Fixed motor output values in motor tab.

10.3.x-maintenance
mikeller 2017-09-20 23:54:30 +12:00
parent 4f15aaeedf
commit 059fc18520
2 changed files with 240 additions and 251 deletions

2
.gitignore vendored
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@ -1,4 +1,6 @@
.DS_store .DS_store
nbproject/ nbproject/
.idea .idea
.project
.settings/

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@ -1,28 +1,28 @@
'use strict'; 'use strict';
TABS.motors = { TABS.motors = {
allowTestMode: false, feature3DEnabled: false,
feature3DEnabled: false, escProtocolIsDshot: false,
feature3DSupported: false, sensor: "gyro",
escProtocolIsDshot: false, sensorGyroRate: 20,
sensor: "gyro", sensorGyroScale: 2000,
sensorGyroRate: 20, sensorAccelRate: 20,
sensorGyroScale: 2000, sensorAccelScale: 2,
sensorAccelRate: 20, sensorSelectValues: {
sensorAccelScale: 2, "gyroScale": {"50":50,"100":100,"200":200,"300":300,"400":400,"500":500,"1000":1000,"2000":2000},
sensorSelectValues: { "accelScale": {"0.05":0.05,"0.1":0.1,"0.2":0.2,"0.3":0.3,"0.4":0.4,"0.5":0.5,"1":1,"2":2}
"gyroScale": {"50":50,"100":100,"200":200,"300":300,"400":400,"500":500,"1000":1000,"2000":2000}, },
"accelScale": {"0.05":0.05,"0.1":0.1,"0.2":0.2,"0.3":0.3,"0.4":0.4,"0.5":0.5,"1":1,"2":2} // These are translated into proper Dshot values on the flight controller
} DSHOT_DISARMED_VALUE: 1000,
DSHOT_MAX_VALUE: 2000,
DSHOT_3D_NEUTRAL: 1500
}; };
TABS.motors.initialize = function (callback) { TABS.motors.initialize = function (callback) {
var self = this; var self = this;
self.armed = false; self.armed = false;
self.feature3DSupported = false; self.escProtocolIsDshot = false;
self.allowTestMode = true;
self.feature3DSupported = true;
if (GUI.active_tab != 'motors') { if (GUI.active_tab != 'motors') {
GUI.active_tab = 'motors'; GUI.active_tab = 'motors';
@ -117,12 +117,12 @@ TABS.motors.initialize = function (callback) {
var helpers = {selector: selector, targetElement: $(selector), dynamicHeightDomain: !heightDomain}; var helpers = {selector: selector, targetElement: $(selector), dynamicHeightDomain: !heightDomain};
helpers.widthScale = d3.scale.linear() helpers.widthScale = d3.scale.linear()
.clamp(true) .clamp(true)
.domain([(sampleNumber - 299), sampleNumber]); .domain([(sampleNumber - 299), sampleNumber]);
helpers.heightScale = d3.scale.linear() helpers.heightScale = d3.scale.linear()
.clamp(true) .clamp(true)
.domain(heightDomain || [1, -1]); .domain(heightDomain || [1, -1]);
helpers.xGrid = d3.svg.axis(); helpers.xGrid = d3.svg.axis();
helpers.yGrid = d3.svg.axis(); helpers.yGrid = d3.svg.axis();
@ -130,32 +130,32 @@ TABS.motors.initialize = function (callback) {
updateGraphHelperSize(helpers); updateGraphHelperSize(helpers);
helpers.xGrid helpers.xGrid
.scale(helpers.widthScale) .scale(helpers.widthScale)
.orient("bottom") .orient("bottom")
.ticks(5) .ticks(5)
.tickFormat(""); .tickFormat("");
helpers.yGrid helpers.yGrid
.scale(helpers.heightScale) .scale(helpers.heightScale)
.orient("left") .orient("left")
.ticks(5) .ticks(5)
.tickFormat(""); .tickFormat("");
helpers.xAxis = d3.svg.axis() helpers.xAxis = d3.svg.axis()
.scale(helpers.widthScale) .scale(helpers.widthScale)
.ticks(5) .ticks(5)
.orient("bottom") .orient("bottom")
.tickFormat(function (d) {return d;}); .tickFormat(function (d) {return d;});
helpers.yAxis = d3.svg.axis() helpers.yAxis = d3.svg.axis()
.scale(helpers.heightScale) .scale(helpers.heightScale)
.ticks(5) .ticks(5)
.orient("left") .orient("left")
.tickFormat(function (d) {return d;}); .tickFormat(function (d) {return d;});
helpers.line = d3.svg.line() helpers.line = d3.svg.line()
