Mirror/inav-configurator
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav-configurator.git synced 2025-07-14 20:10:11 +03:00
Code Wiki Activity

First release of new mission planner

Browse source 
All working for saving into FC.
Remaining bug on EPROM action
This commit is contained in:
ArnoTlse 2021-02-15 22:27:00 +01:00
parent 57d06ccc79
commit ea6ac3ec8f
3 changed files with 174 additions and 113 deletions
Download patch file Download diff file Expand all files Collapse all files

4
js/fc.js
View file

@ -245,7 +245,9 @@ var FC = {
lon: 0, lon: 0,
alt: 0, alt: 0,
endMission: 0, endMission: 0,
p1: 0 p1: 0,
p2: 0,
p3: 0
} }
}; };

10
js/msp/MSPHelper.js
View file

@ -447,6 +447,8 @@ var mspHelper = (function (gui) {
MISSION_PLANER.bufferPoint.lon = data.getInt32(6, true) / 10000000; MISSION_PLANER.bufferPoint.lon = data.getInt32(6, true) / 10000000;
MISSION_PLANER.bufferPoint.alt = data.getInt32(10, true); MISSION_PLANER.bufferPoint.alt = data.getInt32(10, true);
MISSION_PLANER.bufferPoint.p1 = data.getInt16(14, true); MISSION_PLANER.bufferPoint.p1 = data.getInt16(14, true);
MISSION_PLANER.bufferPoint.p2 = data.getInt16(16, true);
MISSION_PLANER.bufferPoint.p3 = data.getInt16(18, true);
break; break;
case MSPCodes.MSP_BOXIDS: case MSPCodes.MSP_BOXIDS:
@ -2085,10 +2087,10 @@ var mspHelper = (function (gui) {
buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 3)); buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 3));
buffer.push(lowByte(MISSION_PLANER.bufferPoint.p1)); //sbufReadU16(src); // P1 speed or landing buffer.push(lowByte(MISSION_PLANER.bufferPoint.p1)); //sbufReadU16(src); // P1 speed or landing
buffer.push(highByte(MISSION_PLANER.bufferPoint.p1)); buffer.push(highByte(MISSION_PLANER.bufferPoint.p1));
buffer.push(lowByte(0)); //sbufReadU16(src); // P2 buffer.push(lowByte(MISSION_PLANER.bufferPoint.p2)); //sbufReadU16(src); // P2
buffer.push(highByte(0)); buffer.push(highByte(MISSION_PLANER.bufferPoint.p2));
buffer.push(lowByte(0)); //sbufReadU16(src); // P3 buffer.push(lowByte(MISSION_PLANER.bufferPoint.p3)); //sbufReadU16(src); // P3
buffer.push(highByte(0)); buffer.push(highByte(MISSION_PLANER.bufferPoint.p3));
buffer.push(MISSION_PLANER.bufferPoint.endMission); //sbufReadU8(src); // future: to set nav flag buffer.push(MISSION_PLANER.bufferPoint.endMission); //sbufReadU8(src); // future: to set nav flag
break; break;
case MSPCodes.MSP_WP: case MSPCodes.MSP_WP:

271
tabs/mission_control.js
View file

@ -326,7 +326,12 @@ TABS.mission_control.initialize = function (callback) {
var lines = []; var lines = [];
var map; var map;
var selectedMarker = null; var selectedMarker = null;
var nonMarkerPoint = [];
var isOptions = false;
var oldMarkers = null;
var pointFromBuffer = {};
var pointForSend = 0; var pointForSend = 0;
var actionPointForSend = 0;
var settings = { speed: 0, alt: 5000}; var settings = { speed: 0, alt: 5000};
// Function to clear/reinit Jquery variable // Function to clear/reinit Jquery variable
@ -943,14 +948,15 @@ TABS.mission_control.initialize = function (callback) {
t.action = $('#pointType').val(); t.action = $('#pointType').val();
console.log(typeof t.action); console.log(typeof t.action);
if (t.action == '5' || t.action == '2' || t.action == '8') { if (t.action == '5' || t.action == '2' || t.action == '8') {
t.P1Value = 0; t.parameter1 = 0;
t.P2Value = 0; t.parameter2 = 0;
t.P3Value = 0; t.parameter3 = 0;
} }
else { else {
t.P1Value = $('#pointP1').val(); console.log("$('#pointP1').val() : ",$('#pointP1').val());
