speedandcurrent 1.0.1 → 1.3.0

package/CHANGELOG.md

@@ -4,7 +4,25 @@ All notable changes to this project will be documented in this file.
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
 
-## [0.1.0] - 2025-1-? First version
+## [1.0.1] - 2025-1-27
 ### Added
 - basic functionality to estimate speed, leeway and current using Kalman filters
 - basic functionality for a webapp that shows what is going on
+
+## [1.1.0] - 2025-8-20
+### Changed
+- Path names for current. It now is self.environment.current.setTrue and self.environment.current.drift
+### Fixed
+- Case error in filename that prevented the webapp from displaying the correction table
+- Corrected speed through water is now calculated when the correction table is fixed
+
+## [1.3.0] - ntb
+### Changed
+- Simplified code
+- Less CPU usage
+### Added
+- Option to set the source for input paths
+- Smart heartbeat. Calculations will run right after an update of the path that has the lowest update frequency
+- Oversampling for quick update inputs to get better variance
+### Fixed
+- Angles are now reported in the appropriate range, 0 to 2 * PI or -PI to PI, depending on path

package/correctionTable.js

@@ -9,19 +9,20 @@ class CorrectionTable extends Table2D{
 
 
   static fromJSON(data, stability) {
-    const table = new CorrectionTable(data.row, data.col, stability);
+    const table = new CorrectionTable(data.id, data.row, data.col, stability);
     table.table = data.table.map(row => row.map(cellData => CorrectionEstimator.fromJSON(cellData)));
     return table;
   }
 
-  constructor(row, col, stability=5) {
-    super(row, col, CorrectionEstimator, CorrectionEstimator.getFilterModel(stability));
-    this.id = "correctionTable";
-    this.label = "Correction Table";
+  constructor(id, row, col, stability=5) {
+    super(id, row, col, CorrectionEstimator, CorrectionEstimator.getFilterModel(stability));
+    this.lastUpdatedCell = null;
   }
   
   update(speed, heel, groundSpeed, current, boatSpeed, heading) {
-    this.getCell(speed, heel)?.update(groundSpeed, current, boatSpeed, heading);
+    const cell = this.getCell(speed, heel);
+    cell?.update(groundSpeed, current, boatSpeed, heading);
+    this.lastUpdatedCell = cell;
   }
 
   getKalmanCorrection(speed, heel) {
@@ -53,15 +54,26 @@ class CorrectionTable extends Table2D{
     if (totalWeightX == 0 || totalWeightY == 0) return { x: 0, y: 0 };  
     x = x / totalWeightX;
     y = y / totalWeightY;
-    return { x, y };
+    return { x:x, y:y };
 
   }
   
-  getInfo() {
+  report() {
     return {
+      id: this.id,
       row: { min: this.min[0], max: this.max[0], step: this.step[0] },
       col: { min: this.min[1], max: this.max[1], step: this.step[1] },
-      table: this.table.map(row => row.map(correction => correction.getInfo()))
+      table: this.table.map(row =>
+        row.map(correction => {
+          const cellReport = correction.report();
+          // Mark selected if this is the last updated cell
+          cellReport.displayAttributes = {
+            selected: correction === this.lastUpdatedCell
+          };
+          return cellReport;
+        })
+      ),
+      displayAttributes: this.displayAttributes 
     };
   }
 
@@ -101,7 +113,7 @@ class CorrectionEstimator {
   }
   
   update(groundSpeed, current, boatSpeed, heading) {
-    if (groundSpeed.n < 2 || current.n < 2 || boatSpeed.n < 2) return;
+    if(groundSpeed.n < 2 || current.n < 2 || boatSpeed.n < 2)  return;
     // Rotation matrix for -theta
     const cosTheta = Math.cos(heading);
     const sinTheta = Math.sin(heading);
@@ -120,9 +132,9 @@ class CorrectionEstimator {
       ]
     );
 
-    var groundVector = rotateValue(groundSpeed.obs);
-    var currentVector = rotateValue(current.obs);
-    var boatVector = boatSpeed.obs;
+    var groundVector = rotateValue(groundSpeed.vector);
+    var currentVector = rotateValue(current.vector);
+    var boatVector = boatSpeed.vector;
 
     const observation = [
       -boatVector[0] + groundVector[0] - currentVector[0],
@@ -145,7 +157,7 @@ class CorrectionEstimator {
   }
 
 
-  getInfo() {
+  report() {
     return { x: this.x, y: this.y, N: this.N };
   }