Merge pull request #624 from cyoung/ahrs_dev

Ahrs dev

goflying

@@ -1 +1 @@
-Subproject commit 7e5c2828807d8074f7fd432df4baeb5e0ac44ece
+Subproject commit 2a2fd99f9b9c0222344924b86d45f93d6f982cee

main/gen_gdl90.go

@@ -270,23 +270,23 @@ func makeOwnshipReport() bool {
 	}
 
 	// This is **PRESSURE ALTITUDE**
-	//FIXME: Temporarily removing "invalid altitude" when pressure altitude not available - using GPS altitude instead.
-	//	alt := uint16(0xFFF) // 0xFFF "invalid altitude."
+	alt := uint16(0xFFF) // 0xFFF "invalid altitude."
+	validAltf := false
 
-	var alt uint16
 	var altf float64
 
 	if selfOwnshipValid {
 		altf = float64(curOwnship.Alt)
+		validAltf = true
 	} else if isTempPressValid() {
 		altf = float64(mySituation.BaroPressureAltitude)
-	} else {
-		altf = float64(mySituation.GPSAltitudeMSL) //FIXME: Pass GPS altitude if PA not available. **WORKAROUND FOR FF**
+		validAltf = true
 	}
 
-	altf = (altf + 1000) / 25
-
-	alt = uint16(altf) & 0xFFF // Should fit in 12 bits.
+	if validAltf {
+		altf = (altf + 1000) / 25
+		alt = uint16(altf) & 0xFFF // Should fit in 12 bits.
+	}
 
 	msg[11] = byte((alt & 0xFF0) >> 4) // Altitude.
 	msg[12] = byte((alt & 0x00F) << 4)
@@ -1048,14 +1048,12 @@ type settings struct {
 	DEBUG                 bool
 	ReplayLog             bool
 	AHRSLog               bool
-	IMUMapping            [2]int // Map from aircraft axis to sensor axis: accelerometer
+	IMUMapping            [2]int     // Map from aircraft axis to sensor axis: accelerometer
 	SensorQuaternion      [4]float64 // Quaternion mapping from sensor frame to aircraft frame
 	PPM                   int
 	OwnshipModeS          string
 	WatchList             string
 	DeveloperMode         bool
-	AHRSSmoothingConstant float64
-	AHRSGPSWeight         float64
 	GLimits               string
 	StaticIps             []string
 }
@@ -1125,8 +1123,6 @@ func defaultSettings() {
 	globalSettings.ReplayLog = false //TODO: 'true' for debug builds.
 	globalSettings.AHRSLog = false
 	globalSettings.IMUMapping = [2]int{-1, -3} // OpenFlightBox AHRS normal mapping
-	globalSettings.AHRSSmoothingConstant = 0.9
-	globalSettings.AHRSGPSWeight = 0.05
 	globalSettings.OwnshipModeS = "F00000"
 	globalSettings.DeveloperMode = false
 	globalSettings.StaticIps = make([]string, 0)

main/managementinterface.go

@@ -326,14 +326,6 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
 						globalSettings.WatchList = val.(string)
 					case "GLimits":
 						globalSettings.GLimits = val.(string)
-					case "AHRSSmoothingConstant":
-						globalSettings.AHRSSmoothingConstant = val.(float64)
-						SetAHRSConfig(globalSettings.AHRSSmoothingConstant, globalSettings.AHRSGPSWeight)
-						log.Printf("AHRS Info: Smoothing Constant set to %6f\n", globalSettings.AHRSSmoothingConstant)
-					case "AHRSGPSWeight":
-						globalSettings.AHRSGPSWeight = val.(float64)
-						SetAHRSConfig(globalSettings.AHRSSmoothingConstant, globalSettings.AHRSGPSWeight)
-						log.Printf("AHRS Info: GPS Weight set to %6f\n", globalSettings.AHRSGPSWeight)
 					case "OwnshipModeS":
 						// Expecting a hex string less than 6 characters (24 bits) long.
 						if len(val.(string)) > 6 { // Too long.
@@ -459,8 +451,9 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
 			log.Printf("AHRS Info: sensor orientation: received up direction %d\n", u)
 
 			if f == u || f == -u {
-				log.Println("AHRS Error: sensor orientation: up and forward axes cannot be the same")
-				http.Error(w, "up and forward axes cannot be the same", http.StatusBadRequest)
+				log.Printf("AHRS Error: sensor orientation: up (%d) and forward (%d) axes cannot be the same\n", u, f)
+				http.Error(w, fmt.Sprintf("up (%d) and forward (%d) axes cannot be the same", u, f),
+					http.StatusBadRequest)
 				return
 			}
 

main/sensors.go

@@ -155,7 +155,6 @@ func sensorAttitudeSender() {
 
 	log.Println("AHRS Info: initializing new Simple AHRS")
 	s = ahrs.InitializeSimple()
-	SetAHRSConfig(globalSettings.AHRSSmoothingConstant, globalSettings.AHRSGPSWeight)
 	m = ahrs.NewMeasurement()
 	cal = make(chan (bool), 1)
 	needsCage = true
@@ -376,6 +375,8 @@ func makeSensorRotationMatrix(g [3]float64) (rotmat *[3][3]float64) {
 
