Merge remote-tracking branch 'cyoung/ahrs_dev' into eric

Makefile

@@ -3,7 +3,9 @@ ifeq "$(CIRCLECI)" "true"
 	BUILDINFO=
 	PLATFORMDEPENDENT=
 else
-	BUILDINFO=-ldflags "-X main.stratuxVersion=`git describe --tags --abbrev=0` -X main.stratuxBuild=`git log -n 1 --pretty=%H`"
+	LDFLAGS_VERSION=-X main.stratuxVersion=`git describe --tags --abbrev=0` -X main.stratuxBuild=`git log -n 1 --pretty=%H`
+	BUILDINFO=-ldflags "$(LDFLAGS_VERSION)"
+	BUILDINFO_STATIC=-ldflags "-extldflags -static $(LDFLAGS_VERSION)"
 $(if $(GOROOT),,$(error GOROOT is not set!))
 	PLATFORMDEPENDENT=fancontrol
 endif
@@ -17,7 +19,7 @@ xgen_gdl90:
 
 fancontrol:
 	go get -t -d -v ./main
-	go build $(BUILDINFO) -p 4 main/fancontrol.go main/equations.go main/cputemp.go
+	go build $(BUILDINFO_STATIC) -p 4 main/fancontrol.go main/equations.go main/cputemp.go
 
 xdump1090:
 	git submodule update --init

goflying

@@ -1 +1 @@
-Subproject commit 411d7ee92b96519b7b9c92e07c9e376e3a8574f4
+Subproject commit 8bd566f09abe01f42fd92aeb84591e0bee3e7ff6

main/fancontrol.go

@@ -63,19 +63,37 @@ func fanControl(pwmDutyMin int, pin int, tempTarget float32) {
 		}
 	})
 	pwmDuty := 0
+
+	tempWhenRampStarted := float32(0.)
 	for {
 		if temp > (tempTarget + hysteresis) {
+			if tempWhenRampStarted < 1. {
+				tempWhenRampStarted = temp
+			}
 			pwmDuty = iMax(iMin(pwmDutyMax, pwmDuty+1), pwmDutyMin)
+			if pwmDuty == pwmDutyMax {
+				// At the maximum duty cycle currently.
+				// Has the temperature increased "substantially" since the ramp-up started?
+				if temp > (tempWhenRampStarted + hysteresis) {
+					// Give up. The fan does not like the PWM control.
+					break
+				}
+			}
 		} else if temp < (tempTarget - hysteresis) {
 			pwmDuty = iMax(pwmDuty-1, 0)
 			if pwmDuty < pwmDutyMin {
 				pwmDuty = 0
+				tempWhenRampStarted = 0.
 			}
 		}
 		//log.Println(temp, " ", pwmDuty)
 		C.pwmWrite(cPin, C.int(pwmDuty))
 		time.Sleep(delaySeconds * time.Second)
 	}
+
+	// Default to "ON".
+	C.pinMode(cPin, C.OUTPUT)
+	C.digitalWrite(cPin, C.HIGH)
 }
 
 // Service has embedded daemon

main/gps.go

@@ -94,6 +94,8 @@ type SituationData struct {
 	AHRSSlipSkid         float32
 	AHRSTurnRate         float32
 	AHRSGLoad            float32
+	AHRSGLoadMin         float32
+	AHRSGLoadMax         float32
 	AHRSLastAttitudeTime time.Time
 	AHRSStatus           uint8
 }

main/managementinterface.go

@@ -492,6 +492,21 @@ func handleCageAHRS(w http.ResponseWriter, r *http.Request) {
 	}
 }
 
+func handleResetGMeter(w http.ResponseWriter, r *http.Request) {
+	// define header in support of cross-domain AJAX
+	setNoCache(w)
+	w.Header().Set("Content-Type", "text/plain")
+	w.Header().Set("Access-Control-Allow-Origin", "*")
+	w.Header().Set("Access-Control-Allow-Method", "GET, POST, OPTIONS")
+	w.Header().Set("Access-Control-Allow-Headers", "Origin, X-Requested-With, Content-Type, Accept")
+
+	// For an OPTION method request, we return header without processing.
+	// This ensures we are recognized as supporting cross-domain AJAX REST calls.
+	if r.Method == "POST" {
+		ResetAHRSGLoad()
+	}
+}
+
 func doRestartApp() {
 	time.Sleep(1)
 	syscall.Sync()
@@ -741,6 +756,7 @@ func managementInterface() {
 
 	http.HandleFunc("/orientAHRS", handleOrientAHRS)
 	http.HandleFunc("/cageAHRS", handleCageAHRS)
+	http.HandleFunc("/resetGMeter", handleResetGMeter)
 
 	http.HandleFunc("/deletelogfile", handleDeleteLogFile)
 	http.HandleFunc("/downloadlog", handleDownloadLogRequest)

main/sensors.go

@@ -263,6 +263,12 @@ func sensorAttitudeSender() {
 				mySituation.AHRSSlipSkid = float32(s.SlipSkid())
 				mySituation.AHRSTurnRate = float32(s.RateOfTurn())
 				mySituation.AHRSGLoad = float32(s.GLoad())
+				if mySituation.AHRSGLoad < mySituation.AHRSGLoadMin || mySituation.AHRSGLoadMin == 0 {
+					mySituation.AHRSGLoadMin = mySituation.AHRSGLoad
+				}
+				if mySituation.AHRSGLoad > mySituation.AHRSGLoadMax {
+					mySituation.AHRSGLoadMax = mySituation.AHRSGLoad
+				}
 
 				mySituation.AHRSLastAttitudeTime = t
 			} else {
@@ -274,6 +280,8 @@ func sensorAttitudeSender() {
 				mySituation.AHRSSlipSkid = invalid
 				mySituation.AHRSTurnRate = invalid
 				mySituation.AHRSGLoad = invalid
+				mySituation.AHRSGLoadMin = invalid
+				mySituation.AHRSGLoadMax = 0
 				mySituation.AHRSLastAttitudeTime = time.Time{}
 			}
 			mySituation.muAttitude.Unlock()
@@ -373,6 +381,12 @@ func SetAHRSConfig(smoothConst, weight float64) {
 	ahrs.SetConfig(smoothConst, weight)
 }
 