.x(function (d) { return helpers.widthScale(d[0]); }) .x(function (d) { return helpers.widthScale(d[0]); })
.y(function (d) { return helpers.heightScale(d[1]); }); .y(function (d) { return helpers.heightScale(d[1]); });
return helpers; return helpers;
} }
@ -204,10 +204,6 @@ TABS.motors.initialize = function (callback) {
self.feature3DEnabled = FEATURE_CONFIG.features.isEnabled('3D'); self.feature3DEnabled = FEATURE_CONFIG.features.isEnabled('3D');
if (self.feature3DEnabled && !self.feature3DSupported) {
self.allowTestMode = false;
}
if (PID_ADVANCED_CONFIG.fast_pwm_protocol >= TABS.configuration.DSHOT_PROTOCOL_MIN_VALUE) { if (PID_ADVANCED_CONFIG.fast_pwm_protocol >= TABS.configuration.DSHOT_PROTOCOL_MIN_VALUE) {
self.escProtocolIsDshot = true; self.escProtocolIsDshot = true;
} else { } else {
@ -215,7 +211,7 @@ TABS.motors.initialize = function (callback) {
} }
$('#motorsEnableTestMode').prop('checked', false) $('#motorsEnableTestMode').prop('checked', false)
.prop('disabled', true); .prop('disabled', true);
update_model(MIXER_CONFIG.mixer); update_model(MIXER_CONFIG.mixer);
@ -224,23 +220,23 @@ TABS.motors.initialize = function (callback) {
// Setup variables // Setup variables
var samples_gyro_i = 0, var samples_gyro_i = 0,
gyro_data = initDataArray(3), gyro_data = initDataArray(3),
gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-2, 2]), gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-2, 2]),
gyro_max_read = [0, 0, 0]; gyro_max_read = [0, 0, 0];
var samples_accel_i = 0, var samples_accel_i = 0,
accel_data = initDataArray(3), accel_data = initDataArray(3),
accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-2, 2]), accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-2, 2]),
accel_max_read = [0, 0, 0], accel_max_read = [0, 0, 0],
accel_offset = [0, 0, 0], accel_offset = [0, 0, 0],
accel_offset_established = false; accel_offset_established = false;
var raw_data_text_ements = { var raw_data_text_ements = {
x: [], x: [],
y: [], y: [],
z: [], z: [],
rms: [] rms: []
}; };
$('.plot_control .x, .plot_control .y, .plot_control .z, .plot_control .rms').each(function () { $('.plot_control .x, .plot_control .y, .plot_control .z, .plot_control .rms').each(function () {
@ -259,231 +255,256 @@ TABS.motors.initialize = function (callback) {
// set refresh speeds according to configuration saved in storage // set refresh speeds according to configuration saved in storage
chrome.storage.local.get(['motors_tab_sensor_settings', 'motors_tab_gyro_settings', 'motors_tab_accel_settings'], function (result) { chrome.storage.local.get(['motors_tab_sensor_settings', 'motors_tab_gyro_settings', 'motors_tab_accel_settings'], function (result) {
if (result.motors_tab_sensor_settings) { if (result.motors_tab_sensor_settings) {
var sensor = result.motors_tab_sensor_settings.sensor; var sensor = result.motors_tab_sensor_settings.sensor;
$('.tab-motors select[name="sensor_choice"]').val(result.motors_tab_sensor_settings.sensor); $('.tab-motors select[name="sensor_choice"]').val(result.motors_tab_sensor_settings.sensor);
} }
if (result.motors_tab_gyro_settings) { if (result.motors_tab_gyro_settings) {
TABS.motors.sensorGyroRate = result.motors_tab_gyro_settings.rate; TABS.motors.sensorGyroRate = result.motors_tab_gyro_settings.rate;
TABS.motors.sensorGyroScale = result.motors_tab_gyro_settings.scale; TABS.motors.sensorGyroScale = result.motors_tab_gyro_settings.scale;
} }
if (result.motors_tab_accel_settings) { if (result.motors_tab_accel_settings) {
