Add Enable_Sensors to settings UI

main/gen_gdl90.go

@@ -468,14 +468,19 @@ func makeStratuxStatus() []byte {
 	}
 
 	// Valid/Enabled: AHRS Enabled portion.
-	// msg[12] = 1 << 0
+	if globalSettings.Sensors_Enabled {
+		msg[12] = 1 << 0
+	}
 
 	// Valid/Enabled: last bit unused.
 
 	// Connected hardware: number of radios.
 	msg[15] = msg[15] | (byte(globalStatus.Devices) & 0x3)
-	// Connected hardware.
+
-	//	RY835AI: msg[15] = msg[15] | (1 << 2)
+	// Connected hardware: IMU (spec really says just RY835AI, could revise for other IMUs
+	if globalStatus.IMUConnected {
+		msg[15] = msg[15] | (1 << 2)
+	}
 
 	// Number of GPS satellites locked.
 	msg[16] = byte(globalStatus.GPS_satellites_locked)
@@ -1025,6 +1030,7 @@ type settings struct {
 	ES_Enabled           bool
 	Ping_Enabled         bool
 	GPS_Enabled          bool
+	Sensors_Enabled      bool
 	NetworkOutputs       []networkConnection
 	SerialOutputs        map[string]serialConnection
 	DisplayTrafficSource bool
@@ -1088,6 +1094,7 @@ func defaultSettings() {
 	globalSettings.UAT_Enabled = true
 	globalSettings.ES_Enabled = true
 	globalSettings.GPS_Enabled = true
+	globalSettings.Sensors_Enabled = true
 	//FIXME: Need to change format below.
 	globalSettings.NetworkOutputs = []networkConnection{
 		{Conn: nil, Ip: "", Port: 4000, Capability: NETWORK_GDL90_STANDARD | NETWORK_AHRS_GDL90},
@@ -1197,6 +1204,9 @@ func printStats() {
 			log.Printf(" - Last GPS fix: %s, GPS solution type: %d using %d satellites (%d/%d seen/tracked), NACp: %d, est accuracy %.02f m\n", stratuxClock.HumanizeTime(mySituation.LastFixLocalTime), mySituation.Quality, mySituation.Satellites, mySituation.SatellitesSeen, mySituation.SatellitesTracked, mySituation.NACp, mySituation.Accuracy)
 			log.Printf(" - GPS vertical velocity: %.02f ft/sec; GPS vertical accuracy: %v m\n", mySituation.GPSVertVel, mySituation.AccuracyVert)
 		}
+		if globalSettings.Sensors_Enabled {
+			log.Printf(" - Last IMU read: %s, Last BMP read: %s\n", stratuxClock.HumanizeTime(mySituation.LastAttitudeTime), stratuxClock.HumanizeTime(mySituation.LastTempPressTime))
+		}
 		// Check if we're using more than 95% of the free space. If so, throw a warning (only once).
 		if !diskUsageWarning && usage.Usage() > 95.0 {
 			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()))
@@ -1413,15 +1423,6 @@ func main() {
 	// Start the GPS external sensor monitoring.
 	initGPS()
 
-	// Start appropriate AHRS calc, depending on whether or not we have an IMU connected
-	if globalStatus.IMUConnected {
-		log.Println("AHRS Info: IMU connected - starting sensorAttitudeSender")
-		go sensorAttitudeSender()
-	} else {
-		log.Println("AHRS Info: IMU not connected - starting gpsAttitudeSender")
-		go gpsAttitudeSender()
-	}
-
 	// Start the heartbeat message loop in the background, once per second.
 	go heartBeatSender()
 

main/gps.go

@@ -1877,7 +1877,7 @@ func gpsAttitudeSender() {
 	for {
 		<-timer.C
 		myGPSPerfStats = make([]gpsPerfStats, 0) // reinitialize statistics on disconnect / reconnect
-		for globalSettings.GPS_Enabled && globalStatus.GPS_connected {
+		for !(globalSettings.Sensors_Enabled && globalStatus.IMUConnected) && (globalSettings.GPS_Enabled && globalStatus.GPS_connected) {
 			<-timer.C
 
 			if mySituation.Quality == 0 || !calcGPSAttitude() {
@@ -1974,6 +1974,7 @@ func isTempPressValid() bool {
 func pollGPS() {
 	readyToInitGPS = true //TODO: Implement more robust method (channel control) to kill zombie serial readers
 	timer := time.NewTicker(4 * time.Second)
+	go gpsAttitudeSender()
 	for {
 		<-timer.C
 		// GPS enabled, was not connected previously?