t.P2Value = $('#pointP2').val(); t.parameter1 = $('#pointP1').val();
t.P3Value = $('#pointP3').val(); t.parameter2 = $('#pointP2').val();
t.parameter3 = $('#pointP3').val();
} }
if ($('input[name=Options]:checked').val() == "RTH") { if ($('input[name=Options]:checked').val() == "RTH") {
t.options = {key: $('input[name=Options]:checked').val(), t.options = {key: $('input[name=Options]:checked').val(),
@ -987,6 +993,7 @@ TABS.mission_control.initialize = function (callback) {
}); });
selectedMarker.getSource().getFeatures()[0].setStyle(getPointIcon(selectedMarker.action, false, selectedMarker.number)); selectedMarker.getSource().getFeatures()[0].setStyle(getPointIcon(selectedMarker.action, false, selectedMarker.number));
console.log("selectedMarker", selectedMarker);
selectedMarker = null; selectedMarker = null;
clearEditForm(); clearEditForm();
repaint(); repaint();
@ -1017,6 +1024,10 @@ TABS.mission_control.initialize = function (callback) {
GUI.log('Start get point'); GUI.log('Start get point');
pointForSend = 0; pointForSend = 0;
actionPointForSend = 0;
var nonMarkerPoint = [];
var isOptions = false;
var oldMarkers = null;
getNextPoint(); getNextPoint();
}); });
@ -1025,6 +1036,10 @@ TABS.mission_control.initialize = function (callback) {
GUI.log('Start send point'); GUI.log('Start send point');
pointForSend = 0; pointForSend = 0;
actionPointForSend = 0;
var nonMarkerPoint = [];
var isOptions = false;
var oldMarkers = null;
sendNextPoint(); sendNextPoint();
}); });
@ -1268,6 +1283,7 @@ TABS.mission_control.initialize = function (callback) {
for (var i = 0; i < markers.length; i++) { for (var i = 0; i < markers.length; i++) {
var geometry = markers[i].getSource().getFeatures()[0].getGeometry(); var geometry = markers[i].getSource().getFeatures()[0].getGeometry();
var coordinate = ol.proj.toLonLat(geometry.getCoordinates()); var coordinate = ol.proj.toLonLat(geometry.getCoordinates());
console.log("markers[i].parameter1 : ", markers[i].parameter1);
if (markers[i].action == '5' || markers[i].action == '2' || markers[i].action == '8' ) { if (markers[i].action == '5' || markers[i].action == '2' || markers[i].action == '8' ) {
var point = { $: { var point = { $: {
'no': (j), 'no': (j),
@ -1372,6 +1388,11 @@ TABS.mission_control.initialize = function (callback) {
function getPointsFromEprom() { function getPointsFromEprom() {
pointForSend = 0; pointForSend = 0;
actionPointForSend = 0;
nonMarkerPoint = [];
isOptions = false;
oldMarkers = null;
pointFromBuffer = {};
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getNextPoint); MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getNextPoint);
} }
@ -1387,39 +1408,70 @@ TABS.mission_control.initialize = function (callback) {
endGetPoint(); endGetPoint();
return; return;
} }
console.log("countBusyPoints : "+MISSION_PLANER.countBusyPoints);
console.log("POINT : "+pointForSend);
console.log("Mission : "+MISSION_PLANER.bufferPoint.number);
if (pointForSend > 0) { if (pointForSend > 0) {
// console.log(MISSION_PLANER.bufferPoint.lon); pointFromBuffer[MISSION_PLANER.bufferPoint.number] = {
// console.log(MISSION_PLANER.bufferPoint.lat); number : MISSION_PLANER.bufferPoint.number,
// console.log(MISSION_PLANER.bufferPoint.alt); lon : MISSION_PLANER.bufferPoint.lon,
// console.log(MISSION_PLANER.bufferPoint.action); lat : MISSION_PLANER.bufferPoint.lat,
/*if (MISSION_PLANER.bufferPoint.action == 4) { action : MISSION_PLANER.bufferPoint.action,
