Merge remote-tracking branch 'origin/master' into ahrs_dev

# Conflicts:
#	main/gps.go
#	main/traffic.go

image/stxAliases.txt

@@ -43,9 +43,9 @@ echo "stxstart                  Start Stratux Service."
 echo "sdr0                      Test to see if sdr0 is in use by Stratux."
 echo "sdr1                      Test to see if sdr1 is in use by Startux."
 echo "sdrs                      Test to see if both SDRs are in use by Stratux."
-echo "d90                       List my SDRs with serials"
+echo "d90                       Run dump1090 on SDR0"
 echo "d900                      Run dump1090 on SDR0 in interactive mode."
-echo "d901                      Run dump1090 on SDR0 in interactive mode."
+echo "d901                      Run dump1090 on SDR1 in interactive mode."
 echo "kal0                      Find Channels for calibrating PPM of SDR0."
 echo "kal1                      Find Channels for calibrating PPM of SDR1."
 echo "kalChan0                  Use the Chan from above to get ppm pf SDR0. Example: kalChan0 151"
@@ -53,7 +53,7 @@ echo "kalChan1                  Use the Chan from above to get ppm pf SDR1. Exam
 echo "setSerial0                Set the PPM error to SDR0. Value from kalChan0. Example: setSerial0 -45"
 echo "setSerial1                Set the PPM error to SDR1. Value from kalChan1. Example: setSerial1 23"
 echo "hostapd_manager.sh        Sets the Change SSID, Channel, or Encryption for your Stratux"
-echo "sdr-tool.sh              Tool to walk you though setting your SDRs Serials"
+echo "sdr-tool.sh               Tool to walk you though setting your SDRs Serials"
 echo "raspi-config              Open Raspberry Pi settings to expand filesystem"
 
 }

main/datalog.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2015-2016 Christopher Young
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 

main/gen_gdl90.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2015-2016 Christopher Young
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 
@@ -581,6 +581,11 @@ func makeHeartbeat() []byte {
 	}
 	msg[1] = msg[1] | 0x10 //FIXME: Addr talkback.
 
+	// "Maintenance Req'd". Add flag if there are any current critical system errors.
+	if len(globalStatus.Errors) > 0 {
+		msg[1] = msg[1] | 0x40
+	}
+
 	nowUTC := time.Now().UTC()
 	// Seconds since 0000Z.
 	midnightUTC := time.Date(nowUTC.Year(), nowUTC.Month(), nowUTC.Day(), 0, 0, 0, 0, time.UTC)
@@ -612,14 +617,37 @@ func relayMessage(msgtype uint16, msg []byte) {
 	sendGDL90(prepareMessage(ret), true)
 }
 
+func blinkStatusLED() {
+	timer := time.NewTicker(100 * time.Millisecond)
+	ledON := false
+	for {
+		<-timer.C
+		if ledON {
+			ioutil.WriteFile("/sys/class/leds/led0/brightness", []byte("0\n"), 0644)
+		} else {
+			ioutil.WriteFile("/sys/class/leds/led0/brightness", []byte("1\n"), 0644)
+		}
+		ledON = !ledON
+	}
+}
 func heartBeatSender() {
 	timer := time.NewTicker(1 * time.Second)
 	timerMessageStats := time.NewTicker(2 * time.Second)
+	ledBlinking := false
 	for {
 		select {
 		case <-timer.C:
-			// Turn on green ACT LED on the Pi.
+			// Green LED - always on during normal operation.
-			ioutil.WriteFile("/sys/class/leds/led0/brightness", []byte("1\n"), 0644)
+			//  Blinking when there is a critical system error (and Stratux is still running).
+
+			if len(globalStatus.Errors) == 0 { // Any system errors?
+				// Turn on green ACT LED on the Pi.
+				ioutil.WriteFile("/sys/class/leds/led0/brightness", []byte("1\n"), 0644)
+			} else if !ledBlinking {
+				// This assumes that system errors do not disappear until restart.
+				go blinkStatusLED()
+				ledBlinking = true
+			}
 
 			sendGDL90(makeHeartbeat(), false)
 			sendGDL90(makeStratuxHeartbeat(), false)

