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Merge pull request #472 from McGiverGim/motor_output_limits_graph
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Show the limit in motors graph
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@mikeller
mikeller authored Oct 30, 2020
2 parents 48f6d80 + eb2bd08 commit f792791
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Showing 5 changed files with 141 additions and 38 deletions.
103 changes: 84 additions & 19 deletions js/flightlog.js
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
*/
function FlightLog(logData) {
var
ADDITIONAL_COMPUTED_FIELD_COUNT = 15, /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED **/
ADDITIONAL_COMPUTED_FIELD_COUNT = 23, /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED + MOTOR_LEGACY **/

that = this,
logIndex = false,
Expand Down Expand Up @@ -232,6 +232,15 @@ function FlightLog(logData) {
if (!(that.isFieldDisabled().GYRO || that.isFieldDisabled().PID)) {
fieldNames.push("axisError[0]", "axisError[1]", "axisError[2]"); // Custom calculated error field
}
if (!that.isFieldDisabled().MOTORS) {
for (let i = 0; i < MAX_MOTOR_NUMBER; i++) {
if (fieldNames.find(element => element === `motor[${i}]`)) {
fieldNames.push(`motorLegacy[${i}]`);
} else {
break;
}
}
}

fieldNameToIndex = {};
for (let i = 0; i < fieldNames.length; i++) {
Expand All @@ -240,10 +249,10 @@ function FlightLog(logData) {
}

function estimateNumMotors() {
var count = 0;
let count = 0;

for (var j = 0; j < 8; j++) {
if (that.getMainFieldIndexByName("motor[" + j + "]") !== undefined) {
for (let j = 0; j < MAX_MOTOR_NUMBER; j++) {
if (that.getMainFieldIndexByName(`motor[${j}]`) !== undefined) {
count++;
}
}
Expand Down Expand Up @@ -515,23 +524,27 @@ function FlightLog(logData) {
* sourceChunks and destChunks can be the same array.
*/
function injectComputedFields(sourceChunks, destChunks) {
var
gyroADC = [fieldNameToIndex["gyroADC[0]"], fieldNameToIndex["gyroADC[1]"], fieldNameToIndex["gyroADC[2]"]],
accSmooth = [fieldNameToIndex["accSmooth[0]"], fieldNameToIndex["accSmooth[1]"], fieldNameToIndex["accSmooth[2]"]],
magADC = [fieldNameToIndex["magADC[0]"], fieldNameToIndex["magADC[1]"], fieldNameToIndex["magADC[2]"]],
rcCommand = [fieldNameToIndex["rcCommand[0]"], fieldNameToIndex["rcCommand[1]"], fieldNameToIndex["rcCommand[2]"], fieldNameToIndex["rcCommand[3]"]],
setpoint = [fieldNameToIndex["setpoint[0]"], fieldNameToIndex["setpoint[1]"], fieldNameToIndex["setpoint[2]"], fieldNameToIndex["setpoint[3]"]],

flightModeFlagsIndex = fieldNameToIndex["flightModeFlags"], // This points to the flightmode data
let gyroADC = [fieldNameToIndex["gyroADC[0]"], fieldNameToIndex["gyroADC[1]"], fieldNameToIndex["gyroADC[2]"]];
let accSmooth = [fieldNameToIndex["accSmooth[0]"], fieldNameToIndex["accSmooth[1]"], fieldNameToIndex["accSmooth[2]"]];
let magADC = [fieldNameToIndex["magADC[0]"], fieldNameToIndex["magADC[1]"], fieldNameToIndex["magADC[2]"]];
let rcCommand = [fieldNameToIndex["rcCommand[0]"], fieldNameToIndex["rcCommand[1]"], fieldNameToIndex["rcCommand[2]"], fieldNameToIndex["rcCommand[3]"]];
let setpoint = [fieldNameToIndex["setpoint[0]"], fieldNameToIndex["setpoint[1]"], fieldNameToIndex["setpoint[2]"], fieldNameToIndex["setpoint[3]"]];

const flightModeFlagsIndex = fieldNameToIndex["flightModeFlags"]; // This points to the flightmode data

sourceChunkIndex, destChunkIndex,
let axisPID = [[fieldNameToIndex["axisP[0]"], fieldNameToIndex["axisI[0]"], fieldNameToIndex["axisD[0]"], fieldNameToIndex["axisF[0]"]],
[fieldNameToIndex["axisP[1]"], fieldNameToIndex["axisI[1]"], fieldNameToIndex["axisD[1]"], fieldNameToIndex["axisF[1]"]],
[fieldNameToIndex["axisP[2]"], fieldNameToIndex["axisI[2]"], fieldNameToIndex["axisD[2]"], fieldNameToIndex["axisF[2]"]]];

