kopia lustrzana https://github.com/cyoung/stratux
1088 wiersze
31 KiB
Go
1088 wiersze
31 KiB
Go
/*
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Copyright (c) 2015-2016 Christopher Young
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Distributable under the terms of The "BSD New"" License
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that can be found in the LICENSE file, herein included
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as part of this header.
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ry835ai.go: GPS functions, GPS init, AHRS status messages, other external sensor monitoring.
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*/
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package main
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import (
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"fmt"
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"log"
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"strconv"
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"strings"
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"sync"
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"time"
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"bufio"
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"github.com/kidoman/embd"
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_ "github.com/kidoman/embd/host/all"
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"github.com/kidoman/embd/sensor/bmp180"
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"github.com/tarm/serial"
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"os"
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"os/exec"
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"../mpu6050"
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)
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type SituationData struct {
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mu_GPS *sync.Mutex
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// From GPS.
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lastFixSinceMidnightUTC uint32
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Lat float32
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Lng float32
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quality uint8
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GeoidSep float32 // geoid separation, ft, MSL minus HAE (used in altitude calculation)
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Satellites uint16 // satellites used in solution
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SatellitesTracked uint16 // satellites tracked (almanac data received)
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SatellitesSeen uint16 // satellites seen (signal received)
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Accuracy float32 // 95% confidence for horizontal position, meters.
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NACp uint8 // NACp categories are defined in AC 20-165A
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Alt float32 // Feet MSL
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AccuracyVert float32 // 95% confidence for vertical position, meters
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GPSVertVel float32 // GPS vertical velocity, feet per second
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LastFixLocalTime time.Time
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TrueCourse uint16
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GroundSpeed uint16
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LastGroundTrackTime time.Time
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mu_Attitude *sync.Mutex
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// From BMP180 pressure sensor.
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Temp float64
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Pressure_alt float64
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lastTempPressTime time.Time
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// From MPU6050 accel/gyro.
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Pitch float64
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Roll float64
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Gyro_heading float64
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LastAttitudeTime time.Time
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}
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var serialConfig *serial.Config
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var serialPort *serial.Port
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/*
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file:///Users/c/Downloads/u-blox5_Referenzmanual.pdf
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Platform settings
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Airborne <2g Recommended for typical airborne environment. No 2D position fixes supported.
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p.91 - CFG-MSG
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Navigation/Measurement Rate Settings
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Header 0xB5 0x62
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ID 0x06 0x08
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0x0064 (100 ms)
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0x0001
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0x0001 (GPS time)
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{0xB5, 0x62, 0x06, 0x08, 0x00, 0x64, 0x00, 0x01, 0x00, 0x01}
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p.109 CFG-NAV5 (0x06 0x24)
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Poll Navigation Engine Settings
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*/
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func chksumUBX(msg []byte) []byte {
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ret := make([]byte, 2)
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for i := 0; i < len(msg); i++ {
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ret[0] = ret[0] + msg[i]
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ret[1] = ret[1] + ret[0]
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}
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return ret
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}
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// p.62
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func makeUBXCFG(class, id byte, msglen uint16, msg []byte) []byte {
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ret := make([]byte, 6)
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ret[0] = 0xB5
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ret[1] = 0x62
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ret[2] = class
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ret[3] = id
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ret[4] = byte(msglen & 0xFF)
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ret[5] = byte((msglen >> 8) & 0xFF)
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ret = append(ret, msg...)
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chk := chksumUBX(ret[2:])
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ret = append(ret, chk[0])
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ret = append(ret, chk[1])
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return ret
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}
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func initGPSSerial() bool {
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var device string
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if _, err := os.Stat("/dev/ttyACM0"); err == nil {
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device = "/dev/ttyACM0"
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} else {
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device = "/dev/ttyAMA0"
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}
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log.Printf("Using %s for GPS\n", device)
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/* Developer option -- uncomment to allow "hot" configuration of GPS (assuming 38.4 kpbs on warm start)
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serialConfig = &serial.Config{Name: device, Baud: 38400}
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p, err := serial.OpenPort(serialConfig)
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if err != nil {
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log.Printf("serial port err: %s\n", err.Error())
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return false
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} else { // reset port to 9600 baud for configuration
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cfg1 := make([]byte, 20)
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cfg1[0] = 0x01 // portID.
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cfg1[1] = 0x00 // res0.
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cfg1[2] = 0x00 // res1.
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cfg1[3] = 0x00 // res1.
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// [ 7 ] [ 6 ] [ 5 ] [ 4 ]
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// 0000 0000 0000 0000 1000 0000 1100 0000
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// UART mode. 0 stop bits, no parity, 8 data bits. Little endian order.
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cfg1[4] = 0xC0
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cfg1[5] = 0x08
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cfg1[6] = 0x00
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cfg1[7] = 0x00
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// Baud rate. Little endian order.
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bdrt1 := uint32(9600)
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cfg1[11] = byte((bdrt1 >> 24) & 0xFF)
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cfg1[10] = byte((bdrt1 >> 16) & 0xFF)
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cfg1[9] = byte((bdrt1 >> 8) & 0xFF)
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cfg1[8] = byte(bdrt1 & 0xFF)
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// inProtoMask. NMEA and UBX. Little endian.
