kopia lustrzana https://github.com/cyoung/stratux
Add goflying submodule. Change imports.
rodzic
cab2a81c26
commit
3db11bd09d
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@ -1,3 +1,6 @@
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[submodule "dump1090"]
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path = dump1090
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url = https://github.com/AvSquirrel/dump1090
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[submodule "goflying"]
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path = goflying
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url = https://github.com/westphae/goflying
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2
Makefile
2
Makefile
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@ -13,8 +13,6 @@ all:
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xgen_gdl90:
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go get -t -d -v ./main ./test ./godump978 ./uatparse ./sensors
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go get -u github.com/westphae/goflying/ahrs
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go get -u github.com/westphae/goflying/ahrsweb
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go build $(BUILDINFO) -p 4 main/gen_gdl90.go main/traffic.go main/gps.go main/network.go main/managementinterface.go main/sdr.go main/ping.go main/uibroadcast.go main/monotonic.go main/datalog.go main/equations.go main/sensors.go main/cputemp.go
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fancontrol:
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@ -0,0 +1 @@
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Subproject commit ba2ef8b155f74b3e7108b98b5ddbc92826b0cec3
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@ -9,15 +9,15 @@ import (
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"../sensors"
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"../goflying/ahrs"
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"../goflying/ahrsweb"
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"github.com/kidoman/embd"
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_ "github.com/kidoman/embd/host/all"
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"github.com/westphae/goflying/ahrs"
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"github.com/westphae/goflying/ahrsweb"
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)
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const (
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numRetries uint8 = 5
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invalid float32 = float32(ahrs.Invalid)
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numRetries uint8 = 5
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invalid float32 = float32(ahrs.Invalid)
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)
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var (
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@ -142,15 +142,15 @@ func initIMU() (ok bool) {
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func sensorAttitudeSender() {
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var (
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roll, pitch, heading float64
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t time.Time
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s ahrs.AHRSProvider
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m *ahrs.Measurement
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a, b, c, d, mm [3]float64 // IMU measurements: accel, gyro, accel bias, gyro bias, magnetometer
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ff [3][3]float64 // Sensor orientation matrix
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cc float64
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mpuError, magError error
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failnum uint8
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roll, pitch, heading float64
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t time.Time
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s ahrs.AHRSProvider
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m *ahrs.Measurement
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a, b, c, d, mm [3]float64 // IMU measurements: accel, gyro, accel bias, gyro bias, magnetometer
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ff [3][3]float64 // Sensor orientation matrix
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cc float64
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mpuError, magError error
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failnum uint8
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)
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log.Println("AHRS Info: initializing new Simple AHRS")
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s = ahrs.InitializeSimple()
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@ -5,8 +5,8 @@ import (
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"errors"
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"time"
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"../goflying/bmp280"
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"github.com/kidoman/embd"
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"github.com/westphae/goflying/bmp280"
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)
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const (
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@ -5,19 +5,19 @@ import (
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"log"
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"time"
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"github.com/westphae/goflying/mpu9250"
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"../goflying/mpu9250"
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)
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const (
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gyroRange = 250 // gyroRange is the default range to use for the Gyro.
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accelRange = 4 // accelRange is the default range to use for the Accel.
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updateFreq = 50 // updateFreq is the rate at which to update the sensor values.
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accelRange = 4 // accelRange is the default range to use for the Accel.
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updateFreq = 50 // updateFreq is the rate at which to update the sensor values.
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)
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// MPU9250 represents an InvenSense MPU9250 attached to the I2C bus and satisfies
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// the IMUReader interface.
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type MPU9250 struct {
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mpu *mpu9250.MPU9250
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mpu *mpu9250.MPU9250
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}
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// NewMPU9250 returns an instance of the MPU9250 IMUReader, connected to an
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@ -52,11 +52,11 @@ func NewMPU9250() (*MPU9250, error) {
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func (m *MPU9250) Read() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
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var (
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data *mpu9250.MPUData
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i int8
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i int8
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)
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data = new(mpu9250.MPUData)
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for data.N==0 && i < 5 {
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for data.N == 0 && i < 5 {
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data = <-m.mpu.CAvg
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T = data.T.UnixNano()
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G1 = data.G1
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