tvolkmann/gyrogpsc
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jetzt hoffentlich xD

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This commit is contained in:
Timo Volkmann 2021-01-11 02:08:41 +01:00
parent b4a3b09fb1
commit ed60415f27
3 changed files with 30 additions and 18 deletions
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34
static/scripts/cubes.js
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@ -55,15 +55,19 @@ scene.add(pointLight);
cube.position.x = 0 cube.position.x = 0
cube2.position.x = 0 cube2.position.x = 0
let manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' ) // calibration globals
let manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
let calibrationRot = new THREE.Quaternion() let calibrationRot = new THREE.Quaternion()
let calPitch = 0
let calRoll = 0
let calYaw = 0
let quaternionOffset = document.getElementById("quaternionOffset") let quaternionOffset = document.getElementById("quaternionOffset")
function renderTCP(x, y, z) { function renderTCP(x, y, z) {
let calibration = new THREE.Quaternion().setFromEuler(manCalibration) let calibration = new THREE.Quaternion().setFromEuler(manCalibration)
// let calibration = new THREE.Quaternion().setFromEuler(new THREE.Euler( radFromAngle, 0, 0, 'YXZ' )) // let calibration = new THREE.Quaternion().setFromEuler(new THREE.Euler( radFromAngle, 0, 0, 'YXZ' ))
let eul = new THREE.Euler( x, z, y, 'YXZ' ); let eul = new THREE.Euler( x, y, z, 'YXZ' );
// let eul = new THREE.Euler( x, z, y, 'ZXY' ); // XYZ XZY YZX YXZ ZXY ZYX // let eul = new THREE.Euler( x, z, y, 'ZXY' ); // XYZ XZY YZX YXZ ZXY ZYX
cube2.quaternion.setFromEuler(eul).multiply(calibrationRot).multiply(calibration) cube2.quaternion.setFromEuler(eul).multiply(calibrationRot).multiply(calibration)
@ -76,9 +80,7 @@ function renderTCP(x, y, z) {
function renderSerial(x, y, z) { function renderSerial(x, y, z) {
// requestAnimationFrame(renderSerial); // requestAnimationFrame(renderSerial);
// let eul = new THREE.Euler( x, y, z, 'YXZ' ); // XYZ XZY YZX YXZ ZXY ZYX let eul = new THREE.Euler( x, y, z, 'YXZ' ); // XYZ XZY YZX YXZ ZXY ZYX
// let eul = new THREE.Euler( x, z, y, 'ZXY' ); // XYZ XZY YZX YXZ ZXY ZYX
let eul = new THREE.Euler( x, z, y, 'YXZ' );
cube.quaternion.setFromEuler(eul) cube.quaternion.setFromEuler(eul)
@ -106,10 +108,12 @@ rollRange.oninput = () => {
function delCalibration(evt) { function delCalibration(evt) {
calibrationRot = new THREE.Quaternion() calibrationRot = new THREE.Quaternion()
manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' ) manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
pitchRange.value = 0 pitchRange.value = 0
yawRange.value = 0 yawRange.value = 0
rollRange.value = 0 rollRange.value = 0
calRoll = 0
calPitch = 0
} }
var calState = false; var calState = false;
@ -126,7 +130,7 @@ function manualCalibration(evt) {
calState = !calState calState = !calState
console.log("mancal OFF") console.log("mancal OFF")
con.style.display = "none" con.style.display = "none"
manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' ) manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
pitchRange.value = 0 pitchRange.value = 0
