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MSP Multiple GYRO/ACC alignment support 

* Make use of 1.41.0 MSP API changes introduced
  https://github.com/betaflight/betaflight/pull/7506
* Not really happy with the elements/css, but opening this up for feedback. I
  can't quite get the select inputs or the text/icons to go where I want :p
10.5.x-maintenance
AJ Christensen 2019-04-02 17:55:25 +13:00
parent 974e622b73
commit e322ef0795
6 changed files with 141 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
locales/en/messages.json
View File

@ -1039,6 +1039,24 @@
"configurationSensorAlignmentGyro": {
"message": "GYRO Alignment"
},
"configurationSensorGyroToUse": {
"message": "GYRO/ACCEL"
},
"configurationSensorGyroToUseDefaultOption": {
"message": "First"
},
"configurationSensorGyroToUseSecond": {
"message": "Second"
},
"configurationSensorGyroToUseBoth": {
"message": "Both"
},
"configurationSensorAlignmentGyro1": {
"message": "First GYRO"
},
"configurationSensorAlignmentGyro2": {
"message": "Second GYRO"
},
"configurationSensorAlignmentAcc": {
"message": "ACCEL Alignment"
},

26
src/css/tabs/configuration.css
View File

@ -210,6 +210,15 @@
border-bottom: 1px solid #ddd;
width: 100%;
float: left;
}
.tab-configuration .board_align_inputs,
.tab-configuration .gyro_alignment_inputs {
margin-bottom: 5px;
padding-bottom: 5px;
border-bottom: 1px solid #ddd;
width: 33.3%;
float: left;
}
.tab-configuration .selectProtocol
@ -394,10 +403,10 @@
}
.tab-configuration .board select {
/*float: left;*/
width: 45%;
float: left;
width: fit-content;
height: 20px;
margin: 0 0px 2px 0;
margin-right: 5px;
border: 1px solid silver;
border-radius:3px;
}
@ -473,19 +482,16 @@
margin-top: 3px;
}
.tab-configuration .sensoralignment {
width: 50%;
float: left;
.tab-configuration .gyro_align_content {
width: 100%;
}
.tab-configuration .board_align_content {
width: 50%;
float: left;
width: 100%;
}
.tab-configuration .sensoralignment span {
width: 55%;
float: left;
width: 100%;
}
.tab-configuration .escprotocol {

4
src/js/fc.js
View File

@ -336,6 +336,10 @@ var FC = {
align_gyro: 0,
align_acc: 0,
align_mag: 0,
use_multi_gyro: 0,
gyro_to_use: 0,
gyro_1_align: 0,
gyro_2_align: 0,
};
PID_ADVANCED_CONFIG = {

12
src/js/msp/MSPHelper.js
View File

@ -536,6 +536,13 @@ MspHelper.prototype.process_data = function(dataHandler) {
SENSOR_ALIGNMENT.align_gyro = data.readU8();
SENSOR_ALIGNMENT.align_acc = data.readU8();
SENSOR_ALIGNMENT.align_mag = data.readU8();
if (semver.gte(CONFIG.apiVersion, '1.41.0')) {
SENSOR_ALIGNMENT.use_multi_gyro = data.readU8();
SENSOR_ALIGNMENT.gyro_to_use = data.readU8();
SENSOR_ALIGNMENT.gyro_1_align = data.readU8();
SENSOR_ALIGNMENT.gyro_2_align = data.readU8();
}
break;
case MSPCodes.MSP_DISPLAYPORT:
break;
@ -1658,6 +1665,11 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(SENSOR_ALIGNMENT.align_gyro)
.push8(SENSOR_ALIGNMENT.align_acc)
.push8(SENSOR_ALIGNMENT.align_mag);
if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
buffer.push8(SENSOR_ALIGNMENT.gyro_to_use)
.push8(SENSOR_ALIGNMENT.gyro_1_align)
.push8(SENSOR_ALIGNMENT.gyro_2_align);
}
break;
case MSPCodes.MSP_SET_ADVANCED_CONFIG:
buffer.push8(PID_ADVANCED_CONFIG.gyro_sync_denom)

