Remove 'up' section from orientation procedure.

main/gen_gdl90.go

@@ -1132,7 +1132,7 @@ func defaultSettings() {
 	globalSettings.DisplayTrafficSource = false
 	globalSettings.ReplayLog = false //TODO: 'true' for debug builds.
 	globalSettings.AHRSLog = false
-	globalSettings.IMUMapping = [2]int{-1, -3} // OpenFlightBox AHRS normal mapping
+	globalSettings.IMUMapping = [2]int{-1, 0}
 	globalSettings.OwnshipModeS = "F00000"
 	globalSettings.DeveloperMode = false
 	globalSettings.StaticIps = make([]string, 0)

main/managementinterface.go

@@ -429,8 +429,6 @@ func handleRebootRequest(w http.ResponseWriter, r *http.Request) {
 	go delayReboot()
 }
 
-var f int // We need this to be global to handle successive calls to handleOrientAHRS.
-
 func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
 	// define header in support of cross-domain AJAX
 	setNoCache(w)
@@ -444,7 +442,6 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
 	if r.Method == "POST" {
 		var (
 			action []byte = make([]byte, 1)
-			u      int
 			err    error
 		)
 
@@ -455,37 +452,21 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
 
 		switch action[0] {
 		case 'f': // Set sensor "forward" direction (toward nose of airplane).
-			if f, err = getMinAccelDirection(); err != nil {
+			f, err := getMinAccelDirection()
+			if err != nil {
 				log.Printf("AHRS Error: sensor orientation: couldn't read accelerometer: %s\n", err)
 				http.Error(w, fmt.Sprintf("couldn't read accelerometer: %s\n", err), http.StatusBadRequest)
 				return
 			}
-			log.Printf("AHRS Info: sensor orientation: received forward direction %d\n", f)
+			log.Printf("AHRS Info: sensor orientation success! forward axis is %d\n", f)
-		case 'u': // Set sensor "up" direction (toward top of airplane).
+			globalSettings.IMUMapping = [2]int{f, 0}
-			if u, err = getMinAccelDirection(); err != nil {
+		case 'd': // Set sensor "up" direction (toward top of airplane).
-				log.Printf("AHRS Error: sensor orientation: couldn't read accelerometer: %s\n", err)
-				http.Error(w, fmt.Sprintf("couldn't read accelerometer: %s\n", err), http.StatusBadRequest)
-				return
-			}
-			log.Printf("AHRS Info: sensor orientation: received up direction %d\n", u)
-
-			if f == u || f == -u {
-				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
-			}
-
-			globalSettings.IMUMapping = [2]int{f, u}
 			globalSettings.SensorQuaternion = [4]float64{0, 0, 0, 0}
 			saveSettings()
 			myIMUReader.Close()
 			globalStatus.IMUConnected = false // restart the processes depending on the orientation
 			ResetAHRSGLoad()
-			log.Printf("AHRS Info: sensor orientation success! forward: %d; up: %d\n", f, u)
+			time.Sleep(2000 * time.Millisecond)
-		default: // Cancel the sensor calibration.
-			f = 0
-			log.Println("AHRS Info: sensor orientation: canceled")
 		}
 	}
 }

main/sensors.go

@@ -330,7 +330,6 @@ func updateExtraLogging() {
 func makeOrientationQuaternion(g [3]float64) (f *[4]float64) {
 	if globalSettings.IMUMapping[0] == 0 { // if unset, default to some standard orientation
 		globalSettings.IMUMapping[0] = -1 // +2 for RY836AI
-		globalSettings.IMUMapping[1] = -3 // +3 for RY836AI
 	}
 
 	// This is the "forward direction" chosen during the orientation process.

