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Add support for gyro_cal_on_first_arm #3938

Merged
merged 8 commits into from
May 22, 2024
Merged

Add support for gyro_cal_on_first_arm #3938

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496276d
Add support for gyro_cal_on_first_arm
haslinghuis May 6, 2024
7e9db22
Add semver magic
haslinghuis May 6, 2024
31fdaf6
cleanup
haslinghuis May 6, 2024
549cbb5
cleanup html
haslinghuis May 6, 2024
95e4f2a
Update added parameter
haslinghuis May 21, 2024
153621d
Another update
haslinghuis May 21, 2024
305b608
Remove auto imported vite import
haslinghuis May 21, 2024
62dc73b
Change API and hide better
haslinghuis May 22, 2024
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10 changes: 5 additions & 5 deletions locales/en/messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -1395,13 +1395,13 @@
"message": "This option configures the mixer to expect the motor direction to be reversed and the propellers to be on accordingly. <strong>Warning:</strong> This does not reverse the motor direction. Use the configuration tool for your ESCs or switch the ESC - motor wiring order to achieve this. Also, make sure to check with propellers off that your motors are rotating in the directions shown in the diagram above before attempting to arm."
},
"configurationAutoDisarmDelay": {
"message": "Disarm motors after set delay [seconds] (Requires MOTOR_STOP feature)"
"message": "Disarm motors after delay [seconds]"
},
"configurationDisarmKillSwitch": {
"message": "Disarm motors regardless of throttle value (When ARM is configured in Modes tab via AUX channel)"
"configurationAutoDisarmDelayHelp": {
"message": "Disarm motors after set delay [seconds] (Requires MOTOR_STOP feature)"
},
"configurationDisarmKillSwitchHelp": {
"message": "Arming is always disabled when the throttle is not low. Be careful as you could disarm accidentally with a switch while flying with this option active."
"configurationGyroCalOnFirstArm": {
"message": "Calibrate Gyro on first arm"
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},
"configurationDigitalIdlePercent": {
"message": "Motor Idle ( %, static)"
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5 changes: 0 additions & 5 deletions src/css/tabs/configuration.less
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Expand Up @@ -301,11 +301,6 @@
margin-right: 10px;
font-weight: bold;
}
._smallAngle {
margin-top: 10px;
float: left;
width: 100%;
}
}
@media only screen and (max-width: 1055px) {
.tab-configuration {
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1 change: 1 addition & 0 deletions src/js/fc.js
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Expand Up @@ -392,6 +392,7 @@ const FC = {
auto_disarm_delay: 0,
disarm_kill_switch: 0,
small_angle: 0,
gyro_cal_on_first_arm: 0,
};

this.FC_CONFIG = {
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10 changes: 8 additions & 2 deletions src/js/msp/MSPHelper.js
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Expand Up @@ -466,8 +466,11 @@ MspHelper.prototype.process_data = function(dataHandler) {

case MSPCodes.MSP_ARMING_CONFIG:
FC.ARMING_CONFIG.auto_disarm_delay = data.readU8();
FC.ARMING_CONFIG.disarm_kill_switch = data.readU8();
data.readU8(); // was FC.ARMING_CONFIG.auto_disarm_kill_switch
FC.ARMING_CONFIG.small_angle = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
FC.ARMING_CONFIG.gyro_cal_on_first_arm = data.readU8();
}
break;
case MSPCodes.MSP_LOOP_TIME:
FC.FC_CONFIG.loopTime = data.readU16();
Expand Down Expand Up @@ -1792,8 +1795,11 @@ MspHelper.prototype.crunch = function(code, modifierCode = undefined) {
break;
case MSPCodes.MSP_SET_ARMING_CONFIG:
buffer.push8(FC.ARMING_CONFIG.auto_disarm_delay)
.push8(FC.ARMING_CONFIG.disarm_kill_switch)
.push8(0) // was disarm_kill_switch
.push8(FC.ARMING_CONFIG.small_angle);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
buffer.push8(FC.ARMING_CONFIG.gyro_cal_on_first_arm);
}
break;
case MSPCodes.MSP_SET_LOOP_TIME:
buffer.push16(FC.FC_CONFIG.loopTime);
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21 changes: 18 additions & 3 deletions src/js/tabs/configuration.js
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Expand Up @@ -6,7 +6,7 @@ import { mspHelper } from '../msp/MSPHelper';
import FC from '../fc';
import MSP from '../msp';
import MSPCodes from '../msp/MSPCodes';
import { API_VERSION_1_42, API_VERSION_1_43, API_VERSION_1_45 } from '../data_storage';
import { API_VERSION_1_42, API_VERSION_1_43, API_VERSION_1_45, API_VERSION_1_46 } from '../data_storage';
import { updateTabList } from '../utils/updateTabList';
import $ from 'jquery';

Expand Down Expand Up @@ -343,9 +343,21 @@ configuration.initialize = function (callback) {
$('input[name="roll"]').val(FC.CONFIG.accelerometerTrims[1]);
$('input[name="pitch"]').val(FC.CONFIG.accelerometerTrims[0]);

$('._smallAngle').show();
$('input[id="configurationSmallAngle"]').val(FC.ARMING_CONFIG.small_angle);

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
$('input[id="configurationGyroCalOnFirstArm"]').prop('checked', FC.ARMING_CONFIG.gyro_cal_on_first_arm === 1);

if (FC.FEATURE_CONFIG.features.isEnabled('MOTOR_STOP')) {
$('input[id="configurationAutoDisarmDelay"]').val(FC.ARMING_CONFIG.auto_disarm_delay);
} else {
$('input[id="configurationAutoDisarmDelay"]').parent().hide();
}
} else {
$('input[id="configurationGyroCalOnFirstArm"]').parent().parent().hide();
$('input[id="configurationAutoDisarmDelay"]').parent().parent().hide();
}

// UI hooks

function checkUpdateGpsControls() {
Expand Down Expand Up @@ -395,7 +407,10 @@ configuration.initialize = function (callback) {
FC.CONFIG.accelerometerTrims[1] = parseInt($('input[name="roll"]').val());
FC.CONFIG.accelerometerTrims[0] = parseInt($('input[name="pitch"]').val());

// small angle configuration
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
FC.ARMING_CONFIG.gyro_cal_on_first_arm = $('input[id="configurationGyroCalOnFirstArm"]').is(':checked') ? 1 : 0;
FC.ARMING_CONFIG.auto_disarm_delay = parseInt($('input[id="configurationAutoDisarmDelay"]').val());
}
FC.ARMING_CONFIG.small_angle = parseInt($('input[id="configurationSmallAngle"]').val());

FC.SENSOR_ALIGNMENT.gyro_to_use = parseInt(orientation_gyro_to_use_e.val());
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25 changes: 18 additions & 7 deletions src/tabs/configuration.html
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Original file line number Diff line number Diff line change
Expand Up @@ -104,14 +104,25 @@
<div class="helpicon cf_tip" i18n_title="configurationArmingHelp"></div>
</div>
<div class="spacer_box">
<div class="_smallAngle">
<div class="number">
<label>
<input type="number" id="configurationSmallAngle" step="1" min="1" max="180" />
<span i18n="configurationSmallAngle"></span>
<div class="helpicon cf_tip" i18n_title="configurationSmallAngleHelp"></div>
</label>
<div class="number">
<label>
<input type="number" id="configurationSmallAngle" step="1" min="1" max="180" />
<span i18n="configurationSmallAngle"></span>
<div class="helpicon cf_tip" i18n_title="configurationSmallAngleHelp"></div>
</label>
</div>
<div class="number">
<label>
<input type="number" id="configurationAutoDisarmDelay" step="1" min="0" max="60" />
<span i18n="configurationAutoDisarmDelay"></span>
<div class="helpicon cf_tip" i18n_title="configurationAutoDisarmDelayHelp"></div>
</label>
</div>
<div class="select">
<div style="float: left; height: 20px; margin-right: 15px; margin-left: 3px;">
<input type="checkbox" id="configurationGyroCalOnFirstArm" class="toggle" />
</div>
<span class="freelabel" i18n="configurationGyroCalOnFirstArm"></span>
</div>
</div>
</div>
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