Merge remote-tracking branch 'origin/master' into ahrs_dev_protocolfun

README.md

@@ -13,9 +13,6 @@ Raspberry Pi 2 with the Edimax EW-7811Un Wi-Fi dongle is supported but not recom
 
 Tested and works well with most common R820T and R820T2 RTL-SDR devices.
 
-Tested with and preliminary support added for [uAvionix pingEFB dual-link ADS-B receiver](http://www.uavionix.com/products/pingefb/).
-
-
 Apps with stratux recognition/support:
 * Seattle Avionics FlyQ EFB 2.1.1+.
 * AvNav EFB 2.0.0+.
@@ -31,10 +28,17 @@ Tested weather/traffic displays:
 * ForeFlight 7+ - weather, traffic. AHRS not functional.
 * Avare
 
+Other EFBs? See the [app vendor integration guide](https://github.com/cyoung/stratux/blob/master/notes/app-vendor-integration.md).
+
+Dangerzone builds (AHRS display):
+* ForeFlight 7+ - weather, traffic, AHRS.
+
 Questions?  [See the FAQ](https://github.com/cyoung/stratux/wiki/FAQ)
 
 http://stratux.me/
 
+http://slack.stratux.me/
+
 https://www.reddit.com/r/stratux
 
 Jet tests (high gain antennas):

circle.yml

@@ -18,3 +18,6 @@ deployment:
     branch: master
     commands:
       - yes | ssh -i ~/.ssh/id_updates.stratux.me stratux-updates@updates.stratux.me "touch queue/`git log -n 1 --pretty=%H`"
+    branch: ahrs_dev
+    commands:
+      - yes | ssh -i ~/.ssh/id_updates.stratux.me stratux-updates@updates.stratux.me "touch queue/`git log -n 1 --pretty=%H`"

goflying

@@ -1 +1 @@
-Subproject commit 083dd940f35eed0505f3cded7d8b6aa5f70b4e35
+Subproject commit a9f32832e8fd8cac2b2e10cf673f0b79e1cec67d

image/interfaces

@@ -1,6 +1,8 @@
 auto lo
 
 iface lo inet loopback
+
+allow-hotplug eth0
 iface eth0 inet dhcp
 
 allow-hotplug wlan0

main/gen_gdl90.go

@@ -108,6 +108,65 @@ var maxSignalStrength int
 var stratuxBuild string
 var stratuxVersion string
 
+var product_name_map = map[int]string{
+	0:   "METAR",
+	1:   "TAF",
+	2:   "SIGMET",
+	3:   "Conv SIGMET",
+	4:   "AIRMET",
+	5:   "PIREP",
+	6:   "Severe Wx",
+	7:   "Winds Aloft",
+	8:   "NOTAM",           //"NOTAM (Including TFRs) and Service Status";
+	9:   "D-ATIS",          //"Aerodrome and Airspace – D-ATIS";
+	10:  "Terminal Wx",     //"Aerodrome and Airspace - TWIP";
+	11:  "AIRMET",          //"Aerodrome and Airspace - AIRMET";
+	12:  "SIGMET",          //"Aerodrome and Airspace - SIGMET/Convective SIGMET";
+	13:  "SUA",             //"Aerodrome and Airspace - SUA Status";
+	20:  "METAR",           //"METAR and SPECI";
+	21:  "TAF",             //"TAF and Amended TAF";
+	22:  "SIGMET",          //"SIGMET";
+	23:  "Conv SIGMET",     //"Convective SIGMET";
+	24:  "AIRMET",          //"AIRMET";
+	25:  "PIREP",           //"PIREP";
+	26:  "Severe Wx",       //"AWW";
+	27:  "Winds Aloft",     //"Winds and Temperatures Aloft";
+	51:  "NEXRAD",          //"National NEXRAD, Type 0 - 4 level";
+	52:  "NEXRAD",          //"National NEXRAD, Type 1 - 8 level (quasi 6-level VIP)";
+	53:  "NEXRAD",          //"National NEXRAD, Type 2 - 8 level";
+	54:  "NEXRAD",          //"National NEXRAD, Type 3 - 16 level";
+	55:  "NEXRAD",          //"Regional NEXRAD, Type 0 - low dynamic range";
+	56:  "NEXRAD",          //"Regional NEXRAD, Type 1 - 8 level (quasi 6-level VIP)";
+	57:  "NEXRAD",          //"Regional NEXRAD, Type 2 - 8 level";
+	58:  "NEXRAD",          //"Regional NEXRAD, Type 3 - 16 level";
+	59:  "NEXRAD",          //"Individual NEXRAD, Type 0 - low dynamic range";
+	60:  "NEXRAD",          //"Individual NEXRAD, Type 1 - 8 level (quasi 6-level VIP)";
+	61:  "NEXRAD",          //"Individual NEXRAD, Type 2 - 8 level";
+	62:  "NEXRAD",          //"Individual NEXRAD, Type 3 - 16 level";
+	63:  "NEXRAD Regional", //"Global Block Representation - Regional NEXRAD, Type 4 – 8 level";
+	64:  "NEXRAD CONUS",    //"Global Block Representation - CONUS NEXRAD, Type 4 - 8 level";
+	81:  "Tops",            //"Radar echo tops graphic, scheme 1: 16-level";
+	82:  "Tops",            //"Radar echo tops graphic, scheme 2: 8-level";
+	83:  "Tops",            //"Storm tops and velocity";
+	101: "Lightning",       //"Lightning strike type 1 (pixel level)";
+	102: "Lightning",       //"Lightning strike type 2 (grid element level)";
+	151: "Lightning",       //"Point phenomena, vector format";
+	201: "Surface",         //"Surface conditions/winter precipitation graphic";
+	202: "Surface",         //"Surface weather systems";
+	254: "G-AIRMET",        //"AIRMET, SIGMET: Bitmap encoding";
+	351: "Time",            //"System Time";
+	352: "Status",          //"Operational Status";
+	353: "Status",          //"Ground Station Status";
+	401: "Imagery",         //"Generic Raster Scan Data Product APDU Payload Format Type 1";
+	402: "Text",
+	403: "Vector Imagery", //"Generic Vector Data Product APDU Payload Format Type 1";
+	404: "Symbols",
+	405: "Text",
+	411: "Text",    //"Generic Textual Data Product APDU Payload Format Type 1";
+	412: "Symbols", //"Generic Symbolic Product APDU Payload Format Type 1";
+	413: "Text",    //"Generic Textual Data Product APDU Payload Format Type 2";
+}
+
 // CRC16 table generated to use to work with GDL90 messages.
 var Crc16Table [256]uint16
 