main/gps.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2015-2016 Christopher Young
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 
@@ -30,7 +30,7 @@ const (
 	SAT_TYPE_UNKNOWN = 0  // default type
 	SAT_TYPE_GPS     = 1  // GPxxx; NMEA IDs 1-32
 	SAT_TYPE_GLONASS = 2  // GLxxx; NMEA IDs 65-88
-	SAT_TYPE_GALILEO = 3  // GAxxx; NMEA IDs unknown
+	SAT_TYPE_GALILEO = 3  // GAxxx; NMEA IDs
 	SAT_TYPE_BEIDOU  = 4  // GBxxx; NMEA IDs 201-235
 	SAT_TYPE_SBAS    = 10 // NMEA IDs 33-54
 )
@@ -113,6 +113,7 @@ type gpsPerfStats struct {
 	gpsPitch      float64 // estimated pitch angle, deg. Calculated from gps ground speed and VV. Equal to flight path angle.
 	gpsRoll       float64 // estimated roll angle from turn rate and groundspeed, deg. Assumes airplane in coordinated turns.
 	gpsLoadFactor float64 // estimated load factor from turn rate and groundspeed, "gee". Assumes airplane in coordinated turns.
+	//TODO: valid/invalid flag.
 }
 
 var gpsPerf gpsPerfStats
@@ -258,9 +259,8 @@ func initGPSSerial() bool {
 	} else {
 		// Byte order for UBX configuration is little endian.
 
-		// Set 10 Hz update to make gpsattitude more responsive for ublox7/8.
+		// Set 10 Hz update to make gpsattitude more responsive for ublox7.
-		p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x01, 0x00, 0x01, 0x00})) // 10 Hz
+		updatespeed := []byte{0x64, 0x00, 0x01, 0x00, 0x01, 0x00} // 10 Hz
-		//p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0xc8, 0x00, 0x01, 0x00, 0x01, 0x00})) // 5 Hz
 
 		// Set navigation settings.
 		nav := make([]byte, 36)
@@ -281,26 +281,32 @@ func initGPSSerial() bool {
 		// gpsattitude too much --  without WAAS corrections, the algorithm could get jumpy at higher
 		// sampling rates.
 
-		cfgGnss := []byte{0x00, 0x20, 0x20, 0x05}
+		cfgGnss := []byte{0x00, 0x20, 0x20, 0x06}
 		gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01}  // enable GPS with 8-16 tracking channels
 		sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS (WAAS) with 2-3 tracking channels
 		beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01}
 		qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01}
 		glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS
+		galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables Galileo
 
 		if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
-			//log.Printf("UBX8 device detected on USB, or GPS serial connection in use. Attempting GLONASS configuration.\n")
+			//log.Printf("UBX8 device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
 			glonass = []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels
+			galileo = []byte{0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables Galileo with 4-8 tracking channels
+			updatespeed = []byte{0x06, 0x00, 0xF4, 0x01, 0x01, 0x00}         // Nav speed 2Hz
 		}
 		cfgGnss = append(cfgGnss, gps...)
 		cfgGnss = append(cfgGnss, sbas...)
 		cfgGnss = append(cfgGnss, beidou...)
 		cfgGnss = append(cfgGnss, qzss...)
 		cfgGnss = append(cfgGnss, glonass...)
+		cfgGnss = append(cfgGnss, galileo...)
 		p.Write(makeUBXCFG(0x06, 0x3E, uint16(len(cfgGnss)), cfgGnss))
 
 		// SBAS configuration for ublox 6 and higher
 		p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x01, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00}))
+		//Navigation Rate 10Hz for <= UBX7 2Hz for UBX8
+		p.Write(makeUBXCFG(0x06, 0x08, 6, updatespeed))
 
 		// Message output configuration: UBX,00 (position) on each calculated fix; UBX,03 (satellite info) every 5th fix,
 		//  UBX,04 (timing) every 10th, GGA (NMEA position) every 5th. All other NMEA messages disabled.
@@ -324,6 +330,50 @@ func initGPSSerial() bool {
 		p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x00, 0x05, 0x00, 0x05, 0x00, 0x00})) // Ublox,3
 		p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x04, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // Ublox,4
 
