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Add maximum PITCH and ROLL angles to the PID tuning tab
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- Add Pitch and Roll angles below the rates
- Add help messages indicating that these values constrain the
maximum inclination during navigation.
- Add help messages for navigation max bank/climb/dive angles
- Add help for pitch2thr
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@fiam
fiam committed Jul 9, 2018
1 parent b8fd957 commit be1cb6a
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Showing 10 changed files with 214 additions and 43 deletions.
43 changes: 35 additions & 8 deletions _locales/en/messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -957,6 +957,18 @@
"pidTuningYawRate": {
"message": "YAW rate"
},
"pidTuningMaxRollAngle": {
"message": "Max. ROLL angle"
},
"pidTuningMaxRollAngleHelp": {
"message": "Maximum ROLL angle in ANGLE mode. This also constrains the maximum bank in navigation modes."
},
"pidTuningMaxPitchAngle": {
"message": "Max. PITCH angle"
},
"pidTuningMaxPitchAngleHelp": {
"message": "Maximum PITCH angle in ANGLE mode. This also constrains the maximum climb and dive in navigation modes."
},
"pidTuningManualRollRate": {
"message": "Manual ROLL rate"
},
Expand Down Expand Up @@ -2176,8 +2188,8 @@
"dtermNotchCutoffHelp": {
"message": "Defines band of filter. <br><br>Has to be kept below notch filter frequency."
},
"positionHoldConfiguration": {
"message": "Basic Navigation Settings"
"multiRotorNavigationConfiguration": {
"message": "Multirotor Navigation Settings"
},
"userControlMode": {
"message": "User Control Mode"
Expand All @@ -2195,7 +2207,10 @@
"message": "Max. ALTHOLD climb rate [cm/s]"
},
"posholdMaxBankAngle": {
"message": "Multirotor max. banking angle [deg]"
"message": "Multirotor max. banking angle [degrees]"
},
"posholdMaxBankAngleHelp": {
"message": "Maximum banking angle in navigation modes. Constrained by maximum ROLL angle in PID tuning tab."
},
"posholdHoverThrottle": {
"message": "Hover throttle"
Expand Down Expand Up @@ -2300,22 +2315,34 @@
"message": "Max. throttle"
},
"maxBankAngle": {
"message": "Max. bank angle"
"message": "Max. bank angle [degrees]"
},
"maxBankAngleHelp": {
"message": "Maximum banking angle in navigation modes. Constrained by maximum ROLL angle in PID tuning tab."
},
"maxClimbAngle": {
"message": "Max. climb angle"
"message": "Max. climb angle [degrees]"
},
"maxClimbAngleHelp": {
"message": "Maximum climb angle in navigation modes. Constrained by maximum PITCH angle in PID tuning tab."
},
"maxDiveAngle": {
"message": "Max. dive angle"
"message": "Max. dive angle [degrees]"
},
"maxDiveAngleHelp": {
"message": "Maximum dive angle in navigation modes. Constrained by maximum PITCH angle in PID tuning tab."
},
"pitchToThrottle": {
"message": "Pitch to throttle ratio"
},
"pitchToThrottleHelp": {
"message": "In navigation modes, each degree of climb will add this many units to the cruise throttle. Conversely, each degree of diving will substract from it."
},
"loiterRadius": {
"message": "Loiter radius [cm]"
},
"fixedWingConfiguration": {
"message": "Fixed Wing Settings"
"fixedWingNavigationConfiguration": {
"message": "Fixed Wing Navigation Settings"
},
"osdLayoutDefault": {
"message": "Default Layout"
Expand Down
5 changes: 4 additions & 1 deletion js/fc.js
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,8 @@ var CONFIG,
DEBUG_TRACE,
MIXER_CONFIG,
BATTERY_CONFIG,
OUTPUT_MAPPING;
OUTPUT_MAPPING,
SETTINGS;

var FC = {
MAX_SERVO_RATE: 125,
Expand Down Expand Up @@ -508,6 +509,8 @@ var FC = {
RXFAIL_CONFIG = [];

OUTPUT_MAPPING = new OutputMappingCollection();

