Tools: Web: Add FFT batch log review tool

Tools/autotest/web-firmware/Tools/FilterReview/DecodeDevID.js

@@ -0,0 +1,154 @@
+/*
+    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 }
+
+}

Tools/autotest/web-firmware/Tools/FilterReview/FilterReview.js

@@ -0,0 +1,828 @@
+// A js tool for plotting ArduPilot batch log data
+
+// return hanning window array of given length
+function hanning(len) {
+    w = []
+    for (let i=0;i<len;i++) {
+        w[i] = 0.5 - 0.5 * Math.cos( (2*Math.PI*i) / (len - 1) )
+    }
+    return w
+}
+
+// Calculate correction factors for linear and energy spectrum
+// linear: 1 / mean(w)
+// energy: 1 / sqrt(mean(w.^2))
+function window_correction_factors(w) {
+    let window_sum = 0
+    let window_sum_squared = 0
+    for (let i=0;i<w.length;i++) {
+        window_sum += w[i]
+        window_sum_squared += w[i] * w[i]
+    }
+    const mean = window_sum / w.length
+    const rms = Math.sqrt(window_sum_squared / w.length)
+    return { linear: 1/mean, energy: 1/rms }
+}
+
+// Frequency bins for given fft length and sample period
+function fft_freq(len, d) {
+    freq = []
+    for (var i=0;i<len;i++) {
+        freq[i] = i
+        if (i >= len/2) {
+            freq[i] -= len
+        }
+        freq[i] /= len * d
+    }
+    return freq
+}
+
+function run_fft(data, window_size, window_spacing, windowing_function, positive_index) {
+    const num_points = data.x.length
+
+    var fft_x = []
+    var fft_y = []
+    var fft_z = []
+
+    var center_sample = []
+
+    const num_windows = Math.floor((num_points-window_size)/window_spacing) + 1
+    for (var i=0;i<num_windows;i++) {
+        // Calculate the start of each window
+        const window_start = i * window_spacing
+
+        // Get data and apply windowing function
+        // Also take average time
+        let x = []
+        let y = []
+        let z = []
+        for (var j=0;j<window_size;j++) {
+            x[j] = data.x[window_start + j] * windowing_function[j]
+            y[j] = data.y[window_start + j] * windowing_function[j]
+            z[j] = data.z[window_start + j] * windowing_function[j]
+        }
+
+        // So caller can assign a time
+        center_sample[i] = window_start + window_size * 0.5
+
+        // Run fft
+        const p2_x = math.fft(x)
+        const p2_y = math.fft(y)
+        const p2_z = math.fft(z)
+
+        // Discard negative spectrum
+        // Assumes a symmetrical spectrum due to running on real numbers
+        let p1_x = p2_x.slice(0, positive_index)
+        let p1_y = p2_y.slice(0, positive_index)
+        let p1_z = p2_z.slice(0, positive_index)
+
+        // Take magnitude to give real number
+        p1_x = math.abs(p1_x)
+        p1_y = math.abs(p1_y)
+        p1_z = math.abs(p1_z)
+
+        // double positive spectrum to account for discarded energy in the negative spectrum
+        // Note that we don't scale the DC or Nyquist limit
+        for (var j=1;j<positive_index-1;j++) {
+            p1_x[j] *= 2
+            p1_y[j] *= 2
+            p1_z[j] *= 2
+        }
+
+        // Scale all points by the window size
+        fft_x[i] = [];
+        fft_y[i] = [];
+        fft_z[i] = [];
+        for (var j=0;j<positive_index;j++) {
+            fft_x[i][j] = p1_x[j] / window_size
+            fft_y[i][j] = p1_y[j] / window_size
+            fft_z[i][j] = p1_z[j] / window_size
+        }
+
+    }
+
+    return {x:fft_x, y:fft_y, z:fft_z, center:center_sample}
+}
+
+function run_batch_fft(data_set) {
+    const num_batch = data_set.length
+    const num_points = data_set[0].x.length
+
+    var sample_rate_sum = 0
+    for (let i=0;i<num_batch;i++) {
+        if ((data_set[i].x.length != num_points) || (data_set[i].y.length != num_points) || (data_set[i].z.length != num_points)) {
+            console.log("Uneven batch sizes")
+            return
+        }
+        sample_rate_sum += data_set[0].sample_rate
+    }
+
+    // Average sample time
+    const sample_time = num_batch / sample_rate_sum
+
+    // Must have at least one window
+    const window_per_batch = math.max(parseInt(document.getElementById("FFTWindow").value), 1)
+
+    // Hard code 50% overlap
+    const window_overlap = 0.5
+
+    // Calculate window size for given number of windows and overlap
+    const window_size = math.floor(num_points / (1 + (window_per_batch - 1)*(1-window_overlap)))
+
+    const window_spacing = Math.round(window_size * (1 - window_overlap))