TABS.motors.sensorAccelRate = result.motors_tab_accel_settings.rate; TABS.motors.sensorAccelRate = result.motors_tab_accel_settings.rate;
TABS.motors.sensorAccelScale = result.motors_tab_accel_settings.scale; TABS.motors.sensorAccelScale = result.motors_tab_accel_settings.scale;
} }
$('.tab-motors .sensor select:first').change(); $('.tab-motors .sensor select:first').change();
}); });
function loadScaleSelector(selectorValues, selectedValue) { function loadScaleSelector(selectorValues, selectedValue) {
$('.tab-motors select[name="scale"]').find('option').remove(); $('.tab-motors select[name="scale"]').find('option').remove();
$.each(selectorValues, function(key, val) { $.each(selectorValues, function(key, val) {
$('.tab-motors select[name="scale"]').append(new Option(key, val)); $('.tab-motors select[name="scale"]').append(new Option(key, val));
}); });
$('.tab-motors select[name="scale"]').val(selectedValue); $('.tab-motors select[name="scale"]').val(selectedValue);
} }
function selectRefresh(refreshValue){ function selectRefresh(refreshValue){
$('.tab-motors select[name="rate"]').val(refreshValue); $('.tab-motors select[name="rate"]').val(refreshValue);
} }
$('.tab-motors .sensor select').change(function(){ $('.tab-motors .sensor select').change(function(){
TABS.motors.sensor = $('.tab-motors select[name="sensor_choice"]').val() TABS.motors.sensor = $('.tab-motors select[name="sensor_choice"]').val()
chrome.storage.local.set({'motors_tab_sensor_settings': {'sensor': TABS.motors.sensor}}); chrome.storage.local.set({'motors_tab_sensor_settings': {'sensor': TABS.motors.sensor}});
switch(TABS.motors.sensor){ switch(TABS.motors.sensor){
case "gyro": case "gyro":
loadScaleSelector(TABS.motors.sensorSelectValues.gyroScale, loadScaleSelector(TABS.motors.sensorSelectValues.gyroScale,
TABS.motors.sensorGyroScale); TABS.motors.sensorGyroScale);
selectRefresh(TABS.motors.sensorGyroRate); selectRefresh(TABS.motors.sensorGyroRate);
break; break;
case "accel": case "accel":
loadScaleSelector(TABS.motors.sensorSelectValues.accelScale, loadScaleSelector(TABS.motors.sensorSelectValues.accelScale,
TABS.motors.sensorAccelScale); TABS.motors.sensorAccelScale);
selectRefresh(TABS.motors.sensorAccelRate); selectRefresh(TABS.motors.sensorAccelRate);
break; break;
} }
$('.tab-motors .rate select:first').change(); $('.tab-motors .rate select:first').change();
}); });
$('.tab-motors .rate select, .tab-motors .scale select').change(function () { $('.tab-motors .rate select, .tab-motors .scale select').change(function () {
var rate = parseInt($('.tab-motors select[name="rate"]').val(), 10); var rate = parseInt($('.tab-motors select[name="rate"]').val(), 10);
var scale = parseFloat($('.tab-motors select[name="scale"]').val()); var scale = parseFloat($('.tab-motors select[name="scale"]').val());
GUI.interval_kill_all(['motor_and_status_pull']); GUI.interval_kill_all(['motor_and_status_pull']);
switch(TABS.motors.sensor) { switch(TABS.motors.sensor) {
case "gyro": case "gyro":
chrome.storage.local.set({'motors_tab_gyro_settings': {'rate': rate, 'scale': scale}}); chrome.storage.local.set({'motors_tab_gyro_settings': {'rate': rate, 'scale': scale}});
TABS.motors.sensorGyroRate = rate; TABS.motors.sensorGyroRate = rate;
TABS.motors.sensorGyroScale = scale; TABS.motors.sensorGyroScale = scale;
gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-scale, scale]); gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-scale, scale]);
GUI.interval_add('IMU_pull', function imu_data_pull() { GUI.interval_add('IMU_pull', function imu_data_pull() {
MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_gyro_graph); MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_gyro_graph);
