Merge pull request #751 from westphae/ahrs_warnings

AHRS Warnings and disable AHRS output when GPS not available, fixes #732.

main/gps.go

@@ -1932,7 +1932,6 @@ func makeAHRSGDL90Report() {
 	palt := uint16(0xFFFF)
 	vs := int16(0x7FFF)
 	if isAHRSValid() {
-		// AHRS invalid magic number is ahrs.Invalid.
 		if !isAHRSInvalidValue(mySituation.AHRSPitch) {
 			pitch = roundToInt16(mySituation.AHRSPitch * 10)
 		}
@@ -2101,7 +2100,9 @@ func isGPSClockValid() bool {
 }
 
 func isAHRSValid() bool {
-	return stratuxClock.Since(mySituation.AHRSLastAttitudeTime) < 1*time.Second // If attitude information gets to be over 1 second old, declare invalid.
+	// If attitude information gets to be over 1 second old, declare invalid.
+	// If no GPS then we won't use or send attitude information.
+	return isGPSGroundTrackValid() && stratuxClock.Since(mySituation.AHRSLastAttitudeTime) < 1*time.Second
 }
 
 func isTempPressValid() bool {

web/css/ahrs.css

@@ -6,15 +6,16 @@
     height: 100%;
     background-color: #ABFF00;
     border-radius: 10%;
-    box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #304701 0 -1px 9px, #89FF00 0 2px 12px;
 }
 
 .indicator.off {
     background-color: #F00;
+    box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #472001 0 -1px 9px, #FF4900 0 2px 12px;
 }
 
 .indicator.on {
     background-color: #ABFF00;
+    box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #304701 0 -1px 9px, #89FF00 0 2px 12px;
 }
 
 .indicator.blink {
@@ -151,10 +152,10 @@
     stroke-width: 2px;
 }
 
-.error .errText {
+.msgText {
     font-size: 16px;
     font-family: sans-serif;
-    text-anchor: central;
+    text-anchor: middle;
     alignment-baseline: middle;
     stroke-width: 0px;
     fill: red;