$('#rthEndMission').prop('checked', true); alt : MISSION_PLANER.bufferPoint.alt,
$('#rthSettings').fadeIn(300); p1 : MISSION_PLANER.bufferPoint.p1,
if (MISSION_PLANER.bufferPoint.p1 > 0) { p2 : MISSION_PLANER.bufferPoint.p2,
$('#rthLanding').prop('checked', true); p3 : MISSION_PLANER.bufferPoint.p3
};
} }
} else { console.log(pointFromBuffer);
var coord = ol.proj.fromLonLat([MISSION_PLANER.bufferPoint.lon, MISSION_PLANER.bufferPoint.lat]);
map.addLayer(addMarker(coord, MISSION_PLANER.bufferPoint.alt, MISSION_PLANER.bufferPoint.action, MISSION_PLANER.bufferPoint.p1));
if (pointForSend === 1) {
map.getView().setCenter(coord);
}
*/
var coord = ol.proj.fromLonLat([MISSION_PLANER.bufferPoint.lon, MISSION_PLANER.bufferPoint.lat]);
map.addLayer(addMarker(coord, MISSION_PLANER.bufferPoint.alt, MISSION_PLANER.bufferPoint.action, MISSION_PLANER.bufferPoint.p1));
if (pointForSend === 1) {
map.getView().setCenter(coord);
}
}
if (pointForSend >= MISSION_PLANER.countBusyPoints) { if (pointForSend >= MISSION_PLANER.countBusyPoints) {
Object.keys(pointFromBuffer).forEach(function(key) {
console.log(pointFromBuffer[key]);
console.log("Key : "+key);
if ([MWNP.WPTYPE.WAYPOINT,MWNP.WPTYPE.PH_UNLIM,MWNP.WPTYPE.PH_TIME,MWNP.WPTYPE.LAND, MWNP.WPTYPE.SET_POI].includes(pointFromBuffer[key].action)) {
if ((Number(key)+1) <= MISSION_PLANER.countBusyPoints) {
var coord = ol.proj.fromLonLat([pointFromBuffer[key].lon, pointFromBuffer[key].lat]);
if (pointFromBuffer[Number(key)+1].action == MWNP.WPTYPE.SET_HEAD) {
var options = {key: 'SET_HEAD',
heading: pointFromBuffer[Number(key)+1].p1
};
}
else if (pointFromBuffer[Number(key)+1].action == MWNP.WPTYPE.JUMP) {
var options = {key: 'JUMP',
targetWP: pointFromBuffer[Number(key)+1].p1,
numRepeat: pointFromBuffer[Number(key)+1].p2
};
}
else if (pointFromBuffer[Number(key)+1].action == MWNP.WPTYPE.RTH) {
var options = {key: 'RTH',
landAfter: pointFromBuffer[Number(key)+1].p1
};
}
else {
var options = {key: 'None'};
}
map.addLayer(addMarker(coord, pointFromBuffer[key].alt, pointFromBuffer[key].action, pointFromBuffer[key].p1, pointFromBuffer[key].p2, pointFromBuffer[key].p3, options));
if (key == 1) {
map.getView().setCenter(coord);
}
}
else {
var coord = ol.proj.fromLonLat([pointFromBuffer[key].lon, pointFromBuffer[key].lat]);
map.addLayer(addMarker(coord, pointFromBuffer[key].alt, pointFromBuffer[key].action, pointFromBuffer[key].p1, pointFromBuffer[key].p2, pointFromBuffer[key].p3));
if (key == 1) {
map.getView().setCenter(coord);
}
}
}
});
endGetPoint(); endGetPoint();
return; return;
} }
MISSION_PLANER.bufferPoint.number = pointForSend; MISSION_PLANER.bufferPoint.number = pointForSend;
pointForSend++; pointForSend++;
MSP.send_message(MSPCodes.MSP_WP, mspHelper.crunch(MSPCodes.MSP_WP), false, getNextPoint); MSP.send_message(MSPCodes.MSP_WP, mspHelper.crunch(MSPCodes.MSP_WP), false, getNextPoint);
@ -1427,8 +1479,87 @@ TABS.mission_control.initialize = function (callback) {
function sendNextPoint() { function sendNextPoint() {
//var isRTH = $('#rthEndMission').is(':checked'); //var isRTH = $('#rthEndMission').is(':checked');
console.log(pointForSend); console.log("Point : "+ (pointForSend+actionPointForSend));
if (pointForSend >= markers.length) {
if ((pointForSend) < markers.length) {
var geometry = markers[pointForSend].getSource().getFeatures()[0].getGeometry();
var coordinate = ol.proj.toLonLat(geometry.getCoordinates());
if (isOptions == false) {
if (markers[pointForSend].action == '5' || markers[pointForSend].action == '2' || markers[pointForSend].action == '8' ) {
