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inav-configurator
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Merge pull request #1848 from shota3527/sh_mixer_profile

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fix mixer_profie configurator issue
pull/1853/head
Paweł Spychalski 11 months ago committed by GitHub
parent 2fd54e8d34 0a9e1693a4
commit b460d20dad
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
15 changed files with 153 additions and 32 deletions
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24
_locales/en/messages.json
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@ -1584,6 +1584,9 @@
"pidTuning_gyro_dyn_lpf_max_hz_help": {
"message": "Defines the gyro LPF cutoff frequency at maximum throttle. When throttle is decreased, LPF cutoff frequency is decreased as well, down to the minimum cutoff frequency."
},
"loadedMixerProfile": {
"message": "Loaded Mixer Profile: <strong style=\"color: #37a8db\">$1</strong>, Check modes tab: MIXER PROFILE 2 if you don't see the changes"
},
"loadedBatteryProfile": {
"message": "Loaded Battery Profile: <strong style=\"color: #37a8db\">$1</strong>"
},
@ -4409,6 +4412,9 @@
"no_waypoints_to_save": {
"message": "No waypoints to save !"
},
"mixerThrottleWarning": {
"message": "Warning:value beyond normal operation range."
},
"servoMixer": {
"message": "Servo mixer"
},
@ -4892,6 +4898,12 @@
"motor_direction_inverted_hint": {
"message": "Enable if the motor direction is reversed and the props are mounted in the opposite direction."
},
"mixer_pid_profile_linking": {
"message": "PID Profile will use same index as Mixer Profile index"
},
"mixer_pid_profile_linking_hint": {
"message": "mixer_pid_profile_linking: Enable on both Mixer Profile if you want PID Profile switching handled by Mixer Profile switching(Recommend in vtol/mixed plaform type setup)"
},
"blackboxFields": {
"message": "Blackbox fields"
},
@ -5207,14 +5219,20 @@
"sensorDataFlashFreeSpace": {
"message": "Dataflash: free space"
},
"mixerProfile1": {
"message": "Mixer profile 1"
},
"mixerProfile2": {
"message": "Mixer profile 2"
},
"sensorProfile1": {
"message": "Profile 1"
"message": "PID profile 1"
},
"sensorProfile2": {
"message": "Profile 2"
"message": "PID profile 2"
},
"sensorProfile3": {
"message": "Profile 3"
"message": "PID profile 3"
},
"sensorBatteryProfile1": {
"message": "Battery profile 1"

9
js/defaults_dialog.js
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@ -822,10 +822,6 @@ helper.defaultsDialog = (function () {
key: "nav_fw_launch_climb_angle",
value: 25
},
{
key: "motorstop_on_low",
value: "ON"
},
],
},
{
@ -1039,10 +1035,6 @@ helper.defaultsDialog = (function () {
key: "nav_fw_launch_climb_angle",
value: 25
},
{
key: "motorstop_on_low",
value: "ON"
},
],
},
{
@ -1201,6 +1193,7 @@ helper.defaultsDialog = (function () {
MIXER_CONFIG.platformType = currentMixerPreset.platform;
MIXER_CONFIG.appliedMixerPreset = selectedDefaultPreset.mixerToApply;
MIXER_CONFIG.motorStopOnLow = (currentMixerPreset.motorStopOnLow === true) ? true : false;
MIXER_CONFIG.hasFlaps = (currentMixerPreset.hasFlaps === true) ? true : false;
SERVO_RULES.cleanup();

1
js/fc.js
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@ -118,6 +118,7 @@ var FC = {
i2cError: 0,
activeSensors: 0,
mode: [],
mixer_profile: 0,
profile: 0,
battery_profile: 0,
uid: [0, 0, 0],

1
js/gui.js
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@ -261,6 +261,7 @@ GUI_control.prototype.updateStatusBar = function() {
};
GUI_control.prototype.updateProfileChange = function() {
$('#mixerprofilechange').val(CONFIG.mixer_profile);
$('#profilechange').val(CONFIG.profile);
$('#batteryprofilechange').val(CONFIG.battery_profile);
};