web/plates/gps.html

@@ -1,35 +1,11 @@
 <div class="col-sm-12">
-	<div class="col-sm-6 hider">
-		<div class="panel panel-default">
-			<div class="panel-heading"><span class="panel_label">GPS</span></div>
-			<div class="panel-body">
-				<div class="row">
-					<span class="col-xs-12">
-						<div class="map-container">
-							<div id="map_display" class="world-map" ng-attr-style="background-position:{{map_pos_x + 'px ' + map_pos_y + 'px'}}; width:{{map_width}}px; height:{{map_height}}px; opacity:{{map_opacity}};">
-								<div class="mark-position" ng-style="{left: map_mark_x+'px', top: map_mark_y+'px', opacity: map_mark_opacity}">
-									<span class="fa fa-crosshairs"></span>
-								</div>
-							</div>
-						</div>
-					</span>
-				</div>
-				<div class="separator"></div>
-				<div class="row">
-					<strong class="col-xs-6 text-center">Location:</strong>
-					<strong class="col-xs-6 text-center">Track:</strong>
-				</div>
-				<div class="row">
-					<span class="col-xs-6 text-center">{{gps_lat}}, {{gps_lon}} &plusmn; {{gps_horizontal_accuracy}} m <br>
-						{{gps_alt}} &plusmn; {{gps_vertical_accuracy}} ft  @ {{gps_vert_speed}} ft/min</span>
-					<span class="col-xs-6 text-center">{{gps_track}}&deg; @ {{gps_speed}} KTS</span>
-				</div>
-			</div>
-		</div>
-	</div>
 	<div class="col-sm-6">
 		<div class="panel panel-default">
-			<div class="panel-heading"><span ng-click="hideClick()" class="panel_label">AHRS</span></div>
+			<div class="panel-heading">
+				<span ng-click="hideClick()" class="panel_label">AHRS</span>
+				<span ng-show="ConnectState == 'Connected'" class="label label-success">{{ConnectState}}</span>
+				<span ng-hide="ConnectState == 'Connected'" class="label label-danger">{{ConnectState}}</span>
+			</div>
 			<div class="panel-body">
 				<div class="row">
 					<span class="col-xs-12">
@@ -48,7 +24,10 @@
 				<div class="col-xs-12">
 					<div class="separator"></div>
 					<div class="col-xs-3">
-						<a ng-click="AHRSCage()" class="btn btn-primary" ng-disabled="IsCaging()">Reset /<br>Level</a>
+						<button class="btn btn-primary btn-block" ng-click="AHRSCage()"
+								ng-disabled="IsCaging || !IMU_Sensor_Enabled">Set Level</button>
+						<button class="btn btn-primary btn-block" ng-click="AHRSCalibrate()"
+								ng-disabled="IsCaging || !IMU_Sensor_Enabled">Zero Drift</button>
 					</div>
 					<div class="col-xs-9">
 						<div class="row">
@@ -80,6 +59,36 @@
 			</div>
 		</div>
 	</div>
+	<div class="col-sm-6 hider">
+		<div class="panel panel-default">
+			<div class="panel-heading">
+				<span class="panel_label">GPS</span>
+			</div>
+			<div class="panel-body">
+				<div class="row">
+					<span class="col-xs-12">
+						<div class="map-container">
+        					<div id="map_display" class="world-map" ng-attr-style="background-position:{{map_pos_x + 'px ' + map_pos_y + 'px'}}; width:{{map_width}}px; height:{{map_height}}px; opacity:{{map_opacity}};">
+    							<div class="mark-position" ng-style="{left: map_mark_x+'px', top: map_mark_y+'px', opacity: map_mark_opacity}">
+									<span class="fa fa-crosshairs"></span>
+								</div>
+							</div>
+						</div>
+					</span>
+				</div>
+	    		<div class="separator"></div>
+    			<div class="row">
+        			<strong class="col-xs-6 text-center">Location:</strong>
+        			<strong class="col-xs-6 text-center">Track:</strong>
+    			</div>
+				<div class="row">
+					<span class="col-xs-6 text-center">{{gps_lat}}, {{gps_lon}} &plusmn; {{gps_horizontal_accuracy}} m <br>
+						{{gps_alt}} &plusmn; {{gps_vertical_accuracy}} ft  @ {{gps_vert_speed}} ft/min</span>
+					<span class="col-xs-6 text-center">{{gps_track}}&deg; @ {{gps_speed}} KTS</span>
+				</div>
+			</div>
+		</div>
+	</div>
 </div>
 <div class="col-sm-12">
 	<div class="col-sm-6 hider">

web/plates/js/ahrs.js

@@ -12,6 +12,7 @@ function AHRSRenderer(locationId) {
     this.heading = 0;
     this.slipSkid = 0;
     this.altitude = 0;
+    this.messages = [];
 
     var display = SVG(this.locationId).viewbox(-200, -200, 400, 400).group();
 
@@ -86,9 +87,11 @@ function AHRSRenderer(locationId) {
     this.err.rect(400, 400).cx(0).cy(0);
     this.err.line(-200, -200, 200, +200);
     this.err.line(-200, +200, 200, -200);
-    this.errText = this.err.text("").cx(0).cy(0).addClass('errText');
+
-    var tb = this.errText.bbox();
+    this.message = display.group().cy(-85);
-    this.errTextBg = this.err.rect(tb.x, tb.y, tb.w, tb.h).stroke({'width': 1}).after(this.errText);
+    this.msgText = this.message.text("").addClass('msgText').build(true);
+    var tb = this.msgText.bbox();
+    this.msgTextBg = this.message.rect(tb.x, tb.y, tb.w, tb.h).stroke({'width': 1}).after(this.msgText);
 }
 
 AHRSRenderer.prototype = {
@@ -117,6 +120,23 @@ AHRSRenderer.prototype = {
             this.slipSkid = +10;
         }
 