main/managementinterface.go

@@ -274,6 +274,8 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
 						globalSettings.Ping_Enabled = val.(bool)
 					case "GPS_Enabled":
 						globalSettings.GPS_Enabled = val.(bool)
+					case "Sensors_Enabled":
+						globalSettings.Sensors_Enabled = val.(bool)
 					case "DEBUG":
 						globalSettings.DEBUG = val.(bool)
 					case "DisplayTrafficSource":

main/sensors.go

@@ -24,19 +24,24 @@ var (
 func initI2CSensors() {
 	i2cbus = embd.NewI2CBus(1)
 
-	globalStatus.PressureSensorConnected = initPressureSensor() // I2C temperature and pressure altitude.
+	go pollSensors()
-	log.Printf("AHRS Info: pressure sensor connected: %t\n", globalStatus.PressureSensorConnected)
+	go sensorAttitudeSender()
-	globalStatus.IMUConnected = initIMU()                       // I2C accel/gyro/mag.
+}
-	log.Printf("AHRS Info: IMU connected: %t\n", globalStatus.IMUConnected)
 
-	if !(globalStatus.PressureSensorConnected || globalStatus.IMUConnected) {
+func pollSensors() {
-		i2cbus.Close()
+	timer := time.NewTicker(4 * time.Second)
-		log.Println("AHRS Info: I2C bus closed")
+	for {
-	}
+		<-timer.C
 
-	if globalStatus.PressureSensorConnected {
+		// If it's not currently connected, try connecting to pressure sensor
-		go tempAndPressureSender()
+		if globalSettings.Sensors_Enabled && !globalStatus.PressureSensorConnected {
-		log.Println("AHRS Info: monitoring pressure sensor")
+			globalStatus.PressureSensorConnected = initPressureSensor() // I2C temperature and pressure altitude.
+		}
+
+		// If it's not currently connected, try connecting to IMU
+		if globalSettings.Sensors_Enabled && !globalStatus.IMUConnected {
+			globalStatus.IMUConnected = initIMU() // I2C accel/gyro/mag.
+		}
 	}
 }
 
@@ -44,9 +49,9 @@ func initPressureSensor() (ok bool) {
 	bmp, err := sensors.NewBMP280(&i2cbus, 100*time.Millisecond)
 	if err == nil {
 		myPressureReader = bmp
-		ok = true
+		go tempAndPressureSender()
 		log.Println("AHRS Info: Successfully initialized BMP280")
-		return
+		return true
 	}
 
 	// TODO westphae: make bmp180.go to fit bmp interface
@@ -63,41 +68,25 @@ func initPressureSensor() (ok bool) {
 	//}
 
 	log.Println("AHRS Info: couldn't initialize BMP280 or BMP180")
-	return
+	return false
 }
 
 func initIMU() (ok bool) {
-	var err error
+	log.Println("AHRS Info: attempting to connect to MPU9250")
-
+	imu, err := sensors.NewMPU9250()
-	for i := 0; i < 5; i++ {
+	if err == nil {
-		log.Printf("AHRS Info: attempt %d to connect to MPU9250\n", i)
+		myIMUReader = imu
-		myIMUReader, err = sensors.NewMPU9250()
+		time.Sleep(200 * time.Millisecond)
-		if err != nil {
+		log.Println("AHRS Info: Successfully connected MPU9250, running calibration")
-			log.Printf("AHRS Info: attempt %d failed to connect to MPU9250\n", i)
+		myIMUReader.Calibrate(1, 5)
-			time.Sleep(100 * time.Millisecond)
+		log.Println("AHRS Info: Successfully calibrated MPU9250")
-		} else {
+		return true
-			time.Sleep(time.Second)
-			log.Println("AHRS Info: Successfully connected MPU9250, running calibration")
-			myIMUReader.Calibrate(1, 5)
-			log.Println("AHRS Info: Successfully initialized MPU9250")
-			return true
-		}
 	}
 