+    const windowing_function = hanning(window_size)
+
+    // Get windowing correction factors for use later when plotting
+    const window_correction = window_correction_factors(windowing_function)
+
+    // Get bins
+    var bins = fft_freq(window_size, sample_time)
+
+    // discard negative spectrum
+    const positive_index = Math.floor(window_size/2)
+    bins = bins.slice(0, positive_index)
+
+    var x = []
+    var y = []
+    var z = []
+
+    var time = []
+
+    for (let i=0;i<num_batch;i++) {
+        var ret = run_fft(data_set[i], window_size, window_spacing, windowing_function, positive_index)
+
+        for (let j=0;j<ret.center.length;j++) {
+            time.push(data_set[i].sample_time + sample_time * ret.center[j])
+        }
+
+        x.push(...ret.x)
+        y.push(...ret.y)
+        z.push(...ret.z)
+
+    }
+
+    return { bins: bins, time: time, average_sample_rate: 1/sample_time, window_size: window_size, correction: window_correction, x: x, y: y, z: z}
+}
+
+// Setup plots with no data
+var Spectrogram = {}
+var fft_plot = {}
+function reset() {
+    let axis = ["X" , "Y", "Z"]
+
+    // Disable all plot selection checkboxes
+    for (let i = 0; i < 3; i++) {
+        for (let j = 0; j < 3; j++) {
+            document.getElementById("Gyro" + i + "Pre" + axis[j]).disabled = true
+            document.getElementById("Gyro" + i + "Post" + axis[j]).disabled = true
+        }
+    }
+
+    // Clear extra text
+    document.getElementById("FFTWindowInfo").innerHTML = ""
+    document.getElementById("Gyro0_info").innerHTML = "<br>"
+    document.getElementById("Gyro1_info").innerHTML = "<br>"
+    document.getElementById("Gyro2_info").innerHTML = "<br>"
+    document.getElementById("Gyro0_FFT_info").innerHTML = "<br><br><br>"
+    document.getElementById("Gyro1_FFT_info").innerHTML = "<br><br><br>"
+    document.getElementById("Gyro2_FFT_info").innerHTML = "<br><br><br>"
+
+    // FFT plot setup
+    fft_plot.data = []
+    for (let i=0;i<Gyro_batch.length;i++) {
+        // For each gyro
+        const sensor_num = Gyro_batch[i].sensor_num + 1
+        const pre_post = Gyro_batch[i].post_filter ? " Post-filter" : " Pre-filter"
+        for (let j=0;j<3;j++) {
+            // For each axis
+            const name = sensor_num + axis[j] + pre_post
+            fft_plot.data[i*3 + j] = { mode: "lines",
+                                       visible: true,
+                                       name: name,
+                                       // this extra data allows us to put the name in the hover tool tip
+                                       meta: name }
+        }
+    }
+
+    fft_plot.layout = {
+        xaxis: {title: {text: ""}, type: "linear"},
+        yaxis: {title: {text: ""}},
+    }
+
+    var FFTPlot = document.getElementById("FFTPlot")
+    Plotly.purge(FFTPlot)
+    Plotly.newPlot(FFTPlot, fft_plot.data, fft_plot.layout, {displaylogo: false});
+
+    // Disable legend click (could probably hook this into the set the ticky boxes)
+    FFTPlot.on('plotly_legendclick', function(data) { return false })
+
+    // Spectrogram setup
+    // Define type
+    Spectrogram.data = [{
+        type:"surface",
+        colorbar: {title: {side: "right", text: ""}},
+        contours: {
+            x: {highlight: false},
+            y: {highlight: false},
+            z: {highlight: false},
+        },
+        hovertemplate: ""
+    }];
+
+    // Define Layout
+    Spectrogram.layout = {
+        margin: {
+            l: 10,
+            r: 10,
+            b: 10,
+            t: 10,
+            pad: 0
+        },
+        scene: {
+            camera: {
+                projection: { type: "orthographic"},
+                eye: { x:0, y:0, z:1 },
+            },
+            aspectratio: { x:1.4, y:4.4, z:1.4 },
+            xaxis: {showspikes: false, title: {text: ""}},
+            yaxis: {showspikes: false, title: {text: "Time (s)"}, autorange: 'reversed'},
+            zaxis: {showspikes: false, title: {text: ""}}
+        },
+    }
+
+    Plotly.purge("Spectrogram")
+    Plotly.newPlot("Spectrogram", Spectrogram.data, Spectrogram.layout, {modeBarButtonsToRemove: ['resetCameraDefault3d', 'orbitRotation'], 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() {
+    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 10.0 * Math.log10(x*x) }
+            ret.label = "PSD (db)"
+        } else {
+            ret.fun = function (x) { return 10.0 * Math.log10(x) }
