From a6a419c873fc7e9b3cee43804de4ef6627081d57 Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Fri, 6 Sep 2024 13:16:38 +0300
Subject: [PATCH 01/22] added gps coords transform module gps_transform.js

---
 src/gps_transform.js | 71 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 71 insertions(+)
 create mode 100644 src/gps_transform.js

diff --git a/src/gps_transform.js b/src/gps_transform.js
new file mode 100644
index 00000000..dad43dd7
--- /dev/null
+++ b/src/gps_transform.js
@@ -0,0 +1,71 @@
+export function GPS_transform(Lat0, Lon0, H0, Heading) {
+
+  function rad2deg(rad) {
+    return rad * 180.0 / Math.PI;
+  }
+
+  function deg2rad(deg) {
+    return deg * Math.PI / 180.0;
+  }
+
+  Lat0 = deg2rad(Lat0);
+  Lon0 = deg2rad(Lon0);
+  const Semimajor = 6378137.0,
+        Flat = 1.0/298.257223563,
+        Ecc_2 = Flat*(2-Flat),
+        SinB = Math.sin(Lat0),
+        CosB = Math.cos(Lat0),
+        SinL = Math.sin(Lon0),
+        CosL = Math.cos(Lon0),
+        N = Semimajor/Math.sqrt(1.0 - Ecc_2*SinB*SinB),
+
+        a11 = -SinB*CosL,
+        a12 = -SinB*SinL,
+        a13 = CosB,
+        a21 = -SinL,
+        a22 = CosL,
+        a23 = 0,
+        a31 = CosL*CosB,
+        a32 = CosB*SinL,
+        a33 = SinB,
+
+        X0 = (N + H0)*CosB*CosL,
+        Y0 = (N + H0)*CosB*SinL,
+        Z0 = (N + H0 - Ecc_2*N) * SinB,
+        c11 = Math.cos( deg2rad(Heading) ),
+        c12 = Math.sin( deg2rad(Heading) ),
+        c21 = -c12,
+        c22 = c11;
+
+  this.WGS_ECEF = function (Lat, Lon, H) {
+    Lat = deg2rad(Lat);
+    Lon = deg2rad(Lon);
+    const 
+      SinB = Math.sin(Lat),
+      CosB = Math.cos(Lat),
+      SinL = Math.sin(Lon),
+      CosL = Math.cos(Lon),
+      N = Semimajor/Math.sqrt(1-Ecc_2*SinB*SinB);
+
+    return {
+      x: (N + H)*CosB*CosL,
+      y: (N + H)*CosB*SinL,
+      z: (N + H - Ecc_2*N) * SinB
+    };
+  }
+
+  this.ECEF_BS = function (pos) {
+    const PosX1= a11*(pos.x-X0) + a12*(pos.y-Y0) + a13*(pos.z-Z0);
+    const PosZ1= a21*(pos.x-X0) + a22*(pos.y-Y0) + a23*(pos.z-Z0);
+
+    return {
+      x: c11*PosX1 + c12*PosZ1,
+      y: a31*(pos.x-X0) + a32*(pos.y-Y0) + a33*(pos.z-Z0),
+      z: c21*PosX1 + c22*PosZ1
+    }
+  }
+
+  this.WGS_BS = function (Lat, Lon, H) {
+    return this.ECEF_BS(this.WGS_ECEF(Lat, Lon, H));
+  }
+}
\ No newline at end of file

From e24e31c03bba901348ba93ee4fca05d808f4f7df Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Fri, 6 Sep 2024 13:17:53 +0300
Subject: [PATCH 02/22] Added computed fields for coords in cartesian system

---
 src/flightlog.js | 39 +++++++++++++++++++++++++++++++++------
 1 file changed, 33 insertions(+), 6 deletions(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index 89c122c5..e10d4a95 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -1,5 +1,6 @@
 import { FlightLogIndex } from "./flightlog_index";
 import { FlightLogParser } from "./flightlog_parser";
+import { GPS_transform } from "./gps_transform";
 import {
   MAX_MOTOR_NUMBER,
   DSHOT_MIN_VALUE,
@@ -29,7 +30,7 @@ import {
  * Window based smoothing of fields is offered.
  */
 export function FlightLog(logData) {
-  let ADDITIONAL_COMPUTED_FIELD_COUNT = 15 /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED **/,
+  let ADDITIONAL_COMPUTED_FIELD_COUNT = 18 /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED + GPS coord**/,
     that = this,
     logIndex = 0,
     logIndexes = new FlightLogIndex(logData),
@@ -44,7 +45,8 @@ export function FlightLog(logData) {
     // Map from field indexes to smoothing window size in microseconds
     fieldSmoothing = {},
     maxSmoothing = 0,
-    smoothedCache = new FIFOCache(2);
+    smoothedCache = new FIFOCache(2),
+    gpsTransform = null;
 
