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Additional Graph Fields
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Added scaled rcCommand and gyroADC fields so that direct comparison
between command and result can be made.
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Gary Keeble authored and Gary Keeble committed Apr 14, 2016
1 parent eb13746 commit a8dbf53
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Showing 5 changed files with 135 additions and 53 deletions.
49 changes: 25 additions & 24 deletions js/flightlog.js
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Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,9 @@
* Additional computed fields are derived from the original data set and added as new fields in the resulting data.
* Window based smoothing of fields is offered.
*/
function FlightLog(logData) {
function FlightLog(logData, newSettings) {
var
ADDITIONAL_COMPUTED_FIELD_COUNT = 6, /** attitude + PID_SUM **/
ADDITIONAL_COMPUTED_FIELD_COUNT = 15, /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED + GYROADC_SCALED **/

that = this,
logIndex = false,
Expand All @@ -38,25 +38,7 @@ function FlightLog(logData) {
//Public fields:
this.parser = parser;

this.settings = [ // FlightLog Settings
{ label: "Rates",
parameters:
[
{ // Index 0
label: "Roll Rate",
value: 75
},
{ // Index 1
label: "Pitch Rate",
value: 75
},
{ // Index 2
label: "Yaw Rate",
value: 45
}
]
},
];
this.settings = newSettings;

this.getMainFieldCount = function() {
return fieldNames.length;
Expand Down Expand Up @@ -221,6 +203,8 @@ function FlightLog(logData) {
fieldNames.push("heading[0]", "heading[1]", "heading[2]");
fieldNames.push("axisSum[0]", "axisSum[1]", "axisSum[2]");
fieldNames.push("axisError[0]", "axisError[1]", "axisError[2]"); // Custom calculated error field
fieldNames.push("rcCommands[0]", "rcCommands[1]", "rcCommands[2]"); // Custom calculated error field
fieldNames.push("gyroADCs[0]", "gyroADCs[1]", "gyroADCs[2]"); // Custom calculated error field

fieldNameToIndex = {};
for (i = 0; i < fieldNames.length; i++) {
Expand Down Expand Up @@ -563,8 +547,18 @@ function FlightLog(logData) {
destFrame[fieldIndex++] =
(gyroADC[axis] !== undefined ? that.gyroRawToDegreesPerSecond(srcFrame[gyroADC[axis]]) : 0) -
(rcCommand[axis] !== undefined ? that.rcCommandRawToDegreesPerSecond(srcFrame[rcCommand[axis]], axis) : 0);
console.log()
}
}
// Calculate the Scaled rcCommand (in deg/s)
for (var axis = 0; axis < 3; axis++) {
destFrame[fieldIndex++] =
(rcCommand[axis] !== undefined ? that.rcCommandRawToDegreesPerSecond(srcFrame[rcCommand[axis]], axis) : 0);
}

// Calculate the scaled Gyro ADC
for (var axis = 0; axis < 3; axis++) {
destFrame[fieldIndex++] =
(gyroADC[axis] !== undefined ? that.gyroRawToDegreesPerSecond(srcFrame[gyroADC[axis]]) : 0);
}

}
}
Expand Down Expand Up @@ -921,13 +915,20 @@ FlightLog.prototype.rcCommandRawToDegreesPerSecond = function(value, axis) {

// ReWrite or LUXFloat only


if(axis==2 /*YAW*/) {
return ((this.settings[0].parameters[axis].value + 47) * value ) >> 7;
} else { /*ROLL or PITCH */
return ((this.settings[0].parameters[axis].value + 27) * value ) >> 6;
}
};

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

FlightLog.prototype.getReferenceVoltageMillivolts = function() {
return this.vbatADCToMillivolts(this.getSysConfig().vbatref);
Expand Down
14 changes: 13 additions & 1 deletion js/flightlog_fields_presenter.js
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,19 @@ function FlightLogFieldPresenter() {
'axisError[all]': 'PID_Error',
'axisError[0]' : 'PID_Error[roll]',
'axisError[1]' : 'PID_Error[pitch]',
'axisError[2]' : 'PID_Error[yaw]'
'axisError[2]' : 'PID_Error[yaw]',

//Virtual fields - add the Scaled rcCommands
'rcCommands[all]': 'rcCommands',
'rcCommands[0]' : 'rcCommands[roll]',
'rcCommands[1]' : 'rcCommands[pitch]',
'rcCommands[2]' : 'rcCommands[yaw]',

//Virtual fields - add the Scaled gyros
'gyroADCs[all]': 'gyros',
'gyroADCs[0]': 'gyros[roll]',
'gyroADCs[1]': 'gyros[pitch]',
'gyroADCs[2]': 'gyros[yaw]'

};

Expand Down
45 changes: 42 additions & 3 deletions js/flightlog_parser.js
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Original file line number Diff line number Diff line change
Expand Up @@ -188,6 +188,19 @@ var FlightLogParser = function(logData) {
currentMeterScale: 400,
deviceUID: null
},

// One day, maybe these will be part of the blackbox log; they certainly would be helpfull!
// If so, then they can be moved intor the defaultSysConfig definition above.
// At the moment they are entered on a dialog box.

