mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-22 07:45:16 +03:00
rates in dps for iNav > 1.1.0, see iNavFlight#204
This commit is contained in:
Pawel
parent
61ebb7a455
commit
e9d2563dad
5 changed files with 216 additions and 142 deletions
69
js/fc.js
69
js/fc.js
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@ -37,6 +37,13 @@ var FAILSAFE_CONFIG;
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var RXFAIL_CONFIG;
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var FC = {
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isRatesInDps: function () {
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if (typeof CONFIG != "undefined" && CONFIG.flightControllerIdentifier == "INAV" && semver.gt(CONFIG.flightControllerVersion, "1.1.0")) {
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return true;
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} else {
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return false;
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}
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},
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resetState: function() {
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CONFIG = {
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apiVersion: "0.0.0",
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@ -55,7 +62,7 @@ var FC = {
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uid: [0, 0, 0],
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accelerometerTrims: [0, 0]
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};
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BF_CONFIG = {
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mixerConfiguration: 0,
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features: 0,
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@ -66,33 +73,33 @@ var FC = {
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currentscale: 0,
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currentoffset: 0
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};
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LED_STRIP = [];
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PID = {
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controller: 0
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};
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PID_names = [];
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PIDs = new Array(10);
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for (var i = 0; i < 10; i++) {
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PIDs[i] = new Array(3);
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}
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RC_MAP = [];
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// defaults
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// roll, pitch, yaw, throttle, aux 1, ... aux n
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RC = {
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active_channels: 0,
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channels: new Array(32)
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};
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RC_tuning = {
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RC_RATE: 0,
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RC_EXPO: 0,
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roll_pitch_rate: 0, // pre 1.7 api only
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roll_rate: 0,
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roll_rate: 0,
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pitch_rate: 0,
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yaw_rate: 0,
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dynamic_THR_PID: 0,
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@ -101,26 +108,26 @@ var FC = {
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dynamic_THR_breakpoint: 0,
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RC_YAW_EXPO: 0
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};
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AUX_CONFIG = [];
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AUX_CONFIG_IDS = [];
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MODE_RANGES = [];
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ADJUSTMENT_RANGES = [];
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SERVO_CONFIG = [];
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SERVO_RULES = [];
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SERIAL_CONFIG = {
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ports: [],
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// pre 1.6 settings
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mspBaudRate: 0,
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gpsBaudRate: 0,
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gpsPassthroughBaudRate: 0,
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cliBaudRate: 0,
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};
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SENSOR_DATA = {
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gyroscope: [0, 0, 0],
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accelerometer: [0, 0, 0],
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@ -130,10 +137,10 @@ var FC = {
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kinematics: [0.0, 0.0, 0.0],
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debug: [0, 0, 0, 0]
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};
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MOTOR_DATA = new Array(8);
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SERVO_DATA = new Array(8);
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GPS_DATA = {
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fix: 0,
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numSat: 0,
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@ -153,23 +160,23 @@ var FC = {
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timeouts: 0,
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packetCount: 0
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};
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ANALOG = {
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voltage: 0,
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mAhdrawn: 0,
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rssi: 0,
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amperage: 0
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};
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ARMING_CONFIG = {
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auto_disarm_delay: 0,
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disarm_kill_switch: 0
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};
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FC_CONFIG = {
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loopTime: 0
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};
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MISC = {
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midrc: 0,
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minthrottle: 0,
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@ -188,14 +195,14 @@ var FC = {
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vbatmaxcellvoltage: 0,
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vbatwarningcellvoltage: 0
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};
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_3D = {
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deadband3d_low: 0,
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deadband3d_high: 0,
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neutral3d: 0,
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deadband3d_throttle: 0
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};
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DATAFLASH = {
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ready: false,