   //Public fields:
   this.parser = parser;
@@ -130,7 +132,7 @@ export function FlightLog(logData) {
     index = index ?? logIndex;
     return logIndexes.getIntraframeDirectory(index).maxTime;
   };
-  
+
   this.getActualLoggedTime = function (index) {
     index = index ?? logIndex;
     const directory = logIndexes.getIntraframeDirectory(index);
@@ -281,6 +283,9 @@ export function FlightLog(logData) {
     if (!that.isFieldDisabled().GYRO && !that.isFieldDisabled().SETPOINT) {
       fieldNames.push("axisError[0]", "axisError[1]", "axisError[2]"); // Custom calculated error field
     }
+    if (!that.isFieldDisabled().GPS) {
+      fieldNames.push("gpsCartesian[0]", "gpsCartesian[1]", "gpsCartesian[2]"); // GPS coords in cartesian system
+    }
 
     fieldNameToIndex = {};
     for (let i = 0; i < fieldNames.length; i++) {
@@ -519,9 +524,7 @@ export function FlightLog(logData) {
                 }
                 break;
               case "H":
-              // TODO
-              // contains coordinates only
-              // should be handled separately
+                gpsTransform = new GPS_transform(frame[0]/10000000, frame[1]/10000000, 0.0, 0.0);
               case "G":
                 // 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)
@@ -631,6 +634,11 @@ export function FlightLog(logData) {
       fieldNameToIndex["setpoint[2]"],
       fieldNameToIndex["setpoint[3]"],
     ];
+    let gpsCoord = [
+      fieldNameToIndex["GPS_coord[0]"],
+      fieldNameToIndex["GPS_coord[1]"],
+      fieldNameToIndex["GPS_altitude"],
+    ];
 
     const flightModeFlagsIndex = fieldNameToIndex["flightModeFlags"]; // This points to the flightmode data
 
@@ -690,6 +698,11 @@ export function FlightLog(logData) {
       axisPID = false;
     }
 
+    if (!gpsCoord[0]) {
+      gpsCoord = false;
+    }
+
+
     sourceChunkIndex = 0;
     destChunkIndex = 0;
 
@@ -830,6 +843,20 @@ export function FlightLog(logData) {
             }
           }
 
+          // Calculate cartesian coords by GPS
+          if (!that.isFieldDisabled().GPS) {
+            if (gpsTransform && gpsCoord && srcFrame[gpsCoord[0]]) {
+              const gpsCartesian = gpsTransform.WGS_BS(srcFrame[gpsCoord[0]]/10000000, srcFrame[gpsCoord[1]]/10000000, srcFrame[gpsCoord[2]]/10);
+              destFrame[fieldIndex++] = gpsCartesian.x;
+              destFrame[fieldIndex++] = gpsCartesian.y;
+              destFrame[fieldIndex++] = gpsCartesian.z;
+            } else {
+              destFrame[fieldIndex++] = 0;
+              destFrame[fieldIndex++] = 0;
+              destFrame[fieldIndex++] = 0;
+            }
+          }
+
           // Remove empty fields at the end
           destFrame.splice(fieldIndex);
         }

From ae429530bc0f2311c96f348a78848b76dfaacc4c Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Fri, 6 Sep 2024 13:18:56 +0300
Subject: [PATCH 03/22] added coords values at curves legend

---
 src/flightlog_fields_presenter.js | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/flightlog_fields_presenter.js b/src/flightlog_fields_presenter.js
index fd21c49d..170aae17 100644
--- a/src/flightlog_fields_presenter.js
+++ b/src/flightlog_fields_presenter.js
@@ -1639,6 +1639,11 @@ FlightLogFieldPresenter.decodeFieldToFriendly = function (
       }
     case "GPS_ground_course":
       return `${(value / 10).toFixed(1)} °`;
+    
+    case "gpsCartesian[0]":
+    case "gpsCartesian[1]":
+    case "gpsCartesian[2]":
+        return `${value.toFixed(0)} m`;
 
     case "debug[0]":
     case "debug[1]":