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cfg1[12] = 0x03
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cfg1[13] = 0x00
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// outProtoMask. NMEA. Little endian.
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cfg1[14] = 0x02
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cfg1[15] = 0x00
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cfg1[16] = 0x00 // flags.
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cfg1[17] = 0x00 // flags.
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cfg1[18] = 0x00 //pad.
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cfg1[19] = 0x00 //pad.
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p.Write(makeUBXCFG(0x06, 0x00, 20, cfg1))
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p.Close()
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}
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-- End developer option */
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// Open port at 9600 baud for config.
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serialConfig = &serial.Config{Name: device, Baud: 9600}
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p, err := serial.OpenPort(serialConfig)
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if err != nil {
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log.Printf("serial port err: %s\n", err.Error())
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return false
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}
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// Set 10Hz update. Little endian order.
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p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x01, 0x00, 0x01, 0x00}))
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// Set navigation settings.
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nav := make([]byte, 36)
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nav[0] = 0x05 // Set dyn and fixMode only.
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nav[1] = 0x00
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// dyn.
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nav[2] = 0x07 // "Airborne with >2g Acceleration".
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nav[3] = 0x02 // 3D only.
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p.Write(makeUBXCFG(0x06, 0x24, 36, nav))
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// GNSS configuration CFG-GNSS for ublox 7 higher, p. 125 (v8)
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//
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// NOTE: Max position rate = 5 Hz if GPS+GLONASS used.
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// Disable GLONASS to enable 10 Hz solution rate. GLONASS is not used
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// for SBAS (WAAS), so little real-world impact.
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cfgGnss := []byte{0x00, 0x20, 0x20, 0x05}
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gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01}
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sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01}
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beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01}
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qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01}
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glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01}
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cfgGnss = append(cfgGnss, gps...)
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cfgGnss = append(cfgGnss, sbas...)
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cfgGnss = append(cfgGnss, beidou...)
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cfgGnss = append(cfgGnss, qzss...)
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cfgGnss = append(cfgGnss, glonass...)
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p.Write(makeUBXCFG(0x06, 0x3E, uint16(len(cfgGnss)), cfgGnss))
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// SBAS configuration for ublox 6 and higher
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p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x01, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00}))
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// Message output configuration -- disable standard NMEA messages except 1Hz GGA
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// Msg DDC UART1 UART2 USB I2C Res
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x00, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x01})) // GGA
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GLL
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GSA
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GSV
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // RMC
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // VGT
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GRS
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GST
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // ZDA
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GBS
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // DTM
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GNS
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // ???
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // VLW
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00})) // Ublox,0
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x00})) // Ublox,3
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x04, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x00})) // Ublox,4
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// Reconfigure serial port.
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cfg := make([]byte, 20)
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cfg[0] = 0x01 // portID.
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cfg[1] = 0x00 // res0.
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cfg[2] = 0x00 // res1.
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cfg[3] = 0x00 // res1.
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// [ 7 ] [ 6 ] [ 5 ] [ 4 ]
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// 0000 0000 0000 0000 0000 10x0 1100 0000
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// UART mode. 0 stop bits, no parity, 8 data bits. Little endian order.
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cfg[4] = 0xC0
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cfg[5] = 0x08
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cfg[6] = 0x00
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cfg[7] = 0x00
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// Baud rate. Little endian order.
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bdrt := uint32(38400)
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cfg[11] = byte((bdrt >> 24) & 0xFF)
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cfg[10] = byte((bdrt >> 16) & 0xFF)
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cfg[9] = byte((bdrt >> 8) & 0xFF)
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cfg[8] = byte(bdrt & 0xFF)
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// inProtoMask. NMEA and UBX. Little endian.
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cfg[12] = 0x03
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cfg[13] = 0x00
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// outProtoMask. NMEA. Little endian.
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cfg[14] = 0x02
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cfg[15] = 0x00
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cfg[16] = 0x00 // flags.
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cfg[17] = 0x00 // flags.
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cfg[18] = 0x00 //pad.
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cfg[19] = 0x00 //pad.
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p.Write(makeUBXCFG(0x06, 0x00, 20, cfg))
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// time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port
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p.Close()
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time.Sleep(250 * time.Millisecond)
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// Re-open port at 38400 baud so we can read messages. TO-DO: Fault detection / fallback to 9600 baud after failed config
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serialConfig = &serial.Config{Name: device, Baud: 38400}
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p, err = serial.OpenPort(serialConfig)
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if err != nil {
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log.Printf("serial port err: %s\n", err.Error())
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return false
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}
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serialPort = p
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log.Printf("GPS configuration complete\n")
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return true
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}
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// func validateNMEAChecksum determines if a string is a properly formatted NMEA sentence with a valid checksum.
