Update README.md

Updated pi compatibility statement.

README.md

@@ -7,9 +7,7 @@
 RTL-SDR UAT tools
 
 
-Use with Raspberry Pi 3.
-
-Raspberry Pi 2 with the Edimax EW-7811Un Wi-Fi dongle is supported but not recommended for new builds.
+Use with Raspberry Pi 3B. The 3B+ and Pi 4B will work but use a lot more power.
 
 Tested and works well with most common R820T and R820T2 RTL-SDR devices.
 
@@ -25,6 +23,7 @@ Apps with stratux recognition/support:
 * iFly GPS 9.4+.
 * DroidEFB 2.1.1+.
 * kwikEFIS
+* Pilots Atlas
 
 Tested weather/traffic displays:
 * Avare
@@ -48,3 +47,4 @@ Jet tests (high gain antennas):
 * Lear 35
 * Rockwell B-1b
 * Boeing C-17
+* Gulfstream G450

goflying

@@ -1 +1 @@
-Subproject commit 0ba3e51be74b4848488e06ec0fee74ebaa7ef705
+Subproject commit 1da95360a858bfdc5af2b4e7d5caa66542f164e1

image/10-stratux.rules

@@ -2,10 +2,12 @@
 #  Auto-detect common USB stratux peripherals.
 
 # u-blox devices. Known devices include
-#   ublox8: RY835AI, RY836AI
-#   ublox7: VK-172, RY725AI
+#   ublox9: experimental boards
+#   ublox8: RY835AI, RY836AI, GPYes 2.0
+#   ublox7: VK-172, RY725AI, GPYes
 #   ublox6: VK-162
 
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a9", SYMLINK+="ublox9"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a8", SYMLINK+="ublox8"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a7", SYMLINK+="ublox7"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a6", SYMLINK+="ublox6"
@@ -41,3 +43,6 @@ SUBSYSTEMS=="usb", ATTRS{interface}=="Stratux Serialout", SYMLINK+="serialout%n"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{product}=="DIY SoftRF", SYMLINK+="softrf"
 # TTGO T-Beam (ESP32 with OTP CP2104 chip)
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{product}=="CP2104 USB to UART Bridge Controller", SYMLINK+="softrf"
+# Dongle Edition (LilyGO & SoftRF T-Motion. USB CDC ACM output)
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", SYMLINK+="softrf"
+# end of SoftRF section

image/dhcpd-not_smart.conf

@@ -0,0 +1,14 @@
+ddns-update-style none;
+default-lease-time 86400;	# 24 hours
+max-lease-time 172800;		# 48 hours
+authoritative;
+log-facility local7;
+subnet 192.168.10.0 netmask 255.255.255.0 {
+	range 192.168.10.10 192.168.10.50;
+	option broadcast-address 192.168.10.255;
+	option routers 192.168.10.1;
+	default-lease-time 12000;
+	max-lease-time 12000;
+	option domain-name "stratux.local";
+	option domain-name-servers 4.2.2.2;
+}

image/dhcpd-smart.conf

@@ -0,0 +1,13 @@
+ddns-update-style none;
+default-lease-time 86400;	# 24 hours
+max-lease-time 172800;		# 48 hours
+authoritative;
+log-facility local7;
+subnet 192.168.10.0 netmask 255.255.255.0 {
+	range 192.168.10.10 192.168.10.50;
+	option broadcast-address 192.168.10.255;
+	default-lease-time 12000;
+	max-lease-time 12000;
+	option domain-name "stratux.local";
+	option domain-name-servers 4.2.2.2;
+}

image/dhcpd.conf

@@ -1,118 +0,0 @@
-#
-# Sample configuration file for ISC dhcpd for Debian
-#
-#
-
-# The ddns-updates-style parameter controls whether or not the server will
-# attempt to do a DNS update when a lease is confirmed. We default to the
-# behavior of the version 2 packages ('none', since DHCP v2 didn't
-# have support for DDNS.)
-ddns-update-style none;
-
-
-# option definitions common to all supported networks...
-#option domain-name "stratux.local";
-#option domain-name-servers ns1.example.org, ns2.example.org;
-
-default-lease-time 86400;	# 24 hours
-max-lease-time 172800;		# 48 hours
-
-# If this DHCP server is the official DHCP server for the local
-# network, the authoritative directive should be uncommented.
-authoritative;
-
-# Use this to send dhcp log messages to a different log file (you also
-# have to hack syslog.conf to complete the redirection).
-log-facility local7;
-
-# No service will be given on this subnet, but declaring it helps the 
-# DHCP server to understand the network topology.
-
-#subnet 10.152.187.0 netmask 255.255.255.0 {
-#}
-
-# This is a very basic subnet declaration.
-
-#subnet 10.254.239.0 netmask 255.255.255.224 {
-#  range 10.254.239.10 10.254.239.20;
-#  option routers rtr-239-0-1.example.org, rtr-239-0-2.example.org;
-#}
-
-# This declaration allows BOOTP clients to get dynamic addresses,
-# which we don't really recommend.
-
-#subnet 10.254.239.32 netmask 255.255.255.224 {
-#  range dynamic-bootp 10.254.239.40 10.254.239.60;
-#  option broadcast-address 10.254.239.31;
-#  option routers rtr-239-32-1.example.org;
-#}
-
-# A slightly different configuration for an internal subnet.
-#subnet 10.5.5.0 netmask 255.255.255.224 {
-#  range 10.5.5.26 10.5.5.30;
-#  option domain-name-servers ns1.internal.example.org;
-#  option domain-name "internal.example.org";
-#  option routers 10.5.5.1;
-#  option broadcast-address 10.5.5.31;
-#  default-lease-time 600;
-#  max-lease-time 7200;
-#}
-
-# Hosts which require special configuration options can be listed in
-# host statements.   If no address is specified, the address will be
-# allocated dynamically (if possible), but the host-specific information
-# will still come from the host declaration.
-
-#host passacaglia {
-#  hardware ethernet 0:0:c0:5d:bd:95;
-#  filename "vmunix.passacaglia";
-#  server-name "toccata.fugue.com";
-#}
-
-# Fixed IP addresses can also be specified for hosts.   These addresses
-# should not also be listed as being available for dynamic assignment.
-# Hosts for which fixed IP addresses have been specified can boot using
-# BOOTP or DHCP.   Hosts for which no fixed address is specified can only
-# be booted with DHCP, unless there is an address range on the subnet
-# to which a BOOTP client is connected which has the dynamic-bootp flag
-# set.
-#host fantasia {
-#  hardware ethernet 08:00:07:26:c0:a5;
-#  fixed-address fantasia.fugue.com;
-#}
-
-# You can declare a class of clients and then do address allocation
-# based on that.   The example below shows a case where all clients
-# in a certain class get addresses on the 10.17.224/24 subnet, and all
-# other clients get addresses on the 10.0.29/24 subnet.
-
-#class "foo" {
-#  match if substring (option vendor-class-identifier, 0, 4) = "SUNW";
-#}
-
-#shared-network 224-29 {
-#  subnet 10.17.224.0 netmask 255.255.255.0 {
-#    option routers rtr-224.example.org;
-#  }
-#  subnet 10.0.29.0 netmask 255.255.255.0 {
-#    option routers rtr-29.example.org;
-#  }
-#  pool {
-#    allow members of "foo";
-#    range 10.17.224.10 10.17.224.250;
-#  }
-#  pool {
-#    deny members of "foo";
-#    range 10.0.29.10 10.0.29.230;
-#  }
-#}
-
-subnet 192.168.10.0 netmask 255.255.255.0 {
-	range 192.168.10.10 192.168.10.50;
-	option broadcast-address 192.168.10.255;
-	option routers 192.168.10.1;
-	default-lease-time 12000;
-	max-lease-time 12000;
-	option domain-name "stratux.local";
-	option domain-name-servers 4.2.2.2;
-}