From 7b8640b69b41264036a6688aa33bbd2781f1f390 Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Thu, 26 Sep 2024 14:12:11 +0300
Subject: [PATCH 04/22] The home distance id added as computed field

---
 src/flightlog.js                  | 6 ++++--
 src/flightlog_fields_presenter.js | 1 +
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index e10d4a95..20b7f1eb 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -30,7 +30,7 @@ import {
  * Window based smoothing of fields is offered.
  */
 export function FlightLog(logData) {
-  let ADDITIONAL_COMPUTED_FIELD_COUNT = 18 /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED + GPS coord**/,
+  let ADDITIONAL_COMPUTED_FIELD_COUNT = 19 /** attitude + PID_SUM + PID_ERROR + RCCOMMAND_SCALED + GPS coord**/,
     that = this,
     logIndex = 0,
     logIndexes = new FlightLogIndex(logData),
@@ -284,7 +284,7 @@ export function FlightLog(logData) {
       fieldNames.push("axisError[0]", "axisError[1]", "axisError[2]"); // Custom calculated error field
     }
     if (!that.isFieldDisabled().GPS) {
-      fieldNames.push("gpsCartesian[0]", "gpsCartesian[1]", "gpsCartesian[2]"); // GPS coords in cartesian system
+      fieldNames.push("gpsCartesian[0]", "gpsCartesian[1]", "gpsCartesian[2]", "gpsDistance"); // GPS coords in cartesian system
     }
 
     fieldNameToIndex = {};
@@ -850,10 +850,12 @@ export function FlightLog(logData) {
               destFrame[fieldIndex++] = gpsCartesian.x;
               destFrame[fieldIndex++] = gpsCartesian.y;
               destFrame[fieldIndex++] = gpsCartesian.z;
+              destFrame[fieldIndex++] = Math.sqrt(gpsCartesian.x*gpsCartesian.x + gpsCartesian.z*gpsCartesian.z);
             } else {
               destFrame[fieldIndex++] = 0;
               destFrame[fieldIndex++] = 0;
               destFrame[fieldIndex++] = 0;
+              destFrame[fieldIndex++] = 0;
             }
           }
 
diff --git a/src/flightlog_fields_presenter.js b/src/flightlog_fields_presenter.js
index 170aae17..ca0f6363 100644
--- a/src/flightlog_fields_presenter.js
+++ b/src/flightlog_fields_presenter.js
@@ -1643,6 +1643,7 @@ FlightLogFieldPresenter.decodeFieldToFriendly = function (
     case "gpsCartesian[0]":
     case "gpsCartesian[1]":
     case "gpsCartesian[2]":
+    case "gpsDistance":
         return `${value.toFixed(0)} m`;
 
     case "debug[0]":

From 490fa9e8f0573c3b57f323d3590b4344e29288a9 Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Thu, 26 Sep 2024 14:24:51 +0300
Subject: [PATCH 05/22] added friendly names for gps cartesian coords

---
 src/flightlog_fields_presenter.js | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/flightlog_fields_presenter.js b/src/flightlog_fields_presenter.js
index ca0f6363..8a92a49e 100644
--- a/src/flightlog_fields_presenter.js
+++ b/src/flightlog_fields_presenter.js
@@ -124,6 +124,12 @@ const FRIENDLY_FIELD_NAMES = {
   GPS_altitude: "GPS Altitude ASL",
   GPS_speed: "GPS Speed",
   GPS_ground_course: "GPS Heading",
+  
+  "gpsCartesian[all]": "Positions",
+  "gpsCartesian[0]": "Position X",
+  "gpsCartesian[1]": "Position Y",
+  "gpsCartesian[2]": "Position Z",
+  gpsDistance:     "Home distance",
 };
 
 const DEBUG_FRIENDLY_FIELD_NAMES_INITIAL = {

From aaf34885718743e821330aa8c004f4d48df8c5ba Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Fri, 27 Sep 2024 08:33:03 +0300
Subject: [PATCH 06/22] added using of gps home points altitude if it exists in
 log file

---
 src/flightlog.js | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index 20b7f1eb..a62d3469 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -524,7 +524,8 @@ export function FlightLog(logData) {
                 }
                 break;
               case "H":
-                gpsTransform = new GPS_transform(frame[0]/10000000, frame[1]/10000000, 0.0, 0.0);
+                const homeAltitude = frame.length == 3 ? frame[2]*10 : 0;
+                gpsTransform = new GPS_transform(frame[0]/10000000, frame[1]/10000000, homeAltitude, 0.0);
               case "G":
                 // 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)

