Additional Graph Fields

Added scaled rcCommand and gyroADC fields so that direct comparison
between command and result can be made.

Author: Gary Keeble

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,
@@ -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;
@@ -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++) {
@@ -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);
+                        }
 
                 }
             }
@@ -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);

js/flightlog_fields_presenter.js

@@ -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]'        
 
     };
 

js/flightlog_parser.js

@@ -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,
 
@@ -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.
@@ -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;
@@ -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 = {};
 

js/graph_config.js

@@ -174,7 +174,7 @@ GraphConfig.load = function(config) {
                 fields: ["axisSum[all]"]
             },
             {
-                label: "Gyro Error",
+                label: "PID Error",
                 fields: ["axisError[all]"]
             },             
             {
@@ -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,
@@ -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,

js/main.js

@@ -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(),
@@ -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;
@@ -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;
             }
     });