web/plates/js/settings.js

@@ -232,18 +232,11 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 		$http.post(URL_AHRS_ORIENT, action).
 		then(function (response) {
 			// console.log("sent " + action + " message.");
-			setTimeout(getSettings, 5000); // Sleep to allow leveling to finish.
 		}, function(response) {
 			// failure: cancel the calibration
 			// console.log(response.data);
 			$scope.Orientation_Failure_Message = response.data;
-			switch (action) {
+			$scope.Ui.turnOff('modalCalibrateDone');
-				case "forward":
-					$scope.Ui.turnOff("modalCalibrateUp");
-					break;
-				case "up":
-					$scope.Ui.turnOff('modalCalibrateDone');
-			}
 			$scope.Ui.turnOn("modalCalibrateFailed");
 		});
 	};

web/plates/settings.html

@@ -261,31 +261,11 @@
 						<h4 class="modal-title">Set AHRS Sensor Orientation: Forward Direction</h4>
 					</div>
 					<div class="modal-body">
-						<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>
+						<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>
 					</div>
 					<div class="modal-footer">
-						<a ui-turn-off="modalCalibrateForward" ui-turn-on="modalCalibrateCanceled" class="btn btn-default">Cancel</a>
+						<a ui-turn-off="modalCalibrateForward" class="btn btn-default">Cancel</a>
-						<a ng-click="setOrientation('forward')" ui-turn-off="modalCalibrateForward" ui-turn-on="modalCalibrateUp" class="btn btn-default btn-primary">Set Forward Direction</a>
+						<a ng-click="setOrientation('forward')" ui-turn-off="modalCalibrateForward" ui-turn-on="modalCalibrateDone" class="btn btn-default btn-primary">Set Forward Direction</a>
-					</div>
-				</div>
-			</div>
-		</div>
-	</div>
-	<div class="modal" ui-if="modalCalibrateUp" ui-state="modalCalibrateUp">
-		<div class="modal-overlay "></div>
-		<div class="vertical-alignment-helper center-block">
-			<div class="modal-dialog vertical-align-center">
-				<div class="modal-content">
-					<div class="modal-header">
-						<button class="close" ui-turn-off="modalCalibrateUp"></button>
-						<h4 class="modal-title">Set AHRS Sensor Orientation: Up Direction</h4>
-					</div>
-					<div class="modal-body">
-						<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>
-					</div>
-					<div class="modal-footer">
-						<a ui-turn-off="modalCalibrateUp" ui-turn-on="modalCalibrateCanceled" class="btn btn-default">Cancel</a>
-						<a ng-click="setOrientation('up')" ui-turn-off="modalCalibrateUp" ui-turn-on="modalCalibrateDone" class="btn btn-default btn-primary">Set Up Direction</a>
 					</div>
 				</div>
 			</div>
@@ -301,10 +281,11 @@
 						<h4 class="modal-title">Set AHRS Sensor Orientation: Finished</h4>
 					</div>
 					<div class="modal-body">
-						<p>The sensors are calibrated.  These settings will be saved for future flights.</p>
+						<p>The sensor orientation is set.  These settings will be saved for future flights.</p>
+						<p>Place the Stratux in its in-flight orientation and press the <strong>Done</strong> button.</p>
 					</div>
 					<div class="modal-footer">
-						<a ui-turn-off="modalCalibrateDone" class="btn btn-default btn-primary">OK</a>
+						<a ng-click="setOrientation('done')" ui-turn-off="modalCalibrateDone" class="btn btn-default btn-primary">Done</a>
 					</div>
 				</div>
 			</div>
@@ -322,7 +303,7 @@
 					<div class="modal-body">
 						<p>There was an error: {{Orientation_Failure_Message}}</p>
 						<p><div id="orientationFailureMessage"></div></p>
-						<p>The calibration failed.</p>
+						<p>The calibration failed.  Please try again.</p>
 					</div>
 					<div class="modal-footer">
 						<a ui-turn-off="modalCalibrateFailed" class="btn btn-default btn-primary">OK</a>
@@ -331,25 +312,5 @@
 			</div>
 		</div>
 	</div>
-	<div class="modal" ui-if="modalCalibrateCanceled" ui-state="modalCalibrateCanceled">
-		<div class="modal-overlay "></div>
-		<div class="vertical-alignment-helper center-block">
-			<div class="modal-dialog vertical-align-center">
-				<div class="modal-content">
-					<div class="modal-header">
-						<button class="close" ui-turn-off="modalCalibrateCanceled"></button>
-						<h4 class="modal-title">Set AHRS Sensor Orientation: Canceled</h4>
-					</div>
-					<div class="modal-body">
-						<p>Calibration canceled.</p>
-					</div>
-					<div class="modal-footer">
-						<a ui-turn-off="modalCalibrateCanceled" class="btn btn-default btn-primary">OK</a>
-					</div>
-				</div>
-			</div>
-		</div>
-	</div>
-
 </div>