From b7b9bebf6676021a0900f08557ea4054e21ca233 Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Fri, 27 Sep 2024 08:50:02 +0300
Subject: [PATCH 07/22] gps coord names are changed

---
 src/flightlog.js                  | 12 ++++++------
 src/flightlog_fields_presenter.js | 16 ++++++++--------
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index a62d3469..55a8740d 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -284,7 +284,7 @@ export function FlightLog(logData) {
       fieldNames.push("axisError[0]", "axisError[1]", "axisError[2]"); // Custom calculated error field
     }
     if (!that.isFieldDisabled().GPS) {
-      fieldNames.push("gpsCartesian[0]", "gpsCartesian[1]", "gpsCartesian[2]", "gpsDistance"); // GPS coords in cartesian system
+      fieldNames.push("gpsCartesianCoords[0]", "gpsCartesianCoords[1]", "gpsCartesianCoords[2]", "gpsDistance"); // GPS coords in cartesian system
     }
 
     fieldNameToIndex = {};
@@ -847,11 +847,11 @@ export function FlightLog(logData) {
           // Calculate cartesian coords by GPS
           if (!that.isFieldDisabled().GPS) {
             if (gpsTransform && gpsCoord && srcFrame[gpsCoord[0]]) {
-              const gpsCartesian = gpsTransform.WGS_BS(srcFrame[gpsCoord[0]]/10000000, srcFrame[gpsCoord[1]]/10000000, srcFrame[gpsCoord[2]]/10);
-              destFrame[fieldIndex++] = gpsCartesian.x;
-              destFrame[fieldIndex++] = gpsCartesian.y;
-              destFrame[fieldIndex++] = gpsCartesian.z;
-              destFrame[fieldIndex++] = Math.sqrt(gpsCartesian.x*gpsCartesian.x + gpsCartesian.z*gpsCartesian.z);
+              const gpsCartesianCoords = gpsTransform.WGS_BS(srcFrame[gpsCoord[0]]/10000000, srcFrame[gpsCoord[1]]/10000000, srcFrame[gpsCoord[2]]/10);
+              destFrame[fieldIndex++] = gpsCartesianCoords.x;
+              destFrame[fieldIndex++] = gpsCartesianCoords.y;
+              destFrame[fieldIndex++] = gpsCartesianCoords.z;
+              destFrame[fieldIndex++] = Math.sqrt(gpsCartesianCoords.x*gpsCartesianCoords.x + gpsCartesianCoords.z*gpsCartesianCoords.z);
             } else {
               destFrame[fieldIndex++] = 0;
               destFrame[fieldIndex++] = 0;
diff --git a/src/flightlog_fields_presenter.js b/src/flightlog_fields_presenter.js
index 8a92a49e..38a35cbc 100644
--- a/src/flightlog_fields_presenter.js
+++ b/src/flightlog_fields_presenter.js
@@ -125,11 +125,11 @@ const FRIENDLY_FIELD_NAMES = {
   GPS_speed: "GPS Speed",
   GPS_ground_course: "GPS Heading",
   
-  "gpsCartesian[all]": "Positions",
-  "gpsCartesian[0]": "Position X",
-  "gpsCartesian[1]": "Position Y",
-  "gpsCartesian[2]": "Position Z",
-  gpsDistance:     "Home distance",
+  "gpsCartesianCoords[all]": "GPS Coords",
+  "gpsCartesianCoords[0]": "GPS Coords [X]",
+  "gpsCartesianCoords[1]": "GPS Coords [H]",
+  "gpsCartesianCoords[2]": "GPS Coords [Z]",
+  gpsDistance:     "GPS Home distance",
 };
 
 const DEBUG_FRIENDLY_FIELD_NAMES_INITIAL = {
@@ -1646,9 +1646,9 @@ FlightLogFieldPresenter.decodeFieldToFriendly = function (
     case "GPS_ground_course":
       return `${(value / 10).toFixed(1)} °`;
     
-    case "gpsCartesian[0]":
-    case "gpsCartesian[1]":
-    case "gpsCartesian[2]":
+    case "gpsCartesianCoords[0]":
+    case "gpsCartesianCoords[1]":
+    case "gpsCartesianCoords[2]":
     case "gpsDistance":
         return `${value.toFixed(0)} m`;
 

From 0660ea1015d584c6dc2a9378ae72d121668a38ad Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Fri, 27 Sep 2024 08:57:47 +0300
Subject: [PATCH 08/22] Added example graphs for GPS Cartesian coords data

