Merge remote-tracking branch 'origin/master'

# Conflicts:
#	selfupdate/makeupdate.sh

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "dump1090"]
 	path = dump1090
-	url = https://github.com/AvSquirrel/dump1090
+	url = https://github.com/stratux/dump1090
 [submodule "goflying"]
 	path = goflying
 	url = https://github.com/cyoung/goflying

Makefile

@@ -14,7 +14,7 @@ all:
 	make ahrs_approx xdump978 xdump1090 xgen_gdl90 $(PLATFORMDEPENDENT)
 
 xgen_gdl90:
-	go get -t -d -v ./main ./test ./godump978 ./uatparse ./sensors
+	go get -t -d -v ./main ./godump978 ./uatparse ./sensors
 	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:

README.md

@@ -47,3 +47,5 @@ Jet tests (high gain antennas):
 * Embraer ERJ 145
 * Cessna Citation 501
 * Lear 35
+* Rockwell B-1b
+* Boeing C-17

circle.yml

@@ -5,13 +5,13 @@ machine:
 
 dependencies:
   pre:
-    - sudo apt-get update; sudo apt-get install libusb-1.0-0-dev; cd ~/; git clone https://github.com/jpoirier/librtlsdr; cd librtlsdr; mkdir build; cd build; cmake ../; make; sudo make install; sudo ldconfig; cd ~/; mkdir gopath; cd ~/; mkdir gopath; wget https://storage.googleapis.com/golang/go1.6.src.tar.gz; tar -zxvf go1.6.src.tar.gz; cd go/src; export GOROOT_BOOTSTRAP=/usr/local/go; ./make.bash; echo $PATH; echo $GOPATH; go version; env
+    - sudo apt-get update; sudo apt-get install libusb-1.0-0-dev mercurial; cd ~/; git clone https://github.com/jpoirier/librtlsdr; cd librtlsdr; mkdir build; cd build; cmake ../; make; sudo make install; sudo ldconfig; cd ~/; rm -rf gopath; mkdir gopath; wget https://dl.google.com/go/go1.9.2.linux-amd64.tar.gz; tar -zxvf go1.9.2.linux-amd64.tar.gz; go version; env
   override:
     - cd .. ; rm -rf stratux ; git clone --recursive https://github.com/cyoung/stratux ; cd stratux ; git config --add remote.origin.fetch "+refs/pull/*/head:refs/remotes/origin/pr/*" ; git fetch origin ; BRANCH=`echo "$CIRCLE_BRANCH" | sed 's/pull\//pr\//g'` ; git checkout $BRANCH ; make
 
 test:
   override:
-    - make test
+    - make
 
 deployment:
   production:

image/interfaces

@@ -11,6 +11,7 @@ iface wlan0 inet static
   address 10.26.36.1
   netmask 255.255.255.0
   post-up /usr/sbin/stratux-wifi.sh
+  wireless-power off
 
 auto eth0:0
 iface eth0:0 inet static

image/logrotate.conf

@@ -0,0 +1,32 @@
+# see "man logrotate" for details
+# rotate log files weekly
+daily
+
+# keep 2 days worth of backlogs
+rotate 2
+
+# create new (empty) log files after rotating old ones
+create
+
+# uncomment this if you want your log files compressed
+compress
+
+# packages drop log rotation information into this directory
+include /etc/logrotate.d
+
+# no packages own wtmp, or btmp -- we'll rotate them here
+/var/log/wtmp {
+    missingok
+    monthly
+    create 0664 root utmp
+    rotate 1
+}
+
+/var/log/btmp {
+    missingok
+    monthly
+    create 0660 root utmp
+    rotate 1
+}
+
+# system-specific logs may be configured here

image/mkimg.sh

@@ -61,6 +61,9 @@ chmod 755 mnt/usr/sbin/sdr-tool.sh
 #ping udev
 cp -f 99-uavionix.rules mnt/etc/udev/rules.d
 
+#logrotate conf
+cp -f logrotate.conf mnt/etc/logrotate.conf
+
 #fan/temp control script
 #remove old script
 rm -rf mnt/usr/bin/fancontrol.py

image/rc.local

@@ -17,6 +17,13 @@ if [ "$_IP" ]; then
   printf "My IP address is %s\n" "$_IP"
 fi
 