+            ret.label = "Linear amplitude (db)"
+        }
+        ret.hover = function (axis) { return "%{" + axis + ":.2f} db" }
+
+    } else {
+        if (use_PSD) {
+            ret.fun = function (x) { return 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 60.0 * x }
+        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
+}
+
+// Helper to apply scale function to array
+function apply_scale_fun(data, scale_fun) {
+    var x = []
+    for (let i = 0; i < data.length; i++) {
+        x[i] = scale_fun(data[i])
+    }
+    return x
+}
+
+// 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<time.length; j++) {
+        // Move forward start index while time is less than start time
+        if (time[j] < start_time) {
+            start_index = j
+        }
+    }
+    return start_index
+}
+
+// Look through time array and return first index after end time
+function find_end_index(time) {
+    const end_time = parseFloat(document.getElementById("TimeEnd").value)
+
+    var end_index
+    for (j = 0; j<time.length; j++) {
+        // Move forward end index while time is less than end time
+        if (time[j] <= end_time) {
+            end_index = j
+        }
+    }
+    return end_index + 1
+}
+
+function redraw() {
+
+    // Graph config
+    const amplitude_scale = get_amplitude_scale()
+    const frequency_scale = get_frequency_scale()
+
+    // Setup axes
+    fft_plot.layout.xaxis.type = frequency_scale.type
+    fft_plot.layout.xaxis.title.text = frequency_scale.label
+    fft_plot.layout.yaxis.title.text = amplitude_scale.label
+
+    const fft_hovertemplate = "<extra></extra>%{meta}<br>" + frequency_scale.hover("x") + "<br>" + 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 = []
+        var fft_mean_y = []
+        var fft_mean_z = []
+        for (let j=start_index;j<end_index;j++) {
+            // Add to mean sum
+            for (let k=0;k<Gyro_batch[i].FFT.x[j].length;k++) {
+                if (j == start_index) {
+                    fft_mean_x[k] = amplitude_scale.fun(Gyro_batch[i].FFT.x[j][k] * window_correction)
+                    fft_mean_y[k] = amplitude_scale.fun(Gyro_batch[i].FFT.y[j][k] * window_correction)
+                    fft_mean_z[k] = amplitude_scale.fun(Gyro_batch[i].FFT.z[j][k] * window_correction)
+                } else {
+                    fft_mean_x[k] += amplitude_scale.fun(Gyro_batch[i].FFT.x[j][k] * window_correction)
+                    fft_mean_y[k] += amplitude_scale.fun(Gyro_batch[i].FFT.y[j][k] * window_correction)
+                    fft_mean_z[k] += amplitude_scale.fun(Gyro_batch[i].FFT.z[j][k] * window_correction)
+                }
+                if (j == (end_index - 1)) {
+                    fft_mean_x[k] /= plot_length
+                    fft_mean_y[k] /= plot_length
+                    fft_mean_z[k] /= plot_length
+                }
+            }
+        }
+
+        // Set scaled y data
+        fft_plot.data[i*3 + 0].y = fft_mean_x
+        fft_plot.data[i*3 + 1].y = fft_mean_y
+        fft_plot.data[i*3 + 2].y = fft_mean_z
+
+        // Set scaled x data
+        const scaled_bins = apply_scale_fun(Gyro_batch[i].FFT.bins, frequency_scale.fun)
+        fft_plot.data[i*3 + 0].x = scaled_bins
+        fft_plot.data[i*3 + 1].x = scaled_bins
+        fft_plot.data[i*3 + 2].x = scaled_bins
+
+        // Set hover over function
+        fft_plot.data[i*3 + 0].hovertemplate = fft_hovertemplate
+        fft_plot.data[i*3 + 1].hovertemplate = fft_hovertemplate
+        fft_plot.data[i*3 + 2].hovertemplate = fft_hovertemplate
+
+    }
+
+    Plotly.redraw("FFTPlot")
+
+    redraw_Spectrogram()
+
+}
+
+// Find the instance of "Gyro_batch" that matches the selection
+function find_instance(gyro_instance, post_filter) {
+    for (let i = 0; i < Gyro_batch.length; i++) {
+        if ((Gyro_batch[i] == null) || (Gyro_batch[i].FFT == null)) {
+            continue
+        }
+        if ((Gyro_batch[i].post_filter == post_filter) && (Gyro_batch[i].sensor_num == gyro_instance)) {
+            return i
+        }
+    }
+}
+
+function redraw_Spectrogram() {
+
+    // Work out which index to plot
+    var gyro_instance
+    if (document.getElementById("SpecGyroInst0").checked) {
+        gyro_instance = 0
+    } else if (document.getElementById("SpecGyroInst1").checked) {
+        gyro_instance = 1
+    } else {
+        gyro_instance = 2
+    }
+    const post_filter = document.getElementById("SpecGyroPost").checked
+
