From 4d72a86032db4632402940e7f90fbac9a101a338 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Mon, 22 May 2023 02:09:54 +0100 Subject: [PATCH] Tools: autotest: Web: remove tools (now here : https://github.com/ArduPilot/WebTools) --- .../Tools/FilterReview/DecodeDevID.js | 154 --- .../Tools/FilterReview/FilterReview.js | 1196 ----------------- .../web-firmware/Tools/FilterReview/Readme.md | 6 - .../Tools/FilterReview/index.html | 354 ----- .../web-firmware/Tools/FilterReview/parser.js | 882 ------------ .../Tools/FilterTool/FileSaver.js | 171 --- .../web-firmware/Tools/FilterTool/app.py | 16 - .../web-firmware/Tools/FilterTool/filters.js | 1196 ----------------- .../web-firmware/Tools/FilterTool/index.html | 378 ------ 9 files changed, 4353 deletions(-) delete mode 100644 Tools/autotest/web-firmware/Tools/FilterReview/DecodeDevID.js delete mode 100644 Tools/autotest/web-firmware/Tools/FilterReview/FilterReview.js delete mode 100644 Tools/autotest/web-firmware/Tools/FilterReview/Readme.md delete mode 100644 Tools/autotest/web-firmware/Tools/FilterReview/index.html delete mode 100644 Tools/autotest/web-firmware/Tools/FilterReview/parser.js delete mode 100644 Tools/autotest/web-firmware/Tools/FilterTool/FileSaver.js delete mode 100644 Tools/autotest/web-firmware/Tools/FilterTool/app.py delete mode 100644 Tools/autotest/web-firmware/Tools/FilterTool/filters.js delete mode 100644 Tools/autotest/web-firmware/Tools/FilterTool/index.html diff --git a/Tools/autotest/web-firmware/Tools/FilterReview/DecodeDevID.js b/Tools/autotest/web-firmware/Tools/FilterReview/DecodeDevID.js deleted file mode 100644 index 26359c3c17..0000000000 --- a/Tools/autotest/web-firmware/Tools/FilterReview/DecodeDevID.js +++ /dev/null @@ -1,154 +0,0 @@ -/* - Translated from Tools/scripts/decode_devid.py -*/ - -const DEVICE_TYPE_COMPASS = 0 -const DEVICE_TYPE_IMU = 1 -const DEVICE_TYPE_BARO = 2 -const DEVICE_TYPE_AIRSPEED = 3 - -function decode_devid(ID, type) { - -const bus_type = ID & 0x07 -const bus = (ID>>3) & 0x1F -const address = (ID>>8) & 0xFF -const devtype = (ID>>16) - -bustypes = { - 1: "I2C", - 2: "SPI", - 3: "DRONECAN", - 4: "SITL", - 5: "MSP", - 6: "SERIAL", -} - -compass_types = { - 0x01 : "HMC5883_OLD", - 0x07 : "HMC5883", - 0x02 : "LSM303D", - 0x04 : "AK8963 ", - 0x05 : "BMM150 ", - 0x06 : "LSM9DS1", - 0x08 : "LIS3MDL", - 0x09 : "AK09916", - 0x0A : "IST8310", - 0x0B : "ICM20948", - 0x0C : "MMC3416", - 0x0D : "QMC5883L", - 0x0E : "MAG3110", - 0x0F : "SITL", - 0x10 : "IST8308", - 0x11 : "RM3100_OLD", - 0x12 : "RM3100", - 0x13 : "MMC5883", - 0x14 : "AK09918", -} - -imu_types = { - 0x09 : "BMI160", - 0x10 : "L3G4200D", - 0x11 : "ACC_LSM303D", - 0x12 : "ACC_BMA180", - 0x13 : "ACC_MPU6000", - 0x16 : "ACC_MPU9250", - 0x17 : "ACC_IIS328DQ", - 0x21 : "GYR_MPU6000", - 0x22 : "GYR_L3GD20", - 0x24 : "GYR_MPU9250", - 0x25 : "GYR_I3G4250D", - 0x26 : "GYR_LSM9DS1", - 0x27 : "ICM20789", - 0x28 : "ICM20689", - 0x29 : "BMI055", - 0x2A : "SITL", - 0x2B : "BMI088", - 0x2C : "ICM20948", - 0x2D : "ICM20648", - 0x2E : "ICM20649", - 0x2F : "ICM20602", - 0x30 : "ICM20601", - 0x31 : "ADIS1647x", - 0x32 : "SERIAL", - 0x33 : "ICM40609", - 0x34 : "ICM42688", - 0x35 : "ICM42605", - 0x36 : "ICM40605", - 0x37 : "IIM42652", - 0x38 : "BMI270", - 0x39 : "BMI085", - 0x3A : "ICM42670", -} - -baro_types = { - 0x01 : "SITL", - 0x02 : "BMP085", - 0x03 : "BMP280", - 0x04 : "BMP388", - 0x05 : "DPS280", - 0x06 : "DPS310", - 0x07 : "FBM320", - 0x08 : "ICM20789", - 0x09 : "KELLERLD", - 0x0A : "LPS2XH", - 0x0B : "MS5611", - 0x0C : "SPL06", - 0x0D : "DRONECAN", - 0x0E : "MSP", - 0x0F : "ICP101XX", - 0x10 : "ICP201XX", - 0x11 : "MS5607", - 0x12 : "MS5837", - 0x13 : "MS5637", - 0x14 : "BMP390", -} - -airspeed_types = { - 0x01 : "SITL", - 0x02 : "MS4525", - 0x03 : "MS5525", - 0x04 : "DLVR", - 0x05 : "MSP", - 0x06 : "SDP3X", - 0x07 : "DRONECAN", - 0x08 : "ANALOG", - 0x09 : "NMEA", - 0x0A : "ASP5033", -} - -function get(lookup, index) { - if (lookup[index] != null) { - return lookup[index] - } - return "Unknown" -} - -var name -switch (type) { - case DEVICE_TYPE_COMPASS: - name = "Compass: " + get(compass_types, devtype) - break - case DEVICE_TYPE_IMU: - name = "IMU: " + get(imu_types, devtype) - break - case DEVICE_TYPE_BARO: - name = "Baro: " + get(baro_types, devtype) - break - case DEVICE_TYPE_AIRSPEED: - name = "Airspeed: " + get(airspeed_types, devtype) - break - default: - console.error("Unknown type"); - return -} - -const bus_type_string = get(bustypes, bus_type) - -if (bus_type == 3) { - // dronecan devtype represents sensor_id - return { bus_type: bus_type_string, bus: bus, address: address, sensor_id: devtype-1, name: name } -} - -return { bus_type: bus_type_string, bus: bus, address: address, devtype: devtype, name: name } - -} diff --git a/Tools/autotest/web-firmware/Tools/FilterReview/FilterReview.js b/Tools/autotest/web-firmware/Tools/FilterReview/FilterReview.js deleted file mode 100644 index 4475937458..0000000000 --- a/Tools/autotest/web-firmware/Tools/FilterReview/FilterReview.js +++ /dev/null @@ -1,1196 +0,0 @@ -// A js tool for plotting ArduPilot batch log data - -// Generic Class to hold source for notch target -class NotchTarget { - constructor(log, msg_name, key_name, name, mode_value) { - this.name = name - this.mode_value = mode_value - this.data = [] - - // Don't always need log data (static notch) - if (log == null) { - return - } - - // Grab data from log - log.parseAtOffset(msg_name) - if ((log.messages[msg_name] == null) || (log.messages[msg_name].length == 0)) { - return - } - - // Convert ket into array if needed - if (!Array.isArray(key_name)) { - key_name = [key_name] - } - - // Grab all given keys to data struct - this.data.time = [] - for (var j=0; j 0) { - return math.max(config.freq, rpm * config.ref * (1.0/60.0)) - } - return config.freq - } -} - -class ESCTarget extends NotchTarget { - constructor(log) { - super(null, null, null, "ESC", 3) - - // Grab data from log, have to do it a little differently to get instances - const msg = "ESC" - log.parseAtOffset(msg) - if ((log.messages[msg] == null) || (log.messages[msg].length == 0)) { - return - } - - // Individual RPM - var instances = 0 - for (let i=0;i<16;i++) { - const inst_msg = msg + "[" + i + "]" - if (log.messages[inst_msg] != null) { - this.data[i] = { time:[], freq:[] } - for (var j=0; j < log.messages[inst_msg].time_boot_ms.length; j++) { - this.data[i].time[j] = log.messages[inst_msg].time_boot_ms[j] / 1000 - this.data[i].freq[j] = log.messages[inst_msg].RPM[j] / 60 - } - instances++ - } - } - - // Average RPM - this.data.avg_freq = [] - this.data.avg_time = [] - var inst = [] - for (let i=0;i 1000)) { - inst[j].time_ms = null - inst[j].rpm = null - } - } - - // If a full set of valid instances take average - var expected_count = 0 - var count = 0 - var sum = 0 - for (let j=0;j 0) && (count == expected_count)) { - this.data.avg_freq.push((sum / count) / 60) - this.data.avg_time.push(time_ms / 1000) - - // Invalidate used values - for (let j=0;j 0) && (energy_y > 0)) { - // Weighted by relative energy - this.data[i].freq[j] = (freq_x*energy_x + freq_y*energy_y) / (energy_x + energy_y) - } else { - // Just take average - this.data[i].freq[j] = (freq_x + freq_y) * 0.5 - } - this.data[i].time[j] = log.messages[inst_msg].time_boot_ms[j] / 1000 - } - } - } - } - - get_target_freq(config) { - const dynamic = (config.options & (1<<1)) != 0 - if (dynamic) { - // Tracking multiple peaks - let freq = [] - let time = [] - - for (let i = 0; i < this.data.length; i++) { - const start_index = find_start_index(this.data[i].time) - const end_index = find_end_index(this.data[i].time) - - let inst_freq = this.data[i].freq.slice(start_index, end_index) - for (let j = 0; j < inst_freq.length; j++) { - inst_freq[j] = math.max(inst_freq[j], config.freq) - } - - time.push(...this.data[i].time.slice(start_index, end_index)) - freq.push(...inst_freq) - - // Add NAN to remove line from end back to the start - time.push(NaN) - freq.push(NaN) - } - return { freq:freq, time:time } - } - - // Just center peak - const start_index = find_start_index(this.data.time) - const end_index = find_end_index(this.data.time) - - let freq = this.data.PkAvg.slice(start_index, end_index) - for (let j = 0; j < freq.length; j++) { - freq[j] = math.max(freq[j], config.freq) - } - - return { freq:freq, time:this.data.time.slice(start_index, end_index) } - } -} - -// return hanning window array of given length (in tensorflow format) -function hanning(len) { - const half = tf.scalar(0.5) - return tf.sub(half, tf.mul(half, tf.cos(tf.linspace(0, 2*math.PI, len)))) -} - -// Calculate correction factors for linear and energy spectrum (window in tensorflow format) -// linear: 1 / mean(w) -// energy: 1 / sqrt(mean(w.^2)) -function window_correction_factors(w) { - return { - linear: 1/tf.mean(w).arraySync(), - energy: 1/tf.sqrt(tf.mean(tf.square(w))).arraySync() - } -} - -// Length of real half of fft of len points -function real_length(len) { - return math.floor(len / 2) + 1 -} - -// Frequency bins for given fft length and sample period (real only) -function rfft_freq(len, d) { - const real_len = real_length(len) - freq = [] - for (var i=0;i" + name, - legendgroup: i, - legendgrouptitle: { text: "" } - }) - } - } - - // Define Layout - Spectrogram.layout = { - xaxis: {title: {text: "Time (s)"}}, - yaxis: {title: {text: ""}, type: "linear"}, - showlegend: true, - legend: {itemclick: false, itemdoubleclick: false }, - margin: { b: 50, l: 50, r: 50, t: 20 } - } - - var SpectrogramPlot = document.getElementById("Spectrogram") - Plotly.purge(SpectrogramPlot) - Plotly.newPlot(SpectrogramPlot, Spectrogram.data, Spectrogram.layout, {displaylogo: false}); -} - -// Calculate if needed and re-draw, called from calculate button -function re_calc() { - - calculate() - - redraw() -} - -// Force full re-calc on next run, on window size change -function clear_calculation() { - if (Gyro_batch == null) { - return - } - for (let i = 0; i < Gyro_batch.length; i++) { - if (Gyro_batch[i] == null) { - continue - } - Gyro_batch[i].FFT = null - } -} - -// Re-run all FFT's -function calculate() { - for (let i = 0; i < Gyro_batch.length; i++) { - if (Gyro_batch[i] == null) { - continue - } - if (Gyro_batch[i].FFT == null) { - Gyro_batch[i].FFT = run_batch_fft(Gyro_batch[i]) - } - } -} - -// Get configured amplitude scale -function get_amplitude_scale() { - - const use_DB = document.getElementById("ScaleLog").checked; - const use_PSD = document.getElementById("SpectrumPSD").checked; - - var ret = {} - if (use_DB) { - if (use_PSD) { - ret.fun = function (x) { return math.dotMultiply(math.log10(math.dotMultiply(x,x)), 10.0) } // 10 * log10(x.