yawRange.value = 0 yawRange.value = 0
rollRange.value = 0 rollRange.value = 0
@ -137,6 +141,14 @@ function calibrate(evt) {
let serOrientation = cube.quaternion.clone() let serOrientation = cube.quaternion.clone()
let tcpOrientation = cube2.quaternion.clone().multiply(calibrationRot.clone().invert()) let tcpOrientation = cube2.quaternion.clone().multiply(calibrationRot.clone().invert())
let diff = tcpOrientation.invert().multiply(serOrientation) let diff = tcpOrientation.invert().multiply(serOrientation)
let old = new THREE.Euler().setFromQuaternion( cube2.quaternion, 'YXZ' )
let dif = new THREE.Euler().setFromQuaternion( diff )
console.log("OLD:","pitch", old.x * 180/Math.PI, "yaw", old.y * 180/Math.PI, "roll", old.z * 180/Math.PI)
console.log("DIFF:","pitch", dif.x * 180/Math.PI, "yaw", dif.y * 180/Math.PI, "roll", dif.z * 180/Math.PI)
calPitch = dif.x // * 180/Math.PI
calYaw = dif.y // * 180/Math.PI
calRoll = dif.z // * 180/Math.PI
calibrationRot = diff calibrationRot = diff
}; };
document.getElementById("deleteCalibration").onclick = delCalibration document.getElementById("deleteCalibration").onclick = delCalibration
@ -176,9 +188,9 @@ function setIndicatorsTcp(sensordata) {
if (sensordata.Orientation[0] !== 0 && sensordata.Orientation[1] !== 0) { if (sensordata.Orientation[0] !== 0 && sensordata.Orientation[1] !== 0) {
//attitudeTcp.setPitch(sensordata.Orientation[0]) //attitudeTcp.setPitch(sensordata.Orientation[0])
attitudeTcp.setPitch(-q.x * 180 / Math.PI * -1) attitudeTcp.setPitch(q.x * 180 / Math.PI)
//attitudeTcp.setRoll(sensordata.Orientation[1]) //attitudeTcp.setRoll(sensordata.Orientation[1])
attitudeTcp.setRoll(-q.z * 180 / Math.PI * -1) attitudeTcp.setRoll(q.z * 180 / Math.PI)
} }
// Heading from quaternion // Heading from quaternion
@ -197,8 +209,8 @@ function setIndicatorsSer(sensordata) {
let q = new THREE.Euler().setFromQuaternion( cube.quaternion, 'YXZ' ) let q = new THREE.Euler().setFromQuaternion( cube.quaternion, 'YXZ' )
if (sensordata.Orientation[0] !== 0 && sensordata.Orientation[1] !== 0) { if (sensordata.Orientation[0] !== 0 && sensordata.Orientation[1] !== 0) {
attitudeSer.setPitch(-sensordata.Orientation[0]) attitudeSer.setPitch(sensordata.Orientation[0])
attitudeSer.setRoll(-sensordata.Orientation[1]) attitudeSer.setRoll(sensordata.Orientation[1])
} }
// Heading from quaternion // Heading from quaternion

4
static/scripts/websocket.js
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@ -40,7 +40,7 @@ window.addEventListener("load", function(evt) {
// if (dat.SOURCE_TCP.HeadDevice !== 0) { heading = dat.SOURCE_TCP.HeadDevice; } // if (dat.SOURCE_TCP.HeadDevice !== 0) { heading = dat.SOURCE_TCP.HeadDevice; }
// if (dat.SOURCE_TCP.HeadMotion !== 0) { heading = dat.SOURCE_TCP.HeadMotion; console.log("head motion") } // if (dat.SOURCE_TCP.HeadMotion !== 0) { heading = dat.SOURCE_TCP.HeadMotion; console.log("head motion") }
renderTCP(dat.SOURCE_TCP.Orientation[0]*Math.PI/180,-dat.SOURCE_TCP.Orientation[1]*Math.PI/180,heading*Math.PI/180) renderTCP((dat.SOURCE_TCP.Orientation[0]*Math.PI/180),heading*Math.PI/180,-(dat.SOURCE_TCP.Orientation[1]*Math.PI/180))
} }