sysConfig,
attitude,
let motor = [fieldNameToIndex["motor[0]"], fieldNameToIndex["motor[1]"], fieldNameToIndex["motor[2]"], fieldNameToIndex["motor[3]"],
fieldNameToIndex["motor[4]"], fieldNameToIndex["motor[5]"], fieldNameToIndex["motor[6]"], fieldNameToIndex["motor[7]"]];

axisPID = [[fieldNameToIndex["axisP[0]"], fieldNameToIndex["axisI[0]"], fieldNameToIndex["axisD[0]"], fieldNameToIndex["axisF[0]"]],
[fieldNameToIndex["axisP[1]"], fieldNameToIndex["axisI[1]"], fieldNameToIndex["axisD[1]"], fieldNameToIndex["axisF[1]"]],
[fieldNameToIndex["axisP[2]"], fieldNameToIndex["axisI[2]"], fieldNameToIndex["axisD[2]"], fieldNameToIndex["axisF[2]"]]];
let sourceChunkIndex;
let destChunkIndex;
let attitude;

const sysConfig = that.getSysConfig();

if (destChunks.length === 0) {
return;
Expand Down Expand Up @@ -562,7 +575,9 @@ function FlightLog(logData) {
axisPID = false;
}

sysConfig = that.getSysConfig();
if (!motor[0]) {
motor = false;
}

sourceChunkIndex = 0;
destChunkIndex = 0;
Expand Down Expand Up @@ -658,6 +673,16 @@ function FlightLog(logData) {
}
}

// Duplicate the motor field to show the motor legacy values
if (motor) {
for (let motorNumber = 0; motorNumber < numMotors; motorNumber++) {
destFrame[fieldIndex++] = srcFrame[motor[motorNumber]];
}
}

// Remove empty fields at the end
destFrame.splice(fieldIndex);

}
}
}
Expand Down Expand Up @@ -1145,9 +1170,49 @@ FlightLog.prototype.rcCommandRawToThrottle = function(value) {
return Math.min(Math.max(((value - this.getSysConfig().minthrottle) / (this.getSysConfig().maxthrottle - this.getSysConfig().minthrottle)) * 100.0, 0.0),100.0);
};

FlightLog.prototype.rcMotorRawToPct = function(value) {
FlightLog.prototype.rcMotorRawToPctEffective = function(value) {

// Motor displayed as percentage
return Math.min(Math.max(((value - this.getSysConfig().motorOutput[0]) / (this.getSysConfig().motorOutput[1] - this.getSysConfig().motorOutput[0])) * 100.0, 0.0),100.0);

};

FlightLog.prototype.rcMotorRawToPctPhysical = function(value) {

// Motor displayed as percentage
let motorPct;
if (this.isDigitalProtocol()) {
motorPct = ((value - DSHOT_MIN_VALUE) / DSHOT_RANGE) * 100;
} else {
const MAX_ANALOG_VALUE = this.getSysConfig().maxthrottle;
const MIN_ANALOG_VALUE = this.getSysConfig().minthrottle;
const ANALOG_RANGE = MAX_ANALOG_VALUE - MIN_ANALOG_VALUE;
motorPct = ((value - MIN_ANALOG_VALUE) / ANALOG_RANGE) * 100;
}
return Math.min(Math.max(motorPct, 0.0), 100.0);

};

FlightLog.prototype.isDigitalProtocol = function() {
let digitalProtocol;
switch(FAST_PROTOCOL[this.getSysConfig().fast_pwm_protocol]) {
case "PWM":
case "ONESHOT125":
case "ONESHOT42":
case "MULTISHOT":
case "BRUSHED":
digitalProtocol = false;
break;
case "DSHOT150":
case "DSHOT300":
case "DSHOT600":
case "DSHOT1200":
case "PROSHOT1000":
default:
digitalProtocol = true;
break;
}
return digitalProtocol;
};

FlightLog.prototype.getPIDPercentage = function(value) {
Expand Down
8 changes: 8 additions & 0 deletions js/flightlog_fielddefs.js
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,14 @@ function makeReadOnly(x) {
return x;
}

// Some constants used at different places
const MAX_MOTOR_NUMBER = 8;
const DSHOT_MIN_VALUE = 48;
const DSHOT_MAX_VALUE = 2047;
const DSHOT_RANGE = DSHOT_MAX_VALUE - DSHOT_MIN_VALUE;
const ANALOG_MIN_VALUE = 1000;

// Fields definitions for lists
var
FlightLogEvent = makeReadOnly({
SYNC_BEEP: 0,
Expand Down
54 changes: 37 additions & 17 deletions js/flightlog_fields_presenter.js
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ function FlightLogFieldPresenter() {
}

(function() {
var FRIENDLY_FIELD_NAMES = {
const FRIENDLY_FIELD_NAMES = {

'axisP[all]': 'PID P',
'axisP[0]': 'PID P [roll]',
Expand Down Expand Up @@ -58,15 +58,25 @@ function FlightLogFieldPresenter() {

