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Replace gyro_to_use with gyro_enabled_bitmask in header dialog #862

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Merged
merged 4 commits into from
Sep 29, 2025
Merged

Replace gyro_to_use with gyro_enabled_bitmask in header dialog #862

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6579188
Add gyro_enabled_bitmask to header dialog
haslinghuis Sep 28, 2025
64686f5
CR review
haslinghuis Sep 28, 2025
71b5878
CR review II
haslinghuis Sep 28, 2025
49356c6
Review sonar
haslinghuis Sep 29, 2025
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10 changes: 7 additions & 3 deletions index.html
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Original file line number Diff line number Diff line change
Expand Up @@ -778,7 +778,7 @@ <h5 class="modal-title-revision"></h5>
const axes = ['Roll', 'Pitch', 'Yaw'];
const pidTbody = document.getElementById('pid_tbody');

axes.forEach(axis => {
for (const axis of axes) {
const row = `<tr class="${axis.toLowerCase()}PID">
<td>${axis}</td>
<td><input type="text" name="p" step="1" min="0" max="255" /></td>
Expand All @@ -788,7 +788,7 @@ <h5 class="modal-title-revision"></h5>
<td><input type="text" name="f" step="1" min="0" max="255" /></td>
</tr>`;
pidTbody.innerHTML += row;
});
}
</script>

<table id="pid_baro_header" class="parameter cf">
Expand Down Expand Up @@ -1516,7 +1516,11 @@ <h5 class="modal-title-revision"></h5>
<!-- list generated here -->
</select>
</td>
<td name='gyro_hardware_lpf'>
<td name='gyro_enabled_bitmask'>
<label>Gyro enable mask</label>
<input type="text" step="1" min="1" max="255" />
</td>
<td name='gyro_hardware_lpf'>
<label>Hardware gyro LPF</label>
<select>
<!-- list generated here -->
Expand Down
28 changes: 14 additions & 14 deletions src/flightlog_parser.js
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Original file line number Diff line number Diff line change
Expand Up @@ -299,6 +299,7 @@ export function FlightLogParser(logData) {
fields_disabled_mask: null,
vbat_sag_compensation: null,
gyro_to_use: null,
gyro_enabled_bitmask: null,
dynamic_idle_min_rpm: null,
motor_poles: 1,
ff_transition: null,
Expand Down Expand Up @@ -532,7 +533,7 @@ export function FlightLogParser(logData) {
*/
function translateFieldName(fieldName) {
let translation = translationValues[fieldName];
if (typeof translation !== "undefined") {
if (translation !== undefined) {
return translation;
} else {
return fieldName;
Expand Down Expand Up @@ -743,6 +744,7 @@ export function FlightLogParser(logData) {
case "fields_disabled_mask":
case "motor_pwm_protocol":
case "gyro_to_use":
case "gyro_enabled_bitmask":
case "dynamic_idle_min_rpm":
case "dyn_idle_p_gain":
case "dyn_idle_i_gain":
Expand Down Expand Up @@ -821,7 +823,7 @@ export function FlightLogParser(logData) {
) {
that.sysConfig[fieldName] = parseInt(fieldValue, 10);
} else {
that.sysConfig[fieldName] = parseInt(fieldValue, 10) / 100.0;
that.sysConfig[fieldName] = parseInt(fieldValue, 10) / 100;
}
break;

Expand All @@ -835,13 +837,13 @@ export function FlightLogParser(logData) {
) {
that.sysConfig[fieldName] = parseCommaSeparatedString(fieldValue);
} else {
that.sysConfig[fieldName] = parseInt(fieldValue, 10) / 100.0;
that.sysConfig[fieldName] = parseInt(fieldValue, 10) / 100;
}
break;

case "motor_idle":
case "digitalIdleOffset":
that.sysConfig[fieldName] = parseInt(fieldValue, 10) / 100.0;
that.sysConfig[fieldName] = parseInt(fieldValue, 10) / 100;

