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update feedforward and dynamic idle debug headers and graphs for 4.3 #521

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update feedforward and dynamic idle debug headers and graphs for 4.3 #521

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4 changes: 4 additions & 0 deletions js/flightlog_fielddefs.js
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Original file line number Diff line number Diff line change
Expand Up @@ -492,6 +492,10 @@ function adjustFieldDefsList(firmwareType, firmwareVersion) {
DEBUG_MODE.splice(DEBUG_MODE.indexOf('DUAL_GYRO'), 1);
DEBUG_MODE.splice(DEBUG_MODE.indexOf('DUAL_GYRO_COMBINED'), 1);
}
if(semver.gte(firmwareVersion, '4.3.0')) {
DEBUG_MODE.splice(DEBUG_MODE.indexOf('FF_INTERPOLATED'), 1, 'FEEDFORWARD');
DEBUG_MODE.splice(DEBUG_MODE.indexOf('FF_LIMIT'), 1, 'FEEDFORWARD_LIMIT');
}
DEBUG_MODE = makeReadOnly(DEBUG_MODE);

// Flight mode names
Expand Down
94 changes: 75 additions & 19 deletions js/flightlog_fields_presenter.js
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Original file line number Diff line number Diff line change
Expand Up @@ -400,21 +400,21 @@ function FlightLogFieldPresenter() {
'debug[0]':'Motor Range Min Inc',
'debug[1]':'Target RPS Change Rate',
'debug[2]':'Error',
'debug[3]':'Min RPS',
'debug[3]':'Min RPM',
},
'FF_LIMIT' : {
'debug[all]':'FF Limit',
'debug[0]':'FF [Roll]',
'debug[1]':'FF [Pitch]',
'debug[2]':'FF Final [Roll]',
'debug[0]':'FF input [roll]',
'debug[1]':'FF input [pitch]',
'debug[2]':'FF limited [roll]',
'debug[3]':'Not Used',
},
'FF_INTERPOLATED' : {
'debug[all]':'FF Interpolated',
'debug[0]':'Setpoint Delta Impl [Roll]',
'debug[1]':'Boost Amount',
'debug[2]':'Boost Amount Clip [Roll]',
'debug[3]':'Clip',
'debug[all]':'FF Interpolated [roll]',
'debug[0]':'Setpoint Delta Impl [roll]',
'debug[1]':'Boost amount [roll]',
'debug[2]':'Boost amount, clipped [roll]',
'debug[3]':'Clip amount [roll]',
},
'RTH' : {
'debug[all]':'RTH',
Expand All @@ -431,16 +431,63 @@ function FlightLogFieldPresenter() {

DEBUG_FRIENDLY_FIELD_NAMES = {...DEBUG_FRIENDLY_FIELD_NAMES_INITIAL};

if (firmwareType === FIRMWARE_TYPE_BETAFLIGHT && semver.gte(firmwareVersion, '4.3.0')) {
DEBUG_FRIENDLY_FIELD_NAMES.FF_INTERPOLATED = {
'debug[0]':'Raw FF Derivative [Roll]',
'debug[1]':'Cleaned FF Derivative ',
'debug[2]':'Cleaned Boost Amount [Roll]',
'debug[3]':'Duplicate Marker',
};
if (firmwareType === FIRMWARE_TYPE_BETAFLIGHT) {
if (semver.gte(firmwareVersion, '4.3.0')) {
DEBUG_FRIENDLY_FIELD_NAMES.FEEDFORWARD = {
'debug[all]':'Feedforward [roll]',
'debug[0]':'Setpoint, interpolated [roll]',
'debug[1]':'Delta, smoothed [roll]',
'debug[2]':'Boost, smoothed [roll]',
'debug[3]':'rcCommand Delta [roll]',
};
DEBUG_FRIENDLY_FIELD_NAMES.FEEDFORWARD_LIMIT = {
'debug[all]':'Feedforward Limit [roll]',
'debug[0]':'Feedforward input [roll]',
'debug[1]':'Feedforward input [pitch]',
'debug[2]':'Feedforward limited [roll]',
'debug[3]':'Not Used',
};
DEBUG_FRIENDLY_FIELD_NAMES.DYN_IDLE = {
'debug[all]':'Dyn Idle',
'debug[0]':'Dyn Idle P [roll]',
'debug[1]':'Dyn Idle I [roll]',
'debug[2]':'Dyn Idle D [roll]',
'debug[3]':'Min RPM',
};
} else if (semver.gte(firmwareVersion, '4.2.0')) {
DEBUG_FRIENDLY_FIELD_NAMES.FF_INTERPOLATED = {
'debug[all]':'Feedforward [roll]',
'debug[0]':'Setpoint Delta [roll]',
'debug[1]':'Acceleration [roll]',
'debug[2]':'Acceleration, clipped [roll]',
'debug[3]':'Duplicate Counter [roll]',
};
DEBUG_FRIENDLY_FIELD_NAMES.FF_LIMIT = {
'debug[all]':'Feedforward Limit [roll]',
'debug[0]':'FF limit input [roll]',
'debug[1]':'FF limit input [pitch]',
'debug[2]':'FF limited [roll]',
'debug[3]':'Not Used',
};
} else if (semver.gte(firmwareVersion, '4.1.0')) {
DEBUG_FRIENDLY_FIELD_NAMES.FF_INTERPOLATED = {
'debug[all]':'Feedforward [roll]',
'debug[0]':'Setpoint Delta [roll]',
'debug[1]':'Boost [roll]',
'debug[2]':'Boost, clipped [roll]',
'debug[3]':'Duplicate Counter [roll]',
};
DEBUG_FRIENDLY_FIELD_NAMES.FF_LIMIT = {
'debug[all]':'Feedforward Limit [roll]',
'debug[0]':'FF limit input [roll]',
'debug[1]':'FF limit input [pitch]',
'debug[2]':'FF limited [roll]',
'debug[3]':'Not Used',
};
}
}
};

