Michael Keller
GitHub
commit
70dee138f1
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@ -1428,12 +1428,6 @@
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"servosEepromSave": {
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"message": "EEPROM <span style=\"color: #ffbb00\">saved</span>"
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},
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"motorsGyroscope": {
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"message": "Gyroscope - "
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},
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"motorsGyroscopeReset": {
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"message": "[Reset]"
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},
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"gpsHead": {
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"message": "GPS"
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},
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117
tabs/motors.css
117
tabs/motors.css
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@ -1,4 +1,4 @@
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.tab-motors .modelAndGyro {
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.tab-motors .modelAndGraph {
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float: left;
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width: 100%;
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margin-bottom: 0px;
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@ -9,7 +9,7 @@
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margin: 10px;
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}
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.tab-motors #gyro {
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.tab-motors #graph {
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float: left;
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width: calc(100% - 292px);
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}
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@ -25,107 +25,90 @@
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margin-left: 10px;
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}
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/*Plot Control*/
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.tab-motors .plot_control {
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float: right;
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width: 160px;
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/* border: 1px solid silver; */
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height: 100%;
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height: 180px;
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margin: 0px;
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background-color: #ECECEC;
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border-top-right-radius: 3px;
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border-bottom-right-radius: 3px;
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}
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.tab-motors .plot_control .title {
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line-height: 20px;
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font-weight: bold;
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padding-left: 10px;
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padding-top: 10px;
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text-align: left;
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.tab-motors .plot_control .table {
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display:table;
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width: 100%;
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table-layout:fixed;
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border-collapse:separate;
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border-spacing:5px;
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box-sizing: border-box;
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}
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.tab-motors .plot_control dl {
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padding: 10px 10px 0 10px;
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line-height: 22px;
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float: left;
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.tab-motors .plot-control .sensor {
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}
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.tab-motors .plot_control dt {
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float: left;
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width: 60px;
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height: 22px;
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font-weight: bold;
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.tab-motors .plot_control .row-container {
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display: table-row-group;
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}
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.tab-motors .plot_control dd {
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/* margin-left: 20px; */
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height: 25px;
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float: right;
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width: 73px;
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.tab-motors .plot_control .motor-button a {
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background-color: #ffbb00;
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border-radius: 3px;
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border: 1px solid #e8b423;
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color: #000;
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font-family: 'open_sansbold', Arial;
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font-size: 10px;
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line-height: 17px;
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text-shadow: 0px 1px rgba(255, 255, 255, 0.25);
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text-transform: uppercase;
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letter-spacing: 0.03em;
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display: block;
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text-align: center;
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}
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.tab-motors .plot_control .row {
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display: table-row;
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}
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.tab-motors .plot_control .left-cell {
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display: table-cell;
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vertical-align: middle;
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}