/** Cleanflight Only log headers **/
case "dterm_cut_hz":
Expand Down Expand Up @@ -982,7 +984,7 @@ export function FlightLogParser(logData) {
} else {
// Cleanflight 1.x and others
that.sysConfig.firmwareVersion = "0.0.0";
that.sysConfig.firmware = 0.0;
that.sysConfig.firmware = 0;
that.sysConfig.firmwarePatch = 0;
}
}
Expand Down Expand Up @@ -1083,10 +1085,8 @@ export function FlightLogParser(logData) {
min: frame[i],
};
} else {
fieldStats[i].max =
frame[i] > fieldStats[i].max ? frame[i] : fieldStats[i].max;
fieldStats[i].min =
frame[i] < fieldStats[i].min ? frame[i] : fieldStats[i].min;
fieldStats[i].max = Math.max(frame[i], fieldStats[i].max);
fieldStats[i].min = Math.min(frame[i], fieldStats[i].min);
}
}
}
Expand Down Expand Up @@ -1444,7 +1444,7 @@ export function FlightLogParser(logData) {
* save space for positive values). So we need to convert those very large unsigned values into their
* corresponding 32-bit signed values.
*/
value = (value | 0) + that.sysConfig.minthrottle;
value = Math.trunc(value) + that.sysConfig.minthrottle;
break;
case FLIGHT_LOG_FIELD_PREDICTOR_MINMOTOR:
/*
Expand All @@ -1453,7 +1453,7 @@ export function FlightLogParser(logData) {
* save space for positive values). So we need to convert those very large unsigned values into their
* corresponding 32-bit signed values.
*/
value = (value | 0) + (that.sysConfig.motorOutput[0] | 0); // motorOutput[0] is the min motor output
value = Math.trunc(value) + Math.trunc(that.sysConfig.motorOutput[0]); // motorOutput[0] is the min motor output
break;
case FLIGHT_LOG_FIELD_PREDICTOR_1500:
value += 1500;
Expand Down Expand Up @@ -1673,13 +1673,13 @@ export function FlightLogParser(logData) {
break;
case FlightLogEvent.AUTOTUNE_TARGETS:
//Convert the angles from decidegrees back to plain old degrees for ease of use
lastEvent.data.currentAngle = stream.readS16() / 10.0;
lastEvent.data.currentAngle = stream.readS16() / 10;

lastEvent.data.targetAngle = stream.readS8();
lastEvent.data.targetAngleAtPeak = stream.readS8();

lastEvent.data.firstPeakAngle = stream.readS16() / 10.0;
lastEvent.data.secondPeakAngle = stream.readS16() / 10.0;
lastEvent.data.firstPeakAngle = stream.readS16() / 10;
lastEvent.data.secondPeakAngle = stream.readS16() / 10;
break;
case FlightLogEvent.GTUNE_CYCLE_RESULT:
lastEvent.data.axis = stream.readU8();
Expand Down
48 changes: 44 additions & 4 deletions src/header_dialog.js
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Original file line number Diff line number Diff line change
Expand Up @@ -539,6 +539,12 @@ export function HeaderDialog(dialog, onSave) {
name: "gyro_to_use",
type: FIRMWARE_TYPE_BETAFLIGHT,
min: "4.3.0",
max: "4.5.9",
},
{
name: "gyro_enabled_bitmask",
type: FIRMWARE_TYPE_BETAFLIGHT,
min: "2025.12.0",
max: "9999.9.9",
},
{
Expand Down Expand Up @@ -867,6 +873,34 @@ export function HeaderDialog(dialog, onSave) {
} else {
parameterElem.addClass("missing");
}
parameterElem.css(
"display",
isParameterValid(name) ? "table-cell" : "none",
);
}

