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Gary KeebleGary Keeble
Gary Keeble
authored and
Gary Keeble
committed
Additional Graph Fields
Added scaled rcCommand and gyroADC fields so that direct comparison between command and result can be made.
1 parent eb13746 commit a8dbf53

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5 files changed

+135
-53
lines changed

5 files changed

+135
-53
lines changed

‎js/flightlog.js

Lines changed: 25 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -9,9 +9,9 @@
99
* Additional computed fields are derived from the original data set and added as new fields in the resulting data.
1010
* Window based smoothing of fields is offered.
1111
*/
12-
function FlightLog(logData) {
12+
function FlightLog(logData, newSettings) {
1313
var
14-
ADDITIONAL_COMPUTED_FIELD_COUNT = 6, /** attitude + PID_SUM **/
14+
ADDITIONAL_COMPUTED_FIELD_COUNT = 15, /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED + GYROADC_SCALED **/
1515

1616
that = this,
1717
logIndex = false,
@@ -38,25 +38,7 @@ function FlightLog(logData) {
3838
//Public fields:
3939
this.parser = parser;
4040

41-
this.settings = [ // FlightLog Settings
42-
{ label: "Rates",
43-
parameters:
44-
[
45-
{ // Index 0
46-
label: "Roll Rate",
47-
value: 75
48-
},
49-
{ // Index 1
50-
label: "Pitch Rate",
51-
value: 75
52-
},
53-
{ // Index 2
54-
label: "Yaw Rate",
55-
value: 45
56-
}
57-
]
58-
},
59-
];
41+
this.settings = newSettings;
6042

6143
this.getMainFieldCount = function() {
6244
return fieldNames.length;
@@ -221,6 +203,8 @@ function FlightLog(logData) {
221203
fieldNames.push("heading[0]", "heading[1]", "heading[2]");
222204
fieldNames.push("axisSum[0]", "axisSum[1]", "axisSum[2]");
223205
fieldNames.push("axisError[0]", "axisError[1]", "axisError[2]"); // Custom calculated error field
206+
fieldNames.push("rcCommands[0]", "rcCommands[1]", "rcCommands[2]"); // Custom calculated error field
207+
fieldNames.push("gyroADCs[0]", "gyroADCs[1]", "gyroADCs[2]"); // Custom calculated error field
224208

225209
fieldNameToIndex = {};
226210
for (i = 0; i < fieldNames.length; i++) {
@@ -563,8 +547,18 @@ function FlightLog(logData) {
563547
destFrame[fieldIndex++] =
564548
(gyroADC[axis] !== undefined ? that.gyroRawToDegreesPerSecond(srcFrame[gyroADC[axis]]) : 0) -
565549
(rcCommand[axis] !== undefined ? that.rcCommandRawToDegreesPerSecond(srcFrame[rcCommand[axis]], axis) : 0);
566-
console.log()
567-
}
550+
}
551+
// Calculate the Scaled rcCommand (in deg/s)
552+
for (var axis = 0; axis < 3; axis++) {
553+
destFrame[fieldIndex++] =
554+
(rcCommand[axis] !== undefined ? that.rcCommandRawToDegreesPerSecond(srcFrame[rcCommand[axis]], axis) : 0);
555+
}
556+
557+
// Calculate the scaled Gyro ADC
558+
for (var axis = 0; axis < 3; axis++) {
559+
destFrame[fieldIndex++] =
560+
(gyroADC[axis] !== undefined ? that.gyroRawToDegreesPerSecond(srcFrame[gyroADC[axis]]) : 0);
561+
}
568562

569563
}
570564
}
@@ -921,13 +915,20 @@ FlightLog.prototype.rcCommandRawToDegreesPerSecond = function(value, axis) {
921915

922916
// ReWrite or LUXFloat only
923917

918+
924919
if(axis==2 /*YAW*/) {
925920
return ((this.settings[0].parameters[axis].value + 47) * value ) >> 7;
926921
} else { /*ROLL or PITCH */
927922
return ((this.settings[0].parameters[axis].value + 27) * value ) >> 6;
928923
}
929-
};
930924

925+
// var sysConfig = this.getSysConfig();
926+
// if(axis==2 /*YAW*/) {
927+
// return ((this.getSysConfig().yRate + 47) * value ) >> 7;
928+
// } else { /*ROLL or PITCH */
929+
// return ((((axis==0)?this.getSysConfig().rRate:this.getSysConfig().pRate) + 27) * value ) >> 6;
930+
// }
931+
};
931932