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//
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// If the input string is valid, output is the input stripped of the "$" token and checksum, along with a boolean 'true'
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// If the input string is the incorrect format, the checksum is missing/invalid, or checksum calculation fails, an error string and
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// boolean 'false' are returned
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//
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// Checksum is calculated as XOR of all bytes between "$" and "*"
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func validateNMEAChecksum(s string) (string, bool) {
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//validate format. NMEA sentences start with "$" and end in "*xx" where xx is the XOR value of all bytes between
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if !(strings.HasPrefix(s, "$") && strings.Contains(s, "*")) {
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return "Invalid NMEA message", false
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}
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// strip leading "$" and split at "*"
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s_split := strings.Split(strings.TrimPrefix(s, "$"), "*")
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s_out := s_split[0]
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s_cs := s_split[1]
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if len(s_cs) < 2 {
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return "Missing checksum. Fewer than two bytes after asterisk", false
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}
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cs, err := strconv.ParseUint(s_cs[:2], 16, 8)
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if err != nil {
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return "Invalid checksum", false
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}
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cs_calc := byte(0)
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for i := range s_out {
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cs_calc = cs_calc ^ byte(s_out[i])
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}
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if cs_calc != byte(cs) {
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return fmt.Sprintf("Checksum failed. Calculated %#X; expected %#X", cs_calc, cs), false
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}
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return s_out, true
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}
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// Only count this heading if a "sustained" >7 kts is obtained. This filters out a lot of heading
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// changes while on the ground and "movement" is really only changes in GPS fix as it settles down.
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//TODO: Some more robust checking above current and last speed.
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//TODO: Dynamic adjust for gain based on groundspeed
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func setTrueCourse(groundSpeed, trueCourse uint16) {
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if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
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if mySituation.GroundSpeed >= 7 && groundSpeed >= 7 {
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myMPU6050.ResetHeading(float64(trueCourse), 0.10)
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}
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}
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}
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func calculateNACp(accuracy float32) uint8 {
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ret := uint8(0)
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if accuracy < 3 {
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ret = 11
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} else if accuracy < 10 {
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ret = 10
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} else if accuracy < 30 {
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ret = 9
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} else if accuracy < 92.6 {
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ret = 8
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} else if accuracy < 185.2 {
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ret = 7
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} else if accuracy < 555.6 {
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ret = 6
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}
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return ret
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}
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func processNMEALine(l string) bool {
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replayLog(l, MSGCLASS_GPS)
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l_valid, validNMEAcs := validateNMEAChecksum(l)
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if !validNMEAcs {
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log.Printf("GPS error. Invalid NMEA string: %s\n", l_valid) // remove log message once validation complete
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return false
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}
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x := strings.Split(l_valid, ",")
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if x[0] == "PUBX" { // UBX proprietary message
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if x[1] == "00" { // position message
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if len(x) < 20 {
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return false
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}
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mySituation.mu_GPS.Lock()
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defer mySituation.mu_GPS.Unlock()
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// field 2 = time
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if len(x[2]) < 9 {
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return false
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}
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hr, err1 := strconv.Atoi(x[2][0:2])
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min, err2 := strconv.Atoi(x[2][2:4])
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sec, err3 := strconv.Atoi(x[2][4:6])
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if err1 != nil || err2 != nil || err3 != nil {
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return false
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}
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mySituation.lastFixSinceMidnightUTC = uint32((hr * 60 * 60) + (min * 60) + sec)
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// field 3-4 = lat
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if len(x[3]) < 10 {
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return false
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}
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hr, err1 = strconv.Atoi(x[3][0:2])
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minf, err2 := strconv.ParseFloat(x[3][2:10], 32)
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if err1 != nil || err2 != nil {
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return false
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}
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mySituation.Lat = float32(hr) + float32(minf/60.0)
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if x[4] == "S" { // South = negative.
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mySituation.Lat = -mySituation.Lat
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}
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// field 5-6 = lon
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if len(x[5]) < 11 {
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return false
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}
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hr, err1 = strconv.Atoi(x[5][0:3])
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minf, err2 = strconv.ParseFloat(x[5][3:11], 32)
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if err1 != nil || err2 != nil {
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return false
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}
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mySituation.Lng = float32(hr) + float32(minf/60.0)
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if x[6] == "W" { // West = negative.
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mySituation.Lng = -mySituation.Lng
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}
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// field 7 = height above ellipsoid, m
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hae, err1 := strconv.ParseFloat(x[7], 32)
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if err1 != nil {
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return false
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}
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alt := float32(hae*3.28084) - mySituation.GeoidSep // convert to feet and offset by geoid separation
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mySituation.Alt = alt
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// field 8 = nav status
|
|
// DR = dead reckoning, G2= 2D GPS, G3 = 3D GPS, D2= 2D diff, D3 = 3D diff, RK = GPS+DR, TT = time only
|
|
|
|
if x[8] == "D2" || x[8] == "D3" {
|
|
mySituation.quality = 2
|
|
} else if x[8] == "G2" || x[8] == "G3" {
|
|
mySituation.quality = 1
|
|
} else if x[8] == "DR" || x[8] == "RK" {
|
|
mySituation.quality = 6
|
|
} else if x[8] == "NF" {
|
|
mySituation.quality = 0
|
|
return false // return false if no valid fix.
|
|
} else {
|
|
mySituation.quality = 0
|
|
}
|
|
|
|
// field 9 = horizontal accuracy, m
|
|
hAcc, err := strconv.ParseFloat(x[9], 32)
|
|
if err != nil {
|
|
return false
|
|
}
|
|
mySituation.Accuracy = float32(hAcc * 2) // UBX reports 1-sigma variation; NACp is 95% confidence (2-sigma)
|
|
|
|
// NACp estimate.