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.tab-motors .plot_control .right-cell {
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display: table-cell;
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vertical-align: middle;
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text-align: right;
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width: 95px;
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font-size: smaller;
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}
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.tab-motors .plot_control select {
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float: right;
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width: 80px;
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border: 1px solid silver;
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width: 100%;
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border: 1px solid silver;
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}
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.tab-motors .plot_control .value {
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padding: 3px;
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color: #fff;
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border-radius: 3px;
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}
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.tab-motors .plot_control .x {
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background-color: #00A8F0;
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padding: 3px;
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color: #fff;
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height: 12px;
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float: right;
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border-radius: 3px;
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line-height: 12px;
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margin-bottom: 2px;
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text-align: right;
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}
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.tab-motors .plot_control .y {
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background-color: #C0D800;
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padding: 3px;
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color: #fff;
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height: 12px;
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float: right;
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border-radius: 3px;
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line-height: 12px;
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margin-bottom: 2px;
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text-align: right;
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}
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.tab-motors .plot_control .z {
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background-color: #CB4B4B;
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padding: 3px;
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color: #fff;
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height: 12px;
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float: right;
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border-radius: 3px;
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line-height: 12px;
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margin-bottom: 2px;
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text-align: right;
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}
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.tab-motors .plot_control .rms {
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background-color: #00D800;
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padding: 3px;
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color: #fff;
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height: 12px;
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float: right;
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border-radius: 3px;
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line-height: 12px;
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margin-bottom: 2px;
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text-align: right;
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}
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.tab-motors .plot_control .x, .tab-sensors .plot_control .y, .tab-sensors .plot_control .z {
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text-align: right;
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}
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.tab-motors .plot_control .title a:hover {
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text-decoration: underline;
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}
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/*Motors*/
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.tab-motors svg {
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float: left;
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136
tabs/motors.html
136
tabs/motors.html
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@ -5,61 +5,101 @@
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<a id="button-documentation" href="https://github.com/betaflight/betaflight/releases" target="_blank"></a>
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</div>
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<div class="gui_box grey" style="margin-bottom: 15px;">
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<div class="wrapper modelAndGyro">
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<div class="wrapper modelAndGraph">
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<div class="mixerPreview">
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<img src="./resources/motor_order/custom.svg" />
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</div>
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<svg id="gyro">
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<g class="grid x" transform="translate(40, 120)"></g>
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<g class="grid y" transform="translate(40, 10)"></g>
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<g class="data" transform="translate(41, 10)"></g>
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<g class="axis x" transform="translate(40, 120)"></g>
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<g class="axis y" transform="translate(40, 10)"></g>
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</svg>
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<svg id="graph">
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<g class="grid x" transform="translate(40, 120)"></g>
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<g class="grid y" transform="translate(40, 10)"></g>
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<g class="data" transform="translate(41, 10)"></g>