main/gen_gdl90.go

@@ -90,6 +90,7 @@ const (
 		GPS_TYPE_GARMIN   = 0x06
 	*/
 
+	GPS_TYPE_UBX9     = 0x09
 	GPS_TYPE_UBX8     = 0x08
 	GPS_TYPE_UBX7     = 0x07
 	GPS_TYPE_UBX6     = 0x06
@@ -294,18 +295,24 @@ func makeOwnshipReport() bool {
 	// See p.16.
 	msg[0] = 0x0A // Message type "Ownship".
 
-	msg[1] = 0x01 // Alert status, address type.
-
+	// Retrieve ICAO code from settings
 	code, _ := hex.DecodeString(globalSettings.OwnshipModeS)
-	if len(code) != 3 {
+
+	// Ownship Target Identify (see 3.5.1.2 of GDL-90 Specifications)
+	// First half of byte is 0 for Alert type of 'No Traffic Alert'
+	// Second half of byte is 0 for traffic type 'ADS-B with ICAO'
+	// Send 0x01 by default, unless ICAO is set, send 0x00
+	if (len(code) == 3 && code[0] != 0xF0 && code[0] != 0x00) {
+		msg[1] = 0x00 // ADS-B Out with ICAO
+		msg[2] = code[0] // Mode S address.
+		msg[3] = code[1] // Mode S address.
+		msg[4] = code[2] // Mode S address.
+	} else {
+		msg[1] = 0x01 // ADS-B Out with self-assigned code
 		// Reserved dummy code.
 		msg[2] = 0xF0
 		msg[3] = 0x00
 		msg[4] = 0x00
-	} else {
-		msg[2] = code[0] // Mode S address.
-		msg[3] = code[1] // Mode S address.
-		msg[4] = code[2] // Mode S address.
 	}
 
 	var tmp []byte
@@ -1096,6 +1103,7 @@ func getProductNameFromId(product_id int) string {
 }
 
 type settings struct {
+	DarkMode             bool
 	UAT_Enabled          bool
 	ES_Enabled           bool
 	Ping_Enabled         bool
@@ -1121,6 +1129,8 @@ type settings struct {
 	WiFiChannel          int
 	WiFiSecurityEnabled  bool
 	WiFiPassphrase       string
+	WiFiSmartEnabled     bool // "Smart WiFi" - disables the default gateway for iOS.
+	NoSleep              bool
 }
 
 type status struct {
@@ -1177,6 +1187,7 @@ var globalSettings settings
 var globalStatus status
 
 func defaultSettings() {
+	globalSettings.DarkMode = false
 	globalSettings.UAT_Enabled = true
 	globalSettings.ES_Enabled = true
 	globalSettings.GPS_Enabled = true
@@ -1195,6 +1206,7 @@ func defaultSettings() {
 	globalSettings.OwnshipModeS = "F00000"
 	globalSettings.DeveloperMode = false
 	globalSettings.StaticIps = make([]string, 0)
+	globalSettings.NoSleep = false
 }
 
 func readSettings() {
@@ -1305,6 +1317,14 @@ func saveWiFiUserSettings() {
 		fmt.Fprintf(writer, "wpa_passphrase=%s\n", globalSettings.WiFiPassphrase)
 	}
 	writer.Flush()
+
+	// "Smart WiFi". Just use one of two pre-made dhcpd config files.
+	dhcpd_config := "/etc/dhcp/dhcpd-not_smart.conf"
+	if globalSettings.WiFiSmartEnabled {
+		dhcpd_config = "/etc/dhcp/dhcpd-smart.conf"
+	}
+	os.Remove("/etc/dhcp/dhcpd.conf")
+	os.Symlink(dhcpd_config, "/etc/dhcp/dhcpd.conf")
 }
 
 func openReplay(fn string, compressed bool) (WriteCloser, error) {

main/gps.go

@@ -195,10 +195,13 @@ func initGPSSerial() bool {
 	isSirfIV := bool(false)
 	globalStatus.GPS_detected_type = 0 // reset detected type on each initialization
 