|
|
mySituation.NACp = calculateNACp(mySituation.Accuracy)
|
|
|
|
// field 10 = vertical accuracy, m
|
|
vAcc, err := strconv.ParseFloat(x[10], 32)
|
|
if err != nil {
|
|
return false
|
|
}
|
|
mySituation.AccuracyVert = float32(vAcc * 2) // UBX reports 1-sigma variation; we want 95% confidence
|
|
|
|
// field 11 = groundspeed, km/h
|
|
groundspeed, err := strconv.ParseFloat(x[11], 32)
|
|
if err != nil {
|
|
return false
|
|
}
|
|
groundspeed = groundspeed * 0.540003 // convert to knots
|
|
|
|
// field 12 = track, deg
|
|
trueCourse := uint16(0)
|
|
if len(x[12]) > 0 && groundspeed > 3 {
|
|
tc, err := strconv.ParseFloat(x[12], 32)
|
|
if err != nil {
|
|
return false
|
|
}
|
|
trueCourse = uint16(tc)
|
|
} else {
|
|
// No movement.
|
|
mySituation.TrueCourse = 0
|
|
mySituation.GroundSpeed = 0
|
|
mySituation.LastGroundTrackTime = time.Time{}
|
|
}
|
|
|
|
setTrueCourse(uint16(groundspeed), trueCourse)
|
|
|
|
mySituation.TrueCourse = uint16(trueCourse)
|
|
mySituation.GroundSpeed = uint16(groundspeed)
|
|
mySituation.LastGroundTrackTime = stratuxClock.Time
|
|
|
|
// field 13 = vertical velocity, m/s
|
|
vv, err := strconv.ParseFloat(x[13], 32)
|
|
if err != nil {
|
|
return false
|
|
}
|
|
mySituation.GPSVertVel = float32(vv * -3.28084) // convert to ft/sec and positive = up
|
|
|
|
// field 14 = age of diff corrections
|
|
|
|
// field 18 = number of satellites
|
|
sat, err1 := strconv.Atoi(x[18])
|
|
if err1 != nil {
|
|
return false
|
|
}
|
|
mySituation.Satellites = uint16(sat)
|
|
|
|
mySituation.LastFixLocalTime = stratuxClock.Time
|
|
|
|
} else if x[1] == "03" { // satellite status message
|
|
|
|
// field 2 = number of satellites tracked
|
|
satSeen := 0 // satellites seen (signal present)
|
|
satTracked, err := strconv.Atoi(x[2])
|
|
if err != nil {
|
|
return false
|
|
}
|
|
mySituation.SatellitesTracked = uint16(satTracked)
|
|
|
|
// fields 3-8 are repeated block
|
|
for i := 0; i < satTracked; i++ {
|
|
if x[7+6*i] != "" {
|
|
satSeen++
|
|
}
|
|
}
|
|
|
|
mySituation.SatellitesSeen = uint16(satSeen)
|
|
// log.Printf("Satellites with signal: %v\n",mySituation.SatellitesSeen)
|
|
|
|
/* Reference for future constellation tracking
|
|
for i:= 0; i < satTracked; i++ {
|
|
x[3+6*i] // sv number
|
|
x[4+6*i] // status [ U | e | - ] for used / ephemeris / not used
|
|
x[5+6*i] // azimuth, deg, 0-359
|
|
x[6+6*i] // elevation, deg, 0-90
|
|
x[7+6*i] // signal strength dB-Hz
|
|
x[8+6*i] // lock time, sec, 0-64
|
|
*/
|
|
|
|
} else if x[1] == "04" { // clock message
|
|
// field 5 is UTC week (epoch = 1980-JAN-06). If this is invalid, do not parse date / time
|
|
utcWeek, err0 := strconv.Atoi(x[5])
|
|
if err0 != nil {
|
|
// log.Printf("Error reading GPS week\n")
|
|
return false
|
|
}
|
|
if utcWeek < 1877 || utcWeek >= 32767 { // unless we're in a flying Delorean, UTC dates before 2016-JAN-01 are not valid. Check underflow condition as well.
|
|
log.Printf("GPS week # %v out of scope; not setting time and date\n", utcWeek)
|
|
return false
|
|
} /* else {
|
|
log.Printf("GPS week # %v valid; evaluate time and date\n", utcWeek) //debug option
|
|
} */
|
|
|
|
// field 2 is UTC time
|
|
if len(x[2]) < 9 {
|
|
return false
|
|
}
|
|
hr, err1 := strconv.Atoi(x[2][0:2])
|
|
min, err2 := strconv.Atoi(x[2][2:4])
|
|
sec, err3 := strconv.Atoi(x[2][4:6])
|
|
if err1 != nil || err2 != nil || err3 != nil {
|
|
return false
|
|
}
|
|
mySituation.lastFixSinceMidnightUTC = uint32((hr * 60 * 60) + (min * 60) + sec)
|
|
|
|
// field 3 is date
|
|
|
|
if len(x[3]) == 6 {
|
|
// Date of Fix, i.e 191115 = 19 November 2015 UTC field 9
|
|
gpsTimeStr := fmt.Sprintf("%s %02d:%02d:%02d", x[3], hr, min, sec)
|
|
gpsTime, err := time.Parse("020106 15:04:05", gpsTimeStr)
|
|
if err == nil {
|
|
// log.Printf("GPS time is: %s\n", gpsTime) //debug
|
|
if time.Since(gpsTime) > 3*time.Second || time.Since(gpsTime) < -3*time.Second {
|
|
setStr := gpsTime.Format("20060102 15:04:05.000") + " UTC"
|
|
log.Printf("setting system time to: '%s'\n", setStr)
|
|
if err := exec.Command("date", "-s", setStr).Run(); err != nil {
|
|
log.Printf("Set Date failure: %s error\n", err)
|
|
} else {
|
|
log.Printf("Time set from GPS. Current time is %v\n", time.Now())
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// otherwise parse the NMEA standard messages as a fall-back / compatibility option
|
|
} else if (x[0] == "GNVTG") || (x[0] == "GPVTG") { // Ground track information.