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supported: false,
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@ -203,7 +210,7 @@ var FC = {
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totalSize: 0,
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usedSize: 0
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};
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SDCARD = {
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supported: false,
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state: 0,
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@ -211,31 +218,31 @@ var FC = {
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freeSizeKB: 0,
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totalSizeKB: 0,
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};
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BLACKBOX = {
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supported: false,
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blackboxDevice: 0,
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blackboxRateNum: 1,
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blackboxRateDenom: 1
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};
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TRANSPONDER = {
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supported: false,
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data: []
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};
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RC_deadband = {
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deadband: 0,
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yaw_deadband: 0,
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alt_hold_deadband: 0
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};
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SENSOR_ALIGNMENT = {
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align_gyro: 0,
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align_acc: 0,
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align_mag: 0
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};
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RX_CONFIG = {
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serialrx_provider: 0,
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maxcheck: 0,
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@ -245,7 +252,7 @@ var FC = {
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rx_min_usec: 0,
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rx_max_usec: 0
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};
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FAILSAFE_CONFIG = {
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failsafe_delay: 0,
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failsafe_off_delay: 0,
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@ -254,7 +261,7 @@ var FC = {
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failsafe_throttle_low_delay: 0,
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failsafe_procedure: 0
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};
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RXFAIL_CONFIG = [];
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}
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};
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};
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185
js/msp.js
185
js/msp.js
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@ -7,7 +7,7 @@ var MSP_codes = {
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MSP_FC_VERSION: 3,
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MSP_BOARD_INFO: 4,
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MSP_BUILD_INFO: 5,
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// MSP commands for Cleanflight original features
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MSP_CHANNEL_FORWARDING: 32,
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MSP_SET_CHANNEL_FORWARDING: 33,
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@ -66,7 +66,7 @@ var MSP_codes = {
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MSP_3D: 124,
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MSP_RC_DEADBAND: 125,
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MSP_SENSOR_ALIGNMENT: 126,
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MSP_SET_RAW_RC: 200,
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MSP_SET_RAW_GPS: 201,
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MSP_SET_PID: 202,
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@ -85,9 +85,9 @@ var MSP_codes = {
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MSP_SET_RC_DEADBAND: 218,
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MSP_SET_RESET_CURR_PID: 219,
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MSP_SET_SENSOR_ALIGNMENT: 220,
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// MSP_BIND: 240,
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MSP_SERVO_MIX_RULES: 241,
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MSP_SET_SERVO_MIX_RULE: 242,
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@ -102,7 +102,7 @@ var MSP_codes = {
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MSP_SET_ACC_TRIM: 239, // set acc angle trim values
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MSP_GPS_SV_INFO: 164, // get Signal Strength
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MSP_GPSSTATISTICS: 166, // GPS statistics
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// Additional private MSP for baseflight configurator (yes thats us \o/)
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MSP_RX_MAP: 64, // get channel map (also returns number of channels total)
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MSP_SET_RX_MAP: 65, // set rc map, numchannels to set comes from MSP_RX_MAP
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@ -139,14 +139,14 @@ var MSP = {
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'230400',
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'250000',
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],
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serialPortFunctions: {
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'MSP': 0,
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'GPS': 1,
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'TELEMETRY_FRSKY': 2,
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'GPS': 1,
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'TELEMETRY_FRSKY': 2,
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'TELEMETRY_HOTT': 3,
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'TELEMETRY_MSP': 4,
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'TELEMETRY_LTM': 4, // LTM replaced MSP
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'TELEMETRY_MSP': 4,
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'TELEMETRY_LTM': 4, // LTM replaced MSP
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'TELEMETRY_SMARTPORT': 5,
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'RX_SERIAL': 6,
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'BLACKBOX': 7,
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@ -351,12 +351,19 @@ var MSP = {
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RC_tuning.roll_pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.pitch_rate = 0;
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RC_tuning.roll_rate = 0;
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RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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} else if (FC.isRatesInDps()) {
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RC_tuning.roll_pitch_rate = 0;
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RC_tuning.roll_rate = parseFloat((data.getUint8(offset++) * 10));
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RC_tuning.pitch_rate = parseFloat((data.getUint8(offset++) * 10));
