kopia lustrzana https://github.com/cyoung/stratux
Remove 'up' section from orientation procedure.
Eric Westphal
rodzic
ccf04867fb
commit
e0faa71b3f
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@ -1132,7 +1132,7 @@ func defaultSettings() {
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globalSettings.DisplayTrafficSource = false
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globalSettings.ReplayLog = false //TODO: 'true' for debug builds.
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globalSettings.AHRSLog = false
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globalSettings.IMUMapping = [2]int{-1, -3} // OpenFlightBox AHRS normal mapping
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globalSettings.IMUMapping = [2]int{-1, 0}
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globalSettings.OwnshipModeS = "F00000"
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globalSettings.DeveloperMode = false
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globalSettings.StaticIps = make([]string, 0)
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@ -429,8 +429,6 @@ func handleRebootRequest(w http.ResponseWriter, r *http.Request) {
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go delayReboot()
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}
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var f int // We need this to be global to handle successive calls to handleOrientAHRS.
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func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
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// define header in support of cross-domain AJAX
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setNoCache(w)
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@ -444,7 +442,6 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
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if r.Method == "POST" {
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var (
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action []byte = make([]byte, 1)
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u int
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err error
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)
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@ -455,37 +452,21 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
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switch action[0] {
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case 'f': // Set sensor "forward" direction (toward nose of airplane).
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if f, err = getMinAccelDirection(); err != nil {
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f, err := getMinAccelDirection()
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if err != nil {
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log.Printf("AHRS Error: sensor orientation: couldn't read accelerometer: %s\n", err)
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http.Error(w, fmt.Sprintf("couldn't read accelerometer: %s\n", err), http.StatusBadRequest)
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return
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}
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log.Printf("AHRS Info: sensor orientation: received forward direction %d\n", f)
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case 'u': // Set sensor "up" direction (toward top of airplane).
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if u, err = getMinAccelDirection(); err != nil {
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log.Printf("AHRS Error: sensor orientation: couldn't read accelerometer: %s\n", err)
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http.Error(w, fmt.Sprintf("couldn't read accelerometer: %s\n", err), http.StatusBadRequest)
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return
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}
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log.Printf("AHRS Info: sensor orientation: received up direction %d\n", u)
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if f == u || f == -u {
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log.Printf("AHRS Error: sensor orientation: up (%d) and forward (%d) axes cannot be the same\n", u, f)
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http.Error(w, fmt.Sprintf("up (%d) and forward (%d) axes cannot be the same", u, f),
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http.StatusBadRequest)
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return
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}
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globalSettings.IMUMapping = [2]int{f, u}
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log.Printf("AHRS Info: sensor orientation success! forward axis is %d\n", f)
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globalSettings.IMUMapping = [2]int{f, 0}
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case 'd': // Set sensor "up" direction (toward top of airplane).
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globalSettings.SensorQuaternion = [4]float64{0, 0, 0, 0}
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saveSettings()
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myIMUReader.Close()
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globalStatus.IMUConnected = false // restart the processes depending on the orientation
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ResetAHRSGLoad()
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log.Printf("AHRS Info: sensor orientation success! forward: %d; up: %d\n", f, u)
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default: // Cancel the sensor calibration.
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f = 0
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log.Println("AHRS Info: sensor orientation: canceled")
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time.Sleep(2000 * time.Millisecond)
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}
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}
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}
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@ -330,7 +330,6 @@ func updateExtraLogging() {
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func makeOrientationQuaternion(g [3]float64) (f *[4]float64) {
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if globalSettings.IMUMapping[0] == 0 { // if unset, default to some standard orientation
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globalSettings.IMUMapping[0] = -1 // +2 for RY836AI
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globalSettings.IMUMapping[1] = -3 // +3 for RY836AI
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}
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// This is the "forward direction" chosen during the orientation process.
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@ -232,18 +232,11 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
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$http.post(URL_AHRS_ORIENT, action).
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then(function (response) {
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// console.log("sent " + action + " message.");
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setTimeout(getSettings, 5000); // Sleep to allow leveling to finish.