+        if (this.messages.length > 0) {
+            this.message.hide();
+            this.msgText.clear();
+            var msgs = this.messages;
+            this.msgText.text(function (add) {
+                for (var i = 0; i < msgs.length; i++) {
+                    add.tspan(msgs[i]).center(0, 20 * i).newLine();
+                }
+            });
+            var tb = this.msgText.bbox();
+            this.msgTextBg.attr({x: tb.x - 3, y: tb.y - 2, width: tb.w + 6, height: tb.h + 4});
+            this.message.show();
+        } else {
+            this.message.hide();
+            this.msgText.clear();
+        }
+
         this.pitchClip.translate(0, -10 * this.pitch * this.pitchScale);
         this.rollClip.rotate(this.roll, 0, 0);
         this.card.rotate(0, 0, 0).translate(0, 10 * this.pitch * this.pitchScale);
@@ -129,13 +149,11 @@ AHRSRenderer.prototype = {
     turn_on: function () {
         this.err.hide();
         this.ai.show();
-	    this.errText.clear();
+        this.update(this.pitch, this.roll, this.heading, this.slipSkid);
     },
 
-	turn_off: function(message) {
+    turn_off: function () {
-        this.errText.text(message).center(0, 0);
+        this.update(this.pitch, this.roll, this.heading, this.slipSkid);
-        var tb = this.errText.bbox();
-        this.errTextBg.attr({'x': tb.x, 'y': tb.y, 'width': tb.w, 'height': tb.h});
         this.ai.hide();
         this.err.show();
     }

web/plates/js/gps.js

@@ -1,6 +1,11 @@
 angular.module('appControllers').controller('GPSCtrl', GPSCtrl); // get the main module controllers set
 GPSCtrl.$inject = ['$rootScope', '$scope', '$state', '$http', '$interval']; // Inject my dependencies
 
+const MSG_GROUND_TEST = ["GROUND TEST MODE - GPS REQUIRED", "DO NOT USE IN FLIGHT WITHOUT GPS"],
+    MSG_LEVELING = ["\n", "CALIBRATING", "FLY STRAIGHT AND DO NOT MOVE SENSOR"],
+    MSG_PSEUDO_AHRS = ["WARNING - USING GPS PSEUDO AHRS", "CONNECT AN AHRS BOARD TO USE TRUE AHRS"],
+    MSG_NO_AHRS = ["NO AHRS AVAILABLE", "MUST HAVE IMU AND/OR GPS FOR AHRS"];
+
 // create our controller function with all necessary logic
 function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
     $scope.$parent.helppage = 'plates/gps-help.html';
@@ -116,14 +121,28 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
         $scope.SolutionText = solutionText;
 
         $scope.gps_horizontal_accuracy = situation.GPSHorizontalAccuracy.toFixed(1);
+        var msg_ix = ahrs.messages.indexOf(MSG_GROUND_TEST[0]);
+        if (msg_ix < 0 && $scope.IMU_Sensor_Enabled && $scope.gps_horizontal_accuracy >= 30) {
+            ahrs.messages = ahrs.messages.concat(MSG_GROUND_TEST);
+        } else if (msg_ix >= 0 && $scope.gps_horizontal_accuracy < 30) {
+            ahrs.messages.splice(msg_ix, MSG_GROUND_TEST.length);
+        }
+
+        var msg_ix = ahrs.messages.indexOf(MSG_NO_AHRS[0]);
+        if (msg_ix < 0 && !$scope.IMU_Sensor_Enabled && $scope.gps_horizontal_accuracy >= 30) {
+            ahrs.messages = ahrs.messages.concat(MSG_NO_AHRS);
+            ahrs.turn_off();
+        } else if (msg_ix >= 0 && ($scope.IMU_Sensor_Enabled || $scope.gps_horizontal_accuracy < 30)) {
+            ahrs.messages.splice(msg_ix, MSG_NO_AHRS.length);
+            ahrs.turn_on();
+        }
+
         if ($scope.gps_horizontal_accuracy > 19999) {
             $scope.gps_horizontal_accuracy = "\u221e";
             $scope.gps_lat = "--";
             $scope.gps_lon = "--";
-            $scope.gps_alt = "--";
             $scope.gps_track = "--";
             $scope.gps_speed = "--";
-            $scope.gps_vert_speed = "--";
             $scope.map_opacity = 0.2;
             $scope.map_mark_opacity = 0;
         } else {
@@ -133,6 +152,8 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
         $scope.gps_vertical_accuracy = (situation.GPSVerticalAccuracy*3.2808).toFixed(1); // accuracy is in meters, need to display in ft
         if ($scope.gps_vertical_accuracy > 9999) {
             $scope.gps_vertical_accuracy = "\u221e";
+            $scope.gps_alt = "--";
+            $scope.gps_vert_speed = "--";
         }
 