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RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) * 10));
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} else {
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RC_tuning.roll_pitch_rate = 0;
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RC_tuning.roll_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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}
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RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.dynamic_THR_PID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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@ -456,7 +463,7 @@ var MSP = {
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_3D.deadband3d_high = data.getUint16(offset, 1);
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offset += 2;
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_3D.neutral3d = data.getUint16(offset, 1);
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if (semver.lt(CONFIG.apiVersion, "1.17.0")) {
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offset += 2;
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_3D.deadband3d_throttle = data.getUint16(offset, 1);
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@ -545,12 +552,12 @@ var MSP = {
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SERVO_CONFIG.push(arr);
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}
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}
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if (semver.eq(CONFIG.apiVersion, '1.10.0')) {
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// drop two unused servo configurations due to MSP rx buffer to small)
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while (SERVO_CONFIG.length > 8) {
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SERVO_CONFIG.pop();
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}
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}
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}
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}
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break;
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@ -652,12 +659,12 @@ var MSP = {
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break;
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//
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// Cleanflight specific
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// Cleanflight specific
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//
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case MSP_codes.MSP_API_VERSION:
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var offset = 0;
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CONFIG.mspProtocolVersion = data.getUint8(offset++);
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CONFIG.mspProtocolVersion = data.getUint8(offset++);
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CONFIG.apiVersion = data.getUint8(offset++) + '.' + data.getUint8(offset++) + '.0';
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break;
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@ -677,14 +684,14 @@ var MSP = {
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case MSP_codes.MSP_BUILD_INFO:
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var offset = 0;
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var dateLength = 11;
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var buff = [];
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for (var i = 0; i < dateLength; i++) {
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buff.push(data.getUint8(offset++));
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}
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buff.push(32); // ascii space
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var timeLength = 8;
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for (var i = 0; i < timeLength; i++) {
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buff.push(data.getUint8(offset++));
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@ -708,7 +715,7 @@ var MSP = {
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break;
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case MSP_codes.MSP_CF_SERIAL_CONFIG:
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if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
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SERIAL_CONFIG.ports = [];
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var offset = 0;
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@ -718,7 +725,7 @@ var MSP = {
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identifier: data.getUint8(offset++, 1),
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scenario: data.getUint8(offset++, 1)
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}
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SERIAL_CONFIG.ports.push(serialPort);
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SERIAL_CONFIG.ports.push(serialPort);
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}
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SERIAL_CONFIG.mspBaudRate = data.getUint32(offset, 1);
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offset+= 4;
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@ -733,7 +740,7 @@ var MSP = {
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var offset = 0;
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var bytesPerPort = 1 + 2 + (1 * 4);
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var serialPortCount = data.byteLength / bytesPerPort;
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for (var i = 0; i < serialPortCount; i++) {
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var serialPort = {
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identifier: data.getUint8(offset, 1),
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@ -743,7 +750,7 @@ var MSP = {
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telemetry_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 5, 1)],
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blackbox_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 6, 1)]
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}
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offset += bytesPerPort;
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SERIAL_CONFIG.ports.push(serialPort);
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}
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@ -758,7 +765,7 @@ var MSP = {
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MODE_RANGES = []; // empty the array as new data is coming in
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var modeRangeCount = data.byteLength / 4; // 4 bytes per item.
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var offset = 0;
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for (var i = 0; offset < data.byteLength && i < modeRangeCount; i++) {
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var modeRange = {
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@ -777,7 +784,7 @@ var MSP = {
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ADJUSTMENT_RANGES = []; // empty the array as new data is coming in
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var adjustmentRangeCount = data.byteLength / 6; // 6 bytes per item.
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var offset = 0;
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for (var i = 0; offset < data.byteLength && i < adjustmentRangeCount; i++) {
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var adjustmentRange = {
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@ -859,15 +866,15 @@ var MSP = {
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case MSP_codes.MSP_LED_STRIP_CONFIG:
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LED_STRIP = [];
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var ledCount = data.byteLength / 7; // v1.4.0 and below incorrectly reported 4 bytes per led.