@@ -795,6 +854,15 @@ func updateStatus() {
 	if err == nil {
 		globalStatus.Logfile_Size = fileInfo.Size()
 	}
+
+	var ahrsLogSize int64
+	ahrsLogFiles, _ := ioutil.ReadDir("/var/log")
+	for _, f := range ahrsLogFiles {
+		if v, _ := filepath.Match("sensors_*.csv", f.Name()); v {
+			ahrsLogSize += f.Size()
+		}
+	}
+	globalStatus.AHRS_LogFiles_Size = ahrsLogSize
 }
 
 type WeatherMessage struct {
@@ -963,65 +1031,6 @@ func parseInput(buf string) ([]byte, uint16) {
 	return frame, msgtype
 }
 
-var product_name_map = map[int]string{
-	0:   "METAR",
-	1:   "TAF",
-	2:   "SIGMET",
-	3:   "Conv SIGMET",
-	4:   "AIRMET",
-	5:   "PIREP",
-	6:   "Severe Wx",
-	7:   "Winds Aloft",
-	8:   "NOTAM",           //"NOTAM (Including TFRs) and Service Status";
-	9:   "D-ATIS",          //"Aerodrome and Airspace – D-ATIS";
-	10:  "Terminal Wx",     //"Aerodrome and Airspace - TWIP";
-	11:  "AIRMET",          //"Aerodrome and Airspace - AIRMET";
-	12:  "SIGMET",          //"Aerodrome and Airspace - SIGMET/Convective SIGMET";
-	13:  "SUA",             //"Aerodrome and Airspace - SUA Status";
-	20:  "METAR",           //"METAR and SPECI";
-	21:  "TAF",             //"TAF and Amended TAF";
-	22:  "SIGMET",          //"SIGMET";
-	23:  "Conv SIGMET",     //"Convective SIGMET";
-	24:  "AIRMET",          //"AIRMET";
-	25:  "PIREP",           //"PIREP";
-	26:  "Severe Wx",       //"AWW";
-	27:  "Winds Aloft",     //"Winds and Temperatures Aloft";
-	51:  "NEXRAD",          //"National NEXRAD, Type 0 - 4 level";
-	52:  "NEXRAD",          //"National NEXRAD, Type 1 - 8 level (quasi 6-level VIP)";
-	53:  "NEXRAD",          //"National NEXRAD, Type 2 - 8 level";
-	54:  "NEXRAD",          //"National NEXRAD, Type 3 - 16 level";
-	55:  "NEXRAD",          //"Regional NEXRAD, Type 0 - low dynamic range";
-	56:  "NEXRAD",          //"Regional NEXRAD, Type 1 - 8 level (quasi 6-level VIP)";
-	57:  "NEXRAD",          //"Regional NEXRAD, Type 2 - 8 level";
-	58:  "NEXRAD",          //"Regional NEXRAD, Type 3 - 16 level";
-	59:  "NEXRAD",          //"Individual NEXRAD, Type 0 - low dynamic range";
-	60:  "NEXRAD",          //"Individual NEXRAD, Type 1 - 8 level (quasi 6-level VIP)";
-	61:  "NEXRAD",          //"Individual NEXRAD, Type 2 - 8 level";
-	62:  "NEXRAD",          //"Individual NEXRAD, Type 3 - 16 level";
-	63:  "NEXRAD Regional", //"Global Block Representation - Regional NEXRAD, Type 4 – 8 level";
-	64:  "NEXRAD CONUS",    //"Global Block Representation - CONUS NEXRAD, Type 4 - 8 level";
-	81:  "Tops",            //"Radar echo tops graphic, scheme 1: 16-level";
-	82:  "Tops",            //"Radar echo tops graphic, scheme 2: 8-level";
-	83:  "Tops",            //"Storm tops and velocity";
-	101: "Lightning",       //"Lightning strike type 1 (pixel level)";
-	102: "Lightning",       //"Lightning strike type 2 (grid element level)";
-	151: "Lightning",       //"Point phenomena, vector format";
-	201: "Surface",         //"Surface conditions/winter precipitation graphic";
-	202: "Surface",         //"Surface weather systems";
-	254: "G-AIRMET",        //"AIRMET, SIGMET: Bitmap encoding";
-	351: "Time",            //"System Time";
-	352: "Status",          //"Operational Status";
-	353: "Status",          //"Ground Station Status";
-	401: "Imagery",         //"Generic Raster Scan Data Product APDU Payload Format Type 1";
-	402: "Text",
-	403: "Vector Imagery", //"Generic Vector Data Product APDU Payload Format Type 1";
-	404: "Symbols",
-	405: "Text",
-	411: "Text",    //"Generic Textual Data Product APDU Payload Format Type 1";
-	412: "Symbols", //"Generic Symbolic Product APDU Payload Format Type 1";
-	413: "Text",    //"Generic Textual Data Product APDU Payload Format Type 2";
-}
-
 func getProductNameFromId(product_id int) string {
 	name, present := product_name_map[product_id]
 	if present {
@@ -1050,6 +1059,7 @@ type settings struct {
 	AHRSLog              bool
 	IMUMapping           [2]int     // Map from aircraft axis to sensor axis: accelerometer
 	SensorQuaternion     [4]float64 // Quaternion mapping from sensor frame to aircraft frame
+	C, D                 [3]float64 // IMU Accel, Gyro zero bias
 	PPM                  int
 	OwnshipModeS         string
 	WatchList            string
@@ -1100,6 +1110,7 @@ type status struct {
 	UAT_OTHER_total                            uint32
 	Errors                                     []string
 	Logfile_Size                               int64
+	AHRS_LogFiles_Size                         int64
 	BMPConnected                               bool
 	IMUConnected                               bool
 }
@@ -1122,7 +1133,7 @@ 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

@@ -26,6 +26,8 @@ import (
 	"syscall"
 	"text/template"
 	"time"
+	"archive/zip"
+	"path/filepath"
 )
 
 type SettingMessage struct {
@@ -387,10 +389,28 @@ func doReboot() {
 }
 
 func handleDeleteLogFile(w http.ResponseWriter, r *http.Request) {
-	log.Printf("handleDeleteLogFile called!!!\n")
+	log.Println("handleDeleteLogFile called!!!")
 	clearDebugLogFile()
 }
 
+func handleDeleteAHRSLogFiles(w http.ResponseWriter, r *http.Request) {
+	files, err := ioutil.ReadDir("/var/log")
+	if err != nil {
+		http.Error(w, fmt.Sprintf("error deleting AHRS logs: %s", err), http.StatusNotFound)
+		return
+	}
+
+	var fn string
+	for _, f := range files {
+		fn = f.Name()
+		if v, _ := filepath.Match("sensors_*.csv", fn) ; v {
+			os.Remove("/var/log/" + fn)
+			log.Printf("Deleting AHRS log file %s\n", fn)
+		}
+		analysisLogger = nil
+	}
+}
+
 func handleDevelModeToggle(w http.ResponseWriter, r *http.Request) {
 	log.Printf("handleDevelModeToggle called!!!\n")
 	globalSettings.DeveloperMode = true
@@ -410,8 +430,6 @@ 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)
@@ -425,7 +443,6 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
 	if r.Method == "POST" {
 		var (
 			action []byte = make([]byte, 1)
-			u      int
 			err    error
 		)
 