SETTINGS = {};
},
getOutputUsages: function() {
return {
Expand Down
12 changes: 12 additions & 0 deletions js/injected_methods.js
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Original file line number Diff line number Diff line change
Expand Up @@ -89,4 +89,16 @@ DataView.prototype.read32 = function() {
} else {
return null;
}
};

DataView.prototype.readString = function() {
var s = "";
while (this.byteLength > this.offset) {
var c = this.readU8();
if (!c) {
break;
}
s += String.fromCharCode(c);
}
return s;
};
3 changes: 3 additions & 0 deletions js/msp/MSPCodes.js
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Original file line number Diff line number Diff line change
Expand Up @@ -161,6 +161,9 @@ var MSPCodes = {
MSP2_COMMON_MOTOR_MIXER: 0x1005,
MSP2_COMMON_SET_MOTOR_MIXER: 0x1006,

MSP2_COMMON_SETTING_INFO: 0x1007,
MSP2_COMMON_PG_LIST: 0x1008,

MSPV2_INAV_STATUS: 0x2000,
MSPV2_INAV_OPTICAL_FLOW: 0x2001,
MSPV2_INAV_ANALOG: 0x2002,
Expand Down
156 changes: 131 additions & 25 deletions js/msp/MSPHelper.js
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Original file line number Diff line number Diff line change
Expand Up @@ -1347,6 +1347,8 @@ var mspHelper = (function (gui) {
break;
case MSPCodes.MSPV2_SETTING:
break;
case MSPCodes.MSP2_COMMON_SETTING_INFO:
break;
case MSPCodes.MSPV2_SET_SETTING:
console.log("Setting set");
break;
Expand Down Expand Up @@ -2859,20 +2861,74 @@ var mspHelper = (function (gui) {
};

self._getSetting = function (name) {
if (semver.lt(CONFIG.flightControllerVersion, '2.0.0')) {
return self._getLegacySetting(name);
}
if (SETTINGS[name]) {
return Promise.resolve(SETTINGS[name]);
}
var data = [];
self._encodeSettingReference(name, null, data);
return MSP.promise(MSPCodes.MSP2_COMMON_SETTING_INFO, data).then(function (result) {
const MODE_LOOKUP = 1 << 6;
var settingTypes = {
0: "uint8_t",
1: "int8_t",
2: "uint16_t",
3: "int16_t",
4: "uint32_t",
5: "float",
6: "string",
};
var setting = {};
// Discard PG ID
result.data.readU16();

var type = result.data.readU8();
setting.type = settingTypes[type];
if (!setting.type) {
console.log("Unknown setting type " + type + " for setting '" + name + "'");
return null;
}
// Discard section
result.data.readU8();
setting.mode = result.data.readU8();
setting.min = result.data.read32();
setting.max = result.data.readU32();

setting.index = result.data.readU16();

// Discard profile info
result.data.readU8();
result.data.readU8();

if (setting.mode == MODE_LOOKUP) {
var values = [];
for (var ii = setting.min; ii <= setting.max; ii++) {
values.push(result.data.readString());
}
setting.table = {values: values};
}
SETTINGS[name] = setting;
return setting;
});
}


self._getLegacySetting = function (name) {
var promise;
if (this._settings) {
promise = Promise.resolve(this._settings);
if (SETTINGS) {
promise = Promise.resolve(SETTINGS);
} else {
promise = new Promise(function (resolve, reject) {
var $this = this;
$.ajax({
url: chrome.runtime.getURL('/resources/settings.json'),
dataType: 'json',
error: function (jqXHR, text, error) {
reject(error);
},
success: function (data) {
$this._settings = data;
SETTINGS = data;
resolve(data);
}
});
Expand All @@ -2883,19 +2939,24 @@ var mspHelper = (function (gui) {
});
};

self._encodeSettingName = function (name, data) {
for (var ii = 0; ii < name.length; ii++) {
data.push(name.charCodeAt(ii));
self._encodeSettingReference = function (name, index, data) {
if (Number.isInteger(index)) {
data.push8(0);
data.push16(index);
} else {
for (var ii = 0; ii < name.length; ii++) {
data.push(name.charCodeAt(ii));
}
data.push(0);
}
data.push(0);
};