+    const batch_instance = find_instance(gyro_instance, post_filter)
+    if (batch_instance == null) {
+        console.log("Could not find matching dataset for checkbox: " + checkbox.id)
+        return
+    }
+
+    var axis
+    if (document.getElementById("SpecGyroAxisX").checked) {
+        axis = "x"
+    } else if (document.getElementById("SpecGyroAxisY").checked) {
+        axis = "y"
+    } else {
+        axis = "z"
+    }
+
+    // Get scales
+    const amplitude_scale = get_amplitude_scale()
+    const frequency_scale = get_frequency_scale()
+
+    // Setup axes
+    Spectrogram.layout.scene.xaxis.type = frequency_scale.type
+    Spectrogram.layout.scene.xaxis.title.text = frequency_scale.label
+
+    Spectrogram.data[0].hovertemplate = "<extra></extra>" + "%{y:.2f} s<br>" + frequency_scale.hover("x") + "<br>" + 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
+    Spectrogram.data[0].x = apply_scale_fun(Gyro_batch[batch_instance].FFT.bins, frequency_scale.fun)
+    Spectrogram.data[0].y = Gyro_batch[batch_instance].FFT.time.slice(start_index, end_index)
+
+    // 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<plot_length; j++) {
+        Spectrogram.data[0].z[j] = []
+        const index = start_index + j
+        for (k = 0; k<Gyro_batch[batch_instance].FFT[axis][index].length; k++) {
+            Spectrogram.data[0].z[j][k] = amplitude_scale.fun(Gyro_batch[batch_instance].FFT[axis][index][k] * window_correction)
+        }
+    }
+
+    Plotly.redraw("Spectrogram")
+}
+
+// Update lines that are shown in FFT plot
+function update_hidden(checkbox) {
+
+    const gyro_instance = parseFloat(checkbox.id.match(/\d+/g));
+    const post_filter = checkbox.id.includes("Post");
+
+    // Find the gyro data this box matches with
+    const batch_instance = find_instance(gyro_instance, post_filter)
+    if (batch_instance == null) {
+        console.log("Could not find matching dataset for checkbox: " + checkbox.id)
+        return
+    }
+
+    const axi = checkbox.id.substr(checkbox.id.length - 1)
+
+    let axi_index
+    let axis = ["X" , "Y", "Z"]
+    for (let j=0;j<3;j++) {
+        if (axis[j] == axi) {
+            axi_index = j
+            break
+        }
+    }
+
+    fft_plot.data[batch_instance*3 + axi_index].visible = checkbox.checked
+
+    Plotly.redraw("FFTPlot")
+
+}
+
+// Grab param from log
+function get_param_value(param_log, name) {
+    var value
+    for (let i = 0; i < param_log.Name.length; i++) {
+        if (param_log.Name[i] === name) {
+            if ((value != null) && (value != PARM_log.Value[i])) {
+                console.log("Param changed in flight: " + name)
+            }
+            value = param_log.Value[i]
+        }
+    }
+    return value
+}
+
+var Gyro_batch
+function load(log_file) {
+
+    const start = performance.now()
+
+    // Clear and reset state
+    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]
+        for (let j = 0; j < num_samples; j++) {
+            x[j] *= mul
+            y[j] *= mul
+            z[j] *= 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
+    }
+
+    // Work out if logging is pre/post from param value
+    log.parseAtOffset('PARM')
+    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)
+    const instance_offset = Gyro_batch.length/2
+    for (let i = 0; i < Gyro_batch.length; i++) {
+        if (Gyro_batch[i] == null) {
+            continue
+        }
+        if (use_instance_offset && (i >= instance_offset)) {
+            Gyro_batch[i].sensor_num = i - instance_offset
+            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()
+
+    // 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<br><br>" +
+                                                                        "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
+        }
+    }
+
+    // Try and decode device IDs
+    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) {
+            const decoded = decode_devid(ID, DEVICE_TYPE_IMU)
+            if (decoded != null) {
+                document.getElementById("Gyro" + i + "_info").innerHTML = decoded.name + " via " + decoded.bus_type
+            }
+        }
+
+    }
+
+    const end = performance.now();
+    console.log(`Load took: ${end - start} ms`);
+}

Tools/autotest/web-firmware/Tools/FilterReview/Readme.md

@@ -0,0 +1,6 @@
+Test with `python -m http.server --bind 127.0.0.1`
+
+Uses log parser from https://github.com/Williangalvani/JsDataflashParser
+
+WIP!
