kopia lustrzana https://github.com/cyoung/stratux
Merge pull request #751 from westphae/ahrs_warnings
AHRS Warnings and disable AHRS output when GPS not available, fixes #732.pull/755/head
cyoung
GitHub
commit
1756f77433
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@ -1932,7 +1932,6 @@ func makeAHRSGDL90Report() {
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palt := uint16(0xFFFF)
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vs := int16(0x7FFF)
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if isAHRSValid() {
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// AHRS invalid magic number is ahrs.Invalid.
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if !isAHRSInvalidValue(mySituation.AHRSPitch) {
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pitch = roundToInt16(mySituation.AHRSPitch * 10)
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}
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@ -2101,7 +2100,9 @@ func isGPSClockValid() bool {
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}
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func isAHRSValid() bool {
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return stratuxClock.Since(mySituation.AHRSLastAttitudeTime) < 1*time.Second // If attitude information gets to be over 1 second old, declare invalid.
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// If attitude information gets to be over 1 second old, declare invalid.
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// If no GPS then we won't use or send attitude information.
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return isGPSGroundTrackValid() && stratuxClock.Since(mySituation.AHRSLastAttitudeTime) < 1*time.Second
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}
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func isTempPressValid() bool {
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@ -6,15 +6,16 @@
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height: 100%;
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background-color: #ABFF00;
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border-radius: 10%;
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box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #304701 0 -1px 9px, #89FF00 0 2px 12px;
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}
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.indicator.off {
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background-color: #F00;
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box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #472001 0 -1px 9px, #FF4900 0 2px 12px;
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}
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.indicator.on {
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background-color: #ABFF00;
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box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #304701 0 -1px 9px, #89FF00 0 2px 12px;
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}
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.indicator.blink {
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@ -151,10 +152,10 @@
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stroke-width: 2px;
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}
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.error .errText {
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.msgText {
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font-size: 16px;
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font-family: sans-serif;
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text-anchor: central;
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text-anchor: middle;
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alignment-baseline: middle;
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stroke-width: 0px;
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fill: red;
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@ -1,35 +1,11 @@
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<div class="col-sm-12">
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<div class="col-sm-6 hider">
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<div class="panel panel-default">
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<div class="panel-heading"><span class="panel_label">GPS</span></div>
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<div class="panel-body">
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<div class="row">
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<span class="col-xs-12">
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<div class="map-container">
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<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}};">
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<div class="mark-position" ng-style="{left: map_mark_x+'px', top: map_mark_y+'px', opacity: map_mark_opacity}">
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<span class="fa fa-crosshairs"></span>
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</div>
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</div>
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</div>
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</span>
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</div>
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<div class="separator"></div>
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<div class="row">
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<strong class="col-xs-6 text-center">Location:</strong>
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<strong class="col-xs-6 text-center">Track:</strong>
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</div>
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<div class="row">
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<span class="col-xs-6 text-center">{{gps_lat}}, {{gps_lon}} ± {{gps_horizontal_accuracy}} m <br>
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{{gps_alt}} ± {{gps_vertical_accuracy}} ft @ {{gps_vert_speed}} ft/min</span>
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<span class="col-xs-6 text-center">{{gps_track}}° @ {{gps_speed}} KTS</span>
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</div>
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</div>
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</div>
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</div>
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<div class="col-sm-6">
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<div class="panel panel-default">
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<div class="panel-heading"><span ng-click="hideClick()" class="panel_label">AHRS</span></div>
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<div class="panel-heading">
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<span ng-click="hideClick()" class="panel_label">AHRS</span>
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<span ng-show="ConnectState == 'Connected'" class="label label-success">{{ConnectState}}</span>
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<span ng-hide="ConnectState == 'Connected'" class="label label-danger">{{ConnectState}}</span>
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</div>
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<div class="panel-body">
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<div class="row">
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<span class="col-xs-12">
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@ -48,7 +24,10 @@
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<div class="col-xs-12">
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<div class="separator"></div>
