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Use attitude heading #3663

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merged 5 commits into from
Dec 10, 2023
Merged

Use attitude heading #3663

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c6239c2
Rename heading
haslinghuis Dec 7, 2023
0f66d71
Change gpsHeading message
haslinghuis Dec 8, 2023
8a36167
Use IMU heading on GPS tab
haslinghuis Dec 10, 2023
59cece3
Remove precision and rotation
haslinghuis Dec 10, 2023
6a22376
Code style fixes
haslinghuis Dec 10, 2023
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8 changes: 4 additions & 4 deletions locales/en/messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -818,8 +818,8 @@
"message": "Reset Z axis, offset: $1 deg"
},
"initialSetupHeading": {
"message": "Heading:",
"description": "Heading shown on Setup tab"
"message": "Yaw:",
"description": "Heading [yaw] attitude value shown on Setup tab"
},
"initialSetupMixerHead": {
"message": "Mixer Type"
Expand Down Expand Up @@ -2823,8 +2823,8 @@
"description": "Show GPS position - Latitude / Longitude"
},
"gpsHeading": {
"message": "Heading Mag / GPS:",
"description": "Show GPS heading - Magnetic / GPS course over ground"
"message": "Heading IMU / GPS:",
"description": "Show IMU / GPS heading - Attitude / GPS course over ground"
},
"gpsSpeed": {
"message": "Speed:"
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11 changes: 8 additions & 3 deletions src/js/tabs/gps.js
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,11 @@ gps.initialize = async function (callback) {
}

function get_gpsvinfo_data() {
MSP.send_message(MSPCodes.MSP_GPS_SV_INFO, false, false, hasMag ? get_imu_data : update_ui);
MSP.send_message(MSPCodes.MSP_GPS_SV_INFO, false, false, get_attitude_data);
}

function get_attitude_data() {
MSP.send_message(MSPCodes.MSP_ATTITUDE, false, false, hasMag ? get_imu_data : update_ui);
}

function get_imu_data() {
Expand Down Expand Up @@ -185,6 +189,7 @@ gps.initialize = async function (callback) {
const lat = FC.GPS_DATA.lat / 10000000;
const lon = FC.GPS_DATA.lon / 10000000;
const url = `https://maps.google.com/?q=${lat},${lon}`;
const imuHeading = FC.SENSOR_DATA.kinematics[2];
const magHeading = hasMag ? Math.atan2(FC.SENSOR_DATA.magnetometer[1], FC.SENSOR_DATA.magnetometer[0]) : undefined;
const magHeadingDeg = magHeading === undefined ? 0 : magHeading * 180 / Math.PI;
const gpsHeading = FC.GPS_DATA.ground_course / 100;
Expand All @@ -200,7 +205,7 @@ gps.initialize = async function (callback) {
const gspUnitText = i18n.getMessage('gpsPositionUnit');
$('.GPS_info td.alt').text(`${alt} m`);
$('.GPS_info td.latLon a').prop('href', url).text(`${lat.toFixed(6)} / ${lon.toFixed(6)} ${gspUnitText}`);
$('.GPS_info td.heading').text(`${magHeadingDeg.toFixed(4)} / ${gpsHeading.toFixed(4)} ${gspUnitText}`);
$('.GPS_info td.heading').text(`${imuHeading.toFixed(0)} / ${gpsHeading.toFixed(0)} ${gspUnitText}`);
$('.GPS_info td.speed').text(`${FC.GPS_DATA.speed} cm/s`);
$('.GPS_info td.sats').text(FC.GPS_DATA.numSat);
$('.GPS_info td.distToHome').text(`${FC.GPS_DATA.distanceToHome} m`);
Expand Down Expand Up @@ -298,7 +303,7 @@ gps.initialize = async function (callback) {
action: 'center',
lat: lat,
lon: lon,
heading: magHeading,
heading: gpsHeading,
};

frame = document.getElementById('map');
Expand Down
32 changes: 17 additions & 15 deletions src/js/tabs/map.js
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Original file line number Diff line number Diff line change
Expand Up @@ -21,41 +21,41 @@ function initializeMap() {
const lonLat = ol.proj.fromLonLat([DEFAULT_LON, DEFAULT_LAT]);

mapView = new ol.View({
center: lonLat,
zoom: DEFAULT_ZOOM,
});
center: lonLat,
zoom: DEFAULT_ZOOM,
});

map = new ol.Map({
target: 'map-canvas',
layers: [
new ol.layer.Tile({
source: new ol.source.OSM(),
}),
new ol.layer.Tile({
source: new ol.source.OSM(),
}),
],
view: mapView,
controls: [],
});
});

const iconGPS = new ol.style.Icon(({
const iconGPS = new ol.style.Icon({
anchor: [0.5, 1],
opacity: 1,
scale: 0.5,
src: ICON_IMAGE_GPS,
}));
});

const iconMag = new ol.style.Icon(({
const iconMag = new ol.style.Icon({
anchor: [0.5, 1],
opacity: 1,
scale: 0.5,
src: ICON_IMAGE_MAG,
}));
});

const iconNoFix = new ol.style.Icon(({
const iconNoFix = new ol.style.Icon({
anchor: [0.5, 1],
opacity: 1,
scale: 0.5,
src: ICON_IMAGE_NOFIX,
}));
});

iconStyleGPS = new ol.style.Style({
image: iconGPS,
Expand All @@ -70,6 +70,7 @@ function initializeMap() {
});

iconGeometry = new ol.geom.Point(lonLat);

iconFeature = new ol.Feature({
geometry: iconGeometry,
});
Expand Down Expand Up @@ -106,8 +107,9 @@ function processMapEvents(e) {
iconFeature.setStyle(iconStyle);
const center = ol.proj.fromLonLat([e.data.lon, e.data.lat]);
mapView.setCenter(center);
const heading = e.data.heading === undefined ? 0 : e.data.heading;
mapView.setRotation(heading);
// TODO - add rotation for the icon
// const heading = e.data.heading === undefined ? 0 : e.data.heading;
// mapView.setRotation(heading);
iconGeometry.setCoordinates(center);
break;

Expand Down