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<g class="axis x" transform="translate(40, 120)"></g>
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<g class="axis y" transform="translate(40, 10)"></g>
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</svg>
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<div class="plot_control">
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<div class="title">
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<span class="title" i18n="motorsGyroscope"/>
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<a class="reset_gyro_max" href="#" title="Reset overtime maximum" i18n="motorsGyroscopeReset"/>
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<div class="table">
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<div class="sensor row">
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<div class="left-cell motor-button">
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<a class="reset_max" href="#" title="Reset overtime maximum">Reset</a>
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</div>
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<dl>
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<dt i18n="sensorsRefresh"></dt>
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<dd class="rate">
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<select name="gyro_refresh_rate">
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<option value="10">10 ms</option>
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<option value="20" selected="selected">20 ms</option>
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<option value="30">30 ms</option>
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<option value="40">40 ms</option>
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<option value="50">50 ms</option>
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<option value="100">100 ms</option>
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<option value="250">250 ms</option>
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<option value="500">500 ms</option>
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<option value="1000">1000 ms</option>
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</select>
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</dd>
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<dt i18n="sensorsScale"></dt>
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<dd class="scale">
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<select name="gyro_scale">
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<option value="50">50</option>
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<option value="100">100</option>
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<option value="200">200</option>
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<option value="300">300</option>
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<option value="400">400</option>
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<option value="500">500</option>
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<option value="1000">1000</option>
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<option value="2000" selected="selected">2000</option>
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</select>
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</dd>
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<dt>X:</dt>
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<dd class="x">0</dd>
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<dt>Y:</dt>
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<dd class="y">0</dd>
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<dt>Z:</dt>
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<dd class="z">0</dd>
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<dt>RMS:</dt>
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<dd class="rms">0</dd>
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</dl>
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<div class="right-cell">
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<select name="sensor_choice">
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<option value="gyro" selected="selected">Gyro</option>
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<option value="accel">Accel</option>
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</select>
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</div>
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</div>
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<div class="row-container">
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<div class="row">
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<div class="left-cell">
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<div i18n="sensorsRefresh"></div>
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</div>
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<div class="rate right-cell">
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<select name="rate">
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<option value="10">10 ms</option>
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<option value="20">20 ms</option>
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<option value="30">30 ms</option>
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<option value="40">40 ms</option>
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<option value="50">50 ms</option>
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<option value="100">100 ms</option>
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<option value="250">250 ms</option>
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<option value="500">500 ms</option>
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<option value="1000">1000 ms</option>
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</select>
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</div>
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</div>
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<div class="row">
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<div class="left-cell">
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<div i18n="sensorsScale"></div>
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</div>
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<div class="scale right-cell">
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<select name="scale">
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</select>
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</div>
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</div>
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<div class="row">
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<div class="left-cell">
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X:
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</div>
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<div class="x value right-cell">
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0