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var offset = 0;
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for (var i = 0; offset < data.byteLength && i < ledCount; i++) {
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var directionMask = data.getUint16(offset, 1);
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offset += 2;
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var directions = [];
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for (var directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
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if (bit_check(directionMask, directionLetterIndex)) {
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@ -884,7 +891,7 @@ var MSP = {
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functions.push(MSP.ledFunctionLetters[functionLetterIndex]);
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}
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}
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var led = {
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directions: directions,
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functions: functions,
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@ -892,10 +899,10 @@ var MSP = {
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y: data.getUint8(offset++, 1),
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color: data.getUint8(offset++, 1)
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};
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LED_STRIP.push(led);
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}
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break;
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case MSP_codes.MSP_SET_LED_STRIP_CONFIG:
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console.log('Led strip config saved');
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@ -926,8 +933,8 @@ var MSP = {
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console.log("Data flash erase begun...");
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break;
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case MSP_codes.MSP_SDCARD_SUMMARY:
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var flags = data.getUint8(0);
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var flags = data.getUint8(0);
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SDCARD.supported = (flags & 0x01) != 0;
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SDCARD.state = data.getUint8(1);
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SDCARD.filesystemLastError = data.getUint8(2);
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@ -947,7 +954,7 @@ var MSP = {
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var offset = 0;
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TRANSPONDER.supported = (data.getUint8(offset++) & 1) != 0;
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TRANSPONDER.data = [];
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var bytesRemaining = data.byteLength - offset;
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var bytesRemaining = data.byteLength - offset;
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for (var i = 0; i < bytesRemaining; i++) {
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TRANSPONDER.data.push(data.getUint8(offset++));
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}
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@ -961,7 +968,7 @@ var MSP = {
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case MSP_codes.MSP_SET_ADJUSTMENT_RANGE:
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console.log('Adjustment range saved');
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break;
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case MSP_codes.MSP_PID_CONTROLLER:
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PID.controller = data.getUint8(0, 1);
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break;
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@ -985,7 +992,7 @@ var MSP = {
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break;
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case MSP_codes.MSP_SET_SENSOR_ALIGNMENT:
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console.log('Sensor alignment saved');
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break;
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break;
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case MSP_codes.MSP_SET_RX_CONFIG:
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console.log('Rx config saved');
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break;
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@ -1168,11 +1175,17 @@ MSP.crunch = function (code) {
|
|||
buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
|
||||
if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
|
||||
buffer.push(Math.round(RC_tuning.roll_pitch_rate * 100));
|
||||
buffer.push(Math.round(RC_tuning.yaw_rate * 100));
|
||||
} else if (FC.isRatesInDps()) {
|
||||
buffer.push(Math.round(RC_tuning.roll_rate / 10));
|
||||
buffer.push(Math.round(RC_tuning.pitch_rate / 10));
|
||||
buffer.push(Math.round(RC_tuning.yaw_rate / 10));
|
||||
} else {
|
||||
buffer.push(Math.round(RC_tuning.roll_rate * 100));
|
||||
buffer.push(Math.round(RC_tuning.pitch_rate * 100));
|
||||
buffer.push(Math.round(RC_tuning.yaw_rate * 100));
|
||||
}
|
||||
buffer.push(Math.round(RC_tuning.yaw_rate * 100));
|
||||
|
||||
buffer.push(Math.round(RC_tuning.dynamic_THR_PID * 100));
|
||||
buffer.push(Math.round(RC_tuning.throttle_MID * 100));
|
||||
buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
|
||||
|
|
@ -1290,17 +1303,17 @@ MSP.crunch = function (code) {
|
|||
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 1));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 2));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 3));
|
||||
|
||||
|
||||
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 0));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 1));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 2));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 3));
|
||||
|
||||
|
||||
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 0));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 1));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 2));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 3));
|
||||
|
||||
|
||||
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 0));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 1));
|
||||
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 2));
|
||||
|
|
@ -1308,13 +1321,13 @@ MSP.crunch = function (code) {
|
|||
} else {
|
||||
for (var i = 0; i < SERIAL_CONFIG.ports.length; i++) {
|
||||
var serialPort = SERIAL_CONFIG.ports[i];
|
||||
|
||||
|
||||
buffer.push(serialPort.identifier);
|
||||
|
||||
|
||||
var functionMask = MSP.serialPortFunctionsToMask(serialPort.functions);
|
||||
buffer.push(specificByte(functionMask, 0));
|
||||
buffer.push(specificByte(functionMask, 1));
|
||||
|
||||
|
||||
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.msp_baudrate));
|
||||
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.gps_baudrate));
|
||||
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.telemetry_baudrate));
|
||||
|
|
@ -1334,11 +1347,11 @@ MSP.crunch = function (code) {
|
|||
buffer.push(lowByte(_3D.deadband3d_throttle));
|
||||
buffer.push(highByte(_3D.deadband3d_throttle));
|
||||
}
|
||||
break;
|
||||
break;
|
||||
|
||||
case MSP_codes.MSP_SET_RC_DEADBAND:
|
||||
buffer.push(RC_deadband.deadband);
|
||||
buffer.push(RC_deadband.yaw_deadband);
|
||||
buffer.push(RC_deadband.yaw_deadband);
|
||||
buffer.push(RC_deadband.alt_hold_deadband);
|
||||
break;
|
||||
|
||||
|
|
@ -1357,28 +1370,28 @@ MSP.crunch = function (code) {
|
|||
|
||||
/**
|
||||
* Set raw Rx values over MSP protocol.
|
||||
*
|
||||
*
|
||||
* Channels is an array of 16-bit unsigned integer channel values to be sent. 8 channels is probably the maximum.