^2) - ret.label = "PSD (db)" - } else { - ret.fun = function (x) { return math.dotMultiply(math.log10(x), 10.0) } // 10 * log10(x) - ret.label = "Linear amplitude (db)" - } - ret.hover = function (axis) { return "%{" + axis + ":.2f} db" } - - } else { - if (use_PSD) { - ret.fun = function (x) { return math.dotMultiply(x,x) } - ret.label = "PSD" - } else { - ret.fun = function (x) { return x } - ret.label = "Linear amplitude" - } - ret.hover = function (axis) { return "%{" + axis + ":.2f}" } - - } - - ret.use_PSD = use_PSD - - return ret -} - -// Get configured frequency scale object -function get_frequency_scale() { - - const use_RPM = document.getElementById("freq_Scale_RPM").checked; - - var ret = {} - if (use_RPM) { - ret.fun = function (x) { return math.dotMultiply(x, 60.0) } - ret.label = "RPM" - ret.hover = function (axis) { return "%{" + axis + ":.2f} RPM" } - - } else { - ret.fun = function (x) { return x } - ret.label = "Frequency (Hz)" - ret.hover = function (axis) { return "%{" + axis + ":.2f} Hz" } - } - - ret.type = document.getElementById("freq_ScaleLog").checked ? "log" : "linear" - - return ret -} - -// Look through time array and return first index before start time -function find_start_index(time) { - const start_time = parseFloat(document.getElementById("TimeStart").value) - - var start_index = 0 - for (j = 0; j" + amplitude_scale.hover("y") - - for (let i = 0; i < Gyro_batch.length; i++) { - if ((Gyro_batch[i] == null) || (Gyro_batch[i].FFT == null)) { - continue - } - - // Find the start and end index - const start_index = find_start_index(Gyro_batch[i].FFT.time) - const end_index = find_end_index(Gyro_batch[i].FFT.time) - - // Number of windows to plot - const plot_length = end_index - start_index - - // Windowing amplitude correction depends on spectrum of interest - const window_correction = amplitude_scale.use_PSD ? (Gyro_batch[i].FFT.correction.energy * math.sqrt(1/2)) : Gyro_batch[i].FFT.correction.linear - - // Take mean from start to end - var fft_mean_x = 0 - var fft_mean_y = 0 - var fft_mean_z = 0 - for (let j=start_index;j" + frequency_scale.hover("y") + "
" + amplitude_scale.hover("z") - Spectrogram.data[0].colorbar.title.text = amplitude_scale.label - - // Find the start and end index - const start_index = find_start_index(Gyro_batch[batch_instance].FFT.time) - const end_index = find_end_index(Gyro_batch[batch_instance].FFT.time) - - // Number of windows to plot - const plot_length = end_index - start_index - - // Setup xy data (x and y swapped because transpose flag is set) - Spectrogram.data[0].x = Gyro_batch[batch_instance].FFT.time.slice(start_index, end_index) - Spectrogram.data[0].y = frequency_scale.fun(Gyro_batch[batch_instance].FFT.bins) - - // Windowing amplitude correction depends on spectrum of interest - const window_correction = amplitude_scale.use_PSD ? (Gyro_batch[batch_instance].FFT.correction.energy * math.sqrt(1/2)) : Gyro_batch[batch_instance].FFT.correction.linear - - // Setup z data - Spectrogram.data[0].z = [] - for (j = 0; j" + frequency_scale.hover("y") - for (let i=0;i 0 - for (const [key, value] of Object.entries(HNotch_params[i])) { - if (key != "enable") { - document.getElementById(value).disabled = !enable_input - } - } - } - - // Load values into HNotch object - for (let i = 0; i < HNotch_params.length; i++) { - HNotch_setup[i] = [] - for (const [key, value] of Object.entries(HNotch_params[i])) { - HNotch_setup[i][key] = parseFloat(document.getElementById(value).value) - } - } -} - -var Gyro_batch -var tracking_methods -var HNotch_setup = [] -function load(log_file) { - - const start = performance.now() - - var log = new DataflashParser() - log.processData(log_file) - - // Load batch messages - log.parseAtOffset("ISBH") - log.parseAtOffset("ISBD") - if (log.messages.ISBH == null || log.messages.ISBD == null) { - console.log("No Batch logging msg") - return - } - - // Assign batches to each sensor - // Only interested in gyro here - const IMU_SENSOR_TYPE_GYRO = 1 - Gyro_batch = [] - let data_index = 0 - for (let i = 0; i < log.messages.ISBH.N.length; i++) { - // Parse headers - if (log.messages.ISBH.type[i] != IMU_SENSOR_TYPE_GYRO) { - continue - } - - const instance = log.messages.ISBH.instance[i] - if (Gyro_batch[instance] == null) { - Gyro_batch[instance] = [] - } - - let decode_complete = false - - // Advance data index until sequence match - const seq_num = log.messages.ISBH.N[i] - while (log.messages.ISBD.N[data_index] != seq_num) { - data_index++ - if (data_index >= log.messages.ISBD.N.length) { - // This is expected at the end of a log, no more msgs to add, break here - console.log("Could not find next sequence " + i + " of " + log.messages.ISBH.N.length-1) - decode_complete = true - break - } - } - if (decode_complete) { - break - } - - let x = [] - let y = [] - let z = [] - const num_samples = log.messages.ISBH.smp_cnt[i] - const num_data_msg = num_samples / 32 - for (let j = 0; j < num_data_msg; j++) { - // Read in expected number of samples - if ((log.messages.ISBD.N[data_index] != seq_num) || (log.messages.ISBD.seqno[data_index] != j)) { - console.log("Missing or extra data msg") - return - } - - // Accumulate data for this batch - x.push(...log.messages.ISBD.x[data_index]) - y.push(...log.messages.ISBD.y[data_index]) - z.push(...log.messages.ISBD.z[data_index]) - - data_index++ - if (data_index >= log.messages.ISBD.N.length) { - console.log("sequence incomplete " + i + " of " + log.messages.ISBH.N.length-1) - decode_complete = true - break - } - } - if (decode_complete) { - break - } - - if ((x.length != num_samples) || (y.length != num_samples) || (z.length != num_samples)) { - console.log("sample length wrong") - return - } - - // Remove logging scale factor - const mul = 1/log.messages.ISBH.mul[i] - x = math.dotMultiply(x, mul) - y = math.dotMultiply(y, mul) - z = math.dotMultiply(z, mul) - - // Add to batches for this instance - Gyro_batch[instance].push({ sample_time: log.messages.ISBH.SampleUS[i] / 1000000, - sample_rate: log.messages.ISBH.smp_rate[i], - x: x, - y: y, - z: z }) - } - - if (Gyro_batch.length == 0) { - console.log("no data") - return - } - - log.parseAtOffset('PARM') - - // Try and decode device IDs - var num_gyro = 0 - for (let i = 0; i < 3; i++) { - const ID_param = i == 0 ? "INS_GYR_ID" : "INS_GYR" + (i + 1) + "_ID" - const ID = get_param_value(log.messages.PARM, ID_param) - if ((ID != null) && (ID > 0)) { - const decoded = decode_devid(ID, DEVICE_TYPE_IMU) - if (decoded != null) { - document.getElementById("Gyro" + i + "_info").innerHTML = decoded.name + " via " + decoded.bus_type - } - num_gyro++ - } - } - - // Work out if logging is pre/post from param value - const INS_LOG_BAT_OPT = get_param_value(log.messages.PARM, "INS_LOG_BAT_OPT") - const _doing_sensor_rate_logging = (INS_LOG_BAT_OPT & (1 << 0)) != 0 - const _doing_post_filter_logging = (INS_LOG_BAT_OPT & (1 << 1)) != 0 - const _doing_pre_post_filter_logging = (INS_LOG_BAT_OPT & (1 << 2)) != 0 - const use_instance_offset = _doing_pre_post_filter_logging || (_doing_post_filter_logging && _doing_sensor_rate_logging) - for (let i = 0; i < Gyro_batch.length; i++) { - if (Gyro_batch[i] == null) { - continue - } - if (use_instance_offset && (i >= num_gyro)) { - Gyro_batch[i].sensor_num = i - num_gyro - Gyro_batch[i].post_filter = true - } else { - Gyro_batch[i].sensor_num = i - Gyro_batch[i].post_filter = _doing_post_filter_logging && !_doing_pre_post_filter_logging - } - } - - // setup/reset plot and options - reset() - - - // Load potential sources of notch tracking targets - tracking_methods = [new StaticTarget(), - new ThrottleTarget(log), - new RPMTarget(log, 1, 2), - new ESCTarget(log), - new FFTTarget(log), - new RPMTarget(log, 2, 5)] - - // Read from log into HTML box - const HNotch_params = get_HNotch_param_names() - for (let i = 0; i < HNotch_params.length; i++) { - for (const param of Object.values(HNotch_params[i])) { - const value = get_param_value(log.messages.PARM, param) - if (value != null) { - document.getElementById(param).value = value - } - } - // Allow enable values to be changed - document.getElementById(HNotch_params[i].enable).disabled = false - } - - // Load notch params - HNotch_param_read() - - // Update ranges of start and end time - var start_time - var end_time - for (let i = 0; i < Gyro_batch.length; i++) { - if (Gyro_batch[i] == null) { - continue - } - - const batch_start = Gyro_batch[i][0].sample_time - if ((start_time == null) || (batch_start < start_time)) { - start_time = batch_start - } - - const batch_end = Gyro_batch[i][Gyro_batch[i].length - 1].sample_time - if ((end_time == null) || (batch_end > end_time)) { - end_time = batch_end - } - } - start_time = math.floor(start_time) - end_time = math.ceil(end_time) - - var start_input = document.getElementById("TimeStart") - start_input.disabled = false; - start_input.min = start_time - start_input.value = start_time - start_input.max = end_time - - var end_input = document.getElementById("TimeEnd") - end_input.disabled = false; - end_input.min = start_time - end_input.value = end_time - end_input.max = end_time - - // Enable checkboxes for sensors which are present - var first_gyro - var have_pre = false - for (let i = 0; i < Gyro_batch.length; i++) { - if (Gyro_batch[i] == null) { - continue - } - const prepost = Gyro_batch[i].post_filter ? "Post" : "Pre" - let axis = ["X" , "Y", "Z"] - for (let j = 0; j < 3; j++) { - var fft_check = document.getElementById("Gyro" + Gyro_batch[i].sensor_num + prepost + axis[j]) - fft_check.disabled = false - fft_check.checked = true - } - - // Track which sensors are present for spectrogram - if (first_gyro == null || (Gyro_batch[i].sensor_num < first_gyro)) { - first_gyro = Gyro_batch[i].sensor_num - } - if (Gyro_batch[i].post_filter == false) { - document.getElementById("SpecGyroPre").disabled = false - have_pre = true - } else { - document.getElementById("SpecGyroPost").disabled = false - } - document.getElementById("SpecGyroInst" + Gyro_batch[i].sensor_num).disabled = false - document.getElementById("SpecGyroAxisX").checked = true - document.getElementById("SpecGyroAxisY").disabled = false - document.getElementById("SpecGyroAxisZ").disabled = false - } - - // Default spectrograph to first sensor, pre if available and X axis - document.getElementById("SpecGyroInst" + first_gyro).checked = true - document.getElementById("SpecGyro" + (have_pre ? "Pre" : "Post")).checked = true - document.getElementById("SpecGyroAxisX").disabled = false - - // Calculate FFT - calculate() - - // Plot - redraw() - - // Enable the calculate button - document.getElementById("calculate").disabled = false - - // Set FFT info - var set_batch_len_msg = false - for (let i = 0; i < 3; i++) { - let sample_rate = 0 - let window_size = 0 - let count = 0 - for (let j = 0; j < Gyro_batch.length; j++) { - if ((Gyro_batch[j] == null) || Gyro_batch[j].sensor_num != i) { - continue - } - sample_rate += Gyro_batch[j].FFT.average_sample_rate - window_size += Gyro_batch[j].FFT.window_size - count++ - } - if (count == 0) { - continue - } - sample_rate /= count - window_size /= count - - document.getElementById("Gyro" + i + "_FFT_info").innerHTML = "Logging rate : " + (sample_rate).toFixed(2) + " Hz

