@mschaeffler/node-red-logic 4.3.0 → 4.3.1

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Files changed (3) hide show
  1. package/math_filter.html +3 -59
  2. package/math_filter.js +18 -90
  3. package/package.json +1 -1
package/math_filter.html CHANGED
@@ -7,15 +7,7 @@
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  topic:{value:""},
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  property:{value:"payload", required:true},
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  propertyType:{value:"msg"},
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- control:{value:0, required:true},
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- controlType:{value:"num"},
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- processNoise:{value:1, validate:RED.validators.number(), required:true },
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- measurementNoise:{value:1, validate:RED.validators.number(), required:true },
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- stateVector:{value:1, validate:RED.validators.number(), required:true },
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- controlVector:{value:0, validate:RED.validators.number(), required:true },
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- measurementVector:{value:1, validate:RED.validators.number(), required:true },
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- adaptionCount:{value:0, validate:RED.validators.number(), required:true },
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- contextStore:{value:"none",required:true},
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+ alpha:{value:0.5, validate:RED.validators.number(), required:true },
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  filter:{value:0, validate:RED.validators.number()},
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  filterUnit:{value:"secs"},
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  filterVal:{value:0, validate:RED.validators.number()},
@@ -42,23 +34,6 @@
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  types:["msg","jsonata"],
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  typeField: "#node-input-propertyType"
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  });
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- $("#node-input-control").typedInput({
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- type:"num",
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- types:["msg","num"],
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- typeField: "#node-input-controlType"
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- });
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- // populate store names
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- $("#node-input-contextStore").empty();
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- const defaultStore = RED.settings.hasOwnProperty("context") ? RED.settings.context.default : '';
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- RED.settings.context.stores.forEach(function(item){
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- if( item ) {
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- const opt = $(`<option value="${item}">${item}${item===defaultStore?" (default)":""}</option>`);
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- $("#node-input-contextStore").append(opt);
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- }
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- });
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- const currentStore = node.contextStore || '';
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- // select the current option
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- $("#node-input-contextStore").val(currentStore);
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  }
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  });
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  </script>
@@ -78,40 +53,9 @@
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  <input type="hidden" id="node-input-propertyType">
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  </div>
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  <div class="form-row">
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- <label for="node-input-control"> control value</label>
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- <input type="text" id="node-input-control">
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- <input type="hidden" id="node-input-controlType">
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- </div>
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-
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- <div class="form-row">
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- <label for="node-input-processNoise"> process noise</label>
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- <input type="text" id="node-input-processNoise">
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- </div>
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- <div class="form-row">
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- <label for="node-input-measurementNoise"> measure noise</label>
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- <input type="text" id="node-input-measurementNoise">
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- </div>
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- <div class="form-row">
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- <label for="node-input-stateVector"> process factor</label>
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- <input type="text" id="node-input-stateVector">
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+ <label for="node-input-alpha"> alpha</label>
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+ <input type="text" id="node-input-alpha">
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  </div>
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- <div class="form-row">
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- <label for="node-input-controlVector"> control factor</label>
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- <input type="text" id="node-input-controlVector">
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- </div>
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- <div class="form-row">
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- <label for="node-input-measurementVector"> measur. factor</label>
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- <input type="text" id="node-input-measurementVector">
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- </div>
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- <div class="form-row">
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- <label for="node-input-adaptionCount"> adaption counts</label>
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- <input type="number" id="node-input-adaptionCount">
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- </div>
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- <div class="form-row">
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- <label for="node-input-contextStore"><i class="fa fa-database"></i> context store</label>
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- <select type="text" id="node-input-contextStore"></select>
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- </div>
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-
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  <div class="form-row">
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  <label for="node-input-filter"><i class="fa fa-filter"></i> filter time</label>
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  <input type="number" id="node-input-filter" style="width:70px;" placeholder="Time">
package/math_filter.js CHANGED
@@ -6,27 +6,18 @@ module.exports = function(RED) {
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  //this.config = config;
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  var node = this;
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  var context = this.context();
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- this.topic = config.topic ?? "";
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- this.property = config.property ?? "payload";
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- this.propertyType = config.propertyType ?? "msg";
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- this.control = config.control ?? 0;
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- this.controlType = config.controlType ?? "num";
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- this.processNoise = Number( config.processNoise ?? 1 );
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- this.measurementNoise = Number( config.measurementNoise ?? 1 );
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- this.stateVector = Number( config.stateVector ?? 1 );
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- this.controlVector = Number( config.controlVector ?? 0 );
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- this.measurementVector = Number( config.measurementVector ?? 1 );
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- this.adaptionCount = Number( config.adaptionCount ?? 0 );
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- this.contextStore = config.contextStore ?? "";
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- this.filterTime = Number( config.filter ?? 0 ) * tools.timeUnits( config.filterUnit );
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- this.filterValue = Number( config.filterVal ?? 0 );
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- this.filterLongTime = this.filterTime * Number( config.filterMul ?? 10 );
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- this.zeroIsZero = Boolean( config.zeroIsZero );
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- this.round = config.decimals ? Math.pow( 10, Number( config.decimals ) ) : null;
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- this.showState = Boolean( config.showState );
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+ this.topic = config.topic ?? "";
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+ this.property = config.property ?? "payload";
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+ this.propertyType = config.propertyType ?? "msg";
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+ this.alpha = Number( config.alpha ?? 0.5 );
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+ this.filterTime = Number( config.filter ?? 0 ) * tools.timeUnits( config.filterUnit );
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+ this.filterValue = Number( config.filterVal ?? 0 );
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+ this.filterLongTime = this.filterTime * Number( config.filterMul ?? 10 );