@@ -436,38 +453,22 @@ 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)
+			globalSettings.SensorQuaternion = [4]float64{0, 0, 0, 0}
-				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}
 			saveSettings()
 			myIMUReader.Close()
 			globalStatus.IMUConnected = false // restart the processes depending on the orientation
-			CageAHRS()
+			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")
 		}
-
 	}
 }
 
@@ -486,6 +487,21 @@ func handleCageAHRS(w http.ResponseWriter, r *http.Request) {
 	}
 }
 
+func handleCalibrateAHRS(w http.ResponseWriter, r *http.Request) {
+	// define header in support of cross-domain AJAX
+	setNoCache(w)
+	w.Header().Set("Content-Type", "text/plain")
+	w.Header().Set("Access-Control-Allow-Origin", "*")
+	w.Header().Set("Access-Control-Allow-Method", "GET, POST, OPTIONS")
+	w.Header().Set("Access-Control-Allow-Headers", "Origin, X-Requested-With, Content-Type, Accept")
+
+	// For an OPTION method request, we return header without processing.
+	// This ensures we are recognized as supporting cross-domain AJAX REST calls.
+	if r.Method == "POST" {
+		CalibrateAHRS()
+	}
+}
+
 func handleResetGMeter(w http.ResponseWriter, r *http.Request) {
 	// define header in support of cross-domain AJAX
 	setNoCache(w)
@@ -528,13 +544,63 @@ func delayReboot() {
 }
 
 func handleDownloadLogRequest(w http.ResponseWriter, r *http.Request) {
-	w.Header().Set("Content-Type", "applicaiton/zip")
+	w.Header().Set("Content-Type", "application/zip")
 	w.Header().Set("Content-Disposition", "attachment; filename='stratux.log'")
 	http.ServeFile(w, r, "/var/log/stratux.log")
 }
 
+func handleDownloadAHRSLogsRequest(w http.ResponseWriter, r *http.Request) {
+	// Common error handler
+	httpErr := func(w http.ResponseWriter, e error) {
+		http.Error(w, fmt.Sprintf("error zipping AHRS logs: %s", e), http.StatusNotFound)
+	}
+
+	files, err := ioutil.ReadDir("/var/log")
+	if err != nil {
+		httpErr(w, err)
+		return
+	}
+
+	z := zip.NewWriter(w)
+	defer z.Close()
+
+	for _, f := range files {
+		fn := f.Name()
+		v1, _ := filepath.Match("sensors_*.csv", fn)
+		v2, _ := filepath.Match("stratux.log", fn)
+		if !(v1 || v2) {
+			continue
+		}
+
+		unzippedFile, err := os.Open("/var/log/" + fn)
+		if err != nil {
+			httpErr(w, err)
+			return
+		}
+
+		fh, err := zip.FileInfoHeader(f)
+		if err != nil {
+			httpErr(w, err)
+			return
+		}
+		zippedFile, err := z.CreateHeader(fh)
+		if err != nil {
+			httpErr(w, err)
+			return
+		}
+
+		_, err = io.Copy(zippedFile, unzippedFile)
+		if err != nil {
+			httpErr(w, err)
+			return
+		}
+	}
+	w.Header().Set("Content-Type", "application/zip")
+	w.Header().Set("Content-Disposition", "attachment; filename=\"ahrs_logs.zip\"")
+}
+
 func handleDownloadDBRequest(w http.ResponseWriter, r *http.Request) {
-	w.Header().Set("Content-Type", "applicaiton/zip")
+	w.Header().Set("Content-Type", "application/zip")
 	w.Header().Set("Content-Disposition", "attachment; filename='stratux.sqlite'")
 	http.ServeFile(w, r, "/var/log/stratux.sqlite")
 }
@@ -747,13 +813,14 @@ func managementInterface() {
 	http.HandleFunc("/updateUpload", handleUpdatePostRequest)
 	http.HandleFunc("/roPartitionRebuild", handleroPartitionRebuild)
 	http.HandleFunc("/develmodetoggle", handleDevelModeToggle)
-
 	http.HandleFunc("/orientAHRS", handleOrientAHRS)
+	http.HandleFunc("/calibrateAHRS", handleCalibrateAHRS)
 	http.HandleFunc("/cageAHRS", handleCageAHRS)
 	http.HandleFunc("/resetGMeter", handleResetGMeter)
-
 	http.HandleFunc("/deletelogfile", handleDeleteLogFile)
 	http.HandleFunc("/downloadlog", handleDownloadLogRequest)
+	http.HandleFunc("/deleteahrslogfiles", handleDeleteAHRSLogFiles)
+	http.HandleFunc("/downloadahrslogs", handleDownloadAHRSLogsRequest)
 	http.HandleFunc("/downloaddb", handleDownloadDBRequest)
 
 	err := http.ListenAndServe(managementAddr, nil)

main/sensors.go

@@ -5,6 +5,7 @@ import (
 	"log"
 	"math"
 	"path/filepath"
+	"strings"
 	"time"
 
 	"../goflying/ahrs"
@@ -16,16 +17,17 @@ import (
 
 const (
 	numRetries uint8 = 5
+	calCLimit        = 0.15
+	calDLimit        = 10.0
 )
 
 var (
 	i2cbus                     embd.I2CBus
 	myPressureReader           sensors.PressureReader
 	myIMUReader                sensors.IMUReader
-	s                          ahrs.AHRSProvider
+	cal                        chan (string)
-	cal                        chan (bool)
 	analysisLogger             *ahrs.AHRSLogger
-	ahrsCalibrating, needsCage bool // Does the sensor orientation matrix need to be recalculated?
+	ahrsCalibrating            bool
 	logMap                     map[string]interface{}
 )
 
@@ -44,7 +46,6 @@ func pollSensors() {
 
 		// If it's not currently connected, try connecting to pressure sensor
 		if globalSettings.BMP_Sensor_Enabled && !globalStatus.BMPConnected {
-			log.Println("AHRS Info: attempting pressure sensor connection.")
 			globalStatus.BMPConnected = initPressureSensor() // I2C temperature and pressure altitude.
 			go tempAndPressureSender()
 		}
@@ -125,39 +126,31 @@ func tempAndPressureSender() {
 }
 
 func initIMU() (ok bool) {
-	log.Println("AHRS Info: attempting to connect to MPU9250")
 	imu, err := sensors.NewMPU9250()
 	if err == nil {
 		myIMUReader = imu
-		time.Sleep(200 * time.Millisecond)
 		log.Println("AHRS Info: Successfully connected MPU9250")
 		return true
 	}
 
 	// TODO westphae: try to connect to MPU9150 or other IMUs.
 