---
 src/graph_config.js | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/graph_config.js b/src/graph_config.js
index 87092a3e..89670574 100644
--- a/src/graph_config.js
+++ b/src/graph_config.js
@@ -1537,6 +1537,13 @@ GraphConfig.getExampleGraphConfigs = function (flightLog, graphNames) {
         "GPS_coord[all]",
       ],
     });
+    EXAMPLE_GRAPHS.push({
+      label: "GPS Cartesian coords",
+      fields: [
+        "gpsCartesianCoords[all]",
+        "gpsDistance",
+      ],
+    });
   }
 
   for (const srcGraph of EXAMPLE_GRAPHS) {

From ab122c07b8ab01d300958ab63ca28290a9d38dbe Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 13:24:19 +0300
Subject: [PATCH 09/22] code issues are resolved

---
 src/gps_transform.js | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/src/gps_transform.js b/src/gps_transform.js
index dad43dd7..fc584fdd 100644
--- a/src/gps_transform.js
+++ b/src/gps_transform.js
@@ -1,9 +1,5 @@
 export function GPS_transform(Lat0, Lon0, H0, Heading) {
 
-  function rad2deg(rad) {
-    return rad * 180.0 / Math.PI;
-  }
-
   function deg2rad(deg) {
     return deg * Math.PI / 180.0;
   }
@@ -52,7 +48,7 @@ export function GPS_transform(Lat0, Lon0, H0, Heading) {
       y: (N + H)*CosB*SinL,
       z: (N + H - Ecc_2*N) * SinB
     };
-  }
+  };
 
   this.ECEF_BS = function (pos) {
     const PosX1= a11*(pos.x-X0) + a12*(pos.y-Y0) + a13*(pos.z-Z0);
@@ -62,10 +58,10 @@ export function GPS_transform(Lat0, Lon0, H0, Heading) {
       x: c11*PosX1 + c12*PosZ1,
       y: a31*(pos.x-X0) + a32*(pos.y-Y0) + a33*(pos.z-Z0),
       z: c21*PosX1 + c22*PosZ1
-    }
-  }
+    };
+  };
 
   this.WGS_BS = function (Lat, Lon, H) {
     return this.ECEF_BS(this.WGS_ECEF(Lat, Lon, H));
-  }
+  };
 }
\ No newline at end of file

From d0dd7733fe15e248e16f950ca970b26fba1d10cd Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 13:28:41 +0300
Subject: [PATCH 10/22] code issues are resolved

---
 src/gps_transform.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/gps_transform.js b/src/gps_transform.js
index fc584fdd..6fbb5d49 100644
--- a/src/gps_transform.js
+++ b/src/gps_transform.js
@@ -46,7 +46,7 @@ export function GPS_transform(Lat0, Lon0, H0, Heading) {
     return {
       x: (N + H)*CosB*CosL,
       y: (N + H)*CosB*SinL,
-      z: (N + H - Ecc_2*N) * SinB
+      z: (N + H - Ecc_2*N) * SinB,
     };
   };
 
@@ -57,7 +57,7 @@ export function GPS_transform(Lat0, Lon0, H0, Heading) {
     return {
       x: c11*PosX1 + c12*PosZ1,
       y: a31*(pos.x-X0) + a32*(pos.y-Y0) + a33*(pos.z-Z0),
-      z: c21*PosX1 + c22*PosZ1
+      z: c21*PosX1 + c22*PosZ1,
     };
   };
 

From 3a23761ec30c3ba207173f1d133d88c9c60b13d4 Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 13:33:03 +0300
Subject: [PATCH 11/22] code issues are resolved

---
 src/flightlog.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/flightlog.js b/src/flightlog.js
index 55a8740d..20572a2c 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -526,6 +526,7 @@ export function FlightLog(logData) {
               case "H":
                 const homeAltitude = frame.length == 3 ? frame[2]*10 : 0;
                 gpsTransform = new GPS_transform(frame[0]/10000000, frame[1]/10000000, homeAltitude, 0.0);
+                break;
               case "G":
                 // 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)

From 026e65f6ee5fb3ac373a3a0374bd1755e8cd5b1a Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 13:46:39 +0300
Subject: [PATCH 12/22] code style improvement

---
 src/flightlog.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index 20572a2c..16b50160 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -524,7 +524,7 @@ export function FlightLog(logData) {
                 }
                 break;
               case "H":
-                const homeAltitude = frame.length == 3 ? frame[2]*10 : 0;
+                const homeAltitude = frame.length > 2 ? frame[2]/10 : 0; // will work after BF firmware improvement
                 gpsTransform = new GPS_transform(frame[0]/10000000, frame[1]/10000000, homeAltitude, 0.0);
                 break;
               case "G":