+		// Power save mode.
+
+		// UBX-CFG-PM2.
+		pm2 := make([]byte, 44)
+		pm2[0] = 1 // Version.
+
+		// flags.
+		pm2[4] = 0
+		pm2[5] = 0          // ON/OFF mode.
+		pm2[6] = 4 + 8 + 16 // WaitTimeFix+updateRTC+updateEPH.
+		pm2[7] = 32         // extintWake.
+
+		// updatePeriod.
+		pm2[8] = 0
+		pm2[9] = 0
+		pm2[10] = 0x3A // 15000ms.
+		pm2[11] = 0x98
+
+		// searchPeriod.
+		pm2[12] = 0
+		pm2[13] = 0
+		pm2[14] = 0x3A // 15000ms.
+		pm2[15] = 0x98
+
+		// gridOffset.
+		pm2[16] = 0
+		pm2[17] = 0
+		pm2[18] = 0
+		pm2[19] = 0
+
+		// onTime.
+		pm2[20] = 0
+		pm2[21] = 15 // 15s.
+
+		// minAcqTime.
+		pm2[22] = 0
+		pm2[23] = 15 // 15s.
+
+		p.Write(makeUBXCFG(0x06, 0x3B, 44, pm2))
+
+		// UBX-CFG-RXM.
+
+		p.Write(makeUBXCFG(0x06, 0x11, 2, []byte{8, 1})) // Enable.
+
 		// Reconfigure serial port.
 		cfg := make([]byte, 20)
 		cfg[0] = 0x01 // portID.
@@ -697,7 +747,7 @@ func calcGPSAttitude() bool {
 	//log.Printf("\n")
 	//log.Printf("tempHdg: %v\n", tempHdg)
 
-	// Next, unwrap the heading so we don't mess up the regression by fitting a line across the 0/360 deg discontinutiy
+	// Next, unwrap the heading so we don't mess up the regression by fitting a line across the 0/360 deg discontinuity.
 	lengthHeading = len(tempHdg)
 	tempHdgUnwrapped = make([]float64, lengthHeading, lengthHeading)
 	tempRegWeights = make([]float64, lengthHeading, lengthHeading)
@@ -775,7 +825,7 @@ func calcGPSAttitude() bool {
 
 		*/
 
-		g := 32.174                                        // ft-s^-2
+		g := 32.174                                        // ft/(s^2)
 		omega = radians(myGPSPerfStats[index].gpsTurnRate) // need radians/sec
 		a_c = v_x * omega
 		myGPSPerfStats[index].gpsRoll = math.Atan2(a_c, g) * 180 / math.Pi // output is degrees
@@ -786,11 +836,12 @@ func calcGPSAttitude() bool {
 		myGPSPerfStats[index].gpsLoadFactor = 1
 	}
 
-	// Output format:GPSAtttiude,seconds,nmeaTime,msg_type,GS,Course,Alt,VV,filtered_GS,filtered_course,turn rate,filtered_vv,pitch, roll,load_factor
-	buf := fmt.Sprintf("GPSAttitude,%.1f,%.2f,%s,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f\n", float64(stratuxClock.Milliseconds)/1000, myGPSPerfStats[index].nmeaTime, myGPSPerfStats[index].msgType, myGPSPerfStats[index].gsf, myGPSPerfStats[index].coursef, myGPSPerfStats[index].alt, myGPSPerfStats[index].vv, v_x/1.687810, headingAvg, myGPSPerfStats[index].gpsTurnRate, v_z, myGPSPerfStats[index].gpsPitch, myGPSPerfStats[index].gpsRoll, myGPSPerfStats[index].gpsLoadFactor)
 	if globalSettings.DEBUG {
+		// Output format:GPSAtttiude,seconds,nmeaTime,msg_type,GS,Course,Alt,VV,filtered_GS,filtered_course,turn rate,filtered_vv,pitch, roll,load_factor
+		buf := fmt.Sprintf("GPSAttitude,%.1f,%.2f,%s,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f,%0.3f\n", float64(stratuxClock.Milliseconds)/1000, myGPSPerfStats[index].nmeaTime, myGPSPerfStats[index].msgType, myGPSPerfStats[index].gsf, myGPSPerfStats[index].coursef, myGPSPerfStats[index].alt, myGPSPerfStats[index].vv, v_x/1.687810, headingAvg, myGPSPerfStats[index].gpsTurnRate, v_z, myGPSPerfStats[index].gpsPitch, myGPSPerfStats[index].gpsRoll, myGPSPerfStats[index].gpsLoadFactor)
 		log.Printf("%s", buf) // FIXME. Send to sqlite log or other file?
 	}
+
 	logGPSAttitude(myGPSPerfStats[index])
 	//replayLog(buf, MSGCLASS_AHRS)
 	return true
@@ -1103,6 +1154,9 @@ func processNMEALine(l string) (sentenceUsed bool) {
 					svType = SAT_TYPE_SBAS
 					svStr = fmt.Sprintf("S%d", sv)
 					sv -= 87 // subtract 87 to convert to NMEA from PRN.
+				} else if sv > 210 {
+					svType = SAT_TYPE_GALILEO
+					svStr = fmt.Sprintf("E%d", sv-210)
 				} else { //TODO: Galileo
 					svType = SAT_TYPE_UNKNOWN
 					svStr = fmt.Sprintf("U%d", sv)
@@ -1552,6 +1606,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
 		var svType uint8
 		var svSBAS bool    // used to indicate whether this GSA message contains a SBAS satellite
 		var svGLONASS bool // used to indicate whether this GSA message contains GLONASS satellites
+		var svGalileo bool // used to indicate whether this GSA message contains Galileo satellites
 		sat := 0
 
 		for _, svtxt := range x[3:15] {
@@ -1570,7 +1625,11 @@ func processNMEALine(l string) (sentenceUsed bool) {
 					svType = SAT_TYPE_GLONASS
 					svStr = fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN.
 					svGLONASS = true
-				} else { //TODO: Galileo
+				} else if sv < 210 { // Galileo
+					svType = SAT_TYPE_GALILEO
+					svStr = fmt.Sprintf("E%d", sv-210) // subtract 300 to convert from NMEA to PRN
+					svGalileo = true
+				} else {
 					svType = SAT_TYPE_UNKNOWN
 					svStr = fmt.Sprintf("U%d", sv)
 				}
@@ -1638,7 +1697,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
 
 	}
 
-	if (x[0] == "GPGSV") || (x[0] == "GLGSV") { // GPS + SBAS or GLONASS satellites in view message. Galileo is TBD.
+	if (x[0] == "GPGSV") || (x[0] == "GLGSV") || (x[0] == "GAGSV") { // GPS + SBAS or GLONASS or Galileo satellites in view message.
 		if len(x) < 4 {
 			return false
 		}
@@ -1694,7 +1753,10 @@ func processNMEALine(l string) (sentenceUsed bool) {
 			} else if sv < 97 { // GLONASS
 				svType = SAT_TYPE_GLONASS
 				svStr = fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN.
-			} else { //TODO: Galileo
+			} else if sv < 210 { // Galileo
+				svType = SAT_TYPE_GALILEO
+				svStr = fmt.Sprintf("E%d", sv-210) // subtract 300 to convert from NMEA to PRN
+			} else {
 				svType = SAT_TYPE_UNKNOWN
 				svStr = fmt.Sprintf("U%d", sv)
 			}
@@ -1895,7 +1957,7 @@ func gpsAttitudeSender() {
 		for !(globalSettings.IMU_Sensor_Enabled && globalStatus.IMUConnected) && (globalSettings.GPS_Enabled && globalStatus.GPS_connected) {
 			<-timer.C
 
