Merge branch 'SpectrumAnalyser'

Author: Gary Keeble

css/main.css

@@ -203,6 +203,7 @@ html.has-log .log-graph-config {
 .graph-legend-field {
     padding-bottom:0.1em;
     margin-bottom:0.3em;
+    cursor:pointer;
 }
 
 html.has-video .graph-row,

index.html

@@ -234,6 +234,8 @@ <h4>Log sync</h4>
                 <h2>Legend <span class="log-close-legend-dialog glyphicon glyphicon-remove"></span></h2>
                 <div class="log-graph-legend">
                 </div>
+                <button type="button" class="btn btn-default btn-block hide-analyser-window">Hide Analyser</button>
+                <button type="button" class="btn btn-default btn-block open-log-setup-dialog">Log Setup</button>
                 <button type="button" class="btn btn-default btn-block open-graph-configuration-dialog">Graph setup</button>
             </div>
         </div>
@@ -286,6 +288,31 @@ <h4 class="modal-title">Configure graphs</h4>
         </div>
     </div>
 
+    <div class="modal fade" id="dlgFlightLogSetup">
+        <div class="modal-dialog">
+            <div class="modal-content">
+                <div class="modal-header">
+                    <button type="button" class="close" data-dismiss="modal" aria-label="Close">
+                        <span aria-hidden="true">&times;</span>
+                    </button>
+                    <h4 class="modal-title">Setup Log Viewer</h4>
+                </div>
+                <div class="modal-body">
+                    <div class="btn-group">
+                        <ul class="dropdown-menu" role="menu">
+                        </ul>
+                    </div>
+                    <ul class="list-unstyled setup-flightlog-list">
+                    </ul>
+                </div>
+                <div class="modal-footer">
+                    <button type="button" class="btn btn-default flightlog-setup-dialog-cancel" data-dismiss="modal">Cancel</button>
+                    <button type="button" class="btn btn-primary flightlog-setup-dialog-save" data-dismiss="modal">Save changes</button>
+                </div>
+            </div>
+        </div>
+    </div>
+
     <div class="modal fade" id="dlgVideoExport">
         <div class="modal-dialog">
             <div class="modal-content">
@@ -419,11 +446,13 @@ <h4 class="modal-title">Export video</h4>
     <script src="js/flightlog_fields_presenter.js"></script>
     <script src="js/flightlog_parser.js"></script>
     <script src="js/flightlog_index.js"></script>
+    <script src="js/flightlog_setup_dialog.js"></script>
     <script src="js/flightlog.js"></script>
     <script src="js/grapher.js"></script>
     <script src="js/graph_config.js"></script>
     <script src="js/graph_legend.js"></script>
     <script src="js/graph_config_dialog.js"></script>
+    <script src="js/graph_spectrum.js"></script>
     <script src="js/seekbar.js"></script>
     <script src="js/video_export_dialog.js"></script>
     <script src="js/flightlog_video_renderer.js"></script>

js/expo.js

@@ -7,12 +7,16 @@
  */
 function ExpoCurve(offset, power, inputRange, outputRange, steps) {
     var
-        curve, inputScale;
+        curve, inputScale, rawInputScale;
 
     function lookupStraightLine(input) {
         return (input + offset) * inputScale;
     }
 
+    this.lookupRaw = function(input) {
+        return (input + offset) * rawInputScale;
+    }
+
     /**
      * An approximation of lookupMathPow by precomputing several expo curve points and interpolating between those
      * points using straight line interpolation.
@@ -58,6 +62,8 @@ function ExpoCurve(offset, power, inputRange, outputRange, steps) {
         return result;
     }
 
+    rawInputScale = outputRange / inputRange;
+
     // If steps argument isn't supplied, use a reasonable default
     if (steps === undefined) {
         steps = 12;

js/flightlog.js

@@ -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,
@@ -33,10 +33,13 @@ function FlightLog(logData) {
         maxSmoothing = 0,
 
         smoothedCache = new FIFOCache(2);
+               
 
     //Public fields:
     this.parser = parser;
 
+    this.settings = newSettings;
+
     this.getMainFieldCount = function() {
         return fieldNames.length;
     };
@@ -199,6 +202,9 @@ function FlightLog(logData) {
         // Add names for our ADDITIONAL_COMPUTED_FIELDS 
         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++) {
@@ -469,7 +475,8 @@ function FlightLog(logData) {
             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]"]],
+
             sourceChunkIndex, destChunkIndex,
 
             sysConfig,
@@ -534,6 +541,25 @@ function FlightLog(logData) {
                             (axisPID[axis][1] !== undefined ? srcFrame[axisPID[axis][1]] : 0) +
                             (axisPID[axis][2] !== undefined ? srcFrame[axisPID[axis][2]] : 0);
                     }
+
+                    // Calculate the PID Error
+                    for (var axis = 0; axis < 3; axis++) {
+                        destFrame[fieldIndex++] =  
+                            (gyroADC[axis] !== undefined ? that.gyroRawToDegreesPerSecond(srcFrame[gyroADC[axis]]) : 0) - 
+                            (rcCommand[axis] !== undefined ? that.rcCommandRawToDegreesPerSecond(srcFrame[rcCommand[axis]], axis) : 0);
+                        }
+                    // 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);
+                        }
+
                 }
             }
         }
@@ -881,6 +907,28 @@ FlightLog.prototype.gyroRawToDegreesPerSecond = function(value) {
     return this.getSysConfig().gyroScale * 1000000 / (Math.PI / 180.0) * value;
 };
 
