From 79235284ae1c970f494050c474d23d58963bc228 Mon Sep 17 00:00:00 2001 From: daijoubu Date: Sun, 31 May 2026 17:40:10 -0700 Subject: [PATCH 01/48] feat: add DroneCAN tab to configurator (phases 1-2, WIP) - Add MSP2_INAV_DRONECAN_NODES (0x2042) and MSP2_INAV_DRONECAN_NODE_INFO (0x2043) to MSPCodes.js - Parse both responses in MSPHelper.js; add FC.DRONECAN_NODES and FC.DRONECAN_NODE_INFO state slots in fc.js - Add tabs/dronecan.html and tabs/dronecan.js with node table, health badges, 2s auto-refresh, and per-node detail on row click - Register dronecan tab in gui.js allowedTabs and configurator_main.js - Add i18n strings for tab and column headers - Fix nav-toggle-all link being caught by tab-switch handler (showed spurious firmware upgrade warning) CSS health badge styling still pending. --- index.html | 6 ++- js/configurator_main.js | 27 +++++------ js/fc.js | 8 +++- js/gui.js | 1 + js/msp/MSPCodes.js | 3 ++ js/msp/MSPHelper.js | 30 +++++++++++++ locale/en/messages.json | 27 +++++++++++ tabs/dronecan.html | 31 +++++++++++++ tabs/dronecan.js | 99 +++++++++++++++++++++++++++++++++++++++++ 9 files changed, 217 insertions(+), 15 deletions(-) create mode 100644 tabs/dronecan.html create mode 100644 tabs/dronecan.js diff --git a/index.html b/index.html index d95578b9f..2682e4b4c 100644 --- a/index.html +++ b/index.html @@ -347,9 +347,13 @@

    • +
  • + +
    • + - +
  • - +
    - +
    @@ -56,6 +56,12 @@
    + + + + + +
    diff --git a/tabs/dronecan.js b/tabs/dronecan.js index ec1f1be32..9106ea2fb 100644 --- a/tabs/dronecan.js +++ b/tabs/dronecan.js @@ -10,7 +10,7 @@ import interval from './../js/intervals'; const HEALTH_LABELS = ['OK', 'WARNING', 'ERROR', 'CRITICAL']; const HEALTH_CLASSES = ['health-ok', 'health-warning', 'health-error', 'health-critical']; -const esc = s => String(s).replace(/&/g, '&').replace(//g, '>').replace(/"/g, '"'); +const esc = s => String(s).replaceAll('&', '&').replaceAll('<', '<').replaceAll('>', '>').replaceAll('"', '"'); const POLL_INTERVAL_MS = 75; const POLL_MAX_ATTEMPTS = 34; // 34 polls × 75 ms ≈ 2.5 s total window const MODE_LABELS = ['OPERATIONAL', 'INITIALIZATION', 'MAINTENANCE', 'SOFTWARE_UPDATE', 'UNKNOWN_4', 'UNKNOWN_5', 'UNKNOWN_6', 'OFFLINE']; // modes 0-3 per DroneCAN NodeStatus; 4-6 reserved by spec @@ -36,47 +36,54 @@ const dronecanTab = {}; let nameCache = {}; let currentDetailNodeId = null; -function dronecanAsyncPoll(service_id, node_id, params, onDone) { - const reqPayload = [ - service_id & 0xFF, (service_id >> 8) & 0xFF, - node_id, - ]; - if (service_id === DRONECAN_SERVICE_PARAM_GETSET && params) { - reqPayload.push(params.index & 0xFF, (params.index >> 8) & 0xFF); - reqPayload.push(params.is_write ? 1 : 0); - if (params.is_write) { - reqPayload.push(params.value_type); - switch (params.value_type) { - case PARAM_TYPE_INT: { - const v = typeof params.value === 'bigint' ? params.value : BigInt(Math.trunc(params.value)); - for (let i = 0; i < 8; i++) reqPayload.push(Number((v >> BigInt(i * 8)) & 0xFFn)); - break; - } - case PARAM_TYPE_FLOAT: { - const arr = new Float32Array([params.value]); - reqPayload.push(...new Uint8Array(arr.buffer)); - break; - } - case PARAM_TYPE_BOOL: reqPayload.push(params.value ? 1 : 0); break; - case PARAM_TYPE_STRING: { - const enc = new TextEncoder().encode(String(params.value).slice(0, 63)); - reqPayload.push(enc.length, ...enc); - break; - } - } - const nameEnc = new TextEncoder().encode(String(params.name || '').slice(0, 92)); - reqPayload.push(nameEnc.length, ...nameEnc); +function encodeParamValueBytes(value_type, value) { + switch (value_type) { + case PARAM_TYPE_INT: { + const v = typeof value === 'bigint' ? value : BigInt(Math.trunc(value)); + const bytes = []; + for (let i = 0; i < 8; i++) bytes.push(Number((v >> BigInt(i * 8)) & 0xFFn)); + return bytes; + } + case PARAM_TYPE_FLOAT: + return Array.from(new Uint8Array(new Float32Array([value]).buffer)); + case PARAM_TYPE_BOOL: + return [value ? 1 : 0]; + case PARAM_TYPE_STRING: { + const enc = new TextEncoder().encode(String(value).slice(0, 63)); + return [enc.length, ...enc]; } + default: + return []; } +} - if (service_id === DRONECAN_SERVICE_EXECUTE_OPCODE && params) { - reqPayload.push(params.opcode); +function buildParamGetSetPayload(params) { + const payload = [params.index & 0xFF, (params.index >> 8) & 0xFF, params.is_write ? 