Add Cage button to Attitude Indicator/AHRS.

main/managementinterface.go

@@ -380,7 +380,7 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
 	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 insures we are recognized as supporting cross-domain AJAX REST calls.
+	// This ensures we are recognized as supporting cross-domain AJAX REST calls.
 	if r.Method == "POST" {
 		var (
 			action []byte = make([]byte, 1)
@@ -427,6 +427,21 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
 	}
 }
 
+func handleCageAHRS(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" {
+		CageAHRS()
+	}
+}
+
 func doRestartApp() {
 	time.Sleep(1)
 	syscall.Sync()
@@ -660,6 +675,7 @@ func managementInterface() {
 	http.HandleFunc("/roPartitionRebuild", handleroPartitionRebuild)
 	http.HandleFunc("/develmodetoggle", handleDevelModeToggle)
 	http.HandleFunc("/orientAHRS", handleOrientAHRS)
+	http.HandleFunc("/cageAHRS", handleCageAHRS)
 
 	err := http.ListenAndServe(managementAddr, nil)
 

main/sensors.go

@@ -21,6 +21,7 @@ var (
 	i2cbus           embd.I2CBus
 	myPressureReader sensors.PressureReader
 	myIMUReader      sensors.IMUReader
+	cage             chan(bool)
 )
 
 func initI2CSensors() {
@@ -166,6 +167,7 @@ func sensorAttitudeSender() {
 		failnum						  uint8
 	)
 	m = ahrs.NewMeasurement()
+	cage = make(chan(bool))
 
 	//TODO westphae: remove this logging when finished testing, or make it optional in settings
 	logger := ahrs.NewSensorLogger(fmt.Sprintf("/var/log/sensors_%s.csv", time.Now().Format("20060102_150405")),
@@ -204,6 +206,12 @@ func sensorAttitudeSender() {
 		<-timer.C
 		for (globalSettings.Sensors_Enabled && globalStatus.IMUConnected) {
 			<-timer.C
+			select {
+			case <-cage:
+				s = nil
+			default:
+			}
+
 			t = stratuxClock.Time
 			m.T = float64(t.UnixNano() / 1000) / 1e6
 
@@ -340,3 +348,7 @@ func getMinAccelDirection() (i int, err error) {
 
 	return
 }
+
+func CageAHRS() {
+	cage<- true
+}

web/js/main.js

@@ -16,6 +16,7 @@ var URL_SHUTDOWN		= "http://" + URL_HOST_BASE + "/shutdown";
 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";
 
 // define the module with dependency on mobile-angular-ui
 //var app = angular.module('stratux', ['ngRoute', 'mobile-angular-ui', 'mobile-angular-ui.gestures', 'appControllers']);

web/plates/gps.html

@@ -40,17 +40,22 @@
 					</span>
 				</div>
 				<div class="separator"></div>
-				<div class="row">
+				<div class="col-xs-2">
-					<strong class="col-xs-3 text-center">Heading:</strong>
+					<a ng-click="AHRSCage()" class="btn btn-primary">Cage</a>
-					<strong class="col-xs-3 text-center">Pitch:</strong>
-					<strong class="col-xs-3 text-center">Roll:</strong>
-					<strong class="col-xs-3 text-center">P-Alt:</strong>
 				</div>
-				<div class="row">
+				<div class="col-xs-10">
-					<span class="col-xs-3 text-center">{{ahrs_heading}}&deg;</span>
+					<div class="row">
-					<span class="col-xs-3 text-center">{{ahrs_pitch}}&deg;</span>
+						<strong class="col-xs-3 text-center">Heading:</strong>
-					<span class="col-xs-3 text-center">{{ahrs_roll}}&deg;</span>
+						<strong class="col-xs-3 text-center">Pitch:</strong>
-					<span class="col-xs-3 text-center">{{ahrs_alt}} ft</span>
+						<strong class="col-xs-3 text-center">Roll:</strong>
+						<strong class="col-xs-3 text-center">P-Alt:</strong>
+					</div>
+					<div class="row">
+						<span class="col-xs-3 text-center">{{ahrs_heading}}&deg;</span>
+						<span class="col-xs-3 text-center">{{ahrs_pitch}}&deg;</span>
+						<span class="col-xs-3 text-center">{{ahrs_roll}}&deg;</span>
+						<span class="col-xs-3 text-center">{{ahrs_alt}} ft</span>
+					</div>
 				</div>
 			</div>
 		</div>

web/plates/js/gps.js

@@ -189,5 +189,14 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
 		for (var i=0; i < hiders.length; i++) {
 			hiders[i].style.display = disp;
 		}
-	}
+	};
+
+	$scope.AHRSCage = function() {
+		$http.post(URL_AHRS_CAGE).
+		then(function (response) {
+			// do nothing
+		}, function (response) {
+			// do nothing
+		});
+	};
 }