function setBitmaskParameter(name, data, totalBits = 8) {
let parameterElem = $(`.parameter td[name="${name}"]`);
let nameElem = $("input", parameterElem);
if (data == null) {
// Clear all bitmask state when data is null
nameElem.val(""); // Clear the input value
nameElem.removeData("raw-value"); // Remove stored raw value
nameElem.prop("readonly", false); // Make input editable again
parameterElem.removeAttr("title"); // Clear tooltip
parameterElem.addClass("missing");
} else {
// Convert number to binary string with leading zeros
const binaryString = data.toString(2).padStart(totalBits, '0');
// Display as "3 (00000011)" format
const displayValue = `${data} (${binaryString})`;
nameElem.val(displayValue);
// Store the raw integer value for round-trip saving
nameElem.data("raw-value", data);
nameElem.attr("readonly", true); // Make it readonly since it shows formatted bitmask
parameterElem.attr("title", `Bitmask value: ${data} (binary: ${binaryString})`);
parameterElem.removeClass("missing");
}
parameterElem.css(
"display",
isParameterValid(name) ? "table-cell" : "none"
Expand Down Expand Up @@ -1363,9 +1397,9 @@ export function HeaderDialog(dialog, onSave) {

let PID_CONTROLLER_TYPE = [];
if (
(sysConfig.firmware >= 3.0 &&
(sysConfig.firmware >= 3 &&
sysConfig.firmwareType == FIRMWARE_TYPE_BETAFLIGHT) ||
(sysConfig.firmware >= 2.0 &&
(sysConfig.firmware >= 2 &&
sysConfig.firmwareType == FIRMWARE_TYPE_CLEANFLIGHT)
) {
PID_CONTROLLER_TYPE = ["LEGACY", "BETAFLIGHT"];
Expand Down Expand Up @@ -1713,8 +1747,7 @@ export function HeaderDialog(dialog, onSave) {
if (semver.lt(activeSysConfig.firmwareVersion, "2025.12.0")) {
const derivativeColumn = document.getElementById("derivativeColumn");
const dMaxColumn = document.getElementById("dMaxColumn");
const parent = derivativeColumn.parentNode;
parent.insertBefore(dMaxColumn, derivativeColumn); // Меняем местами
derivativeColumn.before(dMaxColumn); // Меняем местами
}
} else {
$("#d_max").hide();
Expand Down Expand Up @@ -1938,6 +1971,7 @@ export function HeaderDialog(dialog, onSave) {
renderSelect("baro_hardware", sysConfig.baro_hardware, BARO_HARDWARE);
renderSelect("mag_hardware", sysConfig.mag_hardware, MAG_HARDWARE);
renderSelect("gyro_to_use", sysConfig.gyro_to_use, GYRO_TO_USE);
setBitmaskParameter("gyro_enabled_bitmask", sysConfig.gyro_enabled_bitmask, 8);
setParameter("motor_poles", sysConfig.motor_poles, 0);

/* Booleans */
Expand Down Expand Up @@ -1998,6 +2032,9 @@ export function HeaderDialog(dialog, onSave) {
if ($(this).attr("decPl") != null) {
newArray[matches[2]] =
parseFloat($(this).val()) * Math.pow(10, $(this).attr("decPl"));
} else if ($(this).data("raw-value") != null) {
// Use raw value for bitmask parameters
newArray[matches[2]] = $(this).data("raw-value");
} else {
newArray[matches[2]] = $(this).val() == "on" ? 1 : 0;
}
Expand All @@ -2006,6 +2043,9 @@ export function HeaderDialog(dialog, onSave) {
if ($(this).attr("decPl") != null) {
newSysConfig[$(this).attr("name")] =
parseFloat($(this).val()) * Math.pow(10, $(this).attr("decPl"));
} else if ($(this).data("raw-value") != null) {
// Use raw value for bitmask parameters
newSysConfig[$(this).attr("name")] = $(this).data("raw-value");
} else {
newSysConfig[$(this).attr("name")] = $(this).val() == "on" ? 1 : 0;
}
Expand Down