diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index bacc58870d..0f9d572267 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -17,7 +17,7 @@ import { showErrorDialog } from "../utils/showErrorDialog";
import GUI, { TABS } from "../gui";
import { OSD } from "../tabs/osd";
import { reinitializeConnection } from "../serial_backend";
-import { gps, pos_set } from "../tabs/gps";
+//import { gps, pos_set } from "../tabs/gps";
// Used for LED_STRIP
const ledDirectionLetters = ['n', 'e', 's', 'w', 'u', 'd']; // in LSB bit order
@@ -780,6 +780,13 @@ MspHelper.prototype.process_data = function(dataHandler) {
for (let i = 0; i < timeLength; i++) {
buff.push(data.readU8());
}
+ buff.push(32); // ascii space
+
+ const gitRevisionLength = 15;
+ for (let i = 0; i < gitRevisionLength; i++) {
+ buff.push(data.readU8());
+ }
+
FC.CONFIG.buildInfo = String.fromCharCode.apply(null, buff);
break;
@@ -2247,33 +2254,33 @@ MspHelper.prototype.crunch = function(code, modifierCode = undefined) {
buffer.push8(1);
break;
- case MSPCodes.MSP2_SENSOR_GPS:
- buffer.push8(0); // instance
- buffer.push16(0); // gps week
- buffer.push32(gps.time_ms); // ms_tow
- buffer.push8(1); // fix_type
- buffer.push8(20); // num sats
- buffer.push16(1); // horizontal pos accuracy in cm
- buffer.push16(1); // vertical pos accuracy in cm
- buffer.push16(1); // horizontal vel accuracy in cm/s
- buffer.push16(150); // dilusion of precision * 100
- //buffer.push32(40_000_000); // longitude deg * 1e7
- //buffer.push32(520_000_000); // latitude deg * 1e7
- buffer.push32(gps.lon*1e7); // longitude deg * 1e7
- buffer.push32(gps.lat*1e7); // latitude deg * 1e7
- buffer.push32(gps.alt*100); // altitude in cm
- buffer.push32(gps.vn*100); // ned vel north cm/s
- buffer.push32(gps.ve*100); // ned vel east cm/s
- buffer.push32(gps.vd*100); // ned vel down, unused
- buffer.push16(0); // ground course, deg*10
- buffer.push16(gps.yaw*10); // true yaw, deg*10, unused
- buffer.push16(0); // year
- buffer.push8(0); // month
- buffer.push8(0); // day
- buffer.push8(0); // hour
- buffer.push8(0); // min
- buffer.push8(0); // sec
- break;
+// case MSPCodes.MSP2_SENSOR_GPS:
+// buffer.push8(0); // instance
+// buffer.push16(0); // gps week
+// buffer.push32(gps.time_ms); // ms_tow
+// buffer.push8(1); // fix_type
+// buffer.push8(20); // num sats
+// buffer.push16(1); // horizontal pos accuracy in cm
+// buffer.push16(1); // vertical pos accuracy in cm
+// buffer.push16(1); // horizontal vel accuracy in cm/s
+// buffer.push16(150); // dilusion of precision * 100
+// //buffer.push32(40_000_000); // longitude deg * 1e7
+// //buffer.push32(520_000_000); // latitude deg * 1e7
+// buffer.push32(gps.lon*1e7); // longitude deg * 1e7
+// buffer.push32(gps.lat*1e7); // latitude deg * 1e7
+// buffer.push32(gps.alt*100); // altitude in cm
+// buffer.push32(gps.vn*100); // ned vel north cm/s
+// buffer.push32(gps.ve*100); // ned vel east cm/s
+// buffer.push32(gps.vd*100); // ned vel down, unused
+// buffer.push16(0); // ground course, deg*10
+// buffer.push16(gps.yaw*10); // true yaw, deg*10, unused
+// buffer.push16(0); // year
+// buffer.push8(0); // month
+// buffer.push8(0); // day
+// buffer.push8(0); // hour
+// buffer.push8(0); // min
+// buffer.push8(0); // sec
+// break;
case MSPCodes.MSP2_SET_INDI_CONFIG:
break;
@@ -2285,15 +2292,15 @@ MspHelper.prototype.crunch = function(code, modifierCode = undefined) {
case MSPCodes.MSP2_SET_LEARNING_CONFIG:
break;
- case MSPCodes.MSP2_SET_POSITION_SETPOINT:
- buffer.push32(pos_set.time_ms);
- buffer.push8(pos_set.mode);
- buffer.push32(1000*pos_set.x);
- buffer.push32(1000*pos_set.y);
- buffer.push32(1000*pos_set.z);
- buffer.push16(10*pos_set.yaw);
- buffer.push32(100*pos_set.vtraj);
- break;
+// case MSPCodes.MSP2_SET_POSITION_SETPOINT:
+// buffer.push32(pos_set.time_ms);
+// buffer.push8(pos_set.mode);
+// buffer.push32(1000*pos_set.x);
+// buffer.push32(1000*pos_set.y);
+// buffer.push32(1000*pos_set.z);
+// buffer.push16(10*pos_set.yaw);
+// buffer.push32(100*pos_set.vtraj);
+// break;
case MSPCodes.MSP_SET_SIMPLIFIED_TUNING:
MspHelper.writePidSliderSettings(buffer);
diff --git a/src/js/serial_backend.js b/src/js/serial_backend.js
index ae0096ea45..c43de37fba 100644
--- a/src/js/serial_backend.js
+++ b/src/js/serial_backend.js
@@ -489,7 +489,7 @@ async function processBuildConfiguration() {
await MSP.promise(MSPCodes.MSP2_GET_TEXT, mspHelper.crunch(MSPCodes.MSP2_GET_TEXT, MSPCodes.BUILD_KEY));
