Stop computing heading

Author: DzikuVx

.jshintrc

@@ -24,7 +24,6 @@
         "FlightLogIndex"   : true,
         "GraphConfig"   : true,
         "GraphLegend"   : true,
-        "IMU"   : true,
         "SeekBar"   : true
     }
 }

gulpfile.js

@@ -154,7 +154,6 @@ gulp.task('dist', gulp.series(['clean-dist'], function () {
         './js/graph_spectrum.js',
         './js/grapher.js',
         './js/header_dialog.js',
-        './js/imu.js',
         './js/keys_dialog.js',
         './js/laptimer.js',
         './js/main.js',

index.html

@@ -1463,7 +1463,6 @@ <h4 class="modal-title">Advanced User Settings</h4>
     <script src="js/expo.js"></script>
     <script src="js/datastream.js"></script>
     <script src="js/decoders.js"></script>
-    <script src="js/imu.js"></script>
     <script src="js/craft_2d.js"></script>
     <script src="js/craft_3d.js"></script>
     <script src="js/flightlog_fielddefs.js"></script>

js/flightlog.js

@@ -11,7 +11,7 @@
  */
 function FlightLog(logData) {
     var
-        ADDITIONAL_COMPUTED_FIELD_COUNT = 12, /** attitude + PID_SUM + PID_ERROR + VELOCITY + WIND_VELOCITY + WIND_HEADING **/
+        ADDITIONAL_COMPUTED_FIELD_COUNT = 9, /** attitude + PID_SUM + PID_ERROR + VELOCITY + WIND_VELOCITY + WIND_HEADING **/
 
         that = this,
         logIndex = false,
@@ -223,7 +223,6 @@ function FlightLog(logData) {
         }
 
         // Add names for our ADDITIONAL_COMPUTED_FIELDS
-        fieldNames.push("heading[0]", "heading[1]", "heading[2]");
         fieldNames.push("axisSum[0]", "axisSum[1]", "axisSum[2]");
         fieldNames.push("axisError[0]", "axisError[1]", "axisError[2]"); // Custom calculated error field
         fieldNames.push("velocity", "windVelocity", "windHeading");
@@ -356,9 +355,6 @@ function FlightLog(logData) {
                     };
                 }
 
-                // We need to store this in the chunk so we can refer to it later when we inject computed fields
-                chunk.initialIMU = iframeDirectory.initialIMU[chunkIndex];
-
                 var
                     mainFrameIndex = 0,
                     slowFrameLength = parser.frameDefs.S ? parser.frameDefs.S.count : 0,
@@ -494,20 +490,17 @@ function FlightLog(logData) {
     };
 
     /**
-     * Use the data in sourceChunks to compute additional fields (like IMU attitude) and add those into the
+     * Use the data in sourceChunks to compute additional fields and add those into the
      * resultChunks.
      *
      * sourceChunks and destChunks can be the same array.
      */
     function injectComputedFields(sourceChunks, destChunks) {
         let gyroADC = [fieldNameToIndex["gyroADC[0]"], fieldNameToIndex["gyroADC[1]"], fieldNameToIndex["gyroADC[2]"]],
-            accSmooth = [fieldNameToIndex["accSmooth[0]"], fieldNameToIndex["accSmooth[1]"], fieldNameToIndex["accSmooth[2]"]],
             magADC = [fieldNameToIndex["magADC[0]"], fieldNameToIndex["magADC[1]"], fieldNameToIndex["magADC[2]"]],
-            rcCommand = [fieldNameToIndex["rcCommand[0]"], fieldNameToIndex["rcCommand[1]"], fieldNameToIndex["rcCommand[2]"]],
             axisRate = [fieldNameToIndex["axisRate[0]"], fieldNameToIndex["axisRate[1]"], fieldNameToIndex["axisRate[2]"]],
             sourceChunkIndex, destChunkIndex,
             sysConfig,
-            attitude,
             navVel = [fieldNameToIndex["navVel[0]"], fieldNameToIndex["navVel[1]"]],
             wind = [fieldNameToIndex["wind[0]"], fieldNameToIndex["wind[1]"], fieldNameToIndex["wind[2]"]];
 