+
+#
+# Rotate logs on boot.
+#
+/usr/sbin/logrotate /etc/logrotate.conf
+
+
 /usr/bin/stratux-screen.py start
 
 route add default gw 10.26.36.1

main/gen_gdl90.go

@@ -1172,12 +1172,25 @@ func addSystemError(err error) {
 	globalStatus.Errors = append(globalStatus.Errors, err.Error())
 }
 
+var systemErrsMutex *sync.Mutex
+var systemErrs map[string]string
+
+func addSingleSystemErrorf(ident string, format string, a ...interface{}) {
+	systemErrsMutex.Lock()
+	if _, ok := systemErrs[ident]; !ok {
+		// Error hasn't been thrown yet.
+		systemErrs[ident] = fmt.Sprintf(format, a...)
+		globalStatus.Errors = append(globalStatus.Errors, systemErrs[ident])
+		log.Printf("Added critical system error: %s\n", systemErrs[ident])
+	}
+	// Do nothing on this call if the error has already been thrown.
+	systemErrsMutex.Unlock()
+}
+
 func saveSettings() {
 	fd, err := os.OpenFile(configLocation, os.O_CREATE|os.O_WRONLY|os.O_TRUNC, os.FileMode(0644))
 	if err != nil {
-		err_ret := fmt.Errorf("can't save settings %s: %s", configLocation, err.Error())
-		addSystemError(err_ret)
-		log.Printf("%s\n", err_ret.Error())
+		addSingleSystemErrorf("save-settings", "can't save settings %s: %s", configLocation, err.Error())
 		return
 	}
 	defer fd.Close()
@@ -1225,7 +1238,6 @@ func fsWriteTest(dir string) error {
 
 func printStats() {
 	statTimer := time.NewTicker(30 * time.Second)
-	diskUsageWarning := false
 	for {
 		<-statTimer.C
 		var memstats runtime.MemStats
@@ -1250,10 +1262,8 @@ func printStats() {
 			log.Printf("- " + strings.Join(sensorsOutput, ", ") + "\n")
 		}
 		// Check if we're using more than 95% of the free space. If so, throw a warning (only once).
-		if !diskUsageWarning && usage.Usage() > 0.95 {
-			err_p := fmt.Errorf("Disk bytes used = %s (%.1f %%), Disk bytes free = %s (%.1f %%)", humanize.Bytes(usage.Used()), 100*usage.Usage(), humanize.Bytes(usage.Free()), 100*(1-usage.Usage()))
-			addSystemError(err_p)
-			diskUsageWarning = true
+		if usage.Usage() > 0.95 {
+			addSingleSystemErrorf("disk-space", "Disk bytes used = %s (%.1f %%), Disk bytes free = %s (%.1f %%)", humanize.Bytes(usage.Used()), 100*usage.Usage(), humanize.Bytes(usage.Free()), 100*(1-usage.Usage()))
 		}
 		logStatus()
 	}
@@ -1385,6 +1395,10 @@ func main() {
 	mySituation.muBaro = &sync.Mutex{}
 	mySituation.muSatellite = &sync.Mutex{}
 
+	// Set up system error tracking.
+	systemErrsMutex = &sync.Mutex{}
+	systemErrs = make(map[string]string)
+
 	// Set up status.
 	globalStatus.Version = stratuxVersion
 	globalStatus.Build = stratuxBuild
@@ -1410,13 +1424,11 @@ func main() {
 		vtF, err := strconv.ParseFloat(vtS, 32)
 		if err == nil {
 			if vtF < 8.0 {
-				var err_os error
 				if globalStatus.HardwareBuild == "FlightBox" {
-					err_os = fmt.Errorf("You are running an old Stratux image that can't be updated fully and is now deprecated. Visit https://www.openflightsolutions.com/flightbox/image-update-required for further information.")
+					addSingleSystemErrorf("deprecated-image", "You are running an old Stratux image that can't be updated fully and is now deprecated. Visit https://www.openflightsolutions.com/flightbox/image-update-required for further information.")
 				} else {
-					err_os = fmt.Errorf("You are running an old Stratux image that can't be updated fully and is now deprecated. Visit http://stratux.me/ to update using the latest release image.")
+					addSingleSystemErrorf("deprecated-image", "You are running an old Stratux image that can't be updated fully and is now deprecated. Visit http://stratux.me/ to update using the latest release image.")
 				}
-				addSystemError(err_os)
 			} else {
 				// Running Jessie or better. Remove some old init.d files.
 				//  This made its way in here because /etc/init.d/stratux invokes the update script, which can't delete the init.d file.
@@ -1453,9 +1465,7 @@ func main() {
 	// Duplicate log.* output to debugLog.
 	fp, err := os.OpenFile(debugLogf, os.O_CREATE|os.O_WRONLY|os.O_APPEND, 0666)
 	if err != nil {
-		err_log := fmt.Errorf("Failed to open '%s': %s", debugLogf, err.Error())
-		addSystemError(err_log)
-		log.Printf("%s\n", err_log.Error())
+		addSingleSystemErrorf(debugLogf, "Failed to open '%s': %s", debugLogf, err.Error())
 	} else {
 		defer fp.Close()
 		// Keep the logfile handle for later use

