Merge pull request #592 from westphae/master

WebUI and dependency changes.

main/sensors.go

@@ -294,7 +294,7 @@ func sensorAttitudeSender() {
 	}
 }
 
-func makeSensorRotationMatrix(g [3]float64) *[3][3]float64 {
+func makeSensorRotationMatrix(g [3]float64) (rotmat *[3][3]float64) {
 	f := globalSettings.IMUMapping
 	if globalSettings.IMUMapping[0] == 0 { // if unset, default to some standard orientation
 		globalSettings.IMUMapping[0] = -1 // +2 for RY836AI
@@ -302,44 +302,19 @@ func makeSensorRotationMatrix(g [3]float64) *[3][3]float64 {
 		saveSettings()
 	}
 
-	var x, y, z [3]float64
-
 	// This is the "forward direction" chosen during the orientation process.
+	var x *[3]float64 = new([3]float64)
 	if f[0] < 0 {
 		x[-f[0]-1] = -1
 	} else {
 		x[+f[0]-1] = +1
 	}
 
-	// This is the "up direction" chosen during the orientation process.
-	if f[1] < 0 {
-		z[-f[1]-1] = -1
-	} else {
-		z[+f[1]-1] = +1
-	}
-	if math.Abs(z[0]*g[0]+z[1]*g[1]+z[2]*g[2]-1) > 0.1 {
-		log.Println("AHRS Warning: sensor is not nearly level with chosen up direction")
-	}
-	z = g
-
 	// Normalize the gravity vector to be 1 G.
-	gg := math.Sqrt(z[0]*z[0] + z[1]*z[1] + z[2]*z[2])
-	z[0] /= gg
-	z[1] /= gg
-	z[2] /= gg
+	z, _ := ahrs.MakeUnitVector(g)
 
-	// Remove the projection on the measured gravity vector from x so it's orthogonal to z.
-	dp := x[0]*z[0] + x[1]*z[1] + x[2]*z[2]
-	x[0] = x[0] - dp*z[0]
-	x[1] = x[1] - dp*z[1]
-	x[2] = x[2] - dp*z[2]
-
-	// Specify the "left wing" direction for a right-handed coordinate system using the cross product.
-	y[0] = z[1]*x[2] - z[2]*x[1]
-	y[1] = z[2]*x[0] - z[0]*x[2]
-	y[2] = z[0]*x[1] - z[1]*x[0]
-
-	return &[3][3]float64{x, y, z}
+	rotmat, _ = ahrs.MakeHardSoftRotationMatrix(*z, *x, [3]float64{0, 0, 1}, [3]float64{1, 0, 0})
+	return rotmat
 }
 
 // This is used in the orientation process where the user specifies the forward and up directions.

web/plates/gps.html

@@ -20,7 +20,8 @@
 					<strong class="col-xs-6 text-center">Track:</strong>
 				</div>
 				<div class="row">
-					<span class="col-xs-6 text-center">{{gps_lat}}, {{gps_lon}} &plusmn; {{gps_accuracy}} m <br> {{gps_alt}} &plusmn; {{gps_vert_accuracy}} ft  @ {{gps_vert_speed}} ft/min</span>
+					<span class="col-xs-6 text-center">{{gps_lat}}, {{gps_lon}} &plusmn; {{gps_horizontal_accuracy}} m <br>
+						{{gps_alt}} &plusmn; {{gps_vertical_accuracy}} ft  @ {{gps_vert_speed}} ft/min</span>
 					<span class="col-xs-6 text-center">{{gps_track}}&deg; @ {{gps_speed}} KTS</span>
 				</div>
 			</div>

web/plates/js/gps.js

@@ -138,26 +138,26 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
         $scope.press_time = Date.parse(situation.BaroLastMeasurementTime);
         $scope.gps_time = Date.parse(situation.GPSLastGPSTimeStratuxTime);
         if ($scope.gps_time - $scope.press_time < 1000) {
-            $scope.ahrs_alt = Math.round(situation.BaroPressureAltitude);
+            $scope.ahrs_alt = Math.round(situation.BaroPressureAltitude.toFixed(0));
         } else {
             $scope.ahrs_alt = "---";
         }
 
-        $scope.ahrs_heading = Math.round(situation.AHRSGyroHeading);
+        $scope.ahrs_heading = Math.round(situation.AHRSGyroHeading.toFixed(0));
         // pitch and roll are in degrees
-        $scope.ahrs_pitch = Math.round(situation.AHRSPitch*10)/10;
-        $scope.ahrs_roll = Math.round(situation.AHRSRoll*10)/10;
-        $scope.ahrs_slip_skid = Math.round(situation.AHRSSlipSkid*10)/10;
-        ahrs.update($scope.ahrs_pitch, $scope.ahrs_roll, $scope.ahrs_heading, $scope.ahrs_slip_skid);
+        $scope.ahrs_pitch = situation.AHRSPitch.toFixed(1);
+        $scope.ahrs_roll = situation.AHRSRoll.toFixed(1);
+        $scope.ahrs_slip_skid = situation.AHRSSlipSkid.toFixed(1);
+        ahrs.update(situation.AHRSPitch, situation.AHRSRoll, situation.AHRSGyroHeading, situation.AHRSSlipSkid);
 
-        $scope.ahrs_heading_mag = Math.round(situation.AHRSMagHeading);
-        $scope.ahrs_gload = Math.round(situation.AHRSGLoad*100)/100;
-        gMeter.update($scope.ahrs_gload);
+        $scope.ahrs_heading_mag = situation.AHRSMagHeading.toFixed(0);
+        $scope.ahrs_gload = situation.AHRSGLoad.toFixed(2);
+        gMeter.update(situation.AHRSGLoad);
 
-        if (situation.AHRSTurnRate> 0.25) {
-            $scope.ahrs_turn_rate = Math.round(360/situation.AHRSTurnRate/60*10)/10; // minutes/turn
+        if (situation.AHRSTurnRate> 0.6031) {
+            $scope.ahrs_turn_rate = (6/situation.AHRSTurnRate).toFixed(1); // minutes/turn
         } else {
-            $scope.ahrs_turn_rate = '---'
+            $scope.ahrs_turn_rate = '\u221e';
         }
         if (situation.AHRSStatus & 0x01) {
             statusGPS.classList.remove("off");