+

Tools/autotest/web-firmware/Tools/FilterReview/index.html

@@ -0,0 +1,275 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="utf-8" />
+<title>ArduPilot Filter Review Tool</title>
+<script src='https://cdn.plot.ly/plotly-2.20.0.min.js'></script>
+<script src="https://unpkg.com/mathjs/lib/browser/math.js"></script>
+<script type="text/javascript" src="parser.js"></script>
+<script type="text/javascript" src="DecodeDevID.js"></script>
+
+</head>
+<a href="https://ardupilot.org"><img src="logo.png"></a>
+<h1>ArduPilot Filter Review Tool</h1>
+
+<body>
+
+<table>
+<tr>
+<td style="width: 30px;"></td>
+<td>
+<fieldset style="width:1100px">
+    <legend>Setup</legend>
+    <table>
+        <tr>
+            <td>
+                <fieldset style="width:150px;height:80px">
+                    <legend>Amplitude scale</legend>
+                    <input type="radio" id="ScaleLog" name="Scale" checked>
+                    <label for="LogScale">dB</label><br>
+                    <input type="radio" id="ScaleLinear" name="Scale">
+                    <label for="LinearScale">Linear</label><br>
+                </fieldset>
+            </td>
+            <td>
+                <fieldset style="width:200px;height:80px">
+                    <legend>Spectrum scale</legend>
+                    <input type="radio" id="SpectrumLinear" name="SpectrumScale" checked>
+                    <label for="SpectrumLinear">Linear</label><br>
+                    <input type="radio" id="SpectrumPSD" name="SpectrumScale">
+                    <label for="SpectrumPSD">Power Spectral Density</label><br>
+                </fieldset>
+            </td>
+            <td>
+                <fieldset style="width:150px;height:80px">
+                    <legend>Frequency scale</legend>
+                    <table>
+                        <tr>
+                            <td>
+                                <input type="radio" id="freq_ScaleLinear" name="feq_scale" checked>
+                                <label for="LinearScale">Linear</label><br>
+                                <input type="radio" id="freq_ScaleLog" name="feq_scale">
+                                <label for="LogScale">Log</label><br>
+                            </td>
+                            <td>
+                                <input type="radio" id="freq_Scale_Hz" name="feq_unit" checked>
+                                <label for="Scale_unit_Hz">Hz</label><br>
+                                <input type="radio" id="freq_Scale_RPM" name="feq_unit">
+                                <label for="Scale_unit_RPM">RPM</label><br>
+                            </td>
+                        </tr>
+                    </table>
+                </fieldset>
+            </td>
+            <td>
+                <fieldset style="width:200px;height:80px">
+                    <legend>FFT Settings</legend>
+                    <label for="FFTWindow">Windows per batch</label>
+                    <input id="FFTWindow" name="FFTWindow" type="number" min="1" step="1" value="1" onchange="clear_calculation()" style="width:50px"/>
+                    <br><br>
+                    <label id="FFTWindowInfo"></label>
+                </fieldset>
+            </td>
+            <td>
+                <fieldset style="width:200px;height:80px">
+                    <legend>Analysis time</legend>
+                    <label for="TimeStart">Start</label>
+                    <input id="TimeStart" name="TimeStart" type="number" min="0" step="1" value="0" onchange="" style="width:50px" disabled/>
+                    s<br><br>
+                    <label for="TimeEnd">End</label>
+                    <input id="TimeEnd" name="TimeEnd" type="number" min="0" step="1" value="0" onchange="" style="width:50px" disabled/>
+                    s
+                </fieldset>
+            </td>
+        </tr>
+    </table>
+    <p>
+        Bin log:
+        <input id="fileItem" type="file" accept=".bin" onchange="readFile(this)">
+        <input type="button" id="calculate" value="Calculate" onclick="re_calc()" disabled>
+    </p>
+</fieldset>
+</td>
+</tr>
+</table>
+<p>
+    <div id="FFTPlot" style="width:1200px;height:450px"></div>
+</p>
+<table>
+    <tr>
+        <td style="width: 60px;"></td>
+        <td>
+            <fieldset style="width:300px">
+                <legend>Gyro 1</legend>
+                <label id="Gyro0_info"><br></label>
+                <p>
+                    <fieldset style="width:300px">
+                        <legend>Pre-filter</legend>
+                        <input type="checkbox" id="Gyro0PreX" name="Gyro0PreX" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro0PreX">X</label>
+
+                        <input type="checkbox" id="Gyro0PreY" name="Gyro0PreY" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro0PreY">Y</label>
+
+                        <input type="checkbox" id="Gyro0PreZ" name="Gyro0PreZ" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro0PreZ">Z</label>
+                    </fieldset>
+                </p>
+                <p>