main/managementinterface.go

@@ -10,6 +10,7 @@
 package main
 
 import (
+	"archive/zip"
 	"encoding/hex"
 	"encoding/json"
 	"fmt"
@@ -21,13 +22,12 @@ import (
 	"net/http"
 	"os"
 	"os/exec"
+	"path/filepath"
 	"regexp"
 	"strings"
 	"syscall"
 	"text/template"
 	"time"
-	"archive/zip"
-	"path/filepath"
 )
 
 type SettingMessage struct {
@@ -403,7 +403,7 @@ func handleDeleteAHRSLogFiles(w http.ResponseWriter, r *http.Request) {
 	var fn string
 	for _, f := range files {
 		fn = f.Name()
-		if v, _ := filepath.Match("sensors_*.csv", fn) ; v {
+		if v, _ := filepath.Match("sensors_*.csv", fn); v {
 			os.Remove("/var/log/" + fn)
 			log.Printf("Deleting AHRS log file %s\n", fn)
 		}
@@ -654,14 +654,12 @@ func defaultServer(w http.ResponseWriter, r *http.Request) {
 func handleroPartitionRebuild(w http.ResponseWriter, r *http.Request) {
 	out, err := exec.Command("/usr/sbin/rebuild_ro_part.sh").Output()
 
-	var ret_err error
 	if err != nil {
-		ret_err = fmt.Errorf("Rebuild RO Partition error: %s", err.Error())
+		addSingleSystemErrorf("partition-rebuild", "Rebuild RO Partition error: %s", err.Error())
 	} else {
-		ret_err = fmt.Errorf("Rebuild RO Partition success: %s", out)
+		addSingleSystemErrorf("partition-rebuild", "Rebuild RO Partition success: %s", out)
 	}
 
-	addSystemError(ret_err)
 }
 
 // https://gist.github.com/alexisrobert/982674.

main/network.go

@@ -10,8 +10,6 @@
 package main
 
 import (
-	"errors"
-	"fmt"
 	"github.com/tarm/serial"
 	"golang.org/x/net/icmp"
 	"golang.org/x/net/ipv4"
@@ -76,19 +74,16 @@ const (
 	extra_hosts_file       = "/etc/stratux-static-hosts.conf"
 )
 
-var dhcpLeaseFileWarning bool
 var dhcpLeaseDirectoryLastTest time.Time // Last time fsWriteTest() was run on the DHCP lease directory.
 
 // Read the "dhcpd.leases" file and parse out IP/hostname.
 func getDHCPLeases() (map[string]string, error) {
 	// Do a write test. Even if we are able to read the file, it may be out of date because there's a fs write issue.
 	// Only perform the test once every 5 minutes to minimize writes.
-	if !dhcpLeaseFileWarning && (stratuxClock.Since(dhcpLeaseDirectoryLastTest) >= 5*time.Minute) {
+	if stratuxClock.Since(dhcpLeaseDirectoryLastTest) >= 5*time.Minute {
 		err := fsWriteTest(dhcp_lease_dir)
 		if err != nil {
-			err_p := fmt.Errorf("Write error on '%s', your EFB may have issues receiving weather and traffic.", dhcp_lease_dir)
-			addSystemError(err_p)
-			dhcpLeaseFileWarning = true
+			addSingleSystemErrorf("fs-write", "Write error on '%s', your EFB may have issues receiving weather and traffic.", dhcp_lease_dir)
 		}
 		dhcpLeaseDirectoryLastTest = stratuxClock.Time
 	}
@@ -602,8 +597,6 @@ func networkStatsCounter() {
 */
 