 // This is used in the orientation process where the user specifies the forward and up directions.
 func getMinAccelDirection() (i int, err error) {
+	myIMUReader.Read() // Clear out the averages
+	time.Sleep(500 * time.Millisecond) // Ensure we have enough values
 	_, _, _, _, a1, a2, a3, _, _, _, err, _ := myIMUReader.Read()
 	if err != nil {
 		return
@@ -413,11 +414,6 @@ func CageAHRS() {
 	cal <- true
 }
 
-// SetAHRSConfig changes some AHRS parameters, intended for developers.
-func SetAHRSConfig(smoothConst, weight float64) {
-	s.SetConfig(map[string]float64{"uiSmoothConst": smoothConst, "gpsWeight": weight})
-}
-
 // ResetAHRSGLoad resets the min and max to the current G load value.
 func ResetAHRSGLoad() {
 	mySituation.AHRSGLoadMax = mySituation.AHRSGLoad

selfupdate/update_footer.sh

@@ -62,9 +62,10 @@ cp -f motd /etc/motd
 #remove old script
 rm -f /usr/bin/fancontrol.py
 #install new program
+/usr/bin/fancontrol stop
+/usr/bin/fancontrol remove
 cp -f fancontrol /usr/bin/
 chmod 755 /usr/bin/fancontrol
-/usr/bin/fancontrol remove
 /usr/bin/fancontrol install
 
 cp -f dump1090 /usr/bin/

web/plates/gps.html

@@ -61,7 +61,7 @@
 							<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>
+							<span class="col-xs-3 text-center">{{ahrs_alt}}'</span>
 						</div>
 						<div class="row">
 							<strong class="col-xs-3 text-center">Mag Hdg</strong>

web/plates/js/settings.js

@@ -37,8 +37,6 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 
 		$scope.PPM = settings.PPM;
 		$scope.WatchList = settings.WatchList;
-        $scope.AHRSSmoothingConstant = settings.AHRSSmoothingConstant;
-        $scope.AHRSGPSWeight = settings.AHRSGPSWeight;
 		$scope.OwnshipModeS = settings.OwnshipModeS;
 		$scope.DeveloperMode = settings.DeveloperMode;
         $scope.GLimits = settings.GLimits;
@@ -131,34 +129,6 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
         }
     };
 
-    $scope.updateAHRSSmoothingConst = function () {
-        if ($scope.AHRSSmoothingConstant !== settings["AHRSSmoothingConstant"]) {
-            settings["AHRSSmoothingConstant"] = "0.8";
-            if ($scope.AHRSSmoothingConstant!== undefined) {
-                settings["AHRSSmoothingConstant"] = parseFloat($scope.AHRSSmoothingConstant);
-            }
-            newsettings = {
-                "AHRSSmoothingConstant": settings["AHRSSmoothingConstant"]
-            };
-            // console.log(angular.toJson(newsettings));
-            setSettings(angular.toJson(newsettings));
-        }
-    };
-
-	$scope.updateAHRSGPSWeight = function () {
-		if ($scope.AHRSGPSWeight !== settings["AHRSGPSWeight"]) {
-			settings["AHRSGPSWeight"] = "0.05";
-			if ($scope.AHRSGPSWeight!== undefined) {
-				settings["AHRSGPSWeight"] = parseFloat($scope.AHRSGPSWeight);
-			}
-			newsettings = {
-				"AHRSGPSWeight": settings["AHRSGPSWeight"]
-			};
-			// console.log(angular.toJson(newsettings));
-			setSettings(angular.toJson(newsettings));
-		}
-	};
-
 	$scope.updatemodes = function () {
 		if ($scope.OwnshipModeS !== settings["OwnshipModeS"]) {
 			settings["OwnshipModeS"] = $scope.OwnshipModeS.toUpperCase();

web/plates/settings.html

@@ -180,20 +180,6 @@
 							<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 class="form-group reset-flow">
-						<label class="control-label col-xs-5">AHRS Responsiveness</label>
-						<form name="watchForm" ng-submit="updateAHRSSmoothingConst()" novalidate>
-							<input class="col-xs-7" type="string" required ng-model="AHRSSmoothingConstant"
-								   placeholder="0 is smoother, 1 is faster" ng-blur="updateAHRSSmoothingConst()" />
-						</form>
-					</div>
-					<div class="form-group reset-flow">
-						<label class="control-label col-xs-5">AHRS GPS Weight</label>
-						<form name="watchForm" ng-submit="updateAHRSGPSWeight()" novalidate>
-							<input class="col-xs-7" type="string" required ng-model="AHRSGPSWeight"
-								   placeholder="0-1, lower uses more gyro" ng-blur="updateAHRSGPSWeight()" />
-						</form>
-					</div>
 				</div>
 			</div>
 		</div>