speedybac
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inav-configurator
mirror of https://github.com/iNavFlight/inav-configurator
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Load RPM

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dzikuvx-report-rpm
Pawel Spychalski (DzikuVx) 2 years ago
parent e19aa42952
commit b9611485ca
6 changed files with 160 additions and 157 deletions
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10
js/fc.js
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@ -64,7 +64,8 @@ var CONFIG,
SAFEHOMES,
BOARD_ALIGNMENT,
CURRENT_METER_CONFIG,
FEATURES;
FEATURES,
ESC_SENSOR_DATA;
var FC = {
restartRequired: false,
@ -532,7 +533,7 @@ var FC = {
boostSpeedThreshold: null,
boostDisengageSpeed: null,
bankAngle: null
}
};
RXFAIL_CONFIG = [];
@ -541,6 +542,11 @@ var FC = {
SETTINGS = {};
SAFEHOMES = new SafehomeCollection();
ESC_SENSOR_DATA = {
motors: 0,
rpm: []
}
},
getOutputUsages: function() {
return {

4
js/msp/MSPCodes.js
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@ -231,5 +231,7 @@ var MSPCodes = {
MSP2_INAV_SAFEHOME: 0x2038,
MSP2_INAV_SET_SAFEHOME: 0x2039,
MSP2_INAV_LOGIC_CONDITIONS_SINGLE: 0x203B
MSP2_INAV_LOGIC_CONDITIONS_SINGLE: 0x203B,
MSP2_INAV_ESC_RPM: 0x2040,
};

19
js/msp/MSPHelper.js
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@ -1465,6 +1465,14 @@ var mspHelper = (function (gui) {
console.log('Safehome points saved');
break;
case MSPCodes.MSP2_INAV_ESC_RPM:
ESC_SENSOR_DATA.motors = dataHandler.message_length_expected / 4;
for (i = 0; i < ESC_SENSOR_DATA.motors; i++) {
ESC_SENSOR_DATA.rpm[i] = data.getUint32((i * 4), true);
}
break;
default:
console.log('Unknown code detected: ' + dataHandler.code);
} else {
@ -3190,6 +3198,10 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_MOTOR, false, false, callback);
};
self.loadServos = function (callback) {
MSP.send_message(MSPCodes.MSP_SERVO, false, false, callback);
};
self.getCraftName = function (callback) {
MSP.send_message(MSPCodes.MSP_NAME, false, false, function (resp) {
var name = resp.data.readString();
@ -3263,6 +3275,13 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP2_INAV_PROGRAMMING_PID_STATUS, false, false, callback);
};
self.loadEscRpm = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_ESC_RPM, false, false, callback);
}
self.loadImuRaw = function (callback) {
MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, callback);
}
return self;
})(GUI);

1
js/msp_balanced_interval.js
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@ -55,7 +55,6 @@ helper.mspBalancedInterval = (function (mspQueue, intervalHandler) {
);
}
}
};
/**

