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Allow for GPS Data in Table/Graph/Exports (#606)
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* c

* haslinghuis diff from 602#issuecomment-1320958859

* added check undefined returning undefined

* displays data in table and graph

* progress, table loads offset by 5, but works

* GPS G Frame logs successfully.

* removed unecessary comments

* fixed names in table

* removed test code in main, remove whitespaces

* fixed GPS cases and added gps example graph

* using const name of, instead of normal for in flightlog

as suggested by haslinghuis

Co-authored-by: haslinghuis <mark@numloq.nl>

* changes suggested by ctzsnooze (presentability)

Changed GPS Ground Course to GPS Heading
Changed GPS numSat to GPS Sat Count
Changed gps heading to return from 180 to -180 degrees.

* readability changes

* make numsat and speed start at bottom of graph

* removed time field. refactored code

* cosmetic code changes

* changed live gps to GPS Reported Altitude

* fixed gps ASL altitude scaling, changed reported gps alt to alt ASL

Co-authored-by: bonchan <booonchaaan@gmail.com>
Co-authored-by: haslinghuis <mark@numloq.nl>
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@LinusThorsell @bonchan @haslinghuis
3 people authored Nov 23, 2022
1 parent 6b80c9f commit 4b20639
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Showing 5 changed files with 92 additions and 13 deletions.
45 changes: 36 additions & 9 deletions js/flightlog.js
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Original file line number Diff line number Diff line change
Expand Up @@ -207,15 +207,23 @@ function FlightLog(logData) {
} else
return false;
};

function buildFieldNames() {
// Make an independent copy
fieldNames = parser.frameDefs.I.name.slice(0);

// Add names of slow fields which we'll merge into the main stream
if (parser.frameDefs.S) {
for (let i = 0; i < parser.frameDefs.S.name.length; i++) {
fieldNames.push(parser.frameDefs.S.name[i]);
for (const name of parser.frameDefs.S.name) {
fieldNames.push(name);
}
}
// Add names of gps fields which we'll merge into the main stream
if (parser.frameDefs.G) {
for (const name of parser.frameDefs.G.name) {
if (name !== 'time') { // remove duplicate time field
fieldNames.push(name);
}
}
}

Expand Down Expand Up @@ -375,11 +383,14 @@ function FlightLog(logData) {
var
mainFrameIndex = 0,
slowFrameLength = parser.frameDefs.S ? parser.frameDefs.S.count : 0,
lastSlow = parser.frameDefs.S ? iframeDirectory.initialSlow[chunkIndex].slice(0) : [];
lastSlow = parser.frameDefs.S ? iframeDirectory.initialSlow[chunkIndex].slice(0) : [],
lastGPSLength = parser.frameDefs.G ? parser.frameDefs.G.count-1 : 0, // -1 since we exclude the time field
lastGPS = parser.frameDefs.G ? iframeDirectory.initialGPS[chunkIndex].slice(0) : [];

parser.onFrameReady = function(frameValid, frame, frameType, frameOffset, frameSize) {
var
destFrame;
destFrame,
destFrame_currentIndex;

// The G frames need to be processed always. They are "invalid" if not H (Home) has been detected
// before, but if not processed the viewer shows cuts and gaps. This happens if the quad takes off before
Expand All @@ -392,7 +403,7 @@ function FlightLog(logData) {
//The parser re-uses the "frame" array so we must copy that data somewhere else

var
numOutputFields = frame.length + slowFrameLength + ADDITIONAL_COMPUTED_FIELD_COUNT;
numOutputFields = frame.length + slowFrameLength + lastGPSLength + ADDITIONAL_COMPUTED_FIELD_COUNT;

//Do we have a recycled chunk to copy on top of?
if (chunk.frames[mainFrameIndex]) {
Expand All @@ -409,10 +420,18 @@ function FlightLog(logData) {
destFrame[i] = frame[i];
}

destFrame_currentIndex = frame.length; // Keeps track of where to place direct data in the destFrame.
// Then merge in the last seen slow-frame data
for (var i = 0; i < slowFrameLength; i++) {
destFrame[i + frame.length] = lastSlow[i] === undefined ? null : lastSlow[i];
for (let slowFrameIndex = 0; slowFrameIndex < slowFrameLength; slowFrameIndex++) {
destFrame[slowFrameIndex + destFrame_currentIndex] = lastSlow[slowFrameIndex] === undefined ? null : lastSlow[slowFrameIndex];
}
destFrame_currentIndex += slowFrameLength;

// Also merge last seen gps-frame data
for (let gpsFrameIndex = 0; gpsFrameIndex < lastGPSLength; gpsFrameIndex++) {
destFrame[gpsFrameIndex + destFrame_currentIndex] = lastGPS[gpsFrameIndex] === undefined ? null : lastGPS[gpsFrameIndex];
}
// destFrame_currentIndex += lastGPSLength; Add this line if you wish to add more fields.

for (var i = 0; i < eventNeedsTimestamp.length; i++) {
eventNeedsTimestamp[i].time = frame[FlightLogParser.prototype.FLIGHT_LOG_FIELD_INDEX_TIME];
Expand Down Expand Up @@ -446,10 +465,18 @@ function FlightLog(logData) {
}
break;
case 'H':
// TODO
// contains coordinates only
// should be handled separately
case 'G':
// TODO pending to do something with GPS frames
// The frameValid can be false, when no GPS home (the G frames contains GPS position as diff of GPS Home position).
// But other data from the G frame can be valid (time, num sats)

