From 88a6f636cb0060b1e02b0ef5dfb2b92dc919b98f Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Sat, 10 Dec 2022 14:55:35 +1100
Subject: [PATCH] angle_mode debug and attitude update

---
 js/flightlog_fielddefs.js        |  1 +
 js/flightlog_fields_presenter.js | 25 +++++++++++++++----
 js/graph_config.js               | 41 ++++++++++++++++++++++++++++++++
 3 files changed, 63 insertions(+), 4 deletions(-)

diff --git a/js/flightlog_fielddefs.js b/js/flightlog_fielddefs.js
index 8b36ae73..eb391e0b 100644
--- a/js/flightlog_fielddefs.js
+++ b/js/flightlog_fielddefs.js
@@ -349,6 +349,7 @@ let
         "ATTITUDE",
         "VTX_MSP",
         "GPS_DOP",
+        "ANGLE_MODE",
     ]),
 
     SUPER_EXPO_YAW = makeReadOnly([
diff --git a/js/flightlog_fields_presenter.js b/js/flightlog_fields_presenter.js
index 332650a0..29c0b3b5 100644
--- a/js/flightlog_fields_presenter.js
+++ b/js/flightlog_fields_presenter.js
@@ -671,10 +671,10 @@ function FlightLogFieldPresenter() {
         },
         'ATTITUDE' : {
             'debug[all]':'Attitude',
-            'debug[0]':'accADC X',
-            'debug[1]':'accADC Y',
-            'debug[2]':'Setpoint Roll',
-            'debug[3]':'Setpoint Pitch',
+            'debug[0]':'IMU Gain',
+            'debug[1]':'EZ_EF',
+            'debug[2]':'GroundSpeedError',
+            'debug[3]':'VelocityFactor',
         },
         'VTX_MSP' : {
             'debug[all]': 'VTX MSP',
@@ -690,6 +690,13 @@ function FlightLogFieldPresenter() {
             'debug[2]': 'hDOP (horizontal - 2D)',
             'debug[3]': 'vDOP (vertical - 1D)',
         },
+        'ANGLE_MODE' : {
+            'debug[all]': 'Angle Mode',
+            'debug[0]': 'Target angle',
+            'debug[1]': 'Error P correction',
+            'debug[2]': 'Feedforward correction',
+            'debug[3]': 'Angle achieved',
+        },
     };
 
     let DEBUG_FRIENDLY_FIELD_NAMES = null;
@@ -1354,6 +1361,16 @@ function FlightLogFieldPresenter() {
                         default:
                             return (value / 100).toFixed(2);
                     }
+                case 'ANGLE_MODE':
+                    switch (fieldName) {
+                        case 'debug[0]': // target angle
+                        case 'debug[1]': // angle error
+                        case 'debug[2]': // angle feedforward
+                        case 'debug[3]': // angle achieved
+                            return (value / 10).toFixed(1) + " °";
+                        default:
+                            return value.toFixed(0);
+                    }
             }
             return value.toFixed(0);
         }
diff --git a/js/graph_config.js b/js/graph_config.js
index 23bef993..d4f1340b 100644
--- a/js/graph_config.js
+++ b/js/graph_config.js
@@ -931,6 +931,47 @@ GraphConfig.load = function(config) {
                             default:
                                 return getCurveForMinMaxFields(fieldName);
                             }
+                    case 'ATTITUDE':
+                        switch (fieldName) {
+                            case 'debug[0]': // 
+                            case 'debug[1]': // 
+                            case 'debug[2]': // 
+                            case 'debug[3]': // 
+                                return {
+                                    offset: 0,
+                                    power: 1.0,
+                                    inputRange: 500,
+                                    outputRange: 1.0,
+                                };
+                            default:
+                                return {
+                                    offset: 0,
+                                    power: 1.0,
+                                    inputRange: 500,
+                                    outputRange: 1.0,
+                                };
+                            }
+                    case 'ANGLE_MODE':
+                        switch (fieldName) {
+                            case 'debug[0]': // angle target
+                            case 'debug[3]': // angle achieved
+                                return {
+                                    offset: 0,
+                                    power: 1.0,
+                                    inputRange: 1000,
+                                    outputRange: 1.0,
+                                };
+                            case 'debug[1]': // angle error correction
+                            case 'debug[2]':  // angle feedforward
+                                return {
+                                    offset: 0,
+                                    power: 1.0,
+                                    inputRange: 5000,
+                                    outputRange: 1.0,
+                                };
+                            default:
+                                return getCurveForMinMaxFields(fieldName);
+                            }
                     }
             }
             // if not found above then