932933
FlightLog.prototype.getReferenceVoltageMillivolts = function() {
933934
return this.vbatADCToMillivolts(this.getSysConfig().vbatref);

‎js/flightlog_fields_presenter.js

Lines changed: 13 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -65,7 +65,19 @@ function FlightLogFieldPresenter() {
6565
'axisError[all]': 'PID_Error',
6666
'axisError[0]' : 'PID_Error[roll]',
6767
'axisError[1]' : 'PID_Error[pitch]',
68-
'axisError[2]' : 'PID_Error[yaw]'
68+
'axisError[2]' : 'PID_Error[yaw]',
69+
70+
//Virtual fields - add the Scaled rcCommands
71+
'rcCommands[all]': 'rcCommands',
72+
'rcCommands[0]' : 'rcCommands[roll]',
73+
'rcCommands[1]' : 'rcCommands[pitch]',
74+
'rcCommands[2]' : 'rcCommands[yaw]',
75+
76+
//Virtual fields - add the Scaled gyros
77+
'gyroADCs[all]': 'gyros',
78+
'gyroADCs[0]': 'gyros[roll]',
79+
'gyroADCs[1]': 'gyros[pitch]',
80+
'gyroADCs[2]': 'gyros[yaw]'
6981

7082
};
7183

‎js/flightlog_parser.js

Lines changed: 42 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -188,6 +188,19 @@ var FlightLogParser = function(logData) {
188188
currentMeterScale: 400,
189189
deviceUID: null
190190
},
191+
192+
// One day, maybe these will be part of the blackbox log; they certainly would be helpfull!
193+
// If so, then they can be moved intor the defaultSysConfig definition above.
194+
// At the moment they are entered on a dialog box.
195+
196+
defaultSysConfigExtension = {
197+
rcExpo:70, // RC Expo
198+
rRate:0, // Roll Rate
199+
pRate:0, // Pitch Rate
200+
yRate:45, // Yaw Rate
201+
yawExpo: 20, // Yaw Expo
202+
loopTime: 500, // Looptime
203+
},
191204

192205
frameTypes,
193206

@@ -228,8 +241,10 @@ var FlightLogParser = function(logData) {
228241
*/
229242
this.frameDefs = {};
230243

231-
this.sysConfig = Object.create(defaultSysConfig);
232-
244+
// Lets add the custom extensions
245+
var completeSysConfig = $.extend({}, defaultSysConfig, defaultSysConfigExtension);
246+
this.sysConfig = Object.create(completeSysConfig); // Object.create(defaultSysConfig);
247+
233248
/*
234249
* Event handler of the signature (frameValid, frame, frameType, frameOffset, frameSize)
235250
* called when a frame has been decoded.
@@ -331,6 +346,28 @@ var FlightLogParser = function(logData) {
331346
case "rcRate":
332347
that.sysConfig.rcRate = parseInt(fieldValue, 10);
333348
break;
349+
350+
/* In future these fields may exist int the blackbox log
351+
case "rcExpo":
352+
that.sysConfig.rcExpo = parseInt(fieldValue, 10);
353+
break;
354+
case "rRate":
355+
that.sysConfig.rRate = parseInt(fieldValue, 10);
356+
break;
357+
case "pRate":
358+
that.sysConfig.pRate = parseInt(fieldValue, 10);
359+
break;
360+
case "yRate":
361+
that.sysConfig.yRate = parseInt(fieldValue, 10);
362+
break;
363+
case "yExpo":
364+
that.sysConfig.yExpo = parseInt(fieldValue, 10);
365+
break;
366+
case "loopTime":
367+
that.sysConfig.loopTime = parseInt(fieldValue, 10);
368+
break;
369+
*******/
370+
334371
case "vbatscale":
335372
that.sysConfig.vbatscale = parseInt(fieldValue, 10);
336373
break;
@@ -963,7 +1000,9 @@ var FlightLogParser = function(logData) {
9631000
this.resetStats();
9641001

9651002
//Reset system configuration to MW's defaults
966-
this.sysConfig = Object.create(defaultSysConfig);
1003+
// Lets add the custom extensions
1004+
var completeSysConfig = $.extend({}, defaultSysConfig, defaultSysConfigExtension);
1005+
this.sysConfig = Object.create(completeSysConfig); // Object.create(defaultSysConfig);
9671006