|
||||
*/
|
||||
MSP.setRawRx = function(channels) {
|
||||
var buffer = [];
|
||||
|
||||
|
||||
for (var i = 0; i < channels.length; i++) {
|
||||
buffer.push(specificByte(channels[i], 0));
|
||||
buffer.push(specificByte(channels[i], 1));
|
||||
}
|
||||
|
||||
|
||||
MSP.send_message(MSP_codes.MSP_SET_RAW_RC, buffer, false);
|
||||
}
|
||||
|
||||
MSP.sendBlackboxConfiguration = function(onDataCallback) {
|
||||
var
|
||||
var
|
||||
message = [
|
||||
BLACKBOX.blackboxDevice & 0xFF,
|
||||
BLACKBOX.blackboxRateNum & 0xFF,
|
||||
BLACKBOX.blackboxDevice & 0xFF,
|
||||
BLACKBOX.blackboxRateNum & 0xFF,
|
||||
BLACKBOX.blackboxRateDenom & 0xFF
|
||||
];
|
||||
|
||||
|
||||
MSP.send_message(MSP_codes.MSP_SET_BLACKBOX_CONFIG, message, false, function(response) {
|
||||
onDataCallback();
|
||||
});
|
||||
|
|
@ -1389,10 +1402,10 @@ MSP.sendBlackboxConfiguration = function(onDataCallback) {
|
|||
* of the returned data to the given callback (or null for the data if an error occured).
|
||||
*/
|
||||
MSP.dataflashRead = function(address, onDataCallback) {
|
||||
MSP.send_message(MSP_codes.MSP_DATAFLASH_READ, [address & 0xFF, (address >> 8) & 0xFF, (address >> 16) & 0xFF, (address >> 24) & 0xFF],
|
||||
MSP.send_message(MSP_codes.MSP_DATAFLASH_READ, [address & 0xFF, (address >> 8) & 0xFF, (address >> 16) & 0xFF, (address >> 24) & 0xFF],
|
||||
false, function(response) {
|
||||
var chunkAddress = response.data.getUint32(0, 1);
|
||||
|
||||
|
||||
// Verify that the address of the memory returned matches what the caller asked for
|
||||
if (chunkAddress == address) {
|
||||
/* Strip that address off the front of the reply and deliver it separately so the caller doesn't have to
|
||||
|
|
@ -1412,8 +1425,8 @@ MSP.sendServoMixRules = function(onCompleteCallback) {
|
|||
};
|
||||
|
||||
MSP.sendServoConfigurations = function(onCompleteCallback) {
|
||||
var nextFunction = send_next_servo_configuration;
|
||||
|
||||
var nextFunction = send_next_servo_configuration;
|
||||
|
||||
var servoIndex = 0;
|
||||
|
||||
if (SERVO_CONFIG.length == 0) {
|
||||
|
|
@ -1424,7 +1437,7 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
|
|||
|
||||
|
||||
function send_next_servo_configuration() {
|
||||
|
||||
|
||||
var buffer = [];
|
||||
|
||||
if (semver.lt(CONFIG.apiVersion, "1.12.0")) {
|
||||
|
|
@ -1442,15 +1455,15 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
|
|||
|
||||
buffer.push(lowByte(SERVO_CONFIG[i].rate));
|
||||
}
|
||||
|
||||
|
||||
nextFunction = send_channel_forwarding;
|
||||
} else {
|
||||
// send one at a time, with index
|
||||
|
||||
|
||||
var servoConfiguration = SERVO_CONFIG[servoIndex];
|
||||
|
||||
|
||||
buffer.push(servoIndex);
|
||||
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.min));
|
||||
buffer.push(highByte(servoConfiguration.min));
|
||||
|
||||
|
|
@ -1461,7 +1474,7 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
|
|||
buffer.push(highByte(servoConfiguration.middle));
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.rate));
|
||||
|
||||
|
||||
buffer.push(servoConfiguration.angleAtMin);
|
||||
buffer.push(servoConfiguration.angleAtMax);
|
||||
|
||||
|
|
@ -1475,7 +1488,7 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
|
|||
buffer.push(specificByte(servoConfiguration.reversedInputSources, 1));
|
||||
buffer.push(specificByte(servoConfiguration.reversedInputSources, 2));
|
||||
buffer.push(specificByte(servoConfiguration.reversedInputSources, 3));
|
||||
|
||||
|
||||
// prepare for next iteration
|
||||
servoIndex++;
|
||||
if (servoIndex == SERVO_CONFIG.length) {
|
||||
|
|