" + - "Frequency resolution : " + (sample_rate/window_size).toFixed(2) + " Hz" - - if (set_batch_len_msg == false) { - set_batch_len_msg = true - document.getElementById("FFTWindowInfo").innerHTML = "Window size: " + window_size - } - } - - - const end = performance.now(); - console.log(`Load took: ${end - start} ms`); -} diff --git a/Tools/autotest/web-firmware/Tools/FilterReview/Readme.md b/Tools/autotest/web-firmware/Tools/FilterReview/Readme.md deleted file mode 100644 index 041bdd838a..0000000000 --- a/Tools/autotest/web-firmware/Tools/FilterReview/Readme.md +++ /dev/null @@ -1,6 +0,0 @@ -Test with `python -m http.server --bind 127.0.0.1` - -Uses log parser from https://github.com/Williangalvani/JsDataflashParser - -WIP! - diff --git a/Tools/autotest/web-firmware/Tools/FilterReview/index.html b/Tools/autotest/web-firmware/Tools/FilterReview/index.html deleted file mode 100644 index 7dc0101805..0000000000 --- a/Tools/autotest/web-firmware/Tools/FilterReview/index.html +++ /dev/null @@ -1,354 +0,0 @@ - - - - -ArduPilot Filter Review Tool - - - - - - - - -