-	if _, err := os.Stat("/dev/ublox8"); err == nil { // u-blox 8 (RY83xAI over USB).
+	if _, err := os.Stat("/dev/ublox9"); err == nil { // u-blox 8 (RY83xAI over USB).
+		device = "/dev/ublox9"
+		globalStatus.GPS_detected_type = GPS_TYPE_UBX9
+	} else if _, err := os.Stat("/dev/ublox8"); err == nil { // u-blox 8 (RY83xAI or GPYes 2.0).
 		device = "/dev/ublox8"
 		globalStatus.GPS_detected_type = GPS_TYPE_UBX8
-	} else if _, err := os.Stat("/dev/ublox7"); err == nil { // u-blox 7 (VK-172, VK-162 Rev 2, RY725AI over USB).
+	} else if _, err := os.Stat("/dev/ublox7"); err == nil { // u-blox 7 (VK-172, VK-162 Rev 2, GPYes, RY725AI over USB).
 		device = "/dev/ublox7"
 		globalStatus.GPS_detected_type = GPS_TYPE_UBX7
 	} else if _, err := os.Stat("/dev/ublox6"); err == nil { // u-blox 6 (VK-162 Rev 1).
@@ -214,7 +217,9 @@ func initGPSSerial() bool {
 		device = "/dev/ttyAMA0"
 		globalStatus.GPS_detected_type = GPS_TYPE_UART
 	} else {
-		log.Printf("No suitable device found.\n")
+		if globalSettings.DEBUG {
+			log.Printf("No GPS device found.\n")
+		}
 		return false
 	}
 	if globalSettings.DEBUG {
@@ -303,8 +308,10 @@ func initGPSSerial() bool {
 		glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS
 		galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables Galileo
 
-		if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
-			log.Printf("UBX8 device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
+		if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX9) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
+			if globalSettings.DEBUG {
+				log.Printf("UBX8/9/unknown device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
+			}
 			glonass = []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels
 			galileo = []byte{0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables Galileo with 4-8 tracking channels
 			updatespeed = []byte{0x06, 0x00, 0xF4, 0x01, 0x01, 0x00}         // Nav speed 2Hz

main/managementinterface.go

@@ -271,6 +271,8 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
 				for key, val := range msg {
 					// log.Printf("handleSettingsSetRequest:json: testing for key:%s of type %s\n", key, reflect.TypeOf(val))
 					switch key {
+					case "DarkMode":
+						globalSettings.DarkMode = val.(bool)
 					case "UAT_Enabled":
 						globalSettings.UAT_Enabled = val.(bool)
 					case "ES_Enabled":
@@ -378,6 +380,9 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
 					case "WiFiPassphrase":
 						globalSettings.WiFiPassphrase = val.(string)
 						resetWiFi = true
+					case "WiFiSmartEnabled":
+						globalSettings.WiFiSmartEnabled = val.(bool)
+						resetWiFi = true
 					default:
 						log.Printf("handleSettingsSetRequest:json: unrecognized key:%s\n", key)
 					}

main/network.go

@@ -145,6 +145,9 @@ func getDHCPLeases() (map[string]string, error) {
 	 ***WARNING***: netMutex must be locked before calling this function.
 */
 func isSleeping(k string) bool {
+	if globalSettings.NoSleep == true {
+		return false
+	}
 	ipAndPort := strings.Split(k, ":")
 	// No ping response. Assume disconnected/sleeping device.
 	if lastPing, ok := pingResponse[ipAndPort[0]]; !ok || stratuxClock.Since(lastPing) > (10*time.Second) {

main/sensors.go

@@ -19,6 +19,12 @@ const (
 	numRetries uint8 = 5
 	calCLimit        = 0.15
 	calDLimit        = 10.0
+
+	// WHO_AM_I values to differentiate between the different IMUs.
+	MPUREG_WHO_AM_I     = 0x75
+	MPUREG_WHO_AM_I_VAL = 0x71 // Expected value.
+	ICMREG_WHO_AM_I     = 0x00
+	ICMREG_WHO_AM_I_VAL = 0xEA // Expected value.
 )
 
 var (
@@ -123,13 +129,36 @@ func tempAndPressureSender() {
 }
 
 func initIMU() (ok bool) {
-	imu, err := sensors.NewMPU9250()
-	if err == nil {
-		myIMUReader = imu
-		return true
+	// Check if the chip is the ICM-20948 or MPU-9250.
+	v, err := i2cbus.ReadByteFromReg(0x68, ICMREG_WHO_AM_I)
+	if err != nil {
+		log.Printf("Error identifying IMU: %s\n", err.Error())
+		return false
+	}
+	v2, err := i2cbus.ReadByteFromReg(0x68, MPUREG_WHO_AM_I)
+	if err != nil {
+		log.Printf("Error identifying IMU: %s\n", err.Error())
+		return false
 	}
 
-	// TODO westphae: try to connect to MPU9150 or other IMUs.
+	if v == ICMREG_WHO_AM_I_VAL {
+		log.Println("ICM-20948 detected.")
+		imu, err := sensors.NewICM20948(&i2cbus)
+		if err == nil {
+			myIMUReader = imu
+			return true
+		}
+	} else if v2 == MPUREG_WHO_AM_I_VAL {
+		log.Println("MPU-9250 detected.")
+		imu, err := sensors.NewMPU9250(&i2cbus)
+		if err == nil {
+			myIMUReader = imu
+			return true
+		}
+	} else {
+		log.Printf("Could not identify MPU. v=%02x, v2=%02x.\n", v, v2)
+		return false
+	}
 
 	return false
 }

main/traffic.go

@@ -223,7 +223,7 @@ func sendTrafficUpdates() {
 				if globalSettings.DEBUG {
 					log.Printf("Ownship target detected for code %X\n", code)
 				}
-				//				OwnshipTrafficInfo = ti
+				OwnshipTrafficInfo = ti
 			} else {
 				cur_n := len(msgs) - 1
 				if len(msgs[cur_n]) >= 35 {

notes/app-vendor-integration.md

@@ -27,17 +27,25 @@ Stratux makes use of of ICMP Echo/Echo Reply and ICMP Destination Unreachable pa
 the typical "sleep mode" period, whose content remains accurate despite said delay, and whose content is sufficiently redundant such
 that if the typical delay period is exceeded then it can be discarded.
 
-When a client enters sleep mode, queueable messages are entered into a FIFO queue of fixed size which should be sufficient to hold 10-25 minutes of
-data per client.
+When a client enters sleep mode, queueable messages are entered into a FIFO queue of fixed size which should be sufficient to hold 10-25 minutes of data per client. Non-queueable messages that are directed
+towards a client while in sleep mode are discarded. When in sleep mode, therefore, no GDL90 messages are received by the client.
 