}, rate, true); }, rate, true);
break; break;
case "accel": case "accel":
chrome.storage.local.set({'motors_tab_accel_settings': {'rate': rate, 'scale': scale}}); chrome.storage.local.set({'motors_tab_accel_settings': {'rate': rate, 'scale': scale}});
TABS.motors.sensorAccelRate = rate; TABS.motors.sensorAccelRate = rate;
TABS.motors.sensorAccelScale = scale; TABS.motors.sensorAccelScale = scale;
accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-scale, scale]); accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-scale, scale]);
GUI.interval_add('IMU_pull', function imu_data_pull() { GUI.interval_add('IMU_pull', function imu_data_pull() {
MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_accel_graph); MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_accel_graph);
}, rate, true); }, rate, true);
break; break;
} }
function update_accel_graph() { function update_accel_graph() {
if (!accel_offset_established) { if (!accel_offset_established) {
for (var i = 0; i < 3; i++) { for (var i = 0; i < 3; i++) {
accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1; accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1;
} }
accel_offset_established = true; accel_offset_established = true;
} }
var accel_with_offset = [ var accel_with_offset = [
accel_offset[0] + SENSOR_DATA.accelerometer[0], accel_offset[0] + SENSOR_DATA.accelerometer[0],
accel_offset[1] + SENSOR_DATA.accelerometer[1], accel_offset[1] + SENSOR_DATA.accelerometer[1],
accel_offset[2] + SENSOR_DATA.accelerometer[2] accel_offset[2] + SENSOR_DATA.accelerometer[2]
]; ];
updateGraphHelperSize(accel_helpers); updateGraphHelperSize(accel_helpers);
samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset); samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset);
drawGraph(accel_helpers, accel_data, samples_accel_i); drawGraph(accel_helpers, accel_data, samples_accel_i);
for (var i = 0; i < 3; i++) { 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]; if (Math.abs(accel_with_offset[i]) > Math.abs(accel_max_read[i])) accel_max_read[i] = accel_with_offset[i];
} }
computeAndUpdate(accel_with_offset, accel_data, accel_max_read); computeAndUpdate(accel_with_offset, accel_data, accel_max_read);
} }
function update_gyro_graph() { function update_gyro_graph() {
var gyro = [ var gyro = [
SENSOR_DATA.gyroscope[0], SENSOR_DATA.gyroscope[0],
SENSOR_DATA.gyroscope[1], SENSOR_DATA.gyroscope[1],
SENSOR_DATA.gyroscope[2] SENSOR_DATA.gyroscope[2]
]; ];
updateGraphHelperSize(gyro_helpers); updateGraphHelperSize(gyro_helpers);
samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, gyro); samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, gyro);
drawGraph(gyro_helpers, gyro_data, samples_gyro_i); drawGraph(gyro_helpers, gyro_data, samples_gyro_i);
for (var i = 0; i < 3; i++) { for (var i = 0; i < 3; i++) {
if (Math.abs(gyro[i]) > Math.abs(gyro_max_read[i])) gyro_max_read[i] = gyro[i]; if (Math.abs(gyro[i]) > Math.abs(gyro_max_read[i])) gyro_max_read[i] = gyro[i];
} }
computeAndUpdate(gyro, gyro_data, gyro_max_read); computeAndUpdate(gyro, gyro_data, gyro_max_read);
} }
function computeAndUpdate(sensor_data, data, max_read) { function computeAndUpdate(sensor_data, data, max_read) {
var sum = 0.0; var sum = 0.0;
for (var j = 0, jlength = data.length; j < jlength; j++) { for (var j = 0, jlength = data.length; j < jlength; j++) {
for (var k = 0, klength = data[j].length; k < klength; k++){ for (var k = 0, klength = data[j].length; k < klength; k++){
sum += data[j][k][1]*data[j][k][1]; sum += data[j][k][1]*data[j][k][1];
