doa confidence from config file, add warning when imu not aligned

chasemapper/config.py

@@ -195,6 +195,12 @@ def parse_config_file(filename):
         logging.info("Missing bearing_only_mode setting, using default (False)")
         chase_config["bearings_only_mode"] = False
 
+    try:
+        chase_config["doa_confidence_threshold"] = config.getfloat("bearings", "doa_confidence_threshold")
+    except:
+        logging.info("Missing DoA Confidence Threshold Setting, using default (4.0)")
+        chase_config["doa_confidence_threshold"] = 4.0
+
     # Telemetry Source Profiles
 
     _profile_count = config.getint("profile_selection", "profile_count")

horusmapper.cfg.example

@@ -263,6 +263,10 @@ car_speed_gate = 10
 # 4 degrees/second seems to work fairly well.
 turn_rate_threshold = 4.0
 
+# DoA Confidence Threshold
+# Used to gate bearings provided by a KrakenSDR system
+doa_confidence_threshold = 4.0
+
 # Visual Settings - these can be adjust in the Web GUI during runtime
 
 # Bearing length in km

static/css/oclock.css

@@ -3,7 +3,6 @@
 	left: 0;
 	border: 1px solid black;
 	padding: 0;
-    margin: 1em auto;
 	width: 20em;
     height: 20em;
 	border-radius: 50%;

static/js/balloon.js

@@ -248,6 +248,14 @@ function handleTelemetry(data){
         // Update Detailed GPS / Heading Info
         if(data.hasOwnProperty('heading_status')){
             $("#headingStatus").text(data.heading_status);
+
+            if(data.heading_status.includes("Ongoing")){
+                $('#car_warning').text("IMU Not Aligned")
+                $('#car_warning').removeClass();
+                $('#car_warning').addClass('dataAgeBad');
+            } else {
+                $('#car_warning').text("")
+            }
         }
 
         if(data.hasOwnProperty('numSV')){

static/js/settings.js

@@ -65,7 +65,7 @@ function serverSettingsUpdate(data){
     $('#bearingColorSelect').val(chase_config.bearing_color);
     $('#bearingCustomColor').val(chase_config.bearing_custom_color);
     $('#bearingMaximumAge').val((chase_config.max_bearing_age/60.0).toFixed(0));
-
+    $('#bearingConfidenceThreshold').val(chase_config.doa_confidence_threshold.toFixed(1));
 
     $('#bearingsOnlyMode').prop('checked', chase_config.bearings_only_mode);
     toggleBearingsOnlyMode()

templates/index.html

@@ -358,7 +358,7 @@
             // Data age display - shows how old the various datasets are.
             L.control.custom({
                 position: 'topleft',
-                content : "<div class='dataAgeHeader'>Data Age</div><div id='payload_age' class='dataAgeOK'></div><div id='car_age' class='dataAgeOK'></div><div id='pred_age' class='dataAgeOK'></div>",
+                content : "<div class='dataAgeHeader'>Data Age</div><div id='payload_age' class='dataAgeOK'></div><div id='car_age' class='dataAgeOK'></div><div id='car_warning' class='dataAgeOK'></div><div id='pred_age' class='dataAgeOK'></div>",
                 classes : 'btn-group-vertical btn-group-sm',
                 id: 'age_display',
                 style   :