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</div>
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</div>
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<div class="row">
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<div class="left-cell">
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Y:
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</div>
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<div class="y value right-cell">
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0
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</div>
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</div>
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<div class="row">
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<div class="left-cell">
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Z:
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</div>
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<div class="z value right-cell">
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0
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</div>
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</div>
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<div class="row">
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<div class="left-cell">
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RMS:
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</div>
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<div class="rms value right-cell">
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0
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</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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<div class="gui_box motorblock">
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<div class="spacer">
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206
tabs/motors.js
206
tabs/motors.js
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@ -4,8 +4,18 @@ TABS.motors = {
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allowTestMode: false,
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feature3DEnabled: false,
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feature3DSupported: false,
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escProtocolIsDshot: false
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escProtocolIsDshot: false,
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sensor: "gyro",
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sensorGyroRate: 20,
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sensorGyroScale: 2000,
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sensorAccelRate: 20,
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sensorAccelScale: 2,
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sensorSelectValues: {
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"gyroScale": {"50":50,"100":100,"200":200,"300":300,"400":400,"500":500,"1000":1000,"2000":2000},
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"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}
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}
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};
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TABS.motors.initialize = function (callback) {
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var self = this;
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@ -57,6 +67,7 @@ TABS.motors.initialize = function (callback) {
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function initSensorData() {
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for (var i = 0; i < 3; i++) {
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SENSOR_DATA.accelerometer[i] = 0;
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SENSOR_DATA.gyroscope[i] = 0;
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}
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}
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@ -150,6 +161,7 @@ TABS.motors.initialize = function (callback) {
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}
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function drawGraph(graphHelpers, data, sampleNumber) {
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var svg = d3.select(graphHelpers.selector);
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if (graphHelpers.dynamicHeightDomain) {
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@ -212,9 +224,17 @@ TABS.motors.initialize = function (callback) {
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// Setup variables
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var samples_gyro_i = 0,
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gyro_data = initDataArray(3),
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gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-2, 2]),
|
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gyro_max_read = [0, 0, 0];
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gyro_data = initDataArray(3),
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gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-2, 2]),
|
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gyro_max_read = [0, 0, 0];
|
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|
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var samples_accel_i = 0,
|
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accel_data = initDataArray(3),
|
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accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-2, 2]),
|
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accel_max_read = [0, 0, 0],
|
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accel_offset = [0, 0, 0],
|
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accel_offset_established = false;
|
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|
||||
|
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var raw_data_text_ements = {
|
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x: [],
|
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|
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@ -237,69 +257,153 @@ TABS.motors.initialize = function (callback) {
|
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});
|
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|
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// set refresh speeds according to configuration saved in storage
|
||||
chrome.storage.local.get('motors_tab_gyro_settings', function (result) {
|
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if (result.motors_tab_gyro_settings) {
|
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$('.tab-motors select[name="gyro_refresh_rate"]').val(result.motors_tab_gyro_settings.rate);
|
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$('.tab-motors select[name="gyro_scale"]').val(result.motors_tab_gyro_settings.scale);
|
||||
|
||||
// start polling data by triggering refresh rate change event
|
||||
$('.tab-motors .rate select:first').change();
|
||||
} else {
|
||||
