Allow for GPS Data in Table/Graph/Exports

js/flightlog.js

@@ -207,15 +207,23 @@ function FlightLog(logData) {
         } else
             return false;
     };
-
+    
     function buildFieldNames() {
         // Make an independent copy
         fieldNames = parser.frameDefs.I.name.slice(0);
 
         // Add names of slow fields which we'll merge into the main stream
         if (parser.frameDefs.S) {
-            for (let i = 0; i < parser.frameDefs.S.name.length; i++) {
-                fieldNames.push(parser.frameDefs.S.name[i]);
+            for (const name of parser.frameDefs.S.name) {
+                fieldNames.push(name);
+            }
+        }
+        // Add names of gps fields which we'll merge into the main stream
+        if (parser.frameDefs.G) {
+            for (const name of parser.frameDefs.G.name) {
+                if (name !== 'time') { // remove duplicate time field
+                    fieldNames.push(name);
+                }
             }
         }
 
@@ -375,11 +383,14 @@ function FlightLog(logData) {
                 var
                     mainFrameIndex = 0,
                     slowFrameLength = parser.frameDefs.S ? parser.frameDefs.S.count : 0,
-                    lastSlow = parser.frameDefs.S ? iframeDirectory.initialSlow[chunkIndex].slice(0) : [];
+                    lastSlow = parser.frameDefs.S ? iframeDirectory.initialSlow[chunkIndex].slice(0) : [],
+                    lastGPSLength = parser.frameDefs.G ? parser.frameDefs.G.count-1 : 0, // -1 since we exclude the time field
+                    lastGPS = parser.frameDefs.G ? iframeDirectory.initialGPS[chunkIndex].slice(0) : [];
 
                 parser.onFrameReady = function(frameValid, frame, frameType, frameOffset, frameSize) {
                     var
-                        destFrame;
+                        destFrame,
+                        destFrame_currentIndex;
 
                     // The G frames need to be processed always. They are "invalid" if not H (Home) has been detected 
                     // before, but if not processed the viewer shows cuts and gaps. This happens if the quad takes off before 
@@ -392,7 +403,7 @@ function FlightLog(logData) {
                                 //The parser re-uses the "frame" array so we must copy that data somewhere else
 
                                 var
-                                    numOutputFields = frame.length + slowFrameLength + ADDITIONAL_COMPUTED_FIELD_COUNT;
+                                    numOutputFields = frame.length + slowFrameLength + lastGPSLength + ADDITIONAL_COMPUTED_FIELD_COUNT;
 
                                 //Do we have a recycled chunk to copy on top of?
                                 if (chunk.frames[mainFrameIndex]) {
@@ -409,10 +420,18 @@ function FlightLog(logData) {
                                     destFrame[i] = frame[i];
                                 }
 
+                                destFrame_currentIndex = frame.length; // Keeps track of where to place direct data in the destFrame.
                                 // Then merge in the last seen slow-frame data
-                                for (var i = 0; i < slowFrameLength; i++) {
-                                    destFrame[i + frame.length] = lastSlow[i] === undefined ? null : lastSlow[i];
+                                for (let slowFrameIndex = 0; slowFrameIndex < slowFrameLength; slowFrameIndex++) {
+                                    destFrame[slowFrameIndex + destFrame_currentIndex] = lastSlow[slowFrameIndex] === undefined ? null : lastSlow[slowFrameIndex];
                                 }
+                                destFrame_currentIndex += slowFrameLength;
+
+                                // Also merge last seen gps-frame data
+                                for (let gpsFrameIndex = 0; gpsFrameIndex < lastGPSLength; gpsFrameIndex++) {
+                                    destFrame[gpsFrameIndex + destFrame_currentIndex] = lastGPS[gpsFrameIndex] === undefined ? null : lastGPS[gpsFrameIndex];
+                                }
+                                // destFrame_currentIndex += lastGPSLength; Add this line if you wish to add more fields.
 
                                 for (var i = 0; i < eventNeedsTimestamp.length; i++) {
                                     eventNeedsTimestamp[i].time = frame[FlightLogParser.prototype.FLIGHT_LOG_FIELD_INDEX_TIME];
@@ -446,10 +465,18 @@ function FlightLog(logData) {
                                 }
                             break;
                             case 'H':
+                                // TODO
+                                // contains coordinates only
+                                // should be handled separately
                             case 'G':
-                                // TODO pending to do something with GPS frames
                                 // The frameValid can be false, when no GPS home (the G frames contains GPS position as diff of GPS Home position).
                                 // But other data from the G frame can be valid (time, num sats)
+
+                                //H Field G name:time,GPS_numSat,GPS_coord[0],GPS_coord[1],GPS_altitude,GPS_speed,GPS_ground_course
+                                frame.shift(); // remove time
+                                for (let i = 0; i < frame.length; i++) {
+                                    lastGPS[i] = frame[i];
+                                }
                             break;
                         }
                     } else {

js/flightlog_fields_presenter.js

@@ -106,6 +106,13 @@ function FlightLogFieldPresenter() {
         'rxSignalReceived': 'RX Signal Received',
         'rxFlightChannelsValid': 'RX Flight Ch. Valid',
         'rssi': 'RSSI',
+
+        'GPS_numSat': "GPS Sat Count",
+        'GPS_coord[0]': "GPS Latitude",
+        'GPS_coord[1]': "GPS Longitude",
+        'GPS_altitude': "GPS Altitude ASL",
+        'GPS_speed': "GPS Speed",
+        'GPS_ground_course': "GPS Heading",
     };
 
     const DEBUG_FRIENDLY_FIELD_NAMES_INITIAL = {
@@ -977,6 +984,19 @@ function FlightLogFieldPresenter() {
             case 'rssi':
                 return (value / 1024 * 100).toFixed(2) + " %";
 