|
|
mySituation.mu_GPS.Lock()
|
|
defer mySituation.mu_GPS.Unlock()
|
|
if len(x) < 10 {
|
|
return false
|
|
}
|
|
trueCourse := uint16(0)
|
|
if len(x[1]) > 0 {
|
|
tc, err := strconv.ParseFloat(x[1], 32)
|
|
if err != nil {
|
|
return false
|
|
}
|
|
trueCourse = uint16(tc)
|
|
} else {
|
|
// No movement.
|
|
mySituation.TrueCourse = 0
|
|
mySituation.GroundSpeed = 0
|
|
mySituation.LastGroundTrackTime = time.Time{}
|
|
return true
|
|
}
|
|
groundSpeed, err := strconv.ParseFloat(x[5], 32) // Knots.
|
|
if err != nil {
|
|
return false
|
|
}
|
|
|
|
setTrueCourse(uint16(groundSpeed), trueCourse)
|
|
|
|
mySituation.TrueCourse = uint16(trueCourse)
|
|
mySituation.GroundSpeed = uint16(groundSpeed)
|
|
mySituation.LastGroundTrackTime = stratuxClock.Time
|
|
|
|
} else if (x[0] == "GNGGA") || (x[0] == "GPGGA") { // GPS fix.
|
|
if len(x) < 15 {
|
|
return false
|
|
}
|
|
mySituation.mu_GPS.Lock()
|
|
defer mySituation.mu_GPS.Unlock()
|
|
// Timestamp.
|
|
if len(x[1]) < 9 {
|
|
return false
|
|
}
|
|
hr, err1 := strconv.Atoi(x[1][0:2])
|
|
min, err2 := strconv.Atoi(x[1][2:4])
|
|
sec, err3 := strconv.Atoi(x[1][4:6])
|
|
if err1 != nil || err2 != nil || err3 != nil {
|
|
return false
|
|
}
|
|
|
|
mySituation.lastFixSinceMidnightUTC = uint32((hr * 60 * 60) + (min * 60) + sec)
|
|
|
|
// Latitude.
|
|
if len(x[2]) < 4 {
|
|
return false
|
|
}
|
|
|
|
hr, err1 = strconv.Atoi(x[2][0:2])
|
|
minf, err2 := strconv.ParseFloat(x[2][2:], 32)
|
|
if err1 != nil || err2 != nil {
|
|
return false
|
|
}
|
|
|
|
mySituation.Lat = float32(hr) + float32(minf/60.0)
|
|
if x[3] == "S" { // South = negative.
|
|
mySituation.Lat = -mySituation.Lat
|
|
}
|
|
|
|
// Longitude.
|
|
if len(x[4]) < 5 {
|
|
return false
|
|
}
|
|
hr, err1 = strconv.Atoi(x[4][0:3])
|
|
minf, err2 = strconv.ParseFloat(x[4][3:], 32)
|
|
if err1 != nil || err2 != nil {
|
|
return false
|
|
}
|
|
|
|
mySituation.Lng = float32(hr) + float32(minf/60.0)
|
|
if x[5] == "W" { // West = negative.
|
|
mySituation.Lng = -mySituation.Lng
|
|
}
|
|
|
|
// Quality indicator.
|
|
q, err1 := strconv.Atoi(x[6])
|
|
if err1 != nil {
|
|
return false
|
|
}
|
|
mySituation.quality = uint8(q) // 1 = 3D GPS; 2 = DGPS (SBAS /WAAS)
|
|
|
|
/* Satellite count and horizontal accuracy deprecated. Using PUBX,00 with fallback to GSA.
|
|
// Satellites.
|
|
sat, err1 := strconv.Atoi(x[7])
|
|
if err1 != nil {
|
|
return false
|
|
}
|
|
mySituation.Satellites = uint16(sat)
|
|
|
|
// Accuracy.
|
|
hdop, err1 := strconv.ParseFloat(x[8], 32)
|
|
if err1 != nil {
|
|
return false
|
|
}
|
|
if mySituation.quality == 2 {
|
|
mySituation.Accuracy = float32(hdop * 4.0) //Estimate for WAAS / DGPS solution
|
|
} else {
|
|
mySituation.Accuracy = float32(hdop * 8.0) //Estimate for 3D non-WAAS solution
|
|
}
|
|
|
|
// NACp estimate.
|
|
mySituation.NACp = calculateNACp(mySituation.Accuracy)
|
|
*/
|
|
|
|
// Altitude.
|
|
alt, err1 := strconv.ParseFloat(x[9], 32)
|
|
if err1 != nil {
|
|
return false
|
|
}
|
|
mySituation.Alt = float32(alt * 3.28084) // Convert to feet.