MISSION_PLANER.bufferPoint.number = pointForSend + actionPointForSend + 1;
MISSION_PLANER.bufferPoint.action = markers[pointForSend].action;
MISSION_PLANER.bufferPoint.lon = parseInt(coordinate[0] * 10000000);
MISSION_PLANER.bufferPoint.lat = parseInt(coordinate[1] * 10000000);
MISSION_PLANER.bufferPoint.alt = markers[pointForSend].alt;
MISSION_PLANER.bufferPoint.p1 = 0;
MISSION_PLANER.bufferPoint.p2 = 0;
MISSION_PLANER.bufferPoint.p3 = 0;
}
else {
MISSION_PLANER.bufferPoint.number = pointForSend + actionPointForSend + 1;
MISSION_PLANER.bufferPoint.action = markers[pointForSend].action;
MISSION_PLANER.bufferPoint.lon = parseInt(coordinate[0] * 10000000);
MISSION_PLANER.bufferPoint.lat = parseInt(coordinate[1] * 10000000);
MISSION_PLANER.bufferPoint.alt = markers[pointForSend].alt;
MISSION_PLANER.bufferPoint.p1 = markers[pointForSend].parameter1;
MISSION_PLANER.bufferPoint.p2 = markers[pointForSend].parameter2;
MISSION_PLANER.bufferPoint.p3 = markers[pointForSend].parameter3;
}
if (markers[pointForSend].options.key != "None") {
isOptions = true
}
else {
isOptions = false
pointForSend++;
}
oldMarkers = markers[pointForSend]
MSP.send_message(MSPCodes.MSP_SET_WP, mspHelper.crunch(MSPCodes.MSP_SET_WP), false, sendNextPoint);
}
else if (isOptions == true) {
if ((pointForSend) < markers.length) {
if (oldMarkers.options.key == "JUMP") {
actionPointForSend++;
nonMarkerPoint.push(pointForSend);
MISSION_PLANER.bufferPoint.number = pointForSend + actionPointForSend + 1;
MISSION_PLANER.bufferPoint.action = String(MWNP.WPTYPE[oldMarkers.options.key]);
MISSION_PLANER.bufferPoint.lon = 0;
MISSION_PLANER.bufferPoint.lat = 0;
MISSION_PLANER.bufferPoint.alt = 0;
MISSION_PLANER.bufferPoint.p1 = Number(oldMarkers.options.targetWP)+getNumberOfNonMarkerForJump(nonMarkerPoint, Number(oldMarkers.options.targetWP)-2);
MISSION_PLANER.bufferPoint.p2 = Number(oldMarkers.options.numRepeat);
MISSION_PLANER.bufferPoint.p3 = 0;
}
else if (oldMarkers.options.key == "SET_HEAD") {
actionPointForSend++;
MISSION_PLANER.bufferPoint.number = pointForSend + actionPointForSend + 1;
MISSION_PLANER.bufferPoint.action = String(MWNP.WPTYPE[oldMarkers.options.key]);
MISSION_PLANER.bufferPoint.lon = 0;
MISSION_PLANER.bufferPoint.lat = 0;
MISSION_PLANER.bufferPoint.alt = 0;
MISSION_PLANER.bufferPoint.p1 = Number(oldMarkers.options.heading);
MISSION_PLANER.bufferPoint.p2 = 0;
MISSION_PLANER.bufferPoint.p3 = 0;
nonMarkerPoint.push(pointForSend);
}
else if (oldMarkers.options.key == "RTH") {
actionPointForSend++;
MISSION_PLANER.bufferPoint.number = pointForSend + actionPointForSend + 1;
MISSION_PLANER.bufferPoint.action = String(MWNP.WPTYPE[oldMarkers.options.key]);
MISSION_PLANER.bufferPoint.lon = 0;
MISSION_PLANER.bufferPoint.lat = 0;
MISSION_PLANER.bufferPoint.alt = Number(oldMarkers.alt);
MISSION_PLANER.bufferPoint.p1 = (Number(oldMarkers.options.landAfter)) ? 1: 0;
MISSION_PLANER.bufferPoint.p2 = 0;
MISSION_PLANER.bufferPoint.p3 = 0;
nonMarkerPoint.push(pointForSend);
}
isOptions = false;
pointForSend++;
MSP.send_message(MSPCodes.MSP_SET_WP, mspHelper.crunch(MSPCodes.MSP_SET_WP), false, sendNextPoint);
}
}
}
else {
/*if (isRTH) { /*if (isRTH) {
MISSION_PLANER.bufferPoint.number = pointForSend + 1; MISSION_PLANER.bufferPoint.number = pointForSend + 1;
MISSION_PLANER.bufferPoint.action = 4; MISSION_PLANER.bufferPoint.action = 4;
@ -1441,86 +1572,12 @@ TABS.mission_control.initialize = function (callback) {
} else { } else {
endSendPoint(); endSendPoint();
