kopia lustrzana https://github.com/cyoung/stratux
Merge remote-tracking branch 'cyoung/ahrs_dev' into eric
Eric Westphal
commit
52e61ca48c
6
Makefile
6
Makefile
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@ -3,7 +3,9 @@ ifeq "$(CIRCLECI)" "true"
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BUILDINFO=
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PLATFORMDEPENDENT=
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else
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BUILDINFO=-ldflags "-X main.stratuxVersion=`git describe --tags --abbrev=0` -X main.stratuxBuild=`git log -n 1 --pretty=%H`"
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LDFLAGS_VERSION=-X main.stratuxVersion=`git describe --tags --abbrev=0` -X main.stratuxBuild=`git log -n 1 --pretty=%H`
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BUILDINFO=-ldflags "$(LDFLAGS_VERSION)"
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BUILDINFO_STATIC=-ldflags "-extldflags -static $(LDFLAGS_VERSION)"
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$(if $(GOROOT),,$(error GOROOT is not set!))
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PLATFORMDEPENDENT=fancontrol
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endif
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@ -17,7 +19,7 @@ xgen_gdl90:
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fancontrol:
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go get -t -d -v ./main
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go build $(BUILDINFO) -p 4 main/fancontrol.go main/equations.go main/cputemp.go
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go build $(BUILDINFO_STATIC) -p 4 main/fancontrol.go main/equations.go main/cputemp.go
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xdump1090:
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git submodule update --init
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2
goflying
2
goflying
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@ -1 +1 @@
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Subproject commit 411d7ee92b96519b7b9c92e07c9e376e3a8574f4
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Subproject commit 8bd566f09abe01f42fd92aeb84591e0bee3e7ff6
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@ -63,19 +63,37 @@ func fanControl(pwmDutyMin int, pin int, tempTarget float32) {
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}
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})
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pwmDuty := 0
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tempWhenRampStarted := float32(0.)
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for {
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if temp > (tempTarget + hysteresis) {
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if tempWhenRampStarted < 1. {
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tempWhenRampStarted = temp
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}
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pwmDuty = iMax(iMin(pwmDutyMax, pwmDuty+1), pwmDutyMin)
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if pwmDuty == pwmDutyMax {
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// At the maximum duty cycle currently.
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// Has the temperature increased "substantially" since the ramp-up started?
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if temp > (tempWhenRampStarted + hysteresis) {
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// Give up. The fan does not like the PWM control.
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break
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}
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}
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} else if temp < (tempTarget - hysteresis) {
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pwmDuty = iMax(pwmDuty-1, 0)
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if pwmDuty < pwmDutyMin {
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pwmDuty = 0
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tempWhenRampStarted = 0.
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}
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}
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//log.Println(temp, " ", pwmDuty)
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C.pwmWrite(cPin, C.int(pwmDuty))
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time.Sleep(delaySeconds * time.Second)
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}
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// Default to "ON".
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C.pinMode(cPin, C.OUTPUT)
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C.digitalWrite(cPin, C.HIGH)
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}
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// Service has embedded daemon
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@ -94,6 +94,8 @@ type SituationData struct {
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AHRSSlipSkid float32
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AHRSTurnRate float32
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AHRSGLoad float32
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AHRSGLoadMin float32
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AHRSGLoadMax float32
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AHRSLastAttitudeTime time.Time
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AHRSStatus uint8
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}
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@ -492,6 +492,21 @@ func handleCageAHRS(w http.ResponseWriter, r *http.Request) {
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}
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}
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func handleResetGMeter(w http.ResponseWriter, r *http.Request) {
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// define header in support of cross-domain AJAX
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setNoCache(w)
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w.Header().Set("Content-Type", "text/plain")
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w.Header().Set("Access-Control-Allow-Origin", "*")
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w.Header().Set("Access-Control-Allow-Method", "GET, POST, OPTIONS")
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w.Header().Set("Access-Control-Allow-Headers", "Origin, X-Requested-With, Content-Type, Accept")
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// For an OPTION method request, we return header without processing.
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// This ensures we are recognized as supporting cross-domain AJAX REST calls.
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if r.Method == "POST" {
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ResetAHRSGLoad()
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}
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}
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func doRestartApp() {
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time.Sleep(1)
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syscall.Sync()
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@ -741,6 +756,7 @@ func managementInterface() {
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http.HandleFunc("/orientAHRS", handleOrientAHRS)
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http.HandleFunc("/cageAHRS", handleCageAHRS)
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http.HandleFunc("/resetGMeter", handleResetGMeter)
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http.HandleFunc("/deletelogfile", handleDeleteLogFile)
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http.HandleFunc("/downloadlog", handleDownloadLogRequest)
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@ -263,6 +263,12 @@ func sensorAttitudeSender() {
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mySituation.AHRSSlipSkid = float32(s.SlipSkid())
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mySituation.AHRSTurnRate = float32(s.RateOfTurn())
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mySituation.AHRSGLoad = float32(s.GLoad())
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if mySituation.AHRSGLoad < mySituation.AHRSGLoadMin || mySituation.AHRSGLoadMin == 0 {
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mySituation.AHRSGLoadMin = mySituation.AHRSGLoad
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}
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if mySituation.AHRSGLoad > mySituation.AHRSGLoadMax {
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mySituation.AHRSGLoadMax = mySituation.AHRSGLoad
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}
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mySituation.AHRSLastAttitudeTime = t
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} else {
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@ -274,6 +280,8 @@ func sensorAttitudeSender() {
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mySituation.AHRSSlipSkid = invalid
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mySituation.AHRSTurnRate = invalid
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mySituation.AHRSGLoad = invalid
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mySituation.AHRSGLoadMin = invalid
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mySituation.AHRSGLoadMax = 0
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mySituation.AHRSLastAttitudeTime = time.Time{}
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}
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mySituation.muAttitude.Unlock()
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@ -373,6 +381,12 @@ func SetAHRSConfig(smoothConst, weight float64) {
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ahrs.SetConfig(smoothConst, weight)
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}
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// ResetAHRSGLoad resets the min and max to the current G load value.