9681007
this.frameDefs = {};
9691008

‎js/graph_config.js

Lines changed: 19 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -174,7 +174,7 @@ GraphConfig.load = function(config) {
174174
fields: ["axisSum[all]"]
175175
},
176176
{
177-
label: "Gyro Error",
177+
label: "PID Error",
178178
fields: ["axisError[all]"]
179179
},
180180
{
@@ -243,13 +243,27 @@ GraphConfig.load = function(config) {
243243
inputRange: sysConfig.acc_1G * 3.0, /* Reasonable typical maximum for acc */
244244
outputRange: 1.0
245245
};
246-
} else if (fieldName.match(/^axisError\[/)) { // new PID error field
246+
} else if (fieldName.match(/^axisError\[/)) { // Custom PID error field
247247
return {
248248
offset: 0,
249-
power: 0.8, /* Make this 1.0 to scale linearly */
250-
inputRange: 1000, // Maximum error is hard coded to 1000 deg/s
249+
power: 1.0, /* Make this 1.0 to scale linearly */
250+
inputRange: 1200, // Maximum error is hard coded to 1200 deg/s
251251
outputRange: 1.0
252252
};
253+
} else if (fieldName.match(/^rcCommands\[/)) { // Custom scaled rcCommand scaling
254+
return {
255+
offset: 0,
256+
power: 1.0,
257+
inputRange: 1200,
258+
outputRange: 1.0
259+
};
260+
} else if (fieldName.match(/^gyroADCs\[/)) { // Custom gyroADC scaling
261+
return {
262+
offset: 0,
263+
power: 1.0,
264+
inputRange: 1200,
265+
outputRange: 1.0
266+
};
253267
} else if (fieldName.match(/^axis.+\[/)) {
254268
return {
255269
offset: 0,
@@ -277,7 +291,7 @@ GraphConfig.load = function(config) {
277291
power: 0.8,
278292
inputRange: 500 * (sysConfig.rcRate ? sysConfig.rcRate : 100) / 100,
279293
outputRange: 1.0
280-
};
294+
};
281295
} else if (fieldName == "heading[2]") {
282296
return {
283297
offset: -Math.PI,

‎js/main.js

Lines changed: 36 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -40,6 +40,40 @@ function BlackboxLogViewer() {
4040

4141
// JSON flightlog configuration
4242
flightLogSettings = {},
43+
44+
flightLogDefaultSettings = [ // FlightLog Default Settings
45+
{ label: "Rates",
46+
parameters:
47+
[
48+
{ // Index 0
49+
label: "Roll Rate",
50+
value: 75
51+
},
52+
{ // Index 1
53+
label: "Pitch Rate",
54+
value: 75
55+
},
56+
{ // Index 2
57+
label: "Yaw Rate",
58+
value: 45
59+
},
60+
{ // Index 3
61+
label: "Yaw Expo",
62+
value: 20
63+
}
64+
]
65+
},
66+
{ label: "Loop Time",
67+
parameters:
68+
[
69+
{ // Index 0
70+
label: "Looptime",
71+
value: 500
72+
},
73+
]
74+
},
75+
],
76+
4377

4478
// Graph configuration which is currently in use, customised based on the current flight log from graphConfig
4579
activeGraphConfig = new GraphConfig(),
@@ -473,7 +507,7 @@ function BlackboxLogViewer() {
473507
flightLogDataArray = new Uint8Array(bytes);
474508

475509
try {
476-
flightLog = new FlightLog(flightLogDataArray);
510+
flightLog = new FlightLog(flightLogDataArray, flightLogSettings);
477511
} catch (err) {
478512
alert("Sorry, an error occured while trying to open this log:\n\n" + err);
479513
return;
@@ -555,25 +589,7 @@ function BlackboxLogViewer() {
555589
if(item) {
556590
flightLogSettings = item;
557591
} else {
558-
flightLogSettings = [ // FlightLog Default Settings
559-
{ label: "Rates",
560-
parameters:
561-
[
562-
{ // Index 0
563-
label: "Roll Rate",
564-
value: 75
565-
},
566-
{ // Index 1
567-
label: "Pitch Rate",
568-
value: 75
569-
},
570-
{ // Index 2
571-
label: "Yaw Rate",
572-
value: 45
573-
}
574-
]
575-
},
576-
];
592+
flightLogSettings = flightLogDefaultSettings;
577593
}
578594
});
579595

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