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<div class="col-xs-3">
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<a ng-click="AHRSCage()" class="btn btn-primary" ng-disabled="IsCaging()">Reset /<br>Level</a>
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<button class="btn btn-primary btn-block" ng-click="AHRSCage()"
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ng-disabled="IsCaging || !IMU_Sensor_Enabled">Set Level</button>
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<button class="btn btn-primary btn-block" ng-click="AHRSCalibrate()"
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ng-disabled="IsCaging || !IMU_Sensor_Enabled">Zero Drift</button>
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</div>
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<div class="col-xs-9">
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<div class="row">
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@ -80,6 +59,36 @@
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</div>
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</div>
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</div>
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<div class="col-sm-6 hider">
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<div class="panel panel-default">
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<div class="panel-heading">
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<span class="panel_label">GPS</span>
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</div>
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<div class="panel-body">
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<div class="row">
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<span class="col-xs-12">
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<div class="map-container">
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<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}};">
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<div class="mark-position" ng-style="{left: map_mark_x+'px', top: map_mark_y+'px', opacity: map_mark_opacity}">
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<span class="fa fa-crosshairs"></span>
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</div>
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</div>
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</div>
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</span>
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</div>
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<div class="separator"></div>
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<div class="row">
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<strong class="col-xs-6 text-center">Location:</strong>
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<strong class="col-xs-6 text-center">Track:</strong>
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</div>
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<div class="row">
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<span class="col-xs-6 text-center">{{gps_lat}}, {{gps_lon}} ± {{gps_horizontal_accuracy}} m <br>
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{{gps_alt}} ± {{gps_vertical_accuracy}} ft @ {{gps_vert_speed}} ft/min</span>
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<span class="col-xs-6 text-center">{{gps_track}}° @ {{gps_speed}} KTS</span>
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</div>
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</div>
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</div>
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</div>
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</div>
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<div class="col-sm-12">
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<div class="col-sm-6 hider">
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@ -12,6 +12,7 @@ function AHRSRenderer(locationId) {
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this.heading = 0;
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this.slipSkid = 0;
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this.altitude = 0;
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this.messages = [];
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var display = SVG(this.locationId).viewbox(-200, -200, 400, 400).group();
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@ -86,9 +87,11 @@ function AHRSRenderer(locationId) {
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this.err.rect(400, 400).cx(0).cy(0);
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this.err.line(-200, -200, 200, +200);
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this.err.line(-200, +200, 200, -200);
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this.errText = this.err.text("").cx(0).cy(0).addClass('errText');
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var tb = this.errText.bbox();
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this.errTextBg = this.err.rect(tb.x, tb.y, tb.w, tb.h).stroke({'width': 1}).after(this.errText);
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this.message = display.group().cy(-85);
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this.msgText = this.message.text("").addClass('msgText').build(true);
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var tb = this.msgText.bbox();
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this.msgTextBg = this.message.rect(tb.x, tb.y, tb.w, tb.h).stroke({'width': 1}).after(this.msgText);
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}
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AHRSRenderer.prototype = {
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@ -117,6 +120,23 @@ AHRSRenderer.prototype = {
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this.slipSkid = +10;
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}
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if (this.messages.length > 0) {
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this.message.hide();
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this.msgText.clear();
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var msgs = this.messages;
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this.msgText.text(function (add) {
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for (var i = 0; i < msgs.length; i++) {
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add.tspan(msgs[i]).center(0, 20 * i).newLine();
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}
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});
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var tb = this.msgText.bbox();
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this.msgTextBg.attr({x: tb.x - 3, y: tb.y - 2, width: tb.w + 6, height: tb.h + 4});
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this.message.show();
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} else {
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this.message.hide();
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this.msgText.clear();
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}
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this.pitchClip.translate(0, -10 * this.pitch * this.pitchScale);
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this.rollClip.rotate(this.roll, 0, 0);
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this.card.rotate(0, 0, 0).translate(0, 10 * this.pitch * this.pitchScale);
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@ -129,13 +149,11 @@ AHRSRenderer.prototype = {
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turn_on: function () {
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this.err.hide();