@@ -544,27 +537,12 @@ function FlightLog(logData) {
             if (!destChunk.hasAdditionalFields) {
                 destChunk.hasAdditionalFields = true;
 
-                var
-                    chunkIMU = new IMU(sourceChunks[sourceChunkIndex].initialIMU);
-
                 for (var i = 0; i < sourceChunk.frames.length; i++) {
                     var
                         srcFrame = sourceChunk.frames[i],
                         destFrame = destChunk.frames[i],
                         fieldIndex = destFrame.length - ADDITIONAL_COMPUTED_FIELD_COUNT;
 
-                    attitude = chunkIMU.updateEstimatedAttitude(
-                        [srcFrame[gyroADC[0]], srcFrame[gyroADC[1]], srcFrame[gyroADC[2]]],
-                        [srcFrame[accSmooth[0]], srcFrame[accSmooth[1]], srcFrame[accSmooth[2]]],
-                        srcFrame[FlightLogParser.prototype.FLIGHT_LOG_FIELD_INDEX_TIME],
-                        sysConfig.acc_1G,
-                        sysConfig.gyroScale,
-                        magADC ? [srcFrame[magADC[0]], srcFrame[magADC[1]], srcFrame[magADC[2]]] : false);
-
-                    destFrame[fieldIndex++] = attitude.roll;
-                    destFrame[fieldIndex++] = attitude.pitch;
-                    destFrame[fieldIndex++] = attitude.heading;
-
                     // Add the PID sum
                     for (var axis = 0; axis < 3; axis++) {
 

js/flightlog_index.js

@@ -43,15 +43,13 @@ function FlightLogIndex(logData) {
                     times: [],
                     offsets: [],
                     avgThrottle: [],
-                    initialIMU: [],
                     initialSlow: [],
                     initialGPSHome: [],
                     hasEvent: [],
                     minTime: false,
                     maxTime: false
                 },
 
-                imu = new IMU(),
                 gyroADC, accSmooth, magADC,
 
                 iframeCount = 0,
@@ -136,22 +134,12 @@ function FlightLogIndex(logData) {
                                      * that came before, we have to record the initial state of various items which aren't
                                      * logged anew every iteration.
                                      */ 
-                                    intraIndex.initialIMU.push(new IMU(imu));
                                     intraIndex.initialSlow.push(lastSlow);
                                     intraIndex.initialGPSHome.push(lastGPSHome);
                                 }
 
                                 iframeCount++;
                             }
-                            
-                            imu.updateEstimatedAttitude(
-                                [frame[gyroADC[0]], frame[gyroADC[1]], frame[gyroADC[2]]],
-                                [frame[accSmooth[0]], frame[accSmooth[1]], frame[accSmooth[2]]],
-                                frame[FlightLogParser.prototype.FLIGHT_LOG_FIELD_INDEX_TIME], 
-                                sysConfig.acc_1G, 
-                                sysConfig.gyroScale, 
-                                magADC ? [frame[magADC[0]], frame[magADC[1]], frame[magADC[2]]] : false
-                            );
                         break;
                         case 'H':
                             lastGPSHome = frame.slice(0);

js/graph_config.js

@@ -291,20 +291,6 @@ GraphConfig.load = function(config) {
                     inputRange: 500 * (sysConfig.rcRate ? sysConfig.rcRate : 100) / 100,
                     outputRange: 1.0
                 };           
-            } else if (fieldName == "heading[2]") {
-                return {
-                    offset: -Math.PI,
-                    power: 1.0,
-                    inputRange: Math.PI,
-                    outputRange: 1.0
-                };
-            } else if (fieldName.match(/^heading\[/)) {
-                return {
-                    offset: 0,
-                    power: 1.0,
-                    inputRange: Math.PI,
-                    outputRange: 1.0
-                };
             } else if (fieldName.match(/^sonar.*/)) {
                 return {
                     offset: -200,