-There are three cases that are used to detect the state of a client:
+There are three cases that are used to determine the state of a client:
 
 1. Responding to ICMP Echo AND no ICMP Destination Unreachable received for destination port => not sleeping.
 2. Not responding to ICMP Echo => sleeping.
 3. Responding to ICMP Echo AND ICMP Destination Unreachable received for destination port => sleeping.
 
-It is important to note that NEXRAD frames, METARs, and Winds Aloft may be delayed in reception. The timestamp in the GDL90 message should always
-be used to for the observation time, and not the time the message was received.
+The sleep mode detection routine has two parts:
+
+1. ICMP Echo packets are sent every 5 seconds. If a response is not received in the last 10 seconds, the client is in sleep mode.
+2. If an ICMP Destination Unreachable is received in the last 5 seconds, the client is in sleep mode.
+3. If an ICMP Destination Unreachable has been received in the last 15 seconds, but not in the last 5 seconds, the client is in *throttle mode*. In throttle mode, messages are sent at 0.1% of the normal rate. This gives the client a chance to recover or to respond that the port is closed.
+
+
+__Note__: NEXRAD frames, METARs, and Winds Aloft, and other weather data may be delayed in reception to
+the receiving application. The timestamp in the GDL90 message should always be used to for the observation
+time, and **not the time the message was received**.
 
