From 2db13dac490015f996057a221ee919c3da96d204 Mon Sep 17 00:00:00 2001 From: demvlad Date: Mon, 23 Dec 2024 21:53:49 +0300 Subject: [PATCH 1/3] The DEBUG modes list is updated. The OPTICALFLOW, AUTOPILOT_POSITION debugs are added --- src/flightlog_fielddefs.js | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/flightlog_fielddefs.js b/src/flightlog_fielddefs.js index d1d52384..0e1af5d4 100644 --- a/src/flightlog_fielddefs.js +++ b/src/flightlog_fielddefs.js @@ -530,12 +530,14 @@ export function adjustFieldDefsList(firmwareType, firmwareVersion) { if (semver.gte(firmwareVersion, "4.6.0")) { DEBUG_MODE.splice(DEBUG_MODE.indexOf('GPS_RESCUE_THROTTLE_PID'), 1, 'AUTOPILOT_ALTITUDE'); DEBUG_MODE.splice(DEBUG_MODE.indexOf("GYRO_SCALED"), 1); + DEBUG_MODE.splice(DEBUG_MODE.indexOf("RANGEFINDER_QUALITY") + 1, 0, "OPTICALFLOW"); DEBUG_MODE.push('TPA'); DEBUG_MODE.push('S_TERM'); DEBUG_MODE.push('SPA'); DEBUG_MODE.push('TASK'); DEBUG_MODE.push('GIMBAL'); DEBUG_MODE.push('WING_SETPOINT'); + DEBUG_MODE.push('AUTOPILOT_POSITION'); } DEBUG_MODE = makeReadOnly(DEBUG_MODE); From 3f897368d41a8ae49ec3b311d8e46bacbaa79983 Mon Sep 17 00:00:00 2001 From: demvlad Date: Tue, 24 Dec 2024 00:08:08 +0300 Subject: [PATCH 2/3] added converters for OPTICALFLOW debug --- src/flightlog_fields_presenter.js | 46 +++++++++++++++++++++++++++++-- 1 file changed, 43 insertions(+), 3 deletions(-) diff --git a/src/flightlog_fields_presenter.js b/src/flightlog_fields_presenter.js index e833100b..c0b3fa0a 100644 --- a/src/flightlog_fields_presenter.js +++ b/src/flightlog_fields_presenter.js @@ -32,7 +32,7 @@ const FRIENDLY_FIELD_NAMES = { "axisF[0]": "PID Feedforward [roll]", "axisF[1]": "PID Feedforward [pitch]", "axisF[2]": "PID Feedforward [yaw]", - + "axisS[all]": "PID S", "axisS[0]": "PID S [roll]", "axisS[1]": "PID S [pitch]", @@ -129,7 +129,7 @@ const FRIENDLY_FIELD_NAMES = { GPS_altitude: "GPS Altitude ASL", GPS_speed: "GPS Speed", GPS_ground_course: "GPS Heading", - + "gpsCartesianCoords[all]": "GPS Coords", "gpsCartesianCoords[0]": "GPS Coords [X]", "gpsCartesianCoords[1]": "GPS Coords [Y]", @@ -1388,6 +1388,26 @@ FlightLogFieldPresenter.adjustDebugDefsList = function ( 'debug[4]': 'Current Setpoint [yaw]', 'debug[5]': 'Adjusted Setpoint [yaw]', }; + DEBUG_FRIENDLY_FIELD_NAMES.OPTICALFLOW = { + 'debug[all]': 'Optical Flow', + 'debug[0]': 'Quality', + 'debug[1]': 'Raw flow rates X', + 'debug[2]': 'Raw flow rates Y', + 'debug[3]': 'Processed flow rates X', + 'debug[4]': 'Processed flow rates Y', + 'debug[5]': 'Delta time', + }; + DEBUG_FRIENDLY_FIELD_NAMES.AUTOPILOT_POSITION = { + 'debug[all]': 'Autopilot Position', + 'debug[0]': 'Distance', + 'debug[1]': 'GPS Distance', + 'debug[2]': 'PID Sum EF', + 'debug[3]': 'Angle', + 'debug[4]': 'pidP', + 'debug[5]': 'pidI', + 'debug[6]': 'pidD', + 'debug[7]': 'pidA', + }; } } }; @@ -1728,7 +1748,7 @@ FlightLogFieldPresenter.decodeFieldToFriendly = function ( } case "GPS_ground_course": return `${(value / 10).toFixed(1)} °`; - + case "gpsCartesianCoords[0]": case "gpsCartesianCoords[1]": case "gpsCartesianCoords[2]": @@ -2151,6 +2171,16 @@ FlightLogFieldPresenter.decodeDebugFieldToFriendly = function ( return value.toFixed(0); case "EZLANDING": return `${(value / 100.0).toFixed(2)} %`; + case "OPTICALFLOW": + switch (fieldName) { + case "debug[1]": + case "debug[2]": + case "debug[3]": + case "debug[4]": + return `${(value / 1000).toFixed(1)}`; + default: + return value.toFixed(0); + } } return value.toFixed(0); } @@ -2816,6 +2846,16 @@ FlightLogFieldPresenter.ConvertDebugFieldValue = function ( return value; case "DSHOT_TELEMETRY_COUNTS": return value; + case "OPTICALFLOW": + switch (fieldName) { + case "debug[1]": + case "debug[2]": + case "debug[3]": + case "debug[4]": + return toFriendly ? value / 1000 : value * 1000; + default: + return value; + } } } return value; From 6f466fa86ce16bac05ec6a790935afd5109496d1 Mon Sep 17 00:00:00 2001 From: demvlad Date: Tue, 24 Dec 2024 00:21:25 +0300 Subject: [PATCH 3/3] added converters for AUTOPILOT_POSITION debug --- src/flightlog_fields_presenter.js | 26 +++++++++++++++++++++++++- 1 file changed, 25 insertions(+), 1 deletion(-) diff --git a/src/flightlog_fields_presenter.js b/src/flightlog_fields_presenter.js index c0b3fa0a..debf5340 100644 --- a/src/flightlog_fields_presenter.js +++ b/src/flightlog_fields_presenter.js @@ -2179,7 +2179,19 @@ FlightLogFieldPresenter.decodeDebugFieldToFriendly = function ( case "debug[4]": return `${(value / 1000).toFixed(1)}`; default: - return value.toFixed(0); + return value.toFixed(1); + } + case "AUTOPILOT_POSITION": + switch (fieldName) { + case "debug[2]": + case "debug[3]": + case "debug[4]": + case "debug[5]": + case "debug[6]": + case "debug[7]": + return `${(value / 10).toFixed(1)}`; + default: + return value.toFixed(1); } } return value.toFixed(0); @@ -2856,6 +2868,18 @@ FlightLogFieldPresenter.ConvertDebugFieldValue = function ( default: return value; } + case "AUTOPILOT_POSITION": + switch (fieldName) { + case "debug[2]": + case "debug[3]": + case "debug[4]": + case "debug[5]": + case "debug[6]": + case "debug[7]": + return toFriendly ? value / 10 : value * 10; + default: + return value; + } } } return value;