 
@@ -199,7 +220,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
             $scope.ahrs_gload = situation.AHRSGLoad.toFixed(2);
             if ($scope.ahrs_gload > 360) {
                 $scope.ahrs_gload = "--";
-            } else {
+            } else if (gMeter !== undefined) {
                 gMeter.update(situation.AHRSGLoad, situation.AHRSGLoadMin, situation.AHRSGLoadMax);
             }
 
@@ -241,6 +262,17 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
             statusBMP.classList.add("off");
             statusBMP.classList.remove("on");
         }
+        if (situation.AHRSStatus & 0x08) {
+            statusCal.classList.add("blink");
+            statusCal.classList.remove("on");
+            statusCal.innerText = "Caging";
+            $scope.IsCaging = true;
+        } else {
+            statusCal.classList.remove("blink");
+            statusCal.classList.add("on");
+            statusCal.innerText = "Ready";
+            $scope.IsCaging = false;
+        }
         if (situation.AHRSStatus & 0x10) {
             statusLog.classList.remove("off");
             statusLog.classList.add("on");
@@ -248,16 +280,23 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
             statusLog.classList.add("off");
             statusLog.classList.remove("on");
         }
-        if (situation.AHRSStatus & 0x08) {
+
-            statusCal.classList.add("blink");
+        msg_ix = ahrs.messages.indexOf(MSG_LEVELING[0]);
-            statusCal.classList.remove("on");
+        if (msg_ix < 0 && $scope.IsCaging) {
-            statusCal.innerText = "Caging";
+            ahrs.messages = ahrs.messages.concat(MSG_LEVELING);
-        } else {
+            ahrs.turn_off();
-            statusCal.classList.remove("blink");
+        } else if (msg_ix >= 0 && !$scope.IsCaging) {
-            statusCal.classList.add("on");
+            ahrs.messages.splice(msg_ix, MSG_LEVELING.length);
-            statusCal.innerText = "Ready";
+            ahrs.turn_on();
+        }
+
+        $scope.IsPseudoAHRS = (!$scope.IMU_Sensor_Enabled && $scope.gps_horizontal_accuracy < 30);
+        msg_ix = ahrs.messages.indexOf(MSG_PSEUDO_AHRS[0]);
+        if (msg_ix < 0 && $scope.IsPseudoAHRS) {
+            ahrs.messages = ahrs.messages.concat(MSG_PSEUDO_AHRS);
+        } else if (msg_ix >= 0 && !$scope.IsPseudoAHRS) {
+            ahrs.messages.splice(msg_ix, MSG_PSEUDO_AHRS.length);
         }
-        // "LastAttitudeTime":"2015-10-11T16:47:03.534615187Z"
 
         setGeoReferenceMap(situation.GPSLatitude, situation.GPSLongitude);
     }
@@ -342,6 +381,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
 
     // GPS/AHRS Controller tasks go here
     var ahrs = new AHRSRenderer("ahrs_display");
+    ahrs.turn_on();
 
     $scope.hideClick = function() {
         $scope.isHidden = !$scope.isHidden;
@@ -360,23 +400,27 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
     };
 
     $scope.AHRSCage = function() {
-        if (!$scope.IsCaging()) {
+        if (!$scope.IsCaging) {
             $http.post(URL_AHRS_CAGE).then(function (response) {
-                // do nothing
             }, function (response) {
-                // do nothing
+                ahrs.messages = ahrs.messages.concat(response.data);
+                window.setTimeout(function() {
+                    ahrs.messages.splice(ahrs.messages.indexOf(response.data), 1);
+                }, 1000);
             });
         }
     };
 
-    $scope.IsCaging = function() {
+    $scope.AHRSCalibrate = function() {
-        var caging = statusCal.innerText === "Caging";
+        if (!$scope.IsCaging) {
-        if (caging) {
+            $http.post(URL_AHRS_CAL).then(function (response) {
-            ahrs.turn_off("Calibrating. Fly straight and do not move sensor.");
+            }, function (response) {
-        } else {
+                ahrs.messages = ahrs.messages.concat(response.data);
-            ahrs.turn_on();
+                window.setTimeout(function() {
+                    ahrs.messages.splice(ahrs.messages.indexOf(response.data), 1);
+                }, 1000);
+            });
         }
-        return caging;
     };
 