-	log.Println("AHRS Error: couldn't initialize MPU9250")
+	log.Println("AHRS Error: couldn't initialize an IMU")
 	return false
 }
 
 func sensorAttitudeSender() {
 	var (
-		roll, pitch, heading float64
 		t                    time.Time
-		m                    *ahrs.Measurement
+		roll, pitch, heading float64
-		a, b, c, d, mm       [3]float64    // IMU measurements: accel, gyro, accel bias, gyro bias, magnetometer
-		f                    [4]float64    // Sensor orientation quaternion
-		ff                   [3][3]float64 // Sensor orientation matrix
-		cc                   float64
 		mpuError, magError   error
 		failNum              uint8
 	)
 
 	log.Println("AHRS Info: initializing new Simple AHRS")
-	s = ahrs.InitializeSimple()
+	s := ahrs.NewSimpleAHRS()
-	m = ahrs.NewMeasurement()
+	m := ahrs.NewMeasurement()
-	cal = make(chan (bool), 1)
+	cal = make(chan (string), 1)
-	needsCage = true
 
 	// Set up loggers for analysis
 	ahrswebListener, err := ahrsweb.NewKalmanListener()
@@ -171,74 +164,81 @@ func sensorAttitudeSender() {
 	// Need a sampling freq faster than 10Hz
 	timer := time.NewTicker(50 * time.Millisecond) // ~20Hz update.
 	for {
+		// Set sensor gyro calibrations
+		if c, d := &globalSettings.C, &globalSettings.D; d[0]*d[0] + d[1]*d[1] + d[2]*d[2] > 0 {
+			s.SetCalibrations(c, d)
+			log.Printf("AHRS Info: IMU Calibrations read from settings: accel %6f %6f %6f; gyro %6f %6f %6f\n",
+				c[0], c[1], c[2], d[0], d[1], d[2])
+		} else {
 			// Do an initial calibration
 			select { // Don't block if cal isn't receiving: only need one calibration in the queue at a time.
-		case cal <- true:
+			case cal <- "cal":
 			default:
 			}
+		}
 
-		// Set sensor rotation matrix / quaternion
+		// Set sensor quaternion
-		f[0] = globalSettings.SensorQuaternion[0]
+		if f := &globalSettings.SensorQuaternion; f[0]*f[0] + f[1]*f[1] + f[2]*f[2] + f[3]*f[3] > 0 {
-		f[1] = globalSettings.SensorQuaternion[1]
+			s.SetSensorQuaternion(f)
-		f[2] = globalSettings.SensorQuaternion[2]
+		} else {
-		f[3] = globalSettings.SensorQuaternion[3]
+			select { // Don't block if cal isn't receiving: only need one calibration in the queue at a time.
-		if f[0]*f[0]+f[1]*f[1]+f[2]*f[2]+f[3]*f[3] > 0.5 {
+			case cal <- "level":
-			// Use the sensor rotation quaternion from config.
+			default:
-			ff = *ahrs.QuaternionToRotationMatrix(f[0], f[1], f[2], f[3])
+			}
-			needsCage = false
 		}
 
 		failNum = 0
 		<-timer.C
+		time.Sleep(950 * time.Millisecond)
 		for globalSettings.IMU_Sensor_Enabled && globalStatus.IMUConnected {
 			<-timer.C
+
+			// Process calibration and level requests
 			select {
-			case <-cal:
+			case action := <-cal:
-				log.Println("AHRS Info: Calibrating IMU")
+				log.Printf("AHRS Info: cal received action %s\n", action)
 				ahrsCalibrating = true
-				//TODO westphae: check for errors when reading IMU
 				myIMUReader.Read() // Clear out the averages
+				var (
+					nTries uint8
+					cc, dd float64
+				)
+				for (math.Abs(cc-1) > calCLimit || dd > calDLimit) && nTries < numRetries {
 					time.Sleep(1 * time.Second)
-				_, d[0], d[1], d[2], c[0], c[1], c[2], _, _, _, _, _ = myIMUReader.Read()
+					_, d1, d2, d3, c1, c2, c3, _, _, _, mpuError, _ := myIMUReader.Read()
-				log.Printf("AHRS Info: IMU Calibrated: accel %6f %6f %6f; gyro %6f %6f %6f\n",
+					cc = math.Sqrt(c1*c1 + c2*c2 + c3*c3)
-					c[0], c[1], c[2], d[0], d[1], d[2])
+					dd = math.Sqrt(d1*d1 + d2*d2 + d3*d3)
-				ahrsCalibrating = false
+					nTries++
-				cc = math.Sqrt(c[0]*c[0] + c[1]*c[1] + c[2]*c[2])
+					log.Printf("AHRS Info: IMU calibration attempt #%d\n", nTries)
+					if mpuError != nil {
+						log.Printf("AHRS Info: Error reading IMU while calibrating: %s\n", mpuError)
+					} else {
+						if strings.Contains(action, "cal") { // Calibrate gyros
+							globalSettings.D = [3]float64{d1, d2, d3}
+							s.SetCalibrations(nil, &globalSettings.D)
+							log.Printf("AHRS Info: IMU gyro calibration: %3f %3f %3f\n", d1, d2, d3)
+						}
+						if strings.Contains(action, "level") { // Calibrate accel / level
+							globalSettings.C = [3]float64{c1, c2, c3}
+							s.SetCalibrations(&globalSettings.C, nil)
+							globalSettings.SensorQuaternion = *makeOrientationQuaternion(globalSettings.C)
+							s.SetSensorQuaternion(&globalSettings.SensorQuaternion)
 							s.Reset()
+							log.Printf("AHRS Info: IMU accel calibration: %3f %3f %3f\n", c1, c2, c3)
+							log.Printf("AHRS Info: Caged to quaternion %v\n", globalSettings.SensorQuaternion)
+						}
+						saveSettings()
+					}
+				}
+				ahrsCalibrating = false
+				<-timer.C // Make sure we get data for the actual algorithm
 			default:
 			}
 