if (FC.CONFIG.buildKey.length === 32 && navigator.onLine) {
- gui_log(i18n.getMessage('buildKey', FC.CONFIG.buildKey));
+ //gui_log(i18n.getMessage('buildKey', FC.CONFIG.buildKey));
buildApi.requestBuildOptions(FC.CONFIG.buildKey, onLoadCloudBuild, processCraftName);
} else {
processCraftName();
diff --git a/src/js/tabs/gps.js b/src/js/tabs/gps.js
index dfd32a34c4..5314124b88 100644
--- a/src/js/tabs/gps.js
+++ b/src/js/tabs/gps.js
@@ -8,34 +8,8 @@ import MSPCodes from "../msp/MSPCodes";
import { have_sensor } from "../sensor_helpers";
import { mspHelper } from '../msp/MSPHelper';
import { updateTabList } from '../utils/updateTabList';
-//import { checkChromeRuntimeError } from "./utils/common";
-
-const gps = {
- time_ms: 0,
- lat: 0,
- lon: 0,
- alt: 0,
- vn: 0,
- ve: 0,
- vd: 0,
- yaw: 0,
- groundCourse: 0,
- MSPrelay: false,
-};
-
-const pos_set = {
- time_ms: 0,
- mode: 0,
- x: 0,
- y: 0,
- z: -1.5,
- lat: 0,
- lon: 0,
- alt: 0,
- yaw: 0,
- vtraj: 0,
-};
+const gps = {};
gps.initialize = async function (callback) {
GUI.active_tab = 'gps';
@@ -45,86 +19,6 @@ gps.initialize = async function (callback) {
const hasMag = have_sensor(FC.CONFIG.activeSensors, 'mag');
- 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
- pos_set.lat = HOME_LAT + 180. / 3.1415 * (pos_set.x / RE);
- pos_set.lon = HOME_LON + 180. / 3.1415 * (pos_set.y / RE) / Math.cos(HOME_LON * 3.1415/180.);
- //pos_set.alt = pos_set.alt;
- pos_set.yaw = 0;
- pos_set.vtraj = 0; // if mode == 2: speed of the trajectory
-
- if (gps.MSPrelay == false) {
- chrome.sockets.udp.create({}, function(socketInfo) {
- 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: ");
- gps.MSPrelay = false;
- return;
- }
- gps.MSPrelay = true;
- console.log("Socket bound");
- });
-
- // Listen for incoming packets
- chrome.sockets.udp.onReceive.addListener(function(info) {
- 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
- 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];
- 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];
-
- gps.time_ms = timeMs1;
- gps.lat = HOME_LAT + 180. / 3.1415 * (x / RE);
- gps.lon = HOME_LON + 180. / 3.1415 * (y / RE) / Math.cos(HOME_LON * 3.1415/180.);
- gps.alt = -z;
- gps.vn = vx;
- gps.ve = vy;
- gps.vd = vz;
- 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,
- 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: ");
- gps.MSPrelay = false;
- });
- });
- }
-
load_html();
function load_html() {
@@ -282,40 +176,40 @@ gps.initialize = async function (callback) {
// End GPS Configuration
- // Setpoint configuration
- const setpointModes = [
- "position",
- "trajectory",
- ];
-
- const setpointModeElement = $('select.pos_set_mode');
- for (const mode of setpointModes) {
- setpointModeElement.append(``);
- }
- console.log("setup done");
-
- function sendSetpoint(mode) {
- pos_set.time_ms = gps.time_ms;
- pos_set.x = $('input[name="pos_set_x"]').val();
- pos_set.y = $('input[name="pos_set_y"]').val();
- pos_set.lat = HOME_LAT + 180. / 3.1415 * (pos_set.x / RE);
- pos_set.lon = HOME_LON + 180. / 3.1415 * (pos_set.y / RE) / Math.cos(HOME_LON * 3.1415/180.);
- pos_set.z = $('input[name="pos_set_z"]').val();
- 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,
- 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"]').val(0);
- sendSetpoint(2);
- });
-
+// // Setpoint configuration
+// const setpointModes = [
+// "position",
+// "trajectory",
+// ];
+//
+// const setpointModeElement = $('select.pos_set_mode');
+// for (const mode of setpointModes) {
+// setpointModeElement.append(``);
+// }
+// console.log("setup done");
+//
+// function sendSetpoint(mode) {
+// pos_set.time_ms = gps.time_ms;
+// pos_set.x = $('input[name="pos_set_x"]').val();
+// pos_set.y = $('input[name="pos_set_y"]').val();
+// pos_set.lat = HOME_LAT + 180. / 3.1415 * (pos_set.x / RE);
+// pos_set.lon = HOME_LON + 180. / 3.1415 * (pos_set.y / RE) / Math.cos(HOME_LON * 3.1415/180.);
+// pos_set.z = $('input[name="pos_set_z"]').val();
+// 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,
+// 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"]').val(0);
+// sendSetpoint(2);
+// });
+//
function update_ui() {
const lat = FC.GPS_DATA.lat / 10000000;
const lon = FC.GPS_DATA.lon / 10000000;
@@ -524,5 +418,5 @@ gps.cleanup = function (callback) {
TABS.gps = gps;
export {
- gps, pos_set,
+ gps,
};
diff --git a/src/tabs/gps.html b/src/tabs/gps.html
index 7a8094bd74..5dedbf7697 100755
--- a/src/tabs/gps.html
+++ b/src/tabs/gps.html
@@ -120,47 +120,6 @@
-