From 64ff0ae220520f1254fce36a0b70ea75cb29dfe9 Mon Sep 17 00:00:00 2001
From: Vladimir Demidov <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 22:53:58 +0300
Subject: [PATCH 13/22] Field name is improved

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
---
 src/flightlog_fields_presenter.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/flightlog_fields_presenter.js b/src/flightlog_fields_presenter.js
index 38a35cbc..50ce336a 100644
--- a/src/flightlog_fields_presenter.js
+++ b/src/flightlog_fields_presenter.js
@@ -127,7 +127,7 @@ const FRIENDLY_FIELD_NAMES = {
   
   "gpsCartesianCoords[all]": "GPS Coords",
   "gpsCartesianCoords[0]": "GPS Coords [X]",
-  "gpsCartesianCoords[1]": "GPS Coords [H]",
+  "gpsCartesianCoords[1]": "GPS Coords [Y]",
   "gpsCartesianCoords[2]": "GPS Coords [Z]",
   gpsDistance:     "GPS Home distance",
 };

From 2bee001e4f03c936881e2ff1981f41d919b3908f Mon Sep 17 00:00:00 2001
From: Vladimir Demidov <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 22:54:29 +0300
Subject: [PATCH 14/22] Code style improvement

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
---
 src/flightlog.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index 16b50160..cd478ae9 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -524,8 +524,8 @@ export function FlightLog(logData) {
                 }
                 break;
               case "H":
-                const homeAltitude = frame.length > 2 ? frame[2]/10 : 0; // will work after BF firmware improvement
-                gpsTransform = new GPS_transform(frame[0]/10000000, frame[1]/10000000, homeAltitude, 0.0);
+                const homeAltitude = frame.length > 2 ? frame[2 ] /10 : 0; // will work after BF firmware improvement
+                gpsTransform = new GPS_transform(frame[0] / 10000000, frame[1] / 10000000, homeAltitude, 0.0);
                 break;
               case "G":
                 // The frameValid can be false, when no GPS home (the G frames contains GPS position as diff of GPS Home position).

From 80c78f87f887763c638a4d8dc67fb2bda110d170 Mon Sep 17 00:00:00 2001
From: Vladimir Demidov <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 22:55:40 +0300
Subject: [PATCH 15/22] Code style improvement

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
---
 src/flightlog.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index cd478ae9..7c7e23e5 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -852,7 +852,7 @@ export function FlightLog(logData) {
               destFrame[fieldIndex++] = gpsCartesianCoords.x;
               destFrame[fieldIndex++] = gpsCartesianCoords.y;
               destFrame[fieldIndex++] = gpsCartesianCoords.z;
-              destFrame[fieldIndex++] = Math.sqrt(gpsCartesianCoords.x*gpsCartesianCoords.x + gpsCartesianCoords.z*gpsCartesianCoords.z);
+              destFrame[fieldIndex++] = Math.sqrt(gpsCartesianCoords.x * gpsCartesianCoords.x + gpsCartesianCoords.z * gpsCartesianCoords.z);
             } else {
               destFrame[fieldIndex++] = 0;
               destFrame[fieldIndex++] = 0;

From 1fcd35a93d063d83976410471c4468ffee92f81e Mon Sep 17 00:00:00 2001
From: Vladimir Demidov <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 22:56:34 +0300
Subject: [PATCH 16/22] Code style improvement

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
---
 src/gps_transform.js | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/gps_transform.js b/src/gps_transform.js
index 6fbb5d49..86c4fab6 100644
--- a/src/gps_transform.js
+++ b/src/gps_transform.js
@@ -64,4 +64,5 @@ export function GPS_transform(Lat0, Lon0, H0, Heading) {
   this.WGS_BS = function (Lat, Lon, H) {
     return this.ECEF_BS(this.WGS_ECEF(Lat, Lon, H));
   };
+
 }
\ No newline at end of file

From 05d351563189b819e0d37cbf353d3287d4076712 Mon Sep 17 00:00:00 2001
From: Vladimir Demidov <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 22:57:24 +0300
Subject: [PATCH 17/22] Code style improvement

