From 3db11bd09d7b36a642d66210291c7da7ffe9da67 Mon Sep 17 00:00:00 2001
From: Christopher Young <cyoung@gmail.com>
Date: Mon, 15 May 2017 22:22:32 -0400
Subject: [PATCH] Add goflying submodule. Change imports.

---
 .gitmodules        |  3 +++
 Makefile           |  2 --
 goflying           |  1 +
 main/sensors.go    | 26 +++++++++++++-------------
 sensors/bmp280.go  |  2 +-
 sensors/mpu9250.go | 12 ++++++------
 6 files changed, 24 insertions(+), 22 deletions(-)
 create mode 160000 goflying

diff --git a/.gitmodules b/.gitmodules
index 13a52a3c..97641a87 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "dump1090"]
 	path = dump1090
 	url = https://github.com/AvSquirrel/dump1090
+[submodule "goflying"]
+	path = goflying
+	url = https://github.com/westphae/goflying
diff --git a/Makefile b/Makefile
index 1e52c0da..c5173108 100644
--- a/Makefile
+++ b/Makefile
@@ -13,8 +13,6 @@ all:
 
 xgen_gdl90:
 	go get -t -d -v ./main ./test ./godump978 ./uatparse ./sensors
-	go get -u github.com/westphae/goflying/ahrs
-	go get -u github.com/westphae/goflying/ahrsweb
 	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
 
 fancontrol:
diff --git a/goflying b/goflying
new file mode 160000
index 00000000..ba2ef8b1
--- /dev/null
+++ b/goflying
@@ -0,0 +1 @@
+Subproject commit ba2ef8b155f74b3e7108b98b5ddbc92826b0cec3
diff --git a/main/sensors.go b/main/sensors.go
index f2898f50..9c50c59d 100644
--- a/main/sensors.go
+++ b/main/sensors.go
@@ -9,15 +9,15 @@ import (
 
 	"../sensors"
 
+	"../goflying/ahrs"
+	"../goflying/ahrsweb"
 	"github.com/kidoman/embd"
 	_ "github.com/kidoman/embd/host/all"
-	"github.com/westphae/goflying/ahrs"
-	"github.com/westphae/goflying/ahrsweb"
 )
 
 const (
-	numRetries uint8 = 5
-	invalid float32  = float32(ahrs.Invalid)
+	numRetries uint8   = 5
+	invalid    float32 = float32(ahrs.Invalid)
 )
 
 var (
@@ -142,15 +142,15 @@ func initIMU() (ok bool) {
 
 func sensorAttitudeSender() {
 	var (
-		roll, pitch, heading               float64
-		t                                  time.Time
-		s                                  ahrs.AHRSProvider
-		m                                  *ahrs.Measurement
-		a, b, c, d, mm                     [3]float64    // IMU measurements: accel, gyro, accel bias, gyro bias, magnetometer
-		ff                                 [3][3]float64 // Sensor orientation matrix
-		cc                                 float64
-		mpuError, magError                 error
-		failnum                            uint8
+		roll, pitch, heading float64
+		t                    time.Time
+		s                    ahrs.AHRSProvider
+		m                    *ahrs.Measurement
+		a, b, c, d, mm       [3]float64    // IMU measurements: accel, gyro, accel bias, gyro bias, magnetometer
+		ff                   [3][3]float64 // Sensor orientation matrix
+		cc                   float64
+		mpuError, magError   error
+		failnum              uint8
 	)
 	log.Println("AHRS Info: initializing new Simple AHRS")
 	s = ahrs.InitializeSimple()
diff --git a/sensors/bmp280.go b/sensors/bmp280.go
index baa7608b..ecc6210c 100644
--- a/sensors/bmp280.go
+++ b/sensors/bmp280.go
@@ -5,8 +5,8 @@ import (
 	"errors"
 	"time"
 
+	"../goflying/bmp280"
 	"github.com/kidoman/embd"
-	"github.com/westphae/goflying/bmp280"
 )
 
 const (
diff --git a/sensors/mpu9250.go b/sensors/mpu9250.go
index d04ab467..0ad98746 100644
--- a/sensors/mpu9250.go
+++ b/sensors/mpu9250.go
@@ -5,19 +5,19 @@ import (
 	"log"
 	"time"
 
-	"github.com/westphae/goflying/mpu9250"
+	"../goflying/mpu9250"
 )
 
 const (
 	gyroRange  = 250 // gyroRange is the default range to use for the Gyro.
-	accelRange = 4 // accelRange is the default range to use for the Accel.
-	updateFreq = 50 // updateFreq is the rate at which to update the sensor values.
+	accelRange = 4   // accelRange is the default range to use for the Accel.
+	updateFreq = 50  // updateFreq is the rate at which to update the sensor values.
 )
 
 // MPU9250 represents an InvenSense MPU9250 attached to the I2C bus and satisfies
 // the IMUReader interface.
 type MPU9250 struct {
-	mpu                  *mpu9250.MPU9250
+	mpu *mpu9250.MPU9250
 }
 
 // NewMPU9250 returns an instance of the MPU9250 IMUReader, connected to an
@@ -52,11 +52,11 @@ func NewMPU9250() (*MPU9250, error) {
 func (m *MPU9250) Read() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
 	var (
 		data *mpu9250.MPUData
-		i int8
+		i    int8
 	)
 	data = new(mpu9250.MPUData)
 
-	for data.N==0 && i < 5 {
+	for data.N == 0 && i < 5 {
 		data = <-m.mpu.CAvg
 		T = data.T.UnixNano()
 		G1 = data.G1