 ### Traffic handling
 
@@ -233,17 +241,17 @@ Stratux makes available a webserver to retrieve statistics which may be useful t
   "BaroPressureAltitude": 153.32,
   "BaroVerticalSpeed": 1.3123479,
   "BaroLastMeasurementTime": "0001-01-01T00:06:44.23Z",
-  "AHRSPitch": -0.97934145732801,
-  "AHRSRoll": -2.2013729217108,
-  "AHRSGyroHeading": 187741.08073052,
-  "AHRSMagHeading": 3276.7,
-  "AHRSSlipSkid": 0.52267604604907,
-  "AHRSTurnRate": 3276.7,
-  "AHRSGLoad": 0.99847599584255,
-  "AHRSGLoadMin": 0.99815989027411,
-  "AHRSGLoadMax": 1.0043409597397,
-  "AHRSLastAttitudeTime": "0001-01-01T00:06:44.28Z",
-  "AHRSStatus": 7
+  "AHRSPitch": -0.97934145732801,                     // Degrees. 3276.7 = Invalid.
+  "AHRSRoll": -2.2013729217108,                       // Degrees. 3276.7 = Invalid.
+  "AHRSGyroHeading": 187741.08073052,                 // Degrees. Process mod 360. 3276.7 = Invalid.
+  "AHRSMagHeading": 3276.7,                           // Degrees. Process mod 360. 3276.7 = Invalid.
+  "AHRSSlipSkid": 0.52267604604907,                   // Degrees. 3276.7 = Invalid.
+  "AHRSTurnRate": 3276.7,                             // Degrees per second. 3276.7 = Invalid.
+  "AHRSGLoad": 0.99847599584255,                      // Current G load, in G's. Reads 1 G at rest.
+  "AHRSGLoadMin": 0.99815989027411,                   // Minimum recorded G load, in G's.
+  "AHRSGLoadMax": 1.0043409597397,                    // Maximum recorded G load, in G's.
+  "AHRSLastAttitudeTime": "0001-01-01T00:06:44.28Z",  // Stratux clock ticks since last attitude update. Reference against /getStatus -> UptimeClock.
+  "AHRSStatus": 7                                     // Status bitmask. See main/sensors.go -> updateAHRSStatus().
 }
 ```
 

selfupdate/makeupdate.sh

@@ -36,7 +36,8 @@ cp image/99-uavionix.rules work/bin/
 cp image/motd work/bin/
 cp image/stratux-wifi.sh work/bin/
 cp image/rc.local work/bin/
-cp image/dhcpd.conf work/bin/
+cp image/dhcpd-not_smart.conf work/bin/
+cp image/dhcpd-smart.conf work/bin/
 cp image/interfaces work/bin/
 cp image/logrotate.conf work/bin/
 cp image/logrotate_d_stratux work/bin/

selfupdate/update_footer.sh

@@ -87,7 +87,9 @@ cp -f ahrs_approx /usr/bin/
 chmod 755 /usr/bin/ahrs_approx
 
 # DHCPD Config.
-cp -f dhcpd.conf /etc/dhcp/dhcpd.conf
+cp -f dhcpd-not_smart.conf /etc/dhcp/
+cp -f dhcpd-smart.conf /etc/dhcp/
+ln -s /etc/dhcp/dhcpd-not_smart.conf /etc/dhcp/dhcpd.conf
 
 # Interfaces file.
 cp -f interfaces /etc/network/interfaces

sensors/icm20948.go

@@ -0,0 +1,98 @@
+// Package sensors provides a stratux interface to sensors used for AHRS calculations.
+package sensors
+
+import (
+	"../goflying/icm20948"
+	"github.com/kidoman/embd"
+)
+
+const (
+	gyroRange  = 250 // gyroRange is the default range to use for the Gyro.
+	accelRange = 4   // accelRange is the default range to use for the Accel.
+	updateFreq = 50  // updateFreq is the rate at which to update the sensor values.
+)
+
+// ICM20948 represents an InvenSense ICM-20948 attached to the I2C bus and satisfies
+// the IMUReader interface.
+type ICM20948 struct {
+	mpu *icm20948.ICM20948
+}
+
+// NewICM20948 returns an instance of the ICM-20948 IMUReader, connected to an
+// ICM-20948 attached on the I2C bus with either valid address.
+func NewICM20948(i2cbus *embd.I2CBus) (*ICM20948, error) {
+	var (
+		m   ICM20948
+		mpu *icm20948.ICM20948
+		err error
+	)
+
+	mpu, err = icm20948.NewICM20948(i2cbus, gyroRange, accelRange, updateFreq, true, false)
+	if err != nil {
+		return nil, err
+	}
+
+	// Set Gyro (Accel) LPFs to 25 Hz to filter out prop/glareshield vibrations above 1200 (1260) RPM
+	mpu.SetGyroLPF(25)
+	mpu.SetAccelLPF(25)
+
+	m.mpu = mpu
+	return &m, nil
+}
+
+// Read returns the average (since last reading) time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
+// error reading Gyro/Accel, and error reading Mag.
+func (m *ICM20948) Read() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
+	var (
+		data *icm20948.MPUData
+		i    int8
+	)
+	data = new(icm20948.MPUData)
+
+	for data.N == 0 && i < 5 {
+		data = <-m.mpu.CAvg
+		T = data.T.UnixNano()
+		G1 = data.G1
+		G2 = data.G2
+		G3 = data.G3
+		A1 = data.A1
+		A2 = data.A2
+		A3 = data.A3
+		M1 = data.M1
+		M2 = data.M2
+		M3 = data.M3
+		GAError = data.GAError
+		MAGError = data.MagError
+		i++
+	}
+	return
+}
+
+// ReadOne returns the most recent time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
+// error reading Gyro/Accel, and error reading Mag.
+func (m *ICM20948) ReadOne() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
+	var (
+		data *icm20948.MPUData
+	)
+	data = new(icm20948.MPUData)
+
+	data = <-m.mpu.C
+	T = data.T.UnixNano()
+	G1 = data.G1
+	G2 = data.G2
+	G3 = data.G3
+	A1 = data.A1
+	A2 = data.A2
+	A3 = data.A3
+	M1 = data.M1
+	M2 = data.M2
+	M3 = data.M3
+	GAError = data.GAError
+	MAGError = data.MagError
+	return
+}
+
+// Close stops reading the MPU.
+func (m *ICM20948) Close() {
+	m.mpu.CloseMPU()
+}

sensors/mpu9250.go

@@ -3,12 +3,13 @@ package sensors
 
 import (
 	"../goflying/mpu9250"
+	"github.com/kidoman/embd"
 )
 
 const (
-	gyroRange  = 250 // gyroRange is the default range to use for the Gyro.
-	accelRange = 4   // accelRange is the default range to use for the Accel.
-	updateFreq = 50  // updateFreq is the rate at which to update the sensor values.
+	mpu9250GyroRange  = 250 // mpu9250GyroRange is the default range to use for the Gyro.
+	mpu9250AccelRange = 4   // mpu9250AccelRange is the default range to use for the Accel.
+	mpu9250UpdateFreq = 50  // mpu9250UpdateFreq is the rate at which to update the sensor values.
 )
 
 // MPU9250 represents an InvenSense MPU9250 attached to the I2C bus and satisfies
@@ -19,14 +20,14 @@ type MPU9250 struct {
 
 // NewMPU9250 returns an instance of the MPU9250 IMUReader, connected to an
 // MPU9250 attached on the I2C bus with either valid address.
-func NewMPU9250() (*MPU9250, error) {
+func NewMPU9250(i2cbus *embd.I2CBus) (*MPU9250, error) {