self.getSetting = function (name, callback) {
self.getSetting = function (name) {
var $this = this;
return this._getSetting(name).then(function (setting) {
var data = [];
$this._encodeSettingName(name, data);
MSP.send_message(MSPCodes.MSPV2_SETTING, data, false, function (resp) {
$this._encodeSettingReference(name, setting.index, data);
return MSP.promise(MSPCodes.MSPV2_SETTING, data).then(function (resp) {
var value;
switch (setting.type) {
case "uint8_t":
Expand Down Expand Up @@ -2925,15 +2986,12 @@ var mspHelper = (function (gui) {
if (setting.table) {
value = setting.table.values[value];
}
if (callback) {
callback(value, setting);
}
return {setting: setting, value: value};
});
});
};

self.encodeSetting = function (name, value) {
var $this = this;
return this._getSetting(name).then(function (setting) {
if (setting.table) {
var found = false;
Expand All @@ -2949,7 +3007,7 @@ var mspHelper = (function (gui) {
}
}
var data = [];
$this._encodeSettingName(name, data);
self._encodeSettingReference(name, setting.index, data);
switch (setting.type) {
case "uint8_t":
case "int8_t":
Expand All @@ -2975,9 +3033,38 @@ var mspHelper = (function (gui) {
});
};

self.setSetting = function (name, value, callback) {
self.setSetting = function (name, value) {
this.encodeSetting(name, value).then(function (data) {
MSP.send_message(MSPCodes.MSPV2_SET_SETTING, data, false, callback);
return MSP.promise(MSPCodes.MSPV2_SET_SETTING, data);
});
};

self.configureSettingInputs = function() {
var inputs = [];
$('input[data-setting!=""][data-setting]').each(function() {
inputs.push($(this));
});
return Promise.mapSeries(inputs, function (input, ii) {
var settingName = input.data("setting");
return self.getSetting(settingName).then(function (s) {
var multiplier = parseFloat(input.data('setting-multiplier') || 1);
input.attr("step", 1 / multiplier);
input.attr("min", s.setting.min / multiplier);
input.attr("max", s.setting.max / multiplier);
input.val((s.value / multiplier).toFixed(Math.log10(multiplier)));
});
});
};

self.saveSettingsInputs = function() {
var inputs = [];
$('input[data-setting!=""][data-setting]').each(function() {
inputs.push($(this));
});
return Promise.mapSeries(inputs, function (input, ii) {
var settingName = input.data("setting");
var multiplier = parseFloat(input.data('setting-multiplier') || 1);
return self.setSetting(settingName, parseFloat(input.val()) * multiplier);
});
};

Expand Down Expand Up @@ -3032,13 +3119,7 @@ var mspHelper = (function (gui) {
self.getCraftName = function(callback) {
if (semver.gt(CONFIG.flightControllerVersion, "1.8.0")) {
MSP.send_message(MSPCodes.MSP_NAME, false, false, function(resp) {
var name = "";
for (var ii = 0; ii < resp.data.byteLength; ii++) {
var c = resp.data.readU8();
if (c != 0) {
name += String.fromCharCode(c);
}
}
var name = resp.data.readString();
if (callback) {
callback(name);
}
Expand Down Expand Up @@ -3091,6 +3172,31 @@ var mspHelper = (function (gui) {
} else {
callback();
}
};

self.loadParameterGroups = function(callback) {
if (semver.gte(CONFIG.flightControllerVersion, "2.0.0")) {
MSP.send_message(MSPCodes.MSP2_COMMON_PG_LIST, false, false, function (resp) {
var groups = [];
while (resp.data.offset < resp.data.byteLength) {
var id = resp.data.readU16();
var start = resp.data.readU16();
var end = resp.data.readU16();
groups.push({id: id, start: start, end: end});
}
if (callback) {
callback(groups);
}
});
} else if (callback) {
callback();
}
};

self.processHtml = function(callback) {
return function() {
self.configureSettingInputs().then(callback);
};
}

return self;
Expand Down
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