-			if needsCage {
+			// Make the IMU sensor measurements.
-				log.Println("AHRS Info: Caging")
-				ff = *makeSensorRotationMatrix([3]float64{c[0], c[1], c[2]})
-				f[0], f[1], f[2], f[3] = ahrs.RotationMatrixToQuaternion(ff)
-				globalSettings.SensorQuaternion[0] = f[0]
-				globalSettings.SensorQuaternion[1] = f[1]
-				globalSettings.SensorQuaternion[2] = f[2]
-				globalSettings.SensorQuaternion[3] = f[3]
-				saveSettings()
-				needsCage = false
-			}
-
 			t = stratuxClock.Time
 			m.T = float64(t.UnixNano()/1000) / 1e6
-
+			_, m.B1, m.B2, m.B3, m.A1, m.A2, m.A3, m.M1, m.M2, m.M3, mpuError, magError = myIMUReader.Read()
-			_, b[0], b[1], b[2], a[0], a[1], a[2], mm[0], mm[1], mm[2], mpuError, magError = myIMUReader.Read()
-			a[0] /= cc
-			a[1] /= cc
-			a[2] /= cc
-			b[0] -= d[0]
-			b[1] -= d[1]
-			b[2] -= d[2]
-			m.A1 = -(ff[0][0]*a[0] + ff[0][1]*a[1] + ff[0][2]*a[2])
-			m.A2 = -(ff[1][0]*a[0] + ff[1][1]*a[1] + ff[1][2]*a[2])
-			m.A3 = -(ff[2][0]*a[0] + ff[2][1]*a[1] + ff[2][2]*a[2])
-			m.B1 = ff[0][0]*b[0] + ff[0][1]*b[1] + ff[0][2]*b[2]
-			m.B2 = ff[1][0]*b[0] + ff[1][1]*b[1] + ff[1][2]*b[2]
-			m.B3 = ff[2][0]*b[0] + ff[2][1]*b[1] + ff[2][2]*b[2]
-			m.M1 = ff[0][0]*mm[0] + ff[0][1]*mm[1] + ff[0][2]*mm[2]
-			m.M2 = ff[1][0]*mm[0] + ff[1][1]*mm[1] + ff[1][2]*mm[2]
-			m.M3 = ff[2][0]*mm[0] + ff[2][1]*mm[1] + ff[2][2]*mm[2]
 			m.SValid = mpuError == nil
 			m.MValid = magError == nil
 			if mpuError != nil {
@@ -254,11 +254,13 @@ func sensorAttitudeSender() {
 			}
 			failNum = 0
 			if magError != nil {
+				if globalSettings.DEBUG {
 					log.Printf("AHRS Magnetometer Error, not using for this run: %s\n", magError)
+				}
 				m.MValid = false
-				// Don't necessarily disconnect here, unless AHRSProvider deeply depends on magnetometer
 			}
 
+			// Make the GPS measurements.
 			m.TW = float64(mySituation.GPSLastGroundTrackTime.UnixNano()/1000) / 1e6
 			m.WValid = isGPSGroundTrackValid()
 			if m.WValid {
@@ -271,10 +273,10 @@ func sensorAttitudeSender() {
 				}
 			}
 
-			// Run the AHRS calcs
+			// Run the AHRS calculations.
 			s.Compute(m)
 
-			// If we have valid AHRS info, then update mySituation
+			// If we have valid AHRS info, then update mySituation.
 			mySituation.muAttitude.Lock()
 			if s.Valid() {
 				roll, pitch, heading = s.RollPitchHeading()
@@ -296,7 +298,6 @@ func sensorAttitudeSender() {
 
 				mySituation.AHRSLastAttitudeTime = t
 			} else {
-				s.Reset()
 				mySituation.AHRSRoll = ahrs.Invalid
 				mySituation.AHRSPitch = ahrs.Invalid
 				mySituation.AHRSGyroHeading = ahrs.Invalid
@@ -307,28 +308,27 @@ func sensorAttitudeSender() {
 				mySituation.AHRSGLoadMin = ahrs.Invalid
 				mySituation.AHRSGLoadMax = 0
 				mySituation.AHRSLastAttitudeTime = time.Time{}
+				s.Reset()
 			}
 			mySituation.muAttitude.Unlock()
 
 			makeAHRSGDL90Report() // Send whether or not valid - the function will invalidate the values as appropriate
-			// makeFFAHRSSimReport() // Simultaneous use of GDL90 and FFSIM not supported in FF 7.5.1 or later. Function definition will be kept for AHRS debugging and future workarounds.
 
-			// Send to AHRS debugging server:
+			// Send to AHRS debugging server.
 			if ahrswebListener != nil {
 				if err = ahrswebListener.Send(s.GetState(), m); err != nil {
-					log.Printf("Error writing to ahrsweb: %s\n", err)
+					log.Printf("AHRS Error: couldn't write to ahrsweb: %s\n", err)
 					ahrswebListener = nil
 				}
 			}
 
-			// Log it to csv for analysis
+			// Log it to csv for later analysis.
 			if globalSettings.AHRSLog && usage.Usage() < 0.95 {
 				if analysisLogger == nil {
-					analysisFilename := filepath.Join(logDirf, fmt.Sprintf("sensors_%s.csv",
+					analysisFilename := fmt.Sprintf("sensors_%s.csv", time.Now().Format("20060102_150405"))
-						time.Now().Format("20060102_150405")))
 					logMap = s.GetLogMap()
 					updateExtraLogging()
-					analysisLogger = ahrs.NewAHRSLogger(analysisFilename, logMap)
+					analysisLogger = ahrs.NewAHRSLogger(filepath.Join(logDirf, analysisFilename), logMap)
 				}
 
 				if analysisLogger != nil {
@@ -353,10 +353,9 @@ func updateExtraLogging() {
 	logMap["BaroVerticalSpeed"] = float64(mySituation.BaroVerticalSpeed)
 }
 
-func makeSensorRotationMatrix(g [3]float64) (rotmat *[3][3]float64) {
+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.
@@ -370,8 +369,10 @@ func makeSensorRotationMatrix(g [3]float64) (rotmat *[3][3]float64) {
 	// Normalize the gravity vector to be 1 G.
 	z, _ := ahrs.MakeUnitVector(g)
 
-	rotmat, _ = ahrs.MakeHardSoftRotationMatrix(*z, *x, [3]float64{0, 0, 1}, [3]float64{1, 0, 0})
+	rotmat, _ := ahrs.MakeHardSoftRotationMatrix(*z, *x, [3]float64{0, 0, 1}, [3]float64{1, 0, 0})
-	return rotmat
+	f = new([4]float64)
+	f[0], f[1], f[2], f[3] = ahrs.RotationMatrixToQuaternion(*rotmat)
+	return
 }
 
 // This is used in the orientation process where the user specifies the forward and up directions.
@@ -407,10 +408,14 @@ func getMinAccelDirection() (i int, err error) {
 	return
 }
 
-// CageAHRS sends a signal to the AHRSProvider that it should be reset.
+// CageAHRS sends a signal to the AHRSProvider that it should recalibrate and reset its level orientation.
 func CageAHRS() {
-	needsCage = true
+	cal <- "level"
-	cal <- true
+}
+
+// CageAHRS sends a signal to the AHRSProvider that it should recalibrate and reset its level orientation.
+func CalibrateAHRS() {
+	cal <- "cal"
 }
 
 // ResetAHRSGLoad resets the min and max to the current G load value.

notes/app-vendor-integration.md

@@ -91,7 +91,7 @@ Stratux makes available a webserver to retrieve statistics which may be useful t
 