+// ResetAHRSGLoad resets the min and max to the current G load value.
+func ResetAHRSGLoad() {
+	mySituation.AHRSGLoadMax = mySituation.AHRSGLoad
+	mySituation.AHRSGLoadMin = mySituation.AHRSGLoad
+}
+
 func updateAHRSStatus() {
 	var (
 		msg    uint8

main/traffic.go

@@ -223,7 +223,7 @@ func sendTrafficUpdates() {
 				if globalSettings.DEBUG {
 					log.Printf("Ownship target detected for code %X\n", code)
 				}
-				OwnshipTrafficInfo = ti
+				//				OwnshipTrafficInfo = ti
 			} else {
 				cur_n := len(msgs) - 1
 				if len(msgs[cur_n]) >= 35 {
@@ -259,6 +259,10 @@ func registerTrafficUpdate(ti TrafficInfo) {
 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 {
+		// If not able to calculate the distance to the target, let the alert bit be set always.
+		return true
+	}
 	if ti.BearingDist_valid &&
 		ti.Distance < 3704 { // 3704 meters, 2 nm.
 		return true

web/js/main.js

@@ -17,6 +17,7 @@ var URL_RESTARTAPP      = "http://" + URL_HOST_BASE + "/restart";
 var URL_DEV_TOGGLE_GET  = "http://" + URL_HOST_BASE + "/develmodetoggle";
 var URL_AHRS_ORIENT     = "http://" + URL_HOST_BASE + "/orientAHRS";
 var URL_AHRS_CAGE       = "http://" + URL_HOST_BASE + "/cageAHRS";
+var URL_GMETER_RESET    = "http://" + URL_HOST_BASE + "/resetGMeter";
 var URL_DELETELOGFILE   = "http://" + URL_HOST_BASE + "/deletelogfile";
 var URL_DOWNLOADLOGFILE = "http://" + URL_HOST_BASE + "/downloadlog";
 var URL_DOWNLOADDB      = "http://" + URL_HOST_BASE + "/downloaddb";

web/plates/js/ahrs.js

@@ -143,7 +143,7 @@ AHRSRenderer.prototype = {
     }
 };
 
-function GMeterRenderer(locationId, plim, nlim) {
+function GMeterRenderer(locationId, plim, nlim, resetCallback) {
     this.plim = plim;
     this.nlim = nlim;
     this.nticks = Math.floor(plim+1) - Math.floor(nlim) + 1;
@@ -215,7 +215,7 @@ function GMeterRenderer(locationId, plim, nlim) {
     reset.text('RESET').cx(0).cy(0).addClass('text');
     reset.on('click', function() {
         reset.animate(200).rotate(20, 0, 0);
-        this.reset();
+        resetCallback();
         reset.animate(200).rotate(0, 0, 0);
     }, this);
 }
@@ -235,19 +235,13 @@ GMeterRenderer.prototype = {
         }
     },
 
-    update: function (g) {
+    update: function (g, gmin, gmax) {
         this.g = g;
-        this.max = g > this.max ? g : this.max;
+        this.min = gmin;
-        this.min = g < this.min ? g : this.min;
+        this.max = gmax;
 
         this.pointer_el.animate(50).rotate((g-1)/this.nticks*360, 0, 0);
         this.max_el.animate(50).rotate((this.max-1)/this.nticks*360, 0, 0);
         this.min_el.animate(50).rotate((this.min-1)/this.nticks*360, 0, 0);
-    },
-
-    reset: function() {
-        this.g   = 1;
-        this.max = 1;
-        this.min = 1;
     }
 };

web/plates/js/gps.js

@@ -175,7 +175,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
             if ($scope.ahrs_gload > 360) {
                 $scope.ahrs_gload = "--";
             } else {
-                gMeter.update(situation.AHRSGLoad);
+                gMeter.update(situation.AHRSGLoad, situation.AHRSGLoadMin, situation.AHRSGLoadMax);
             }
 
             if (situation.AHRSTurnRate > 360) {
@@ -204,7 +204,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
         }
         if (situation.AHRSStatus & 0x02) {
             if (statusIMU.classList.contains("off")) {
-                setTimeout(gMeter.reset(), 1000);
+                setTimeout($scope.GMeterReset, 1000);
             }
             statusIMU.classList.remove("off");
             statusIMU.classList.add("on");
@@ -357,7 +357,15 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
         return caging;
     };
 
-    var gMeter = new GMeterRenderer("gMeter_display", 4.4, -1.76);
+    $scope.GMeterReset = function() {
+        $http.post(URL_GMETER_RESET).then(function (response) {
+            // do nothing
+        }, function (response) {
+            // do nothing
+        });
+    };
+
+    var gMeter = new GMeterRenderer("gMeter_display", 4.4, -1.76, $scope.GMeterReset);
 
     // GPS Controller tasks
     connect($scope); // connect - opens a socket and listens for messages