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this.ai.show();
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this.errText.clear();
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this.update(this.pitch, this.roll, this.heading, this.slipSkid);
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},
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turn_off: function(message) {
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this.errText.text(message).center(0, 0);
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var tb = this.errText.bbox();
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this.errTextBg.attr({'x': tb.x, 'y': tb.y, 'width': tb.w, 'height': tb.h});
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turn_off: function () {
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this.update(this.pitch, this.roll, this.heading, this.slipSkid);
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this.ai.hide();
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this.err.show();
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}
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@ -1,6 +1,11 @@
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angular.module('appControllers').controller('GPSCtrl', GPSCtrl); // get the main module controllers set
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GPSCtrl.$inject = ['$rootScope', '$scope', '$state', '$http', '$interval']; // Inject my dependencies
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const MSG_GROUND_TEST = ["GROUND TEST MODE - GPS REQUIRED", "DO NOT USE IN FLIGHT WITHOUT GPS"],
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MSG_LEVELING = ["\n", "CALIBRATING", "FLY STRAIGHT AND DO NOT MOVE SENSOR"],
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MSG_PSEUDO_AHRS = ["WARNING - USING GPS PSEUDO AHRS", "CONNECT AN AHRS BOARD TO USE TRUE AHRS"],
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MSG_NO_AHRS = ["NO AHRS AVAILABLE", "MUST HAVE IMU AND/OR GPS FOR AHRS"];
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// create our controller function with all necessary logic
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function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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$scope.$parent.helppage = 'plates/gps-help.html';
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@ -116,14 +121,28 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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$scope.SolutionText = solutionText;
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$scope.gps_horizontal_accuracy = situation.GPSHorizontalAccuracy.toFixed(1);
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var msg_ix = ahrs.messages.indexOf(MSG_GROUND_TEST[0]);
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if (msg_ix < 0 && $scope.IMU_Sensor_Enabled && $scope.gps_horizontal_accuracy >= 30) {
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ahrs.messages = ahrs.messages.concat(MSG_GROUND_TEST);
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} else if (msg_ix >= 0 && $scope.gps_horizontal_accuracy < 30) {
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ahrs.messages.splice(msg_ix, MSG_GROUND_TEST.length);
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}
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var msg_ix = ahrs.messages.indexOf(MSG_NO_AHRS[0]);
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if (msg_ix < 0 && !$scope.IMU_Sensor_Enabled && $scope.gps_horizontal_accuracy >= 30) {
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ahrs.messages = ahrs.messages.concat(MSG_NO_AHRS);
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ahrs.turn_off();
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} else if (msg_ix >= 0 && ($scope.IMU_Sensor_Enabled || $scope.gps_horizontal_accuracy < 30)) {
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ahrs.messages.splice(msg_ix, MSG_NO_AHRS.length);
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ahrs.turn_on();
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}
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if ($scope.gps_horizontal_accuracy > 19999) {
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$scope.gps_horizontal_accuracy = "\u221e";
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$scope.gps_lat = "--";
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$scope.gps_lon = "--";
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$scope.gps_alt = "--";
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$scope.gps_track = "--";
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$scope.gps_speed = "--";
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$scope.gps_vert_speed = "--";
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$scope.map_opacity = 0.2;
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$scope.map_mark_opacity = 0;
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} else {
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@ -133,6 +152,8 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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$scope.gps_vertical_accuracy = (situation.GPSVerticalAccuracy*3.2808).toFixed(1); // accuracy is in meters, need to display in ft
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if ($scope.gps_vertical_accuracy > 9999) {
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$scope.gps_vertical_accuracy = "\u221e";
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$scope.gps_alt = "--";
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$scope.gps_vert_speed = "--";
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}
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@ -199,7 +220,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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$scope.ahrs_gload = situation.AHRSGLoad.toFixed(2);
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if ($scope.ahrs_gload > 360) {
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$scope.ahrs_gload = "--";
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} else {
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} else if (gMeter !== undefined) {
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gMeter.update(situation.AHRSGLoad, situation.AHRSGLoadMin, situation.AHRSGLoadMax);
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}
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@ -241,6 +262,17 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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statusBMP.classList.add("off");
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statusBMP.classList.remove("on");
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}
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if (situation.AHRSStatus & 0x08) {
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statusCal.classList.add("blink");
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statusCal.classList.remove("on");
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statusCal.innerText = "Caging";
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$scope.IsCaging = true;
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} else {
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statusCal.classList.remove("blink");
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statusCal.classList.add("on");
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statusCal.innerText = "Ready";
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$scope.IsCaging = false;
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}
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if (situation.AHRSStatus & 0x10) {
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statusLog.classList.remove("off");
