304 lines
13 KiB
JavaScript
304 lines
13 KiB
JavaScript
/* Please don't take code in this file very seriously !!!
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I was "kinda" forced to write this implementation "this way" because the Servo code implementation
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from multiwii is so horrible, obstructive and non dynamic, not to mention it doesn't make any sense
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that there was just no other way around this then hardcoding/implementing each model separately.
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*/
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function tab_initialize_servos() {
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ga_tracker.sendAppView('Servos');
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GUI.active_tab = 'servos';
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send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT, false, get_servo_conf_data);
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function get_servo_conf_data() {
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send_message(MSP_codes.MSP_SERVO_CONF, MSP_codes.MSP_SERVO_CONF, false, get_boxnames_data);
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}
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function get_boxnames_data() {
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send_message(MSP_codes.MSP_BOXNAMES, MSP_codes.MSP_BOXNAMES, false, load_html);
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}
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function load_html() {
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$('#content').load("./tabs/servos.html", process_html);
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}
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function process_html() {
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function process_directions(name, obj, bitpos) {
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$('div.direction_wrapper').show();
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var val;
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$('div.tab-servos table.directions').append('\
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<tr>\
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<td class="name" style="text-align: center">' + name + '</td>\
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<td class="direction" style="text-align: right">\
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<select name="direction">\
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<option value="0">Normal</option>\
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<option value="1">Reverse</option>\
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</select>\
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</td>\
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</tr>\
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');
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if (bit_check(SERVO_CONFIG[obj].rate, bitpos)) val = 1;
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else val = 0;
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$('div.tab-servos table.directions tr:last select').val(val);
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$('div.tab-servos table.directions tr:last select').data('info', {'obj': obj, 'bitpos': bitpos});
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}
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function process_servos(name, alternate, obj, directions) {
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$('div.supported_wrapper').show();
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$('div.tab-servos table.fields').append('\
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<tr> \
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<td style="text-align: center">' + name + '</td>\
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<td class="middle"><input type="number" min="1000" max="2000" value="' + ((SERVO_CONFIG[obj].middle <= 7) ? 1500 : SERVO_CONFIG[obj].middle) + '" /></td>\
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<td class="min"><input type="number" min="1000" max="2000" value="' + SERVO_CONFIG[obj].min +'" /></td>\
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<td class="max"><input type="number" min="1000" max="2000" value="' + SERVO_CONFIG[obj].max +'" /></td>\
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<td class="channel">\
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<input type="checkbox"/>\
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<input type="checkbox"/>\
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<input type="checkbox"/>\
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<input type="checkbox"/>\
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<input type="checkbox"/>\
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<input type="checkbox"/>\
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<input type="checkbox"/>\
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<input type="checkbox"/>\
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</td>\
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<td class="direction">\
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<input class="first" type="checkbox"/><span class="name">' + name + '</span>\
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<input class="second" type="checkbox"/><span class="alternate">' + alternate + '</span>\
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</td>\
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</tr> \
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');
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if (SERVO_CONFIG[obj].middle <= 7) {
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$('div.tab-servos table.fields tr:last td.middle input').prop('disabled', true);
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$('div.tab-servos table.fields tr:last td.channel').find('input').eq(SERVO_CONFIG[obj].middle).prop('checked', true);
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}
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if (directions == true) {
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$('div.tab-servos table.fields tr:last td.direction input:first').prop('checked', bit_check(SERVO_CONFIG[obj].rate, 0));
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$('div.tab-servos table.fields tr:last td.direction input:last').prop('checked', bit_check(SERVO_CONFIG[obj].rate, 1));
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} else if (directions == 2) {
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// removing checkboxes
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$('div.tab-servos table.fields tr:last td.direction').html('');
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// adding select box and generating options
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$('div.tab-servos table.fields tr:last td.direction').append('\
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<select class="rate" name="rate"></select>\
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');
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var select = $('div.tab-servos table.fields tr:last td.direction select');
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for (var i = 100; i > -101; i--) {