if(!(dat.SOURCE_TCP.Position[1] === 0) && !(dat.SOURCE_TCP.Position[0] === 0)){ if(!(dat.SOURCE_TCP.Position[1] === 0) && !(dat.SOURCE_TCP.Position[0] === 0)){
document.getElementById("TCPlong").innerHTML = "Smartphone long: " + dat.SOURCE_TCP.Position[1] document.getElementById("TCPlong").innerHTML = "Smartphone long: " + dat.SOURCE_TCP.Position[1]
@ -70,7 +70,7 @@ window.addEventListener("load", function(evt) {
if(!(dat.SOURCE_SERIAL.Orientation[0] === 0) && /*!(dat.SOURCE_SERIAL.Orientation[1] === 0) &&*/ !(dat.SOURCE_SERIAL.Orientation[2] === 0)){ if(!(dat.SOURCE_SERIAL.Orientation[0] === 0) && /*!(dat.SOURCE_SERIAL.Orientation[1] === 0) &&*/ !(dat.SOURCE_SERIAL.Orientation[2] === 0)){
// document.getElementById("gyroscopeSERIAL").style.transform = `rotateX(${dat.SOURCE_SERIAL.Orientation[0]}deg) rotateY(${dat.SOURCE_SERIAL.Orientation[1]}deg) rotateZ(0deg)` // document.getElementById("gyroscopeSERIAL").style.transform = `rotateX(${dat.SOURCE_SERIAL.Orientation[0]}deg) rotateY(${dat.SOURCE_SERIAL.Orientation[1]}deg) rotateZ(0deg)`
// document.getElementById("gyroscopeSERIAL").style.transform = `rotateX(${dat.SOURCE_SERIAL.Orientation[0]}deg) rotateY(${dat.SOURCE_SERIAL.Orientation[1]}deg) rotateZ(${dat.SOURCE_SERIAL.Orientation[2]}deg)` // document.getElementById("gyroscopeSERIAL").style.transform = `rotateX(${dat.SOURCE_SERIAL.Orientation[0]}deg) rotateY(${dat.SOURCE_SERIAL.Orientation[1]}deg) rotateZ(${dat.SOURCE_SERIAL.Orientation[2]}deg)`
renderSerial(dat.SOURCE_SERIAL.Orientation[0]*Math.PI/180,dat.SOURCE_SERIAL.Orientation[1]*Math.PI/180,-dat.SOURCE_SERIAL.Orientation[2]*Math.PI/180) renderSerial(dat.SOURCE_SERIAL.Orientation[0]*Math.PI/180,-dat.SOURCE_SERIAL.Orientation[2]*Math.PI/180,dat.SOURCE_SERIAL.Orientation[1]*Math.PI/180)
} }
if(!(dat.SOURCE_SERIAL.Position[1] === 0) && !(dat.SOURCE_SERIAL.Position[0] === 0)){ if(!(dat.SOURCE_SERIAL.Position[1] === 0) && !(dat.SOURCE_SERIAL.Position[0] === 0)){
document.getElementById("SERIALlong").innerHTML = "Ublox long: " + dat.SOURCE_SERIAL.Position[1] document.getElementById("SERIALlong").innerHTML = "Ublox long: " + dat.SOURCE_SERIAL.Position[1]

6
templates/index.html
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@ -182,11 +182,11 @@
<button id="manualCalibration">Manuelle Kalibrierung</button> <button id="manualCalibration">Manuelle Kalibrierung</button>
<div id="manCalContainer"> <div id="manCalContainer">
<p><br>Manuelle Kalibrierung</p> <p><br>Manuelle Kalibrierung</p>
<label>Pitch<input type="range" min="-90" max="90" value="0" class="slider" id="pitchRange" <label>Pitch<input type="range" min="-180" max="180" value="0" class="slider" id="pitchRange"
style="margin: 10px 0px"></label> style="margin: 10px 0px"></label>
<label>Yaw<input type="range" min="-90" max="90" value="0" class="slider" id="yawRange" <label>Yaw<input type="range" min="-180" max="180" value="0" class="slider" id="yawRange"
style="margin: 10px 0px"></label> style="margin: 10px 0px"></label>
<label>Roll<input type="range" min="-90" max="90" value="0" class="slider" id="rollRange" <label>Roll<input type="range" min="-180" max="180" value="0" class="slider" id="rollRange"
style="margin: 10px 0px"></label> style="margin: 10px 0px"></label>
</div> </div>
</div> </div>