|
|
|
|
// Geoid separation (Sep = HAE - MSL)
|
|
// (needed for proper MSL offset on PUBX,00 altitudes)
|
|
|
|
geoidSep, err1 := strconv.ParseFloat(x[11], 32)
|
|
if err1 != nil {
|
|
return false
|
|
}
|
|
mySituation.GeoidSep = float32(geoidSep * 3.28084) // Convert to feet.
|
|
|
|
// Timestamp.
|
|
mySituation.LastFixLocalTime = stratuxClock.Time
|
|
|
|
} else if (x[0] == "GNRMC") || (x[0] == "GPRMC") {
|
|
//$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
|
|
/* check RY835 man for NMEA version, if >2.2, add mode field
|
|
Where:
|
|
RMC Recommended Minimum sentence C
|
|
123519 Fix taken at 12:35:19 UTC
|
|
A Status A=active or V=Void.
|
|
4807.038,N Latitude 48 deg 07.038' N
|
|
01131.000,E Longitude 11 deg 31.000' E
|
|
022.4 Speed over the ground in knots
|
|
084.4 Track angle in degrees True
|
|
230394 Date - 23rd of March 1994
|
|
003.1,W Magnetic Variation
|
|
D mode field (nmea 2.3 and higher)
|
|
*6A The checksum data, always begins with *
|
|
*/
|
|
if len(x) < 12 {
|
|
return false
|
|
}
|
|
mySituation.mu_GPS.Lock()
|
|
defer mySituation.mu_GPS.Unlock()
|
|
|
|
// Timestamp.
|
|
if len(x[1]) < 9 {
|
|
return false
|
|
}
|
|
hr, err1 := strconv.Atoi(x[1][0:2])
|
|
min, err2 := strconv.Atoi(x[1][2:4])
|
|
sec, err3 := strconv.Atoi(x[1][4:6])
|
|
if err1 != nil || err2 != nil || err3 != nil {
|
|
return false
|
|
}
|
|
mySituation.lastFixSinceMidnightUTC = uint32((hr * 60 * 60) + (min * 60) + sec)
|
|
|
|
if len(x[9]) == 6 {
|
|
// Date of Fix, i.e 191115 = 19 November 2015 UTC field 9
|
|
gpsTimeStr := fmt.Sprintf("%s %02d:%02d:%02d", x[9], hr, min, sec)
|
|
gpsTime, err := time.Parse("020106 15:04:05", gpsTimeStr)
|
|
if err == nil {
|
|
if time.Since(gpsTime) > 3*time.Second || time.Since(gpsTime) < -3*time.Second {
|
|
setStr := gpsTime.Format("20060102 15:04:05.000") + " UTC"
|
|
log.Printf("setting system time to: '%s'\n", setStr)
|
|
if err := exec.Command("date", "-s", setStr).Run(); err != nil {
|
|
log.Printf("Set Date failure: %s error\n", err)
|
|
} else {
|
|
log.Printf("Time set from GPS. Current time is %v\n", time.Now())
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if x[2] != "A" { // invalid fix
|
|
return false
|
|
}
|
|
|
|
// Latitude.
|
|
if len(x[3]) < 4 {
|
|
return false
|
|
}
|
|
hr, err1 = strconv.Atoi(x[3][0:2])
|
|
minf, err2 := strconv.ParseFloat(x[3][2:], 32)
|
|
if err1 != nil || err2 != nil {
|
|
return false
|
|
}
|
|
mySituation.Lat = float32(hr) + float32(minf/60.0)
|
|
if x[4] == "S" { // South = negative.
|
|
mySituation.Lat = -mySituation.Lat
|
|
}
|
|
// Longitude.
|
|
if len(x[5]) < 5 {
|
|
return false
|
|
}
|
|
hr, err1 = strconv.Atoi(x[5][0:3])
|
|
minf, err2 = strconv.ParseFloat(x[5][3:], 32)
|
|
if err1 != nil || err2 != nil {
|
|
return false
|
|
}
|
|
mySituation.Lng = float32(hr) + float32(minf/60.0)
|
|
if x[6] == "W" { // West = negative.