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}, function(response) {
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// failure: cancel the calibration
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// console.log(response.data);
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$scope.Orientation_Failure_Message = response.data;
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switch (action) {
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case "forward":
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$scope.Ui.turnOff("modalCalibrateUp");
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break;
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case "up":
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$scope.Ui.turnOff('modalCalibrateDone');
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}
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$scope.Ui.turnOff('modalCalibrateDone');
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$scope.Ui.turnOn("modalCalibrateFailed");
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});
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};
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@ -261,31 +261,11 @@
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<h4 class="modal-title">Set AHRS Sensor Orientation: Forward Direction</h4>
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</div>
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<div class="modal-body">
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<p>Point the Stratux/sensor box so that the end that will be pointing toward the <strong>nose</strong> of the airplane is pointing toward the sky and press the <strong>Set Forward Direction</strong> button.</p>
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<p>Point the Stratux so that the end that will be pointing toward the <strong>nose</strong> of the airplane is pointing toward the sky and press the <strong>Set Forward Direction</strong> button.</p>
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</div>
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<div class="modal-footer">
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<a ui-turn-off="modalCalibrateForward" ui-turn-on="modalCalibrateCanceled" class="btn btn-default">Cancel</a>
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<a ng-click="setOrientation('forward')" ui-turn-off="modalCalibrateForward" ui-turn-on="modalCalibrateUp" class="btn btn-default btn-primary">Set Forward Direction</a>
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</div>
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</div>
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</div>
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</div>
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</div>
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<div class="modal" ui-if="modalCalibrateUp" ui-state="modalCalibrateUp">
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<div class="modal-overlay "></div>
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<div class="vertical-alignment-helper center-block">
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<div class="modal-dialog vertical-align-center">
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<div class="modal-content">
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<div class="modal-header">
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<button class="close" ui-turn-off="modalCalibrateUp"></button>
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<h4 class="modal-title">Set AHRS Sensor Orientation: Up Direction</h4>
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</div>
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<div class="modal-body">
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<p>Place the Stratux/sensor box in the orientation it will be in during flight and press the <strong>Set Up Direction</strong> button.</p>
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</div>
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<div class="modal-footer">
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<a ui-turn-off="modalCalibrateUp" ui-turn-on="modalCalibrateCanceled" class="btn btn-default">Cancel</a>
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<a ng-click="setOrientation('up')" ui-turn-off="modalCalibrateUp" ui-turn-on="modalCalibrateDone" class="btn btn-default btn-primary">Set Up Direction</a>
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<a ui-turn-off="modalCalibrateForward" class="btn btn-default">Cancel</a>
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<a ng-click="setOrientation('forward')" ui-turn-off="modalCalibrateForward" ui-turn-on="modalCalibrateDone" class="btn btn-default btn-primary">Set Forward Direction</a>
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</div>
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</div>
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</div>
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@ -301,10 +281,11 @@
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<h4 class="modal-title">Set AHRS Sensor Orientation: Finished</h4>
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</div>
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<div class="modal-body">
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<p>The sensors are calibrated. These settings will be saved for future flights.</p>
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<p>The sensor orientation is set. These settings will be saved for future flights.</p>
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<p>Place the Stratux in its in-flight orientation and press the <strong>Done</strong> button.</p>
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</div>
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<div class="modal-footer">
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<a ui-turn-off="modalCalibrateDone" class="btn btn-default btn-primary">OK</a>
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<a ng-click="setOrientation('done')" ui-turn-off="modalCalibrateDone" class="btn btn-default btn-primary">Done</a>
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</div>
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</div>
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</div>
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@ -322,7 +303,7 @@
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<div class="modal-body">
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<p>There was an error: {{Orientation_Failure_Message}}</p>
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<p><div id="orientationFailureMessage"></div></p>
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<p>The calibration failed.</p>
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<p>The calibration failed. Please try again.</p>
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</div>
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<div class="modal-footer">
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<a ui-turn-off="modalCalibrateFailed" class="btn btn-default btn-primary">OK</a>
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@ -331,25 +312,5 @@
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</div>
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</div>
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</div>
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<div class="modal" ui-if="modalCalibrateCanceled" ui-state="modalCalibrateCanceled">
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<div class="modal-overlay "></div>
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<div class="vertical-alignment-helper center-block">
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<div class="modal-dialog vertical-align-center">
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<div class="modal-content">
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<div class="modal-header">
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<button class="close" ui-turn-off="modalCalibrateCanceled"></button>
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<h4 class="modal-title">Set AHRS Sensor Orientation: Canceled</h4>
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</div>
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<div class="modal-body">
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<p>Calibration canceled.</p>
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</div>
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<div class="modal-footer">
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<a ui-turn-off="modalCalibrateCanceled" class="btn btn-default btn-primary">OK</a>
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</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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