} }
} }
var rms = Math.sqrt(sum/(data[0].length+data[1].length+data[2].length)); var rms = Math.sqrt(sum/(data[0].length+data[1].length+data[2].length));
raw_data_text_ements.x[0].text(sensor_data[0].toFixed(2) + ' (' + max_read[0].toFixed(2) + ')'); raw_data_text_ements.x[0].text(sensor_data[0].toFixed(2) + ' (' + max_read[0].toFixed(2) + ')');
raw_data_text_ements.y[0].text(sensor_data[1].toFixed(2) + ' (' + max_read[1].toFixed(2) + ')'); raw_data_text_ements.y[0].text(sensor_data[1].toFixed(2) + ' (' + max_read[1].toFixed(2) + ')');
raw_data_text_ements.z[0].text(sensor_data[2].toFixed(2) + ' (' + max_read[2].toFixed(2) + ')'); raw_data_text_ements.z[0].text(sensor_data[2].toFixed(2) + ' (' + max_read[2].toFixed(2) + ')');
raw_data_text_ements.rms[0].text(rms.toFixed(4)); raw_data_text_ements.rms[0].text(rms.toFixed(4));
} }
}); });
$('a.reset_max').click(function () { $('a.reset_max').click(function () {
gyro_max_read = [0, 0, 0]; gyro_max_read = [0, 0, 0];
accel_max_read = [0, 0, 0]; accel_max_read = [0, 0, 0];
accel_offset_established = false; accel_offset_established = false;
}); });
var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8; var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8;
var rangeMin;
var rangeMax;
var neutral3d;
if (self.escProtocolIsDshot) {
rangeMin = self.DSHOT_DISARMED_VALUE;
rangeMax = self.DSHOT_MAX_VALUE;
neutral3d = self.DSHOT_3D_NEUTRAL;
} else {
rangeMin = MOTOR_CONFIG.mincommand;
rangeMax = MOTOR_CONFIG.maxthrottle;
//Arbitrary sanity checks
//Note: values may need to be revisited
neutral3d = (MOTOR_3D_CONFIG.neutral > 1575 || MOTOR_3D_CONFIG.neutral < 1425) ? 1500 : MOTOR_3D_CONFIG.neutral;
}
var motors_wrapper = $('.motors .bar-wrapper'), var motors_wrapper = $('.motors .bar-wrapper'),
servos_wrapper = $('.servos .bar-wrapper'); servos_wrapper = $('.servos .bar-wrapper');
for (var i = 0; i < 8; i++) { for (var i = 0; i < 8; i++) {
motors_wrapper.append('\ motors_wrapper.append('\
<div class="m-block motor-' + i + '">\ <div class="m-block motor-' + i + '">\
<div class="meter-bar">\ <div class="meter-bar">\
<div class="label"></div>\ <div class="label"></div>\
<div class="indicator">\ <div class="indicator">\
<div class="label">\ <div class="label">\
<div class="label"></div>\ <div class="label"></div>\
</div>\ </div>\
</div>\ </div>\
</div>\
</div>\ </div>\
</div>\
'); ');
servos_wrapper.append('\ servos_wrapper.append('\
<div class="m-block servo-' + (7 - i) + '">\ <div class="m-block servo-' + (7 - i) + '">\
<div class="meter-bar">\ <div class="meter-bar">\
<div class="label"></div>\ <div class="label"></div>\
<div class="indicator">\ <div class="indicator">\
<div class="label">\ <div class="label">\
<div class="label"></div>\ <div class="label"></div>\
</div>\ </div>\
</div>\ </div>\
</div>\
</div>\ </div>\
</div>\
'); ');
} }
$('div.sliders input').prop('min', MOTOR_CONFIG.mincommand) $('div.sliders input').prop('min', rangeMin)
.prop('max', MOTOR_CONFIG.maxthrottle); .prop('max', rangeMax);
$('div.values li:not(:last)').text(MOTOR_CONFIG.mincommand); $('div.values li:not(:last)').text(rangeMin);
if(self.feature3DEnabled && self.feature3DSupported) { // UI hooks
//Arbitrary sanity checks function setSlidersDefault() {
//Note: values may need to be revisited // change all values to default
if(MOTOR_3D_CONFIG.neutral > 1575 || MOTOR_3D_CONFIG.neutral < 1425) if (self.feature3DEnabled) {
MOTOR_3D_CONFIG.neutral = 1500; $('div.sliders input').val(neutral3d);
} else {
$('div.sliders input').val(MOTOR_3D_CONFIG.neutral); $('div.sliders input').val(rangeMin);