|
|
mySituation.Lng = -mySituation.Lng
|
|
}
|
|
// ground speed in kts (field 7)
|
|
groundspeed, err := strconv.ParseFloat(x[7], 32)
|
|
if err != nil {
|
|
return false
|
|
}
|
|
mySituation.GroundSpeed = uint16(groundspeed)
|
|
// ground track "True" field 8
|
|
tc, err := strconv.ParseFloat(x[8], 32)
|
|
if err != nil {
|
|
return false
|
|
}
|
|
mySituation.TrueCourse = uint16(tc)
|
|
|
|
} else if (x[0] == "GNGSA") || (x[0] == "GPGSA") {
|
|
if len(x) < 18 {
|
|
return false
|
|
}
|
|
|
|
// field 1: operation mode
|
|
if x[1] != "A" { // invalid fix
|
|
return false
|
|
}
|
|
|
|
// field 2: solution type
|
|
// 1 = no solution; 2 = 2D fix, 3 = 3D fix. WAAS status is parsed from GGA message, so no need to get here
|
|
|
|
// fields 3-14: satellites in solution
|
|
sat := 0
|
|
for _, svtxt := range x[3:15] {
|
|
_, err := strconv.Atoi(svtxt)
|
|
if err == nil {
|
|
sat++
|
|
}
|
|
}
|
|
mySituation.Satellites = uint16(sat)
|
|
|
|
// Satellites tracked / seen should be parsed from GSV message (TO-DO) ... since we don't have it, just use satellites from solution
|
|
if mySituation.SatellitesTracked == 0 {
|
|
mySituation.SatellitesTracked = uint16(sat)
|
|
}
|
|
|
|
if mySituation.SatellitesSeen == 0 {
|
|
mySituation.SatellitesSeen = uint16(sat)
|
|
}
|
|
|
|
// field 16: HDOP
|
|
// Accuracy estimate
|
|
hdop, err1 := strconv.ParseFloat(x[16], 32)
|
|
if err1 != nil {
|
|
return false
|
|
}
|
|
if mySituation.quality == 2 {
|
|
mySituation.Accuracy = float32(hdop * 4.0) // Rough 95% confidence estimate for WAAS / DGPS solution
|
|
} else {
|
|
mySituation.Accuracy = float32(hdop * 8.0) // Rough 95% confidence estimate for 3D non-WAAS solution
|
|
}
|
|
|
|
// NACp estimate.
|
|
mySituation.NACp = calculateNACp(mySituation.Accuracy)
|
|
|
|
// field 17: VDOP
|
|
// accuracy estimate
|
|
vdop, err1 := strconv.ParseFloat(x[17], 32)
|
|
if err1 != nil {
|
|
return false
|
|
}
|
|
mySituation.AccuracyVert = float32(vdop * 5) // rough estimate for 95% confidence
|
|
}
|
|
return true
|
|
}
|
|
|
|
func gpsSerialReader() {
|
|
defer serialPort.Close()
|
|
for globalSettings.GPS_Enabled && globalStatus.GPS_connected {
|
|
|
|
scanner := bufio.NewScanner(serialPort)
|
|
for scanner.Scan() {
|
|
s := scanner.Text()
|
|
// log.Printf("Output: %s\n", s)
|
|
processNMEALine(s)
|
|
}
|
|
if err := scanner.Err(); err != nil {
|
|
log.Printf("reading standard input: %s\n", err.Error())
|
|
}
|
|
}
|
|
globalStatus.GPS_connected = false
|
|
}
|
|
|
|
var i2cbus embd.I2CBus
|
|
var myBMP180 *bmp180.BMP180
|
|
var myMPU6050 *mpu6050.MPU6050
|
|
|
|
func readBMP180() (float64, float64, error) { // ºCelsius, Meters
|
|
temp, err := myBMP180.Temperature()
|
|
if err != nil {
|
|
return temp, 0.0, err
|
|
}
|
|
altitude, err := myBMP180.Altitude()
|
|
altitude = float64(1/0.3048) * altitude // Convert meters to feet.
|
|
if err != nil {
|
|
return temp, altitude, err
|
|
}
|
|
return temp, altitude, nil
|
|
}
|
|
|
|
func readMPU6050() (float64, float64, error) { //TODO: error checking.
|
|
pitch, roll := myMPU6050.PitchAndRoll()
|
|
return pitch, roll, nil
|
|
}
|
|
|
|
func initBMP180() error {
|
|
myBMP180 = bmp180.New(i2cbus) //TODO: error checking.
|
|
return nil
|
|
}
|
|
|
|
func initMPU6050() error {
|
|
myMPU6050 = mpu6050.New() //TODO: error checking.
|
|
return nil
|
|
}
|
|
|
|
func initI2C() error {
|
|
i2cbus = embd.NewI2CBus(1) //TODO: error checking.
|
|
return nil
|
|
}
|
|
|
|
// Unused at the moment. 5 second update, since read functions in bmp180 are slow.
|
|
func tempAndPressureReader() {
|
|
timer := time.NewTicker(5 * time.Second)
|
|
for globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
|
|
<-timer.C
|
|
// Read temperature and pressure altitude.
|
|
temp, alt, err_bmp180 := readBMP180()
|
|
// Process.
|
|
if err_bmp180 != nil {
|
|
log.Printf("readBMP180(): %s\n", err_bmp180.Error())
|
|
globalStatus.RY835AI_connected = false
|
|
} else {
|
|
mySituation.Temp = temp
|
|
mySituation.Pressure_alt = alt
|
|
mySituation.lastTempPressTime = stratuxClock.Time
|
|
}
|
|
}
|
|
globalStatus.RY835AI_connected = false
|
|
}
|
|
|
|
func makeFFAHRSSimReport() {
|
|
s := fmt.Sprintf("XATTStratux,%f,%f,%f", mySituation.Gyro_heading, mySituation.Pitch, mySituation.Roll)
|
|
|
|
sendMsg([]byte(s), NETWORK_AHRS_FFSIM, false)
|
|
}
|
|
|
|
func makeAHRSGDL90Report() {
|
|
msg := make([]byte, 16)
|
|
msg[0] = 0x4c
|
|
msg[1] = 0x45
|
|
msg[2] = 0x01
|
|
msg[3] = 0x00
|
|
|
|
pitch := int16(float64(mySituation.Pitch) * float64(10.0))
|
|
roll := int16(float64(mySituation.Roll) * float64(10.0))
|
|
hdg := uint16(float64(mySituation.Gyro_heading) * float64(10.0)) //TODO.