-	//for i := 0; i < 5; i++ {
+	// TODO westphae: try to connect to MPU9150
-	//	myIMUReader, err = sensors.NewMPU6050()
-	//	if err != nil {
-	//		log.Printf("AHRS Info: attempt %d failed to connect to MPU6050\n", i)
-	//		time.Sleep(100 * time.Millisecond)
-	//	} else {
-	//		ok = true
-	//		log.Println("AHRS Info: Successfully initialized MPU6050")
-	//		return
-	//	}
-	//}
 
-	log.Println("AHRS Error: couldn't initialize MPU9250 or MPU6050")
+	log.Println("AHRS Error: couldn't initialize MPU9250 or MPU9150")
-	return
+	return false
 }
 
 func tempAndPressureSender() {
@@ -113,12 +102,14 @@ func tempAndPressureSender() {
 	// Initialize variables for rate of climb calc
 	u := 5 / (5 + float64(dt)) // Use 5 sec decay time for rate of climb, slightly faster than typical VSI
 	if press, err = myPressureReader.Pressure(); err != nil {
-		log.Printf("AHRS Error: Couldn't read temp from sensor: %s", err)
+		log.Printf("AHRS Error: Couldn't read pressure from sensor: %s", err)
+		myPressureReader.Close()
+		globalStatus.PressureSensorConnected = false // Try reconnecting a little later
 	}
 	altLast = CalcAltitude(press)
 
 	timer := time.NewTicker(time.Duration(1000*dt) * time.Millisecond)
-	for globalStatus.PressureSensorConnected {
+	for globalSettings.Sensors_Enabled && globalStatus.PressureSensorConnected {
 		<-timer.C
 
 		// Read temperature and pressure altitude.
@@ -129,7 +120,9 @@ func tempAndPressureSender() {
 		press, err = myPressureReader.Pressure()
 		if err != nil {
 			log.Printf("AHRS Error: Couldn't read pressure from sensor: %s", err)
-			continue
+			myPressureReader.Close()
+			globalStatus.PressureSensorConnected = false // Try reconnecting a little later
+			break
 		}
 
 		// Update the Situation data.
@@ -168,111 +161,113 @@ func sensorAttitudeSender() {
 	ahrswebListener, err := ahrsweb.NewKalmanListener()
 	if err != nil {
 		log.Printf("AHRS Error: couldn't start ahrswebListener: %s\n", err.Error())
+	} else {
+		defer ahrswebListener.Close()
 	}
 
 	// Need a 10Hz sampling freq
 	timer := time.NewTicker(100 * time.Millisecond) // ~10Hz update.
-	for globalStatus.IMUConnected {
+	for {
 		<-timer.C
-		t = stratuxClock.Time
+		for (globalSettings.Sensors_Enabled && globalStatus.IMUConnected) {
-		m.T = float64(t.UnixNano()/1000) / 1e6
+			<-timer.C
+			t = stratuxClock.Time
+			m.T = float64(t.UnixNano() / 1000) / 1e6
 
