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Tools: filterTool: add pahse scale option

master
Iampete1 3 years ago committed by Andrew Tridgell
parent
4e8c68064a
commit
6ab9e4a2b2
2 changed files with 59 additions and 22 deletions
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  1. 63
      Tools/autotest/web-firmware/Tools/FilterTool/filters.js
  2. 18
      Tools/autotest/web-firmware/Tools/FilterTool/index.html

63
Tools/autotest/web-firmware/Tools/FilterTool/filters.js
Unescape View File

@ -402,6 +402,8 @@ function calculate_filter() { @@ -402,6 +402,8 @@ function calculate_filter() {
setCookie("Scale", use_dB ? "Log" : "Linear");
var use_RPM = document.getElementById("freq_Scale_RPM").checked;
setCookie("feq_unit", use_RPM ? "RPM" : "Hz");
var unwrap_pahse = document.getElementById("ScaleUnWrap").checked;
setCookie("PhaseScale", unwrap_pahse ? "unwrap" : "wrap");
var attenuation = []
var phase_lag = []
var min_phase_lag = 0.0;
@ -437,13 +439,15 @@ function calculate_filter() { @@ -437,13 +439,15 @@ function calculate_filter() {
if (use_RPM) {
freq_value *= 60;
}
var phase_diff = phase - last_phase;
if (phase_diff > 180) {
phase_wrap -= 360.0;
phase -= 360.0;
} else if (phase_diff < -180) {
phase_wrap += 360.0;
phase += 360.0;
if (unwrap_pahse) {
var phase_diff = phase - last_phase;
if (phase_diff > 180) {
phase_wrap -= 360.0;
phase -= 360.0;
} else if (phase_diff < -180) {
phase_wrap += 360.0;
phase += 360.0;
}
}
attenuation.push({x:freq_value, y:aten});
phase_lag.push({x:freq_value, y:-phase});
@ -454,10 +458,16 @@ function calculate_filter() { @@ -454,10 +458,16 @@ function calculate_filter() {
max_phase_lag = Math.max(max_phase_lag, phase)
last_phase = phase;
}
min_phase_lag = Math.floor((min_phase_lag-10)/10)*10;
min_phase_lag = Math.min(Math.max(-get_form("MaxPhaseLag"), min_phase_lag), 0);
max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10;
max_phase_lag = Math.min(get_form("MaxPhaseLag"), max_phase_lag);
if (unwrap_pahse) {
min_phase_lag = Math.floor((min_phase_lag-10)/10)*10;
min_phase_lag = Math.min(Math.max(-get_form("MaxPhaseLag"), min_phase_lag), 0);
max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10;
max_phase_lag = Math.min(get_form("MaxPhaseLag"), max_phase_lag);
} else {
min_phase_lag = -180;
max_phase_lag = 180;
}
if (use_RPM) {
freq_max *= 60.0;
@ -640,6 +650,8 @@ function calculate_pid(axis_id) { @@ -640,6 +650,8 @@ function calculate_pid(axis_id) {
setCookie("PID_Scale", use_dB ? "Log" : "Linear");
var use_RPM = document.getElementById("PID_freq_Scale_RPM").checked;
setCookie("PID_feq_unit", use_RPM ? "RPM" : "Hz");
var unwrap_pahse = document.getElementById("PID_ScaleUnWrap").checked;
setCookie("PID_PhaseScale", unwrap_pahse ? "unwrap" : "wrap");
var attenuation = []
var phase_lag = []
var min_phase_lag = 0.0;
@ -680,13 +692,15 @@ function calculate_pid(axis_id) { @@ -680,13 +692,15 @@ function calculate_pid(axis_id) {
if (use_RPM) {
freq_value *= 60;
}
var phase_diff = phase - last_phase;
if (phase_diff > 180) {
phase_wrap -= 360.0;
phase -= 360.0;
} else if (phase_diff < -180) {
phase_wrap += 360.0;
phase += 360.0;
if (unwrap_pahse) {
var phase_diff = phase - last_phase;
if (phase_diff > 180) {
phase_wrap -= 360.0;
phase -= 360.0;
} else if (phase_diff < -180) {
phase_wrap += 360.0;
phase += 360.0;
}
}
attenuation.push({x:freq_value, y:aten});
phase_lag.push({x:freq_value, y:-phase});
@ -707,10 +721,15 @@ function calculate_pid(axis_id) { @@ -707,10 +721,15 @@ function calculate_pid(axis_id) {
min_atten = mean_atten - atten_range;
max_atten = mean_atten + atten_range;
min_phase_lag = Math.floor((min_phase_lag-10)/10)*10;
min_phase_lag = Math.min(Math.max(-get_form("PID_MaxPhaseLag"), min_phase_lag), 0);
max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10;
max_phase_lag = Math.min(get_form("PID_MaxPhaseLag"), max_phase_lag);
if (unwrap_pahse) {
min_phase_lag = Math.floor((min_phase_lag-10)/10)*10;
min_phase_lag = Math.min(Math.max(-get_form("PID_MaxPhaseLag"), min_phase_lag), 0);
max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10;
max_phase_lag = Math.min(get_form("PID_MaxPhaseLag"), max_phase_lag);
} else {
min_phase_lag = -180;
max_phase_lag = 180;
}
var freq_log = document.getElementById("PID_freq_ScaleLog").checked;
setCookie("PID_feq_scale", use_dB ? "Log" : "Linear");

18
Tools/autotest/web-firmware/Tools/FilterTool/index.html
Unescape View File

@ -39,6 +39,15 @@ ArduPilot 4.2 filter setup. @@ -39,6 +39,15 @@ ArduPilot 4.2 filter setup.
<label for="LinearScale">Linear</label><br>
</fieldset>
</td>
<td>
<fieldset style="width:150px">
<legend>Phase scale</legend>
<input type="radio" id="ScaleUnWrap" name="PhaseScale" value="unwrap" checked>
<label for="ScaleUnWrap">un-wrapped</label><br>
<input type="radio" id="ScaleWrap" name="PhaseScale" value="wrap">
<label for="ScaleWrap">±180</label><br>
</fieldset>
</td>
<td>
<fieldset style="width:150px">
<legend>Frequency scale</legend>
@ -224,6 +233,15 @@ ArduPilot 4.2 filter setup. @@ -224,6 +233,15 @@ ArduPilot 4.2 filter setup.
<label for="LinearScale">Linear</label><br>
</fieldset>
</td>
<td>
<fieldset style="width:150px">
<legend>Phase scale</legend>
<input type="radio" id="PID_ScaleUnWrap" name="PID_PhaseScale" value="unwrap" checked>
<label for="ScaleUnWrap">un-wrapped</label><br>
<input type="radio" id="PID_ScaleWrap" name="PID_PhaseScale" value="wrap">
<label for="ScaleWrap">±180</label><br>
</fieldset>
</td>
<td>
<fieldset style="width:150px">
<legend>Frequency scale</legend>

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