} else { }
$('div.sliders input').val(MOTOR_CONFIG.mincommand);
} }
if(self.allowTestMode){ setSlidersDefault();
// UI hooks
var buffering_set_motor = [],
buffer_delay = false;
$('div.sliders input:not(.master)').on('input', function () {
var index = $(this).index(), $('#motorsEnableTestMode').change(function () {
buffer = [], if ($(this).is(':checked')) {
i; $('div.sliders input').slice(0, number_of_valid_outputs).prop('disabled', false);
$('div.values li').eq(index).text($(this).val()); // unlock master slider
$('div.sliders input:last').prop('disabled', false);
} else {
setSlidersDefault();
for (i = 0; i < 8; i++) { // disable sliders / min max
var val = parseInt($('div.sliders input').eq(i).val()); $('div.sliders input').prop('disabled', true);
buffer.push16(val); }
}
buffering_set_motor.push(buffer); $('div.sliders input').trigger('input');
}).change();
if (!buffer_delay) { var buffering_set_motor = [],
buffer_delay = setTimeout(function () { buffer_delay = false;
buffer = buffering_set_motor.pop(); $('div.sliders input:not(.master)').on('input', function () {
var index = $(this).index(),
buffer = [];
MSP.send_message(MSPCodes.MSP_SET_MOTOR, buffer); $('div.values li').eq(index).text($(this).val());
buffering_set_motor = []; for (var i = 0; i < 8; i++) {
buffer_delay = false; var val = parseInt($('div.sliders input').eq(i).val());
}, 10); buffer.push16(val);
} }
});
} buffering_set_motor.push(buffer);
if (!buffer_delay) {
buffer_delay = setTimeout(function () {
buffer = buffering_set_motor.pop();
MSP.send_message(MSPCodes.MSP_SET_MOTOR, buffer);
buffering_set_motor = [];
buffer_delay = false;
}, 10);
}
});
$('div.sliders input.master').on('input', function () { $('div.sliders input.master').on('input', function () {
var val = $(this).val(); var val = $(this).val();
@ -493,33 +514,12 @@ TABS.motors.initialize = function (callback) {
$('div.sliders input:not(:last):first').trigger('input'); $('div.sliders input:not(:last):first').trigger('input');
}); });
$('#motorsEnableTestMode').change(function () {
if ($(this).is(':checked')) {
$('div.sliders input').slice(0, number_of_valid_outputs).prop('disabled', false);
// unlock master slider
$('div.sliders input:last').prop('disabled', false);
} else {
// disable sliders / min max
$('div.sliders input').prop('disabled', true);
// change all values to default
if (self.feature3DEnabled && self.feature3DSupported) {
$('div.sliders input').val(MOTOR_3D_CONFIG.neutral);
} else {
$('div.sliders input').val(MOTOR_CONFIG.mincommand);
}
$('div.sliders input').trigger('input');
}
});
// check if motors are already spinning // check if motors are already spinning
var motors_running = false; var motors_running = false;
for (var i = 0; i < number_of_valid_outputs; i++) { for (var i = 0; i < number_of_valid_outputs; i++) {
if (!self.feature3DEnabled) { if (!self.feature3DEnabled) {
if (MOTOR_DATA[i] > MOTOR_CONFIG.mincommand) { if (MOTOR_DATA[i] > rangeMin) {
motors_running = true; motors_running = true;
} }
} else { } else {
@ -530,7 +530,7 @@ TABS.motors.initialize = function (callback) {
} }
if (motors_running) { if (motors_running) {
if (!self.armed && self.allowTestMode) { if (!self.armed) {
$('#motorsEnableTestMode').prop('checked', true); $('#motorsEnableTestMode').prop('checked', true);
} }
// motors are running adjust sliders to current values // motors are running adjust sliders to current values
@ -554,12 +554,10 @@ TABS.motors.initialize = function (callback) {
// slide master slider if condition is valid // slide master slider if condition is valid
if (master_value) { if (master_value) {