|
|
slip_skid := int16(float64(0) * float64(10.0)) //TODO.
|
|
yaw_rate := int16(float64(0) * float64(10.0)) //TODO.
|
|
g := int16(float64(1.0) * float64(10.0)) //TODO.
|
|
|
|
// Roll.
|
|
msg[4] = byte((roll >> 8) & 0xFF)
|
|
msg[5] = byte(roll & 0xFF)
|
|
|
|
// Pitch.
|
|
msg[6] = byte((pitch >> 8) & 0xFF)
|
|
msg[7] = byte(pitch & 0xFF)
|
|
|
|
// Heading.
|
|
msg[8] = byte((hdg >> 8) & 0xFF)
|
|
msg[9] = byte(hdg & 0xFF)
|
|
|
|
// Slip/skid.
|
|
msg[10] = byte((slip_skid >> 8) & 0xFF)
|
|
msg[11] = byte(slip_skid & 0xFF)
|
|
|
|
// Yaw rate.
|
|
msg[12] = byte((yaw_rate >> 8) & 0xFF)
|
|
msg[13] = byte(yaw_rate & 0xFF)
|
|
|
|
// "G".
|
|
msg[14] = byte((g >> 8) & 0xFF)
|
|
msg[15] = byte(g & 0xFF)
|
|
|
|
sendMsg(prepareMessage(msg), NETWORK_AHRS_GDL90, false)
|
|
}
|
|
|
|
func attitudeReaderSender() {
|
|
timer := time.NewTicker(100 * time.Millisecond) // ~10Hz update.
|
|
for globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
|
|
<-timer.C
|
|
// Read pitch and roll.
|
|
pitch, roll, err_mpu6050 := readMPU6050()
|
|
|
|
if err_mpu6050 != nil {
|
|
log.Printf("readMPU6050(): %s\n", err_mpu6050.Error())
|
|
globalStatus.RY835AI_connected = false
|
|
break
|
|
}
|
|
|
|
mySituation.mu_Attitude.Lock()
|
|
|
|
mySituation.Pitch = pitch
|
|
mySituation.Roll = roll
|
|
mySituation.Gyro_heading = myMPU6050.Heading() //FIXME. Experimental.
|
|
mySituation.LastAttitudeTime = stratuxClock.Time
|
|
|
|
// Send, if valid.
|
|
// if isGPSGroundTrackValid(), etc.
|
|
|
|
makeFFAHRSSimReport()
|
|
makeAHRSGDL90Report()
|
|
|
|
mySituation.mu_Attitude.Unlock()
|
|
}
|
|
globalStatus.RY835AI_connected = false
|
|
}
|
|
|
|
func isGPSValid() bool {
|
|
return stratuxClock.Since(mySituation.LastFixLocalTime) < 15*time.Second
|
|
}
|
|
|
|
func isGPSGroundTrackValid() bool {
|
|
return stratuxClock.Since(mySituation.LastGroundTrackTime) < 15*time.Second
|
|
}
|
|
|
|
func isAHRSValid() bool {
|
|
return stratuxClock.Since(mySituation.LastAttitudeTime) < 1*time.Second // If attitude information gets to be over 1 second old, declare invalid.
|
|
}
|
|
|
|
func isTempPressValid() bool {
|
|
return stratuxClock.Since(mySituation.lastTempPressTime) < 15*time.Second
|
|
}
|
|
|
|
func initAHRS() error {
|
|
if err := initI2C(); err != nil { // I2C bus.
|
|
return err
|
|
}
|
|
if err := initBMP180(); err != nil { // I2C temperature and pressure altitude.
|
|
i2cbus.Close()
|
|
return err
|
|
}
|
|
if err := initMPU6050(); err != nil { // I2C accel/gyro.
|
|
i2cbus.Close()
|
|
myBMP180.Close()
|
|
return err
|
|
}
|
|
globalStatus.RY835AI_connected = true
|
|
go attitudeReaderSender()
|
|
go tempAndPressureReader()
|
|
|
|
return nil
|
|
}
|
|
|
|
func pollRY835AI() {
|
|
timer := time.NewTicker(10 * time.Second)
|
|
for {
|
|
<-timer.C
|
|
// GPS enabled, was not connected previously?
|
|
if globalSettings.GPS_Enabled && !globalStatus.GPS_connected {
|
|
globalStatus.GPS_connected = initGPSSerial() // via USB for now.
|
|
if globalStatus.GPS_connected {
|
|
go gpsSerialReader()
|
|
}
|
|
}
|
|
// RY835AI I2C enabled, was not connected previously?
|
|
if globalSettings.AHRS_Enabled && !globalStatus.RY835AI_connected {
|
|
err := initAHRS()
|
|
if err != nil {
|
|
log.Printf("initAHRS(): %s\ndisabling AHRS sensors.\n", err.Error())
|
|
globalStatus.RY835AI_connected = false
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
func initRY835AI() {
|
|
mySituation.mu_GPS = &sync.Mutex{}
|
|
mySituation.mu_Attitude = &sync.Mutex{}
|
|
|
|
go pollRY835AI()
|
|
}
|