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select.append('<option value="' + i + '">Rate: ' + i + '%</option>');
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}
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// select current rate
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select.val(SERVO_CONFIG[obj].rate);
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} else {
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// removing checkboxes
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$('div.tab-servos table.fields tr:last td.direction').html('');
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}
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$('div.tab-servos table.fields tr:last').data('info', {'obj': obj});
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// UI hooks
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$('div.tab-servos table.fields tr:last td.channel').find('input').click(function() {
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if($(this).is(':checked')) {
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$(this).parent().parent().find('td.middle input').prop('disabled', true);
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$(this).parent().find('input').not($(this)).prop('checked', false);
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} else {
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$(this).parent().parent().find('td.middle input').prop('disabled', false).val(1500);
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}
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});
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}
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function servos_update(save_to_eeprom) {
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// update bitfields
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$('div.tab-servos table.directions tr:not(".main")').each(function() {
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var info = $('select', this).data('info');
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var val = parseInt($('select', this).val());
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// in this stage we need to know which bitfield and which bitposition needs to be flipped
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if (val) SERVO_CONFIG[info.obj].rate = bit_set(SERVO_CONFIG[info.obj].rate, info.bitpos);
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else SERVO_CONFIG[info.obj].rate = bit_clear(SERVO_CONFIG[info.obj].rate, info.bitpos);
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});
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// update the rest
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$('div.tab-servos table.fields tr:not(".main")').each(function() {
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var info = $(this).data('info');
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if ($('.middle input', this).is(':disabled')) {
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var val = $('.channel input:checked', this).index();
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SERVO_CONFIG[info.obj].middle = parseInt(val);
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} else {
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SERVO_CONFIG[info.obj].middle = parseInt($('.middle input', this).val());
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}
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SERVO_CONFIG[info.obj].min = parseInt($('.min input', this).val());
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SERVO_CONFIG[info.obj].max = parseInt($('.max input', this).val());
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// update rate if direction fields exist
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if ($('.direction input', this).length) {
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if ($('.direction input:first', this).is(':checked')) SERVO_CONFIG[info.obj].rate = bit_set(SERVO_CONFIG[info.obj].rate, 0);
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else SERVO_CONFIG[info.obj].rate = bit_clear(SERVO_CONFIG[info.obj].rate, 0);
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if ($('.direction input:last', this).is(':checked')) SERVO_CONFIG[info.obj].rate = bit_set(SERVO_CONFIG[info.obj].rate, 1);
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else SERVO_CONFIG[info.obj].rate = bit_clear(SERVO_CONFIG[info.obj].rate, 1);
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} else if ($('.direction select', this).length) {
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var val = parseInt($('.direction select', this).val());
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SERVO_CONFIG[info.obj].rate = val;
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}
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});
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// send settings over to mcu
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var buffer_out = [];
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var needle = 0;
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for (var i = 0; i < SERVO_CONFIG.length; i++) {
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buffer_out[needle++] = lowByte(SERVO_CONFIG[i].min);
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buffer_out[needle++] = highByte(SERVO_CONFIG[i].min);
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buffer_out[needle++] = lowByte(SERVO_CONFIG[i].max);
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buffer_out[needle++] = highByte(SERVO_CONFIG[i].max);
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buffer_out[needle++] = lowByte(SERVO_CONFIG[i].middle);
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buffer_out[needle++] = highByte(SERVO_CONFIG[i].middle);
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buffer_out[needle++] = lowByte(SERVO_CONFIG[i].rate);
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}
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send_message(MSP_codes.MSP_SET_SERVO_CONF, buffer_out);
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if (save_to_eeprom) {
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// Save changes to EEPROM
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send_message(MSP_codes.MSP_EEPROM_WRITE, MSP_codes.MSP_EEPROM_WRITE, false, function() {
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GUI.log('EEPROM <span style="color: green">saved</span>');
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var element = $('a.update');
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element.addClass('success');
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GUI.timeout_add('success_highlight', function() {
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element.removeClass('success');
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}, 2000);
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});
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}
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}
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// drop previous table
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$('div.tab-servos table.fields tr:not(:first)').remove();
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var model = $('div.tab-servos strong.model');