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statusLog.classList.add("on");
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@ -248,16 +280,23 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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statusLog.classList.add("off");
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statusLog.classList.remove("on");
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}
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if (situation.AHRSStatus & 0x08) {
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statusCal.classList.add("blink");
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statusCal.classList.remove("on");
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statusCal.innerText = "Caging";
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} else {
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statusCal.classList.remove("blink");
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statusCal.classList.add("on");
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statusCal.innerText = "Ready";
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msg_ix = ahrs.messages.indexOf(MSG_LEVELING[0]);
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if (msg_ix < 0 && $scope.IsCaging) {
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ahrs.messages = ahrs.messages.concat(MSG_LEVELING);
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ahrs.turn_off();
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} else if (msg_ix >= 0 && !$scope.IsCaging) {
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ahrs.messages.splice(msg_ix, MSG_LEVELING.length);
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ahrs.turn_on();
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}
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$scope.IsPseudoAHRS = (!$scope.IMU_Sensor_Enabled && $scope.gps_horizontal_accuracy < 30);
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msg_ix = ahrs.messages.indexOf(MSG_PSEUDO_AHRS[0]);
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if (msg_ix < 0 && $scope.IsPseudoAHRS) {
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ahrs.messages = ahrs.messages.concat(MSG_PSEUDO_AHRS);
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} else if (msg_ix >= 0 && !$scope.IsPseudoAHRS) {
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ahrs.messages.splice(msg_ix, MSG_PSEUDO_AHRS.length);
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}
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// "LastAttitudeTime":"2015-10-11T16:47:03.534615187Z"
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setGeoReferenceMap(situation.GPSLatitude, situation.GPSLongitude);
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}
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@ -342,6 +381,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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// GPS/AHRS Controller tasks go here
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var ahrs = new AHRSRenderer("ahrs_display");
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ahrs.turn_on();
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$scope.hideClick = function() {
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$scope.isHidden = !$scope.isHidden;
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@ -360,23 +400,27 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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};
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$scope.AHRSCage = function() {
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if (!$scope.IsCaging()) {
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if (!$scope.IsCaging) {
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$http.post(URL_AHRS_CAGE).then(function (response) {
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// do nothing
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}, function (response) {
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// do nothing
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ahrs.messages = ahrs.messages.concat(response.data);
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window.setTimeout(function() {
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ahrs.messages.splice(ahrs.messages.indexOf(response.data), 1);
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}, 1000);
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});
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}
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};
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$scope.IsCaging = function() {
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var caging = statusCal.innerText === "Caging";
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if (caging) {
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ahrs.turn_off("Calibrating. Fly straight and do not move sensor.");
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} else {
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ahrs.turn_on();
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$scope.AHRSCalibrate = function() {
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if (!$scope.IsCaging) {
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$http.post(URL_AHRS_CAL).then(function (response) {
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}, function (response) {
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ahrs.messages = ahrs.messages.concat(response.data);
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window.setTimeout(function() {
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ahrs.messages.splice(ahrs.messages.indexOf(response.data), 1);
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}, 1000);
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});
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}
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return caging;
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};
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$scope.GMeterReset = function() {
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@ -392,6 +436,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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$http.get(URL_SETTINGS_GET).
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then(function (response) {
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settings = angular.fromJson(response.data);
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$scope.IMU_Sensor_Enabled = settings.IMU_Sensor_Enabled;
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if (settings.GLimits === "" || settings.GLimits === undefined) {
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settings.GLimits = "-1.76 4.4";
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}
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@ -257,18 +257,6 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
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});
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};
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$scope.calibrateGyros = function() {
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console.log("sending calibrate message.");
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$http.post(URL_AHRS_CAL).then(function (response) {
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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) {
|
||||
$scope.WiFiErrors = {
|
||||
'WiFiSSID': '',
|
||||
|
|
|
|||
|
|
@ -49,8 +49,10 @@ function TowersCtrl($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);
|
||||
};
|
||||
};
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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>
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue