Merge pull request #24 from cyoung/ahrs_dev

Fix nil pointer dereference crash.

main/managementinterface.go

@@ -276,13 +276,13 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
 						globalSettings.GPS_Enabled = val.(bool)
 					case "IMU_Sensor_Enabled":
 						globalSettings.IMU_Sensor_Enabled = val.(bool)
-						if !globalSettings.IMU_Sensor_Enabled {
+						if !globalSettings.IMU_Sensor_Enabled && globalStatus.IMUConnected {
 							myIMUReader.Close()
 							globalStatus.IMUConnected = false
 						}
 					case "BMP_Sensor_Enabled":
 						globalSettings.BMP_Sensor_Enabled = val.(bool)
-						if !globalSettings.BMP_Sensor_Enabled {
+						if !globalSettings.BMP_Sensor_Enabled && globalStatus.BMPConnected {
 							myPressureReader.Close()
 							globalStatus.BMPConnected = false
 						}
@@ -422,7 +422,7 @@ 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 {
+			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)
 				return

main/sensors.go

@@ -21,7 +21,7 @@ var (
 	i2cbus           embd.I2CBus
 	myPressureReader sensors.PressureReader
 	myIMUReader      sensors.IMUReader
-	cage             chan(bool)
+	cage             chan (bool)
 	analysisLogger   *ahrs.AHRSLogger
 	ahrsCalibrating  bool
 )
@@ -169,7 +169,7 @@ func sensorAttitudeSender() {
 	log.Println("AHRS Info: initializing new simple AHRS")
 	s = ahrs.InitializeSimple()
 	m = ahrs.NewMeasurement()
-	cage = make(chan(bool))
+	cage = make(chan (bool))
 
 	// Set up loggers for analysis
 	ahrswebListener, err := ahrsweb.NewKalmanListener()
@@ -182,7 +182,7 @@ func sensorAttitudeSender() {
 	// Need a sampling freq faster than 10Hz
 	timer := time.NewTicker(50 * time.Millisecond) // ~20Hz update.
 	for {
-		if globalSettings.IMUMapping[0]==0 { // if unset, default to RY836AI
+		if globalSettings.IMUMapping[0] == 0 { // if unset, default to RY836AI
 			globalSettings.IMUMapping[0] = -1 // +2
 			globalSettings.IMUMapping[1] = -3 // +3
 			saveSettings()
@@ -192,18 +192,18 @@ func sensorAttitudeSender() {
 		// Set up orientation matrix; a bit ugly for now
 		ff = new([3][3]float64)
 		if f[0] < 0 {
-			ff[0][-f[0] - 1] = -1
+			ff[0][-f[0]-1] = -1
 		} else {
-			ff[0][+f[0] - 1] = +1
+			ff[0][+f[0]-1] = +1
 		}
 		if f[1] < 0 {
-			ff[2][-f[1] - 1] = -1
+			ff[2][-f[1]-1] = -1
 		} else {
-			ff[2][+f[1] - 1] = +1
+			ff[2][+f[1]-1] = +1
 		}
-		ff[1][0] = ff[2][1] * ff[0][2] - ff[2][2] * ff[0][1]
-		ff[1][1] = ff[2][2] * ff[0][0] - ff[2][0] * ff[0][2]
-		ff[1][2] = ff[2][0] * ff[0][1] - ff[2][1] * ff[0][0]
+		ff[1][0] = ff[2][1]*ff[0][2] - ff[2][2]*ff[0][1]
+		ff[1][1] = ff[2][2]*ff[0][0] - ff[2][0]*ff[0][2]
+		ff[1][2] = ff[2][0]*ff[0][1] - ff[2][1]*ff[0][0]
 
 		failnum = 0
 		<-timer.C
@@ -223,7 +223,7 @@ func sensorAttitudeSender() {
 			}
 
 			t = stratuxClock.Time
-			m.T = float64(t.UnixNano() / 1000) / 1e6
+			m.T = float64(t.UnixNano()/1000) / 1e6
 
 			_, b1, b2, b3, a1, a2, a3, m1, m2, m3, mpuError, magError = myIMUReader.Read()
 			// This is how the RY83XAI is wired up
@@ -263,11 +263,11 @@ func sensorAttitudeSender() {
 				// Don't necessarily disconnect here, unless AHRSProvider deeply depends on magnetometer
 			}
 
-			m.TW = float64(mySituation.LastGroundTrackTime.UnixNano() / 1000) / 1e6
+			m.TW = float64(mySituation.LastGroundTrackTime.UnixNano()/1000) / 1e6
 			m.WValid = t.Sub(mySituation.LastGroundTrackTime) < 3000*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)
+				m.W1 = mySituation.GroundSpeed * math.Sin(float64(mySituation.TrueCourse)*ahrs.Deg)
+				m.W2 = mySituation.GroundSpeed * math.Cos(float64(mySituation.TrueCourse)*ahrs.Deg)
 				if globalSettings.BMP_Sensor_Enabled && globalStatus.BMPConnected {
 					m.W3 = mySituation.RateOfClimb * 60 / 6076.12
 				} else {
@@ -362,7 +362,7 @@ func getMinAccelDirection() (i int, err error) {
 
 // CageAHRS sends a signal to the AHRSProvider that it should be reset.
 func CageAHRS() {
-	cage<- true
+	cage <- true
 }
 
 func updateAHRSStatus() {