Implement compass cal

[Williangalvani]

No description provided.

[joaoantoniocardoso]

Large vehicle calibration is working fine! :)

one annoying thing: the "Current Declination", which doesn't show the current declination, rather, it seems to be showing the last manual declination set.

It's weird to have to input the declination in a separate window if I can select the value. Maybe make it non-selectable, but also, make something like a transparent text that shows when the mouse hovers it saying "CLICK TO EDIT", to indicate the action.

Also about it, the edit box contains units, and the main "current declination" value does not.

Another thing is: why can't I manually enter the GPS coordinates?

[joaoantoniocardoso]

This is visually annoying:

(could we just remove those gears?)

[joaoantoniocardoso]

• I know the calibration is supposed to be quick, but by default, we could have a progress bar saying "calibrating". Somehow, my calibration got stuck in one of my tests, and I waited for a minute, I forgot to see the console and hit F5.
  edit: It happened again. Nothing in the console, it took around 3 minutes to calibrate.

Another UI thing: can we remove this bar?

[patrickelectric]

I forgot to send my review 🤦
I have not finished yet, but should catch up later today.

[patrickelectric]

Any problem with https://www.npmjs.com/package/ts-matrix ?

[Williangalvani]

I'll give it a go.

[Williangalvani]

well, after looking at it, I think I'd rather keep well-defined Vector3 and Matrix3 types. The constructors are also different, and I'm tired of looking at this code as a whole 😅

[patrickelectric]

How is that possible if the type of declination is not | undefined ?

[Williangalvani]

it is not. good catch

[patrickelectric]

while ?

[Williangalvani]

I dont think atan2 can produce anything that far. but maybe if declinations is set wrongly...
updating it anyway.

[patrickelectric]

Are we using it ?

[Williangalvani]

yeah, it shows up while the parameters are not fully loaded

[Williangalvani]

There's a relatively large refactor coming later today. So you might want to wait.

…

On Tue, Feb 6, 2024, 08:08 Patrick José Pereira ***@***.***> wrote: ***@***.**** requested changes on this pull request. I forgot to send my review 🤦 I have not finished yet, but should catch up later today. ------------------------------ In core/frontend/src/utils/math.ts <#2342 (comment)>: > @@ -0,0 +1,186 @@ +export function degrees (radians: number): number { Any problem with https://www.npmjs.com/package/ts-matrix ? ------------------------------ In core/frontend/src/utils/mavlink_math.ts <#2342 (comment)>: > @@ -0,0 +1,24 @@ +// ported from https://github.com/ArduPilot/pymavlink/blob/master/mavextra.py#L60 + +import { Matrix3, Vector3, degrees } from "./math" + +export function mag_heading(RawImu: Vector3, attitude: Vector3, declination: number) { + // calculate heading from raw magnetometer + if (declination === undefined) { How is that possible if the type of declination is not | undefined ? ------------------------------ In core/frontend/src/utils/mavlink_math.ts <#2342 (comment)>: > +export function mag_heading(RawImu: Vector3, attitude: Vector3, declination: number) { + // calculate heading from raw magnetometer + if (declination === undefined) { + throw new Error('declination is undefined') + } + let magX = RawImu.x + let magY = RawImu.y + let magZ = RawImu.z + + // go via a DCM matrix to match the APM calculation + const dcmMatrix = (new Matrix3()).fromEuler(attitude.x, attitude.y, attitude.z) + const cosPitchSqr = 1.0 - (dcmMatrix.e(6) * dcmMatrix.e(6)) + const headY = magY * dcmMatrix.e(8) - magZ * dcmMatrix.e(7) + const headX = magX * cosPitchSqr - dcmMatrix.e(6) * (magY * dcmMatrix.e(7) + magZ * dcmMatrix.e(8)) + let heading = degrees(Math.atan2(-headY, headX)) + declination + if (heading < -180) { while ? ------------------------------ In core/frontend/src/components/vehiclesetup/Configure.vue <#2342 (comment)>: > @@ -39,14 +41,16 @@ export default Vue.extend({ name: 'Configure', components: { ParamSets, + ArdupilotMavlinkCompassSetup, + SpinningLogo, Are we using it ? ------------------------------ In core/frontend/src/components/common/StatusTextWatcher.vue <#2342 (comment)>: > + } + }, + computed: { + all_messages(): string { + return this.messages.join('\n') + }, + }, + watch: { + filter(newFilter) { + this.filterRegex = new RegExp(newFilter) + }, + }, + mounted() { + this.listener = mavlink2rest.startListening('STATUSTEXT').setCallback((receivedMessage) => { + const text = receivedMessage.message.text.join('') + if (this.messages && this.messages[this.messages.length - 1] === text) { ⬇️ Suggested change - if (this.messages && this.messages[this.messages.length - 1] === text) { + if (this.messages?.[this.messages.length - 1] === text) { — Reply to this email directly, view it on GitHub <#2342 (review)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AA6T53C5A4SPRBPEHBWJP33YSIFJHAVCNFSM6AAAAABCJIVNWOVHI2DSMVQWIX3LMV43YUDVNRWFEZLROVSXG5CSMV3GSZLXHMYTQNJZGY2DCNRXGQ> . You are receiving this because you authored the thread.Message ID: ***@***.***>