Merge pull request #454 from mikeller/change_motor_tab_graph_to_gyro

Replaced accelerometer graph on motors tab with gyroscope graph.

Author: mikeller

_locales/en/messages.json

@@ -1249,7 +1249,12 @@
     "servosEepromSave": {
         "message": "EEPROM <span style=\"color: #ffbb00\">saved</span>"
     },
-
+    "motorsGyroscope": {
+        "message": "Gyroscope - "
+    },
+    "motorsGyroscopeReset": {
+        "message": "[Reset]"
+    },
     "gpsHead": {
         "message": "GPS"
     },

tabs/motors.css

@@ -1,4 +1,4 @@
-.tab-motors .modelAndAccel {
+.tab-motors .modelAndGyro {
     float: left;
     width: 100%;
     margin-bottom: 0px;
@@ -9,7 +9,7 @@
     margin: 10px;
 }
 
-.tab-motors #accel {
+.tab-motors #gyro {
     float: left;
     width: calc(100% - 292px);
 }

tabs/motors.html

@@ -5,11 +5,11 @@
             <a id="button-documentation" href="https://github.com/betaflight/betaflight/releases" target="_blank"></a>
         </div>
         <div class="gui_box grey" style="margin-bottom: 15px;">
-            <div class="wrapper modelAndAccel">
+            <div class="wrapper modelAndGyro">
                 <div class="mixerPreview">
                     <img src="./resources/motor_order/custom.svg" />
                 </div>
-                <svg id="accel">
+                <svg id="gyro">
                <g class="grid x" transform="translate(40, 120)"></g>
                <g class="grid y" transform="translate(40, 10)"></g>
                <g class="data" transform="translate(41, 10)"></g>
@@ -18,12 +18,13 @@
             </svg>
                 <div class="plot_control">
                     <div class="title">
-                        Accelerometer - <a class="reset_accel_max" href="#" title="Reset overtime maximum">[Reset]</a>
+                        <span class="title" i18n="motorsGyroscope"/>
+                        <a class="reset_gyro_max" href="#" title="Reset overtime maximum" i18n="motorsGyroscopeReset"/>
                     </div>
                     <dl>
                         <dt i18n="sensorsRefresh"></dt>
                         <dd class="rate">
-                            <select name="accel_refresh_rate">
+                            <select name="gyro_refresh_rate">
                                 <option value="10">10 ms</option>
                                 <option value="20" selected="selected">20 ms</option>
                                 <option value="30">30 ms</option>
@@ -37,15 +38,15 @@
                         </dd>
                         <dt i18n="sensorsScale"></dt>
                         <dd class="scale">
-                            <select name="accel_scale">
-                                <option value="0.05">0.05</option>
-                                <option value="0.1">0.1</option>
-                                <option value="0.2">0.2</option>
-                                <option value="0.3">0.3</option>
-                                <option value="0.4">0.4</option>
-                                <option value="0.5">0.5</option>
-                                <option value="1">1</option>
-                                <option value="2" selected="selected">2</option>
+                            <select name="gyro_scale">
+                                <option value="50">50</option>
+                                <option value="100">100</option>
+                                <option value="200">200</option>
+                                <option value="300">300</option>
+                                <option value="400">400</option>
+                                <option value="500">500</option>
+                                <option value="1000">1000</option>
+                                <option value="2000" selected="selected">2000</option>
                             </select>
                         </dd>
                         <dt>X:</dt>

tabs/motors.js

@@ -61,7 +61,7 @@ TABS.motors.initialize = function (callback) {
 
     function initSensorData() {
         for (var i = 0; i < 3; i++) {
-            SENSOR_DATA.accelerometer[i] = 0;
+            SENSOR_DATA.gyroscope[i] = 0;
         }
     }
 
@@ -207,12 +207,10 @@ TABS.motors.initialize = function (callback) {
         initSensorData();
 
         // Setup variables
-        var samples_accel_i = 0,
-            accel_data = initDataArray(3),
-            accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-2, 2]),
-            accel_max_read = [0, 0, 0],
-            accel_offset = [0, 0, 0],
-            accel_offset_established = false;
+        var samples_gyro_i = 0,
+            gyro_data = initDataArray(3),
+            gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-2, 2]),
+            gyro_max_read = [0, 0, 0];
 
         var raw_data_text_ements = {
             x: [],
@@ -235,10 +233,10 @@ TABS.motors.initialize = function (callback) {
         });
 
         // set refresh speeds according to configuration saved in storage
-        chrome.storage.local.get('motors_tab_accel_settings', function (result) {
-            if (result.motors_tab_accel_settings) {
-                $('.tab-motors select[name="accel_refresh_rate"]').val(result.motors_tab_accel_settings.rate);
-                $('.tab-motors select[name="accel_scale"]').val(result.motors_tab_accel_settings.scale);
+        chrome.storage.local.get('motors_tab_gyro_settings', function (result) {
+            if (result.motors_tab_gyro_settings) {
+                $('.tab-motors select[name="gyro_refresh_rate"]').val(result.motors_tab_gyro_settings.rate);
+                $('.tab-motors select[name="gyro_scale"]').val(result.motors_tab_gyro_settings.scale);
 