1 : 0]; + if (!params.is_write) return payload; + + payload.push(params.value_type, ...encodeParamValueBytes(params.value_type, params.value)); + const nameEnc = new TextEncoder().encode(String(params.name || '').slice(0, 92)); + payload.push(nameEnc.length, ...nameEnc); + return payload; +} + +function buildAsyncRequestPayload(service_id, node_id, params) { + const payload = [service_id & 0xFF, (service_id >> 8) & 0xFF, node_id]; + if (service_id === DRONECAN_SERVICE_PARAM_GETSET && params) { + payload.push(...buildParamGetSetPayload(params)); + } else if (service_id === DRONECAN_SERVICE_EXECUTE_OPCODE && params) { + payload.push(params.opcode); } + return payload; +} + +function dronecanAsyncPoll(service_id, node_id, params, onDone) { + const reqPayload = buildAsyncRequestPayload(service_id, node_id, params); MSP.send_message(MSPCodes.MSP2_INAV_DRONECAN_ASYNC_REQUEST, reqPayload, false, () => { const req = FC.DRONECAN_ASYNC_REQUEST; - if (!req || req.status !== DRONECAN_ASYNC_REQUEST_STATUS_OK) { - onDone(req && req.status === DRONECAN_ASYNC_REQUEST_STATUS_BUSY ? new Error('busy') : new Error('not_ready'), null); + if (req?.status !== DRONECAN_ASYNC_REQUEST_STATUS_OK) { + onDone(req?.status === DRONECAN_ASYNC_REQUEST_STATUS_BUSY ? new Error('busy') : new Error('not_ready'), null); return; } const expectedSeq = req.seq; @@ -187,10 +194,7 @@ dronecanTab.render = function () { fetchNamesSequentially(nodesToFetch, 0, tbody); if (currentDetailNodeId !== null) { const liveNode = nodes.find(n => n.nodeID === currentDetailNodeId); - if (!liveNode) { - document.getElementById('dronecan-node-detail').style.display = 'none'; - currentDetailNodeId = null; - } else { + if (liveNode) { const detail = document.getElementById('dronecan-node-detail'); const health = liveNode.health < HEALTH_LABELS.length ? liveNode.health : 3; const uptime = `${Math.floor(liveNode.uptime_sec / 3600)}h ${Math.floor((liveNode.uptime_sec % 3600) / 60)}m ${liveNode.uptime_sec % 60}s`; @@ -201,6 +205,9 @@ dronecanTab.render = function () { set('last-seen', i18n.getMessage('dronecanSecondsAgo', [(liveNode.last_seen_ms / 1000).toFixed(1)])); set('uptime', uptime); set('vendor-status', liveNode.vendor_status_code); + } else { + document.getElementById('dronecan-node-detail').style.display = 'none'; + currentDetailNodeId = null; } } }; @@ -218,25 +225,138 @@ dronecanTab.showDetail = function (nodeId) { const uptime = result ? `${Math.floor(node.uptime_sec / 3600)}h ${Math.floor((node.uptime_sec % 3600) / 60)}m ${node.uptime_sec % 60}s` : '—'; const modeLabel = getModeLabel(node.mode); + let nameCell = '—'; + if (result) { + nameCell = esc(result.name); + } else if (err) { + nameCell = i18n.getMessage('dronecanNameError'); + } + + let versionRows = ''; + if (result) { + const swCommitSuffix = (result.sw_optional_field_flags & 1) + ? ` (${result.sw_vcs_commit.toString(16).padStart(8, '0')})` + : ''; + versionRows = ` + SW Version${esc(result.sw_major)}.${esc(result.sw_minor)}${swCommitSuffix} + HW Version${esc(result.hw_major)}.${esc(result.hw_minor)} + Unique ID${Array.from(result.hw_unique_id).map(b => b.toString(16).padStart(2, '0')).join(':')} + `; + } + tbody.innerHTML = ` Node ID${esc(nodeId)} - Name${result ? esc(result.name) : (err ? i18n.getMessage('dronecanNameError') : '—')} + Name${nameCell} Health${HEALTH_LABELS[health]} Mode${esc(modeLabel)} Last Seen${i18n.getMessage('dronecanSecondsAgo', [(node.last_seen_ms / 1000).toFixed(1)])} Uptime${uptime} Vendor Status${esc(node.vendor_status_code)} - ${result ? ` - SW Version${esc(result.sw_major)}.${esc(result.sw_minor)}${(result.sw_optional_field_flags & 1) ? ` (${result.sw_vcs_commit.toString(16).padStart(8, '0')})` : ''} - HW Version${esc(result.hw_major)}.${esc(result.hw_minor)} - Unique ID${Array.from(result.hw_unique_id).map(b => b.toString(16).padStart(2, '0')).join(':')} - ` : ''} + ${versionRows} `; detail.style.display = ''; dronecanTab.showParams(nodeId); }); }; +function paramValueToString(value_type, value) { + return value_type === PARAM_TYPE_BOOL ? (value ? 