//H Field G name:time,GPS_numSat,GPS_coord[0],GPS_coord[1],GPS_altitude,GPS_speed,GPS_ground_course
frame.shift(); // remove time
for (let i = 0; i < frame.length; i++) {
lastGPS[i] = frame[i];
}
break;
}
} else {
Expand Down
20 changes: 20 additions & 0 deletions js/flightlog_fields_presenter.js
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Original file line number Diff line number Diff line change
Expand Up @@ -106,6 +106,13 @@ function FlightLogFieldPresenter() {
'rxSignalReceived': 'RX Signal Received',
'rxFlightChannelsValid': 'RX Flight Ch. Valid',
'rssi': 'RSSI',

'GPS_numSat': "GPS Sat Count",
'GPS_coord[0]': "GPS Latitude",
'GPS_coord[1]': "GPS Longitude",
'GPS_altitude': "GPS Altitude ASL",
'GPS_speed': "GPS Speed",
'GPS_ground_course': "GPS Heading",
};

const DEBUG_FRIENDLY_FIELD_NAMES_INITIAL = {
Expand Down Expand Up @@ -977,6 +984,19 @@ function FlightLogFieldPresenter() {
case 'rssi':
return (value / 1024 * 100).toFixed(2) + " %";

//H Field G name:time,GPS_numSat,GPS_coord[0],GPS_coord[1],GPS_altitude,GPS_speed,GPS_ground_course
case 'GPS_numSat':
return `${value}`;
case 'GPS_coord[0]':
case 'GPS_coord[1]':
return `${(value/10000000).toFixed(5)}`;
case 'GPS_altitude':
return `${(value/10).toFixed(2)} m`;
case 'GPS_speed':
return `${(value/100).toFixed(2)} m/s`;
case 'GPS_ground_course':
return `${(value/10).toFixed(1)} °`;

case 'debug[0]':
case 'debug[1]':
case 'debug[2]':
Expand Down
13 changes: 10 additions & 3 deletions js/flightlog_index.js
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ function FlightLogIndex(logData) {
initialIMU: [],
initialSlow: [],
initialGPSHome: [],
initialGPS: [],
hasEvent: [],
minTime: false,
maxTime: false
Expand Down Expand Up @@ -77,14 +78,15 @@ function FlightLogIndex(logData) {
var
sysConfig = parser.sysConfig,
mainFrameDef = parser.frameDefs.I,

gyroADC = [mainFrameDef.nameToIndex["gyroADC[0]"], mainFrameDef.nameToIndex["gyroADC[1]"], mainFrameDef.nameToIndex["gyroADC[2]"]],
accSmooth = [mainFrameDef.nameToIndex["accSmooth[0]"], mainFrameDef.nameToIndex["accSmooth[1]"], mainFrameDef.nameToIndex["accSmooth[2]"]],
magADC = [mainFrameDef.nameToIndex["magADC[0]"], mainFrameDef.nameToIndex["magADC[1]"], mainFrameDef.nameToIndex["magADC[2]"]],

lastSlow = [],
lastGPSHome = [];

lastGPSHome = [],
lastGPS = [];

// Identify motor fields so they can be used to show the activity summary bar
for (var j = 0; j < 8; j++) {
if (mainFrameDef.nameToIndex["motor[" + j + "]"] !== undefined) {
Expand Down Expand Up @@ -139,6 +141,7 @@ function FlightLogIndex(logData) {
intraIndex.initialIMU.push(new IMU(imu));
intraIndex.initialSlow.push(lastSlow);
intraIndex.initialGPSHome.push(lastGPSHome);
intraIndex.initialGPS.push(lastGPS);
}

iframeCount++;
Expand All @@ -153,6 +156,10 @@ function FlightLogIndex(logData) {
magADC ? [frame[magADC[0]], frame[magADC[1]], frame[magADC[2]]] : false
);
break;
case 'G':
lastGPS = frame.slice(0);
lastGPS.shift(); // Remove the time field
break;
case 'H':
lastGPSHome = frame.slice(0);
break;
Expand Down
25 changes: 25 additions & 0 deletions js/graph_config.js
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Original file line number Diff line number Diff line change
Expand Up @@ -353,6 +353,27 @@ GraphConfig.load = function(config) {
inputRange: 512,
outputRange: 1.0
};
} else if (fieldName == 'GPS_ground_course') {
return {
offset: -1800,
power: 1.0,
inputRange: 1800,
outputRange: 1.0
};
} else if (fieldName == 'GPS_numSat') {
return {
offset: -20,
power: 1.0,
inputRange: 20,
outputRange: 1.0
};
} else if (fieldName == 'GPS_speed') {
return {
offset: 0,
power: 1.0,
inputRange: 1000,
outputRange: 1.0
};
} else if (fieldName.match(/^debug.*/) && sysConfig.debug_mode!=null) {

var debugModeName = DEBUG_MODE[sysConfig.debug_mode];
Expand Down Expand Up @@ -956,6 +977,10 @@ GraphConfig.load = function(config) {
EXAMPLE_GRAPHS.push({label: "Debug",fields: ["debug[all]"]});
}

if (!flightLog.isFieldDisabled().GPS) {
EXAMPLE_GRAPHS.push({label: "GPS",fields: ["GPS_numSat", "GPS_altitude", "GPS_speed", "GPS_ground_course", "GPS_coord[all]"]});
}

for (i = 0; i < EXAMPLE_GRAPHS.length; i++) {
var
srcGraph = EXAMPLE_GRAPHS[i],
Expand Down
2 changes: 1 addition & 1 deletion js/main.js
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Original file line number Diff line number Diff line change
Expand Up @@ -166,7 +166,7 @@ function BlackboxLogViewer() {

if (value === null)
return "(absent)";

return value.toFixed(2);
}

Expand Down

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