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var supported_models = [1, 4, 5, 8, 14, 20, 21];
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switch (CONFIG.multiType) {
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case 1: // TRI
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// looking ok so far
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model.html('TRI');
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process_directions('YAW', 5, 0);
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process_servos('Yaw Servo', '', 5, false);
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break;
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case 4: // BI
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// looking ok so far
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model.html('BI');
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process_directions('L YAW', 4, 1);
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process_directions('R YAW', 5, 1);
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process_directions('L NICK', 4, 0);
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process_directions('R NICK', 5, 0);
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process_servos('Left Servo', '', 4, false);
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process_servos('Right Servo', '', 5, false);
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break;
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case 5: // Gimbal
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// needs to be verified
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model.html('Gimbal');
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// rate
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process_servos('Pitch Servo', '', 0, 2);
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process_servos('Roll Servo', '', 1, 2);
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break;
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case 8: // Flying Wing
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// looking ok so far
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model.html('Flying Wing');
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process_directions('L ROLL', 3, 1);
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process_directions('R ROLL', 4, 1);
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process_directions('L NICK', 3, 0);
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process_directions('R NICK', 4, 0);
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process_servos('Left Wing', '', 3, false);
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process_servos('Right Wing', '', 4, false);
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break;
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case 14: // Airplane
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model.html('Airplane');
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// rate
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process_servos('Wing 1', '', 3, 2);
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process_servos('Wing 2', '', 4, 2);
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process_servos('Rudd', '', 5, 2);
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process_servos('Elev', '', 6, 2);
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break;
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case 20: // Dualcopter
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// looking ok so far
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model.html('Dualcopter');
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process_directions('PITCH', 4, 0);
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process_directions('ROLL', 5, 0);
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process_servos('Roll', '', 5, false);
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process_servos('Nick', '', 4, false);
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break;
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case 21: // Singlecopter
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// looking ok so far
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model.html('Singlecopter');
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process_servos('Right', 'R YAW', 3, true);
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process_servos('Left', 'L YAW', 4, true);
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process_servos('Front', 'F YAW', 5, true);
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process_servos('Rear', 'YAW', 6, true);
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break;
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default:
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model.html("This model doesn't support servos");
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// implementation of feature servo_tilt
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if (AUX_CONFIG.indexOf('CAMSTAB') > -1 || AUX_CONFIG.indexOf('CAMTRIG') > -1) {
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// Gimbal on
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// needs to be verified
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model.html('Gimbal / Tilt Servos');
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// rate
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process_servos('Pitch Servo', '', 0, 2);
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process_servos('Roll Servo', '', 1, 2);
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}
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}
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// UI hooks for dynamically generated elements
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$('table.directions select, table.directions input, table.fields select, table.fields input').change(function() {
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if ($('div.live input').is(':checked')) {
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// apply small delay as there seems to be some funky update business going wrong
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GUI.timeout_add('servos_update', servos_update, 10);
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}
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});
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$('a.update').click(function() {
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// standard check for supported_models + custom implementation for feature servo_tilt
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if (supported_models.indexOf(CONFIG.multiType) != -1 || AUX_CONFIG.indexOf('CAMSTAB') > -1 || AUX_CONFIG.indexOf('CAMTRIG') > -1) {
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servos_update(true);
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}
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});
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// status data pulled via separate timer with static speed
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GUI.interval_add('status_pull', function() {
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send_message(MSP_codes.MSP_STATUS, MSP_codes.MSP_STATUS);
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}, 250, true);
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}
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} |