'true' : 'false') : String(value); +} + +function convertParamValue(value_type, writeValue) { + switch (value_type) { + case PARAM_TYPE_INT: + try { return BigInt(writeValue); } catch { return NaN; } + case PARAM_TYPE_FLOAT: return Number.parseFloat(writeValue); + case PARAM_TYPE_BOOL: return writeValue === 'true' || writeValue === '1'; + case PARAM_TYPE_STRING: + default: return writeValue; + } +} + +function validateNumericParam(param, value) { + const isInt = param.value_type === PARAM_TYPE_INT; + if (isInt ? typeof value !== 'bigint' : Number.isNaN(value)) { + return { ok: false, message: i18n.getMessage('dronecanParamOutOfRange') }; + } + const toBig = b => typeof b === 'bigint' ? b : BigInt(Math.round(b)); + const tooLow = param.min !== undefined && (isInt ? value < toBig(param.min) : value < Number(param.min)); + const tooHigh = param.max !== undefined && (isInt ? value > toBig(param.max) : value > Number(param.max)); + if (tooLow || tooHigh) { + const lo = param.min !== undefined ? param.min : '—'; + const hi = param.max !== undefined ? param.max : '—'; + return { ok: false, message: i18n.getMessage('dronecanParamRangeMustBeBetween', [lo, hi]) }; + } + return { ok: true }; +} + +function flagParamInputError(input, btn, message) { + input.style.outline = '2px solid #cc0000'; + input.title = message; + btn.textContent = i18n.getMessage('dronecanParamOutOfRange'); + setTimeout(() => { btn.textContent = i18n.getMessage('dronecanParamWrite'); }, 2000); +} + +function submitParamWrite(btn, nodeId, payload, param, input) { + btn.disabled = true; + btn.textContent = '...'; + dronecanAsyncPoll(DRONECAN_SERVICE_PARAM_GETSET, nodeId, payload, (err, result) => { + if (!err && result) { + param.value = result.value; + input.value = paramValueToString(param.value_type, result.value); + btn.textContent = i18n.getMessage('OK'); + } else { + btn.textContent = i18n.getMessage('dronecanParamError'); + } + btn.disabled = false; + setTimeout(() => { btn.textContent = i18n.getMessage('dronecanParamWrite'); }, 2000); + }); +} + +function handleParamWriteClick(btn, container, params, nodeId) { + const idx = Number.parseInt(btn.dataset.index, 10); + const input = container.querySelector(`.param-input[data-index="${idx}"]`); + const param = params.find(p => p.index === idx); + if (!input || !param) return; + + const payload = { + index: idx, is_write: true, value_type: param.value_type, name: param.name, + value: convertParamValue(param.value_type, input.value), + }; + + if (param.value_type === PARAM_TYPE_INT || param.value_type === PARAM_TYPE_FLOAT) { + const validation = validateNumericParam(param, payload.value); + if (!validation.ok) { + flagParamInputError(input, btn, validation.message); + return; + } + } + + input.style.outline = ''; + input.title = ''; + submitParamWrite(btn, nodeId, payload, param, input); +} + +function handleSaveToEeprom(btn, nodeId) { + btn.disabled = true; + btn.textContent = '...'; + dronecanAsyncPoll(DRONECAN_SERVICE_EXECUTE_OPCODE, nodeId, { opcode: DRONECAN_EXECUTE_OPCODE_SAVE }, (err, result) => { + btn.textContent = (!err && result?.ok) ? i18n.getMessage('dronecanSaved') : i18n.getMessage('dronecanFailed'); + btn.disabled = false; + setTimeout(() => { btn.textContent = i18n.getMessage('dronecanSaveToEeprom'); }, 2000); + }); +} + +function handleRestartNode(btn, nodeId) { + btn.disabled = true; + btn.textContent = '...'; + dronecanAsyncPoll(DRONECAN_SERVICE_RESTART_NODE, nodeId, null, (err, result) => { + btn.textContent = (!err && result?.ok) ? i18n.getMessage('dronecanRestarting') : i18n.getMessage('dronecanFailed'); + btn.disabled = false; + setTimeout(() => { btn.textContent = i18n.getMessage('dronecanRestartNode'); }, 3000); + }); +} + dronecanTab.showParams = function (nodeId) { const container = document.getElementById('dronecan-params'); if (!container) return; @@ -249,7 +369,7 @@ dronecanTab.showParams = function (nodeId) { if (nodeId !== currentDetailNodeId) return; dronecanAsyncPoll(DRONECAN_SERVICE_PARAM_GETSET, nodeId, { index, is_write: false }, (err, result) => { if (nodeId !== currentDetailNodeId) return; - if (err || !result || !result.name) { + if (err || !result?.name) { renderParams(); return; } @@ -279,7 +399,7 @@ dronecanTab.showParams = function (nodeId) { const thRange = i18n.getMessage('dronecanParamColRange'); let html = ``; params.forEach(p => { - const valStr = p.value_type === PARAM_TYPE_BOOL ? (p.value ? 'true' : 'false') : String(p.value); + const valStr = paramValueToString(p.value_type, p.value); const hasRange = (p.value_type === PARAM_TYPE_INT || p.value_type === PARAM_TYPE_FLOAT) && (p.min !== undefined || p.max !== undefined); const rangeStr = hasRange ? `${fmtNumeric(p.min, p.value_type)} … ${fmtNumeric(p.max, p.value_type)}` @@ -297,116 +417,39 @@ dronecanTab.showParams = function (nodeId) { html += `
