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Secondary method to calibrate the Compass for use with large vehicles #2096

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Secondary method to calibrate the Compass for use with large vehicles #2096

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b3dfe29
new secondary method to calibrate the compass for use with large vehi…
May 19, 2024
b798ce5
add gui alert
May 20, 2024
44222f6
remove not necessary variable
May 20, 2024
f49acee
Avoid calibration starting with values greater than 360 degrees
May 20, 2024
c6202b1
push some corrections
May 24, 2024
c904801
change gui alert by gui log
May 24, 2024
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21 changes: 12 additions & 9 deletions locale/en/messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -735,6 +735,9 @@
"initialSetupMagCalibStarted": {
"message": "Magnetometer calibration started"
},
"initialSetupMagFixedCalibStarted": {
"message": "Large vehicle Magnetometer calibration started"
},
"initialSetupMagCalibEnded": {
"message": "Magnetometer calibration <span style=\"color: #37a8db\">finished</span>"
},
Expand Down Expand Up @@ -2877,9 +2880,6 @@
"calibrationHead2": {
"message": "Accelerometer Values"
},
"calibrationHead3": {
"message": "Level Calibration"
},
"calibrationHead4": {
"message": "Compass Calibration"
},
Expand Down Expand Up @@ -2926,6 +2926,9 @@
"MagXText": {
"message": "Zero X"
},
"MagFixedText": {
"message": "True Heading in Degrees (0 - 359)"
},
"MagYText": {
"message": "Zero Y"
},
Expand All @@ -2948,16 +2951,16 @@
"message": "Reset Accelerometer Calibration"
},
"MagCalText": {
"message": "After pressing the button you have 30 seconds to hold the model in the air and rotate it so that each side (front, back, left, right, top and bottom) points down towards the earth. Be sure that your compass is not near magnets or electromagnets when installed in the craft or performing the calibration."
"message": "After pressing the button 'Calibrate Compass' you have 30 seconds to hold the model in the air and rotate it so that each side (front, back, left, right, top and bottom) points down towards the earth. Be sure that your compass is not near magnets or electromagnets when installed in the craft or performing the calibration."
},
"MagFixedCalText": {
"message": "Large or heavy vehicles are impractical to use the primary method and manually rotate all axles. This feature allows for very accurate calibration if the GPS has 3D Fix status and the vehicles actual heading is known. First make sure you have aligned (CLI Param 'align_mag') your Compass correctly. With the help of a compass (for example, the one on your smartphone) you must enter your vehicle heading. The heading entered should be TRUE, not MAGNETIC. Finally, click on the 'Large Vehicles Compass Calibration' button and wait for the calibration result."
},
"MagBtn": {
"message": "Calibrate Compass"
},
"LevCalText": {
"message": "Please put some Text here…"
},
"LevBtn": {
"message": "Level calibration"
"FixedMagBtn": {
"message": "Large Vehicle Compass Calibration"
},
"tabMixer": {
"message": "Mixer"
Expand Down
4 changes: 0 additions & 4 deletions src/css/tabs/calibration.css
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Original file line number Diff line number Diff line change
Expand Up @@ -178,10 +178,6 @@
margin-top: 10px;
}