@ -1484,7 +1497,7 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
|
|||
}
|
||||
MSP.send_message(MSP_codes.MSP_SET_SERVO_CONFIGURATION, buffer, false, nextFunction);
|
||||
}
|
||||
|
||||
|
||||
function send_channel_forwarding() {
|
||||
var buffer = [];
|
||||
|
||||
|
|
@ -1503,8 +1516,8 @@ MSP.sendServoConfigurations = function(onCompleteCallback) {
|
|||
};
|
||||
|
||||
MSP.sendModeRanges = function(onCompleteCallback) {
|
||||
var nextFunction = send_next_mode_range;
|
||||
|
||||
var nextFunction = send_next_mode_range;
|
||||
|
||||
var modeRangeIndex = 0;
|
||||
|
||||
if (MODE_RANGES.length == 0) {
|
||||
|
|
@ -1514,29 +1527,29 @@ MSP.sendModeRanges = function(onCompleteCallback) {
|
|||
}
|
||||
|
||||
function send_next_mode_range() {
|
||||
|
||||
|
||||
var modeRange = MODE_RANGES[modeRangeIndex];
|
||||
|
||||
|
||||
var buffer = [];
|
||||
buffer.push(modeRangeIndex);
|
||||
buffer.push(modeRange.id);
|
||||
buffer.push(modeRange.auxChannelIndex);
|
||||
buffer.push((modeRange.range.start - 900) / 25);
|
||||
buffer.push((modeRange.range.end - 900) / 25);
|
||||
|
||||
|
||||
// prepare for next iteration
|
||||
modeRangeIndex++;
|
||||
if (modeRangeIndex == MODE_RANGES.length) {
|
||||
nextFunction = onCompleteCallback;
|
||||
|
||||
|
||||
}
|
||||
MSP.send_message(MSP_codes.MSP_SET_MODE_RANGE, buffer, false, nextFunction);
|
||||
}
|
||||
};
|
||||
|
||||
MSP.sendAdjustmentRanges = function(onCompleteCallback) {
|
||||
var nextFunction = send_next_adjustment_range;
|
||||
|
||||
var nextFunction = send_next_adjustment_range;
|
||||
|
||||
var adjustmentRangeIndex = 0;
|
||||
|
||||
if (ADJUSTMENT_RANGES.length == 0) {
|
||||
|
|
@ -1547,9 +1560,9 @@ MSP.sendAdjustmentRanges = function(onCompleteCallback) {
|
|||
|
||||
|
||||
function send_next_adjustment_range() {
|
||||
|
||||
|
||||
var adjustmentRange = ADJUSTMENT_RANGES[adjustmentRangeIndex];
|
||||
|
||||
|
||||
var buffer = [];
|
||||
buffer.push(adjustmentRangeIndex);
|
||||
buffer.push(adjustmentRange.slotIndex);
|
||||
|
|
@ -1558,21 +1571,21 @@ MSP.sendAdjustmentRanges = function(onCompleteCallback) {
|
|||
buffer.push((adjustmentRange.range.end - 900) / 25);
|
||||
buffer.push(adjustmentRange.adjustmentFunction);
|
||||
buffer.push(adjustmentRange.auxSwitchChannelIndex);
|
||||
|
||||
|
||||
// prepare for next iteration
|
||||
adjustmentRangeIndex++;
|
||||
if (adjustmentRangeIndex == ADJUSTMENT_RANGES.length) {
|
||||
nextFunction = onCompleteCallback;
|
||||
|
||||
|
||||
}
|
||||
MSP.send_message(MSP_codes.MSP_SET_ADJUSTMENT_RANGE, buffer, false, nextFunction);
|
||||
}
|
||||
};
|
||||
|
||||
MSP.sendLedStripConfig = function(onCompleteCallback) {
|
||||
|
||||
var nextFunction = send_next_led_strip_config;
|
||||
|
||||
|
||||
var nextFunction = send_next_led_strip_config;
|
||||
|
||||
var ledIndex = 0;
|
||||
|
||||
if (LED_STRIP.length == 0) {
|
||||
|
|
@ -1582,11 +1595,11 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
|
|||
}
|
||||
|
||||
function send_next_led_strip_config() {
|
||||
|
||||
|
||||
var led = LED_STRIP[ledIndex];
|
||||
|
||||
|
||||
var buffer = [];
|
||||
|
||||
|
||||
buffer.push(ledIndex);
|
||||
|
||||
var directionMask = 0;
|
||||
|
|
@ -1614,20 +1627,20 @@ MSP.sendLedStripConfig = function(onCompleteCallback) {
|
|||
|
||||
buffer.push(led.color);
|
||||
|
||||
|
||||
|
||||
// prepare for next iteration
|
||||
ledIndex++;
|
||||
if (ledIndex == LED_STRIP.length) {
|
||||
nextFunction = onCompleteCallback;
|
||||
}
|
||||
|
||||
|
||||
MSP.send_message(MSP_codes.MSP_SET_LED_STRIP_CONFIG, buffer, false, nextFunction);
|
||||
}
|
||||
}
|