9
js/model.js
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@ -350,6 +350,7 @@ const mixerList = [
enabled: true,
legacy: true,
platform: PLATFORM_AIRPLANE,
motorStopOnLow: true,
motorMixer: [
new MotorMixRule(1.0, 0.0, 0.0, 0.0),
],
@ -373,6 +374,7 @@ const mixerList = [
enabled: true,
legacy: false,
platform: PLATFORM_AIRPLANE,
motorStopOnLow: true,
motorMixer: [
new MotorMixRule(1.0, 0.0, 0.0, 0.1),
new MotorMixRule(1.0, 0.0, 0.0, -0.1)
@ -399,6 +401,7 @@ const mixerList = [
enabled: true,
legacy: true,
platform: PLATFORM_AIRPLANE,
motorStopOnLow: true,
hasFlaps: true,
motorMixer: [
new MotorMixRule(1.0, 0.0, 0.0, 0.0),
@ -427,6 +430,7 @@ const mixerList = [
enabled: true,
legacy: false,
platform: PLATFORM_AIRPLANE,
motorStopOnLow: true,
hasFlaps: true,
motorMixer: [
new MotorMixRule(1.0, 0.0, 0.0, 0.3),
@ -456,6 +460,7 @@ const mixerList = [
enabled: true,
legacy: false,
platform: PLATFORM_AIRPLANE,
motorStopOnLow: true,
hasFlaps: true,
motorMixer: [
new MotorMixRule(1.0, 0.0, 0.0, 0.0),
@ -486,6 +491,7 @@ const mixerList = [
enabled: true,
legacy: false,
platform: PLATFORM_AIRPLANE,
motorStopOnLow: true,
hasFlaps: true,
motorMixer: [
new MotorMixRule(1.0, 0.0, 0.0, 0.3),
@ -516,6 +522,7 @@ const mixerList = [
enabled: true,
legacy: false,
platform: PLATFORM_AIRPLANE,
motorStopOnLow: true,
motorMixer: [
new MotorMixRule(1.0, 0.0, 0.0, 0.0),
],
@ -542,6 +549,7 @@ const mixerList = [
legacy: false,
platform: PLATFORM_AIRPLANE,
hasFlaps: true,
motorStopOnLow: true,
motorMixer: [
new MotorMixRule(1.0, 0.0, 0.0, 0.0),
],
@ -568,6 +576,7 @@ const mixerList = [
enabled: false,
legacy: true,
platform: PLATFORM_AIRPLANE,
motorStopOnLow: true,
motorMixer: [],
servoMixer: []
}, // 24

6
js/motorMixRule.js
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@ -6,7 +6,7 @@ var MotorMixRule = function (throttle, roll, pitch, yaw) {
var self = {};
self.fromMsp = function (mspThrottle, mspRoll, mspPitch, mspYaw) {
throttle = mspThrottle / 1000;
throttle = Math.round(((mspThrottle / 1000) - 2) * 1000) / 1000;
roll = Math.round(((mspRoll / 1000) - 2) * 1000) / 1000;
pitch = Math.round(((mspPitch / 1000) - 2) * 1000) / 1000;
yaw = Math.round(((mspYaw / 1000) - 2) * 1000) / 1000;
@ -17,11 +17,11 @@ var MotorMixRule = function (throttle, roll, pitch, yaw) {
};
self.getThrottle = function () {
return constrain(parseFloat(throttle, 10), 0, 1);
return constrain(parseFloat(throttle, 10), -2, 2);
};
self.getThrottleForMsp = function () {
return self.getThrottle() * 1000;
return (self.getThrottle()+2) * 1000;
};
self.setThrottle = function (data) {

18
js/motorMixerRuleCollection.js
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@ -5,6 +5,7 @@ var MotorMixerRuleCollection = function () {
let self = {},
data = [],
inactiveData = [],
maxMotorCount = 8;
self.setMotorCount = function (value) {
@ -16,7 +17,11 @@ var MotorMixerRuleCollection = function () {
};
self.put = function (element) {
data.push(element);
if (data.length < self.getMotorCount()){
data.push(element);
}else{
inactiveData.push(element); //store the data for mixer_profile 2
}
};
self.get = function () {
@ -30,18 +35,25 @@ var MotorMixerRuleCollection = function () {
self.flush = function () {
data = [];
inactiveData = [];
};
self.cleanup = function () {
var tmpData = [];
var tmpInactiveData = [];
data.forEach(function (element) {
if (element.isUsed()) {
tmpData.push(element);
}
});
inactiveData.forEach(function (element) {
if (element.isUsed()) {
tmpInactiveData.push(element);
}
});
data = tmpData;
inactiveData = tmpInactiveData;
};
self.inflate = function () {
@ -55,7 +67,7 @@ var MotorMixerRuleCollection = function () {
};
self.getNumberOfConfiguredMotors = function () {
return data.length;
return data.length > inactiveData.length ? data.length : inactiveData.length;
};
return self;