$('div.sliders input.master').val(master_value) $('div.sliders input.master').val(master_value)
.trigger('input'); .trigger('input');
} }
} }
$('#motorsEnableTestMode').change();
// data pulling functions used inside interval timer // data pulling functions used inside interval timer
function get_status() { function get_status() {
@ -575,15 +573,7 @@ TABS.motors.initialize = function (callback) {
MSP.send_message(MSPCodes.MSP_SERVO, false, false, update_ui); MSP.send_message(MSPCodes.MSP_SERVO, false, false, update_ui);
} }
var full_block_scale; var full_block_scale = rangeMax - rangeMin;
var motorOffset;
if (self.escProtocolIsDshot) {
full_block_scale = 1000;
motorOffset = 1000;
} else {
full_block_scale = MOTOR_CONFIG.maxthrottle - MOTOR_CONFIG.mincommand;
motorOffset = MOTOR_CONFIG.mincommand;
}
function update_ui() { function update_ui() {
var previousArmState = self.armed; var previousArmState = self.armed;
@ -591,10 +581,10 @@ TABS.motors.initialize = function (callback) {
for (var i = 0; i < MOTOR_DATA.length; i++) { for (var i = 0; i < MOTOR_DATA.length; i++) {
var motorValue = MOTOR_DATA[i]; var motorValue = MOTOR_DATA[i];
var barHeight = motorValue - motorOffset, var barHeight = motorValue - rangeMin,
margin_top = block_height - (barHeight * (block_height / full_block_scale)).clamp(0, block_height), margin_top = block_height - (barHeight * (block_height / full_block_scale)).clamp(0, block_height),
height = (barHeight * (block_height / full_block_scale)).clamp(0, block_height), height = (barHeight * (block_height / full_block_scale)).clamp(0, block_height),
color = parseInt(barHeight * 0.009); color = parseInt(barHeight * 0.009);
$('.motor-' + i + ' .label', motors_wrapper).text(motorValue); $('.motor-' + i + ' .label', motors_wrapper).text(motorValue);
$('.motor-' + i + ' .indicator', motors_wrapper).css({ $('.motor-' + i + ' .indicator', motors_wrapper).css({
@ -607,24 +597,21 @@ TABS.motors.initialize = function (callback) {
// servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly // servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly
for (var i = 0; i < SERVO_DATA.length; i++) { for (var i = 0; i < SERVO_DATA.length; i++) {
var data = SERVO_DATA[i] - 1000, var data = SERVO_DATA[i] - 1000,
margin_top = block_height - (data * (block_height / 1000)).clamp(0, block_height), margin_top = block_height - (data * (block_height / 1000)).clamp(0, block_height),
height = (data * (block_height / 1000)).clamp(0, block_height), height = (data * (block_height / 1000)).clamp(0, block_height),
color = parseInt(data * 0.009); color = parseInt(data * 0.009);
$('.servo-' + i + ' .label', servos_wrapper).text(SERVO_DATA[i]); $('.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' : 'rgba(255,187,0,1'+ color +')'}); $('.servo-' + i + ' .indicator', servos_wrapper).css({'margin-top' : margin_top + 'px', 'height' : height + 'px', 'background-color' : 'rgba(255,187,0,1'+ color +')'});
} }
//keep the following here so at least we get a visual cue of our motor setup //keep the following here so at least we get a visual cue of our motor setup
update_arm_status(); update_arm_status();
if (!self.allowTestMode) return;
if (self.armed) { if (self.armed) {
$('#motorsEnableTestMode').prop('disabled', true) $('#motorsEnableTestMode').prop('disabled', true)
.prop('checked', false); .prop('checked', false);
} else { } else {
if (self.allowTestMode) { $('#motorsEnableTestMode').prop('disabled', false);
$('#motorsEnableTestMode').prop('disabled', false);
}
} }
if (previousArmState != self.armed) { if (previousArmState != self.armed) {