 * `http://192.168.10.1/getStatus` - device status and statistics. Example output (commented JSON):
 
-```json
+```javascript
 {
   "Version": "v0.5b1",            // Software version.
   "Devices": 0,                   // Number of radios connected.

sensors/mpu9250.go

@@ -2,9 +2,6 @@
 package sensors
 
 import (
-	"log"
-	"time"
-
 	"../goflying/mpu9250"
 )
 
@@ -29,21 +26,16 @@ func NewMPU9250() (*MPU9250, error) {
 		err error
 	)
 
-	log.Println("AHRS Info: Making new MPU9250")
 	mpu, err = mpu9250.NewMPU9250(gyroRange, accelRange, updateFreq, true, false)
 	if err != nil {
 		return nil, err
 	}
 
 	// Set Gyro (Accel) LPFs to 20 (21) Hz to filter out prop/glareshield vibrations above 1200 (1260) RPM
-	log.Println("AHRS Info: Setting MPU9250 LPF")
 	mpu.SetGyroLPF(21)
 	mpu.SetAccelLPF(21)
-	time.Sleep(100 * time.Millisecond)
 
 	m.mpu = mpu
-
-	log.Println("AHRS Info: monitoring IMU")
 	return &m, nil
 }
 

web/js/main.js

@@ -16,10 +16,13 @@ var URL_SHUTDOWN		= "http://" + URL_HOST_BASE + "/shutdown";
 var URL_RESTARTAPP           = "http://" + URL_HOST_BASE + "/restart";
 var URL_DEV_TOGGLE_GET       = "http://" + URL_HOST_BASE + "/develmodetoggle";
 var URL_AHRS_ORIENT          = "http://" + URL_HOST_BASE + "/orientAHRS";
+var URL_AHRS_CAL             = "http://" + URL_HOST_BASE + "/calibrateAHRS";
 var URL_AHRS_CAGE            = "http://" + URL_HOST_BASE + "/cageAHRS";
 var URL_GMETER_RESET         = "http://" + URL_HOST_BASE + "/resetGMeter";
 var URL_DELETELOGFILE        = "http://" + URL_HOST_BASE + "/deletelogfile";
 var URL_DOWNLOADLOGFILE      = "http://" + URL_HOST_BASE + "/downloadlog";
+var URL_DELETEAHRSLOGFILES   = "http://" + URL_HOST_BASE + "/deleteahrslogfiles";
+var URL_DOWNLOADAHRSLOGFILES = "http://" + URL_HOST_BASE + "/downloadahrslogs";
 var URL_DOWNLOADDB           = "http://" + URL_HOST_BASE + "/downloaddb";
 
 // define the module with dependency on mobile-angular-ui
@@ -91,7 +94,7 @@ app.controller('MainCtrl', function ($scope, $http) {
 	// any logic global logic
     $http.get(URL_SETTINGS_GET)
     .then(function(response) {
-			settings = angular.fromJson(response.data);
+			var settings = angular.fromJson(response.data);
             $scope.DeveloperMode = settings.DeveloperMode;
     }, function(response) {
         //Second function handles error

web/plates/developer.html

@@ -1,4 +1,4 @@
-  <div class="col-sm-12">
+<div class="col-sm-12">
     <div class="panel-group col-sm-6">
         <div class="panel panel-default">
             <div class="panel-heading">
@@ -8,9 +8,8 @@
             <div class="panel-body">
                 <div class="form-group reset-flow" align="center">
                     <div class="col-xs-12">
-              <a ng-click="postRestart()" class=
+                        <a ng-click="postRestart()" class="btn btn-primary btn-block"
-              "btn btn-primary btn-block" style=
+                           style="margin-bottom:1em;">Restart Application</a>
-              "margin-bottom:1em;">Restart Application</a>
                     </div>
                 </div>
             </div>
@@ -20,26 +19,48 @@
     <div class="panel-group col-sm-6">
         <div class="panel panel-default">
             <div class="panel-heading">
-          Logfile (Size: {{Logfile_Size}} bytes)
+                Logfile (Size: {{Logfile_Size}})
             </div>
 
             <div class="panel-body">
                 <div class="col-xs-12">
                     <a href="./downloadlog" ng-click="postDownloadLog()"
-            class="btn btn-primary btn-block" style=
+                       class="btn btn-primary btn-block"
-            "margin-bottom:0.5em;">Download Logfile</a>
+                       style="margin-bottom:0.5em">Download Logfile</a>
                 </div>
 
                 <div class="col-xs-12">
-            <a ng-click="postDeleteLog()" class=
+                    <a ng-click="postDeleteLog()"
-            "btn btn-primary btn-block" style=
+                       class="btn btn-primary btn-block"
-            "margin-bottom:0.5em;">Delete Logfile</a>
+                       style="margin-bottom:0.5em">Delete Logfile</a>
                 </div>
             </div>
         </div>
     </div>
 
-    <div class="panel-group col-sm-6" style="float:right;">
+    <div class="panel-group col-sm-6">
+        <div class="panel panel-default">
+            <div class="panel-heading">
+                AHRS Log Files (Size: {{AHRS_LogFiles_Size}})
+            </div>
+
+            <div class="panel-body">
+                <div class="col-xs-12">
+                    <a href="./downloadahrslogs" download="ahrs_logs.zip" ng-click="postDownloadAHRSLogs()"
+                       class="btn btn-primary btn-block"
+                       style="margin-bottom:0.5em">Download AHRS Logs</a>
+                </div>
+
+                <div class="col-xs-12">
+                    <a ng-click="postDeleteAHRSLogs()"
+                       class="btn btn-primary btn-block"
+                       style="margin-bottom:0.5em">Delete AHRS Logs</a>
+                </div>
+            </div>
+        </div>
+    </div>
+
+    <div class="panel-group col-sm-6">
         <div class="panel panel-default">
             <div class="panel-heading">
                 Database
@@ -47,13 +68,11 @@
 
             <div class="panel-body">
                 <div class="col-xs-12">
-            
                     <a href="./downloaddb" ng-click="postDownloadDB()"
-              class="btn btn-primary btn-block" style=
+                       class="btn btn-primary btn-block"
-              "margin-bottom:0.5em;">Download Database</a>
+                       style="margin-bottom:0.5em;">Download Database</a>
-           
-          </div>
                 </div>
             </div>
         </div>
     </div>
+</div>

web/plates/js/ahrs.js

@@ -3,7 +3,7 @@ function AHRSRenderer(locationId) {
 	this.height = -1;
 
     this.locationId = locationId;
-	this.canvas = document.getElementById(locationId);
+	this.canvas = document.getElementById(this.locationId);
     this.resize();
 
     // State variables
@@ -13,7 +13,7 @@ function AHRSRenderer(locationId) {
     this.slipSkid = 0;
     this.altitude = 0;
 