FlightLogFieldPresenter.presentFlags = function(flags, flagNames) {
var
printedFlag = false,
Expand Down Expand Up @@ -486,8 +533,9 @@ function FlightLogFieldPresenter() {
};

FlightLogFieldPresenter.presentEnum = function presentEnum(value, enumNames) {
if (enumNames[value] === undefined)
if (enumNames[value] === undefined) {
return value;
}

return enumNames[value];
};
Expand All @@ -500,8 +548,9 @@ function FlightLogFieldPresenter() {
* @param value Value of the field
*/
FlightLogFieldPresenter.decodeFieldToFriendly = function(flightLog, fieldName, value, currentFlightMode) {
if (value === undefined)
if (value === undefined) {
return "";
}

switch (fieldName) {
case 'time':
Expand Down Expand Up @@ -771,6 +820,13 @@ function FlightLogFieldPresenter() {
return value.toFixed(0) + "Hz";
}
break;
case 'DYN_IDLE':
switch (fieldName) {
case 'debug[3]': // minRPS best shown as rpm, since commanded value is rpm
return (value * 6);
default:
return value.toFixed(0);
}
case 'AC_ERROR':
return (value / 10).toFixed(1) + 'deg';
case 'AC_CORRECTION':
Expand Down
82 changes: 78 additions & 4 deletions js/graph_config.js
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Original file line number Diff line number Diff line change
Expand Up @@ -48,14 +48,14 @@ function GraphConfig(graphConfig) {
newGraph = $.extend(
// Default values for missing properties:
{
height: 1
height: 1,
},
// The old graph
graph,
// New fields to replace the old ones:
{
fields:[]
}
fields:[],
},
),
colorIndex = 0;

Expand Down Expand Up @@ -536,7 +536,81 @@ GraphConfig.load = function(config) {
return getCurveForMinMaxFieldsZeroOffset(fieldName);
}
break;
}
case 'FF_INTERPOLATED':
switch (fieldName) {
case 'debug[0]': // setpoint Delta
case 'debug[1]': // AccelerationModified
case 'debug[2]': // Acceleration
return {
offset: 0,
power: 1.0,
inputRange: 1000,
outputRange: 1.0,
};
case 'debug[3]': // Clip or Count
return {
offset: -10,
power: 1.0,
inputRange: 10,
outputRange: 1.0,
};
}
break;
case 'FEEDFORWARD': // replaces FF_INTERPOLATED in 4.3
switch (fieldName) {
case 'debug[0]': // in 4.3 is interpolated setpoint
return {
offset: 0,
power: 1.0,
inputRange: maxDegreesSecond(gyroScaleMargin),
outputRange: 1.0,
};
case 'debug[1]': // feedforward delta element
case 'debug[2]': // feedforward boost element
return {
offset: 0,
power: 1.0,
inputRange: 1000,
outputRange: 1.0,
};
case 'debug[3]': // rcCommand delta
return {
offset: 0,
power: 1.0,
inputRange: 10000,
outputRange: 1.0,
};
}
break;
case 'FF_LIMIT':
case 'FEEDFORWARD_LIMIT':
return {
offset: 0,
power: 1.0,
inputRange: 300,
outputRange: 1.0,
};
case 'DYN_IDLE':
switch (fieldName) {
case 'debug[0]': // in 4.3 is dyn idle P
case 'debug[1]': // in 4.3 is dyn idle I
case 'debug[2]': // in 4.3 is dyn idle D
return {
offset: 0,
power: 1.0,
inputRange: 1000,
outputRange: 1.0,
};
case 'debug[3]': // in 4.3 and 4.2 is minRPS
return {
offset: -1000,
power: 1.0,
inputRange: 1000,
outputRange: 1.0,
};
}
break;
}
}
// if not found above then
// Scale and center the field based on the whole-log observed ranges for that field
Expand Down