}*/ }*/
MISSION_PLANER.bufferPoint.endMission = 0xA5;
console.log("EndSendPoint");
endSendPoint(); endSendPoint();
return; return;
} }
var geometry = markers[pointForSend].getSource().getFeatures()[0].getGeometry();
var coordinate = ol.proj.toLonLat(geometry.getCoordinates());
if (markers[pointForSend].action == '5' || markers[pointForSend].action == '2' || markers[pointForSend].action == '8' ) {
MISSION_PLANER.bufferPoint.number = pointForSend + 1;
MISSION_PLANER.bufferPoint.action = markers[pointForSend].action;
MISSION_PLANER.bufferPoint.lon = parseInt(coordinate[0] * 10000000);
MISSION_PLANER.bufferPoint.lat = parseInt(coordinate[1] * 10000000);
MISSION_PLANER.bufferPoint.alt = markers[pointForSend].alt;
MISSION_PLANER.bufferPoint.p1 = 0;
MISSION_PLANER.bufferPoint.p2 = 0;
MISSION_PLANER.bufferPoint.p3 = 0;
pointForSend++;
}
else {
MISSION_PLANER.bufferPoint.number = pointForSend + 1;
MISSION_PLANER.bufferPoint.action = markers[pointForSend].action;
MISSION_PLANER.bufferPoint.lon = parseInt(coordinate[0] * 10000000);
MISSION_PLANER.bufferPoint.lat = parseInt(coordinate[1] * 10000000);
MISSION_PLANER.bufferPoint.alt = markers[pointForSend].alt;
MISSION_PLANER.bufferPoint.p1 = markers[pointForSend].parameter1;
MISSION_PLANER.bufferPoint.p2 = markers[pointForSend].parameter2;
MISSION_PLANER.bufferPoint.p3 = markers[pointForSend].parameter3;
pointForSend++;
}
if (markers[pointForSend].options.key == "JUMP") {
nonMarkerPoint.push(pointForSend);
MISSION_PLANER.bufferPoint.number = pointForSend + 1;
MISSION_PLANER.bufferPoint.action = MWNP.WPTYPE[markers[pointForSend].options.key];
MISSION_PLANER.bufferPoint.lon = 0;
MISSION_PLANER.bufferPoint.lat = 0;
MISSION_PLANER.bufferPoint.alt = 0;
MISSION_PLANER.bufferPoint.p1 = Number(markers[pointForSend].options.targetWP)+getNumberOfNonMarkerForJump(nonMarkerPoint, Number(markers[pointForSend].options.targetWP)-1);
MISSION_PLANER.bufferPoint.p2 = markers[pointForSend].options.numRepeat;
MISSION_PLANER.bufferPoint.p3 = 0;
pointForSend++;
}
else if (markers[pointForSend].options.key == "SET_HEAD") {
MISSION_PLANER.bufferPoint.number = pointForSend + 1;
MISSION_PLANER.bufferPoint.action = MWNP.WPTYPE[markers[pointForSend].options.key];
MISSION_PLANER.bufferPoint.lon = 0;
MISSION_PLANER.bufferPoint.lat = 0;
MISSION_PLANER.bufferPoint.alt = 0;
MISSION_PLANER.bufferPoint.p1 = markers[pointForSend].options.heading;
MISSION_PLANER.bufferPoint.p2 = 0;
MISSION_PLANER.bufferPoint.p3 = 0;
pointForSend++;
nonMarkerPoint.push(pointForSend);
}
else if (markers[pointForSend].options.key == "RTH") {
MISSION_PLANER.bufferPoint.number = pointForSend + 1;
MISSION_PLANER.bufferPoint.action = MWNP.WPTYPE[markers[pointForSend].options.key];
MISSION_PLANER.bufferPoint.lon = 0;
MISSION_PLANER.bufferPoint.lat = 0;
MISSION_PLANER.bufferPoint.alt = markers[pointForSend].alt;
MISSION_PLANER.bufferPoint.p1 = (markers[pointForSend].options.landAfter) ? 1: 0;
MISSION_PLANER.bufferPoint.p2 = 0;
MISSION_PLANER.bufferPoint.p3 = 0;
pointForSend++;
nonMarkerPoint.push(pointForSend);
};
/* if (pointForSend >= markers.length && !isRTH) {
MISSION_PLANER.bufferPoint.endMission = 0xA5;
} else {
MISSION_PLANER.bufferPoint.endMission = 0;
} */
if (pointForSend >= markers.length && !isRTH) {
MISSION_PLANER.bufferPoint.endMission = 0xA5;
} else {
MISSION_PLANER.bufferPoint.endMission = 0;
}
MSP.send_message(MSPCodes.MSP_SET_WP, mspHelper.crunch(MSPCodes.MSP_SET_WP), false, sendNextPoint);
} }
function endSendPoint() { function endSendPoint() {