 	var (
 		m   MPU9250
 		mpu *mpu9250.MPU9250
 		err error
 	)
 
-	mpu, err = mpu9250.NewMPU9250(gyroRange, accelRange, updateFreq, true, false)
+	mpu, err = mpu9250.NewMPU9250(i2cbus, mpu9250GyroRange, mpu9250AccelRange, mpu9250UpdateFreq, true, false)
 	if err != nil {
 		return nil, err
 	}

tools/ahrs_plot.go

@@ -1,87 +0,0 @@
-package main
-
-import (
-	"bufio"
-	"fmt"
-	"github.com/gonum/plot"
-	"github.com/gonum/plot/plotter"
-	"github.com/gonum/plot/plotutil"
-	"github.com/gonum/plot/vg"
-	"net/http"
-	"os"
-	"strconv"
-	"strings"
-	"time"
-)
-
-type XY struct {
-	X float64
-	Y float64
-}
-
-func imageWriter() {
-	for {
-		p, err := plot.New()
-		if err != nil {
-			panic(err)
-		}
-		p.Title.Text = "AHRS Plot"
-		p.X.Label.Text = "Roll"
-		p.Y.Label.Text = "Pitch"
-
-		file, err := os.Open("ahrs_table.log")
-		if err != nil {
-			panic(err)
-		}
-		defer file.Close()
-
-		scanner := bufio.NewScanner(file)
-
-		vals := make([]XY, 0)
-		for scanner.Scan() {
-			l := scanner.Text()
-			x := strings.Split(l, ",")
-			if len(x) < 3 {
-				continue
-			}
-			roll, err := strconv.ParseFloat(x[0], 64)
-			if err != nil {
-				continue
-			}
-			pitch, err := strconv.ParseFloat(x[1], 64)
-			if err != nil {
-				continue
-			}
-			v := XY{X: roll, Y: pitch}
-			vals = append(vals, v)
-		}
-		vals_XY := make(plotter.XYs, len(vals))
-		for i := 0; i < len(vals); i++ {
-			vals_XY[i].X = vals[i].X
-			vals_XY[i].Y = vals[i].Y
-		}
-		err = plotutil.AddScatters(p, "First", vals_XY)
-		if err != nil {
-			panic(err)
-		}
-		if err := p.Save(8*vg.Inch, 8*vg.Inch, "out.png"); err != nil {
-			panic(err)
-		}
-		time.Sleep(1000 * time.Millisecond)
-	}
-}
-
-func main() {
-	go imageWriter()
-	http.Handle("/", http.FileServer(http.Dir(".")))
-	err := http.ListenAndServe(":8080", nil)
-
-	if err != nil {
-		fmt.Printf("managementInterface ListenAndServe: %s\n", err.Error())
-	}
-
-	for {
-		time.Sleep(1 * time.Second)
-	}
-
-}

tools/ahrs_table.go

@@ -1,109 +0,0 @@
-package main
-
-import (
-	"encoding/hex"
-	"encoding/json"
-	"fmt"
-	"io/ioutil"
-	"net"
-	"net/http"
-	"os"
-	"sync"
-	"time"
-)
-
-const (
-	SITUATION_URL = "http://127.0.0.1/getSituation"
-)
-
-type MySituation struct {
-	AHRSRoll  float64
-	AHRSPitch float64
-}
-
-var Location MySituation
-
-var situationMutex *sync.Mutex
-
-func chkErr(err error) {
-	if err != nil {
-		fmt.Printf("error: %s\n", err.Error())
-		os.Exit(1)
-	}
-}
-
-var currentAHRSString string
-
-func listener() {
-	t := time.Now()
-	addr := net.UDPAddr{Port: 41504, IP: net.ParseIP("0.0.0.0")}
-	conn, err := net.ListenUDP("udp", &addr)
-	if err != nil {
-		fmt.Printf("error listening: %s\n", err.Error())
-		return
-	}
-	defer conn.Close()
-	for {
-		buf := make([]byte, 1024)
-		n, _, err := conn.ReadFrom(buf)
-		if err != nil {
-			fmt.Printf("Err receive: %s\n", err.Error())
-			continue
-		}
-		buf_encoded := make([]byte, hex.EncodedLen(n))
-		hex.Encode(buf_encoded, buf[:n])
-		t2 := time.Now()
-		time_diff := t2.Sub(t)
-		t = t2
-
-		fmt.Sprintf("%d,%s\n", time_diff/time.Millisecond, buf_encoded)
-		currentAHRSString = string(buf_encoded)
-	}
-}
-
-func situationUpdater() {
-	situationUpdateTicker := time.NewTicker(100 * time.Millisecond)
-	for {
-		<-situationUpdateTicker.C
-		situationMutex.Lock()
-
-		resp, err := http.Get(SITUATION_URL)
-		if err != nil {
-			fmt.Printf("HTTP GET error: %s\n", err.Error())
-			situationMutex.Unlock()
-			continue
-		}
-
-		body, err := ioutil.ReadAll(resp.Body)
-		if err != nil {
-			fmt.Printf("HTTP GET body error: %s\n", err.Error())
-			resp.Body.Close()
-			situationMutex.Unlock()
-			continue
-		}
-
-		//		fmt.Printf("body: %s\n", string(body))
-		err = json.Unmarshal(body, &Location)
-
-		if err != nil {
-			fmt.Printf("HTTP JSON unmarshal error: %s\n", err.Error())
-		}
-		resp.Body.Close()
-		situationMutex.Unlock()
-
-	}
-}
-
-func main() {
-	situationMutex = &sync.Mutex{}
-
-	go listener()
-	go situationUpdater()
-
-	tm := time.NewTicker(125 * time.Millisecond)
-	for {
-		<-tm.C
-		fmt.Printf("%f,%f,%s\n", Location.AHRSRoll, Location.AHRSPitch, currentAHRSString)
-	}
-
-}

tools/udp_listen.go

@@ -1,34 +0,0 @@
-package main
-
-import (
-	"encoding/hex"
-	"fmt"
-	"net"
-	"time"
-)
-
-func main() {
-	t := time.Now()
-	addr := net.UDPAddr{Port: 41504, IP: net.ParseIP("0.0.0.0")}
-	conn, err := net.ListenUDP("udp", &addr)
-	if err != nil {
-		fmt.Printf("ffMonitor(): error listening: %s\n", err.Error())
-		return
-	}
-	defer conn.Close()
-	for {
-		buf := make([]byte, 1024)
-		n, _, err := conn.ReadFrom(buf)
-		if err != nil {
-			fmt.Printf("Err receive: %s\n", err.Error())
-			continue
-		}
-		buf_encoded := make([]byte, hex.EncodedLen(n))
-		hex.Encode(buf_encoded, buf[:n])
-		t2 := time.Now()
-		time_diff := t2.Sub(t)
-		t = t2
-
-		fmt.Printf("%d,%s\n", time_diff/time.Millisecond, buf_encoded)
-	}
-}

tools/udp_replay.go

@@ -1,67 +0,0 @@
-package main
-
-import (
-	"bufio"
-	"encoding/hex"
-	"fmt"
-	"net"
-	"os"
-	"strconv"
-	"strings"
-	"time"
-)
-
-func main() {
-	if len(os.Args) < 2 {
-		fmt.Printf("%s: <file>\n", os.Args[0])
-		return
-	}
-
-	f, err := os.Open(os.Args[1])
-	if err != nil {
-		fmt.Printf("error: %s\n", err.Error())
-		return
-	}
-	defer f.Close()
-
-	scanner := bufio.NewScanner(f)
-
-	// Open a socket.
-	BROADCAST_IPv4 := net.IPv4(255, 255, 255, 255)
-
-	//	addr, _ := net.ResolveUDPAddr("udp", "192.168.10.10:41501")
-	//	laddr, _ := net.ResolveUDPAddr("udp", "192.168.10.1:58814")
-	//	conn, err := net.DialUDP("udp", laddr, addr)
-	conn, err := net.DialUDP("udp", nil, &net.UDPAddr{
-		IP:   BROADCAST_IPv4,
-		Port: 41504,
-	})
-
-	if err != nil {
-		fmt.Printf("DialUDP(): %s\n", err.Error())
-		return
-	}
-
-	for scanner.Scan() {
-		s := scanner.Text()
-		x := strings.Split(s, ",")
-		if len(x) < 2 {
-			continue
-		}
-		i, err := strconv.ParseInt(x[0], 10, 32)
-		if err != nil {
-			fmt.Printf("error parsing '%s': %s.\n", x[0], err.Error())