-			if mySituation.GPSFixQuality == 0 || !calcGPSAttitude() {
+			if !isGPSValid() || !calcGPSAttitude() {
 				if globalSettings.DEBUG {
 					log.Printf("Couldn't calculate GPS-based attitude statistics\n")
 				}

main/managementinterface.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2015-2016 Christopher Young
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 

main/monotonic.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2015-2016 Christopher Young
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 

main/network.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2015-2016 Christopher Young
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 

main/ping.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2016 uAvionix
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 

main/sdr.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2015-2016 Christopher Young
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 

main/traffic.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2015-2016 Christopher Young
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 
@@ -111,9 +111,9 @@ type TrafficInfo struct {
 	Last_speed           time.Time // Time of last velocity and track update (stratuxClock).
 	Last_source          uint8     // Last frequency on which this target was received.
 	ExtrapolatedPosition bool      //TODO: True if Stratux is "coasting" the target from last known position.
-	Bearing              float64   // Bearing in degrees true to traffic from ownship, if it can be calculated.
+	BearingDist_valid    bool      // set when bearing and distance information is valid
-	Distance             float64   // Distance to traffic from ownship, if it can be calculated.
+	Bearing              float64   // Bearing in degrees true to traffic from ownship, if it can be calculated. Units: degrees.
-	//FIXME: Some indicator that Bearing and Distance are valid, since they aren't always available.
+	Distance             float64   // Distance to traffic from ownship, if it can be calculated. Units: meters.
 	//FIXME: Rename variables for consistency, especially "Last_".
 }
 
@@ -191,6 +191,11 @@ func sendTrafficUpdates() {
 			dist, bearing := distance(float64(mySituation.GPSLatitude), float64(mySituation.GPSLongitude), float64(ti.Lat), float64(ti.Lng))
 			ti.Distance = dist
 			ti.Bearing = bearing
+			ti.BearingDist_valid = true
+		} else {
+			ti.Distance = 0
+			ti.Bearing = 0
+			ti.BearingDist_valid = false
 		}
 		ti.Age = stratuxClock.Since(ti.Last_seen).Seconds()
 		ti.AgeLastAlt = stratuxClock.Since(ti.Last_alt).Seconds()
@@ -251,12 +256,30 @@ func registerTrafficUpdate(ti TrafficInfo) {
 	trafficUpdate.SendJSON(ti)
 }
 
+func isTrafficAlertable(ti TrafficInfo) bool {
+	// Set alert bit if possible and traffic is within some threshold
+	// TODO: Could be more intelligent, taking into account headings etc.
+	if ti.BearingDist_valid &&
+		ti.Distance < 3704 { // 3704 meters, 2 nm.
+		return true
+	}
+
+	return false
+}
+
 func makeTrafficReportMsg(ti TrafficInfo) []byte {
 	msg := make([]byte, 28)
 	// See p.16.
 	msg[0] = 0x14 // Message type "Traffic Report".
 
-	msg[1] = 0x10 | ti.Addr_type // Alert status, address type.
+	// Address type
+	msg[1] = ti.Addr_type
+
+	// Set alert if needed
+	if isTrafficAlertable(ti) {
+		// Set the alert bit.  See pg. 18 of GDL90 ICD
+		msg[1] |= 0x10
+	}
 
 	// ICAO Address.
 	msg[2] = byte((ti.Icao_addr & 0x00FF0000) >> 16)
@@ -849,6 +872,7 @@ func esListen() {
 					ti.Lng = lng
 					if isGPSValid() {
 						ti.Distance, ti.Bearing = distance(float64(mySituation.GPSLatitude), float64(mySituation.GPSLongitude), float64(ti.Lat), float64(ti.Lng))
+						ti.BearingDist_valid = true
 					}
 					ti.Position_valid = true
 					ti.ExtrapolatedPosition = false
@@ -1083,6 +1107,7 @@ func updateDemoTraffic(icao uint32, tail string, relAlt float32, gs float64, off
 	ti.Lng = float32(lng + traffRelLng)
 
 	ti.Distance, ti.Bearing = distance(float64(lat), float64(lng), float64(ti.Lat), float64(ti.Lng))
+	ti.BearingDist_valid = true
 
 	ti.Position_valid = true
 	ti.ExtrapolatedPosition = false

main/uibroadcast.go

@@ -1,6 +1,6 @@
 /*
 	Copyright (c) 2015-2016 Christopher Young
-	Distributable under the terms of The "BSD New"" License
+	Distributable under the terms of The "BSD New" License
 	that can be found in the LICENSE file, herein included
 	as part of this header.