Merge pull request #544 from cyoung/gpsattitude

Promote gpsattitude to master.

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "linux-mpu9150"]
-	path = linux-mpu9150
-	url = git://github.com/cyoung/linux-mpu9150
 [submodule "dump1090"]
 	path = dump1090
 	url = https://github.com/AvSquirrel/dump1090

Makefile

@@ -9,12 +9,11 @@ endif
 all:
 	make xdump978
 	make xdump1090
-	make xlinux-mpu9150
 	make xgen_gdl90
 
 xgen_gdl90:
-	go get -t -d -v ./main ./test ./linux-mpu9150/mpu ./godump978 ./mpu6050 ./uatparse
-	go build $(BUILDINFO) -p 4 main/gen_gdl90.go main/traffic.go main/ry835ai.go main/network.go main/managementinterface.go main/sdr.go main/ping.go main/uibroadcast.go main/monotonic.go main/datalog.go main/equations.go
+	go get -t -d -v ./main ./test ./godump978 ./uatparse
+	go build $(BUILDINFO) -p 4 main/gen_gdl90.go main/traffic.go main/gps.go main/network.go main/managementinterface.go main/sdr.go main/ping.go main/uibroadcast.go main/monotonic.go main/datalog.go main/equations.go
 
 xdump1090:
 	git submodule update --init
@@ -24,10 +23,6 @@ xdump978:
 	cd dump978 && make lib
 	sudo cp -f ./libdump978.so /usr/lib/libdump978.so
 
-xlinux-mpu9150:
-	git submodule update --init
-	cd linux-mpu9150 && make -f Makefile-native-shared
-
 .PHONY: test
 test:
 	make -C test	
@@ -53,4 +48,3 @@ clean:
 	rm -f gen_gdl90 libdump978.so
 	cd dump1090 && make clean
 	cd dump978 && make clean
-	rm -f linux-mpu9150/*.o linux-mpu9150/*.so

main/datalog.go

@@ -474,6 +474,7 @@ func dataLog() {
 		makeTable(msg{}, "messages", db)
 		makeTable(esmsg{}, "es_messages", db)
 		makeTable(Dump1090TermMessage{}, "dump1090_terminal", db)
+		makeTable(gpsPerfStats{}, "gps_attitude", db)
 		makeTable(StratuxStartup{}, "startup", db)
 	}
 
@@ -567,6 +568,12 @@ func logESMsg(m esmsg) {
 	}
 }
 
+func logGPSAttitude(gpsPerf gpsPerfStats) {
+	if globalSettings.ReplayLog && isDataLogReady() {
+		dataLogChan <- DataLogRow{tbl: "gps_attitude", data: gpsPerf}
+	}
+}
+
 func logDump1090TermMessage(m Dump1090TermMessage) {
 	if globalSettings.DEBUG && globalSettings.ReplayLog && isDataLogReady() {
 		dataLogChan <- DataLogRow{tbl: "dump1090_terminal", data: m}

main/gen_gdl90.go

@@ -76,6 +76,15 @@ const (
 
 	LON_LAT_RESOLUTION = float32(180.0 / 8388608.0)
 	TRACK_RESOLUTION   = float32(360.0 / 256.0)
+
+	GPS_TYPE_NMEA     = 0x01
+	GPS_TYPE_UBX      = 0x02
+	GPS_TYPE_SIRF     = 0x03
+	GPS_TYPE_MEDIATEK = 0x04
+	GPS_TYPE_FLARM    = 0x05
+	GPS_TYPE_GARMIN   = 0x06
+	// other GPS types to be defined as needed
+
 )
 
 var usage *du.DiskUsage
@@ -271,7 +280,7 @@ func makeOwnshipReport() bool {
 		msg[12] = msg[12] | 0x09 // "Airborne" + "True Track"
 	}
 
-	msg[13] = byte(0x80 | (mySituation.NACp & 0x0F)) //Set NIC = 8 and use NACp from ry835ai.go.
+	msg[13] = byte(0x80 | (mySituation.NACp & 0x0F)) //Set NIC = 8 and use NACp from gps.go.
 
 	gdSpeed := uint16(0) // 1kt resolution.
 	if selfOwnshipValid && curOwnship.Speed_valid {
@@ -459,18 +468,14 @@ func makeStratuxStatus() []byte {
 	}
 
 	// Valid/Enabled: AHRS Enabled portion.
-	if globalSettings.AHRS_Enabled {
-		msg[12] = 1 << 0
-	}
+	// msg[12] = 1 << 0
 
 	// Valid/Enabled: last bit unused.
 
 	// Connected hardware: number of radios.
 	msg[15] = msg[15] | (byte(globalStatus.Devices) & 0x3)
-	// Connected hardware: RY835AI.
-	if globalStatus.RY835AI_connected {
-		msg[15] = msg[15] | (1 << 2)
-	}
+	// Connected hardware.
+	//	RY835AI: msg[15] = msg[15] | (1 << 2)
 
 	// Number of GPS satellites locked.
 	msg[16] = byte(globalStatus.GPS_satellites_locked)
@@ -1022,7 +1027,6 @@ type settings struct {
 	GPS_Enabled          bool
 	NetworkOutputs       []networkConnection
 	SerialOutputs        map[string]serialConnection
-	AHRS_Enabled         bool
 	DisplayTrafficSource bool
 	DEBUG                bool
 	ReplayLog            bool
@@ -1052,7 +1056,7 @@ type status struct {
 	GPS_position_accuracy                      float32
 	GPS_connected                              bool
 	GPS_solution                               string
-	RY835AI_connected                          bool
+	GPS_detected_type                          uint
 	Uptime                                     int64
 	UptimeClock                                time.Time
 	CPUTemp                                    float32
@@ -1087,7 +1091,6 @@ func defaultSettings() {
 		{Conn: nil, Ip: "", Port: 4000, Capability: NETWORK_GDL90_STANDARD | NETWORK_AHRS_GDL90},
 		//		{Conn: nil, Ip: "", Port: 49002, Capability: NETWORK_AHRS_FFSIM},
 	}
-	globalSettings.AHRS_Enabled = false
 	globalSettings.DEBUG = false
 	globalSettings.DisplayTrafficSource = false
 	globalSettings.ReplayLog = false //TODO: 'true' for debug builds.
@@ -1392,7 +1395,8 @@ func main() {
 	//FIXME: Only do this if data logging is enabled.
 	initDataLog()
 
-	initRY835AI()
+	// Start the GPS external sensor monitoring.
+	initGPS()
 
 	// Start the heartbeat message loop in the background, once per second.
 	go heartBeatSender()