-			continue
-		}
-		buf := make([]byte, hex.DecodedLen(len(x[1])))
-		n, err := hex.Decode(buf, []byte(x[1]))
-		if err != nil {
-			fmt.Printf("error parsing '%s': %s.\n", x[1], err.Error())
-			continue
-		}
-
-		fmt.Printf("sleeping %dms, sending %s\n", i, x[1])
-		time.Sleep(time.Duration(i) * time.Millisecond)
-		conn.Write(buf[:n])
-	}
-}

web/css/dark-mode.css

@@ -0,0 +1,184 @@
+pre {
+	color: #9b9b9b;
+}
+
+.app-body,
+.panel-default,
+.scrollable-content,
+.form-group {
+	color: #9b9b9b;
+        background-color: #121212;
+}
+
+.help-page {
+	background-color: #121212;
+}
+
+a,
+.btn,
+.navbar-app .btn {
+	color: #1e88e5;
+}
+
+a:hover,
+a:focus,
+.btn:hover,
+.btn:focus,
+.navbar-app .btn:hover,
+.navbar-app .btn:focus {
+	color: #42a5f5;
+}
+
+.btn-primary {
+	color: #121212;
+	background-color: #1e88e5;
+	border-color: #1e88e5;
+}
+
+.btn-primary:hover {
+	color: #121212;
+	background-color: #42a5f5;
+	border-color: #42a5f5;
+}
+
+.btn-default {
+	color: #e0e0e0;
+	background-color: #343434;
+}
+
+.btn-default:hover {
+	background-color: #383838;
+}
+
+a.list-group-item,
+.list-group-item {
+	color: #e0e0e0;
+	border-color: #373737;
+	background-color: #242424;
+}
+
+a.list-group-item:hover,
+.list-group-item:hover {
+	text-decoration: none;
+	color: #e0e0e0;
+	background-color: #373737;
+}
+
+.list-group-item.active,
+.list-group-item.active:focus,
+.list-group-item.active:hover {
+	color: #121212;
+	background-color: #1e88e5;
+	border-color: #1e88e5;
+}
+
+.navbar-app {
+	background-color: #2d2d2d;
+	border-color: #373737;
+}
+
+.panel {
+	border-color: #373737;
+}
+
+.panel-default>.panel-heading {
+	color: #e0e0e0;
+	background-color: #2d2d2d;
+	border-color: #373737;
+}
+
+.panel-default>.panel-footer {
+	color: #e0e0e0;
+	background-color: #2d2d2d;
+	border-color: #373737;
+}
+
+.row-header {
+	background-color: #212121;
+}
+
+.separator {
+	border-bottom-color: #2d2d2d;
+}
+
+.sidebar-header,
+.app-name {
+	color: #e0e0e0;
+	background-color: #2d2d2d;
+	border-color: #373737;
+}
+
+.switch {
+	background-color: #2d2d2d;
+	border-color: #9b9b9b;
+}
+
+.switch .switch-handle {
+	background-color: #9b9b9b;
+	border-color: #9b9b9b;
+}
+
+.switch.active {
+	background-color: #1e88e5;
+	border-color: #1e88e5;
+}
+
+.text-primary {
+	color: #1e88e5;
+}
+
+.label-success {
+	color: #121212;
+	background-color: #4caf50;
+}
+
+.label-warning {
+	color: #121212;
+	background-color: #ffeb3b;
+}
+
+.label-danger {
+	color: #121212;
+	background-color: #f44336;
+}
+
+/* Input changes */
+input[type=text],
+input[type=number] {
+	color: #e0e0e0;
+	background-color: #212121;
+	border: 2px solid #2d2d2d;
+	border-radius: 4px;
+}
+
+input.ng-invalid:not(.grayout) {
+	color: #121212;
+}
+
+select {
+	color: #e0e0e0;
+	background-color: #212121;
+	border: 2px solid #2d2d2d;
+	border-radius: 4px;
+}
+
+/* Modal changes */
+.modal-content {
+	background-color: #343434;
+}
+
+.modal-header {
+	border-color: #9b9b9b;
+}
+
+.modal-title {
+	color: #e0e0e0;
+}
+
+.modal-body {
+	color: #9b9b9b;
+}
+
+.modal-footer {
+	border-color: #9b9b9b;
+}

web/css/main.css

@@ -262,6 +262,9 @@
 	width: 100%;
 }
 
+.row-header {
+	background-color: #f7f7f7;
+}
 
 /* ***************************************************************************
 everything below this comment represents tweaks to the mobile-angular-uis CSS

web/index.html

@@ -50,6 +50,7 @@
 
 	<link rel="stylesheet" href="css/main.css" />
 	<link rel="stylesheet" href="css/ahrs.css" />
+	<link rel="stylesheet" id="themeStylesheet" href="" />
 
 	<script src="maui/js/angular.min.js"></script>
 	<script src="maui/js/angular-ui-router.min.js"></script>

web/js/main.js

@@ -99,7 +99,23 @@ app.controller('MainCtrl', function ($scope, $http) {
     .then(function(response) {
 			var settings = angular.fromJson(response.data);
             $scope.DeveloperMode = settings.DeveloperMode;
+
+            // Update theme
+            $scope.updateTheme(settings.DarkMode);
     }, function(response) {
         //Second function handles error
     });	
+
+    $scope.updateTheme = function(darkMode) {
+        if(darkMode != $scope.DarkMode) {
+            // console.log("Updating theme, use dark mode?", darkMode);
+            $scope.DarkMode = darkMode;
+
+            if($scope.DarkMode) {
+                document.getElementById('themeStylesheet').href = 'css/dark-mode.css';
+            } else {
+                document.getElementById('themeStylesheet').href = '';
+            }
+        }
+    };
 });

web/plates/gps.html

@@ -83,7 +83,11 @@
     			</div>
 				<div class="row">
 					<span class="col-xs-6 text-center">{{gps_lat}}, {{gps_lon}} &plusmn; {{gps_horizontal_accuracy}} m <br>
-						{{gps_alt}} &plusmn; {{gps_vertical_accuracy}} ft  @ {{gps_vert_speed}} ft/min</span>
+						<b>Altitude MSL:</b> <br>
+						{{gps_alt}} &plusmn; {{gps_vertical_accuracy}} ft  @ {{gps_vert_speed}} ft/min <br>
+						<b>Height WGS-84 ellipsoid:</b> <br>
+						{{ gps_height_above_ellipsoid }} ft
+					</span>
 					<span class="col-xs-6 text-center">{{gps_track}}&deg; @ {{gps_speed}} KTS</span>
 				</div>
 			</div>

web/plates/js/gps.js

@@ -165,6 +165,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
         $scope.gps_lat = situation.GPSLatitude.toFixed(5); // result is string
         $scope.gps_lon = situation.GPSLongitude.toFixed(5); // result is string
         $scope.gps_alt = situation.GPSAltitudeMSL.toFixed(1);
+        $scope.gps_height_above_ellipsoid = situation.GPSHeightAboveEllipsoid.toFixed(1);
         $scope.gps_track = situation.GPSTrueCourse.toFixed(1);
         $scope.gps_speed = situation.GPSGroundSpeed.toFixed(1);
         $scope.gps_vert_speed = situation.GPSVerticalSpeed.toFixed(1);
@@ -172,6 +173,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
             $scope.gps_lat = "--";
             $scope.gps_lon = "--";
             $scope.gps_alt = "--";
+            $scope.gps_height_above_ellipsoid = "--";