 func ffMonitor() {
-	ff_warned := false // Has a warning been issued via globalStatus.Errors?
-
 	addr := net.UDPAddr{Port: 50113, IP: net.ParseIP("0.0.0.0")}
 	conn, err := net.ListenUDP("udp", &addr)
 	if err != nil {
@@ -637,11 +630,7 @@ func ffMonitor() {
 		if strings.HasPrefix(s, "i-want-to-play-ffm-udp") || strings.HasPrefix(s, "i-can-play-ffm-udp") || strings.HasPrefix(s, "i-cannot-play-ffm-udp") {
 			p.FFCrippled = true
 			//FIXME: AHRS output doesn't need to be disabled globally, just on the ForeFlight client IPs.
-			if !ff_warned {
-				e := errors.New("Stratux is not supported by your EFB app. Your EFB app is known to regularly make changes that cause compatibility issues with Stratux. See the README for a list of apps that officially support Stratux.")
-				addSystemError(e)
-				ff_warned = true
-			}
+			addSingleSystemErrorf("ff-warn", "Stratux is not supported by your EFB app. Your EFB app is known to regularly make changes that cause compatibility issues with Stratux. See the README for a list of apps that officially support Stratux.")
 		}
 		outSockets[ffIpAndPort] = p
 		netMutex.Unlock()

main/sdr.go

@@ -10,7 +10,6 @@
 package main
 
 import (
-	"fmt"
 	"log"
 	"os/exec"
 	"regexp"
@@ -484,8 +483,7 @@ func sdrWatcher() {
 		} else if globalSettings.DeveloperMode {
 			// Throw a "critical error" if developer mode is enabled. Alerts the developer that the daemon was restarted (possibly)
 			//  unexpectedly.
-			daemonRestartedErr := fmt.Errorf("System uptime %d seconds. Daemon was restarted.\n", info.Uptime)
-			addSystemError(daemonRestartedErr)
+			addSingleSystemErrorf("restart-warn", "System uptime %d seconds. Daemon was restarted.\n", info.Uptime)
 		}
 	}
 

main/sensors.go

@@ -22,13 +22,13 @@ const (
 )
 
 var (
-	i2cbus                     embd.I2CBus
-	myPressureReader           sensors.PressureReader
-	myIMUReader                sensors.IMUReader
-	cal                        chan (string)
-	analysisLogger             *ahrs.AHRSLogger
-	ahrsCalibrating            bool
-	logMap                     map[string]interface{}
+	i2cbus           embd.I2CBus
+	myPressureReader sensors.PressureReader
+	myIMUReader      sensors.IMUReader
+	cal              chan (string)
+	analysisLogger   *ahrs.AHRSLogger
+	ahrsCalibrating  bool
+	logMap           map[string]interface{}
 )
 
 func initI2CSensors() {
@@ -52,7 +52,6 @@ func pollSensors() {
 
 		// If it's not currently connected, try connecting to IMU
 		if globalSettings.IMU_Sensor_Enabled && !globalStatus.IMUConnected {
-			log.Println("AHRS Info: attempting IMU connection.")
 			globalStatus.IMUConnected = initIMU() // I2C accel/gyro/mag.
 		}
 	}
@@ -62,13 +61,11 @@ func initPressureSensor() (ok bool) {
 	bmp, err := sensors.NewBMP280(&i2cbus, 100*time.Millisecond)
 	if err == nil {
 		myPressureReader = bmp
-		log.Println("AHRS Info: Successfully initialized BMP280")
 		return true
 	}
 
 	//TODO westphae: make bmp180.go to fit bmp interface
 
-	log.Println("AHRS Info: couldn't initialize BMP280 or BMP180")
 	return false
 }
 
@@ -93,14 +90,14 @@ func tempAndPressureSender() {
 		// Read temperature and pressure altitude.
 		temp, err = myPressureReader.Temperature()
 		if err != nil {
-			log.Printf("AHRS Error: Couldn't read temperature from sensor: %s", err)
+			addSingleSystemErrorf("pressure-sensor-temp-read", "AHRS Error: Couldn't read temperature from sensor: %s", err)
 		}
 		press, err = myPressureReader.Pressure()
 		if err != nil {
-			log.Printf("AHRS Error: Couldn't read pressure from sensor: %s", err)
+			addSingleSystemErrorf("pressure-sensor-pressure-read", "AHRS Error: Couldn't read pressure from sensor: %s", err)
 			failNum++
 			if failNum > numRetries {
-				log.Printf("AHRS Error: Couldn't read pressure from sensor %d times, closing BMP: %s", failNum, err)
+				//				log.Printf("AHRS Error: Couldn't read pressure from sensor %d times, closing BMP: %s", failNum, err)
 				myPressureReader.Close()
 				globalStatus.BMPConnected = false // Try reconnecting a little later
 				break
@@ -129,16 +126,16 @@ func initIMU() (ok bool) {
 	imu, err := sensors.NewMPU9250()
 	if err == nil {
 		myIMUReader = imu
-		log.Println("AHRS Info: Successfully connected MPU9250")
 		return true
 	}
 
 	// TODO westphae: try to connect to MPU9150 or other IMUs.
 