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
---
 src/flightlog.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index 7c7e23e5..c86bff60 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -848,7 +848,7 @@ export function FlightLog(logData) {
           // Calculate cartesian coords by GPS
           if (!that.isFieldDisabled().GPS) {
             if (gpsTransform && gpsCoord && srcFrame[gpsCoord[0]]) {
-              const gpsCartesianCoords = gpsTransform.WGS_BS(srcFrame[gpsCoord[0]]/10000000, srcFrame[gpsCoord[1]]/10000000, srcFrame[gpsCoord[2]]/10);
+              const gpsCartesianCoords = gpsTransform.WGS_BS(srcFrame[gpsCoord[0]] / 10000000, srcFrame[gpsCoord[1] ] /10000000, srcFrame[gpsCoord[2]] / 10);
               destFrame[fieldIndex++] = gpsCartesianCoords.x;
               destFrame[fieldIndex++] = gpsCartesianCoords.y;
               destFrame[fieldIndex++] = gpsCartesianCoords.z;

From 9bb97fa29cbc0011d5bd1e8feedb6afc0198113e Mon Sep 17 00:00:00 2001
From: Vladimir Demidov <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 23:11:51 +0300
Subject: [PATCH 18/22] Code style improvement

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
---
 src/gps_transform.js | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/gps_transform.js b/src/gps_transform.js
index 86c4fab6..35a31ee4 100644
--- a/src/gps_transform.js
+++ b/src/gps_transform.js
@@ -64,5 +64,6 @@ export function GPS_transform(Lat0, Lon0, H0, Heading) {
   this.WGS_BS = function (Lat, Lon, H) {
     return this.ECEF_BS(this.WGS_ECEF(Lat, Lon, H));
   };
+}
 
-}
\ No newline at end of file
+Also please add spaces around operators in this file.
\ No newline at end of file

From d4b67def254edd604634da6f62bbbaffe6dd594f Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis <mark@numloq.nl>
Date: Sat, 28 Sep 2024 22:25:08 +0200
Subject: [PATCH 19/22] Update gps_transform.js

---
 src/gps_transform.js | 40 +++++++++++++++++++---------------------
 1 file changed, 19 insertions(+), 21 deletions(-)

diff --git a/src/gps_transform.js b/src/gps_transform.js
index 35a31ee4..f9feaef3 100644
--- a/src/gps_transform.js
+++ b/src/gps_transform.js
@@ -7,27 +7,27 @@ export function GPS_transform(Lat0, Lon0, H0, Heading) {
   Lat0 = deg2rad(Lat0);
   Lon0 = deg2rad(Lon0);
   const Semimajor = 6378137.0,
-        Flat = 1.0/298.257223563,
-        Ecc_2 = Flat*(2-Flat),
+        Flat = 1.0 / 298.257223563,
+        Ecc_2 = Flat * (2 - Flat),
         SinB = Math.sin(Lat0),
         CosB = Math.cos(Lat0),
         SinL = Math.sin(Lon0),
         CosL = Math.cos(Lon0),
-        N = Semimajor/Math.sqrt(1.0 - Ecc_2*SinB*SinB),
+        N = Semimajor / Math.sqrt(1.0 - Ecc_2 * SinB * SinB),
 
-        a11 = -SinB*CosL,
-        a12 = -SinB*SinL,
+        a11 = -SinB * CosL,
+        a12 = -SinB * SinL,
         a13 = CosB,
         a21 = -SinL,
         a22 = CosL,
         a23 = 0,
-        a31 = CosL*CosB,
-        a32 = CosB*SinL,
+        a31 = CosL * CosB,
+        a32 = CosB * SinL,
         a33 = SinB,
 
-        X0 = (N + H0)*CosB*CosL,
-        Y0 = (N + H0)*CosB*SinL,
-        Z0 = (N + H0 - Ecc_2*N) * SinB,
+        X0 = (N + H0) * CosB * CosL,
+        Y0 = (N + H0) * CosB * SinL,
+        Z0 = (N + H0 - Ecc_2 * N) * SinB,
         c11 = Math.cos( deg2rad(Heading) ),
         c12 = Math.sin( deg2rad(Heading) ),
         c21 = -c12,
@@ -41,23 +41,23 @@ export function GPS_transform(Lat0, Lon0, H0, Heading) {
       CosB = Math.cos(Lat),
       SinL = Math.sin(Lon),
       CosL = Math.cos(Lon),
-      N = Semimajor/Math.sqrt(1-Ecc_2*SinB*SinB);
+      N = Semimajor / Math.sqrt(1 - Ecc_2 * SinB * SinB);
 