4
js/msp/MSPCodes.js
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@ -243,5 +243,7 @@ var MSPCodes = {
MSP2_INAV_SET_RATE_DYNAMICS: 0x2061,
MSP2_INAV_EZ_TUNE: 0x2070,
MSP2_INAV_EZ_TUNE_SET: 0x2071
MSP2_INAV_EZ_TUNE_SET: 0x2071,
MSP2_INAV_SELECT_MIXER_PROFILE: 0x2080
};

4
js/msp/MSPHelper.js
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@ -79,6 +79,8 @@ var mspHelper = (function (gui) {
profile_byte = data.getUint8(offset++)
CONFIG.profile = profile_byte & 0x0F;
CONFIG.battery_profile = (profile_byte & 0xF0) >> 4;
profile_byte = data.getUint8(offset++)
CONFIG.mixer_profile = profile_byte & 0x0F;
CONFIG.armingFlags = data.getUint32(offset, true);
offset += 4;
gui.updateStatusBar();
@ -1454,7 +1456,7 @@ var mspHelper = (function (gui) {
case MSPCodes.MSP2_INAV_MIXER:
MIXER_CONFIG.yawMotorDirection = data.getInt8(0);
MIXER_CONFIG.yawJumpPreventionLimit = data.getUint8(1, true);
MIXER_CONFIG.motorStopOnLow = data.getUint8(2, true);
MIXER_CONFIG.motorStopOnLow = data.getUint8(1, true);
MIXER_CONFIG.platformType = data.getInt8(3);
MIXER_CONFIG.hasFlaps = data.getInt8(4);
MIXER_CONFIG.appliedMixerPreset = data.getInt16(5, true);

39
js/servoMixerRuleCollection.js
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@ -5,6 +5,7 @@ let ServoMixerRuleCollection = function () {
let self = {},
data = [],
inactiveData = [],
maxServoCount = 16;
self.setServoCount = function (value) {
@ -20,7 +21,11 @@ let ServoMixerRuleCollection = function () {
}
self.put = function (element) {
data.push(element);
if (data.length < self.getServoRulesCount()) {
data.push(element);
}else{
inactiveData.push(element); //store the data for mixer_profile 2
}
};
self.get = function () {
@ -34,18 +39,24 @@ let ServoMixerRuleCollection = function () {
self.flush = function () {
data = [];
inactiveData = [];
};
self.cleanup = function () {
var tmpData = [];
var tmpInactiveData = [];
data.forEach(function (element) {
if (element.isUsed()) {
tmpData.push(element);
}
});
inactiveData.forEach(function (element) {
if (element.isUsed()) {
tmpInactiveData.push(element);
}
});
data = tmpData;
inactiveData = tmpInactiveData;
};
self.inflate = function () {
@ -69,6 +80,15 @@ let ServoMixerRuleCollection = function () {
}
}
}
for (let ruleIndex in inactiveData) {
if (inactiveData.hasOwnProperty(ruleIndex)) {
let rule = inactiveData[ruleIndex];
if (rule.getTarget() == servoId && rule.isUsed()) {
return true;
}
}
}
return false;
};
@ -106,12 +126,17 @@ let ServoMixerRuleCollection = function () {
out.push(rule.getTarget());
}
}
for (let ruleIndex in inactiveData) {
if (inactiveData.hasOwnProperty(ruleIndex)) {
let rule = inactiveData[ruleIndex];
out.push(rule.getTarget());
}
}
let unique = [...new Set(out)];
return unique.sort(function(a, b) {
return a-b;
});
let minIndex = Math.min(...out);
let maxIndex = Math.max(...out);
return Array.from({ length: maxIndex - minIndex + 1 }, (_, index) => minIndex + index);
}
self.getNextUnusedIndex = function() {

11
main.css
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@ -1685,7 +1685,7 @@ dialog {
color: white;
font-size: 10px;
margin-top: 20px;
width: 269px;
width: 410px;
float: right;
margin-right: 10px;
line-height: 12px;
@ -1700,6 +1700,15 @@ dialog {
}
#mixer_profile_change {
color: white;
margin-top: 16px;
width: 130px;
float: left;
margin-right: 10px;
line-height: 12px;
}
#profile_change {
color: white;
margin-top: 16px;