// start polling immediatly (as there is no configuration saved in the storage)
|
||||
$('.tab-motors .rate select:first').change();
|
||||
chrome.storage.local.get(['motors_tab_sensor_settings', 'motors_tab_gyro_settings', 'motors_tab_accel_settings'], function (result) {
|
||||
if (result.motors_tab_sensor_settings) {
|
||||
var sensor = 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) {
|
||||
TABS.motors.sensorGyroRate = result.motors_tab_gyro_settings.rate;
|
||||
TABS.motors.sensorGyroScale = result.motors_tab_gyro_settings.scale;
|
||||
}
|
||||
|
||||
if (result.motors_tab_accel_settings) {
|
||||
TABS.motors.sensorAccelRate = result.motors_tab_accel_settings.rate;
|
||||
TABS.motors.sensorAccelScale = result.motors_tab_accel_settings.scale;
|
||||
}
|
||||
$('.tab-motors .sensor select:first').change();
|
||||
});
|
||||
|
||||
|
||||
function loadScaleSelector(selectorValues, selectedValue) {
|
||||
$('.tab-motors select[name="scale"]').find('option').remove();
|
||||
|
||||
$.each(selectorValues, function(key, val) {
|
||||
$('.tab-motors select[name="scale"]').append(new Option(key, val));
|
||||
});
|
||||
|
||||
$('.tab-motors select[name="scale"]').val(selectedValue);
|
||||
}
|
||||
|
||||
function selectRefresh(refreshValue){
|
||||
$('.tab-motors select[name="rate"]').val(refreshValue);
|
||||
}
|
||||
|
||||
$('.tab-motors .sensor select').change(function(){
|
||||
TABS.motors.sensor = $('.tab-motors select[name="sensor_choice"]').val()
|
||||
chrome.storage.local.set({'motors_tab_sensor_settings': {'sensor': TABS.motors.sensor}});
|
||||
|
||||
switch(TABS.motors.sensor){
|
||||
case "gyro":
|
||||
loadScaleSelector(TABS.motors.sensorSelectValues.gyroScale,
|
||||
TABS.motors.sensorGyroScale);
|
||||
selectRefresh(TABS.motors.sensorGyroRate);
|
||||
break;
|
||||
case "accel":
|
||||
loadScaleSelector(TABS.motors.sensorSelectValues.accelScale,
|
||||
TABS.motors.sensorAccelScale);
|
||||
selectRefresh(TABS.motors.sensorAccelRate);
|
||||
break;
|
||||
}
|
||||
|
||||
$('.tab-motors .rate select:first').change();
|
||||
});
|
||||
|
||||
|
||||
$('.tab-motors .rate select, .tab-motors .scale select').change(function () {
|
||||
var rate = parseInt($('.tab-motors select[name="gyro_refresh_rate"]').val(), 10);
|
||||
var scale = parseFloat($('.tab-motors select[name="gyro_scale"]').val());
|
||||
var rate = parseInt($('.tab-motors select[name="rate"]').val(), 10);
|
||||
var scale = parseFloat($('.tab-motors select[name="scale"]').val());
|
||||
|
||||
// store current/latest refresh rates in the storage
|
||||
chrome.storage.local.set({'motors_tab_gyro_settings': {'rate': rate, 'scale': scale}});
|
||||
GUI.interval_kill_all(['motor_and_status_pull']);
|
||||
|
||||
gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-scale, scale]);
|
||||
switch(TABS.motors.sensor) {
|
||||
case "gyro":
|
||||
chrome.storage.local.set({'motors_tab_gyro_settings': {'rate': rate, 'scale': scale}});
|
||||
TABS.motors.sensorGyroRate = rate;
|
||||
TABS.motors.sensorGyroScale = scale;
|
||||
|
||||
// timer initialization
|
||||
GUI.interval_kill_all(['motor_and_status_pull']);
|
||||
gyro_helpers = initGraphHelpers('#graph', samples_gyro_i, [-scale, scale]);
|
||||
|
||||
GUI.interval_add('IMU_pull', function imu_data_pull() {
|
||||
MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_gyro_graph);
|
||||
}, rate, true);
|
||||
GUI.interval_add('IMU_pull', function imu_data_pull() {
|
||||
MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_gyro_graph);
|
||||
}, rate, true);
|
||||
break;
|
||||
case "accel":
|
||||
chrome.storage.local.set({'motors_tab_accel_settings': {'rate': rate, 'scale': scale}});
|
||||
TABS.motors.sensorAccelRate = rate;
|
||||
TABS.motors.sensorAccelScale = scale;
|
||||
accel_helpers = initGraphHelpers('#graph', samples_accel_i, [-scale, scale]);
|
||||
|
||||
function update_gyro_graph() {
|
||||
var gyro = [
|
||||
SENSOR_DATA.gyroscope[0],
|
||||
SENSOR_DATA.gyroscope[1],
|
||||
SENSOR_DATA.gyroscope[2]
|
||||
];
|
||||
GUI.interval_add('IMU_pull', function imu_data_pull() {
|
||||
MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_accel_graph);
|
||||
}, rate, true);
|
||||
break;
|
||||
}
|
||||
|
||||
updateGraphHelperSize(gyroHelpers);
|
||||
samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, gyro);
|
||||
drawGraph(gyroHelpers, gyro_data, samples_gyro_i);
|
||||
function update_accel_graph() {
|
||||
if (!accel_offset_established) {
|
||||
for (var i = 0; i < 3; i++) {
|
||||
accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1;
|
||||
}
|
||||
|
||||
// Compute RMS of gyroscope readings 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 < gyro_data.length; j++)
|
||||
for (var k = 0; k < gyro_data[j].length; k++)
|
||||
sum += gyro_data[j][k][1]*gyro_data[j][k][1];
|
||||
var rms = Math.sqrt(sum/(gyro_data[0].length+gyro_data[1].length+gyro_data[2].length));
|
||||
accel_offset_established = true;
|
||||
}
|
||||
|
||||
raw_data_text_ements.x[0].text(gyro[0].toFixed(2) + ' (' + gyro_max_read[0].toFixed(2) + ')');
|
||||
raw_data_text_ements.y[0].text(gyro[1].toFixed(2) + ' (' + gyro_max_read[1].toFixed(2) + ')');
|
||||
raw_data_text_ements.z[0].text(gyro[2].toFixed(2) + ' (' + gyro_max_read[2].toFixed(2) + ')');
|
||||
raw_data_text_ements.rms[0].text(rms.toFixed(4));
|
||||
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]
|
||||
];
|
||||
|
||||
for (var i = 0; i < 3; i++) {
|
||||
if (Math.abs(gyro[i]) > Math.abs(gyro_max_read[i])) gyro_max_read[i] = gyro[i];
|
||||
}
|
||||
updateGraphHelperSize(accel_helpers);
|
||||
samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset);
|
||||
drawGraph(accel_helpers, accel_data, samples_accel_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];
|
||||
}
|
||||
computeAndUpdate(accel_with_offset, accel_data, accel_max_read);
|
||||
|
||||
}
|
||||
|
||||
function update_gyro_graph() {
|
||||
var gyro = [
|
||||
SENSOR_DATA.gyroscope[0],
|
||||
SENSOR_DATA.gyroscope[1],
|
||||
SENSOR_DATA.gyroscope[2]
|
||||
];
|
||||
|
||||
updateGraphHelperSize(gyro_helpers);
|
||||
samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, gyro);
|
||||
drawGraph(gyro_helpers, gyro_data, samples_gyro_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];
|
||||
}
|
||||
computeAndUpdate(gyro, gyro_data, gyro_max_read);
|
||||
}
|
||||
|
||||
function computeAndUpdate(sensor_data, data, max_read) {
|
||||
var sum = 0.0;
|
||||
for (var j = 0, jlength = data.length; j < jlength; j++) {
|
||||
for (var k = 0, klength = data[j].length; k < klength; k++){
|
||||
sum += data[j][k][1]*data[j][k][1];
|
||||
}
|
||||
}
|
||||
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.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.rms[0].text(rms.toFixed(4));
|
||||
}
|
||||
});
|
||||
|
||||
$('a.reset_gyro_max').click(function () {
|
||||
gyro_max_read = [0, 0, 0];
|
||||
});
|
||||
|
||||
$('a.reset_max').click(function () {
|
||||
gyro_max_read = [0, 0, 0];
|
||||
accel_max_read = [0, 0, 0];
|
||||
accel_offset_established = false;
|
||||
});
|
||||
|
||||
var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue