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make eslint happy
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@tblaha
tblaha committed May 13, 2024
1 parent 2cd1922 commit 90679d7
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Showing 2 changed files with 31 additions and 31 deletions.
1 change: 0 additions & 1 deletion src/js/fc.js
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Original file line number Diff line number Diff line change
Expand Up @@ -553,7 +553,6 @@ const FC = {
wlsWv2: [0,0,0,0,0,0],
wlsWu2: [0,0,0,0,0,0],
uPref: [0,0,0,0,0,0,0,0],

useIncrement: false,
useOmegaFeedback: false,
useOmegaDotFeedback: false,
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61 changes: 31 additions & 30 deletions src/js/tabs/gps.js
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Original file line number Diff line number Diff line change
Expand Up @@ -45,9 +45,9 @@ gps.initialize = async function (callback) {

const hasMag = have_sensor(FC.CONFIG.activeSensors, 'mag');

var HOME_LAT = 51.99071002805145;
var HOME_LON = 4.376727452462819;
var RE = 6378137.;
const HOME_LAT = 51.99071002805145;
const HOME_LON = 4.376727452462819;
const RE = 6378137.;

pos_set.time_ms = 0;
pos_set.mode = 0; // 0: pos control, 1: trajectory start point, 2: trajectory run
Expand All @@ -59,12 +59,12 @@ gps.initialize = async function (callback) {

if (gps.MSPrelay == false) {
chrome.sockets.udp.create({}, function(socketInfo) {
var socketId = socketInfo.socketId;
let socketId = socketInfo.socketId;

// Bind the socket to a local address and port
chrome.sockets.udp.bind(socketId, "127.0.0.1", 5769, function(result) {
if (result < 0) {
console.log("Error binding socket: " + result);
console.log("Error binding socket: ");
gps.MSPrelay = false;
return;
}
Expand All @@ -74,28 +74,29 @@ gps.initialize = async function (callback) {

// Listen for incoming packets
chrome.sockets.udp.onReceive.addListener(function(info) {
var data = new Uint8Array(info.data);
let data = new Uint8Array(info.data);
//var message = String.fromCharCode.apply(null, data);
//console.log("Received message: " + message);

// Assuming each data type has fixed byte sizes
var id = new Uint32Array(data.buffer, 0, 1)[0];
var arr = new Uint32Array(data.buffer, 4, 2);
var timeUs1 = ((BigInt)(arr[1]) << 32n) + (BigInt)(arr[0]);
var timeMs1 = (Number)(timeUs1 / 1000n);

var x = new Float32Array(data.buffer, 12, 1)[0];
var y = new Float32Array(data.buffer, 16, 1)[0];
var z = new Float32Array(data.buffer, 20, 1)[0];
var qx = new Float32Array(data.buffer, 24, 1)[0];
var qy = new Float32Array(data.buffer, 28, 1)[0];
var qz = new Float32Array(data.buffer, 32, 1)[0];
var qw = new Float32Array(data.buffer, 36, 1)[0];
let id = new Uint32Array(data.buffer, 0, 1)[0];
let arr = new Uint32Array(data.buffer, 4, 2);
/* global BigInt */
let timeUs1 = ((BigInt)(arr[1]) << 32n) + (BigInt)(arr[0]);
let timeMs1 = (Number)(timeUs1 / 1000n);

let x = new Float32Array(data.buffer, 12, 1)[0];
let y = new Float32Array(data.buffer, 16, 1)[0];
let z = new Float32Array(data.buffer, 20, 1)[0];
let qx = new Float32Array(data.buffer, 24, 1)[0];
let qy = new Float32Array(data.buffer, 28, 1)[0];
let qz = new Float32Array(data.buffer, 32, 1)[0];
let qw = new Float32Array(data.buffer, 36, 1)[0];
//var arr = new Uint32Array(data.buffer, 40, 2);
//var timeUs2 = new BigUint64Array(arr.buffer, 0, 1)[0];
var vx = new Float32Array(data.buffer, 48, 1)[0];
var vy = new Float32Array(data.buffer, 52, 1)[0];
var vz = new Float32Array(data.buffer, 56, 1)[0];
let vx = new Float32Array(data.buffer, 48, 1)[0];
let vy = new Float32Array(data.buffer, 52, 1)[0];
let vz = new Float32Array(data.buffer, 56, 1)[0];
//var wx = new Float32Array(data.buffer, 60, 1)[0];
//var wy = new Float32Array(data.buffer, 64, 1)[0];
//var wz = new Float32Array(data.buffer, 68, 1)[0];
Expand All @@ -110,15 +111,15 @@ gps.initialize = async function (callback) {
gps.yaw = 180. / 3.1415 * Math.atan2( 2. * (qw*qz + qx*qy), 1. - 2. * (qy*qy+qz*qz) );
gps.groundCourse = 180. / 3.1415 * Math.atan2(vx, vy);

MSP.send_message(MSPCodes.MSP2_SENSOR_GPS,
MSP.send_message(MSPCodes.MSP2_SENSOR_GPS,
mspHelper.crunch(MSPCodes.MSP2_SENSOR_GPS), false, false, false);
//MSP.send_message(MSPCodes.MSP2_SET_POSITION_SETPOINT,
// mspHelper.crunch(MSPCodes.MSP2_SET_POSITION_SETPOINT), false, false, false);
});

// Error listener
chrome.sockets.udp.onReceiveError.addListener(function(error) {
console.log("Error receiving data: " + error.resultCode);
console.log("Error receiving data: ");
gps.MSPrelay = false;
});
});
Expand Down Expand Up @@ -303,17 +304,17 @@ gps.initialize = async function (callback) {
pos_set.mode = mode;
pos_set.vtraj = $('input[name="pos_set_vtraj"]').val();
pos_set.yaw = $('input[name="pos_set_yaw"]').val();
MSP.send_message(MSPCodes.MSP2_SET_POSITION_SETPOINT,
MSP.send_message(MSPCodes.MSP2_SET_POSITION_SETPOINT,
mspHelper.crunch(MSPCodes.MSP2_SET_POSITION_SETPOINT), false, false, false);
}

$('input[name="pos_set_vtraj"]').on('change', function() { sendSetpoint(2); })
$('a.sendSetpoint').on('click', function() { sendSetpoint(0); })
$('a.traj_start').on('click', function() { sendSetpoint(1); })
$('a.traj_pause').on('click', function() {
$('input[name="pos_set_vtraj"]').on('change', function() { sendSetpoint(2); });
$('a.sendSetpoint').on('click', function() { sendSetpoint(0); });
$('a.traj_start').on('click', function() { sendSetpoint(1); });
$('a.traj_pause').on('click', function() {
$('input[name="pos_set_vtraj"]').val(0);
sendSetpoint(2);
})
});

function update_ui() {
const lat = FC.GPS_DATA.lat / 10000000;
Expand Down Expand Up @@ -523,5 +524,5 @@ gps.cleanup = function (callback) {

TABS.gps = gps;
export {
gps, pos_set
gps, pos_set,
};

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