     return {
-      x: (N + H)*CosB*CosL,
-      y: (N + H)*CosB*SinL,
-      z: (N + H - Ecc_2*N) * SinB,
+      x: (N + H) * CosB * CosL,
+      y: (N + H) * CosB * SinL,
+      z: (N + H - Ecc_2 * N) * SinB,
     };
   };
 
   this.ECEF_BS = function (pos) {
-    const PosX1= a11*(pos.x-X0) + a12*(pos.y-Y0) + a13*(pos.z-Z0);
-    const PosZ1= a21*(pos.x-X0) + a22*(pos.y-Y0) + a23*(pos.z-Z0);
+    const PosX1= a11 * (pos.x - X0) + a12 * (pos.y - Y0) + a13 * (pos.z - Z0);
+    const PosZ1= a21 * (pos.x - X0) + a22 * (pos.y - Y0) + a23 * (pos.z - Z0);
 
     return {
-      x: c11*PosX1 + c12*PosZ1,
-      y: a31*(pos.x-X0) + a32*(pos.y-Y0) + a33*(pos.z-Z0),
-      z: c21*PosX1 + c22*PosZ1,
+      x: c11 * PosX1 + c12 * PosZ1,
+      y: a31 * (pos.x - X0) + a32 * (pos.y - Y0) + a33 * (pos.z - Z0),
+      z: c21 * PosX1 + c22 * PosZ1,
     };
   };
 
@@ -65,5 +65,3 @@ export function GPS_transform(Lat0, Lon0, H0, Heading) {
     return this.ECEF_BS(this.WGS_ECEF(Lat, Lon, H));
   };
 }
-
-Also please add spaces around operators in this file.
\ No newline at end of file

From 39ced3429b761e1fb421b1f96d387cd70c036e80 Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Sat, 28 Sep 2024 23:51:08 +0300
Subject: [PATCH 20/22] Code style improvement

---
 src/flightlog.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index c86bff60..51e55b82 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -848,7 +848,7 @@ export function FlightLog(logData) {
           // Calculate cartesian coords by GPS
           if (!that.isFieldDisabled().GPS) {
             if (gpsTransform && gpsCoord && srcFrame[gpsCoord[0]]) {
-              const gpsCartesianCoords = gpsTransform.WGS_BS(srcFrame[gpsCoord[0]] / 10000000, srcFrame[gpsCoord[1] ] /10000000, srcFrame[gpsCoord[2]] / 10);
+              const gpsCartesianCoords = gpsTransform.WGS_BS(srcFrame[gpsCoord[0]] / 10000000, srcFrame[gpsCoord[1]] / 10000000, srcFrame[gpsCoord[2]] / 10);
               destFrame[fieldIndex++] = gpsCartesianCoords.x;
               destFrame[fieldIndex++] = gpsCartesianCoords.y;
               destFrame[fieldIndex++] = gpsCartesianCoords.z;

From 255d625d8722c0c6ab8b85c76f08b4532bf35601 Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Sun, 29 Sep 2024 00:01:12 +0300
Subject: [PATCH 21/22] Code style improvement

---
 src/flightlog.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index 51e55b82..aa4be883 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -524,7 +524,7 @@ export function FlightLog(logData) {
                 }
                 break;
               case "H":
-                const homeAltitude = frame.length > 2 ? frame[2 ] /10 : 0; // will work after BF firmware improvement
+                const homeAltitude = frame.length > 2 ? frame[2] / 10 : 0; // will work after BF firmware improvement
                 gpsTransform = new GPS_transform(frame[0] / 10000000, frame[1] / 10000000, homeAltitude, 0.0);
                 break;
               case "G":

From 26c6a7c7935995ab0d9337b439110690a6f84c4e Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Sun, 29 Sep 2024 00:40:20 +0300
Subject: [PATCH 22/22] Code style improvement

---
 src/flightlog.js | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/flightlog.js b/src/flightlog.js
index aa4be883..8b1b7107 100644
--- a/src/flightlog.js
+++ b/src/flightlog.js
@@ -523,10 +523,11 @@ export function FlightLog(logData) {
                   lastSlow[i] = frame[i];
                 }
                 break;
-              case "H":
+              case "H": {
                 const homeAltitude = frame.length > 2 ? frame[2] / 10 : 0; // will work after BF firmware improvement
                 gpsTransform = new GPS_transform(frame[0] / 10000000, frame[1] / 10000000, homeAltitude, 0.0);
                 break;
+              }
               case "G":
                 // 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)