||||
|
||||
MSP.serialPortFunctionMaskToFunctions = function(functionMask) {
|
||||
var functions = [];
|
||||
|
||||
|
||||
var keys = Object.keys(MSP.serialPortFunctions);
|
||||
for (var index = 0; index < keys.length; index++) {
|
||||
var key = keys[index];
|
||||
|
|
@ -1688,5 +1701,3 @@ MSP.SDCARD_STATE_FATAL = 1;
|
|||
MSP.SDCARD_STATE_CARD_INIT = 2;
|
||||
MSP.SDCARD_STATE_FS_INIT = 3;
|
||||
MSP.SDCARD_STATE_READY = 4;
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,25 @@
|
|||
.rate-tpa.rate-tpa--inav input[type="number"] {
|
||||
margin: 4px;
|
||||
width: auto;
|
||||
border: 1px solid silver;
|
||||
border-radius: 3px;
|
||||
display: inline-block;
|
||||
}
|
||||
|
||||
.rate-tpa.rate-tpa--inav td {
|
||||
background-color: #DEDEDE;
|
||||
width: auto;
|
||||
border-bottom: 1px solid #ccc;
|
||||
}
|
||||
|
||||
.tab-pid_tuning .rate-tpa.rate-tpa--inav th:first-child {
|
||||
border-top-left-radius: 0;
|
||||
}
|
||||
|
||||
.tab-pid_tuning .rate-tpa.rate-tpa--inav .roll {
|
||||
border-bottom-left-radius: 0;
|
||||
}
|
||||
|
||||
.tab-pid_tuning .rate-tpa th {
|
||||
background-color: #828885;
|
||||
padding: 4px;
|
||||
|
|
@ -153,7 +175,7 @@
|
|||
font-weight: normal;
|
||||
padding: 2px;
|
||||
padding-left: 6px;
|
||||
border-top-left-radius: 3px;
|
||||
border-top-left-radius: 3px;
|
||||
border-top-right-radius: 3px;
|
||||
}
|
||||
|
||||
|
|
@ -258,11 +280,11 @@
|
|||
}
|
||||
|
||||
.show {
|
||||
width:110px;
|
||||
float:right;
|
||||
width:110px;
|
||||
float:right;
|
||||
margin-right:3px;
|
||||
}
|
||||
|
||||
|
||||
.show a {
|
||||
margin-left: 10px;
|
||||
width: calc(100% - 10px);
|
||||
|
|
@ -282,7 +304,7 @@
|
|||
margin-right: 5px;
|
||||
}
|
||||
|
||||
.tab-pid_tuning .spacer_left {
|
||||
.tab-pid_tuning .spacer_left {
|
||||
padding-left: 15px;
|
||||
float: right;
|
||||
width: calc(100% - 20px)
|
||||
|
|
@ -327,7 +349,7 @@
|
|||
color: #7d7d7d;
|
||||
font-size: 11px;
|
||||
}
|
||||
|
||||
|
||||
#content-watermark {
|
||||
position: absolute;
|
||||
bottom: 40px;
|
||||
|
|
@ -344,7 +366,7 @@
|
|||
}
|
||||
|
||||
.tab-pid_tuning .resetbt {
|
||||
width: 140px;
|
||||
width: 140px;
|
||||
float: right;
|
||||
}
|
||||
|
||||
|
|
@ -374,16 +396,16 @@
|
|||
}
|
||||
|
||||
.tab-pid_tuning .borderleft {
|
||||
border-top-left-radius: 3px;
|
||||
border-top-left-radius: 3px;
|
||||
border-top-right-radius: 3px;
|
||||
}
|
||||
|
||||
.tab-pid_tuning .textleft {
|
||||
width: 25%;
|
||||
float: left;
|
||||
width: 25%;
|
||||
float: left;
|
||||
text-align: left;
|
||||
}
|
||||
|
||||
.tab-pid_tuning .topspacer {
|
||||
margin-top:15px;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -7,7 +7,7 @@
|
|||
</div>
|
||||
<div class="cf_column half">
|
||||
<div class="controller">
|
||||
<span class="head" i18n="pidTuningControllerHead"></span>
|
||||
<span class="head" i18n="pidTuningControllerHead"></span>
|
||||
<select name="controller">
|
||||
<!-- list generated here -->
|
||||
</select>
|
||||
|
|
@ -154,7 +154,29 @@
|
|||
</div>
|
||||
<div class="cf_column half">
|
||||
<div class="spacer_left">
|
||||
<table class="rate-tpa cf">
|
||||
<table class="rate-tpa rate-tpa--inav">
|
||||
<tbody>
|
||||
<tr>
|
||||
<th class="roll" i18n="pidTuningRollRate"></th>
|
||||
<td class="roll">
|
||||
<input type="number" name="roll" step="10" min="60" max="1800" /> degrees per second
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th class="pitch" i18n="pidTuningPitchRate"></th>
|
||||
<td class="pitch">
|
||||
<input type="number" name="pitch" step="10" min="60" max="1800" /> degrees per second