    `; container.innerHTML = html; - container.querySelector('.param-save-eeprom').addEventListener('click', function () { - const btn = this; - btn.disabled = true; - btn.textContent = '...'; - dronecanAsyncPoll(DRONECAN_SERVICE_EXECUTE_OPCODE, nodeId, { opcode: DRONECAN_EXECUTE_OPCODE_SAVE }, (err, result) => { - btn.textContent = (!err && result && result.ok) - ? i18n.getMessage('dronecanSaved') : i18n.getMessage('dronecanFailed'); - btn.disabled = false; - setTimeout(() => { btn.textContent = i18n.getMessage('dronecanSaveToEeprom'); }, 2000); - }); - }); + const saveBtn = container.querySelector('.param-save-eeprom'); + saveBtn.addEventListener('click', () => handleSaveToEeprom(saveBtn, nodeId)); - container.querySelector('.param-restart-node').addEventListener('click', function () { - const btn = this; - btn.disabled = true; - btn.textContent = '...'; - dronecanAsyncPoll(DRONECAN_SERVICE_RESTART_NODE, nodeId, null, (err, result) => { - btn.textContent = (!err && result && result.ok) - ? i18n.getMessage('dronecanRestarting') : i18n.getMessage('dronecanFailed'); - btn.disabled = false; - setTimeout(() => { btn.textContent = i18n.getMessage('dronecanRestartNode'); }, 3000); - }); - }); + const restartBtn = container.querySelector('.param-restart-node'); + restartBtn.addEventListener('click', () => handleRestartNode(restartBtn, nodeId)); container.querySelectorAll('.param-write').forEach(btn => { - btn.addEventListener('click', () => { - const idx = parseInt(btn.dataset.index); - const input = container.querySelector(`.param-input[data-index="${idx}"]`); - const param = params.find(p => p.index === idx); - if (!input || !param) return; - - const writeValue = input.value; - const payload = { index: idx, is_write: true, value_type: param.value_type, name: param.name }; - switch (param.value_type) { - case PARAM_TYPE_INT: { - try { payload.value = BigInt(writeValue); } catch { payload.value = NaN; } - break; - } - case PARAM_TYPE_FLOAT: payload.value = parseFloat(writeValue); break; - case PARAM_TYPE_BOOL: payload.value = writeValue === 'true' || writeValue === '1'; break; - case PARAM_TYPE_STRING: payload.value = writeValue; break; - } - - if (param.value_type === PARAM_TYPE_INT || param.value_type === PARAM_TYPE_FLOAT) { - const isInt = param.value_type === PARAM_TYPE_INT; - const invalid = isInt ? typeof payload.value !== 'bigint' : isNaN(payload.value); - if (invalid) { - input.style.outline = '2px solid #cc0000'; - input.title = i18n.getMessage('dronecanParamOutOfRange'); - btn.textContent = i18n.getMessage('dronecanParamOutOfRange'); - setTimeout(() => { btn.textContent = i18n.getMessage('dronecanParamWrite'); }, 2000); - return; - } - let tooLow = false, tooHigh = false; - if (isInt) { - const toBig = b => typeof b === 'bigint' ? b : BigInt(Math.round(b)); - if (param.min !== undefined) tooLow = payload.value < toBig(param.min); - if (param.max !== undefined) tooHigh = payload.value > toBig(param.max); - } else { - if (param.min !== undefined) tooLow = payload.value < Number(param.min); - if (param.max !== undefined) tooHigh = payload.value > Number(param.max); - } - if (tooLow || tooHigh) { - input.style.outline = '2px solid #cc0000'; - const lo = param.min !== undefined ? param.min : '—'; - const hi = param.max !== undefined ? param.max : '—'; - input.title = i18n.getMessage('dronecanParamRangeMustBeBetween', [lo, hi]); - btn.textContent = i18n.getMessage('dronecanParamOutOfRange'); - setTimeout(() => { btn.textContent = i18n.getMessage('dronecanParamWrite'); }, 2000); - return; - } - } - input.style.outline = ''; - input.title = ''; - - btn.disabled = true; - btn.textContent = '...'; - dronecanAsyncPoll(DRONECAN_SERVICE_PARAM_GETSET, nodeId, payload, (err, result) => { - if (!err && result) { - param.value = result.value; - input.value = param.value_type === PARAM_TYPE_BOOL ? (result.value ? 