-		_, bx, by, bz, ax, ay, az, mx, my, mz, mpuError, magError = myIMUReader.ReadRaw()
+			_, bx, by, bz, ax, ay, az, mx, my, mz, mpuError, magError = myIMUReader.ReadRaw()
-		//TODO westphae: allow user configuration of this mapping from a file, plus UI modification
+			//TODO westphae: allow user configuration of this mapping from a file, plus UI modification
-		//m.B1, m.B2, m.B3 = +by, -bx, +bz // This is how the RY83XAI is wired up
+			//m.B1, m.B2, m.B3 = +by, -bx, +bz // This is how the RY83XAI is wired up
-		//m.A1, m.A2, m.A3 = -ay, +ax, -az // This is how the RY83XAI is wired up
+			//m.A1, m.A2, m.A3 = -ay, +ax, -az // This is how the RY83XAI is wired up
-		m.B1, m.B2, m.B3 = -bx, +by, -bz // This is how the OpenFlightBox board is wired up
+			m.B1, m.B2, m.B3 = -bx, +by, -bz // This is how the OpenFlightBox board is wired up
-		m.A1, m.A2, m.A3 = -ay, +ax, +az // This is how the OpenFlightBox board is wired up
+			m.A1, m.A2, m.A3 = -ay, +ax, +az // This is how the OpenFlightBox board is wired up
-		m.M1, m.M2, m.M3 = +mx, +my, +mz
+			m.M1, m.M2, m.M3 = +mx, +my, +mz
-		m.SValid = mpuError == nil
+			m.SValid = mpuError == nil
-		m.MValid = magError == nil
+			m.MValid = magError == nil
-		if mpuError != nil {
+			if mpuError != nil {
-			log.Printf("AHRS Gyro/Accel Error, not using for this run: %s\n", mpuError.Error())
+				log.Printf("AHRS Gyro/Accel Error: %s\n", mpuError)
-			//TODO westphae: disconnect?
+				myIMUReader.Close()
-		}
+				globalStatus.IMUConnected = false
-		if magError != nil {
-			log.Printf("AHRS Magnetometer Error, not using for this run: %s\n", magError.Error())
-			m.MValid = false
-		}
-
-		m.WValid = t.Sub(mySituation.LastGroundTrackTime) < 500*time.Millisecond
-		if m.WValid {
-			m.W1 = mySituation.GroundSpeed * math.Sin(float64(mySituation.TrueCourse)*ahrs.Deg)
-			m.W2 = mySituation.GroundSpeed * math.Cos(float64(mySituation.TrueCourse)*ahrs.Deg)
-			if globalStatus.PressureSensorConnected {
-				m.W3 = mySituation.RateOfClimb * 60 / 6076.12
-			} else {
-				m.W3 = float64(mySituation.GPSVertVel) * 3600 / 6076.12
 			}
-		}
+			if magError != nil {
-
+				log.Printf("AHRS Magnetometer Error, not using for this run: %s\n", magError)
-		// Run the AHRS calcs
+				m.MValid = false
-		if s == nil { // s is nil if we should (re-)initialize the Kalman state
+				// Don't necessarily disconnect here, unless AHRSProvider deeply depends on magnetometer
-			log.Println("AHRS Info: initializing new simple AHRS")
-			s = ahrs.InitializeSimple(m, "")
-		}
-		s.Compute(m)
-
-		// Debugging server:
-		if ahrswebListener != nil {
-			ahrswebListener.Send(s.GetState(), m)
-		}
-
-		// If we have valid AHRS info, then send
-		if s.Valid() {
-			mySituation.mu_Attitude.Lock()
-
-			roll, pitch, heading = s.CalcRollPitchHeading()
-			mySituation.Roll = roll / ahrs.Deg
-			mySituation.Pitch = pitch / ahrs.Deg
-			mySituation.Gyro_heading = heading / ahrs.Deg
-
-			if headingMag, errHeadingMag = myIMUReader.MagHeading(); errHeadingMag != nil {
-				log.Printf("AHRS MPU Error: %s\n", errHeadingMag.Error())
-			} else {
-				mySituation.Mag_heading = headingMag
 			}
 
-			if slipSkid, errSlipSkid = myIMUReader.SlipSkid(); errSlipSkid != nil {
+			m.WValid = t.Sub(mySituation.LastGroundTrackTime) < 500*time.Millisecond
-				log.Printf("AHRS MPU Error: %s\n", errSlipSkid.Error())
+			if m.WValid {
-			} else {
+				m.W1 = mySituation.GroundSpeed * math.Sin(float64(mySituation.TrueCourse) * ahrs.Deg)
-				mySituation.SlipSkid = slipSkid
+				m.W2 = mySituation.GroundSpeed * math.Cos(float64(mySituation.TrueCourse) * ahrs.Deg)
+				if globalStatus.PressureSensorConnected {
+					m.W3 = mySituation.RateOfClimb * 60 / 6076.12
+				} else {
+					m.W3 = float64(mySituation.GPSVertVel) * 3600 / 6076.12
+				}
 			}
 
-			if turnRate, errTurnRate = myIMUReader.RateOfTurn(); errTurnRate != nil {
+			// Run the AHRS calcs
-				log.Printf("AHRS MPU Error: %s\n", errTurnRate.Error())
+			if s == nil { // s is nil if we should (re-)initialize the Kalman state
-			} else {
+				log.Println("AHRS Info: initializing new simple AHRS")
-				mySituation.RateOfTurn = turnRate
+				s = ahrs.InitializeSimple(m, "")
+			}
+			s.Compute(m)
+
+			// Debugging server:
+			if ahrswebListener != nil {
+				ahrswebListener.Send(s.GetState(), m)
 			}
 