     $scope.GMeterReset = function() {
@@ -392,6 +436,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
         $http.get(URL_SETTINGS_GET).
         then(function (response) {
             settings = angular.fromJson(response.data);
+            $scope.IMU_Sensor_Enabled = settings.IMU_Sensor_Enabled;
             if (settings.GLimits === "" || settings.GLimits === undefined) {
                 settings.GLimits = "-1.76 4.4";
             }

web/plates/js/settings.js

@@ -257,18 +257,6 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 		});
     };
 
-    $scope.calibrateGyros = function() {
-        console.log("sending calibrate message.");
-        $http.post(URL_AHRS_CAL).then(function (response) {
-            console.log("Sent calibrate message.");
-        }, function (response) {
-            console.log(response.data);
-            $scope.Calibration_Failure_Message = response.data;
-            $scope.Ui.turnOff("modalCalibrateGyros");
-            $scope.Ui.turnOn("modalCalibrateGyrosFailed");
-        });
-    };
-
     $scope.updateWiFi = function(action) {
         $scope.WiFiErrors = {
             'WiFiSSID': '',

web/plates/js/towers.js

@@ -49,8 +49,10 @@ function TowersCtrl($rootScope, $scope, $state, $http, $interval) {
 		// Simple GET request example (note: responce is asynchronous)
 		$http.get(URL_TOWERS_GET).
 		then(function (response) {
+			$scope.ConnectState = "Connected";
 			loadTowers(response.data);
 		}, function (response) {
+			$scope.ConnectState = "Disconnected";
 			$scope.raw_data = "error getting tower data";
 		});
 	};
@@ -68,4 +70,4 @@ function TowersCtrl($rootScope, $scope, $state, $http, $interval) {
 		// stop any interval functions
 		$interval.cancel(updateTowers);
 	};
-};
+}

web/plates/settings.html

@@ -12,12 +12,6 @@
                                     ng-disabled="!IMU_Sensor_Enabled">Set AHRS Sensor Orientation</button>
                         </span>
                     </div>
-                    <div class="form-group reset-flow">
-                        <div class="col-xs-12">
-                            <button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateGyros"
-                                    ng-disabled="!IMU_Sensor_Enabled">Calibrate Gyros</button>
-                        </div>
-                    </div>
                     <div class="form-group reset-flow">
                         <label class="control-label col-xs-3">G Limits</label>
                         <form name="GLimitForm" ng-submit="updateGLimits()" novalidate>
@@ -374,29 +368,6 @@
             </div>
         </div>
     </div>
-<!-- Gyro Calibration Modal -->
-    <div class="modal" ui-if="modalCalibrateGyros" ui-state="modalCalibrateGyros">
-        <div class="modal-overlay "></div>
-        <div class="vertical-alignment-helper center-block">
-            <div class="modal-dialog vertical-align-center">
-                <div class="modal-content">
-                    <div class="modal-header">
-                        <button class="close" ui-turn-off="modalCalibrateGyros"></button>
-                        <h4 class="modal-title">Calibrate MPU Gyros</h4>
-                    </div>
-                    <div class="modal-body">
-                        <p>Press <b>Calibrate</b> and keep the Stratux as stationary as possible for the next second.
-                            You should only do this in calm air as turbulence will throw off the calibrations.</p>
-                    </div>
-                    <div class="modal-footer">
-                        <a ui-turn-off="modalCalibrateGyros" class="btn btn-default">Cancel</a>
-                        <a ng-click="calibrateGyros()" ui-turn-off="modalCalibrateGyros"
-                           class="btn btn-default btn-primary">Calibrate</a>
-                    </div>
-                </div>
-            </div>
-        </div>
-    </div>
 <!-- WiFi Success Modal -->
     <div class="modal" ui-if="modalSuccessWiFi" ui-state="modalSuccessWiFi" id="WiFiSuccessModal">
         <div class="modal-overlay "></div>