+                    <fieldset style="width:300px">
+                        <legend>Post-filter</legend>
+                        <input type="checkbox" id="Gyro0PostX" name="Gyro0PostX" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro0PostX">X</label>
+
+                        <input type="checkbox" id="Gyro0PostY" name="Gyro0PostY" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro0PostY">Y</label>
+
+                        <input type="checkbox" id="Gyro0PostZ" name="Gyro0PostZ" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro0PostZ">Z</label>
+                    </fieldset>
+                </p>
+                <label id="Gyro0_FFT_info"><br><br><br></label>
+             </fieldset>
+        </td>
+        <td>
+            <fieldset style="width:300px">
+                <legend>Gyro 2</legend>
+                <label id="Gyro1_info"><br></label>
+                <p>
+                    <fieldset style="width:300px">
+                        <legend>Pre-filter</legend>
+                        <input type="checkbox" id="Gyro1PreX" name="Gyro1PreX" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro1PreX">X</label>
+
+                        <input type="checkbox" id="Gyro1PreY" name="Gyro1PreY" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro1PreY">Y</label>
+
+                        <input type="checkbox" id="Gyro1PreZ" name="Gyro1PreZ" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro1PreZ">Z</label>
+                    </fieldset>
+                    </p>
+                    <p>
+                    <fieldset style="width:300px">
+                        <legend>Post-filter</legend>
+                        <input type="checkbox" id="Gyro1PostX" name="Gyro1PostX" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro1PostX">X</label>
+
+                        <input type="checkbox" id="Gyro1PostY" name="Gyro1PostY" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro1PostY">Y</label>
+
+                        <input type="checkbox" id="Gyro1PostZ" name="Gyro1PostZ" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro1PostZ">Z</label>
+                    </fieldset>
+                </p>
+                <label id="Gyro1_FFT_info"><br><br><br></label>
+            </fieldset>
+        </td>
+        <td>
+            <fieldset style="width:300px">
+                <legend>Gyro 3</legend>
+                <label id="Gyro2_info"><br></label>
+                <p>
+                    <fieldset style="width:300px">
+                        <legend>Pre-filter</legend>
+                        <input type="checkbox" id="Gyro2PreX" name="Gyro2PreX" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro2PreX">X</label>
+
+                        <input type="checkbox" id="Gyro2PreY" name="Gyro2PreY" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro2PreY">Y</label>
+
+                        <input type="checkbox" id="Gyro2PreZ" name="Gyro2PreZ" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro2PreZ">Z</label>
+                    </fieldset>
+                </p>
+                <p>
+                    <fieldset style="width:300px">
+                        <legend>Post-filter</legend>
+                        <input type="checkbox" id="Gyro2PostX" name="Gyro2PostX" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro2PostX">X</label>
+    
+                        <input type="checkbox" id="Gyro2PostY" name="Gyro2PostY" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro2PostY">Y</label>
+    
+                        <input type="checkbox" id="Gyro2PostZ" name="Gyro2PostZ" onchange="update_hidden(this)" checked disabled>
+                        <label for="Gyro2PostZ">Z</label>
+                    </fieldset>
+                </p>
+                <label id="Gyro2_FFT_info"><br><br><br></label>
+            </fieldset>
+        </td>
+    </tr>
+</table>
+
+
+<p>
+    <div id="Spectrogram" style="width:1200px;height:450px"></div>
+</p>
+
+<table>
+    <tr>
+        <td style="width: 60px;"></td>
+        <td>
+            <fieldset style="width:300px">
+                <legend>Spectrogram Options</legend>
+                <p>
+                    <fieldset style="width:300px">
+                        <legend>Gyro instance</legend>
+                        <input type="radio" id="SpecGyroInst0" name="SpecGyroInst" onchange="redraw_Spectrogram()" disabled>
+                        <label for="SpecGyroInst0">1</label>
+
+                        <input type="radio" id="SpecGyroInst1" name="SpecGyroInst" onchange="redraw_Spectrogram()" disabled>
+                        <label for="SpecGyroInst1">2</label>
+
+                        <input type="radio" id="SpecGyroInst2" name="SpecGyroInst" onchange="redraw_Spectrogram()" disabled>
+                        <label for="SpecGyroInst2">3</label>
+                    </fieldset>
+                </p>
+                <p>
+                    <fieldset style="width:300px">
+                        <legend>Filtering</legend>
+                        <input type="radio" id="SpecGyroPre" name="SpecGyroPrePost" onchange="redraw_Spectrogram()" disabled>