defaultSysConfigExtension = {
rcExpo:70, // RC Expo
rRate:0, // Roll Rate
pRate:0, // Pitch Rate
yRate:45, // Yaw Rate
yawExpo: 20, // Yaw Expo
loopTime: 500, // Looptime
},

frameTypes,

Expand Down Expand Up @@ -228,8 +241,10 @@ var FlightLogParser = function(logData) {
*/
this.frameDefs = {};

this.sysConfig = Object.create(defaultSysConfig);

// Lets add the custom extensions
var completeSysConfig = $.extend({}, defaultSysConfig, defaultSysConfigExtension);
this.sysConfig = Object.create(completeSysConfig); // Object.create(defaultSysConfig);

/*
* Event handler of the signature (frameValid, frame, frameType, frameOffset, frameSize)
* called when a frame has been decoded.
Expand Down Expand Up @@ -331,6 +346,28 @@ var FlightLogParser = function(logData) {
case "rcRate":
that.sysConfig.rcRate = parseInt(fieldValue, 10);
break;

/* In future these fields may exist int the blackbox log
case "rcExpo":
that.sysConfig.rcExpo = parseInt(fieldValue, 10);
break;
case "rRate":
that.sysConfig.rRate = parseInt(fieldValue, 10);
break;
case "pRate":
that.sysConfig.pRate = parseInt(fieldValue, 10);
break;
case "yRate":
that.sysConfig.yRate = parseInt(fieldValue, 10);
break;
case "yExpo":
that.sysConfig.yExpo = parseInt(fieldValue, 10);
break;
case "loopTime":
that.sysConfig.loopTime = parseInt(fieldValue, 10);
break;
*******/

case "vbatscale":
that.sysConfig.vbatscale = parseInt(fieldValue, 10);
break;
Expand Down Expand Up @@ -963,7 +1000,9 @@ var FlightLogParser = function(logData) {
this.resetStats();

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

this.frameDefs = {};

Expand Down
24 changes: 19 additions & 5 deletions js/graph_config.js
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Original file line number Diff line number Diff line change
Expand Up @@ -174,7 +174,7 @@ GraphConfig.load = function(config) {
fields: ["axisSum[all]"]
},
{
label: "Gyro Error",
label: "PID Error",
fields: ["axisError[all]"]
},
{
Expand Down Expand Up @@ -243,13 +243,27 @@ GraphConfig.load = function(config) {
inputRange: sysConfig.acc_1G * 3.0, /* Reasonable typical maximum for acc */
outputRange: 1.0
};
} else if (fieldName.match(/^axisError\[/)) { // new PID error field
} else if (fieldName.match(/^axisError\[/)) { // Custom PID error field
return {
offset: 0,
power: 0.8, /* Make this 1.0 to scale linearly */
inputRange: 1000, // Maximum error is hard coded to 1000 deg/s
power: 1.0, /* Make this 1.0 to scale linearly */
inputRange: 1200, // Maximum error is hard coded to 1200 deg/s
outputRange: 1.0
};
} else if (fieldName.match(/^rcCommands\[/)) { // Custom scaled rcCommand scaling
return {
offset: 0,
power: 1.0,
inputRange: 1200,
outputRange: 1.0
};
} else if (fieldName.match(/^gyroADCs\[/)) { // Custom gyroADC scaling
return {
offset: 0,
power: 1.0,
inputRange: 1200,
outputRange: 1.0
};
} else if (fieldName.match(/^axis.+\[/)) {
return {
offset: 0,
Expand Down Expand Up @@ -277,7 +291,7 @@ GraphConfig.load = function(config) {
power: 0.8,
inputRange: 500 * (sysConfig.rcRate ? sysConfig.rcRate : 100) / 100,
outputRange: 1.0
};
};
} else if (fieldName == "heading[2]") {
return {
offset: -Math.PI,
Expand Down
56 changes: 36 additions & 20 deletions js/main.js
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,40 @@ function BlackboxLogViewer() {

// JSON flightlog configuration
flightLogSettings = {},

flightLogDefaultSettings = [ // FlightLog Default Settings
{ label: "Rates",
parameters:
[
{ // Index 0
label: "Roll Rate",
value: 75
},
{ // Index 1
label: "Pitch Rate",
value: 75
},
{ // Index 2
label: "Yaw Rate",
value: 45
},
{ // Index 3
label: "Yaw Expo",
value: 20
}
]
},
{ label: "Loop Time",
parameters:
[
{ // Index 0
label: "Looptime",
value: 500
},
]
},
],


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

try {
flightLog = new FlightLog(flightLogDataArray);
flightLog = new FlightLog(flightLogDataArray, flightLogSettings);
} catch (err) {
alert("Sorry, an error occured while trying to open this log:\n\n" + err);
return;
Expand Down Expand Up @@ -555,25 +589,7 @@ function BlackboxLogViewer() {
if(item) {
flightLogSettings = item;
} else {
flightLogSettings = [ // FlightLog Default Settings
{ label: "Rates",
parameters:
[
{ // Index 0
label: "Roll Rate",
value: 75
},
{ // Index 1
label: "Pitch Rate",
value: 75
},
{ // Index 2
label: "Yaw Rate",
value: 45
}
]
},
];
flightLogSettings = flightLogDefaultSettings;
}
});

Expand Down

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