-	log.Println("AHRS Error: couldn't initialize an IMU")
 	return false
 }
 
+//FIXME: Shoud be moved to managementinterface.go and standardized on management interface port.
+
 func sensorAttitudeSender() {
 	var (
 		t                    time.Time
@@ -147,7 +144,6 @@ func sensorAttitudeSender() {
 		failNum              uint8
 	)
 
-	log.Println("AHRS Info: initializing new Simple AHRS")
 	s := ahrs.NewSimpleAHRS()
 	m := ahrs.NewMeasurement()
 	cal = make(chan (string), 1)
@@ -155,9 +151,8 @@ func sensorAttitudeSender() {
 	// Set up loggers for analysis
 	ahrswebListener, err := ahrsweb.NewKalmanListener()
 	if err != nil {
-		log.Printf("AHRS Info: couldn't start ahrswebListener: %s\n", err.Error())
+		// addSingleSystemErrorf("ahrs-web-start", "AHRS Info: couldn't start ahrswebListener: %s\n", err.Error())
 	} else {
-		log.Println("AHRS Info: ahrswebListener started on port 8000")
 		defer ahrswebListener.Close()
 	}
 
@@ -165,7 +160,7 @@ func sensorAttitudeSender() {
 	timer := time.NewTicker(50 * time.Millisecond) // ~20Hz update.
 	for {
 		// Set sensor gyro calibrations
-		if c, d := &globalSettings.C, &globalSettings.D; d[0]*d[0] + d[1]*d[1] + d[2]*d[2] > 0 {
+		if c, d := &globalSettings.C, &globalSettings.D; d[0]*d[0]+d[1]*d[1]+d[2]*d[2] > 0 {
 			s.SetCalibrations(c, d)
 			log.Printf("AHRS Info: IMU Calibrations read from settings: accel %6f %6f %6f; gyro %6f %6f %6f\n",
 				c[0], c[1], c[2], d[0], d[1], d[2])
@@ -178,7 +173,7 @@ func sensorAttitudeSender() {
 		}
 
 		// Set sensor quaternion
-		if f := &globalSettings.SensorQuaternion; f[0]*f[0] + f[1]*f[1] + f[2]*f[2] + f[3]*f[3] > 0 {
+		if f := &globalSettings.SensorQuaternion; f[0]*f[0]+f[1]*f[1]+f[2]*f[2]+f[3]*f[3] > 0 {
 			s.SetSensorQuaternion(f)
 		} else {
 			select { // Don't block if cal isn't receiving: only need one calibration in the queue at a time.

notes/app-vendor-integration.md

@@ -55,7 +55,7 @@ Some 1090ES transponders will send the actual registration number of the aircraf
 a squawk code.
 
 
-### Additional data available to EFBs
+### Additional data/control available to EFBs
 
 Stratux makes available a webserver to retrieve statistics which may be useful to EFBs:
 
@@ -262,3 +262,16 @@ Subsequent update (2837120 = 2B4A80 reports a newer position, altitude increased
 ```json
 {"Icao_addr":2837120,"OnGround":false,"Lat":42.193336,"Lng":-83.92136,"Position_valid":true,"Alt":3400,"Track":9,"Speed":92,"Speed_valid":true,"Vvel":0,"Tail":"","Last_seen":"2015-12-22T21:29:22.252914555Z","Last_source":2}
 ```
+
+* `http://192.168.10.1/calibrateAHRS` - run AHRS sensor calibration routine. Submit a blank POST to this URL.
+
+* `http://192.168.10.1/cageAHRS` - "level" attitude display. Submit a blank POST to this URL.
+
+* `http://192.168.10.1/resetGMeter` - reset G-meter to zero. Submit a blank POST to this URL.
+
+* `http://192.168.10.1/restart` - restart Stratux application.
+
+* `http://192.168.10.1/reboot` - reboot the system.
+
+* `http://192.168.10.1/shutdown` - shutdown the system.
+