.tab-calibration #level_btn {
margin-top: 10px;
}

.tab-calibration .acc tr td {
width: 25%;
}
Expand Down
158 changes: 87 additions & 71 deletions tabs/calibration.html
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,8 @@
<div class="third_right">
<div class="default_btn">
<div id="calib_btn">
<a id="calibrate-start-button" class="calibrate" href="#" data-i18n="AccBtn"></a>
<a id="calibrate-start-button" class="calibrate" href="#"
data-i18n="AccBtn"></a>
</div>
</div>
</div>
Expand Down Expand Up @@ -54,15 +55,21 @@
<table class="cf_table acc">
<tr>
<td data-i18n="accZero"></td>
<td><label for="accZeroX"><span>X</span></label><input readonly disabled type="number" name="accZeroX" min="-32768" max="32767"></td>
<td><label for="accZeroY"><span>Y</span></label><input readonly disabled type="number" name="accZeroY" min="-32768" max="32767"></td>
<td><label for="accZeroZ"><span>Z</span></label><input readonly disabled type="number" name="accZeroZ" min="-32768" max="32767"></td>
<td><label for="accZeroX"><span>X</span></label><input readonly disabled
type="number" name="accZeroX" min="-32768" max="32767"></td>
<td><label for="accZeroY"><span>Y</span></label><input readonly disabled
type="number" name="accZeroY" min="-32768" max="32767"></td>
<td><label for="accZeroZ"><span>Z</span></label><input readonly disabled
type="number" name="accZeroZ" min="-32768" max="32767"></td>
</tr>
<tr>
<td data-i18n="accGain"></td>
<td><label for="accGainX"><span>X</span></label><input readonly disabled type="number" name="accGainX" min="1" max="8192"></td>
<td><label for="accGainY"><span>Y</span></label><input readonly disabled type="number" name="accGainY" min="1" max="8192"></td>
<td><label for="accGainZ"><span>Z</span></label><input readonly disabled type="number" name="accGainZ" min="1" max="8192"></td>
<td><label for="accGainX"><span>X</span></label><input readonly disabled
type="number" name="accGainX" min="1" max="8192"></td>
<td><label for="accGainY"><span>Y</span></label><input readonly disabled
type="number" name="accGainY" min="1" max="8192"></td>
<td><label for="accGainZ"><span>Z</span></label><input readonly disabled
type="number" name="accGainZ" min="1" max="8192"></td>
</tr>
</table>
</div>
Expand All @@ -71,76 +78,85 @@
</div>
</div>
</div>
<div class="cf_column fourth">
<!-- div class="gui_box grey">
<div class="gui_box_titlebar">
<div class="spacer_box_title" data-i18n="calibrationHead3"></div>
</div>
<div class="spacer_box">
<span data-i18n="LevCalText">text</span>
<div class="default_btn">
<div id="level_btn">
<a class="level" href="#" data-i18n="LevBtn"></a>
</div>
<div class="spacer_right">
<div class="cf_column threefourth_left">
<div class="gui_box grey">
<div class="gui_box_titlebar">
<div class="spacer_box_title" data-i18n="calibrationHead4"></div>
</div>
</div>
</div -->
<div class="gui_box grey">
<div class="gui_box_titlebar">
<div class="spacer_box_title" data-i18n="calibrationHead4"></div>
</div>
<div class="spacer_box">
<span data-i18n="MagCalText">text</span>
<div class="default_btn">
<div id="mag_btn">
<a class="calibratemag" href="#" data-i18n="MagBtn"></a>
<div class="spacer_box">
<span data-i18n="MagCalText">text</span>
<div class="default_btn">
<div id="mag_btn">
<a class="calibratemag" href="#" data-i18n="MagBtn"></a>
</div>
</div>
<div></div>
<span data-i18n="MagFixedCalText">text</span>
<br><br>
<table id="mag-fixed-calibrated-data" class="cf_table">
<tr>
<td><label for="YawFixedDegrees"><span data-i18n="MagFixedText"></span></label></td>
<td><input type="number" name="YawFixedDegrees" min="0" max="32767"></td>
</tr>
</table>
<div class="default_btn">
<div id="magfixed_btn">
<a class="calibratemag" href="#" data-i18n="FixedMagBtn"></a>
</div>
</div>
<table id="mag-calibrated-data" class="cf_table">
<tr>
<td><label for="MagX" data-i18n="MagXText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagX" min="-32768" max="32767">
</td>
</tr>
<tr>
<td><label for="MagY" data-i18n="MagYText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagY" min="-32768" max="32767">
</td>
</tr>
<tr>
<td><label for="MagZ" data-i18n="MagZText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagZ" min="-32768" max="32767">
</td>
</tr>
<tr>
<td><label for="MagGainX" data-i18n="MagGainXText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagGainX" min="-32768" max="32767">
</td>
</tr>
<tr>
<td><label for="MagGainY" data-i18n="MagGainYText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagGainY" min="-32768" max="32767">
</td>
</tr>
<tr>
<td><label for="MagGainZ" data-i18n="MagGainZText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagGainZ" min="-32768" max="32767">
</td>
</tr>
</table>
</div>
<table id="mag-calibrated-data" class="cf_table">
<tr>
<td><label for="MagX" data-i18n="MagXText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagX" min="-32768" max="32767"></td>
</tr>
<tr>
<td><label for="MagY" data-i18n="MagYText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagY" min="-32768" max="32767"></td>
</tr>
<tr>
<td><label for="MagZ" data-i18n="MagZText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagZ" min="-32768" max="32767"></td>
</tr>
<tr>
<td><label for="MagGainX" data-i18n="MagGainXText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagGainX" min="-32768" max="32767"></td>
</tr>
<tr>
<td><label for="MagGainY" data-i18n="MagGainYText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagGainY" min="-32768" max="32767"></td>
</tr>
<tr>
<td><label for="MagGainZ" data-i18n="MagGainZText"><span></span></label></td>
<td><input readonly disabled type="number" name="MagGainZ" min="-32768" max="32767"></td>
</tr>
</table>
</div>
</div>
<div class="gui_box grey">
<div class="gui_box_titlebar">
<div class="spacer_box_title" data-i18n="calibrationHead5"></div>
</div>
<div class="spacer_box">
<span data-i18n="OpflowCalText">text</span>
<div class="default_btn">
<div id="opflow_btn">
<a class="calibrateopflow" href="#" data-i18n="OpflowCalBtn"></a>
<div class="gui_box grey">
<div class="gui_box_titlebar">
<div class="spacer_box_title" data-i18n="calibrationHead5"></div>
</div>
<div class="spacer_box">
<span data-i18n="OpflowCalText">text</span>
<div class="default_btn">
<div id="opflow_btn">
<a class="calibrateopflow" href="#" data-i18n="OpflowCalBtn"></a>
</div>
</div>
<table id="opflow-calibrated-data" class="cf_table">
<tr>
<td><label for="OpflowScale"><span data-i18n="OpflowScaleText"></span></label></td>
<td><input type="number" name="OpflowScale" min="0" max="10000"></td>
</tr>
</table>
</div>
<table id="opflow-calibrated-data" class="cf_table">
<tr>
<td><label for="OpflowScale"><span data-i18n="OpflowScaleText"></span></label></td>
<td><input type="number" name="OpflowScale" min="0" max="10000"></td>
</tr>
</table>
</div>
</div>
</div>
Expand Down
75 changes: 73 additions & 2 deletions tabs/calibration.js
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Original file line number Diff line number Diff line change
Expand Up @@ -230,16 +230,87 @@ TABS.calibration.initialize = function (callback) {