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th class="yaw" i18n="pidTuningYawRate"></th>
|
||||
<td class="yaw">
|
||||
<input type="number" name="yaw" step="10" min="20" max="1800" /> degrees per second
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
<table class="rate-tpa rate-tpa--no-dps cf">
|
||||
<thead>
|
||||
<tr>
|
||||
<th class="roll-pitch" i18n="pidTuningRollPitchRate"></th>
|
||||
|
|
@ -203,4 +225,4 @@
|
|||
<a class="refresh" href="#" i18n="pidTuningButtonRefresh"></a>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
|
|
|||
|
|
@ -173,9 +173,17 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
// Fill in data from RC_tuning object
|
||||
$('.rate-tpa input[name="roll-pitch"]').val(RC_tuning.roll_pitch_rate.toFixed(2));
|
||||
$('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate.toFixed(2));
|
||||
$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate.toFixed(2));
|
||||
$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
|
||||
|
||||
if (FC.isRatesInDps()) {
|
||||
$('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate);
|
||||
$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate);
|
||||
$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate);
|
||||
} else {
|
||||
$('.rate-tpa input[name="roll"]').val(RC_tuning.roll_rate.toFixed(2));
|
||||
$('.rate-tpa input[name="pitch"]').val(RC_tuning.pitch_rate.toFixed(2));
|
||||
$('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
|
||||
}
|
||||
|
||||
$('.rate-tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2));
|
||||
$('.rate-tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint);
|
||||
}
|
||||
|
|
@ -234,9 +242,9 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
|
||||
// catch RC_tuning changes
|
||||
RC_tuning.roll_pitch_rate = parseFloat($('.rate-tpa input[name="roll-pitch"]').val());
|
||||
RC_tuning.roll_rate = parseFloat($('.rate-tpa input[name="roll"]').val());
|
||||
RC_tuning.pitch_rate = parseFloat($('.rate-tpa input[name="pitch"]').val());
|
||||
RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]').val());
|
||||
RC_tuning.roll_rate = parseFloat($('.rate-tpa input[name="roll"]:visible').val());
|
||||
RC_tuning.pitch_rate = parseFloat($('.rate-tpa input[name="pitch"]:visible').val());
|
||||
RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]:visible').val());
|
||||
RC_tuning.dynamic_THR_PID = parseFloat($('.rate-tpa input[name="tpa"]').val());
|
||||
RC_tuning.dynamic_THR_breakpoint = parseInt($('.rate-tpa input[name="tpa-breakpoint"]').val());
|
||||
}
|
||||
|
|
@ -313,12 +321,12 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
{ name: "LuxFloat"},
|
||||
]
|
||||
}
|
||||
|
||||
|
||||
for (var i = 0; i < pidControllerList.length; i++) {
|
||||
pidController_e.append('<option value="' + (i) + '">' + pidControllerList[i].name + '</option>');
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
var form_e = $('#pid-tuning');
|
||||
|
||||
if (GUI.canChangePidController) {
|
||||
|
|
@ -336,8 +344,12 @@ TABS.pid_tuning.initialize = function (callback) {
|
|||
$('.rate-tpa .tpa-breakpoint').hide();
|
||||
$('.rate-tpa .roll').hide();
|
||||
$('.rate-tpa .pitch').hide();
|
||||
$('.rate-tpa--inav').hide();
|
||||
} else if (FC.isRatesInDps()) {
|
||||
$('.rate-tpa--no-dps').hide();
|
||||
} else {
|
||||
$('.rate-tpa .roll-pitch').hide();
|
||||
$('.rate-tpa--inav').hide();
|
||||
}
|
||||
|
||||
// UI Hooks
|
||||
|
|
@ -412,4 +424,4 @@ TABS.pid_tuning.cleanup = function (callback) {
|
|||
if (callback) {
|
||||
callback();
|
||||
}
|
||||
};
|
||||
};
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue