kopia lustrzana https://github.com/cyoung/stratux
Merge pull request #376 from AvSquirrel/ownship-track
Improve ownship track accuracy. Add disk usage to logs.pull/387/head
cyoung
commit
20c09340d7
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@ -29,8 +29,8 @@ import (
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"syscall"
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"time"
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"github.com/ricochet2200/go-disk-usage/du"
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humanize "github.com/dustin/go-humanize"
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"../uatparse"
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)
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@ -72,6 +72,8 @@ const (
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TRACK_RESOLUTION = float32(360.0 / 256.0)
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)
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var usage *du.DiskUsage
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var maxSignalStrength int
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var stratuxBuild string
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@ -269,7 +271,7 @@ func makeOwnshipReport() bool {
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msg[11] = byte((alt & 0xFF0) >> 4) // Altitude.
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msg[12] = byte((alt & 0x00F) << 4)
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if isGPSGroundTrackValid() {
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msg[12] = msg[12] | 0x0B // "Airborne" + "True Heading"
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msg[12] = msg[12] | 0x09 // "Airborne" + "True Track"
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}
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msg[13] = byte(0x80 | (mySituation.NACp & 0x0F)) //Set NIC = 8 and use NACp from ry835ai.go.
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@ -289,12 +291,24 @@ func makeOwnshipReport() bool {
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msg[15] = msg[15] | byte((verticalVelocity&0x0F00)>>8)
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msg[16] = byte(verticalVelocity & 0xFF)
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// Showing magnetic (corrected) on ForeFlight. Needs to be True Heading.
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groundTrack := uint16(0)
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// Track is degrees true, set from GPS true course.
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groundTrack := float32(0)
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if isGPSGroundTrackValid() {
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groundTrack = mySituation.TrueCourse
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}
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trk := uint8(float32(groundTrack) / TRACK_RESOLUTION) // Resolution is ~1.4 degrees.
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tempTrack := groundTrack + TRACK_RESOLUTION/2 // offset by half the 8-bit resolution to minimize binning error
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for tempTrack > 360 {
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tempTrack -= 360
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}
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for tempTrack < 0 {
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tempTrack += 360
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}
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trk := uint8(tempTrack / TRACK_RESOLUTION) // Resolution is ~1.4 degrees.
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//log.Printf("For groundTrack = %.2f°, tempTrack= %.2f, trk = %d (%f°)\n",groundTrack,tempTrack,trk,float32(trk)*TRACK_RESOLUTION)
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msg[17] = byte(trk)
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@ -703,6 +717,10 @@ func cpuTempMonitor() {
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}
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}
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func updateStatus() {
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if mySituation.Quality == 2 {
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globalStatus.GPS_solution = "DGPS (SBAS / WAAS)"
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@ -733,6 +751,9 @@ func updateStatus() {
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globalStatus.Uptime = int64(stratuxClock.Milliseconds)
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globalStatus.UptimeClock = stratuxClock.Time
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globalStatus.Clock = time.Now()
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usage = du.NewDiskUsage("/")
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globalStatus.DiskBytesFree = usage.Free()
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}
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type WeatherMessage struct {
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@ -961,6 +982,7 @@ type status struct {
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HardwareBuild string
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Devices uint32
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Connected_Users uint
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DiskBytesFree uint64
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UAT_messages_last_minute uint
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UAT_products_last_minute map[string]uint32
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UAT_messages_max uint
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@ -1078,8 +1100,9 @@ func printStats() {
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var memstats runtime.MemStats
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runtime.ReadMemStats(&memstats)
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log.Printf("stats [started: %s]\n", humanize.RelTime(time.Time{}, stratuxClock.Time, "ago", "from now"))
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log.Printf(" - Disk bytes used = %s (%.1f %%), Disk bytes free = %s (%.1f %%) \n",humanize.Bytes(usage.Used()), 100*usage.Usage(), humanize.Bytes(usage.Free()), 100*(1-usage.Usage()))
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log.Printf(" - CPUTemp=%.02f deg C, MemStats.Alloc=%s, MemStats.Sys=%s, totalNetworkMessagesSent=%s\n", globalStatus.CPUTemp, humanize.Bytes(uint64(memstats.Alloc)), humanize.Bytes(uint64(memstats.Sys)), humanize.Comma(int64(totalNetworkMessagesSent)))
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log.Printf(" - UAT/min %s/%s [maxSS=%.02f%%], ES/min %s/%s\n, Total traffic targets tracked=%s", humanize.Comma(int64(globalStatus.UAT_messages_last_minute)), humanize.Comma(int64(globalStatus.UAT_messages_max)), float64(maxSignalStrength)/10.0, humanize.Comma(int64(globalStatus.ES_messages_last_minute)), humanize.Comma(int64(globalStatus.ES_messages_max)), humanize.Comma(int64(len(seenTraffic))))
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log.Printf(" - UAT/min %s/%s [maxSS=%.02f%%], ES/min %s/%s, Total traffic targets tracked=%s", humanize.Comma(int64(globalStatus.UAT_messages_last_minute)), humanize.Comma(int64(globalStatus.UAT_messages_max)), float64(maxSignalStrength)/10.0, humanize.Comma(int64(globalStatus.ES_messages_last_minute)), humanize.Comma(int64(globalStatus.ES_messages_max)), humanize.Comma(int64(len(seenTraffic))))
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log.Printf(" - Network data messages sent: %d total, %d nonqueueable. Network data bytes sent: %d total, %d nonqueueable.\n", globalStatus.NetworkDataMessagesSent, globalStatus.NetworkDataMessagesSentNonqueueable, globalStatus.NetworkDataBytesSent, globalStatus.NetworkDataBytesSentNonqueueable)
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if globalSettings.GPS_Enabled {
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log.Printf(" - Last GPS fix: %s, GPS solution type: %d using %d satellites (%d/%d seen/tracked), NACp: %d, est accuracy %.02f m\n", stratuxClock.HumanizeTime(mySituation.LastFixLocalTime), mySituation.Quality, mySituation.Satellites, mySituation.SatellitesSeen, mySituation.SatellitesTracked, mySituation.NACp, mySituation.Accuracy)
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@ -1239,7 +1262,7 @@ func main() {
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globalSettings.ReplayLog = true
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}
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//FIXME: Only do this if data logging is enabled.
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//FIXME: Only do this if data logging is enabled.
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initDataLog()
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initRY835AI()
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@ -1257,7 +1280,7 @@ func main() {
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// Monitor RPi CPU temp.
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go cpuTempMonitor()
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reader := bufio.NewReader(os.Stdin)
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if *replayFlag == true {
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@ -49,7 +49,7 @@ type SituationData struct {
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AccuracyVert float32 // 95% confidence for vertical position, meters
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GPSVertVel float32 // GPS vertical velocity, feet per second
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LastFixLocalTime time.Time
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TrueCourse uint16
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TrueCourse float32
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GroundSpeed uint16
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LastGroundTrackTime time.Time
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GPSTime time.Time
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@ -393,10 +393,10 @@ func validateNMEAChecksum(s string) (string, bool) {
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// changes while on the ground and "movement" is really only changes in GPS fix as it settles down.
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//TODO: Some more robust checking above current and last speed.
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//TODO: Dynamic adjust for gain based on groundspeed
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func setTrueCourse(groundSpeed, trueCourse uint16) {
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func setTrueCourse(groundSpeed uint16, trueCourse float64) {
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if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
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if mySituation.GroundSpeed >= 7 && groundSpeed >= 7 {
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myMPU6050.ResetHeading(float64(trueCourse), 0.10)
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myMPU6050.ResetHeading(trueCourse, 0.10)
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}
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}
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}
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@ -559,15 +559,15 @@ func processNMEALine(l string) (sentenceUsed bool) {
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tmpSituation.GroundSpeed = uint16(groundspeed)
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// field 12 = track, deg
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trueCourse := uint16(0)
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trueCourse := float32(0.0)
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tc, err := strconv.ParseFloat(x[12], 32)
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if err != nil {
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return false
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}
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if groundspeed > 3 { // TO-DO: use average groundspeed over last n seconds to avoid random "jumps"
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trueCourse = uint16(tc)
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setTrueCourse(uint16(groundspeed), trueCourse)
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tmpSituation.TrueCourse = uint16(trueCourse)
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trueCourse = float32(tc)
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setTrueCourse(uint16(groundspeed), tc)
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tmpSituation.TrueCourse = trueCourse
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} else {
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// Negligible movement. Don't update course, but do use the slow speed.
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// TO-DO: use average course over last n seconds?
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@ -692,15 +692,15 @@ func processNMEALine(l string) (sentenceUsed bool) {
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}
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tmpSituation.GroundSpeed = uint16(groundspeed)
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trueCourse := uint16(0)
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trueCourse := float32(0)
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tc, err := strconv.ParseFloat(x[1], 32)
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if err != nil {
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return false
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}
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if groundspeed > 3 { // TO-DO: use average groundspeed over last n seconds to avoid random "jumps"
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trueCourse = uint16(tc)
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setTrueCourse(uint16(groundspeed), trueCourse)
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tmpSituation.TrueCourse = uint16(trueCourse)
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trueCourse = float32(tc)
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setTrueCourse(uint16(groundspeed), tc)
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tmpSituation.TrueCourse = trueCourse
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} else {
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// Negligible movement. Don't update course, but do use the slow speed.
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// TO-DO: use average course over last n seconds?
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@ -911,15 +911,15 @@ func processNMEALine(l string) (sentenceUsed bool) {
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tmpSituation.GroundSpeed = uint16(groundspeed)
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// ground track "True" (field 8)
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trueCourse := uint16(0)
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trueCourse := float32(0)
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tc, err := strconv.ParseFloat(x[8], 32)
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if err != nil {
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return false
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}
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if groundspeed > 3 { // TO-DO: use average groundspeed over last n seconds to avoid random "jumps"
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trueCourse = uint16(tc)
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setTrueCourse(uint16(groundspeed), trueCourse)
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tmpSituation.TrueCourse = uint16(trueCourse)
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trueCourse = float32(tc)
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setTrueCourse(uint16(groundspeed), tc)
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tmpSituation.TrueCourse = trueCourse
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} else {
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// Negligible movement. Don't update course, but do use the slow speed.
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// TO-DO: use average course over last n seconds?
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