Sonar altitude added to sensors
Krzysztof Rosinski
parent
862e96f2aa
commit
f933dbf330
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@ -42,6 +42,7 @@ var MSP_codes = {
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MSP_WP: 118,
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MSP_BOXIDS: 119,
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MSP_SERVO_CONF: 120,
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MSP_SONAR: 123,
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MSP_SET_RAW_RC: 200,
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MSP_SET_RAW_GPS: 201,
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@ -260,6 +261,9 @@ var MSP = {
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case MSP_codes.MSP_ALTITUDE:
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SENSOR_DATA.altitude = parseFloat((data.getInt32(0, 1) / 100.0).toFixed(2)); // correct scale factor
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break;
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case MSP_codes.MSP_SONAR:
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SENSOR_DATA.sonar = data.getInt32(0, 1);
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break;
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case MSP_codes.MSP_ANALOG:
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ANALOG.voltage = data.getUint8(0) / 10.0;
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ANALOG.mAhdrawn = data.getUint16(1, 1);
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@ -10,6 +10,7 @@
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<label><input type="checkbox" name="accel_on" />Accelerometer</label>
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<label><input type="checkbox" name="mag_on" />Magnetometer</label>
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<label><input type="checkbox" name="baro_on" />Barometer</label>
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<label><input type="checkbox" name="sonar_on" />Sonar</label>
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<label><input type="checkbox" name="debug_on" />Debug</label>
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</div>
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</div>
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@ -163,6 +164,36 @@
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</svg>
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<div class="clear-both"></div>
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</div>
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<div class="wrapper sonar">
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<div class="plot_control">
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<div class="title">Sonar - cm</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="sonar_refresh_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" selected="selected">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>X:</dt><dd class="x">0</dd>
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</dl>
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</div>
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<svg id="sonar">
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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="clear-both"></div>
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</div>
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<div class="wrapper debug">
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<div class="plot_control">
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<div class="title">Debug 1</div>
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@ -14,6 +14,7 @@ TABS.sensors.initialize = function (callback) {
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SENSOR_DATA.accelerometer[i] = 0;
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SENSOR_DATA.gyroscope[i] = 0;
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SENSOR_DATA.magnetometer[i] = 0;
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SENSOR_DATA.sonar[i] = 0;
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SENSOR_DATA.debug[i] = 0;
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}
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}
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@ -162,6 +163,14 @@ TABS.sensors.initialize = function (callback) {
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}
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}
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function plot_sonar(enable) {
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if (enable) {
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$('.wrapper.sonar').show();
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} else {
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$('.wrapper.sonar').hide();
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}
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}
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function plot_debug(enable) {
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if (enable) {
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$('.wrapper.debug').show();
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@ -182,6 +191,9 @@ TABS.sensors.initialize = function (callback) {
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if (!bit_check(CONFIG.activeSensors, 2)) { // mag
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checkboxes.eq(2).prop('disabled', true);
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}
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if (!bit_check(CONFIG.activeSensors, 4)) { // sonar
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checkboxes.eq(4).prop('disabled', true);
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}
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$('.tab-sensors .info .checkboxes input').change(function () {
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var enable = $(this).prop('checked');
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@ -201,6 +213,9 @@ TABS.sensors.initialize = function (callback) {
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plot_baro(enable);
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break;
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case 4:
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plot_sonar(enable);
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break;
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case 5:
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plot_debug(enable);
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break;
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}
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@ -234,11 +249,13 @@ TABS.sensors.initialize = function (callback) {
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samples_accel_i = 0,
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samples_mag_i = 0,
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samples_baro_i = 0,
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samples_sonar_i = 0,
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samples_debug_i = 0,
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gyro_data = initDataArray(3),
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accel_data = initDataArray(3),
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mag_data = initDataArray(3),
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baro_data = initDataArray(1),
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sonar_data = initDataArray(1),
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debug_data = [
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initDataArray(1),
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initDataArray(1),
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@ -250,6 +267,7 @@ TABS.sensors.initialize = function (callback) {
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var accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-2, 2]);
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var magHelpers = initGraphHelpers('#mag', samples_mag_i, [-1, 1]);
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var baroHelpers = initGraphHelpers('#baro', samples_baro_i);
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var sonarHelpers = initGraphHelpers('#sonar', samples_sonar_i);
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var debugHelpers = [
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initGraphHelpers('#debug1', samples_debug_i),
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initGraphHelpers('#debug2', samples_debug_i),
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@ -286,6 +304,8 @@ TABS.sensors.initialize = function (callback) {
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$('.tab-sensors select[name="mag_scale"]').val(result.sensor_settings.scales.mag);
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$('.tab-sensors select[name="baro_refresh_rate"]').val(result.sensor_settings.rates.baro);
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$('.tab-sensors select[name="sonar_refresh_rate"]').val(result.sensor_settings.rates.sonar);
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$('.tab-sensors select[name="debug_refresh_rate"]').val(result.sensor_settings.rates.debug);
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// start polling data by triggering refresh rate change event
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@ -304,6 +324,7 @@ TABS.sensors.initialize = function (callback) {
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'accel': parseInt($('.tab-sensors select[name="accel_refresh_rate"]').val(), 10),
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'mag': parseInt($('.tab-sensors select[name="mag_refresh_rate"]').val(), 10),
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'baro': parseInt($('.tab-sensors select[name="baro_refresh_rate"]').val(), 10),
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'sonar': parseInt($('.tab-sensors select[name="sonar_refresh_rate"]').val(), 10),
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'debug': parseInt($('.tab-sensors select[name="debug_refresh_rate"]').val(), 10)
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};
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@ -350,6 +371,12 @@ TABS.sensors.initialize = function (callback) {
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}
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if (checkboxes[4]) {
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GUI.interval_add('sonar_pull', function sonar_data_pull() {
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MSP.send_message(MSP_codes.MSP_SONAR, false, false, update_sonar_graphs);
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}, rates.sonar, true);
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}
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if (checkboxes[5]) {
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GUI.interval_add('debug_pull', function debug_data_pull() {
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MSP.send_message(MSP_codes.MSP_DEBUG, false, false, update_debug_graphs);
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}, rates.debug, true);
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@ -395,13 +422,21 @@ TABS.sensors.initialize = function (callback) {
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raw_data_text_ements.x[3].text(SENSOR_DATA.altitude.toFixed(2));
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}
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function update_sonar_graphs() {
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updateGraphHelperSize(sonarHelpers);
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samples_sonar_i = addSampleToData(sonar_data, samples_sonar_i, [SENSOR_DATA.sonar]);
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drawGraph(sonarHelpers, sonar_data, samples_sonar_i);
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raw_data_text_ements.x[4].text(SENSOR_DATA.sonar.toFixed(2));
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}
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function update_debug_graphs() {
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for (var i = 0; i < 4; i++) {
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updateGraphHelperSize(debugHelpers[i]);
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addSampleToData(debug_data[i], samples_debug_i, [SENSOR_DATA.debug[i]]);
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drawGraph(debugHelpers[i], debug_data[i], samples_debug_i);
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raw_data_text_ements.x[4 + i].text(SENSOR_DATA.debug[i]);
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raw_data_text_ements.x[5 + i].text(SENSOR_DATA.debug[i]);
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}
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samples_debug_i++;
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}
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