tricopter":
return [0, 1.4, 0];
case "hex_x":
case "hex_plus":
return [0, 2, 0];
case "flying_wing":
case "rudderless_plane":
case "twin_plane":
case "vtail_plane":
case "vtail_single_servo_plane":
return [0, 1.4, 0];
case "fallback":
default:
return [0, 2.5, 0];
}
};
// setup scene
scene = new THREE.Scene();
// stationary camera
camera = new THREE.PerspectiveCamera(50, wrapper.width() / wrapper.height(), 1, 10000);
camera.position.set(-95, 82, 50);
let controls = new THREE.OrbitControls(camera, renderer.domElement);
controls.update();
controls.addEventListener( 'change', this.render3D );
// some light
const light = new THREE.AmbientLight(0x808080);
const light2 = new THREE.DirectionalLight(new THREE.Color(1, 1, 1), 1);
const light3 = new THREE.DirectionalLight(new THREE.Color(1, 1, 1), 1);
light2.position.set(0, 1, 0);
light3.position.set(0, -1, 0);
// add camera, model, light to the foreground scene
scene.add(light);
scene.add(light2);
scene.add(light3);
scene.add(camera);
scene.add(modelWrapper);
//Load the models
const manager = new THREE.LoadingManager();
const loader = new THREE.GLTFLoader(manager);
//Load the UAV model
loader.load('./resources/models/' + model_file + '.gltf', (obj) => {
const model = obj.scene;
const scaleFactor = 15;
model.scale.set(scaleFactor, scaleFactor, scaleFactor);
modelWrapper.add(model);
const gpsOffset = getDistanceByModelName(model_file);
//Load the GPS model
loader.load('./resources/models/gps.gltf', (obj) => {
gps = obj.scene;
const scaleFactor = 0.04;
gps.scale.set(scaleFactor, scaleFactor, scaleFactor);
gps.position.set(gpsOffset[0], gpsOffset[1], gpsOffset[2]);
gps.traverse(child => {
if (child.material) child.material.metalness = 0;
});
gps.rotation.y = 3 * Math.PI / 2;
model.add(gps);
this.resize3D();
});
//Load the XYZ model
loader.load('./resources/models/xyz.gltf', (obj) => {
xyz = obj.scene;
const scaleFactor = 0.04;
xyz.scale.set(scaleFactor, scaleFactor, scaleFactor);
xyz.position.set(gpsOffset[0], gpsOffset[1], gpsOffset[2]);
xyz.rotation.y = 3 * Math.PI / 2;
model.add(xyz);
this.render3D();
});
});
this.render3D();
this.resize3D();
};
TABS.magnetometer.cleanup = function (callback) {
$(window).off('resize', this.resize3D);
if (callback) callback();
};

17
tabs/mixer.js
View file

@ -514,6 +514,18 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
motorWizardModal.close();
});
const drawImage = function () {
const isReversed = $("#motor_direction_inverted").is(":checked") && (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER);
const path = './resources/motor_order/'
+ currentMixerPreset.image + (isReversed ? "_reverse" : "") + '.svg';
$('.mixerPreview img').attr('src', path);
renderServoOutputImage();
};
$("#motor_direction_inverted").change(drawImage);
$platformSelect.find("*").remove();
for (let i in platforms) {
@ -556,10 +568,7 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
updateRefreshButtonStatus();
$('.mixerPreview img').attr('src', './resources/motor_order/'
+ currentMixerPreset.image + '.svg');
renderServoOutputImage();
drawImage();
});
if (MIXER_CONFIG.appliedMixerPreset > -1) {

13
tabs/outputs.js
View file

@ -35,6 +35,11 @@ TABS.outputs.initialize = function (callback) {
mspHelper.loadOutputMapping,
mspHelper.loadRcData,
mspHelper.loadAdvancedConfig,
function(callback) {
mspHelper.getSetting("motor_direction_inverted").then((data)=>{
self.motorDirectionInverted=data.value;
}).then(callback)
}
]);
loadChainer.setExitPoint(load_html);
loadChainer.execute();
@ -260,8 +265,12 @@ TABS.outputs.initialize = function (callback) {
function update_model(val) {
if (MIXER_CONFIG.appliedMixerPreset == -1) return;
$('.mixerPreview img').attr('src', './resources/motor_order/'
+ helper.mixer.getById(val).image + '.svg');
const isMotorInverted = self.motorDirectionInverted;
const isReversed = isMotorInverted && (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER);
const path = './resources/motor_order/'
+ helper.mixer.getById(val).image + (isReversed ? "_reverse" : "") + '.svg';
$('.mixerPreview img').attr('src', path);
}
function process_servos() {

12
tabs/setup.js
View file

@ -258,16 +258,12 @@ TABS.setup.initialize3D = function () {
// setup scene
scene = new THREE.Scene();
loader = new THREE.JSONLoader();
loader.load('./resources/models/' + model_file + '.json', function (geometry, materials) {
var modelMaterial = new THREE.MeshFaceMaterial(materials);
model = new THREE.Mesh(geometry, modelMaterial);
const manager = new THREE.LoadingManager();
loader = new THREE.GLTFLoader(manager);
loader.load('./resources/models/' + model_file + '.gltf', (obj) =>{
model = obj.scene;
model.scale.set(15, 15, 15);
modelWrapper.add(model);
scene.add(modelWrapper);
});
// stationary camera