//End-users prefer 1-based indexing
'motor[all]': 'Motors',
'motor[0]': 'Motor [1]',
'motor[1]': 'Motor [2]',
'motor[2]': 'Motor [3]',
'motor[0]': 'Motor [1]',
'motor[1]': 'Motor [2]',
'motor[2]': 'Motor [3]',
'motor[3]': 'Motor [4]',
'motor[4]': 'Motor [5]',
'motor[5]': 'Motor [6]',
'motor[6]': 'Motor [7]',
'motor[4]': 'Motor [5]',
'motor[5]': 'Motor [6]',
'motor[6]': 'Motor [7]',
'motor[7]': 'Motor [8]',

'motorLegacy[all]': 'Motors (Legacy)',
'motorLegacy[0]': 'Motor (Legacy) [1]',
'motorLegacy[1]': 'Motor (Legacy) [2]',
'motorLegacy[2]': 'Motor (Legacy) [3]',
'motorLegacy[3]': 'Motor (Legacy) [4]',
'motorLegacy[4]': 'Motor (Legacy) [5]',
'motorLegacy[5]': 'Motor (Legacy) [6]',
'motorLegacy[6]': 'Motor (Legacy) [7]',
'motorLegacy[7]': 'Motor (Legacy) [8]',

'servo[all]': 'Servos',
'servo[5]': 'Servo Tail',

Expand Down Expand Up @@ -96,7 +106,7 @@ function FlightLogFieldPresenter() {
'rxFlightChannelsValid': 'RX Flight Ch. Valid',
'rssi': 'RSSI',
};

var DEBUG_FRIENDLY_FIELD_NAMES = {
'NONE' : {
'debug[all]':'Debug [all]',
Expand Down Expand Up @@ -502,16 +512,26 @@ function FlightLogFieldPresenter() {
return (value + 1500).toFixed(0) + " us";
case 'rcCommand[3]':
return value.toFixed(0) + " us";

case 'motor[0]':
case 'motor[1]':
case 'motor[2]':
case 'motor[3]':
case 'motor[4]':
case 'motor[5]':
case 'motor[6]':
case 'motor[7]':
return Math.round(flightLog.rcMotorRawToPct(value)) + " %";
case 'motor[1]':
case 'motor[2]':
case 'motor[3]':
case 'motor[4]':
case 'motor[5]':
case 'motor[6]':
case 'motor[7]':
return `${flightLog.rcMotorRawToPctPhysical(value).toFixed(2)} %`;

case 'motorLegacy[0]':
case 'motorLegacy[1]':
case 'motorLegacy[2]':
case 'motorLegacy[3]':
case 'motorLegacy[4]':
case 'motorLegacy[5]':
case 'motorLegacy[6]':
case 'motorLegacy[7]':
return `${flightLog.rcMotorRawToPctEffective(value).toFixed(2)} % (${value})`;

case 'rcCommands[0]':
case 'rcCommands[1]':
Expand Down
1 change: 1 addition & 0 deletions js/flightlog_parser.js
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Original file line number Diff line number Diff line change
Expand Up @@ -621,6 +621,7 @@ var FlightLogParser = function(logData) {
case "rates_type":
case "vbat_sag_compensation":
case "fields_disabled_mask":
case "motor_pwm_protocol":
that.sysConfig[fieldName] = parseInt(fieldValue, 10);
break;
case "rc_expo":
Expand Down
13 changes: 11 additions & 2 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) {
(function() {
GraphConfig.getDefaultSmoothingForField = function(flightLog, fieldName) {
try{
if (fieldName.match(/^motor\[/)) {
if (fieldName.match(/^motor(Raw)?\[/)) {
return 5000;
} else if (fieldName.match(/^servo\[/)) {
return 5000;
Expand Down Expand Up @@ -260,11 +260,20 @@ GraphConfig.load = function(config) {

try {
if (fieldName.match(/^motor\[/)) {
return {
offset: flightLog.isDigitalProtocol() ?
-(DSHOT_MIN_VALUE + DSHOT_RANGE / 2) : -(sysConfig.minthrottle + (sysConfig.maxthrottle - sysConfig.minthrottle) / 2),
power: 1.0,
inputRange: flightLog.isDigitalProtocol() ?
DSHOT_RANGE / 2 : (sysConfig.maxthrottle - sysConfig.minthrottle) / 2,
outputRange: 1.0,
};
} else if (fieldName.match(/^motorLegacy\[/)) {
return {
offset: -(sysConfig.motorOutput[1] + sysConfig.motorOutput[0]) / 2,
power: 1.0,
inputRange: (sysConfig.motorOutput[1] - sysConfig.motorOutput[0]) / 2,
outputRange: 1.0
outputRange: 1.0,
};
} else if (fieldName.match(/^servo\[/)) {
return {
Expand Down

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