+                        <label for="SpecGyroPre">Pre-filter</label>
+
+                        <input type="radio" id="SpecGyroPost" name="SpecGyroPrePost" onchange="redraw_Spectrogram()" disabled>
+                        <label for="SpecGyroPost">Post-filter</label>
+                    </fieldset>
+                </p>
+                <p>
+                    <fieldset style="width:300px">
+                        <legend>Axis</legend>
+                        <input type="radio" id="SpecGyroAxisX" name="SpecGyroAxis" onchange="redraw_Spectrogram()" disabled>
+                        <label for="SpecGyroAxisX">X</label>
+
+                        <input type="radio" id="SpecGyroAxisY" name="SpecGyroAxis" onchange="redraw_Spectrogram()" disabled>
+                        <label for="SpecGyroAxisY">Y</label>
+
+                        <input type="radio" id="SpecGyroAxisZ" name="SpecGyroAxis" onchange="redraw_Spectrogram()" disabled>
+                        <label for="SpecGyroAxisZ">Z</label>
+                    </fieldset>
+                </p>
+             </fieldset>
+        </td>
+
+    </tr>
+</table>
+
+
+
+
+</body>
+
+<script type="text/javascript" src="FilterReview.js"></script>
+<script>
+    function readFile(e) {
+        const file = e.files[0]
+        if (file == null) {
+            return
+        }
+        let reader = new FileReader()
+        reader.onload = function (e) {
+            load(reader.result)
+        }
+        reader.readAsArrayBuffer(file)
+    }
+
+</script>

Tools/autotest/web-firmware/Tools/FilterReview/parser.js

@@ -0,0 +1,897 @@
+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....
+    // <leave a gap here, just in case....>
+    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,
+    // <leave a gap here, just in case....>
+    '!': 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) {
+    const 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) {
+        let temp
+        const dict = {
+            name: obj.Name,
+            fieldnames: obj.Columns.split(',')
+        }
+
+        const 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) {
+        const 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)]
+        }
+        const percentage = 100 * this.offset / this.totalSize
+        if ((percentage - this.lastPercentage) > this.maxPercentageInterval) {
+            self.postMessage({ percentage: percentage })
+            this.lastPercentage = percentage
+        }
+    }
+
+    messageHasInstances (name) {
+        const type = this.FMT.find(msg => msg !== undefined && msg.Name === name)
+        return type !== undefined && type.units !== undefined && type.units.indexOf('instance') !== -1
+    }
+
+    getInstancesFieldName (name) {
+        const 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 (const 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)
+    }
+
+    extractTimeMetadataFromGPS () {
+        const metadata = {
+            startTime: this.extractStartTime()
+        }
+        self.postMessage({ metadata: metadata })
+    }
+
+    parseAtOffset (name) {
+        const type = this.getMsgType(name)
+        const parsed = []
+        for (let i = 0; i < this.msgType.length; i++) {
+            if (type === this.msgType[i]) {
+                this.offset = this.offsetArray[i]
+                try {
+                    const 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) {
+                const 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)) {
+            const instanceField = this.getInstancesFieldName(name)
+            const instances = {}
+            for (const 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)
+
+                if (name === 'GPS') {
+                    this.extractTimeMetadataFromGPS()
+                }
+                this.postData({ messageType: name, messageList: this.messages[name] })
+                return parsed
+            }
+            for (const [index, messages] of Object.entries(instances)) {
+                const 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)
+            if (name === 'GPS') {
+                this.extractTimeMetadataFromGPS()
+            }
+            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
+        const type = this.getMsgType(name)
+        const availableInstances = []
+        const instanceField = this.getInstancesFieldName(name)
+        if (instanceField === null) {
+            return [1]
+        }
+        let repeats = 0
+        for (let i = 0; i < this.msgType.length; i++) {
+            if (type === this.msgType[i]) {
+                this.offset = this.offsetArray[i]
+                try {
+                    const temp = this.FORMAT_TO_STRUCT(this.FMT[this.msgType[i]])
+                    if (temp.name != null) {
+                        const msg = temp
+                        if (msg[instanceField] === undefined) {
+                            break
+                        }
+                        // we do an early return after we get 20 repeated instance numbers. should we?