if (FC.SENSOR_CONFIG.magnetometer === 0) {
//Comment for test
$('#mag_btn, #mag-calibrated-data').css('pointer-events', 'none').css('opacity', '0.4');
$('#mag_btn, #mag-calibrated-data, #magfixed_btn, #mag-fixed-calibrated-data').css('pointer-events', 'none').css('opacity', '0.4');
}

if (FC.SENSOR_CONFIG.opflow === 0) {
//Comment for test
$('#opflow_btn, #opflow-calibrated-data').css('pointer-events', 'none').css('opacity', '0.4');
}

$('#magfixed_btn').on('click', function () {

const yawBoxIsEmpty = $('[name=YawFixedDegrees]').val().length === 0;

if (yawBoxIsEmpty) {
GUI.log("Heading box value is empty!");
return;
}

if (!(FC.GPS_DATA.fix >= 2)) {
GUI.log("GPS without 3D Fix!");
return;
}

const yawBoxValue = parseInt($('[name=YawFixedDegrees]').val());

if (yawBoxValue > 360) {
GUI.log("Heading box value Min = 0 and Max = 360");
return;
}

var buffer = [];

var button = $(this);

$(button).addClass('disabled');

buffer.push(0x00FF & yawBoxValue);
buffer.push(yawBoxValue >> 8);

MSP.send_message(MSPCodes.MSP_MAG_CALIBRATION, buffer, false, function () {
GUI.log(i18n.getMessage('initialSetupMagFixedCalibStarted'));
});

let modalProcessing = new jBox('Modal', {
width: 400,
height: 120,
animation: false,
closeOnClick: false,
closeOnEsc: false,
content: $('#modal-compass-processing').clone()
}).open();

var countdown = 1;
interval.add('compass_calibration_interval', function () {
countdown--;
if (countdown === 0) {
setTimeout(function () {
$(button).removeClass('disabled');

modalProcessing.close();
GUI.log(i18n.getMessage('initialSetupMagCalibEnded'));

MSP.send_message(MSPCodes.MSP_CALIBRATION_DATA, false, false, updateSensorData);
interval.remove('compass_calibration_interval');

//Cleanup
//delete modalProcessing;
$('.jBox-wrapper').remove();
}, 1000);
}

}, 1000);
});

$('#mag_btn').on('click', function () {
MSP.send_message(MSPCodes.MSP_MAG_CALIBRATION, false, false, function () {
var buffer = [];

// 32767 = Indicates to INAV that sample calibration will be used
buffer.push(0x00FF & 32767);
buffer.push(32767 >> 8);

MSP.send_message(MSPCodes.MSP_MAG_CALIBRATION, buffer, false, function () {
GUI.log(i18n.getMessage('initialSetupMagCalibStarted'));
});

Expand Down
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