281
tabs/outputs.js
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@ -20,7 +20,16 @@ TABS.outputs.initialize = function (callback) {
googleAnalytics.sendAppView('Outputs');
}
var loadChainer = new MSPChainerClass();
var loadChainer = new MSPChainerClass(),
statusChainer = new MSPChainerClass();
statusChainer.setChain([
mspHelper.loadEscRpm,
mspHelper.loadImuRaw,
mspHelper.loadMotors,
mspHelper.loadServos
]);
statusChainer.setExitPoint(onStatusPullDone);
loadChainer.setChain([
mspHelper.loadMiscV2,
@ -68,14 +77,126 @@ TABS.outputs.initialize = function (callback) {
Settings.saveInputs().then(onComplete);
}
let samples_accel_i = 0,
accel_data = initDataArray(3),
accel_max_read = [0, 0, 0],
accel_offset = [0, 0, 0],
accel_offset_established = false,
full_block_scale = MISC.maxthrottle - MISC.mincommand;
let motors_wrapper,
servos_wrapper,
$motorTitles,
$motorSliders,
$motorValues;
function update_accel_graph() {
if (!accel_offset_established) {
for (var i = 0; i < 3; i++) {
accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1;
}
accel_offset_established = true;
}
var accel_with_offset = [
accel_offset[0] + SENSOR_DATA.accelerometer[0],
accel_offset[1] + SENSOR_DATA.accelerometer[1],
accel_offset[2] + SENSOR_DATA.accelerometer[2]
];
samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset);
// Compute RMS of acceleration in displayed period of time
// This is particularly useful for motor balancing as it
// eliminates the need for external tools
var sum = 0.0;
for (var j = 0; j < accel_data.length; j++)
for (var k = 0; k < accel_data[j].length; k++)
sum += accel_data[j][k][1] * accel_data[j][k][1];
let rms = Math.sqrt(sum / (accel_data[0].length + accel_data[1].length + accel_data[2].length));
$(".acc-rms").text(rms.toFixed(4));
for (var i = 0; i < 3; i++) {
if (Math.abs(accel_with_offset[i]) > Math.abs(accel_max_read[i])) accel_max_read[i] = accel_with_offset[i];
}
}
function updateMotorsAndServos() {
var previousArmState = self.armed,
block_height = $('div.m-block:first').height(),
data,
margin_top,
height,
color,
i;
for (i = 0; i < MOTOR_DATA.length; i++) {
data = MOTOR_DATA[i] - MISC.mincommand;
margin_top = block_height - (data * (block_height / full_block_scale)).clamp(0, block_height);
height = (data * (block_height / full_block_scale)).clamp(0, block_height);
color = parseInt(data * 0.009);
$('.motor-' + i + ' .label', motors_wrapper).text(getMotorOutputValue(MOTOR_DATA[i]));
$('.motor-' + i + ' .indicator', motors_wrapper).css({ 'margin-top': margin_top + 'px', 'height': height + 'px', 'background-color': '#37a8db' + color + ')' });
}
// servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly
for (i = 0; i < SERVO_DATA.length; i++) {
data = SERVO_DATA[i] - 1000;
margin_top = block_height - (data * (block_height / 1000)).clamp(0, block_height);
height = (data * (block_height / 1000)).clamp(0, block_height);
color = parseInt(data * 0.009);
$('.servo-' + i + ' .label', servos_wrapper).text(SERVO_DATA[i]);
$('.servo-' + i + ' .indicator', servos_wrapper).css({ 'margin-top': margin_top + 'px', 'height': height + 'px', 'background-color': '#37a8db' + color + ')' });
}
//keep the following here so at least we get a visual cue of our motor setup
update_arm_status();
if (!self.allowTestMode) return;
if (self.armed) {
$motorsEnableTestMode.prop('disabled', true);
$motorsEnableTestMode.prop('checked', false);
} else {
if (self.allowTestMode) {
$motorsEnableTestMode.prop('disabled', false);
}
}
if (previousArmState != self.armed) {
console.log('arm state change detected');
$motorsEnableTestMode.change();
}
}
function onStatusPullDone() {
update_accel_graph();
$(".current-current").html(ANALOG.amperage.toFixed(2));
$(".current-voltage").html(ANALOG.voltage.toFixed(2));
updateMotorsAndServos();
}
function onLoad() {
self.feature3DEnabled = bit_check(FEATURES, 12);
// Always start with default/empty sensor data array, clean slate all
initSensorData();
process_motors();
process_servos();
processConfiguration();
helper.mspBalancedInterval.add('data_pull', 75, 4, function () {
statusChainer.execute();
});
finalize();
}
@ -166,8 +287,6 @@ TABS.outputs.initialize = function (callback) {
function showHideReversibleMotorInfo() {
const reversibleMotorEnabled = $reversibleMotorCheckbox.is(':checked');
console.log(reversibleMotorEnabled);
if (reversibleMotorEnabled) {
$reversibleMotorBox.show();
} else {
@ -397,6 +516,12 @@ TABS.outputs.initialize = function (callback) {
function process_motors() {
$motorsEnableTestMode = $('#motorsEnableTestMode');
motors_wrapper = $('.motors .bar-wrapper'),
servos_wrapper = $('.servos .bar-wrapper'),
$motorTitles = $('.motor-titles'),
$motorSliders = $('.motor-sliders'),
$motorValues = $('.motor-values');
if (self.feature3DEnabled && !self.feature3DSupported) {
self.allowTestMode = false;
}
@ -406,82 +531,6 @@ TABS.outputs.initialize = function (callback) {
update_model(MIXER_CONFIG.appliedMixerPreset);
// Always start with default/empty sensor data array, clean slate all
