Add UI switch to record AHRS logs.

main/gen_gdl90.go

@@ -1040,6 +1040,7 @@ type settings struct {
 	DisplayTrafficSource bool
 	DEBUG                bool
 	ReplayLog            bool
+	AHRSLog              bool
 	IMUMapping           [2]int // Map from aircraft axis to sensor axis: accelerometer
 	PPM                  int
 	OwnshipModeS         string
@@ -1110,6 +1111,7 @@ func defaultSettings() {
 	globalSettings.DEBUG = false
 	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.OwnshipModeS = "F00000"
 	globalSettings.DeveloperMode = false

main/managementinterface.go

@@ -293,6 +293,8 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
 						if v != globalSettings.ReplayLog { // Don't mark the files unless there is a change.
 							globalSettings.ReplayLog = v
 						}
+					case "AHRSLog":
+						globalSettings.AHRSLog = val.(bool)
 					case "IMUMapping":
 						if globalSettings.IMUMapping != val.([2]int) {
 							globalSettings.IMUMapping = val.([2]int)

main/sensors.go

@@ -161,6 +161,7 @@ func sensorAttitudeSender() {
 		headingMag, slipSkid, turnRate, gLoad             float64
 		errHeadingMag, errSlipSkid, errTurnRate, errGLoad error
 		failnum						  uint8
+		analysisLogger                                    *ahrs.AHRSLogger
 	)
 	log.Println("AHRS Info: initializing new simple AHRS")
 	s = ahrs.InitializeSimple()
@@ -168,9 +169,6 @@ func sensorAttitudeSender() {
 	cage = make(chan(bool))
 
 	// Set up loggers for analysis
-	analysisFilename := fmt.Sprintf("/var/log/sensors_%s.csv", time.Now().Format("20060102_150405"))
-	analysisLogger := ahrs.NewAHRSLogger(analysisFilename, s.GetLogMap())
-
 	ahrswebListener, err := ahrsweb.NewKalmanListener()
 	if err != nil {
 		log.Printf("AHRS Error: couldn't start ahrswebListener: %s\n", err.Error())
@@ -274,8 +272,17 @@ func sensorAttitudeSender() {
 			s.Compute(m)
 
 			// Log it to csv for analysis
-			if analysisFilename != "" {
-				analysisLogger.Log()
+			if globalSettings.AHRSLog {
+				if analysisLogger == nil {
+					analysisFilename := fmt.Sprintf("/var/log/sensors_%s.csv", time.Now().Format("20060102_150405"))
+					analysisLogger = ahrs.NewAHRSLogger(analysisFilename, s.GetLogMap())
+				}
+
+				if analysisLogger != nil {
+					analysisLogger.Log()
+				}
+			} else {
+				analysisLogger = nil
 			}
 
 			// Debugging server:

web/plates/js/settings.js

@@ -7,7 +7,7 @@ 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', 'IMU_Sensor_Enabled',
-		'BMP_Sensor_Enabled', 'DisplayTrafficSource', 'DEBUG', 'ReplayLog'];
+		'BMP_Sensor_Enabled', 'DisplayTrafficSource', 'DEBUG', 'ReplayLog', 'AHRSLog'];
 	var settings = {};
 	for (i = 0; i < toggles.length; i++) {
 		settings[toggles[i]] = undefined;
@@ -32,6 +32,7 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 		$scope.DisplayTrafficSource = settings.DisplayTrafficSource;
 		$scope.DEBUG = settings.DEBUG;
 		$scope.ReplayLog = settings.ReplayLog;
+		$scope.AHRSLog = settings.AHRSLog;
 		$scope.PPM = settings.PPM;
 		$scope.WatchList = settings.WatchList;
 		$scope.OwnshipModeS = settings.OwnshipModeS;

web/plates/settings.html

@@ -66,6 +66,12 @@
 						<ui-switch ng-model='ReplayLog' settings-change></ui-switch>
 					</div>
 				</div>
+				<div class="form-group">
+					<label class="control-label col-xs-7">Record AHRS Logs</label>
+					<div class="col-xs-5">
+						<ui-switch ng-model='AHRSLog' settings-change></ui-switch>
+					</div>
+				</div>
 			</div>
 		</div>
 	</div>