             $scope.gps_track = "--";
             $scope.gps_speed = "--";
             $scope.gps_vert_speed = "--";

web/plates/js/settings.js

@@ -8,7 +8,7 @@ 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', 'AHRSLog'];
+		'BMP_Sensor_Enabled', 'DisplayTrafficSource', 'DEBUG', 'ReplayLog', 'AHRSLog', 'DarkMode'];
 	var settings = {};
 	for (var i = 0; i < toggles.length; i++) {
 		settings[toggles[i]] = undefined;
@@ -24,6 +24,9 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 			$scope.Baud = settings.SerialOutputs['/dev/serialout0'].Baud;
 			$scope.visible_serialout = true;
 		}
+
+		$scope.DarkMode = settings.DarkMode;
+
 		$scope.UAT_Enabled = settings.UAT_Enabled;
 		$scope.ES_Enabled = settings.ES_Enabled;
 		$scope.Ping_Enabled = settings.Ping_Enabled;
@@ -47,8 +50,12 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
         $scope.WiFiPassphrase = settings.WiFiPassphrase;
         $scope.WiFiSecurityEnabled = settings.WiFiSecurityEnabled;
         $scope.WiFiChannel = settings.WiFiChannel;
+        $scope.WiFiSmartEnabled = settings.WiFiSmartEnabled;
 
         $scope.Channels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11];
+
+		// Update theme
+		$scope.$parent.updateTheme($scope.DarkMode);
 	}
 
 	function getSettings() {
@@ -287,7 +294,8 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
                 "WiFiSSID" :  $scope.WiFiSSID,
                 "WiFiSecurityEnabled" : $scope.WiFiSecurityEnabled,
                 "WiFiPassphrase" : $scope.WiFiPassphrase,
-                "WiFiChannel" : parseInt($scope.WiFiChannel)
+                "WiFiChannel" : parseInt($scope.WiFiChannel),
+                "WiFiSmartEnabled": $scope.WiFiSmartEnabled
             };
 
             // console.log(angular.toJson(newsettings));

web/plates/settings.html

@@ -56,6 +56,21 @@
                 </div>
             </div>
         </div>
+<!-- App Theme -->
+        <div class="panel-group col-sm-12">
+            <div class="panel panel-default">
+                <div class="panel-heading">Theme</div>
+                <div class="panel-body">
+                    <!-- Dark Mode -->
+                    <div class="form-group">
+                        <label class="control-label col-xs-7">Dark Mode</label>
+                        <div class="col-xs-5">
+                            <ui-switch ng-model='DarkMode' settings-change></ui-switch>
+                        </div>
+                    </div>
+                </div>
+            </div>
+        </div>
     </div>
 <!-- End Left Col -->
 <!-- Begin Right Col -->
@@ -134,6 +149,12 @@
                             <select id="WiFiChannel" class="input-small col-sm-2 form-control-sm"
                                     ng-model="WiFiChannel" ng-options="x for x in Channels"></select>
                         </div>
+                        <div class="form-group reset-flow">
+                            <label class="control-label col-xs-7">Smart WiFi</label>
+                            <div class="col-xs-5">
+                                <ui-switch ng-model="WiFiSmartEnabled" settings-change></ui-switch>
+                            </div>
+                        </div>
                         <div class="form-group reset-flow">
                             <button class="btn btn-primary btn-block" ng-click="updateWiFi()">Submit WiFi Changes</button>
                         </div>
@@ -383,6 +404,7 @@
                         <p>WiFi Security: <b>{{WiFiSecurityEnabled}}</b></p>
                         <p>WiFi Passphrase: <b>{{WiFiPassphrase}}</b></p>
                         <p>WiFi Channel: <b>{{WiFiChannel}}</b></p>
+                        <p>Smart mode: <b>{{WiFiSmartEnabled}}</b></p>
                         <p>Your Stratux's WiFi services are now restarting to apply the new settings. This could take up to 30 seconds.<br/>
                            You might have to reconnect to your new WiFi SSID. </p>
                     </div>

web/plates/status.html

@@ -1,6 +1,6 @@
 <div class="col-sm-12">
 	<div class="text-center">
-		<a ng-click="VersionClick()" class="btn btn-hidden"<strong>Version: <span>{{Version}} ({{Build}})</span></strong></a>
+		<a ng-click="VersionClick()" class="btn btn-hidden"><strong>Version: <span>{{Version}} ({{Build}})</span></strong></a>
 	</div>
 	<div class="panel panel-default">
 		<div class="panel-heading">
@@ -56,10 +56,10 @@
 				</div>
 				<div class="row" ng-class="{'section_invisible': !visible_uat}">
 					<div class="col-sm-12">
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">Towers</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">METARS</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">TAFS</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">NEXRAD</span>
+						<span align="center" class="col-xs-3 row-header">Towers</span>
+						<span align="center" class="col-xs-3 row-header">METARS</span>
+						<span align="center" class="col-xs-3 row-header">TAFS</span>
+						<span align="center" class="col-xs-3 row-header">NEXRAD</span>
 					</div>
 				</div>
 				<div class="row" ng-class="{'section_invisible': !visible_uat}">
@@ -72,10 +72,10 @@
 				</div>
 				<div class="row" ng-class="{'section_invisible': !visible_uat}">
 					<div class="col-sm-12">
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">PIREP</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">SIGMET</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">NOTAMS</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">Other</span>
+						<span align="center" class="col-xs-3 row-header">PIREP</span>
+						<span align="center" class="col-xs-3 row-header">SIGMET</span>
+						<span align="center" class="col-xs-3 row-header">NOTAMS</span>
+						<span align="center" class="col-xs-3 row-header">Other</span>
 					</div>
 				</div>
 				<div class="row" ng-class="{'section_invisible': !visible_uat}">