ArduPilot Filter Review Tool

- - - - - - - - - - -
-
- Setup - - - - - - - - -
-
- Amplitude scale - -
- -
-
- 		-
- Spectrum scale - -
- -
-
- 		-
- Frequency scale - - - - - -
- -
- -
- 		- -
- -
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- FFT Settings - - -

- -
- 		-
- Analysis time - - - s

- - - s -
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-

- Bin log: - - -

-
-
-

-

-

- - - - - - - -
-
- Gyro 1 - -

-

- Pre-filter - - - - - - - - -
-

-

-

- Post-filter - - - - - - - - -
-

- -
- 		-
- Gyro 2 - -

-

- Pre-filter - - - - - - - - -
-

-

-

- Post-filter - - - - - - - - -
-

- -
- 		-
- Gyro 3 - -

-

- Pre-filter - - - - - - - - -
-

-

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- Post-filter - - - - - - - - -
-

- -
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- - -

-

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- - - - - - - - -
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- Spectrogram Options -

-

- Gyro instance - - - - - - - - -
-

-

-

- Filtering - - - - - -
-

-

-

- Axis - - - - - - - - -
-

-
- 		-
- First Notch Filter -

- - -

-

- - -

-

- - -

-

- - -

-

- - -

-

- - -

-

- - -

-
- 		-
- Second Notch Filter -

- - -

-

- - -

-

- - -

-

- - -

-

- - -

-

- - -

-

- - -

-
-
- - - - - - - - diff --git a/Tools/autotest/web-firmware/Tools/FilterReview/parser.js b/Tools/autotest/web-firmware/Tools/FilterReview/parser.js deleted file mode 100644 index 439ca5c8a7..0000000000 --- a/Tools/autotest/web-firmware/Tools/FilterReview/parser.js +++ /dev/null @@ -1,882 +0,0 @@ -const MAV_TYPE_GENERIC = 0 // Generic micro air vehicle. -const MAV_TYPE_FIXED_WING = 1 // Fixed wing aircraft. -const MAV_TYPE_QUADROTOR = 2 // Quadrotor -const MAV_TYPE_COAXIAL = 3 // Coaxial helicopter -const MAV_TYPE_HELICOPTER = 4 // Normal helicopter with tail rotor. -const MAV_TYPE_ANTENNA_TRACKER = 5 // Ground installation -const MAV_TYPE_GCS = 6 // Operator control unit / ground control station -const MAV_TYPE_AIRSHIP = 7 // Airship, controlled -const MAV_TYPE_FREE_BALLOON = 8 // Free balloon, uncontrolled -const MAV_TYPE_ROCKET = 9 // Rocket -const MAV_TYPE_GROUND_ROVER = 10 // Ground rover -const MAV_TYPE_SURFACE_BOAT = 11 // Surface vessel, boat, ship -const MAV_TYPE_SUBMARINE = 12 // Submarine -const MAV_TYPE_HEXAROTOR = 13 // Hexarotor -const MAV_TYPE_OCTOROTOR = 14 // Octorotor -const MAV_TYPE_TRICOPTER = 15 // Tricopter -const MAV_TYPE_FLAPPING_WING = 16 // Flapping wing -const MAV_TYPE_KITE = 17 // Kite -const MAV_TYPE_ONBOARD_CONTROLLER = 18 // Onboard companion controller -const MAV_TYPE_VTOL_DUOROTOR = 19 // Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter. -const MAV_TYPE_VTOL_QUADROTOR = 20 // Quad-rotor VTOL using a V-shaped quad config in vertical operation. -// Tailsitter. -const MAV_TYPE_VTOL_TILTROTOR = 21 // Tiltrotor VTOL -const MAV_TYPE_VTOL_RESERVED2 = 22 // VTOL reserved 2 -const MAV_TYPE_VTOL_RESERVED3 = 23 // VTOL reserved 3 -const MAV_TYPE_VTOL_RESERVED4 = 24 // VTOL reserved 4 -const MAV_TYPE_VTOL_RESERVED5 = 25 // VTOL reserved 5 -const MAV_TYPE_GIMBAL = 26 // Onboard gimbal -const MAV_TYPE_ADSB = 27 // Onboard ADSB peripheral -const MAV_TYPE_PARAFOIL = 28 // Steerable, nonrigid airfoil -const MAV_TYPE_DODECAROTOR = 29 // Dodecarotor -const MAV_TYPE_CAMERA = 30 // Camera -const MAV_TYPE_CHARGING_STATION = 31 // Charging station -const MAV_TYPE_FLARM = 32 // Onboard FLARM collision avoidance system -const MAV_TYPE_ENUM_END = 33 // - - -const modeMappingApm = { - 0: 'MANUAL', - 1: 'CIRCLE', - 2: 'STABILIZE', - 3: 'TRAINING', - 4: 'ACRO', - 5: 'FBWA', - 6: 'FBWB', - 7: 'CRUISE', - 8: 'AUTOTUNE', - 10: 'AUTO', - 11: 'RTL', - 12: 'LOITER', - 13: 'TAKEOFF', - 14: 'AVOID_ADSB', - 15: 'GUIDED', - 16: 'INITIALISING', - 17: 'QSTABILIZE', - 18: 'QHOVER', - 19: 'QLOITER', - 20: 'QLAND', - 21: 'QRTL', - 22: 'QAUTOTUNE', - 23: 'QACRO', - 24: 'THERMAL' -} -const modeMappingAcm = { - 0: 'STABILIZE', - 1: 'ACRO', - 2: 'ALT_HOLD', - 3: 'AUTO', - 4: 'GUIDED', - 5: 'LOITER', - 6: 'RTL', - 7: 'CIRCLE', - 9: 'LAND', - 11: 'DRIFT', - 13: 'SPORT', - 14: 'FLIP', - 15: 'AUTOTUNE', - 16: 'POSHOLD', - 17: 'BRAKE', - 18: 'THROW', - 19: 'AVOID_ADSB', - 20: 'GUIDED_NOGPS', - 21: 'SMART_RTL', - 22: 'FLOWHOLD', - 23: 'FOLLOW', - 24: 'ZIGZAG', - 25: 'SYSTEMID', - 26: 'AUTOROTATE' -} -const modeMappingRover = { - 0: 'MANUAL', - 1: 'ACRO', - 3: 'STEERING', - 4: 'HOLD', - 5: 'LOITER', - 6: 'FOLLOW', - 7: 'SIMPLE', - 10: 'AUTO', - 11: 'RTL', - 12: 'SMART_RTL', - 15: 'GUIDED', - 16: 'INITIALISING' -} -const modeMappingTracker = { - 0: 'MANUAL', - 1: 'STOP', - 2: 'SCAN', - 3: 'SERVO_TEST', - 10: 'AUTO', - 16: 'INITIALISING' -} -const modeMappingSub = { - 0: 'STABILIZE', - 1: 'ACRO', - 2: 'ALT_HOLD', - 3: 'AUTO', - 4: 'GUIDED', - 7: 'CIRCLE', - 9: 'SURFACE', - 16: 'POSHOLD', - 19: 'MANUAL', - 20: 'MOTOR_DETECT' -} - - -const multipliers = { - '-': 0, // no multiplier e.g. a string - '?': 1, // multipliers which haven't been worked out yet.... - // - '2': 1e2, - '1': 1e1, - '0': 1e0, - 'A': 1e-1, - 'B': 1e-2, - 'C': 1e-3, - 'D': 1e-4, - 'E': 1e-5, - 'F': 1e-6, - 'G': 1e-7, - // - '!': 3.6, // (ampere*second => milliampere*hour) and (km/h => m/s) - '/': 3600 // (ampere*second => ampere*hour) -} - -const multipliersTable = { - 0.000001: 'n', - 1000: 'M', - 0.001: 'm' -} - -const HEAD1 = 163 -const HEAD2 = 149 - -const units = { - '-': '', // no units e.g. Pi, or a string - '?': 'UNKNOWN', // Units which haven't been worked out yet.... - 'A': 'A', // Ampere - 'd': '°', // of the angular variety, -180 to 180 - 'b': 'B', // bytes - 'k': '°/s', // degrees per second. Degrees are NOT SI, but is some situations more user-friendly than radians - 'D': '°', // degrees of latitude - 'e': '°/s/s', // degrees per second per second. Degrees are NOT SI, but is some situations more user-friendly - 'E': 'rad/s', // radians per second - 'G': 'Gauss', // Gauss is not an SI unit, but 1 tesla = 10000 gauss so a simple replacement is not possible here - 'h': '°', // 0.? to 359.? - 'i': 'A.s', // Ampere second - 'J': 'W.s', // Joule (Watt second) - // { 'l', "l" }, // litres - 'L': 'rad/s/s', // radians per second per second - 'm': 'm', // metres - 'n': 'm/s', // metres per second - // { 'N', "N" }, // Newton - 'o': 'm/s/s', // metres per second per second - 'O': '°C', // degrees Celsius. Not SI, but Kelvin is too cumbersome for most users - '%': '%', // percent - 'S': 'satellites', // number of satellites - 's': 's', // seconds - 'q': 'rpm', // rounds per minute. Not SI, but sometimes more intuitive than Hertz - 'r': 'rad', // radians - 'U': '°', // degrees of longitude - 'u': 'ppm', // pulses per minute - 'v': 'V', // Volt - 'P': 'Pa', // Pascal - 'w': 'Ohm', // Ohm - 'Y': 'us', // pulse width modulation in microseconds - 'z': 'Hz', // Hertz - '#': 'instance' // instance number for message -} - -function getModeMap (mavType) { - let map - if ([MAV_TYPE_QUADROTOR, - MAV_TYPE_HELICOPTER, - MAV_TYPE_HEXAROTOR, - MAV_TYPE_OCTOROTOR, - MAV_TYPE_COAXIAL, - MAV_TYPE_TRICOPTER].includes(mavType)) { - map = modeMappingAcm - } - if (mavType === MAV_TYPE_FIXED_WING) { - map = modeMappingApm - } - if (mavType === MAV_TYPE_GROUND_ROVER) { - map = modeMappingRover - } - if (mavType === MAV_TYPE_ANTENNA_TRACKER) { - map = modeMappingTracker - } - if (mavType === MAV_TYPE_SUBMARINE) { - map = modeMappingSub - } - if (map == null) { - return null - } - return map -} - -function assignColumn (obj) { - var ArrayOfString = obj.split(',') - return ArrayOfString -} - -// Converts from degrees to radians. -Math.radians = function (degrees) { - return degrees * Math.PI / 180 -} - -// Converts from radians to degrees. -Math.degrees = function (radians) { - return radians * 180 / Math.PI -} - -class DataflashParser { - constructor () { - this.time = null - this.timebase = null - this.buffer = null - this.data = null - this.FMT = [] - this.FMT[128] = { - 'Type': '128', - 'length': '89', - 'Name': 'FMT', - 'Format': 'BBnNZ', - 'Columns': 'Type,Length,Name,Format,Columns' - } - this.offset = 0 - this.msgType = [] - this.offsetArray = [] - this.totalSize = null - this.messages = {} - this.lastPercentage = 0 - this.sent = false - this.maxPercentageInterval = 0.05 - this.messageTypes = {} - this.alreadyParsed = [] - } - - FORMAT_TO_STRUCT (obj) { - var temp - var dict = { - name: obj.Name, - fieldnames: obj.Columns.split(',') - } - - let column = assignColumn(obj.Columns) - let low - let n - for (let i = 0; i < obj.Format.length; i++) { - temp = obj.Format.charAt(i) - switch (temp) { - case 'a': // int16_t[32] - dict[column[i]] = [] - for (let j = 0; j < 32; j++) { - dict[column[i]][j] = this.data.getInt16(this.offset, true) - this.offset += 2 - } - break - case 'b': - dict[column[i]] = this.data.getInt8(this.offset) - this.offset += 1 - break - case 'B': - dict[column[i]] = this.data.getUint8(this.offset) - this.offset += 1 - break - case 'h': - dict[column[i]] = this.data.getInt16(this.offset, true) - this.offset += 2 - break - case 'H': - dict[column[i]] = this.data.getUint16(this.offset, true) - this.offset += 2 - break - case 'i': - dict[column[i]] = this.data.getInt32(this.offset, true) - this.offset += 4 - break - case 'I': - dict[column[i]] = this.data.getUint32(this.offset, true) - this.offset += 4 - break - case 'f': - dict[column[i]] = this.data.getFloat32(this.offset, true) - this.offset += 4 - break - case 'd': - dict[column[i]] = this.data.getFloat64(this.offset, true) - this.offset += 8 - break - case 'Q': - low = this.data.getUint32(this.offset, true) - this.offset += 4 - n = this.data.getUint32(this.offset, true) * 4294967296.0 + low - if (low < 0) n += 4294967296 - dict[column[i]] = n - this.offset += 4 - break - case 'q': - low = this.data.getInt32(this.offset, true) - this.offset += 4 - n = this.data.getInt32(this.offset, true) * 4294967296.0 + low - if (low < 0) n += 4294967296 - dict[column[i]] = n - this.offset += 4 - break - case 'n': - // TODO: fix these regex and unsilent linter - // eslint-disable-next-line - dict[column[i]] = String.fromCharCode.apply(null, new Uint8Array(this.buffer, this.offset, 4)).replace(/\x00+$/g, '') - this.offset += 4 - break - case 'N': - // eslint-disable-next-line - dict[column[i]] = String.fromCharCode.apply(null, new Uint8Array(this.buffer, this.offset, 16)).replace(/\x00+$/g, '') - this.offset += 16 - break - case 'Z': - // eslint-disable-next-line - dict[column[i]] = String.fromCharCode.apply(null, new Uint8Array(this.buffer, this.offset, 64)).replace(/\x00+$/g, '') - this.offset += 64 - break - case 'c': - // this.this.data.setInt16(offset,true); - dict[column[i]] = this.data.getInt16(this.offset, true) / 100 - this.offset += 2 - break - case 'C': - // this.data.setUint16(offset,true); - dict[column[i]] = this.data.getUint16(this.offset, true) / 100 - this.offset += 2 - break - case 'E': - // this.data.setUint32(offset,true); - dict[column[i]] = this.data.getUint32(this.offset, true) / 100 - this.offset += 4 - break - case 'e': - // this.data.setInt32(offset,true); - dict[column[i]] = this.data.getInt32(this.offset, true) / 100 - this.offset += 4 - break - case 'L': - // this.data.setInt32(offset,true); - dict[column[i]] = this.data.getInt32(this.offset, true) - this.offset += 4 - break - case 'M': - // this.data.setInt32(offset,true); - dict[column[i]] = this.data.getUint8(this.offset) - this.offset += 1 - break - } - } - return dict - } - - gpstimetoTime (week, msec) { - let epoch = 86400 * (10 * 365 + (1980 - 1969) / 4 + 1 + 6 - 2) - return epoch + 86400 * 7 * week + msec * 0.001 - 15 - } - - setTimeBase (base) { - this.timebase = base - } - - findTimeBase (gps) { - const temp = this.gpstimetoTime(parseInt(gps['GWk']), parseInt(gps['GMS'])) - this.setTimeBase(parseInt(temp - gps['TimeUS'] * 0.000001)) - } - - getMsgType (element) { - for (let i = 0; i < this.FMT.length; i++) { - if (this.FMT[i] != null) { - // eslint-disable-next-line - if (this.FMT[i].Name == element) { - return i - } - } - } - } - - onMessage (message) { - if (this.totalSize == null) { // for percentage calculation - this.totalSize = this.buffer.byteLength - } - if (message.name in this.messages) { - this.messages[message.name].push(this.fixData(message)) - } else { - this.messages[message.name] = [this.fixData(message)] - } - let percentage = 100 * this.offset / this.totalSize - if ((percentage - this.lastPercentage) > this.maxPercentageInterval) { - self.postMessage({percentage: percentage}) - this.lastPercentage = percentage - } - } - - messageHasInstances (name) { - let type = this.FMT.find(msg => msg !