'true' : 'false') : String(result.value); - btn.textContent = i18n.getMessage('OK'); - } else { - btn.textContent = i18n.getMessage('dronecanParamError'); - } - btn.disabled = false; - setTimeout(() => { btn.textContent = i18n.getMessage('dronecanParamWrite'); }, 2000); - }); - }); + btn.addEventListener('click', () => handleParamWriteClick(btn, container, params, nodeId)); }); } fetchParam(0); }; +function finishSaveConfigAndReboot() { + GUI.log(i18n.getMessage('configurationEepromSaved')); + MSP.send_message(MSPCodes.MSP_SET_REBOOT, false, false, () => { + GUI.log(i18n.getMessage('deviceRebooting')); + GUI.handleReconnect($('.tab_dronecan a')); + }); +} + +function saveNodeIdAndReboot(nodeId) { + mspHelper.setSetting('dronecan_node_id', nodeId, () => { + mspHelper.saveToEeprom(finishSaveConfigAndReboot); + }); +} + dronecanTab.saveConfig = function () { const bitrate = $('#dronecan-bitrate').val(); - const nodeId = parseInt($('#dronecan-node-id').val(), 10); + const nodeId = Number.parseInt($('#dronecan-node-id').val(), 10); if (nodeId >= 126 && !confirm(i18n.getMessage('dronecanNodeIdReservedWarning'))) return; - mspHelper.setSetting('dronecan_bitrate_kbps', bitrate, function () { - mspHelper.setSetting('dronecan_node_id', nodeId, function () { - mspHelper.saveToEeprom(function () { - GUI.log(i18n.getMessage('configurationEepromSaved')); - MSP.send_message(MSPCodes.MSP_SET_REBOOT, false, false, function () { - GUI.log(i18n.getMessage('deviceRebooting')); - GUI.handleReconnect($('.tab_dronecan a')); - }); - }); - }); - }); + mspHelper.setSetting('dronecan_bitrate_kbps', bitrate, () => saveNodeIdAndReboot(nodeId)); }; dronecanTab.cleanup = function (callback) { diff --git a/test_dronecan_async_result.mjs b/test_dronecan_async_result.mjs index 4d3880db0..d29a33b3e 100644 --- a/test_dronecan_async_result.mjs +++ b/test_dronecan_async_result.mjs @@ -2,7 +2,9 @@ /** * Test: MSP2_INAV_DRONECAN_ASYNC_RESULT decoder * - * Mirrors the parsing logic in MSPHelper.js case MSP2_INAV_DRONECAN_ASYNC_RESULT. + * Mirrors the parsing logic in MSPHelper.js case MSP2_INAV_DRONECAN_ASYNC_RESULT + * (string decoding here uses String.fromCodePoint instead of fromCharCode per + * lint preference; both are equivalent for the single-byte values decoded here). * Run with: node test_dronecan_async_result.mjs * * Wire format (state, seq, service_id, node_id always present): @@ -68,7 +70,7 @@ function parseAsyncResult(data) { if (state === 2) { // READY let offset = 5; const name_len = data.getUint8(offset++); - result.name = String.fromCharCode( + result.name = String.fromCodePoint( ...new Uint8Array(data.buffer, data.byteOffset + offset, name_len)); offset += name_len; @@ -100,7 +102,7 @@ function parseAsyncResult(data) { break; case 4: { // STRING const slen = data.getUint8(offset++); - result.value = String.fromCharCode( + result.value = String.fromCodePoint( ...new Uint8Array(data.buffer, data.byteOffset + offset, slen)); break; } @@ -261,12 +263,12 @@ console.log('\nTest: READY Param GetSet — FLOAT'); makePrefix(2, 7, 11, 10), appendName(new Uint8Array(0), 'NAV_FW_CRUISE_THR'), u8(2), // value_type = FLOAT - f32le(1450.0), + f32le(1450), ); const r = parseAsyncResult(new DataView(raw.buffer)); assert(r !== null, 'parses without error'); assertEqual(r.value_type, 2, 'value_type = FLOAT'); - assert(Math.abs(r.value - 1450.0) < 0.1, 'value ≈ 1450.0'); + assert(Math.abs(r.value - 1450) < 0.1, 'value ≈ 1450'); } console.log('\nTest: READY Param GetSet — BOOL true'); @@ -326,15 +328,13 @@ console.log('\nTest: READY Param GetSet — EMPTY type (unknown)'); } console.log('\nTest: seq field preserved correctly across states'); -{ - for (const [state, seq] of [[0, 0], [1, 128], [2, 255], [3, 1]]) { - const prefix = makePrefix(state, seq, 1, 5); - const raw = state === 2 - ? concat(prefix, u8(0), u8(0, 0, 0), u32le(0), u8(0, 0), new Uint8Array(16)) - : prefix; - const r = parseAsyncResult(new DataView(raw.buffer)); - assertEqual(r && r.seq, seq, `seq=${seq} preserved for state=${state}`); - } +for (const [state, seq] of [[0, 0], [1, 128], [2, 255], [3, 1]]) { + const prefix = makePrefix(state, seq, 1, 5); + const raw = state === 2 + ? concat(prefix, u8(0), u8(0, 0, 0), u32le(0), u8(0, 0), new Uint8Array(16)) + : prefix; + const r = parseAsyncResult(new DataView(raw.buffer)); + assertEqual(r?.seq, seq, `seq=${seq} preserved for state=${state}`); } // --------------------------------------------------------------------------- From 4748f32cfd667cd4bad6a521cf61609d2e42b9b1 Mon Sep 17 00:00:00 2001 From: daijoubu Date: Sat, 4 Jul 2026 19:28:28 -0700 Subject: [PATCH 37/48] fix(dronecan): flatten nested ternary and use Number.NaN in write-value helpers paramValueToString deduplicated a repeated pattern but kept the nested ternary it was meant to eliminate; convertParamValue's catch still returned the bare global NaN instead of Number.NaN. Both were newly flagged by SonarCloud after the previous commit. Verified with eslint-plugin-sonarjs (cognitive-complexity) locally: no violations. --- tabs/dronecan.js | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/tabs/dronecan.js b/tabs/dronecan.js index 9106ea2fb..2cd567964 100644 --- a/tabs/dronecan.js +++ b/tabs/dronecan.js @@ -260,13 +260,16 @@ dronecanTab.showDetail = function (nodeId) { }; function paramValueToString(value_type, value) { - return value_type === PARAM_TYPE_BOOL ? (value ? 'true' : 'false') : String(value); + if (value_type === PARAM_TYPE_BOOL) { + return value ? 'true' : 'false'; + } + return String(value); } function convertParamValue(value_type, writeValue) { switch (value_type) { case PARAM_TYPE_INT: - try { return BigInt(writeValue); } catch { return NaN; } + try { return BigInt(writeValue); } catch { return Number.NaN; } case PARAM_TYPE_FLOAT: return Number.parseFloat(writeValue); case PARAM_TYPE_BOOL: return writeValue === 'true' || writeValue === '1'; case PARAM_TYPE_STRING: From f2856fabf64e2333a00b23d6f4a132d2a367d0d1 Mon Sep 17 00:00:00 2001 From: daijoubu Date: Sat, 6 Jun 2026 14:48:26 -0700 Subject: [PATCH 38/48] fix(dronecan): validate FC node ID range before saving Reject NaN, 0, and values above 127 silently rather than passing an invalid value to setSetting (node ID 0 is anonymous/broadcast and disables CAN unicast on the FC). --- tabs/dronecan.js | 1 + 1 file changed, 1 insertion(+) diff --git a/tabs/dronecan.js b/tabs/dronecan.js index 2cd567964..caae0130a 100644 --- a/tabs/dronecan.js +++ b/tabs/dronecan.js @@ -451,6 +451,7 @@ function saveNodeIdAndReboot(nodeId) { dronecanTab.saveConfig = function () { const bitrate = $('#dronecan-bitrate').val(); const nodeId = Number.parseInt($('#dronecan-node-id').val(), 10); + if (Number.isNaN(nodeId) || nodeId < 1 || nodeId > 127) return; if (nodeId >= 126 && !confirm(i18n.getMessage('dronecanNodeIdReservedWarning'))) return; mspHelper.setSetting('dronecan_bitrate_kbps', bitrate, () => saveNodeIdAndReboot(nodeId)); }; From e16a8778bcfee09d79728323d591133fed68f4f9 Mon Sep 17 00:00:00 2001 From: daijoubu Date: Sat, 6 Jun 2026 14:50:55 -0700 Subject: [PATCH 39/48] fix(dronecan): retry stale async poll results instead of failing immediately The FC writes the async result slot after receiving the CAN response, so the first 75 ms poll can read a stale result from the previous request. Retry up to POLL_MAX_ATTEMPTS before giving up, matching the same timeout window used for in-progress states. --- tabs/dronecan.js | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tabs/dronecan.js b/tabs/dronecan.js index caae0130a..c7a955704 100644 --- a/tabs/dronecan.js +++ b/tabs/dronecan.js @@ -93,7 +93,9 @@ function dronecanAsyncPoll(service_id, node_id, params, onDone) { const r = FC.DRONECAN_ASYNC_RESULT; if (!r || r.seq !== expectedSeq || r.service_id !== service_id || r.node_id !