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Added computing of heading[] fields from new flight attitude quatrernion log data #790

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Merged
merged 7 commits into from
Nov 25, 2024
Merged

Added computing of heading[] fields from new flight attitude quatrernion log data #790

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8463803
added computing of heading[] fields from new flight attitude quatrern…
demvlad Nov 13, 2024
b7c8362
removed unused variable
demvlad Nov 13, 2024
f742272
resolved quaternion issue
demvlad Nov 13, 2024
84820d7
improve quaternion operation
demvlad Nov 13, 2024
6029637
code style improvement: tab to space replacement
demvlad Nov 13, 2024
7e9d2e8
Code style improvement
demvlad Nov 13, 2024
9708ed8
Code style improvement
demvlad Nov 13, 2024
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83 changes: 47 additions & 36 deletions src/flightlog.js
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Original file line number Diff line number Diff line change
Expand Up @@ -610,20 +610,13 @@ export function FlightLog(logData) {
* sourceChunks and destChunks can be the same array.
*/
function injectComputedFields(sourceChunks, destChunks) {
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 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]"]];
Comment on lines +613 to +615
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@haslinghuis haslinghuis Nov 13, 2024

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No need to refactor seeing next line :)

let imuQuaternion = [
fieldNameToIndex["imuQuaternion[0]"],
fieldNameToIndex["imuQuaternion[1]"],
fieldNameToIndex["imuQuaternion[2]"],
];
let rcCommand = [
fieldNameToIndex["rcCommand[0]"],
Expand Down Expand Up @@ -668,15 +661,14 @@ export function FlightLog(logData) {

let sourceChunkIndex;
let destChunkIndex;
let attitude;

const sysConfig = that.getSysConfig();

if (destChunks.length === 0) {
return;
}

// Do we have mag fields? If not mark that data as absent
// Do we have mag fields? If not mark that data as absent
if (!magADC[0]) {
magADC = false;
}
Expand All @@ -689,6 +681,10 @@ export function FlightLog(logData) {
accSmooth = false;
}

if (!imuQuaternion[0]) {
imuQuaternion = false;
}

if (!rcCommand[0]) {
rcCommand = false;
}
Expand Down Expand Up @@ -726,33 +722,48 @@ export function FlightLog(logData) {

if (!destChunk.hasAdditionalFields) {
destChunk.hasAdditionalFields = true;

let chunkIMU = new IMU(sourceChunks[sourceChunkIndex].initialIMU);
const chunkIMU = new IMU(sourceChunk.initialIMU);

for (let i = 0; i < sourceChunk.frames.length; i++) {
let srcFrame = sourceChunk.frames[i],
destFrame = destChunk.frames[i],
fieldIndex = destFrame.length - ADDITIONAL_COMPUTED_FIELD_COUNT;

if (!that.isFieldDisabled().GYRO) {
//don't calculate attitude if no gyro data
attitude = chunkIMU.updateEstimatedAttitude(
[
srcFrame[gyroADC[0]],
srcFrame[gyroADC[1]],
srcFrame[gyroADC[2]],
],
[
srcFrame[accSmooth[0]],
srcFrame[accSmooth[1]],
srcFrame[accSmooth[2]],
],
srcFrame[FlightLogParser.prototype.FLIGHT_LOG_FIELD_INDEX_TIME],
sysConfig.acc_1G,
sysConfig.gyroScale,
magADC
);
if (imuQuaternion) {
const scaleFromFixedInt16 = 0x7FFF; // 0x7FFF = 2^15 - 1
const q = {
x: srcFrame[imuQuaternion[0]] / scaleFromFixedInt16,
y: srcFrame[imuQuaternion[1]] / scaleFromFixedInt16,
z: srcFrame[imuQuaternion[2]] / scaleFromFixedInt16,
w: 1.0,
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@ledvinap ledvinap Nov 13, 2024

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$w = sqrt(1 - (x^2 + y^2 + z^2))$

};
const xx = q.x * q.x,
xy = q.x * q.y,
xz = q.x * q.z,
wx = q.w * q.x,
yy = q.y * q.y,
yz = q.y * q.z,
wy = q.w * q.y,
zz = q.z * q.z,
wz = q.w * q.z;
let roll = Math.atan2((+2.0 * (wx + yz)), (+1.0 - 2.0 * (xx + yy)));
let pitch = ((0.5 * Math.PI) - Math.acos(+2.0 * (wy - xz)));
let heading = -Math.atan2((+2.0 * (wz + xy)), (+1.0 - 2.0 * (yy + zz)));
if (heading < 0) {
heading += 2.0 * Math.PI;
}

destFrame[fieldIndex++] = roll;
destFrame[fieldIndex++] = pitch;
destFrame[fieldIndex++] = heading;
} else {
const attitude = chunkIMU.updateEstimatedAttitude(
[srcFrame[gyroADC[0]], srcFrame[gyroADC[1]], srcFrame[gyroADC[2]]],
[srcFrame[accSmooth[0]], srcFrame[accSmooth[1]], srcFrame[accSmooth[2]]],
srcFrame[FlightLogParser.prototype.FLIGHT_LOG_FIELD_INDEX_TIME],
sysConfig.acc_1G,
sysConfig.gyroScale,
magADC);
destFrame[fieldIndex++] = attitude.roll;
destFrame[fieldIndex++] = attitude.pitch;
destFrame[fieldIndex++] = attitude.heading;
Expand Down