selfupdate/makeupdate.sh

@@ -18,7 +18,6 @@ mkdir -p work/bin
 cp gen_gdl90 work/bin/
 cp fancontrol work/bin/
 cp libdump978.so work/bin/
-cp linux-mpu9150/libimu.so work/bin/
 cp __lib__systemd__system__stratux.service work/bin/
 cp __root__stratux-pre-start.sh work/bin/
 cp dump1090/dump1090 work/bin/
@@ -39,10 +38,11 @@ cp image/stratux-wifi.sh work/bin/
 cp image/rc.local work/bin/
 cp image/dhcpd.conf work/bin/
 cp image/interfaces work/bin/
+cp image/logrotate.conf work/bin
+
 cp test-data/ahrs/ahrs_table.log work/bin/
 cp ahrs_approx work/bin/
 
-
 #TODO: librtlsdr.
 cd work/
 cat ../selfupdate/update_header.sh >update.sh

selfupdate/update_footer.sh

@@ -1,6 +1,5 @@
 cp -f gen_gdl90 /usr/bin/gen_gdl90
 cp -f libdump978.so /usr/lib/libdump978.so
-cp -f libimu.so /usr/lib/libimu.so
 
 
 # Startup script.
@@ -23,6 +22,9 @@ ln -fs /lib/systemd/system/stratux.service /etc/systemd/system/multi-user.target
 cp -f hostapd.conf /etc/hostapd/hostapd.conf
 cp -f hostapd-edimax.conf /etc/hostapd/hostapd-edimax.conf
 
+#logrotate config
+cp -f logrotate.conf /etc/logrotate.conf
+
 #WiFi Hostapd ver test and hostapd.conf builder script
 cp -f stratux-wifi.sh /usr/sbin/
 

selfupdate/update_header.sh

@@ -3,5 +3,4 @@
 rm -rf /root/stratux-update
 mkdir -p /root/stratux-update
 cd /root/stratux-update
-rm -f /var/log/stratux.sqlite /var/log/stratux.sqlite-wal /var/log/stratux.sqlite-shm
-rm -f /var/log/stratux.log
+rm -f /var/log/stratux*