                 // start polling data by triggering refresh rate change event
                 $('.tab-motors .rate select:first').change();
@@ -249,63 +247,54 @@ TABS.motors.initialize = function (callback) {
         });
 
         $('.tab-motors .rate select, .tab-motors .scale select').change(function () {
-            var rate = parseInt($('.tab-motors select[name="accel_refresh_rate"]').val(), 10);
-            var scale = parseFloat($('.tab-motors select[name="accel_scale"]').val());
+            var rate = parseInt($('.tab-motors select[name="gyro_refresh_rate"]').val(), 10);
+            var scale = parseFloat($('.tab-motors select[name="gyro_scale"]').val());
 
             // store current/latest refresh rates in the storage
-            chrome.storage.local.set({'motors_tab_accel_settings': {'rate': rate, 'scale': scale}});
+            chrome.storage.local.set({'motors_tab_gyro_settings': {'rate': rate, 'scale': scale}});
 
-            accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-scale, scale]);
+            gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-scale, scale]);
 
             // timer initialization
             GUI.interval_kill_all(['motor_and_status_pull']);
 
             GUI.interval_add('IMU_pull', function imu_data_pull() {
-                MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_accel_graph);
+                MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_gyro_graph);
             }, rate, true);
 
-            function update_accel_graph() {
-                if (!accel_offset_established) {
-                    for (var i = 0; i < 3; i++) {
-                        accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1;
-                    }
-
-                    accel_offset_established = true;
-                }
-
-                var accel_with_offset = [
-                    accel_offset[0] + SENSOR_DATA.accelerometer[0],
-                    accel_offset[1] + SENSOR_DATA.accelerometer[1],
-                    accel_offset[2] + SENSOR_DATA.accelerometer[2]
+            function update_gyro_graph() {
+                var gyro = [
+                    SENSOR_DATA.gyroscope[0],
+                    SENSOR_DATA.gyroscope[1],
+                    SENSOR_DATA.gyroscope[2]
                 ];
 
-                updateGraphHelperSize(accelHelpers);
-                samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset);
-                drawGraph(accelHelpers, accel_data, samples_accel_i);
+                updateGraphHelperSize(gyroHelpers);
+                samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, gyro);
+                drawGraph(gyroHelpers, gyro_data, samples_gyro_i);
 
-                // Compute RMS of acceleration in displayed period of time
+                // Compute RMS of gyroscope readings in displayed period of time
                 // This is particularly useful for motor balancing as it 
                 // eliminates the need for external tools
                 var sum = 0.0;
-                for (var j = 0; j < accel_data.length; j++)
-                    for (var k = 0; k < accel_data[j].length; k++)
-                       sum += accel_data[j][k][1]*accel_data[j][k][1];
-                var rms = Math.sqrt(sum/(accel_data[0].length+accel_data[1].length+accel_data[2].length));
-
-                raw_data_text_ements.x[0].text(accel_with_offset[0].toFixed(2) + ' (' + accel_max_read[0].toFixed(2) + ')');
-                raw_data_text_ements.y[0].text(accel_with_offset[1].toFixed(2) + ' (' + accel_max_read[1].toFixed(2) + ')');
-                raw_data_text_ements.z[0].text(accel_with_offset[2].toFixed(2) + ' (' + accel_max_read[2].toFixed(2) + ')');
+                for (var j = 0; j < gyro_data.length; j++)
+                    for (var k = 0; k < gyro_data[j].length; k++)
+                       sum += gyro_data[j][k][1]*gyro_data[j][k][1];
+                var rms = Math.sqrt(sum/(gyro_data[0].length+gyro_data[1].length+gyro_data[2].length));
+
+                raw_data_text_ements.x[0].text(gyro[0].toFixed(2) + ' (' + gyro_max_read[0].toFixed(2) + ')');
+                raw_data_text_ements.y[0].text(gyro[1].toFixed(2) + ' (' + gyro_max_read[1].toFixed(2) + ')');
+                raw_data_text_ements.z[0].text(gyro[2].toFixed(2) + ' (' + gyro_max_read[2].toFixed(2) + ')');
                 raw_data_text_ements.rms[0].text(rms.toFixed(4));
 
                 for (var i = 0; i < 3; i++) {
-                    if (Math.abs(accel_with_offset[i]) > Math.abs(accel_max_read[i])) accel_max_read[i] = accel_with_offset[i];
+                    if (Math.abs(gyro[i]) > Math.abs(gyro_max_read[i])) gyro_max_read[i] = gyro[i];
                 }
             }
         });
 
         $('a.reset_accel_max').click(function () {
-            accel_max_read = [0, 0, 0];
-            accel_offset_established = false;
+            gyro_max_read = [0, 0, 0];
         });
 
         var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8;