40
src/js/tabs/configuration.js
View File

@ -311,6 +311,26 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
// translate to user-selected language
i18n.localizePage();
var gyro_align_content_e = $('.tab-configuration .gyro_align_content');
var legacy_gyro_alignment_e = $('.tab-configuration .legacy_gyro_alignment');
var legacy_accel_alignment_e = $('.tab-configuration .legacy_accel_alignment');
// Hide the new multi gyro element by default
gyro_align_content_e.hide();
// If we are sent USE_MULTI_GYRO flag from the target, show the new element, while hiding the old ones.
if (SENSOR_ALIGNMENT.use_multi_gyro == 1) {
gyro_align_content_e.show();
legacy_gyro_alignment_e.hide();
legacy_accel_alignment_e.hide();
}
// As the gyro_to_use does not have a 'DEFAULT' 0th element enum like alingments, the 0th element 'First' is excluded from here.
var gyros = [
i18n.getMessage('configurationSensorGyroToUseSecond'),
i18n.getMessage('configurationSensorGyroToUseBoth')
];
var alignments = [
'CW 0°',
'CW 90°',
@ -326,17 +346,32 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
var orientation_acc_e = $('select.accalign');
var orientation_mag_e = $('select.magalign');
var orientation_gyro_to_use_e = $('select.gyro_to_use');
var orientation_gyro_1_align_e = $('select.gyro_1_align');
var orientation_gyro_2_align_e = $('select.gyro_2_align');
if (semver.lt(CONFIG.apiVersion, "1.15.0")) {
$('.tab-configuration .sensoralignment').hide();
} else {
for (var i = 0; i< gyros.length; i++) {
orientation_gyro_to_use_e.append('<option value="' + (i+1) + '">'+ gyros[i] + '</option>');
}
for (var i = 0; i < alignments.length; i++) {
orientation_gyro_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
orientation_acc_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
orientation_mag_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
orientation_gyro_1_align_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
orientation_gyro_2_align_e.append('<option value="' + (i+1) + '">'+ alignments[i] + '</option>');
}
orientation_gyro_e.val(SENSOR_ALIGNMENT.align_gyro);
orientation_acc_e.val(SENSOR_ALIGNMENT.align_acc);
orientation_mag_e.val(SENSOR_ALIGNMENT.align_mag);
orientation_gyro_to_use_e.val(SENSOR_ALIGNMENT.gyro_to_use);
orientation_gyro_1_align_e.val(SENSOR_ALIGNMENT.gyro_1_align);
orientation_gyro_2_align_e.val(SENSOR_ALIGNMENT.gyro_2_align);
}
// ESC protocols
@ -1023,6 +1058,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
SENSOR_ALIGNMENT.align_gyro = parseInt(orientation_gyro_e.val());
SENSOR_ALIGNMENT.align_acc = parseInt(orientation_acc_e.val());
SENSOR_ALIGNMENT.align_mag = parseInt(orientation_mag_e.val());
if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
SENSOR_ALIGNMENT.gyro_to_use = parseInt(orientation_gyro_to_use_e.val());
SENSOR_ALIGNMENT.gyro_1_align = parseInt(orientation_gyro_1_align_e.val());
SENSOR_ALIGNMENT.gyro_2_align = parseInt(orientation_gyro_2_align_e.val());
}
PID_ADVANCED_CONFIG.fast_pwm_protocol = parseInt(esc_protocol_e.val()-1);
PID_ADVANCED_CONFIG.use_unsyncedPwm = $('input[id="unsyncedPWMSwitch"]').is(':checked') ? 1 : 0;

68
src/tabs/configuration.html
View File

@ -247,27 +247,61 @@
</div>
<div class="spacer_box">
<div class="board_align_content">
<div class="number">
<label> <input type="number" name="board_align_roll" step="1" min="-180" max="360" /> <span
i18n="configurationBoardAlignmentRoll"></span>
</label>
<div class="board_align_inputs">
<div class="alignicon roll"></div>
</div>
<div class="number">
<label> <input type="number" name="board_align_pitch" step="1" min="-180" max="360" />
<span i18n="configurationBoardAlignmentPitch"></span>
<label>
<input type="number" name="board_align_roll" step="1" min="-180" max="360" />
<span i18n="configurationBoardAlignmentRoll"></span>
</label>
<div class="alignicon pitch"></div>
</div>
<div class="number">
<label> <input type="number" name="board_align_yaw" step="1" min="-180" max="360" /> <span
i18n="configurationBoardAlignmentYaw"></span>
</div>
<div class="board_align_inputs">
<div class="alignicon pitch"></div>
<label>
<input type="number" name="board_align_pitch" step="1" min="-180" max="360" />
<span i18n="configurationBoardAlignmentPitch"></span>
</label>
</div>
<div class="board_align_inputs">
<div class="alignicon yaw"></div>
<label>
<input type="number" name="board_align_yaw" step="1" min="-180" max="360" />
<span i18n="configurationBoardAlignmentYaw"></span>
</label>
</div>
</div>
<div class="gyro_align_content">
<div class="gyro_alignment_inputs">
<label>
<span i18n="configurationSensorGyroToUse"></span>
<select class="gyro_to_use">
<option i18n="configurationSensorGyroToUseDefaultOption" value="0"></option>
<!-- list generated here -->
</select>
</label>
</div>
<div class="gyro_alignment_inputs">
<label>
<span i18n="configurationSensorAlignmentGyro1"></span>
<select class="gyro_1_align">
<option i18n="configurationSensorAlignmentDefaultOption" value="0"></option>
<!-- list generated here -->
</select>
</label>
</div>
<div class="gyro_alignment_inputs">
<label>
<span i18n="configurationSensorAlignmentGyro2"></span>
<select class="gyro_2_align">
<option i18n="configurationSensorAlignmentDefaultOption" value="0"></option>
<!-- list generated here -->
</select>
</label>
<div class="alignicon yaw"></div>
</div>
</div>
<div class="sensoralignment">
<div class="select">
<div class="sensor_align_content">
<div class="legacy_gyro_alignment select">
<label>
<span i18n="configurationSensorAlignmentGyro"></span>
<select class="gyroalign">
@ -276,7 +310,7 @@
</select>
</label>
</div>
<div class="select">
<div class="legacy_accel_alignment select">
<label>
<span i18n="configurationSensorAlignmentAcc"></span>
<select class="accalign">