106 lines
3.5 KiB
JavaScript
Executable File
106 lines
3.5 KiB
JavaScript
Executable File
'use strict';
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var minRc = 1000;
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var midRc = 1500;
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var maxRc = 2000;
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var RateCurve = function (useLegacyCurve) {
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this.useLegacyCurve = useLegacyCurve;
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this.constrain = function (value, min, max) {
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return Math.max(min, Math.min(value, max));
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}
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this.rcCommand = function (rcData, rcRate, rcExpo) {
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var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
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var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
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if (rcData < midRc) {
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result = -result;
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}
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return result;
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}
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this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height) {
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var canvasHeightScale = height / (2 * maxAngularVel);
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var stepWidth = context.lineWidth;
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context.save();
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context.translate(width / 2, height / 2);
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context.beginPath();
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var rcData = minRc;
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context.moveTo(-500, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive));
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rcData = rcData + stepWidth;
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while (rcData <= maxRc) {
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context.lineTo(rcData - midRc, -canvasHeightScale * this.rcCommandRawToDegreesPerSecond(rcData, rate, rcRate, rcExpo, superExpoActive));
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rcData = rcData + stepWidth;
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}
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context.stroke();
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context.restore();
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}
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this.drawLegacyRateCurve = function (rate, rcRate, rcExpo, context, width, height) {
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// math magic by englishman
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var rateY = height * rcRate;
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rateY = rateY + (1 / (1 - ((rateY / height) * rate)))
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// draw
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context.beginPath();
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context.moveTo(0, height);
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context.quadraticCurveTo(width * 11 / 20, height - ((rateY / 2) * (1 - rcExpo)), width, height - rateY);
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context.stroke();
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}
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}
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RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive) {
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var angleRate;
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if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
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rate = rate * 100;
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rcRate = rcRate * 100;
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rcExpo = rcExpo * 100;
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var inputValue = this.rcCommand(rcData, rcRate, rcExpo);
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if (superExpoActive) {
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var rcFactor = Math.abs(inputValue) / (500 * rcRate / 100);
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rcFactor = 1 / this.constrain(1 - rcFactor * rate / 100, 0.01, 1);
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angleRate = rcFactor * 27 * inputValue / 16;
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} else {
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angleRate = (rate + 27) * inputValue / 16;
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}
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angleRate = this.constrain(angleRate, -8190, 8190); // Rate limit protection
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angleRate = angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
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}
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return angleRate;
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};
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RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive) {
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var maxAngularVel;
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if (!this.useLegacyCurve) {
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maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive);
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}
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return maxAngularVel;
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}
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RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context) {
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if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
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var height = context.canvas.height;
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var width = context.canvas.width;
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if (this.useLegacyCurve) {
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this.drawLegacyRateCurve(rate, rcRate, rcExpo, context, width, height);
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} else {
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this.drawRateCurve(rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height);
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}
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}
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}
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