+                        const instance = msg[instanceField]
+                        if (availableInstances.indexOf(instance) !== -1) {
+                            repeats += 1
+                            if (repeats > 20) {
+                                return availableInstances
+                            }
+                        } else {
+                            availableInstances.push(instance)
+                        }
+                    }
+                } catch (e) {
+                    console.log(e)
+                }
+            }
+        }
+        return availableInstances
+    }
+
+    timestamp (TimeUs) {
+        const temp = this.timebase + TimeUs * 0.000001
+        if (temp > 0) {
+            TimeUs = temp
+        }
+        let date = new Date(TimeUs * 1000)
+        const hours = date.getHours()
+        const minutes = '0' + date.getMinutes()
+        const seconds = '0' + date.getSeconds()
+        const formattedTime = hours + ':' + minutes.substr(-2) + ':' + seconds.substr(-2)
+        date = date.toString()
+        const 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
+
+            const attribute = this.data.getUint8(this.offset)
+            if (this.FMT[attribute] != null) {
+                this.offset += 1
+                this.offsetArray.push(this.offset)
+                this.msgType.push(attribute)
+                let value
+                try {
+                    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
+                    continue
+                }
+                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) {
+                const 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
+        const msgs = this.messages.MSG
+        for (const 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'].indexOf(name) === -1) {
+            if (this.messageTypes[name]) {
+                const fields = this.messages[name][0].fieldnames
+                if (this.messageTypes[name].multipliers) {
+                    for (const message in this.messages[name]) {
+                        for (let i = 1; i < fields.length; i++) {
+                            const 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
+        const 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 (const msg of this.messages.FILE) {
+            if (!this.files[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'].indexOf(name) === -1) {
+            if (this.messageTypes[name]) {
+                const fields = this.messageTypes[name].expressions
+                if (!fields.includes('time_boot_ms')) {
+                    fields.push('time_boot_ms')
+                }
+                const mergedData = {}
+                for (const field of fields) {
+                    mergedData[field] = []
+                }
+                for (const message of this.messages[name]) {
+                    for (let i = 1; i < fields.length; i++) {
+                        const 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 (const msg of this.messages.FMTU) {
+            this.FMT[msg.FmtType].units = []
+            for (const unit of msg.UnitIds) {
+                this.FMT[msg.FmtType].units.push(units[unit])
+            }
+            this.FMT[msg.FmtType].multipliers = []
+            for (const mult of msg.MultIds) {
+                this.FMT[msg.FmtType].multipliers.push(multipliers[mult])
+            }
+        }
+    }
+
+    extractStartTime () {
+        const msgs = this.messages.GPS
+        for (const i in msgs.time_boot_ms) {
+            if (msgs.GWk[i] > 1000) { // lousy validation
+                const weeks = msgs.GWk[i]
+                const 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()
+        const messageTypes = {}
+        this.parseAtOffset('FMTU')
+        this.populateUnits()
+        const typeSet = new Set(this.msgType)
+        for (const msg of this.FMT) {
+            if (msg) {
+                if (typeSet.has(msg.Type)) {
+                    const fields = msg.Columns.split(',')
+                    // expressions = expressions.filter(e => e !== 'TimeUS')
+                    const complexFields = {}
+                    if (msg.units) {
+                        for (const field in fields) {
+                            complexFields[fields[field]] = {
+                                name: fields[field],
+                                units: (multipliersTable[msg.multipliers[field]] || '') + msg.units[field],
+                                multiplier: msg.multipliers[field]
+                            }
+                        }
+                    } else {
+                        for (const field in fields) {
+                            complexFields[fields[field]] = {
+                                name: fields[field],
+                                units: '?',
+                                multiplier: 1
+                            }
+                        }
+                    }
+                    const availableInstances = this.checkNumberOfInstances(msg.Name)
+                    if (availableInstances.length > 1) {
+                        for (const 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')
+        this.parseAtOffset('FNCE')
+
+        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)
+    }
+})