get rid of drop ratio and PID controller

index.html

@@ -339,9 +339,6 @@
             <div>
                 <span id="hardware-roundtrip"> </span>
             </div>
-            <div>
-                <span id="drop-rate"> </span>
-            </div>
             <div>
                 <span data-i18n="statusbar_arming_flags"></span> <span class="arming-flags">-</span>
             </div>

js/pid_controller.js

@@ -1,130 +0,0 @@
-'use strict';
-
-
-var PidController = function () {
-
-    var self = {},
-        privateScope = {};
-
-    /**
-     *
-     * @type {number}
-     */
-    privateScope.target = null;
-
-    /**
-     *
-     * @type {{P: null, I: null, D: null}}
-     */
-    privateScope.gains = {
-        P: null,
-        I: null,
-        D: null
-    };
-
-    /**
-     *
-     * @type {number}
-     */
-    privateScope.Iterm = 0;
-
-    /**
-     *
-     * @type {{min: number, max: number}}
-     */
-    privateScope.ItermLimit = {
-        min: -1000,
-        max: 1000
-    };
-
-    /**
-     *
-     * @type {number}
-     */
-    privateScope.previousError = 0;
-
-    /**
-     *
-     * @type {{min: number, max: number, minThreshold: number}}
-     */
-    privateScope.output = {
-        min: null,
-        max: null,
-        minThreshold: null
-    };
-
-    /**
-     *
-     * @param {number} value
-     */
-    self.setTarget = function (value) {
-        privateScope.target = value;
-    };
-
-    /**
-     * @param {number} Pgain
-     * @param {number} Igain
-     * @param {number} Dgain
-     */
-    self.setGains = function (Pgain, Igain, Dgain) {
-        privateScope.gains.P = Pgain;
-        privateScope.gains.I = Igain;
-        privateScope.gains.D = Dgain;
-    };
-
-    /**
-     * Sets min and max value for output
-     * @param {number} min
-     * @param {number} max
-     * @param {number} minThreshold if output is below this value, [min] is returned
-     */
-    self.setOutput = function (min, max, minThreshold) {
-        privateScope.output.min = min;
-        privateScope.output.max = max;
-        privateScope.output.minThreshold = minThreshold;
-    };
-
-    /**
-     * Sets upper and lower limit for Iterm accumulator
-     * @param {number} min
-     * @param {number} max
-     */
-    self.setItermLimit = function (min, max) {
-        privateScope.ItermLimit.min = min;
-        privateScope.ItermLimit.max = max;
-    };
-
-    /**
-     * Executes PID controller based on current value and target
-     * @param {number} current
-     * @returns {number}
-     */
-    self.run = function (current) {
-        var error = current - privateScope.target,
-            Pterm = error * privateScope.gains.P,
-            Dterm = (error - privateScope.previousError) * privateScope.gains.D,
-            output;
-
-        privateScope.previousError = error;
-
-        privateScope.Iterm += error * privateScope.gains.I;
-        if (privateScope.Iterm > privateScope.ItermLimit.max) {
-            privateScope.Iterm = privateScope.ItermLimit.max;
-        } else if (privateScope.Iterm < privateScope.ItermLimit.min) {
-            privateScope.Iterm = privateScope.ItermLimit.min;
-        }
-
-        output = Pterm + privateScope.Iterm + Dterm;
-        if (output < privateScope.output.minThreshold) {
-            output = privateScope.output.min;
-        } else if (output > privateScope.output.max) {
-            output = privateScope.output.max;
-        }
-
-        return output;
-    };
-
-    return self;
-};
-
-module.exports = PidController;

js/serial_backend.js

@@ -477,7 +477,6 @@ var SerialBackend = (function () {
                     $('#msp-load').text("MSP load: " + mspQueue.getLoad().toFixed(1));
                     $('#msp-roundtrip').text("MSP round trip: " + mspQueue.getRoundtrip().toFixed(0));
                     $('#hardware-roundtrip').text("HW round trip: " + mspQueue.getHardwareRoundtrip().toFixed(0));
-                    $('#drop-rate').text("Drop ratio: " + mspQueue.getDropRatio().toFixed(0) + "%");
                 }, 100);
 
                 interval.add('global_data_refresh', periodicStatusUpdater.run, periodicStatusUpdater.getUpdateInterval(CONFIGURATOR.connection.bitrate), false);

js/serial_queue.js

@@ -3,7 +3,6 @@
 const CONFIGURATOR = require('./data_storage');
 const MSPCodes = require('./msp/MSPCodes');
 const SimpleSmoothFilter = require('./simple_smooth_filter');
-const PidController = require('./pid_controller');
 const eventFrequencyAnalyzer = require('./eventFrequencyAnalyzer');
 const mspDeduplicationQueue = require('./msp/mspDeduplicationQueue');
 
@@ -28,29 +27,9 @@ var mspQueue = function () {
 
     privateScope.currentLoad = 0;
 
-    /**
-     * PID controller used to perform throttling
-     * @type {PidController}
-     */
-    privateScope.loadPidController = new PidController();
-    privateScope.loadPidController.setTarget(privateScope.targetLoad);
-    privateScope.loadPidController.setOutput(0, 99, 0);
-    privateScope.loadPidController.setGains(5, 6, 3);
-    privateScope.loadPidController.setItermLimit(0, 90);
-
-    privateScope.dropRatio = 0;
-
     privateScope.removeCallback = null;
     privateScope.putCallback = null;
 
-    publicScope.computeDropRatio = function () {
-        privateScope.dropRatio = privateScope.loadPidController.run(publicScope.getLoad());
-    };
-
-    publicScope.getDropRatio = function () {
-        return privateScope.dropRatio;
-    };
-
     privateScope.queue = [];
 
     privateScope.softLock = false;
@@ -229,12 +208,10 @@ var mspQueue = function () {
      */
     publicScope.put = function (mspRequest) {
 
-        console.log('Received message ', mspRequest.code);
-
         const isMessageInQueue = mspDeduplicationQueue.check(mspRequest.code);
 
         if (isMessageInQueue) {
-            console.log('Message already in queue: ' + mspRequest.code);
+            eventFrequencyAnalyzer.put('MSP Duplicate ' + mspRequest.code);
             return false;
         }
 
@@ -286,7 +263,6 @@ var mspQueue = function () {
 
     publicScope.balancer = function () {
         privateScope.currentLoad = privateScope.loadFilter.get();
-        publicScope.computeDropRatio();
 
         /*
          * Also, check if port lock if hanging. Free is so