== undefined && msg.Name === name) - return type !== undefined && type.units !== undefined && type.units.includes('instance') - } - - getInstancesFieldName (name) { - let type = this.FMT.find(msg => msg !== undefined && msg.Name === name) - if (type.units === undefined) { - return null - } - return type.Columns.split(',')[type.units.indexOf('instance')] - } - - // Next three functions are used for transfering data on postmessage, instead of cloning - isTypedArray (arr) { - return ArrayBuffer.isView(arr) && !(arr instanceof DataView) - } - - getType (arr) { - return this.isTypedArray(arr) && arr.constructor.name - } - - postData (data) { - data['dataType'] = {} - const transferables = [] - for (let field of Object.keys(data.messageList)) { - const arrayType = this.getType(data.messageList[field]) - if (arrayType) { - transferables.push(data.messageList[field].buffer) - } - // Apparently it is magically decoded on the other end, no need for metadata - // data['dataType'][field] = arrayType - } - self.postMessage(data, transferables) - } - - parseAtOffset (name) { - let type = this.getMsgType(name) - var parsed = [] - for (var i = 0; i < this.msgType.length; i++) { - if (type === this.msgType[i]) { - this.offset = this.offsetArray[i] - try { - let temp = this.FORMAT_TO_STRUCT(this.FMT[this.msgType[i]]) - if (temp['name'] != null) { - parsed.push(this.fixData(temp)) - } - } catch (e) { - console.log('reached log end?') - console.log(e) - } - } - if (i % 100000 === 0) { - let perc = 100 * i / this.msgType.length - self.postMessage({percentage: perc}) - } - } - delete this.messages[name] - this.messages[name] = parsed - - self.postMessage({percentage: 100}) - console.log(name, this.messageHasInstances(name) ? 'has instances' : 'has no instances') - if (parsed.length && this.messageHasInstances(name)) { - let instanceField = this.getInstancesFieldName(name) - let instances = {} - for (let msg of parsed) { - try { - instances[msg[instanceField]].push(msg) - } catch (e) { - instances[msg[instanceField]] = [ msg ] - } - } - if (Object.keys(instances).length === 1) { - this.fixDataOnce(name) - this.simplifyData(name) - this.postData({messageType: name, messageList: this.messages[name]}) - return parsed - } - for (let [index, messages] of Object.entries(instances)) { - let newName = name + '[' + index + ']' - this.messages[newName] = messages - this.fixDataOnce(newName) - this.simplifyData(newName) - this.postData({messageType: newName, - messageList: this.messages[newName]}) - } - } else if (parsed.length) { - this.fixDataOnce(name) - this.simplifyData(name) - this.postData({messageType: name, messageList: this.messages[name]}) - } - this.alreadyParsed.push(name) - return parsed - } - - checkNumberOfInstances (name) { - // Similar to parseOffset, but finishes earlier and updates messageTypes - let type = this.getMsgType(name) - let availableInstances = [] - let instanceField = this.getInstancesFieldName(name) - if (instanceField === null) { - return [1] - } - let repeats = 0 - for (var i = 0; i < this.msgType.length; i++) { - if (type === this.msgType[i]) { - this.offset = this.offsetArray[i] - try { - let temp = this.FORMAT_TO_STRUCT(this.FMT[this.msgType[i]]) - if (temp['name'] != null) { - let msg = temp - if (!msg.hasOwnProperty(instanceField)) { - break - } - // we do an early return after we get 20 repeated instance numbers. should we? - const instance = msg[instanceField] - if (availableInstances.includes(instance)) { - repeats += 1 - if (repeats > 20) { - return availableInstances - } - } else { - availableInstances.push(instance) - } - } - } catch (e) { - console.log(e) - } - } - } - return availableInstances - } - - timestamp (TimeUs) { - let temp = this.timebase + TimeUs * 0.000001 - if (temp > 0) { - TimeUs = temp - } - let date = new Date(TimeUs * 1000) - let hours = date.getHours() - let minutes = '0' + date.getMinutes() - let seconds = '0' + date.getSeconds() - let formattedTime = hours + ':' + minutes.substr(-2) + ':' + seconds.substr(-2) - date = date.toString() - let time = date.split(' ') - if (time[0] !== 'Invalid') { - this.time = time[0] + ' ' + time[1] + ' ' + time[2] + ' ' + time[3] - } - return formattedTime - } - - DfReader () { - let lastOffset = 0 - while (this.offset < (this.buffer.byteLength - 3)) { - if (this.data.getUint8(this.offset) !== HEAD1 || this.data.getUint8(this.offset + 1) !== HEAD2) { - this.offset += 1 - continue - } - this.offset += 2 - - let attribute = this.data.getUint8(this.offset) - if (this.FMT[attribute] != null) { - this.offset += 1 - this.offsetArray.push(this.offset) - this.msgType.push(attribute) - try { - var value = this.FORMAT_TO_STRUCT(this.FMT[attribute]) - if (this.FMT[attribute].Name === 'GPS') { - this.findTimeBase(value) - } - } catch (e) { - // console.log('reached log end?') - // console.log(e) - this.offset += 1 - } - if (attribute === 128) { - this.FMT[value['Type']] = { - 'Type': value['Type'], - 'length': value['Length'], - 'Name': value['Name'], - 'Format': value['Format'], - 'Columns': value['Columns'] - } - } - // this.onMessage(value) - } else { - this.offset += 1 - } - if (this.offset - lastOffset > 50000) { - let perc = 100 * this.offset / this.buffer.byteLength - self.postMessage({percentage: perc}) - lastOffset = this.offset - } - } - self.postMessage({percentage: 100}) - self.postMessage({messages: this.messages}) - this.sent = true - } - - getModeString (cmode) { - let mavtype - let msgs = this.messages['MSG'] - for (let i in msgs.Message) { - if (msgs.Message[i].toLowerCase().includes('arduplane')) { - mavtype = MAV_TYPE_FIXED_WING - return getModeMap(mavtype)[cmode] - } else if (msgs.Message[i].toLowerCase().includes('arducopter')) { - mavtype = MAV_TYPE_QUADROTOR - return getModeMap(mavtype)[cmode] - } else if (msgs.Message[i].toLowerCase().includes('ardusub')) { - mavtype = MAV_TYPE_SUBMARINE - return getModeMap(mavtype)[cmode] - } else if (msgs.Message[i].toLowerCase().includes('rover')) { - mavtype = MAV_TYPE_GROUND_ROVER - return getModeMap(mavtype)[cmode] - } else if (msgs.Message[i].toLowerCase().includes('tracker')) { - mavtype = MAV_TYPE_ANTENNA_TRACKER - return getModeMap(mavtype)[cmode] - } - } - console.log('defaulting to quadcopter') - return getModeMap(MAV_TYPE_QUADROTOR)[cmode] - } - - fixData (message) { - if (message.name === 'MODE') { - message.asText = this.getModeString(message['Mode']) - } - // eslint-disable-next-line - message.time_boot_ms = message.TimeUS / 1000 - delete message.TimeUS - delete message.fieldnames - return message - } - - fixDataOnce (name) { - if (!['GPS', 'ATT', 'AHR2', 'MODE'].includes(name)) { - if (this.messageTypes.hasOwnProperty(name)) { - let fields = this.messages[name][0].fieldnames - if (this.messageTypes[name].hasOwnProperty('multipliers')) { - for (let message in this.messages[name]) { - for (let i = 1; i < fields.length; i++) { - let fieldname = fields[i] - if (!isNaN(this.messageTypes[name].multipliers[i])) { - this.messages[name][message][fieldname] *= this.messageTypes[name].multipliers[i] - } - } - } - } - } - } - } - - concatTypedArrays (a, b) { // a, b TypedArray of same type - var c = new (a.constructor)(a.length + b.length) - c.set(a, 0) - c.set(b, a.length) - return c - } - - createUint8ArrayFromString (str) { - const array = new Uint8Array(str.length) - for (let i = 0, strLen = str.length; i < strLen; i++) { - array[i] = str.charCodeAt(i) - } - return array - } - - processFiles () { - this.files = {} - for (let msg of this.messages['FILE']) { - if (!this.files.hasOwnProperty(msg.FileName)) { - this.files[msg.FileName] = this.createUint8ArrayFromString(msg.Data) - } else { - this.files[msg.FileName] = this.concatTypedArrays( - this.files[msg.FileName], this.createUint8ArrayFromString(msg.Data) - ) - } - } - self.postMessage({files: this.files}) - } - - simplifyData (name) { - if (name === 'MODE') { - this.messageTypes[name].expressions.push('asText') - } - if (name === 'FILE') { - return - } - if (!['FMTU'].includes(name)) { - if (this.messageTypes.hasOwnProperty(name)) { - let fields = this.messageTypes[name].expressions - if (!fields.includes('time_boot_ms')) { - fields.push('time_boot_ms') - } - let mergedData = {} - for (let field of fields) { - mergedData[field] = [] - } - for (let message of this.messages[name]) { - for (let i = 1; i < fields.length; i++) { - let fieldname = fields[i] - mergedData[fieldname].push(message[fieldname]) - } - } - delete this.messages[name] - this.messages[name] = mergedData - for (const field of this.messageTypes[name].expressions) { - if (this.messages[name][field] && !isNaN(this.messages[name][field][0])) { - const newData = new Float64Array(this.messages[name][field]) - delete this.messages[name][field] - this.messages[name][field] = newData - } - } - } - } - } - - populateUnits () { - // console.log(this.messages['FMTU']) - for (let msg of this.messages['FMTU']) { - this.FMT[msg.FmtType]['units'] = [] - for (let unit of msg.UnitIds) { - this.FMT[msg.FmtType]['units'].push(units[unit]) - } - this.FMT[msg.FmtType]['multipliers'] = [] - for (let mult of msg.MultIds) { - this.FMT[msg.FmtType]['multipliers'].push(multipliers[mult]) - } - } - } - - extractStartTime () { - let msgs = this.messages['GPS'] - for (let i in msgs.time_boot_ms) { - if (msgs.GWk[i] > 1000) { // lousy validation - let weeks = msgs.GWk[i] - let ms = msgs.GMS[i] - let d = new Date((315964800.0 + ((60 * 60 * 24 * 7) * weeks) + ms / 1000.0) * 1000.0) - // adjusting for leap seconds - d = new Date(d.getTime() - this.leapSecondsGPS(d.getUTCFullYear(), d.getUTCMonth() + 1) * 1000) - return d - } - } - } - - leapSecondsGPS (year, month) { - return this.leapSecondsTAI(year, month) - 19 - } - - leapSecondsTAI (year, month) { - const yyyymm = year * 100 + month - if (yyyymm >= 201701) return 37 - if (yyyymm >= 201507) return 36 - if (yyyymm >= 201207) return 35 - if (yyyymm >= 200901) return 34 - if (yyyymm >= 200601) return 33 - if (yyyymm >= 199901) return 32 - if (yyyymm >= 199707) return 31 - if (yyyymm >= 199601) return 30 - - return 0 - } - - processData (data) { - this.buffer = data - this.data = new DataView(this.buffer) - this.DfReader() - let messageTypes = {} - this.parseAtOffset('FMTU') - this.populateUnits() - let typeSet = new Set(this.msgType) - for (let msg of this.FMT) { - if (msg) { - if (typeSet.has(msg.Type)) { - let fields = msg.Columns.split(',') - // expressions = expressions.filter(e => e !