+// Convert rcCommand to degrees per second
+FlightLog.prototype.rcCommandRawToDegreesPerSecond = function(value, axis) {
+
+    // Axis 0,1 refers to Roll and Pitch
+    // Axis 2 refers to Yaw.
+
+    // 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;
+//        }
+
+        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);
 };

js/flightlog_fielddefs.js

@@ -21,6 +21,7 @@ var
         LOGGING_RESUME: 14,
 
         GTUNE_CYCLE_RESULT: 20,
+        FLIGHT_MODE: 30, // New Event type
 
         LOG_END: 255
     }),

js/flightlog_fields_presenter.js

@@ -59,7 +59,26 @@ function FlightLogFieldPresenter() {
         'axisSum[all]': 'PID_sum',
         'axisSum[0]' : 'PID_sum[roll]',
         'axisSum[1]' : 'PID_sum[pitch]',
-        'axisSum[2]' : 'PID_sum[yaw]'
+        'axisSum[2]' : 'PID_sum[yaw]',
+
+        //Virtual fields - Add the Error fields
+        'axisError[all]': 'PID_Error',
+        'axisError[0]' : 'PID_Error[roll]',
+        'axisError[1]' : 'PID_Error[pitch]',
+        '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]'        
+
     };
 
     function presentFlags(flags, flagNames) {
@@ -119,6 +138,18 @@ function FlightLogFieldPresenter() {
             case 'gyroADC[2]':
                 return Math.round(flightLog.gyroRawToDegreesPerSecond(value)) + " deg/s";
 
+            case 'axisError[0]':
+            case 'axisError[1]':
+            case 'axisError[2]':
+                return Math.round(value) + " deg/s";
+
+            case 'rcCommand[0]':
+                return Math.round(flightLog.rcCommandRawToDegreesPerSecond(value,0)) + " deg/s";
+            case 'rcCommand[1]':
+                return Math.round(flightLog.rcCommandRawToDegreesPerSecond(value,1)) + " deg/s";
+            case 'rcCommand[2]':
+                return Math.round(flightLog.rcCommandRawToDegreesPerSecond(value,2)) + " deg/s";
+
             case 'accSmooth[0]':
             case 'accSmooth[1]':
             case 'accSmooth[2]':

js/flightlog_parser.js

@@ -188,6 +188,20 @@ 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:null,//70,           // RC Expo
+            rRate:null,//0,             // Roll Rate
+            pRate:null,//0,             // Pitch Rate
+            yRate:null,//45,            // Yaw Rate
+            rcYawExpo: null,//20,         // Yaw Expo
+            superExpoFactor: null,//30, // Super Expo Factor
+            loopTime: null,//500,  // Looptime
+        },
 
         frameTypes,
 
@@ -220,16 +234,18 @@ var FlightLogParser = function(logData) {
 
         //The actual log data stream we're reading:
         stream;
-
+        
     //Public fields:
 
     /* Information about the frame types the log contains, along with details on their fields.
      * Each entry is an object with field details {encoding:[], predictor:[], name:[], count:0, signed:[]}
      */
     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.
@@ -331,6 +347,28 @@ 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 "rates":
+                var ratesParams = parseCommaSeparatedIntegers(fieldValue);
+                that.sysConfig.rRate = ratesParams[0];
+                that.sysConfig.pRate = ratesParams[1];
+                that.sysConfig.yRate = ratesParams[2];
+            break;
+            case "rcYawExpo":
+                that.sysConfig.rcYawExpo = parseInt(fieldValue, 10);
+            break;
+            case "superExpoFactor":
+                that.sysConfig.superExpoFactor = parseInt(fieldValue, 10);
+            break;
+            case "looptime":
+                that.sysConfig.loopTime = parseInt(fieldValue, 10);
+            break;
+            /****************************/
+            
             case "vbatscale":
                 that.sysConfig.vbatscale = parseInt(fieldValue, 10);
             break;
@@ -868,6 +906,10 @@ var FlightLogParser = function(logData) {
                 lastEvent.data.time = stream.readUnsignedVB();
                 lastEvent.time = lastEvent.data.time;
             break;
+            case FlightLogEvent.FLIGHT_MODE: // get the flag status change
+                lastEvent.data.newFlags = stream.readUnsignedVB();
+                lastEvent.data.lastFlags = stream.readUnsignedVB();
+            break;
             case FlightLogEvent.AUTOTUNE_CYCLE_START:
                 lastEvent.data.phase = stream.readByte();
 
@@ -963,7 +1005,9 @@ 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 = {};