web/plates/settings.html

@@ -1,5 +1,110 @@
 <div class="col-sm-12">
     <div class="panel-group col-sm-6">
+        <div class="panel panel-default">
+            <div class="panel-heading">AHRS</div>
+            <div class="panel-body">
+                <div class="col-xs-12">
+                    <span style="position:relative; overflow: hidden;">
+                        <button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateForward"
+                                ng-disabled="!IMU_Sensor_Enabled">Set AHRS Sensor Orientation</button>
+                    </span>
+                </div>
+                <div class="form-group reset-flow">
+                    <div class="col-xs-12">
+                        <button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateGyros"
+                                ng-disabled="!IMU_Sensor_Enabled">Calibrate Gyros</button>
+                    </div>
+                </div>
+                <div class="form-group reset-flow">
+                    <label class="control-label col-xs-5">G Limits</label>
+                    <form name="GLimitForm" ng-submit="updateGLimits()" novalidate ng-disabled="!IMU_Sensor_Enabled">
+                        <input class="col-xs-7" type="string" required ng-model="GLimits" ng-blur="updateGLimits()"
+                               placeholder="Space-separated negative and positive G meter limits"/>
+                    </form>
+                </div>
+            </div>
+        </div>
+    </div>
+
+    <div class="panel-group col-sm-6">
+        <div class="panel panel-default">
+            <div class="panel-heading">Configuration</div>
+            <div class="panel-body">
+                <div class="form-group reset-flow">
+                    <label class="control-label col-xs-5">Mode S Code (Hex)</label>
+                    <form name="modeForm" ng-submit="updatemodes()" novalidate>
+                        <!-- type="number" not supported except on mobile -->
+                        <!-- RegEx for validation: ^[A-Fa-f0-9]{6}$ -->
+                        <input class="col-xs-7" type="string" required ng-model="OwnshipModeS" placeholder="FAA HEX code" ng-blur="updatemodes()" />
+                    </form>
+                </div>
+                <div class="form-group reset-flow">
+                    <label class="control-label col-xs-5">Watch List</label>
+                    <form name="watchForm" ng-submit="updatewatchlist()" novalidate>
+                        <!-- type="number" not supported except on mobile -->
+                        <input class="col-xs-7" type="string" required ng-model="WatchList" placeholder="space-delimited identifiers" ng-blur="updatewatchlist()" />
+                    </form>
+                </div>
+                <div ng-show="DeveloperMode" class="form-group reset-flow">
+                    <label class="control-label col-xs-5">PPM Correction</label>
+                    <form name="ppmForm" ng-submit="updateppm()" novalidate>
+                        <!-- type="number" not supported except on mobile -->
+                        <input class="col-xs-7" type="number_format" required ng-model="PPM" placeholder="integer" ng-blur="updateppm()" />
+                    </form>
+                </div>
+                <div class="form-group reset-flow" ng-class="{ 'section_invisible': (!visible_serialout)}">
+                    <label class="control-label col-xs-5">Serial Output Baudrate</label>
+                    <form name="ppmForm" ng-submit="updateBaud()" novalidate>
+                        <!-- type="number" not supported except on mobile -->
+                        <input class="col-xs-7" type="number_format" required ng-model="Baud" placeholder="integer" ng-blur="updateBaud()" />
+                    </form>
+                </div>
+                <div class="form-group reset-flow">
+                    <label class="control-label col-xs-5">Static IPs</label>
+                        <form name="staticipForm" ng-submit="updatestaticips()" novalidate>
+                            <input class="col-xs-7" type="string" required ng-model="StaticIps" ng-list=" " ng-trim="false" placeholder="space-delimited ip's to send network data" ng-blur="updatestaticips()" />
+                        </form>
+                </div>
+            </div>
+        </div>
+    </div>
+</div>
+
+<div class="col-sm-12"> 
+    <div class="panel-group col-sm-6">
+        <div class="panel panel-default">
+            <div class="panel-heading">Commands</div>
+            <div class="panel-body">
+                <!-- Upload. Temporary. -->
+                <div class="col-xs-12">
+                    <span ng-show="update_files == ''">
+                        <span style="position:relative; overflow: hidden;">
+                            <span class="fake-btn fake-btn-block">Click to select System Update file</span>
+                            <input style="opacity:0.0; position: absolute; top: 0; right: 0;" class="col-xs-12" type="file" name="update_file" onchange="angular.element(this).scope().setUploadFile(this.files)"/>
+                        </span>
+                    </span>
+                    <span ng-hide="update_files == ''">
+                        <button class="btn btn-block" onclick="angular.element(this).scope().uploadFile()">Install {{update_files[0].name}}</button>
+                    </span>
+                </div>
+                <div class="form-group reset-flow">
+                    <div class="col-xs-12">
+                        <button class="btn btn-primary btn-block" ui-turn-on="modalReboot">Reboot</button>
+                    </div>
+                </div>
+                <div class="form-group reset-flow">
+                    <div class="col-xs-12">
+                        <button class="btn btn-primary btn-block"ui-turn-on="modalShutdown">Shutdown</button>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+</div>
+
+<!-- Developer mode area -->
+<div class="col-sm-12">
+    <div ng-show="DeveloperMode" class="panel-group col-sm-6">
         <div class="panel panel-default">
             <div class="panel-heading">Hardware</div>
             <div class="panel-body">
@@ -42,8 +147,7 @@
             </div>
         </div>
     </div>
-
-    <div class="panel-group col-sm-6">
+    <div ng-show="DeveloperMode" class="panel-group col-sm-6">
         <div class="panel panel-default">
             <div class="panel-heading">Diagnostics</div>
             <div class="panel-body">
@@ -75,120 +179,6 @@
         </div>
     </div>
 