== node_id) { - onDone(new Error('stale'), null); return; + if (++attempts < POLL_MAX_ATTEMPTS) { setTimeout(poll, POLL_INTERVAL_MS); } + else { onDone(new Error('stale'), null); } + return; } if (r.state === DRONECAN_ASYNC_STATE_READY) { onDone(null, r); } else if (r.state === DRONECAN_ASYNC_STATE_ERROR) { onDone(new Error('error'), null); } From 5d25ae96bfc9271e20731e391be7f334f3f17600 Mon Sep 17 00:00:00 2001 From: daijoubu Date: Sat, 6 Jun 2026 14:51:45 -0700 Subject: [PATCH 40/48] fix(dronecan): fix dead CSS selector and remove unused locale key #dronecan-detail-table th matched nothing; HTML uses .dronecan-detail. dronecanColUptime had no matching data-i18n attribute in the template. --- locale/en/messages.json | 3 --- src/css/tabs/dronecan.css | 2 +- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/locale/en/messages.json b/locale/en/messages.json index cf48cbe21..2ad6fa00b 100644 --- a/locale/en/messages.json +++ b/locale/en/messages.json @@ -203,9 +203,6 @@ "dronecanColNodeID": { "message": "Node ID" }, - "dronecanColUptime": { - "message": "Uptime" - }, "dronecanNodesTitle": { "message": "DroneCAN Nodes" }, diff --git a/src/css/tabs/dronecan.css b/src/css/tabs/dronecan.css index 8fb2af935..1a77400e3 100644 --- a/src/css/tabs/dronecan.css +++ b/src/css/tabs/dronecan.css @@ -44,7 +44,7 @@ margin-top: 1.5em; } -#dronecan-detail-table th { +.dronecan-detail th { padding-right: 1em; text-align: left; color: #aaa; From 040c8ad534f5816cd6c2bb814f3a8ea2f1113afd Mon Sep 17 00:00:00 2001 From: daijoubu Date: Tue, 9 Jun 2026 18:28:52 -0700 Subject: [PATCH 41/48] feat(gps): show DroneCAN GPS node ID field when DroneCAN provider selected MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Adds a dronecan_gps_node_id number input (0–125) to the GPS tab that appears when DroneCAN is selected as the GPS provider and is hidden for all serial protocols. 0 means accept any node; set non-zero to lock to a specific node ID. Pairs with firmware fix/dronecan-gps-health-guard which adds the dronecan_gps_node_id setting. --- locale/en/messages.json | 6 ++++++ tabs/gps.html | 5 +++++ tabs/gps.js | 1 + 3 files changed, 12 insertions(+) diff --git a/locale/en/messages.json b/locale/en/messages.json index 2ad6fa00b..44800e7ff 100644 --- a/locale/en/messages.json +++ b/locale/en/messages.json @@ -1343,6 +1343,12 @@ "gpsDroneCANInfo": { "message": "GPS is provided via DroneCAN. Configure bus settings on the DroneCAN tab. Serial port and baud rate do not apply." }, + "gpsDroneCANNodeId": { + "message": "GPS Node ID" + }, + "gpsDroneCANNodeIdTip": { + "message": "DroneCAN node ID of the GPS unit (1–125). Set to 0 to accept data from any node." + }, "configurationGPSUseGalileo": { "message": "Gps use Galileo Satellites (EU)" }, diff --git a/tabs/gps.html b/tabs/gps.html index 72003de20..de6f7c64f 100644 --- a/tabs/gps.html +++ b/tabs/gps.html @@ -31,6 +31,11 @@ +
    -
    +
    -
    +
    +
    + + +
    +
    diff --git a/tabs/configuration.js b/tabs/configuration.js index 07b70bbbc..4a5ae0f33 100644 --- a/tabs/configuration.js +++ b/tabs/configuration.js @@ -261,9 +261,21 @@ configurationTab.initialize = function (callback, scrollPosition) { }); + function updateBatterySourceFields() { + const vbatIsCan = $('#vbat_meter_type option:selected').text() === 'CAN'; + const currentIsCan = $('#current_meter_type option:selected').text() === 'CAN'; + $('#voltagescale-row').toggle(!vbatIsCan); + $('#currentscale-row').toggle(!currentIsCan); + $('#currentoffset-row').toggle(!currentIsCan); + $('#dronecan-battery-id-row').toggle(vbatIsCan || currentIsCan); + } + + $('#vbat_meter_type, #current_meter_type').on('change', updateBatterySourceFields); + // Wait for settings to load before triggering change event settingsPromise.then(function() { $i2cSpeed.trigger('change'); + updateBatterySourceFields(); }).catch(function(error) { console.error('Settings load failed, I2C speed change not triggered:', error); }); @@ -278,7 +290,9 @@ configurationTab.initialize = function (callback, scrollPosition) { FC.MISC.vbatmincellvoltage = parseFloat($('#mincellvoltage').val()); FC.MISC.vbatmaxcellvoltage = parseFloat($('#maxcellvoltage').val()); FC.MISC.vbatwarningcellvoltage = parseFloat($('#warningcellvoltage').val()); - FC.MISC.vbatscale = parseInt($('#voltagescale').val()); + if ($('#vbat_meter_type option:selected').text() !