+            //H Field G name:time,GPS_numSat,GPS_coord[0],GPS_coord[1],GPS_altitude,GPS_speed,GPS_ground_course
+            case 'GPS_numSat':
+                return `${value}`;
+            case 'GPS_coord[0]':
+            case 'GPS_coord[1]':
+                return `${(value/10000000).toFixed(5)}`;
+            case 'GPS_altitude':
+                return `${(value/10).toFixed(2)} m`;
+            case 'GPS_speed':
+                return `${(value/100).toFixed(2)} m/s`;
+            case 'GPS_ground_course':
+                return `${(value/10).toFixed(1)} °`;
+
             case 'debug[0]':
             case 'debug[1]':
             case 'debug[2]':

js/flightlog_index.js

@@ -46,6 +46,7 @@ function FlightLogIndex(logData) {
                     initialIMU: [],
                     initialSlow: [],
                     initialGPSHome: [],
+                    initialGPS: [],
                     hasEvent: [],
                     minTime: false,
                     maxTime: false
@@ -77,14 +78,15 @@ function FlightLogIndex(logData) {
                 var 
                     sysConfig = parser.sysConfig,
                     mainFrameDef = parser.frameDefs.I,
-
+                                        
                     gyroADC = [mainFrameDef.nameToIndex["gyroADC[0]"], mainFrameDef.nameToIndex["gyroADC[1]"], mainFrameDef.nameToIndex["gyroADC[2]"]],
                     accSmooth = [mainFrameDef.nameToIndex["accSmooth[0]"], mainFrameDef.nameToIndex["accSmooth[1]"], mainFrameDef.nameToIndex["accSmooth[2]"]],
                     magADC = [mainFrameDef.nameToIndex["magADC[0]"], mainFrameDef.nameToIndex["magADC[1]"], mainFrameDef.nameToIndex["magADC[2]"]],
 
                     lastSlow = [],
-                    lastGPSHome = [];
-
+                    lastGPSHome = [],
+                    lastGPS = [];
+
                 // Identify motor fields so they can be used to show the activity summary bar
                 for (var j = 0; j < 8; j++) {
                     if (mainFrameDef.nameToIndex["motor[" + j + "]"] !== undefined) {
@@ -139,6 +141,7 @@ function FlightLogIndex(logData) {
                                     intraIndex.initialIMU.push(new IMU(imu));
                                     intraIndex.initialSlow.push(lastSlow);
                                     intraIndex.initialGPSHome.push(lastGPSHome);
+                                    intraIndex.initialGPS.push(lastGPS);
                                 }
 
                                 iframeCount++;
@@ -153,6 +156,10 @@ function FlightLogIndex(logData) {
                                 magADC ? [frame[magADC[0]], frame[magADC[1]], frame[magADC[2]]] : false
                             );
                         break;
+                        case 'G':
+                            lastGPS = frame.slice(0);
+                            lastGPS.shift(); // Remove the time field
+                        break;
                         case 'H':
                             lastGPSHome = frame.slice(0);
                         break;

js/graph_config.js

@@ -353,6 +353,27 @@ GraphConfig.load = function(config) {
                     inputRange: 512,
                     outputRange: 1.0
                 };
+            } else if (fieldName == 'GPS_ground_course') {
+                return {
+                    offset: -1800,
+                    power: 1.0,
+                    inputRange: 1800,
+                    outputRange: 1.0
+                };
+            } else if (fieldName == 'GPS_numSat') {
+                return {
+                    offset: -20,
+                    power: 1.0,
+                    inputRange: 20,
+                    outputRange: 1.0
+                };
+            } else if (fieldName == 'GPS_speed') {
+                return {
+                    offset: 0,
+                    power: 1.0,
+                    inputRange: 1000,
+                    outputRange: 1.0
+                };
             } else if (fieldName.match(/^debug.*/) && sysConfig.debug_mode!=null) {
 
                 var debugModeName = DEBUG_MODE[sysConfig.debug_mode];
@@ -956,6 +977,10 @@ GraphConfig.load = function(config) {
             EXAMPLE_GRAPHS.push({label: "Debug",fields: ["debug[all]"]});
         }
 
+        if (!flightLog.isFieldDisabled().GPS) {
+            EXAMPLE_GRAPHS.push({label: "GPS",fields: ["GPS_numSat", "GPS_altitude", "GPS_speed", "GPS_ground_course", "GPS_coord[all]"]});
+        }
+
         for (i = 0; i < EXAMPLE_GRAPHS.length; i++) {
             var
                 srcGraph = EXAMPLE_GRAPHS[i],

js/main.js

@@ -166,7 +166,7 @@ function BlackboxLogViewer() {
 
         if (value === null)
             return "(absent)";
-        
+
         return value.toFixed(2);
     }