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Merge branch 'invalid' into eric

pull/610/head
Eric Westphal 2017-05-14 08:17:26 -04:00
rodzic 338f1cc934 70236a95da
commit 84eea16eed
4 zmienionych plików z 69 dodań i 25 usunięć
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5
main/gen_gdl90.go
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@ -1139,9 +1139,8 @@ type status struct {
UAT_OTHER_total uint32
Errors []string
Logfile_Size int64
BMPConnected bool
IMUConnected bool
BMPConnected bool
IMUConnected bool
}
var globalSettings settings

30
main/sensors.go
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@ -15,7 +15,10 @@ import (
"github.com/westphae/goflying/ahrsweb"
)
const numRetries uint8 = 5
const (
numRetries uint8 = 5
invalid float32 = float32(ahrs.Invalid)
)
var (
i2cbus embd.I2CBus
@ -117,6 +120,8 @@ func tempAndPressureSender() {
mySituation.muBaro.Unlock()
altLast = altitude
}
mySituation.BaroPressureAltitude = 99999
mySituation.BaroVerticalSpeed = 99999
}
func initIMU() (ok bool) {
@ -245,29 +250,36 @@ func sensorAttitudeSender() {
// Run the AHRS calcs
s.Compute(m)
makeAHRSGDL90Report() // Send whether or not valid - the function will invalidate the values as appropriate
// If we have valid AHRS info, then update mySituation
mySituation.muAttitude.Lock()
if s.Valid() {
mySituation.muAttitude.Lock()
roll, pitch, heading = s.RollPitchHeading()
mySituation.AHRSRoll = float32(roll / ahrs.Deg)
mySituation.AHRSPitch = float32(pitch / ahrs.Deg)
mySituation.AHRSGyroHeading = float32(heading / ahrs.Deg)
mySituation.AHRSMagHeading = float32(s.MagHeading())
// TODO westphae: until magnetometer calibration is performed, no mag heading
mySituation.AHRSMagHeading = invalid
mySituation.AHRSSlipSkid = float32(s.SlipSkid())
mySituation.AHRSTurnRate = float32(s.RateOfTurn())
mySituation.AHRSGLoad = float32(s.GLoad())
mySituation.AHRSLastAttitudeTime = t
mySituation.muAttitude.Unlock()
// makeFFAHRSSimReport() // simultaneous use of GDL90 and FFSIM not supported in FF 7.5.1 or later. Function definition will be kept for AHRS debugging and future workarounds.
} else {
s.Reset()
mySituation.AHRSRoll = invalid
mySituation.AHRSPitch = invalid
mySituation.AHRSGyroHeading = invalid
mySituation.AHRSMagHeading = invalid
mySituation.AHRSSlipSkid = invalid
mySituation.AHRSTurnRate = invalid
mySituation.AHRSGLoad = invalid
mySituation.AHRSLastAttitudeTime = time.Time{}
}
mySituation.muAttitude.Unlock()
makeAHRSGDL90Report() // Send whether or not valid - the function will invalidate the values as appropriate
// makeFFAHRSSimReport() // Simultaneous use of GDL90 and FFSIM not supported in FF 7.5.1 or later. Function definition will be kept for AHRS debugging and future workarounds.
// Send to AHRS debugging server:
if ahrswebListener != nil {

2
web/plates/gps.html
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@ -52,7 +52,7 @@
</div>
<div class="col-xs-9">
<div class="row">
<strong class="col-xs-3 text-center">Track</strong>
<strong class="col-xs-3 text-center">Heading</strong>
<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>

57
web/plates/js/gps.js
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@ -143,22 +143,55 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
$scope.ahrs_alt = "---";
}
$scope.ahrs_heading = Math.round(situation.AHRSGyroHeading.toFixed(0));
// pitch and roll are in degrees
$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);
$scope.ahrs_time = Date.parse(situation.AHRSLastAttitudeTime);
if ($scope.gps_time - $scope.ahrs_time < 1000) {
// pitch, roll and heading are in degrees
$scope.ahrs_heading = Math.round(situation.AHRSGyroHeading.toFixed(0));
if ($scope.ahrs_heading > 360) {
$scope.ahrs_heading = "---";
}
$scope.ahrs_pitch = situation.AHRSPitch.toFixed(1);
if ($scope.ahrs_pitch > 360) {
$scope.ahrs_pitch = "--";
}
$scope.ahrs_roll = situation.AHRSRoll.toFixed(1);
if ($scope.ahrs_roll > 360) {
$scope.ahrs_roll = "--";
}
$scope.ahrs_slip_skid = situation.AHRSSlipSkid.toFixed(1);
if ($scope.ahrs_slip_skid > 360) {
$scope.ahrs_slip_skid = "--";
}
ahrs.update(situation.AHRSPitch, situation.AHRSRoll, situation.AHRSGyroHeading, situation.AHRSSlipSkid);
$scope.ahrs_heading_mag = situation.AHRSMagHeading.toFixed(0);
$scope.ahrs_gload = situation.AHRSGLoad.toFixed(2);
gMeter.update(situation.AHRSGLoad);
$scope.ahrs_heading_mag = situation.AHRSMagHeading.toFixed(0);
if ($scope.ahrs_heading_mag > 360) {
$scope.ahrs_heading_mag = "---";
}
$scope.ahrs_gload = situation.AHRSGLoad.toFixed(2);
if ($scope.ahrs_gload > 360) {
$scope.ahrs_gload = "--";
} else {
gMeter.update(situation.AHRSGLoad);
}
if (situation.AHRSTurnRate> 0.6031) {
$scope.ahrs_turn_rate = (6/situation.AHRSTurnRate).toFixed(1); // minutes/turn
if (situation.AHRSTurnRate > 360) {
$scope.ahrs_turn_rate = "--";
} else if (situation.AHRSTurnRate > 0.6031) {
$scope.ahrs_turn_rate = (6/situation.AHRSTurnRate).toFixed(1); // minutes/turn
} else {
$scope.ahrs_turn_rate = '\u221e';
}
} else {
$scope.ahrs_turn_rate = '\u221e';
$scope.ahrs_heading = "---";
$scope.ahrs_pitch = "---";
$scope.ahrs_roll = "--";
$scope.ahrs_slip_skid = "--";
$scope.ahrs_heading_mag = "---";
$scope.ahrs_gload = "--";
$scope.ahrs_turn_rate = "--";
}
if (situation.AHRSStatus & 0x01) {
statusGPS.classList.remove("off");
statusGPS.classList.add("on");