== 'CAN') { + FC.MISC.vbatscale = parseInt($('#voltagescale').val()); + } FC.MISC.battery_capacity = parseInt($('#battery_capacity').val()); FC.MISC.battery_capacity_warning = parseInt($('#battery_capacity_warning').val() * FC.MISC.battery_capacity / 100); @@ -288,8 +302,10 @@ configurationTab.initialize = function (callback, scrollPosition) { features.reset(); features.fromUI($('.tab-configuration')); features.execute(function () { - FC.CURRENT_METER_CONFIG.scale = parseInt($('#currentscale').val()); - FC.CURRENT_METER_CONFIG.offset = Math.round(parseFloat($('#currentoffset').val()) * 10); + if ($('#current_meter_type option:selected').text() !== 'CAN') { + FC.CURRENT_METER_CONFIG.scale = parseInt($('#currentscale').val()); + FC.CURRENT_METER_CONFIG.offset = Math.round(parseFloat($('#currentoffset').val()) * 10); + } saveChainer.execute(); }); }); From 24c667d0cf891691949610a43b729aad5a8361d1 Mon Sep 17 00:00:00 2001 From: daijoubu Date: Mon, 6 Jul 2026 14:15:00 -0700 Subject: [PATCH 44/48] fix(gps): correct dronecan_gps_node_id max from 125 to 127 Firmware's setting.yaml defines dronecan_gps_node_id as min:0 max:127, but the HTML input and tooltip both said 125 - mixed up with DRONECAN_DNA_MAX_NODE_ID (the unrelated DNA auto-allocation ceiling). This is a static filter setting, not DNA allocation, so a node statically configured to 126/127 should still be selectable. The runtime max was already self-correcting via Settings.configureInputs() reading the firmware-reported setting metadata, but the static HTML value and tooltip text were wrong regardless and would permanently mislead users about the valid range. --- locale/en/messages.json | 2 +- tabs/gps.html | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/locale/en/messages.json b/locale/en/messages.json index bc6baabc1..3a20619a7 100644 --- a/locale/en/messages.json +++ b/locale/en/messages.json @@ -1347,7 +1347,7 @@ "message": "GPS Node ID" }, "gpsDroneCANNodeIdTip": { - "message": "DroneCAN node ID of the GPS unit (1–125). Set to 0 to accept data from any node." + "message": "DroneCAN node ID of the GPS unit (1–127). Set to 0 to accept data from any node." }, "configurationGPSUseGalileo": { "message": "Gps use Galileo Satellites (EU)" diff --git a/tabs/gps.html b/tabs/gps.html index de6f7c64f..cc4fa9c14 100644 --- a/tabs/gps.html +++ b/tabs/gps.html @@ -32,7 +32,7 @@
    From 8e14df57b0c973eb9d5d1b88bc8155daf10ed3a9 Mon Sep 17 00:00:00 2001 From: daijoubu Date: Mon, 6 Jul 2026 16:12:27 -0700 Subject: [PATCH 45/48] fix(ui): decouple conditional row visibility from generic setting auto-show Settings.configureInputs() (js/settings.js) calls parent.show() on a [data-setting] input's parent as soon as that individual field's own MSP fetch resolves - which happens per-field, asynchronously, well before the tab's full settingsPromise chain completes. Both the battery-ID row and the GPS node-ID row rely on their own tab-specific toggle logic (updateBatterySourceFields() / GPS provider handling) that only runs after that full chain resolves, so there was a window (confirmed ~0.6-1.3s via timing instrumentation) where the row was visible even in its supposed-to-be-hidden default state. Wrapped both rows in an additional
    - a mechanism configureInputs() already checks for via input.parents('.setting-container:first') before falling back to input.parent(), with zero CSS rules defined anywhere so it's visually inert. This redirects the generic auto-show to the harmless outer wrapper, leaving each row's own inline display:none default untouched until its tab's specific conditional logic decides otherwise. Verified via fine-grained visibility sampling (8 timestamps from t=0 to t=2s) that both rows now stay hidden throughout in their default state, with no regression in the shown-when-relevant case. The GPS row turned out to have the identical latent race, not caught in earlier coarser-grained testing - now covered by the same fix. --- tabs/configuration.html | 14 ++++++++------ tabs/gps.html | 10 ++++++---- 2 files changed, 14 insertions(+), 10 deletions(-) diff --git a/tabs/configuration.html b/tabs/configuration.html index dba6ccc9d..fbb1d5627 100644 --- a/tabs/configuration.html +++ b/tabs/configuration.html @@ -141,12 +141,14 @@
    -
    - - -
    +
    +
    diff --git a/tabs/gps.html b/tabs/gps.html index cc4fa9c14..18119a4fb 100644 --- a/tabs/gps.html +++ b/tabs/gps.html @@ -31,10 +31,12 @@
    -
    ${thIndex}${thName}${thType}${thValue}${thRange}