-    var display = SVG(locationId).viewbox(-200, -200, 400, 400).group();
+    var display = SVG(this.locationId).viewbox(-200, -200, 400, 400).group();
 
     this.ai = display.group().addClass('ai');
 
@@ -26,26 +26,24 @@ function AHRSRenderer(locationId) {
     this.ai = this.ai.clipWith(screenClip).group();
 
     // card is the earth+sky+pitch marks, moves with both pitch and roll.
+    this.pitchScale = 0.5;
     this.card = this.ai.group();
     this.card.circle(2400).cx(0).cy(0).addClass('sky'); // Sky
     this.card.line(-1200, 0, 1200, 0).addClass('marks'); // Horizon line
     this.card.circle(2400).cx(0).cy(0).addClass('earth').clipWith(earthClip); // Earth
 
     var pitchMarks = this.card.group().addClass('marks').clipWith(this.pitchClip);
-    for (i = -1050; i <= 1050; i+=25) {
+    var y;
-        switch (i%100) {
+    for (var i = -1050; i <= 1050; i+=50) {
-            case 0:
+        y = i * this.pitchScale;
-                pitchMarks.line(-40, i, 40, i);
+        if (i%100 === 0) {
+            pitchMarks.line(-30, y, 30, y);
             if (i !== 0) {
-                    pitchMarks.text(Math.abs(i) <= 900 ? Math.abs(i / 10).toString() : '80').x(-55).cy(i).addClass('markText');
+                pitchMarks.text(Math.abs(i) <= 900 ? Math.abs(i / 10).toString() : '80').x(-55).cy(y).addClass('markText');
-                    pitchMarks.text(Math.abs(i) <= 900 ? Math.abs(i / 10).toString() : '80').x(+55).cy(i).addClass('markText');
+                pitchMarks.text(Math.abs(i) <= 900 ? Math.abs(i / 10).toString() : '80').x(+55).cy(y).addClass('markText');
             }
-                break;
+        } else {
-            case 50:
+            pitchMarks.line(-15, y, 15, y);
-                pitchMarks.line(-20, i, 20, i);
-                break;
-            default:
-                pitchMarks.line(-10, i, 10, i);
         }
     }
 
@@ -119,10 +117,10 @@ AHRSRenderer.prototype = {
 		    this.slipSkid = +10;
         }
 
-        this.pitchClip.translate(0, -10 * this.pitch);
+        this.pitchClip.translate(0, -10 * this.pitch * this.pitchScale);
         this.rollClip.rotate(this.roll, 0, 0);
-        this.card.rotate(0, 0, 0).translate(0, 10 * this.pitch);
+        this.card.rotate(0, 0, 0).translate(0, 10 * this.pitch * this.pitchScale);
-        this.card.rotate(-this.roll, 0, -10 * this.pitch);
+        this.card.rotate(-this.roll, 0, -10 * this.pitch * this.pitchScale);
         this.rollMarks.rotate(-this.roll, 0, 0);
         this.headingMarks.translate(-2 * (this.heading % 360), 0);
         this.skidBar.translate(-2 * this.slipSkid, 0);
@@ -157,7 +155,7 @@ function GMeterRenderer(locationId, nlim, plim, resetCallback) {
     this.height = -1;
 
     this.locationId = locationId;
-    this.canvas = document.getElementById(locationId);
+    this.canvas = document.getElementById(this.locationId);
     this.resize();
 
     // State variables
@@ -166,7 +164,7 @@ function GMeterRenderer(locationId, nlim, plim, resetCallback) {
     this.max = 1;
 
     // Draw the G Meter using the svg.js library
-    var gMeter = SVG(locationId).viewbox(-200, -200, 400, 400).group().addClass('gMeter');
+    var gMeter = SVG(this.locationId).viewbox(-200, -200, 400, 400).group().addClass('gMeter');
 
     var el, card = gMeter.group().addClass('card');
     card.circle(390).cx(0).cy(0);

web/plates/js/developer.js

@@ -10,7 +10,7 @@ function DeveloperCtrl($rootScope, $scope, $state, $http, $interval) {
 			return; // we are getting called once after clicking away from the status page
 
 		if (($scope.socket === undefined) || ($scope.socket === null)) {
-			socket = new WebSocket(URL_STATUS_WS);
+			var socket = new WebSocket(URL_STATUS_WS);
 			$scope.socket = socket; // store socket in scope for enter/exit usage
 		}
 
@@ -36,9 +36,9 @@ function DeveloperCtrl($rootScope, $scope, $state, $http, $interval) {
 		};
 
 		socket.onmessage = function (msg) {
-			console.log('Received status update.')
+			console.log('Received status update.');
 
-			var status = JSON.parse(msg.data)
+			var status = JSON.parse(msg.data);
 			// Update Status
 			$scope.Version = status.Version;
 			$scope.Build = status.Build.substr(0, 10);
@@ -62,7 +62,8 @@ function DeveloperCtrl($rootScope, $scope, $state, $http, $interval) {
             $scope.UAT_PIREP_total = status.UAT_PIREP_total;
             $scope.UAT_NOTAM_total = status.UAT_NOTAM_total;
             $scope.UAT_OTHER_total = status.UAT_OTHER_total;
-            $scope.Logfile_Size = status.Logfile_Size;
+            $scope.Logfile_Size = humanFileSize(status.Logfile_Size);
+            $scope.AHRS_LogFiles_Size = humanFileSize(status.AHRS_LogFiles_Size);
 			// Errors array.
 			if (status.Errors.length > 0) {
 				$scope.visible_errors = true;
@@ -70,7 +71,7 @@ function DeveloperCtrl($rootScope, $scope, $state, $http, $interval) {
 			}
 
 			var uptime = status.Uptime;
-			if (uptime != undefined) {
+			if (uptime !== undefined) {
 				var up_d = parseInt((uptime/1000) / 86400),
 				    up_h = parseInt((uptime/1000 - 86400*up_d) / 3600),
 				    up_m = parseInt((uptime/1000 - 86400*up_d - 3600*up_h) / 60),
@@ -80,7 +81,7 @@ function DeveloperCtrl($rootScope, $scope, $state, $http, $interval) {
 				// $('#Uptime').text('unavailable');
 			}
 			var boardtemp = status.CPUTemp;
-			if (boardtemp != undefined) {
+			if (boardtemp !== undefined) {
 				/* boardtemp is celcius to tenths */
 				$scope.CPUTemp = String(boardtemp.toFixed(1) + 'C / ' + ((boardtemp * 9 / 5) + 32.0).toFixed(1) + 'F');
 			} else {
@@ -125,6 +126,26 @@ function DeveloperCtrl($rootScope, $scope, $state, $http, $interval) {
 		});
 	};
 