-			if gLoad, errGLoad = myIMUReader.GLoad(); errGLoad != nil {
+			// If we have valid AHRS info, then send
-				log.Printf("AHRS MPU Error: %s\n", errGLoad.Error())
+			if s.Valid() {
+				mySituation.mu_Attitude.Lock()
+
+				roll, pitch, heading = s.CalcRollPitchHeading()
+				mySituation.Roll = roll / ahrs.Deg
+				mySituation.Pitch = pitch / ahrs.Deg
+				mySituation.Gyro_heading = heading / ahrs.Deg
+
+				if headingMag, errHeadingMag = myIMUReader.MagHeading(); errHeadingMag != nil {
+					log.Printf("AHRS MPU Error: %s\n", errHeadingMag.Error())
+				} else {
+					mySituation.Mag_heading = headingMag
+				}
+
+				if slipSkid, errSlipSkid = myIMUReader.SlipSkid(); errSlipSkid != nil {
+					log.Printf("AHRS MPU Error: %s\n", errSlipSkid.Error())
+				} else {
+					mySituation.SlipSkid = slipSkid
+				}
+
+				if turnRate, errTurnRate = myIMUReader.RateOfTurn(); errTurnRate != nil {
+					log.Printf("AHRS MPU Error: %s\n", errTurnRate.Error())
+				} else {
+					mySituation.RateOfTurn = turnRate
+				}
+
+				if gLoad, errGLoad = myIMUReader.GLoad(); errGLoad != nil {
+					log.Printf("AHRS MPU Error: %s\n", errGLoad.Error())
+				} else {
+					mySituation.GLoad = gLoad
+				}
+
+				mySituation.LastAttitudeTime = t
+				mySituation.mu_Attitude.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 {
-				mySituation.GLoad = gLoad
+				s = nil
+				mySituation.LastAttitudeTime = time.Time{}
 			}
 
-			mySituation.LastAttitudeTime = t
+			makeAHRSGDL90Report() // Send whether or not valid - the function will invalidate the values as appropriate
-			mySituation.mu_Attitude.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.
+			logger.Log(
-		} else {
+				float64(t.UnixNano() / 1000)/1e6,
-			s = nil
+				m.T, m.A1, m.A2, m.A3, m.B1, m.B2, m.B3, m.M1, m.M2, m.M3,
-			mySituation.LastAttitudeTime = time.Time{}
+				float64(mySituation.LastGroundTrackTime.UnixNano() / 1000)/1e6, m.W1, m.W2, m.W3,
+				float64(mySituation.LastTempPressTime.UnixNano() / 1000)/1e6, mySituation.Pressure_alt,
+				pitch/ahrs.Deg, roll/ahrs.Deg, heading/ahrs.Deg, headingMag, slipSkid, turnRate, gLoad,
+				float64(mySituation.LastAttitudeTime.UnixNano() / 1000)/1e6)
 		}
-
-		makeAHRSGDL90Report() // Send whether or not valid - the function will invalidate the values as appropriate
-
-		logger.Log(
-			float64(t.UnixNano()/1000)/1e6,
-			m.T, m.A1, m.A2, m.A3, m.B1, m.B2, m.B3, m.M1, m.M2, m.M3,
-			float64(mySituation.LastGroundTrackTime.UnixNano()/1000)/1e6, m.W1, m.W2, m.W3,
-			float64(mySituation.LastTempPressTime.UnixNano()/1000)/1e6, mySituation.Pressure_alt,
-			pitch/ahrs.Deg, roll/ahrs.Deg, heading/ahrs.Deg, headingMag, slipSkid, turnRate, gLoad,
-			float64(mySituation.LastAttitudeTime.UnixNano()/1000)/1e6)
 	}
-	log.Println("AHRS Info: Exited sensorAttitudeSender loop")
-	globalStatus.IMUConnected = false
-	ahrswebListener.Close()
-	myPressureReader.Close()
-	myIMUReader.Close()
 }

web/plates/js/ahrs.js

@@ -9,20 +9,16 @@ function ahrsRenderer(location_id) {
 	var ai = document.getElementById("attitude_indicator"),
 	    _this = this;
 
-	this.ps = []
+	this.ps = [];
-	this.rs = []
+	this.rs = [];
-	this.hs = []
+	this.hs = [];
-	this.ss = []
+	this.ss = [];
 	
 	ai.onload = function() {
 		_this.ps = ai.contentDocument.getElementsByClassName("pitch");
 		_this.rs = ai.contentDocument.getElementsByClassName("roll");
 		_this.hs = ai.contentDocument.getElementsByClassName("heading");
 		_this.ss = ai.contentDocument.getElementsByClassName("slipSkid");
-		console.log(_this.ps.length);
-		console.log(_this.rs.length);
-		console.log(_this.hs.length);
-		console.log(_this.ss.length);
 	};
 
