From 168bd90515303aa8fa95acc44b7d3bad16487d9c Mon Sep 17 00:00:00 2001
From: Pierre Tilak <pierre.tilak@gmail.com>
Date: Mon, 3 Jul 2023 15:05:27 +0200
Subject: [PATCH 1/2] Fix RPY

---
 api/parsers/ulgparser.py | 20 +++++++++-----------
 1 file changed, 9 insertions(+), 11 deletions(-)

diff --git a/api/parsers/ulgparser.py b/api/parsers/ulgparser.py
index cb5551a..40de1bf 100644
--- a/api/parsers/ulgparser.py
+++ b/api/parsers/ulgparser.py
@@ -16,21 +16,19 @@ def euler_from_quaternion(self, w, x, y, z):
         angles = {}
 
         #roll(x-axis rotation)
-        sinr_cosp = 2 * (w * x + y * z);
-        cosr_cosp = 1 - 2 * (x * x + y * y);
-        angles['roll'] = math.atan2(sinr_cosp, cosr_cosp);
+        sinr_cosp = 2 * (w * x + y * z)
+        cosr_cosp = 1 - 2 * (x * x + y * y)
+        angles['roll'] = math.atan2(sinr_cosp, cosr_cosp)
 
         #pitch (y-axis rotation)
-        sinp = 2 * (w * y - z * x);
-        if (abs(sinp) >= 1):
-            angles['pitch'] = math.copysign(math.pi / 2, sinp); # use 90 degrees if out of range
-        else:
-            angles['pitch'] = math.asin(sinp);
+        sinp = math.sqrt(1+2*(w*y - x*z))
+        cosp = math.sqrt(1-2*(w*y - x*z))
+        angles['pitch'] = 2*math.atan2(sinp,cosp) - math.pi/2
 
         # yaw (z-axis rotation)
-        siny_cosp = 2 * (w * z + x * y);
-        cosy_cosp = 1 - 2 * (y * y + z * z);
-        angles['yaw'] = math.atan2(siny_cosp, cosy_cosp);
+        siny_cosp = 2 * (w * z + x * y)
+        cosy_cosp = 1 - 2 * (y * y + z * z)
+        angles['yaw'] = math.atan2(siny_cosp, cosy_cosp)
 
         return angles
 

From a0131265147f5a8a3d8f8300e432cfcfe3694889 Mon Sep 17 00:00:00 2001
From: Pierre Tilak <pierre.tilak@gmail.com>
Date: Tue, 4 Jul 2023 15:43:23 +0200
Subject: [PATCH 2/2] Improve zoom and timestamp units

- Timestamp should only use exponential units if the max value is
  greater than 1e5
- Remove some auto-range signals (still need to remove the one connected
  to the rubbish bin)
---
 src/components/Graph.js | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/src/components/Graph.js b/src/components/Graph.js
index e97ac5b..c683414 100644
--- a/src/components/Graph.js
+++ b/src/components/Graph.js
@@ -10,6 +10,7 @@ function Graph({ id, initialKeys, updateKeys, removeGraph }) {
   const [selectedOptions, setSelectedOptions] = useState([]);
   const [inputValue, setInputValue] = useState("");
   const [data, setData] = useState([]);
+  const [exponentData, setExponentData] = useState("none");
 
   useEffect(() => {
     getInitialData();
@@ -21,10 +22,16 @@ function Graph({ id, initialKeys, updateKeys, removeGraph }) {
   }, []);
 
   useEffect(() => {
-    setTimeout(function () {
-      plotData.autoRange();
-    }, 200);
     // eslint-disable-next-line
+    const max_x = Math.max(...data.map(xarray=>{
+	return xarray.x[xarray.x.length-1];
+    }));
+    if(max_x>1e5){
+        setExponentData("e");
+    }
+    else{
+        setExponentData("none");
+    }
   }, [data]);
 
   const getInitialData = async () => {
@@ -133,9 +140,6 @@ function Graph({ id, initialKeys, updateKeys, removeGraph }) {
     }
     select.style.maxHeight = "36px";
 
-    setTimeout(function () {
-      plotData.autoRange();
-    }, 200);
   };
 
   const stretchSelect = () => {
@@ -203,7 +207,7 @@ function Graph({ id, initialKeys, updateKeys, removeGraph }) {
               spikecolor: "#000",
               spikemode: "across+marker",
               spikethickness: 1,
-              exponentformat: "e",
+              exponentformat: exponentData,
             },
             yaxis: {
               exponentformat: "e",