initSensorData();
// Setup variables
var samples_accel_i = 0,
accel_data = initDataArray(3),
accel_max_read = [0, 0, 0],
accel_offset = [0, 0, 0],
accel_offset_established = false;
let $rmsHelper = $(".acc-rms"),
$currentHelper = $(".current-current"),
$voltageHelper = $(".current-voltage");
// timer initialization
helper.interval.killAll(['motor_and_status_pull', 'global_data_refresh', 'msp-load-update']);
helper.mspBalancedInterval.flush();
helper.interval.add('IMU_pull', function () {
/*
* Enable balancer
*/
if (helper.mspQueue.shouldDrop()) {
update_accel_graph();
return;
}
MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_accel_graph);
}, 25, true);
helper.interval.add('ANALOG_pull', function () {
$currentHelper.html(ANALOG.amperage.toFixed(2));
$voltageHelper.html(ANALOG.voltage.toFixed(2));
}, 100, true);
function update_accel_graph() {
if (!accel_offset_established) {
for (var i = 0; i < 3; i++) {
accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1;
}
accel_offset_established = true;
}
var accel_with_offset = [
accel_offset[0] + SENSOR_DATA.accelerometer[0],
accel_offset[1] + SENSOR_DATA.accelerometer[1],
accel_offset[2] + SENSOR_DATA.accelerometer[2]
];
samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset);
// Compute RMS of acceleration in displayed period of time
// This is particularly useful for motor balancing as it
// eliminates the need for external tools
var sum = 0.0;
for (var j = 0; j < accel_data.length; j++)
for (var k = 0; k < accel_data[j].length; k++)
sum += accel_data[j][k][1] * accel_data[j][k][1];
let rms = Math.sqrt(sum / (accel_data[0].length + accel_data[1].length + accel_data[2].length));
$rmsHelper.text(rms.toFixed(4));
for (var i = 0; i < 3; i++) {
if (Math.abs(accel_with_offset[i]) > Math.abs(accel_max_read[i])) accel_max_read[i] = accel_with_offset[i];
}
}
let motors_wrapper = $('.motors .bar-wrapper'),
servos_wrapper = $('.servos .bar-wrapper'),
$motorTitles = $('.motor-titles'),
$motorSliders = $('.motor-sliders'),
$motorValues = $('.motor-values');
for (let i = 0; i < MOTOR_RULES.getNumberOfConfiguredMotors(); i++) {
const motorNumber = i + 1;
motors_wrapper.append('\
@ -651,79 +700,7 @@ TABS.outputs.initialize = function (callback) {
}
}
$motorsEnableTestMode.change();
function getPeriodicMotorOutput() {
if (helper.mspQueue.shouldDrop()) {
getPeriodicServoOutput();
return;
}
MSP.send_message(MSPCodes.MSP_MOTOR, false, false, getPeriodicServoOutput);
}
function getPeriodicServoOutput() {
if (helper.mspQueue.shouldDrop()) {
update_ui();
return;
}
MSP.send_message(MSPCodes.MSP_SERVO, false, false, update_ui);
}
var full_block_scale = MISC.maxthrottle - MISC.mincommand;
function update_ui() {
var previousArmState = self.armed,
block_height = $('div.m-block:first').height(),
data,
margin_top,
height,
color,
i;
for (i = 0; i < MOTOR_DATA.length; i++) {
data = MOTOR_DATA[i] - MISC.mincommand;
margin_top = block_height - (data * (block_height / full_block_scale)).clamp(0, block_height);
height = (data * (block_height / full_block_scale)).clamp(0, block_height);
color = parseInt(data * 0.009);
$('.motor-' + i + ' .label', motors_wrapper).text(getMotorOutputValue(MOTOR_DATA[i]));
$('.motor-' + i + ' .indicator', motors_wrapper).css({ 'margin-top': margin_top + 'px', 'height': height + 'px', 'background-color': '#37a8db' + color + ')' });
}
// servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly
for (i = 0; i < SERVO_DATA.length; i++) {
data = SERVO_DATA[i] - 1000;
margin_top = block_height - (data * (block_height / 1000)).clamp(0, block_height);
height = (data * (block_height / 1000)).clamp(0, block_height);
color = parseInt(data * 0.009);
$('.servo-' + i + ' .label', servos_wrapper).text(SERVO_DATA[i]);
$('.servo-' + i + ' .indicator', servos_wrapper).css({ 'margin-top': margin_top + 'px', 'height': height + 'px', 'background-color': '#37a8db' + color + ')' });
}
//keep the following here so at least we get a visual cue of our motor setup
update_arm_status();
if (!self.allowTestMode) return;
if (self.armed) {
$motorsEnableTestMode.prop('disabled', true);
$motorsEnableTestMode.prop('checked', false);
} else {
if (self.allowTestMode) {
$motorsEnableTestMode.prop('disabled', false);
}
}
if (previousArmState != self.armed) {
console.log('arm state change detected');
$motorsEnableTestMode.change();
}
}
// enable Status and Motor data pulling
helper.interval.add('motor_and_status_pull', getPeriodicMotorOutput, 100, true);
$motorsEnableTestMode.change();
}
function finalize() {

2
tabs/programming.js
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@ -58,7 +58,7 @@ TABS.programming.initialize = function (callback, scrollPosition) {
GUI.log(chrome.i18n.getMessage('programmingEepromSaved'));
});
helper.mspBalancedInterval.add('logic_conditions_pull', 100, 1, function () {
helper.mspBalancedInterval.add('logic_conditions_pull', 100, 3, function () {
statusChainer.execute();
});

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