+    $scope.postDeleteAHRSLogs = function () {
+        $http.post(URL_DELETEAHRSLOGFILES).
+        then(function (response) {
+            // do nothing
+            // $scope.$apply();
+        }, function (response) {
+            // do nothing
+        });
+    };
+
+    $scope.postDownloadAHRSLogs = function () {
+        $http.post(URL_DOWNLOADAHRSLOGFILES).
+        then(function (response) {
+            // do nothing
+            // $scope.$apply();
+        }, function (response) {
+            // do nothing
+        });
+    };
+
 	$scope.postDownloadDB = function () {
 		$http.post(URL_DOWNLOADDB).
 		then(function (response) {
@@ -137,4 +158,13 @@ function DeveloperCtrl($rootScope, $scope, $state, $http, $interval) {
 
 	connect($scope); // connect - opens a socket and listens for messages
 
-};
+}
+
+function humanFileSize(size) {
+    if (size === 0) {
+        return '0 B'
+	} else {
+        var i = Math.floor(Math.log(size) / Math.log(1024));
+        return ( size / Math.pow(1024, i) ).toFixed(2) * 1 + ' ' + ['B', 'kB', 'MB', 'GB', 'TB'][i];
+    }
+}

web/plates/js/gps.js

@@ -1,4 +1,4 @@
-angular.module('appControllers').controller('GPSCtrl', GPSCtrl); // get the main module contollers set
+angular.module('appControllers').controller('GPSCtrl', GPSCtrl); // get the main module controllers set
 GPSCtrl.$inject = ['$rootScope', '$scope', '$state', '$http', '$interval']; // Inject my dependencies
 
 // create our controller function with all necessary logic

web/plates/js/settings.js

@@ -156,7 +156,7 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
             newsettings = {
                 "GLimits": settings["GLimits"]
             };
-            console.log(angular.toJson(newsettings));
+            // console.log(angular.toJson(newsettings));
             setSettings(angular.toJson(newsettings));
         }
     };
@@ -228,22 +228,29 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 	};
 
 	$scope.setOrientation = function(action) {
-		console.log("sending " + action + " message.");
+		// console.log("sending " + action + " message.");
 		$http.post(URL_AHRS_ORIENT, action).
 		then(function (response) {
-			console.log("sent " + action + " message.");
+			// console.log("sent " + action + " message.");
 		}, function(response) {
 			// failure: cancel the calibration
-			console.log(response.data);
+			// console.log(response.data);
 			$scope.Orientation_Failure_Message = response.data;
-			switch (action) {
-				case "forward":
-					$scope.Ui.turnOff("modalCalibrateUp");
-					break;
-				case "up":
 			$scope.Ui.turnOff('modalCalibrateDone');
-			}
 			$scope.Ui.turnOn("modalCalibrateFailed");
 		});
 	};
+
+	$scope.calibrateGyros = function() {
+	    console.log("sending calibrate message.");
+	    $http.post(URL_AHRS_CAL).
+            then(function(response) {
+                console.log("Sent calibrate message.");
+        }, function(response) {
+                console.log(response.data);
+                $scope.Calibration_Failure_Message = response.data;
+                $scope.Ui.turnOff("modalCalibrateGyros");
+                $scope.Ui.turnOn("modalCalibrateGyrosFailed");
+        });
+    };
 }

web/plates/settings.html

@@ -1,6 +1,5 @@
 <div class="col-sm-12">
     <div class="panel-group col-sm-6">
-
         <div class="panel panel-default">
             <div class="panel-heading">Hardware</div>
             <div class="panel-body">
@@ -82,20 +81,26 @@
             <div class="panel-body">
                 <div class="col-xs-12">
                     <span style="position:relative; overflow: hidden;">
-						<button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateForward">
+                        <button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateForward"
-							Set AHRS Sensor Orientation
+                                ng-disabled="!IMU_Sensor_Enabled">Set AHRS Sensor Orientation</button>
-						</button>
                     </span>
+                </div>
+                <div class="form-group reset-flow">
+                    <div class="col-xs-12">
+                        <button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateGyros"
+                                ng-disabled="!IMU_Sensor_Enabled">Calibrate Gyros</button>
+                    </div>
+                </div>
                 <div class="form-group reset-flow">
                     <label class="control-label col-xs-5">G Limits</label>
-						<form name="GLimitForm" ng-submit="updateGLimits()" novalidate>
+                    <form name="GLimitForm" ng-submit="updateGLimits()" novalidate ng-disabled="!IMU_Sensor_Enabled">
-							<input class="col-xs-7" type="string" required ng-model="GLimits" placeholder="Space-separated negative and positive G meter limits" ng-blur="updateGLimits()" />
+                        <input class="col-xs-7" type="string" required ng-model="GLimits" ng-blur="updateGLimits()"
+                               placeholder="Space-separated negative and positive G meter limits"/>
                     </form>
                 </div>
             </div>
         </div>
     </div>
-	</div>
 </div>
 
 <div class="col-sm-12">
@@ -167,7 +172,7 @@
     </div>
 </div>
 
-    <!-- Developer mode area -->
+<!-- Developer mode area -->
 <div class="col-sm-12">
     <div ng-show="DeveloperMode" class="panel-group col-sm-6">
         <div class="panel panel-default">
@@ -261,31 +266,14 @@
                         <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"
-					</div>
+                           ui-turn-on="modalCalibrateDone" class="btn btn-default btn-primary">Set Forward Direction</a>
-				</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 +289,13 @@
                         <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.
+                            Place the Stratux in its in-flight orientation and keep it stationary for 5 seconds
+                            after you 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 +313,7 @@
                     <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 orientation 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 +322,27 @@
             </div>
         </div>
     </div>
-	<div class="modal" ui-if="modalCalibrateCanceled" ui-state="modalCalibrateCanceled">
+
+    <div class="modal" ui-if="modalCalibrateGyros" ui-state="modalCalibrateGyros">
         <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>
+                        <button class="close" ui-turn-off="modalCalibrateGyros"></button>
-						<h4 class="modal-title">Set AHRS Sensor Orientation: Canceled</h4>
+                        <h4 class="modal-title">Calibrate MPU Gyros</h4>
                     </div>
                     <div class="modal-body">
-						<p>Calibration canceled.</p>
+                        <p>Press <b>Calibrate</b> and keep the Stratux as stationary as possible for the next second.
+                            You should only do this in calm air as turbulence will throw off the calibrations.</p>
                     </div>
                     <div class="modal-footer">
-						<a ui-turn-off="modalCalibrateCanceled" class="btn btn-default btn-primary">OK</a>
+                        <a ui-turn-off="modalCalibrateGyros" class="btn btn-default">Cancel</a>
+                        <a ng-click="calibrateGyros()" ui-turn-off="modalCalibrateGyros"
+                           class="btn btn-default btn-primary">Calibrate</a>
                     </div>
                 </div>
             </div>
         </div>
     </div>
-
 </div>
-