-    <div class="panel-group col-sm-6">
-        <div class="panel panel-default">
-            <div class="panel-heading">AHRS</div>
-            <div class="panel-body">
-                <div class="col-xs-12">
-                    <span style="position:relative; overflow: hidden;">
-                        <button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateForward"
-                                ng-disabled="!IMU_Sensor_Enabled">Set AHRS Sensor Orientation</button>
-                    </span>
-                </div>
-                <div class="form-group reset-flow">
-                    <div class="col-xs-12">
-                        <button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateGyros"
-                                ng-disabled="!IMU_Sensor_Enabled">Calibrate Gyros</button>
-                    </div>
-                </div>
-                <div class="form-group reset-flow">
-                    <label class="control-label col-xs-5">G Limits</label>
-                    <form name="GLimitForm" ng-submit="updateGLimits()" novalidate ng-disabled="!IMU_Sensor_Enabled">
-                        <input class="col-xs-7" type="string" required ng-model="GLimits" ng-blur="updateGLimits()"
-                               placeholder="Space-separated negative and positive G meter limits"/>
-                    </form>
-                </div>
-            </div>
-        </div>
-    </div>
-</div>
-
-<div class="col-sm-12">
-    <div class="panel-group col-sm-6">
-        <div class="panel panel-default">
-            <div class="panel-heading">Configuration</div>
-            <div class="panel-body">
-                <div class="form-group reset-flow">
-                    <label class="control-label col-xs-5">Mode S Code (Hex)</label>
-                    <form name="modeForm" ng-submit="updatemodes()" novalidate>
-                        <!-- type="number" not supported except on mobile -->
-                        <!-- RegEx for validation: ^[A-Fa-f0-9]{6}$ -->
-                        <input class="col-xs-7" type="string" required ng-model="OwnshipModeS" placeholder="FAA HEX code" ng-blur="updatemodes()" />
-                    </form>
-                </div>
-                <div class="form-group reset-flow">
-                    <label class="control-label col-xs-5">Watch List</label>
-                    <form name="watchForm" ng-submit="updatewatchlist()" novalidate>
-                        <!-- type="number" not supported except on mobile -->
-                        <input class="col-xs-7" type="string" required ng-model="WatchList" placeholder="space-delimited identifiers" ng-blur="updatewatchlist()" />
-                    </form>
-                </div>
-                <div class="form-group reset-flow">
-                    <label class="control-label col-xs-5">PPM Correction</label>
-                    <form name="ppmForm" ng-submit="updateppm()" novalidate>
-                        <!-- type="number" not supported except on mobile -->
-                        <input class="col-xs-7" type="number_format" required ng-model="PPM" placeholder="integer" ng-blur="updateppm()" />
-                    </form>
-                </div>
-                <div class="form-group reset-flow" ng-class="{ 'section_invisible': (!visible_serialout)}">
-                    <label class="control-label col-xs-5">Serial Output Baudrate</label>
-                    <form name="ppmForm" ng-submit="updateBaud()" novalidate>
-                        <!-- type="number" not supported except on mobile -->
-                        <input class="col-xs-7" type="number_format" required ng-model="Baud" placeholder="integer" ng-blur="updateBaud()" />
-                    </form>
-                </div>
-            </div>
-        </div>
-    </div>
-	
-    <div class="panel-group col-sm-6">
-        <div class="panel panel-default">
-            <div class="panel-heading">Commands</div>
-            <div class="panel-body">
-                <!-- Upload. Temporary. -->
-                <div class="col-xs-12">
-                    <span ng-show="update_files == ''">
-                        <span style="position:relative; overflow: hidden;">
-                            <span class="fake-btn fake-btn-block">Click to select System Update file</span>
-                            <input style="opacity:0.0; position: absolute; top: 0; right: 0;" class="col-xs-12" type="file" name="update_file" onchange="angular.element(this).scope().setUploadFile(this.files)"/>
-                        </span>
-                    </span>
-                    <span ng-hide="update_files == ''">
-                        <button class="btn btn-block" onclick="angular.element(this).scope().uploadFile()">Install {{update_files[0].name}}</button>
-                    </span>
-                </div>
-                <div class="form-group reset-flow">
-                    <div class="col-xs-12">
-                        <button class="btn btn-primary btn-block" ui-turn-on="modalReboot">Reboot</button>
-                    </div>
-                </div>
-                <div class="form-group reset-flow">
-                    <div class="col-xs-12">
-                        <button class="btn btn-primary btn-block"ui-turn-on="modalShutdown">Shutdown</button>
-                    </div>
-                </div>
-            </div>
-        </div>
-    </div>
-</div>
-
-<!-- Developer mode area -->
-<div class="col-sm-12">
-    <div ng-show="DeveloperMode" class="panel-group col-sm-6">
-        <div class="panel panel-default">
-            <div class="panel-heading">Developer Options</div>
-            <div class="panel-body">
-                <div class="col-xs-12">
-                    <div class="form-group reset-flow">
-                        <label class="control-label col-xs-5">Static IPs</label>
-                        <form name="staticipForm" ng-submit="updatestaticips()" novalidate>
-                            <input class="col-xs-7" type="string" required ng-model="StaticIps" ng-list=" " ng-trim="false" placeholder="space-delimited ip's to send network data" ng-blur="updatestaticips()" />
-                        </form>
-                    </div>
-                </div>
-            </div>
-        </div>
-    </div>
 </div>