10
main.html
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@ -87,6 +87,16 @@
<div class="legend" i18n="sensorDataFlashFreeSpace"></div>
</li>
</ul>
<div id="mixer_profile_change">
<div class="dropdown dropdown-dark">
<form name="mixer-profile-change" id="mixer-profile-change">
<select class="dropdown-select" id="mixerprofilechange">
<option value="0" i18n="mixerProfile1"></option>
<option value="1" i18n="mixerProfile2"></option>
</select>
</form>
</div>
</div>
<div id="profile_change">
<div class="dropdown dropdown-dark">
<form name="profile-change" id="profile-change">

13
main.js
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@ -548,6 +548,19 @@ $(document).ready(function () {
});
var mixerprofile_e = $('#mixerprofilechange');
mixerprofile_e.change(function () {
var mixerprofile = parseInt($(this).val());
MSP.send_message(MSPCodes.MSP2_INAV_SELECT_MIXER_PROFILE, [mixerprofile], false, function () {
GUI.log(chrome.i18n.getMessage('loadedMixerProfile', [mixerprofile + 1]));
MSP.send_message(MSPCodes.MSP_SET_REBOOT, false, false, function () {
GUI.log(chrome.i18n.getMessage('deviceRebooting'));
GUI.handleReconnect();
});
});
});
var profile_e = $('#profilechange');
profile_e.change(function () {

5
tabs/mixer.html
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@ -20,6 +20,11 @@
<label for="motor_direction_inverted"><span data-i18n="motor_direction_inverted"></span></label>
<div class="helpicon cf_tip" data-i18n_title="motor_direction_inverted_hint"></div>
</div>
<div class="checkbox">
<input id="mixer_pid_profile_linking" type="checkbox" class="toggle" data-setting="mixer_pid_profile_linking" />
<label for="mixer_pid_profile_linking"><span data-i18n="mixer_pid_profile_linking"></span></label>
<div class="helpicon cf_tip" data-i18n_title="mixer_pid_profile_linking_hint"></div>
</div>
</div>
</div>

31
tabs/mixer.js
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@ -170,8 +170,9 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
motors.push(outputPad);
} else {
let servo = servoRules.getServoMixRuleFromTarget(omIndex[1]);
if (servo == null) {continue;}
let divID = "servoPreview" + omIndex[1];
switch (parseInt(servo.getInput())) {
case INPUT_STABILIZED_PITCH:
case STABILIZED_PITCH_POSITIVE:
@ -435,7 +436,10 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
$motorMixTableBody.append('\
<tr>\
<td><span class="mix-rule-motor"></span></td>\
<td><input type="number" class="mix-rule-throttle" step="0.001" min="0" max="1" /></td>\
<td>\
<input type="number" class="mix-rule-throttle" step="0.001" min="-2" max="2" />\
<div class="throttle-warning-text" data-i18n="mixerThrottleWarning" ></div>\
</td>\
<td><input type="number" class="mix-rule-roll" step="0.001" min="-2" max="2" /></td>\
<td><input type="number" class="mix-rule-pitch" step="0.001" min="-2" max="2" /></td>\
<td><input type="number" class="mix-rule-yaw" step="0.001" min="-2" max="2" /></td>\
@ -446,9 +450,26 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
const $row = $motorMixTableBody.find('tr:last');
$row.find('.mix-rule-motor').html(index);
$row.find('.mix-rule-throttle').val(rule.getThrottle()).change(function () {
rule.setThrottle($(this).val());
});
const $throttleInput = $row.find('.mix-rule-throttle').val(rule.getThrottle());
const $warningBox = $row.find('.throttle-warning-text');
// Function to update throttle and show/hide warning box
function updateThrottle() {
rule.setThrottle($throttleInput.val());
// Change color if value exceeds 1
if (parseFloat($throttleInput.val()) > 1 || parseFloat($throttleInput.val()) < 0) {
$throttleInput.css('background-color', 'orange');
// Show warning box
$warningBox.show();
} else {
$throttleInput.css('background-color', ''); // Reset to default
// Hide warning box
$warningBox.hide();
}
}
updateThrottle();
$throttleInput.change(updateThrottle);
$row.find('.mix-rule-roll').val(rule.getRoll()).change(function () {
rule.setRoll($(this).val());
});

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