== 'TimeUS') - let complexFields = {} - if (msg.hasOwnProperty('units')) { - for (let field in fields) { - complexFields[fields[field]] = { - name: fields[field], - units: (multipliersTable[msg.multipliers[field]] || '') + msg.units[field], - multiplier: msg.multipliers[field] - } - } - } else { - for (let field in fields) { - complexFields[fields[field]] = { - name: fields[field], - units: '?', - multiplier: 1 - } - } - } - let availableInstances = this.checkNumberOfInstances(msg.Name) - if (availableInstances.length > 1) { - for (let instance of availableInstances) { - messageTypes[msg.Name + '[' + instance + ']'] = { - expressions: fields, - units: msg.units, - multipiers: msg.multipliers, - complexFields: complexFields - } - } - } else { - messageTypes[msg.Name] = { - expressions: fields, - units: msg.units, - multipiers: msg.multipliers, - complexFields: complexFields - } - } - } - } - } - self.postMessage({availableMessages: messageTypes}) - this.messageTypes = messageTypes - this.parseAtOffset('CMD') - this.parseAtOffset('MSG') - this.parseAtOffset('FILE') - this.processFiles() - this.parseAtOffset('MODE') - this.parseAtOffset('AHR2') - this.parseAtOffset('ATT') - this.parseAtOffset('GPS') - this.parseAtOffset('POS') - this.parseAtOffset('XKQ1') - this.parseAtOffset('XKQ') - this.parseAtOffset('NKQ1') - this.parseAtOffset('NKQ2') - this.parseAtOffset('XKQ2') - this.parseAtOffset('PARM') - this.parseAtOffset('MSG') - this.parseAtOffset('STAT') - this.parseAtOffset('EV') - let metadata = { - startTime: this.extractStartTime() - } - self.postMessage({metadata: metadata}) - - self.postMessage({messagesDoneLoading: true}) - return {types: this.messageTypes, messages: this.messages} - } - - loadType (type) { - this.parseAtOffset(type) - console.log('done') - } -} - -self.addEventListener('message', function (event) { - if (event.data === null) { - console.log('got bad file message!') - } else if (event.data.action === 'parse') { - parser = new DataflashParser() - let data = event.data.file - parser.processData(data) - } else if (event.data.action === 'loadType') { - parser.loadType(event.data.type.split('[')[0]) - } else if (event.data.action === 'trimFile') { - parser.trimFile(event.data.time) - } -}) diff --git a/Tools/autotest/web-firmware/Tools/FilterTool/FileSaver.js b/Tools/autotest/web-firmware/Tools/FilterTool/FileSaver.js deleted file mode 100644 index 5d204aee15..0000000000 --- a/Tools/autotest/web-firmware/Tools/FilterTool/FileSaver.js +++ /dev/null @@ -1,171 +0,0 @@ -/* -* FileSaver.js -* A saveAs() FileSaver implementation. -* -* By Eli Grey, http://eligrey.com -* -* License : https://github.com/eligrey/FileSaver.js/blob/master/LICENSE.md (MIT) -* source : http://purl.eligrey.com/github/FileSaver.js -*/ - -// The one and only way of getting global scope in all environments -// https://stackoverflow.com/q/3277182/1008999 -var _global = typeof window === 'object' && window.window === window - ? window : typeof self === 'object' && self.self === self - ? self : typeof global === 'object' && global.global === global - ? global - : this - -function bom (blob, opts) { - if (typeof opts === 'undefined') opts = { autoBom: false } - else if (typeof opts !== 'object') { - console.warn('Deprecated: Expected third argument to be a object') - opts = { autoBom: !opts } - } - - // prepend BOM for UTF-8 XML and text/* types (including HTML) - // note: your browser will automatically convert UTF-16 U+FEFF to EF BB BF - if (opts.autoBom && /^\s*(?:text\/\S*|application\/xml|\S*\/\S*\+xml)\s*;.*charset\s*=\s*utf-8/i.test(blob.type)) { - return new Blob([String.fromCharCode(0xFEFF), blob], { type: blob.type }) - } - return blob -} - -function download (url, name, opts) { - var xhr = new XMLHttpRequest() - xhr.open('GET', url) - xhr.responseType = 'blob' - xhr.onload = function () { - saveAs(xhr.response, name, opts) - } - xhr.onerror = function () { - console.error('could not download file') - } - xhr.send() -} - -function corsEnabled (url) { - var xhr = new XMLHttpRequest() - // use sync to avoid popup blocker - xhr.open('HEAD', url, false) - try { - xhr.send() - } catch (e) {} - return xhr.status >= 200 && xhr.status <= 299 -} - -// `a.click()` doesn't work for all browsers (#465) -function click (node) { - try { - node.dispatchEvent(new MouseEvent('click')) - } catch (e) { - var evt = document.createEvent('MouseEvents') - evt.initMouseEvent('click', true, true, window, 0, 0, 0, 80, - 20, false, false, false, false, 0, null) - node.dispatchEvent(evt) - } -} - -// Detect WebView inside a native macOS app by ruling out all browsers -// We just need to check for 'Safari' because all other browsers (besides Firefox) include that too -// https://www.whatismybrowser.com/guides/the-latest-user-agent/macos -var isMacOSWebView = _global.navigator && /Macintosh/.test(navigator.userAgent) && /AppleWebKit/.test(navigator.userAgent) && !/Safari/.test(navigator.userAgent) - -var saveAs = _global.saveAs || ( - // probably in some web worker - (typeof window !== 'object' || window !== _global) - ? function saveAs () { /* noop */ } - - // Use download attribute first if possible (#193 Lumia mobile) unless this is a macOS WebView - : ('download' in HTMLAnchorElement.prototype && !isMacOSWebView) - ? function saveAs (blob, name, opts) { - var URL = _global.URL || _global.webkitURL - var a = document.createElement('a') - name = name || blob.name || 'download' - - a.download = name - a.rel = 'noopener' // tabnabbing - - // TODO: detect chrome extensions & packaged apps - // a.target = '_blank' - - if (typeof blob === 'string') { - // Support regular links - a.href = blob - if (a.origin !== location.origin) { - corsEnabled(a.href) - ? download(blob, name, opts) - : click(a, a.target = '_blank') - } else { - click(a) - } - } else { - // Support blobs - a.href = URL.createObjectURL(blob) - setTimeout(function () { URL.revokeObjectURL(a.href) }, 4E4) // 40s - setTimeout(function () { click(a) }, 0) - } - } - - // Use msSaveOrOpenBlob as a second approach - : 'msSaveOrOpenBlob' in navigator - ? function saveAs (blob, name, opts) { - name = name || blob.name || 'download' - - if (typeof blob === 'string') { - if (corsEnabled(blob)) { - download(blob, name, opts) - } else { - var a = document.createElement('a') - a.href = blob - a.target = '_blank' - setTimeout(function () { click(a) }) - } - } else { - navigator.msSaveOrOpenBlob(bom(blob, opts), name) - } - } - - // Fallback to using FileReader and a popup - : function saveAs (blob, name, opts, popup) { - // Open a popup immediately do go around popup blocker - // Mostly only available on user interaction and the fileReader is async so... - popup = popup || open('', '_blank') - if (popup) { - popup.document.title = - popup.document.body.innerText = 'downloading...' - } - - if (typeof blob === 'string') return download(blob, name, opts) - - var force = blob.type === 'application/octet-stream' - var isSafari = /constructor/i.test(_global.HTMLElement) || _global.safari - var isChromeIOS = /CriOS\/[\d]+/.test(navigator.userAgent) - - if ((isChromeIOS || (force && isSafari) || isMacOSWebView) && typeof FileReader !== 'undefined') { - // Safari doesn't allow downloading of blob URLs - var reader = new FileReader() - reader.onloadend = function () { - var url = reader.result - url = isChromeIOS ? url : url.replace(/^data:[^;]*;/, 'data:attachment/file;') - if (popup) popup.location.href = url - else location = url - popup = null // reverse-tabnabbing #460 - } - reader.readAsDataURL(blob) - } else { - var URL = _global.URL || _global.webkitURL - var url = URL.createObjectURL(blob) - if (popup) popup.location = url - else location.href = url - popup = null // reverse-tabnabbing #460 - setTimeout(function () { URL.revokeObjectURL(url) }, 4E4) // 40s - } - } -) - -_global.saveAs = saveAs.saveAs = saveAs - -if (typeof module !== 'undefined') { - module.exports = saveAs; -} diff --git a/Tools/autotest/web-firmware/Tools/FilterTool/app.py b/Tools/autotest/web-firmware/Tools/FilterTool/app.py deleted file mode 100644 index 76ded1b765..0000000000 --- a/Tools/autotest/web-firmware/Tools/FilterTool/app.py +++ /dev/null @@ -1,16 +0,0 @@ -import os -from flask import Flask -from flask import render_template - -# A flask app to allow hosting filter tool locally - -this_path = os.path.dirname(os.path.realpath(__file__)) - -app = Flask(__name__, template_folder=this_path, static_folder=this_path) - -@app.route('/') -def index(): - return render_template('index.html') - -if __name__ == "__main__": - app.run() diff --git a/Tools/autotest/web-firmware/Tools/FilterTool/filters.js b/Tools/autotest/web-firmware/Tools/FilterTool/filters.js deleted file mode 100644 index b68bc3b673..0000000000 --- a/Tools/autotest/web-firmware/Tools/FilterTool/filters.js +++ /dev/null @@ -1,1196 +0,0 @@ -function calc_lowpass_alpha_dt(dt, cutoff_freq) -{ - if (dt <= 0.0 || cutoff_freq <= 0.0) { - return 1.0; - } - var rc = 1.0/(Math.PI*2*cutoff_freq); - return dt/(dt+rc); -} - -function PID(sample_rate,kP,kI,kD,filtE,filtD) { - - this._kP = kP; - this._kI = kI; - this._kD = kD; - - this._dt = 1.0/sample_rate; - this.E_alpha = calc_lowpass_alpha_dt(this._dt,filtE) - this.D_alpha = calc_lowpass_alpha_dt(this._dt,filtD) - - this._error = 0.0; - this._derivative = 0.0; - this._integrator = 0.0; - - this.reset = function(sample) { - this._error = 0.0; - this._derivative = 0.0; - this._integrator = 0.0; - } - - this.apply = function(error) { - - var error_last = this._error; - this._error += this.E_alpha * (error - this._error); - - var derivative = (this._error - error_last) / this._dt; - this._derivative += this.D_alpha * (derivative - this._derivative) - - this._integrator += this._error * this._kI * this._dt; - - var P_out = this._error * this._kP; - var D_out = this._derivative * this._kD; - - return P_out + this._integrator + D_out; - } - return this; -} - -function LPF_1P(sample_rate,cutoff) { - this.reset = function(sample) { - this.value = sample; - } - if (cutoff <= 0) { - this.apply = function(sample) { - return sample; - } - return this; - } - this.alpha = calc_lowpass_alpha_dt(1.0/sample_rate,cutoff) - this.value = 0.0; - this.apply = function(sample) { - this.value += this.alpha * (sample - this.value); - return this.value; - } - return this; -} - -function DigitalBiquadFilter(sample_freq, cutoff_freq) { - this.delay_element_1 = 0; - this.delay_element_2 = 0; - this.cutoff_freq = cutoff_freq; - - if (cutoff_freq <= 0) { - // zero cutoff means pass-thru - this.reset = function(sample) { - } - this.apply = function(sample) { - return sample; - } - return this; - } - - var fr = sample_freq/cutoff_freq; - var ohm = Math.tan(Math.PI/fr); - var c = 1.0+2.0*Math.cos(Math.PI/4.0)*ohm + ohm*ohm; - - this.b0 = ohm*ohm/c; - this.b1 = 2.0*this.b0; - this.b2 = this.b0; - this.a1 = 2.0*(ohm*ohm-1.0)/c; - this.a2 = (1.0-2.0*Math.cos(Math.PI/4.0)*ohm+ohm*ohm)/c; - this.initialised = false; - - this.apply = function(sample) { - if (!this.initialised) { - this.reset(sample); - this.initialised = true; - } - var delay_element_0 = sample - this.delay_element_1 * this.a1 - this.delay_element_2 * this.a2; - var output = delay_element_0 * this.b0 + this.delay_element_1 * this.b1 + this.delay_element_2 * this.b2; - - this.delay_element_2 = this.delay_element_1; - this.delay_element_1 = delay_element_0; - return output; - } - - this.reset = function(sample) { - this.delay_element_1 = this.delay_element_2 = sample * (1.0 / (1 + this.a1 + this.a2)); - } - - return this; -} - -function sq(v) { - return v*v; -} - -function constrain_float(v,vmin,vmax) { - if (v < vmin) { - return vmin; - } - if (v > vmax) { - return vmax; - } - return v; -} - -function NotchFilter(sample_freq,center_freq_hz,bandwidth_hz,attenuation_dB) { - this.sample_freq = sample_freq; - this.center_freq_hz = center_freq_hz; - this.bandwidth_hz = bandwidth_hz; - this.attenuation_dB = attenuation_dB; - this.need_reset = true; - this.initialised = false; - - this.calculate_A_and_Q = function() { - this.A = Math.pow(10.0, -this.attenuation_dB / 40.0); - if (this.center_freq_hz > 0.5 * this.bandwidth_hz) { - var octaves = Math.log2(this.center_freq_hz / (this.center_freq_hz - this.bandwidth_hz / 2.0)) * 2.0; - this.Q = Math.sqrt(Math.pow(2.0, octaves)) / (Math.pow(2.0, octaves) - 1.0); - } else { - this.Q = 0.0; - } - } - - this.init_with_A_and_Q = function() { - if ((this.center_freq_hz > 0.0) && (this.center_freq_hz < 0.5 * this.sample_freq) && (this.Q > 0.0)) { - var omega = 2.0 * Math.PI * this.center_freq_hz / this.sample_freq; - var alpha = Math.sin(omega) / (2 * this.Q); - this.b0 = 1.0 + alpha*sq(this.A); - this.b1 = -2.0 * Math.cos(omega); - this.b2 = 1.0 - alpha*sq(this.A); - this.a0_inv = 1.0/(1.0 + alpha); - this.a1 = this.b1; - this.a2 = 1.0 - alpha; - this.initialised = true; - } else { - this.initialised = false; - } - } - - // check center frequency is in the allowable range - if ((center_freq_hz > 0.5 * bandwidth_hz) && (center_freq_hz < 0.5 * sample_freq)) { - this.calculate_A_and_Q(); - this.init_with_A_and_Q(); - } else { - this.initialised = false; - } - - this.apply = function(sample) { - if (!this.initialised || this.need_reset) { - // if we have not been initialised when return the input - // sample as output and update delayed samples - this.signal1 = sample; - this.signal2 = sample; - this.ntchsig = sample; - this.ntchsig1 = sample; - this.ntchsig2 = sample; - this.need_reset = false; - return sample; - } - this.ntchsig2 = this.ntchsig1; - this.ntchsig1 = this.ntchsig; - this.ntchsig = sample; - var output = (this.ntchsig*this.b0 + this.ntchsig1*this.b1 + this.ntchsig2*this.b2 - this.signal1*this.a1 - this.signal2*this.a2) * this.a0_inv; - this.signal2 = this.signal1; - this.signal1 = output; - return output; - } - - this.reset = function(sample) { - this.need_reset = true; - this.apply(sample); - } - - return this; -} - -function HarmonicNotchFilter(sample_freq,enable,mode,freq,bw,att,ref,fm_rat,hmncs,opts) { - this.notches = [] - var chained = 1; - var dbl = false; - var triple = false; - var composite_notches = 1; - if (opts & 1) { - dbl = true; - composite_notches = 2; - } else if (opts & 16) { - triple = true; - composite_notches = 3; - } - - this.reset = function(sample) { - for (n in this.notches) { - this.notches[n].reset(sample); - } - } - - if (enable <= 0) { - this.apply = function(sample) { - return sample; - } - return this; - } - - if (mode == 0) { - // fixed notch - } - if (mode == 1) { - var motors_throttle = Math.max(0,get_form("Throttle")); - var throttle_freq = freq * Math.max(fm_rat,Math.sqrt(motors_throttle / ref)); - freq = throttle_freq; - } - if (mode == 2) { - var rpm = get_form("RPM1"); - freq = Math.max(rpm/60.0,freq) * ref; - } - if (mode == 5) { - var rpm = get_form("RPM2"); - freq = Math.max(rpm/60.0,freq) * ref; - } - if (mode == 3) { - if (opts & 2) { - chained = get_form("NUM_MOTORS"); - } - var rpm = get_form("ESC_RPM"); - freq = Math.max(rpm/60.0,freq) * ref; - } - for (var n=0;n<8;n++) { - var fmul = n+1; - if (hmncs & (1< 1) { - var notch_center_double; - // only enable the filter if its center frequency is below the nyquist frequency - notch_center_double = notch_center * (1.0 - notch_spread); - if (notch_center_double < nyquist_limit) { - this.notches.push(new NotchFilter(sample_freq,notch_center_double,bandwidth_hz/composite_notches,att)); - } - // only enable the filter if its center frequency is below the nyquist frequency - notch_center_double = notch_center * (1.0 + notch_spread); - if (notch_center_double < nyquist_limit) { - this.notches.push(new NotchFilter(sample_freq,notch_center_double,bandwidth_hz/composite_notches,att)); - } - } - } - } - } - this.apply = function(sample) { - for (n in this.notches) { - sample = this.notches[n].apply(sample); - } - return sample; - } -} - -function get_form(vname) { - var v = parseFloat(document.getElementById(vname).value); - setCookie(vname, v); - return v; -} - -function run_filters(filters,freq,sample_rate,samples,fast_filters = null,fast_sample_rate = null) { - - for (var j=0;j= best_fit_offset) { - var index = i - best_fit_offset; - X.data[index][0] = Math.sin(t * kt); - X.data[index][1] = Math.cos(t * kt); - y.data[index][0] = output; - } - } - - // Z = a*sin(t*kt + p) + O - var ABO = ML.MatrixLib.solve(X, y); - - var amplitude = Math.sqrt(ABO.get(0,0)*ABO.get(0,0) + ABO.get(1,0)*ABO.get(1,0)); - var phase = Math.atan2(ABO.get(1,0),ABO.get(0,0)) * (-180.0 / Math.PI); - // var DC_offset = ABO.get(2,0); - - return [amplitude,phase]; -} - -var chart_attenuation; -var chart_phase; -var freq_log_scale; - -function get_filters(sample_rate) { - var filters = [] - filters.push(new HarmonicNotchFilter(sample_rate, - get_form("INS_HNTCH_ENABLE"), - get_form("INS_HNTCH_MODE"), - get_form("INS_HNTCH_FREQ"), - get_form("INS_HNTCH_BW"), - get_form("INS_HNTCH_ATT"), - get_form("INS_HNTCH_REF"), - get_form("INS_HNTCH_FM_RAT"), - get_form("INS_HNTCH_HMNCS"), - get_form("INS_HNTCH_OPTS"))); - filters.push(new HarmonicNotchFilter(sample_rate, - get_form("INS_HNTC2_ENABLE"), - get_form("INS_HNTC2_MODE"), - get_form("INS_HNTC2_FREQ"), - get_form("INS_HNTC2_BW"), - get_form("INS_HNTC2_ATT"), - get_form("INS_HNTC2_REF"), - get_form("INS_HNTC2_FM_RAT"), - get_form("INS_HNTC2_HMNCS"), - get_form("INS_HNTC2_OPTS"))); - filters.push(new DigitalBiquadFilter(sample_rate,get_form("INS_GYRO_FILTER"))); - - return filters; -} - -function calculate_filter() { - var sample_rate = get_form("GyroSampleRate"); - var freq_max = get_form("MaxFreq"); - var samples = 1000; - var freq_step = 0.1; - var filters = get_filters(sample_rate); - - var use_dB = document.getElementById("ScaleLog").checked; - setCookie("Scale", use_dB ? "Log" : "Linear"); - var use_RPM = document.getElementById("freq_Scale_RPM").checked; - setCookie("feq_unit", use_RPM ? "RPM" : "Hz"); - var unwrap_pahse = document.getElementById("ScaleUnWrap").checked; - setCookie("PhaseScale", unwrap_pahse ? "unwrap" : "wrap"); - var attenuation = [] - var phase_lag = [] - var min_phase_lag = 0.0; - var max_phase_lag = 0.0; - var phase_wrap = 0.0; - var min_atten = 0.0; - var max_atten = 1.0; - var last_phase = 0.0; - var atten_string = "Magnitude"; - if (use_dB) { - max_atten = 0; - min_atten = -10; - atten_string = "Magnitude (dB)"; - } - var freq_string = "Frequency (Hz)"; - if (use_RPM) { - freq_string = "Frequency (RPM)"; - } - - // start at zero - attenuation.push({x:0, y:1}); - phase_lag.push({x:0, y:0}); - - for (freq=freq_step; freq<=freq_max; freq+=freq_step) { - var v = run_filters(filters, freq, sample_rate, samples); - var aten = v[0]; - var phase = v[1] + phase_wrap; - if (use_dB) { - // show power in decibels - aten = 20 * Math.log10(aten); - } - var freq_value = freq; - if (use_RPM) { - freq_value *= 60; - } - if (unwrap_pahse) { - var phase_diff = phase - last_phase; - if (phase_diff > 180) { - phase_wrap -= 360.0; - phase -= 360.0; - } else if (phase_diff < -180) { - phase_wrap += 360.0; - phase += 360.0; - } - } - attenuation.push({x:freq_value, y:aten}); - phase_lag.push({x:freq_value, y:-phase}); - - min_atten = Math.min(min_atten, aten); - max_atten = Math.max(max_atten, aten); - min_phase_lag = Math.min(min_phase_lag, phase) - max_phase_lag = Math.max(max_phase_lag, phase) - last_phase = phase; - } - - if (unwrap_pahse) { - min_phase_lag = Math.floor((min_phase_lag-10)/10)*10; - min_phase_lag = Math.min(Math.max(-get_form("MaxPhaseLag"), min_phase_lag), 0); - max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10; - max_phase_lag = Math.min(get_form("MaxPhaseLag"), max_phase_lag); - } else { - min_phase_lag = -180; - max_phase_lag = 180; - } - - if (use_RPM) { - freq_max *= 60.0; - } - - var freq_log = document.getElementById("freq_ScaleLog").checked; - setCookie("feq_scale", freq_log ? "Log" : "Linear"); - if ((freq_log_scale != null) && (freq_log_scale != freq_log)) { - // Scale changed, no easy way to update, delete chart and re-draw - chart_attenuation.clear(); - chart_attenuation.destroy(); - chart_attenuation = null; - chart_phase.clear(); - chart_phase.destroy(); - chart_phase = null; - } - freq_log_scale = freq_log; - - if (chart_attenuation) { - chart_attenuation.data.datasets[0].data = attenuation; - chart_attenuation.options.scales.xAxes[0].ticks.max = freq_max; - chart_attenuation.options.scales.xAxes[0].scaleLabel.labelString = freq_string - chart_attenuation.options.scales.yAxes[0].ticks.min = min_atten - chart_attenuation.options.scales.yAxes[0].ticks.max = max_atten; - chart_attenuation.options.scales.yAxes[0].scaleLabel.labelString = atten_string; - chart_attenuation.update(); - } else { - chart_attenuation = new Chart("Attenuation", { - type : "scatter", - data: { - datasets: [ - { - label: 'Magnitude', - yAxisID: 'Magnitude', - pointRadius: 0, - hitRadius: 8, - borderColor: "rgba(0,0,255,1.0)", - pointBackgroundColor: "rgba(0,0,255,1.0)", - data: attenuation, - showLine: true, - fill: false - }, - ] - }, - options: { - aspectRatio: 3, - legend: {display: false}, - scales: { - yAxes: [ - { - scaleLabel: { display: true, labelString: atten_string }, - id: 'Magnitude', - ticks: {min:min_atten, max:max_atten} - }, - ], - xAxes: [ - { - type: (freq_log ? "logarithmic" : "linear"), - scaleLabel: { display: true, labelString: freq_string }, - ticks: - { - min:0.0, - max:freq_max, - callback: function(value, index, ticks) { - return value; - }, - } - } - ], - }, - tooltips: { - callbacks: { - label: function(tooltipItem, data) { - // round tooltip to two decimal places - return tooltipItem.xLabel.toFixed(2) + ', ' + tooltipItem.yLabel.toFixed(2); - } - } - } - } - }); - } - - - if (chart_phase) { - chart_phase.data.datasets[0].data = phase_lag; - chart_phase.options.scales.xAxes[0].ticks.max = freq_max; - chart_phase.options.scales.xAxes[0].scaleLabel.labelString = freq_string - chart_phase.options.scales.yAxes[0].ticks.min = -max_phase_lag; - chart_phase.options.scales.yAxes[0].ticks.max = -min_phase_lag; - chart_phase.update(); - } else { - chart_phase = new Chart("Phase", { - type : "scatter", - data: { - datasets: [ - { - label: 'Phase', - yAxisID: 'Phase', - pointRadius: 0, - hitRadius: 8, - borderColor: "rgba(255,0,0,1.0)", - pointBackgroundColor: "rgba(255,0,0,1.0)", - data: phase_lag, - showLine: true, - fill: false - } - ] - }, - options: { - aspectRatio: 3, - legend: {display: false}, - scales: { - yAxes: [ - { - scaleLabel: { display: true, labelString: "Phase (deg)" }, - id: 'Phase', - ticks: {min:-max_phase_lag, max:-min_phase_lag} - } - ], - xAxes: [ - { - type: (freq_log ? "logarithmic" : "linear"), - scaleLabel: { display: true, labelString: freq_string }, - ticks: - { - min:0.0, - max:freq_max, - callback: function(value, index, ticks) { - return value; - }, - } - } - ], - }, - tooltips: { - callbacks: { - label: function(tooltipItem, data) { - // round tooltip to two decimal places - return tooltipItem.xLabel.toFixed(2) + ', ' + tooltipItem.yLabel.toFixed(2); - } - } - } - } - }); - } -} - -var PID_attenuation; -var PID_phase; -var PID_freq_log_scale; - -function calculate_pid(axis_id) { - //var sample_rate = get_form("GyroSampleRate"); - var PID_rate = get_form("SCHED_LOOP_RATE") - var filters = [] - var freq_max = get_form("PID_MaxFreq"); - var samples = 1000; - var freq_step = 0.1; - - // default to roll axis - var axis_prefix = "ATC_RAT_RLL_"; - if (axis_id == "CalculatePitch") { - var axis_prefix = "ATC_RAT_PIT_"; - document.getElementById("PID_title").innerHTML = "Pitch axis"; - } else if (axis_id == "CalculateYaw") { - var axis_prefix = "ATC_RAT_YAW_"; - document.getElementById("PID_title").innerHTML = "Yaw axis"; - } else { - document.getElementById("PID_title").innerHTML = "Roll axis"; - } - - filters.push(new PID(PID_rate, - get_form(axis_prefix + "P"), - get_form(axis_prefix + "I"), - get_form(axis_prefix + "D"), - get_form(axis_prefix + "FLTE"), - get_form(axis_prefix + "FLTD"))); - - var use_dB = document.getElementById("PID_ScaleLog").checked; - setCookie("PID_Scale", use_dB ? "Log" : "Linear"); - var use_RPM = document.getElementById("PID_freq_Scale_RPM").checked; - setCookie("PID_feq_unit", use_RPM ? "RPM" : "Hz"); - var unwrap_pahse = document.getElementById("PID_ScaleUnWrap").checked; - setCookie("PID_PhaseScale", unwrap_pahse ? "unwrap" : "wrap"); - var attenuation = [] - var phase_lag = [] - var min_phase_lag = 0.0; - var max_phase_lag = 0.0; - var phase_wrap = 0.0; - var min_atten = Infinity; - var max_atten = -Infinity; - var last_phase = 0.0; - var atten_string = "Gain"; - if (use_dB) { - max_atten = 0; - min_atten = -10; - atten_string = "Gain (dB)"; - } - var freq_string = "Frequency (Hz)"; - if (use_RPM) { - freq_string = "Frequency (RPM)"; - } - - var fast_filters = null; - var fast_sample_rate = null; - if (document.getElementById("PID_filtering_Post").checked) { - fast_sample_rate = get_form("GyroSampleRate"); - fast_filters = get_filters(fast_sample_rate); - } - setCookie("filtering", fast_filters == null ? "Pre" : "Post"); - - - for (freq=freq_step; freq<=freq_max; freq+=freq_step) { - var v = run_filters(filters, freq, PID_rate, samples, fast_filters, fast_sample_rate); - var aten = v[0]; - var phase = v[1] + phase_wrap; - if (use_dB) { - // show power in decibels - aten = 20 * Math.log10(aten); - } - var freq_value = freq; - if (use_RPM) { - freq_value *= 60; - } - if (unwrap_pahse) { - var phase_diff = phase - last_phase; - if (phase_diff > 180) { - phase_wrap -= 360.0; - phase -= 360.0; - } else if (phase_diff < -180) { - phase_wrap += 360.0; - phase += 360.0; - } - } - attenuation.push({x:freq_value, y:aten}); - phase_lag.push({x:freq_value, y:-phase}); - - min_atten = Math.min(min_atten, aten); - max_atten = Math.max(max_atten, aten); - min_phase_lag = Math.min(min_phase_lag, phase) - max_phase_lag = Math.max(max_phase_lag, phase) - last_phase = phase; - } - - if (use_RPM) { - freq_max *= 60.0; - } - - var mean_atten = (min_atten + max_atten) * 0.5; - var atten_range = Math.max((max_atten - min_atten) * 0.5 * 1.1, 1.0); - min_atten = mean_atten - atten_range; - max_atten = mean_atten + atten_range; - - if (unwrap_pahse) { - min_phase_lag = Math.floor((min_phase_lag-10)/10)*10; - min_phase_lag = Math.min(Math.max(-get_form("PID_MaxPhaseLag"), min_phase_lag), 0); - max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10; - max_phase_lag = Math.min(get_form("PID_MaxPhaseLag"), max_phase_lag); - } else { - min_phase_lag = -180; - max_phase_lag = 180; - } - - var freq_log = document.getElementById("PID_freq_ScaleLog").checked; - setCookie("PID_feq_scale", use_dB ? "Log" : "Linear"); - if ((PID_freq_log_scale != null) && (PID_freq_log_scale != freq_log)) { - // Scale changed, no easy way to update, delete chart and re-draw - PID_attenuation.clear(); - PID_attenuation.destroy(); - PID_attenuation = null; - PID_phase.clear(); - PID_phase.destroy(); - PID_phase = null; - } - PID_freq_log_scale = freq_log; - - if (PID_attenuation) { - PID_attenuation.data.datasets[0].data = attenuation; - PID_attenuation.options.scales.xAxes[0].ticks.max = freq_max; - PID_attenuation.options.scales.xAxes[0].scaleLabel.labelString = freq_string - PID_attenuation.options.scales.yAxes[0].ticks.min = min_atten - PID_attenuation.options.scales.yAxes[0].ticks.max = max_atten; - PID_attenuation.options.scales.yAxes[0].scaleLabel.labelString = atten_string; - PID_attenuation.update(); - } else { - PID_attenuation = new Chart("PID_Attenuation", { - type : "scatter", - data: { - datasets: [ - { - label: 'Gain', - yAxisID: 'Gain', - pointRadius: 0, - hitRadius: 8, - borderColor: "rgba(0,0,255,1.0)", - pointBackgroundColor: "rgba(0,0,255,1.0)", - data: attenuation, - showLine: true, - fill: false - }, - ] - }, - options: { - aspectRatio: 3, - legend: {display: false}, - scales: { - yAxes: [ - { - scaleLabel: { display: true, labelString: atten_string }, - id: 'Gain', - position: 'left', - ticks: {min:min_atten, max:max_atten} - }, - ], - xAxes: [ - { - type: (freq_log ? "logarithmic" : "linear"), - scaleLabel: { display: true, labelString: freq_string }, - ticks: - { - min:0.0, - max:freq_max, - callback: function(value, index, ticks) { - return value; - }, - } - } - ], - }, - tooltips: { - callbacks: { - label: function(tooltipItem, data) { - // round tooltip to two decimal places - return tooltipItem.xLabel.toFixed(2) + ', ' + tooltipItem.yLabel.toFixed(2); - } - } - } - } - }); - } - - - if (PID_phase) { - PID_phase.data.datasets[0].data = phase_lag; - PID_phase.options.scales.xAxes[0].ticks.max = freq_max; - PID_phase.options.scales.xAxes[0].scaleLabel.labelString = freq_string - PID_phase.options.scales.yAxes[0].ticks.min = -max_phase_lag; - PID_phase.options.scales.yAxes[0].ticks.max = -min_phase_lag; - PID_phase.update(); - } else { - PID_phase = new Chart("PID_Phase", { - type : "scatter", - data: { - datasets: [ - { - label: 'PhaseLag', - yAxisID: 'PhaseLag', - pointRadius: 0, - hitRadius: 8, - borderColor: "rgba(255,0,0,1.0)", - pointBackgroundColor: "rgba(255,0,0,1.0)", - data: phase_lag, - showLine: true, - fill: false - } - ] - }, - options: { - aspectRatio: 3, - legend: {display: false}, - scales: { - yAxes: [ - { - scaleLabel: { display: true, labelString: "Phase (deg)" }, - id: 'PhaseLag', - ticks: {min:-max_phase_lag, max:-min_phase_lag} - } - ], - xAxes: [ - { - type: (freq_log ? "logarithmic" : "linear"), - scaleLabel: { display: true, labelString: freq_string }, - ticks: - { - min:0.0, - max:freq_max, - callback: function(value, index, ticks) { - return value; - }, - } - } - ], - }, - tooltips: { - callbacks: { - label: function(tooltipItem, data) { - // round tooltip to two decimal places - return tooltipItem.xLabel.toFixed(2) + ', ' + tooltipItem.yLabel.toFixed(2); - } - } - } - } - }); - } -} - -function load() { - var url_string = (window.location.href).toLowerCase(); - if (url_string.indexOf('?') == -1) { - // no query params, load from cookies - load_cookies(); - return; - } - - // populate from query's - var params = new URL(url_string).searchParams; - var sections = ["params", "PID_params"]; - for (var j = 0; j -1 ? cookie.substr(0, eqPos) : cookie; - document.cookie = name + "=;expires=Thu, 01 Jan 1970 00:00:00 GMT"; - } -} - -function save_parameters() { - var params = ""; - var inputs = document.forms["params"].getElementsByTagName("input"); - for (const v in inputs) { - var name = "" + inputs[v].name; - if (name.startsWith("INS_")) { - var value = inputs[v].value; - params += name + "," + value + "\n"; - } - } - var blob = new Blob([params], { type: "text/plain;charset=utf-8" }); - saveAs(blob, "filter.param"); -} - -async function load_parameters(file) { - var text = await file.text(); - var lines = text.split('\n'); - for (i in lines) { - var line = lines[i]; - line = line.replace("Q_A_RAT_","ATC_RAT_"); - v = line.split(/[\s,=\t]+/); - if (v.length >= 2) { - var vname = v[0]; - var value = v[1]; - var fvar = document.getElementById(vname); - if (fvar) { - fvar.value = value; - console.log("set " + vname + "=" + value); - } - } - } - fill_docs(); - update_all_hidden(); - calculate_filter(); -} - -function fill_docs() -{ - var inputs = document.forms["params"].getElementsByTagName("input"); - for (const v in inputs) { - var name = inputs[v].name; - var doc = document.getElementById(name + ".doc"); - if (!doc) { - continue; - } - if (inputs[v].onchange == null) { - inputs[v].onchange = fill_docs; - } - var value = parseFloat(inputs[v].value); - if (name.endsWith("_ENABLE")) { - if (value >= 1) { - doc.innerHTML = "Enabled"; - } else { - doc.innerHTML = "Disabled"; - } - } else if (name.endsWith("_MODE")) { - switch (Math.floor(value)) { - case 0: - doc.innerHTML = "Fixed notch"; - break; - case 1: - doc.innerHTML = "Throttle"; - break; - case 2: - doc.innerHTML = "RPM Sensor 1"; - break; - case 3: - doc.innerHTML = "ESC Telemetry"; - break; - case 4: - doc.innerHTML = "Dynamic FFT"; - break; - case 5: - doc.innerHTML = "RPM Sensor 2"; - break; - default: - doc.innerHTML = "INVALID"; - break; - } - } else if (name.endsWith("_OPTS")) { - var ival = Math.floor(value); - var bits = []; - if (ival & 1) { - bits.push("Double Notch"); - } - if (ival & 2) { - bits.push("Dynamic Harmonic"); - } - if (ival & 4) { - bits.push("Loop Rate"); - } - if (ival & 8) { - bits.push("All IMUs Rate"); - } - if ((ival & 16) && (ival & 1) == 0) { - bits.push("Triple Notch"); - } - doc.innerHTML = bits.join(", "); - } else if (name.endsWith("_HMNCS")) { - var ival = Math.floor(value); - var bits = []; - if (ival & 1) { - bits.push("Fundamental"); - } - if (ival & 2) { - bits.push("1st Harmonic"); - } - if (ival & 4) { - bits.push("2nd Harmonic"); - } - if (ival & 8) { - bits.push("3rd Harmonic"); - } - if (ival & 16) { - bits.push("4th Harmonic"); - } - if (ival & 32) { - bits.push("5th Harmonic"); - } - if (ival & 64) { - bits.push("6th Harmonic"); - } - doc.innerHTML = bits.join(", "); - } - - } -} - -// update all hidden params, to be called at init -function update_all_hidden() -{ - var enable_params = ["INS_HNTCH_ENABLE", "INS_HNTC2_ENABLE"]; - for (var i=-0;i