 }
@@ -35,6 +31,7 @@ ahrsRenderer.prototype = {
 		this.pitch = 0;
 		this.roll = 0;
 		this.heading = 0;
+		this.slipSkid = 0;
 
 		this.resize();
 	},
@@ -90,8 +87,7 @@ ahrsRenderer.prototype = {
 
 	draw: function() {
 		for (i=0; i<this.ps.length; i++) {
-			console.log("pitch " + i);
+			this.ps[i].setAttribute("transform", "translate(0,"+this.pitch * 10+")")
-			this.ps[i].setAttribute("transform", "translate(0,"+this.pitch*10+")")
 		}
 
 		for (i=0; i<this.rs.length; i++) {
@@ -99,11 +95,15 @@ ahrsRenderer.prototype = {
 		}
 
 		for (i=0; i<this.hs.length; i++) {
-			this.hs[i].setAttribute("transform", "translate("+(-this.heading*2)+",0)")
+		    var h = this.heading;
+		    while (h < 0) {
+		    	h += 360
+			}
+			this.hs[i].setAttribute("transform", "translate("+(-(this.heading % 360) * 2)+",0)")
 		}
 
 		for (i=0; i<this.ss.length; i++) {
-			this.ss[i].setAttribute("transform", "translate("+(-this.slipSkid*2)+",0)")
+			this.ss[i].setAttribute("transform", "translate("+(-this.slipSkid * 2)+",0)")
 		}
 	}
 };

web/plates/js/settings.js

@@ -6,7 +6,7 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 
 	$scope.$parent.helppage = 'plates/settings-help.html';
 
-	var toggles = ['UAT_Enabled', 'ES_Enabled', 'Ping_Enabled', 'GPS_Enabled', 'DisplayTrafficSource', 'DEBUG', 'ReplayLog']; 
+	var toggles = ['UAT_Enabled', 'ES_Enabled', 'Ping_Enabled', 'GPS_Enabled', 'Sensors_Enabled', 'DisplayTrafficSource', 'DEBUG', 'ReplayLog'];
 	var settings = {};
 	for (i = 0; i < toggles.length; i++) {
 		settings[toggles[i]] = undefined;
@@ -26,6 +26,7 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 		$scope.ES_Enabled = settings.ES_Enabled;
 		$scope.Ping_Enabled = settings.Ping_Enabled;
 		$scope.GPS_Enabled = settings.GPS_Enabled;
+		$scope.Sensors_Enabled = settings.Sensors_Enabled;
 		$scope.DisplayTrafficSource = settings.DisplayTrafficSource;
 		$scope.DEBUG = settings.DEBUG;
 		$scope.ReplayLog = settings.ReplayLog;

web/plates/js/status.js

@@ -94,7 +94,6 @@ function StatusCtrl($rootScope, $scope, $state, $http, $interval) {
 		$scope.visible_uat = true;
 		$scope.visible_es = true;
 		$scope.visible_gps = true;
-		$scope.visible_ahrs = true;
 
 		// Simple GET request example (note: responce is asynchronous)
 		$http.get(URL_SETTINGS_GET).

web/plates/settings.html

@@ -28,6 +28,12 @@
 						<ui-switch ng-model='GPS_Enabled' settings-change></ui-switch>
 					</div>
 				</div>
+				<div class="form-group">
+					<label class="control-label col-xs-7">Sensors</label>
+					<div class="col-xs-5">
+						<ui-switch ng-model='Sensors_Enabled' settings-change></ui-switch>
+					</div>
+				</div>
 			</div>
 		</div>
 	</div>

web/plates/status.html

@@ -57,7 +57,7 @@
                     <div>{{product_rows}}</div>
                 </div>
 -->
-				<div class="row" ng-class="{ 'section_invisible': (!visible_gps && !visible_ahrs && !visible_uat)}">
+				<div class="row" ng-class="{ 'section_invisible': (!visible_gps && !visible_uat)}">
 					<span class="col-xs-1">&nbsp;</span>
 				</div>
 				<div class="row" ng-class="{'section_invisible': !visible_uat}">