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func ResetAHRSGLoad() {
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mySituation.AHRSGLoadMax = mySituation.AHRSGLoad
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mySituation.AHRSGLoadMin = mySituation.AHRSGLoad
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}
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func updateAHRSStatus() {
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var (
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msg uint8
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@ -223,7 +223,7 @@ func sendTrafficUpdates() {
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if globalSettings.DEBUG {
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log.Printf("Ownship target detected for code %X\n", code)
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}
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OwnshipTrafficInfo = ti
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// OwnshipTrafficInfo = ti
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} else {
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cur_n := len(msgs) - 1
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if len(msgs[cur_n]) >= 35 {
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@ -259,6 +259,10 @@ func registerTrafficUpdate(ti TrafficInfo) {
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func isTrafficAlertable(ti TrafficInfo) bool {
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// Set alert bit if possible and traffic is within some threshold
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// TODO: Could be more intelligent, taking into account headings etc.
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if !ti.BearingDist_valid {
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// If not able to calculate the distance to the target, let the alert bit be set always.
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return true
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}
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if ti.BearingDist_valid &&
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ti.Distance < 3704 { // 3704 meters, 2 nm.
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return true
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@ -17,6 +17,7 @@ var URL_RESTARTAPP = "http://" + URL_HOST_BASE + "/restart";
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var URL_DEV_TOGGLE_GET = "http://" + URL_HOST_BASE + "/develmodetoggle";
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var URL_AHRS_ORIENT = "http://" + URL_HOST_BASE + "/orientAHRS";
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var URL_AHRS_CAGE = "http://" + URL_HOST_BASE + "/cageAHRS";
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var URL_GMETER_RESET = "http://" + URL_HOST_BASE + "/resetGMeter";
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var URL_DELETELOGFILE = "http://" + URL_HOST_BASE + "/deletelogfile";
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var URL_DOWNLOADLOGFILE = "http://" + URL_HOST_BASE + "/downloadlog";
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var URL_DOWNLOADDB = "http://" + URL_HOST_BASE + "/downloaddb";
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@ -143,7 +143,7 @@ AHRSRenderer.prototype = {
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}
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};
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function GMeterRenderer(locationId, plim, nlim) {
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function GMeterRenderer(locationId, plim, nlim, resetCallback) {
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this.plim = plim;
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this.nlim = nlim;
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this.nticks = Math.floor(plim+1) - Math.floor(nlim) + 1;
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@ -215,7 +215,7 @@ function GMeterRenderer(locationId, plim, nlim) {
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reset.text('RESET').cx(0).cy(0).addClass('text');
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reset.on('click', function() {
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reset.animate(200).rotate(20, 0, 0);
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this.reset();
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resetCallback();
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reset.animate(200).rotate(0, 0, 0);
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}, this);
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}
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@ -235,19 +235,13 @@ GMeterRenderer.prototype = {
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}
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},
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update: function (g) {
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update: function (g, gmin, gmax) {
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this.g = g;
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this.max = g > this.max ? g : this.max;
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this.min = g < this.min ? g : this.min;
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this.min = gmin;
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this.max = gmax;
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this.pointer_el.animate(50).rotate((g-1)/this.nticks*360, 0, 0);
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this.max_el.animate(50).rotate((this.max-1)/this.nticks*360, 0, 0);
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this.min_el.animate(50).rotate((this.min-1)/this.nticks*360, 0, 0);
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},
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reset: function() {
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this.g = 1;
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this.max = 1;
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this.min = 1;
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}
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};
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@ -175,7 +175,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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if ($scope.ahrs_gload > 360) {
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$scope.ahrs_gload = "--";
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} else {
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gMeter.update(situation.AHRSGLoad);
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gMeter.update(situation.AHRSGLoad, situation.AHRSGLoadMin, situation.AHRSGLoadMax);
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}
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if (situation.AHRSTurnRate > 360) {
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@ -204,7 +204,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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}
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if (situation.AHRSStatus & 0x02) {
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if (statusIMU.classList.contains("off")) {
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setTimeout(gMeter.reset(), 1000);
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setTimeout($scope.GMeterReset, 1000);
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}
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statusIMU.classList.remove("off");
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statusIMU.classList.add("on");
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@ -357,7 +357,15 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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return caging;
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};
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var gMeter = new GMeterRenderer("gMeter_display", 4.4, -1.76);
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$scope.GMeterReset = function() {
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$http.post(URL_GMETER_RESET).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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});
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};
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var gMeter = new GMeterRenderer("gMeter_display", 4.4, -1.76, $scope.GMeterReset);
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// GPS Controller tasks
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connect($scope); // connect - opens a socket and listens for messages
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