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+ this.zeroIsZero = Boolean( config.zeroIsZero );
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+ this.round = config.decimals ? Math.pow( 10, Number( config.decimals ) ) : null;
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+ this.showState = Boolean( config.showState );
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  this.data = {};
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  this.last = {};
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- this.adaptation = {};
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  if( this.propertyType === "jsonata" )
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  {
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  try {
@@ -38,27 +29,6 @@ module.exports = function(RED) {
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  }
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  }
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  node.status( "" );
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- context.get( "data", node.contextStore, function(err,value)
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- {
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- if( err )
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- {
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- node.error( err );
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- }
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- else
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- {
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- //console.log( "context read", value );
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- if( value !== undefined )
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- {
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- const now = Date.now();
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- for( const i in value )
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- {
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- value[i].time = now;
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- value[i].processNoise = node.processNoise;
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- }
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- node.data = value;
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- }
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- }
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- } );
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  function setStatus(color,text)
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  {
@@ -75,10 +45,8 @@ module.exports = function(RED) {
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  }
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  else if( msg.reset || msg.topic==="init" )
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  {
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- node.data = {};
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- node.last = {};
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- node.adaptation = {};
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- context.set( "data", node.data, node.contextStore );
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+ node.data = {};
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+ node.last = {};
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  node.status( "" );
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  done();
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  }
@@ -114,55 +82,21 @@ module.exports = function(RED) {
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  const payload = Number( value );
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  if( ! isNaN( payload ) )
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  {
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- const control = RED.util.evaluateNodeProperty( node.control, node.controlType, node, msg );
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- if( ! isNaN( control ) )
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- {
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  node.data[msg.topic] ??= {};
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  const data = node.data[msg.topic];
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  const now = Date.now();
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- function kalmanFilter(measurement,control)
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+ function lowPassFilter(measurement)
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  {
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- if( data.estimate === undefined )
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+ if( data.last == undefined )
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  {
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- data.processNoise = node.processNoise;
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- data.estimate = measurement / node.measurementVector;
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- data.covariance = node.measurementNoise / node.measurementVector**2;
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+ data.last = measurement;
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  }
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  else
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  {
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- // measurement time
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- const deltaTime = ( now - data.time ) / 1000;
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- const stateVector = 1 + ( node.stateVector - 1 ) * deltaTime;
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- const controlVector = node.controlVector * deltaTime;
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- // prediction
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- const predX = stateVector * data.estimate + controlVector * control;
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- const predCov = stateVector**2 * data.covariance + node.processNoise;
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- // innovation
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- const innovation = measurement - node.measurementVector * predX;
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- // adaptation
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- if( node.adaptionCount )
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- {
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- const adaptation = node.adaptation[msg.topic] ?? [];
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- adaptation.push( innovation );
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- if( adaptation.length > node.adaptionCount )
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- {
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- adaptation.shift();
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- const mean = adaptation.reduce( (a,b) => a + b ) / adaptation.length;
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- const variance = adaptation.reduce( (a,b) => a + ( b - mean ) ** 2, 0 ) / ( adaptation.length - 1 );
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- data.r = Math.max( variance, 1e-6 );
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- data.r2 = ( 2 * variance + node.processNoise ) / 3;
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- }
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- node.adaptation[msg.topic] = adaptation;
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- }
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- // kalman gain
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- const gain = predCov * node.measurementVector / ( predCov * node.measurementVector**2 + node.measurementNoise );
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- // correction
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- data.estimate = predX + gain * innovation;
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- data.covariance = ( 1 - gain * node.measurementVector ) * predCov;
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+ data.last += node.alpha * ( measurement - data.last );
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  }
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- data.time = now;
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- return data.estimate;
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+ return data.last;
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  }
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  function sendValue(value)
@@ -180,7 +114,7 @@ module.exports = function(RED) {
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  }
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  else
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  {
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- let value = kalmanFilter( payload, control );
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+ let value = lowPassFilter( payload );
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  const help = node.last[msg.topic];
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  if( help === undefined ||
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  ( help.time + node.filterTime < now && tools.distance( help.value, value ) >= node.filterValue ) ||
@@ -198,12 +132,6 @@ module.exports = function(RED) {
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  }
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  }
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  context.set( "data", node.data, node.contextStore );
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- }
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- else
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- {
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- setStatus( "red", "control is NaN" );
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- node.warn( `control is NaN (${msg.topic}=${control})` );
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- }
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  }
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  else
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  {
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "@mschaeffler/node-red-logic",
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- "version": "4.3.0",
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+ "version": "4.3.1",
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  "description": "nodes for simple operations.",
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  "license": "LGPL-2.1",
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  "homepage": "https://github.com/m-schaeffler/node-red-my-nodes/tree/main/node-red-logic",