diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index ed334aff0..c21050c81 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -5603,5 +5603,38 @@
},
"ezTuneNote": {
"message": "Important Ez Tune is enabled. All settings on this tab are set and controlled by the Ez Tune. To use PID Tuning tab you have to disable Ez Tune. To do it, uncheck the Enabled checkbox on the Ez Tune tab."
+ },
+ "gsActivated": {
+ "message": "Ground station mode activated"
+ },
+ "gsDeactivated": {
+ "message": "Ground station mode deactivated"
+ },
+ "gsTelemetry": {
+ "message": "Telemetry"
+ },
+ "gsTelemetryLatitude": {
+ "message": "Latitude"
+ },
+ "gsTelemetryLongitude": {
+ "message": "Longitude"
+ },
+ "gsTelemetryAltitude": {
+ "message": "Altitude"
+ },
+ "gsTelemetryAltitudeShort": {
+ "message": "Alt"
+ },
+ "gsTelemetryVoltageShort": {
+ "message": "Vbat"
+ },
+ "gsTelemetrySats": {
+ "message": "Sats"
+ },
+ "gsTelemetryFix": {
+ "message": "Fix"
+ },
+ "gsTelemetrySpeed": {
+ "message": "Speed"
}
}
\ No newline at end of file
diff --git a/gulpfile.js b/gulpfile.js
index a7db937c5..b482299f5 100644
--- a/gulpfile.js
+++ b/gulpfile.js
@@ -55,6 +55,7 @@ sources.css = [
'./node_modules/openlayers/dist/ol.css',
'./src/css/logic.css',
'./src/css/defaults_dialog.css',
+ './src/css/groundstation.css',
];
sources.js = [
@@ -139,7 +140,9 @@ sources.js = [
'./js/libraries/plotly-latest.min.js',
'./js/sitl.js',
'./js/CliAutoComplete.js',
- './node_modules/jquery-textcomplete/dist/jquery.textcomplete.js'
+ './node_modules/jquery-textcomplete/dist/jquery.textcomplete.js',
+ './js/ltmDecoder.js',
+ './js/groundstation.js'
];
sources.receiverCss = [
diff --git a/js/groundstation.js b/js/groundstation.js
new file mode 100644
index 000000000..37d1af52f
--- /dev/null
+++ b/js/groundstation.js
@@ -0,0 +1,194 @@
+'use strict';
+
+var helper = helper || {};
+
+helper.groundstation = (function () {
+
+ let publicScope = {},
+ privateScope = {};
+
+ privateScope.activated = false;
+ privateScope.$viewport = null;
+ privateScope.$gsViewport = null;
+ privateScope.mapHandler = null;
+ privateScope.mapLayer = null;
+ privateScope.mapView = null;
+
+ privateScope.cursorStyle = null;
+ privateScope.cursorPosition = null;
+ privateScope.cursorFeature = null;
+ privateScope.cursorVector = null;
+ privateScope.cursorLayer = null;
+
+ privateScope.textGeometry = null;
+ privateScope.textFeature = null;
+ privateScope.textVector = null;
+ privateScope.textSource = null;
+
+ privateScope.mapInitiated = false;
+
+ publicScope.isActivated = function () {
+ return privateScope.activated;
+ };
+
+ publicScope.activate = function ($viewport) {
+
+ if (privateScope.activated) {
+ return;
+ }
+
+ helper.interval.add('gsUpdateGui', privateScope.updateGui, 200);
+
+ privateScope.$viewport = $viewport;
+
+ privateScope.$viewport.find(".tab_container").hide();
+ privateScope.$viewport.find('#content').hide();
+ privateScope.$viewport.find('#status-bar').hide();
+ privateScope.$viewport.find('#connectbutton a.connect_state').text(chrome.i18n.getMessage('disconnect')).addClass('active');
+
+ privateScope.$gsViewport = $viewport.find('#view-groundstation');
+ privateScope.$gsViewport.show();
+ privateScope.mapInitiated = false;
+
+ setTimeout(privateScope.initMap, 100);
+
+ privateScope.activated = true;
+ GUI.log(chrome.i18n.getMessage('gsActivated'));
+ }
+
+ privateScope.initMap = function () {
+
+ //initialte layers
+ if (globalSettings.mapProviderType == 'bing') {
+ privateScope.mapLayer = new ol.source.BingMaps({
+ key: globalSettings.mapApiKey,
+ imagerySet: 'AerialWithLabels',
+ maxZoom: 19
+ });
+ } else if (globalSettings.mapProviderType == 'mapproxy') {
+ privateScope.mapLayer = new ol.source.TileWMS({
+ url: globalSettings.proxyURL,
+ params: { 'LAYERS': globalSettings.proxyLayer }
+ })
+ } else {
+ privateScope.mapLayer = new ol.source.OSM();
+ }
+
+ //initiate view
+ privateScope.mapView = new ol.View({
+ center: ol.proj.fromLonLat([0, 0]),
+ zoom: 3
+ });
+
+ //initiate map handler
+ privateScope.mapHandler = new ol.Map({
+ target: document.getElementById('groundstation-map'),
+ layers: [
+ new ol.layer.Tile({
+ source: privateScope.mapLayer
+ })
+ ],
+ view: privateScope.mapView
+ });
+ };
+
+ publicScope.deactivate = function () {
+
+ if (!privateScope.activated) {
+ return;
+ }
+
+ helper.interval.remove('gsUpdateGui');
+
+ if (privateScope.$viewport !== null) {
+ privateScope.$viewport.find(".tab_container").show();
+ privateScope.$viewport.find('#content').show();
+ privateScope.$viewport.find('#status-bar').show();
+ }
+
+ if (privateScope.$gsViewport !== null) {
+ privateScope.$gsViewport.hide();
+ }
+
+ privateScope.activated = false;
+ GUI.log(chrome.i18n.getMessage('gsDeactivated'));
+ }
+
+ privateScope.updateGui = function () {
+
+ let telemetry = helper.ltmDecoder.get();
+
+ if (telemetry.gpsFix && telemetry.gpsFix > 1) {
+
+ let lat = telemetry.latitude / 10000000;
+ let lon = telemetry.longitude / 10000000;
+
+ //On first initiation, set zoom to 15
+ if (!privateScope.mapInitiated) {
+
+ //Place UAV on the map
+ privateScope.cursorStyle = new ol.style.Style({
+ image: new ol.style.Icon(({
+ anchor: [0.5, 0.5],
+ opacity: 1,
+ scale: 0.6,
+ src: '../images/icons/icon_mission_airplane.png'
+ }))
+ });
+ privateScope.cursorPosition = new ol.geom.Point(ol.proj.fromLonLat([lon, lat]));
+
+ privateScope.cursorFeature = new ol.Feature({
+ geometry: privateScope.cursorPosition
+ });
+
+ privateScope.cursorFeature.setStyle(privateScope.cursorStyle);
+
+ privateScope.cursorVector = new ol.source.Vector({
+ features: [privateScope.cursorFeature]
+ });
+ privateScope.cursorLayer = new ol.layer.Vector({
+ source: privateScope.cursorVector
+ });
+
+ privateScope.mapHandler.addLayer(privateScope.cursorLayer);
+
+ privateScope.mapView.setZoom(17);
+
+ privateScope.mapInitiated = true;
+ }
+
+ //Update map center
+ let position = ol.proj.fromLonLat([lon, lat]);
+ privateScope.mapView.setCenter(position);
+
+ //Update position of cursor
+ privateScope.cursorPosition.setCoordinates(position);
+ //Update orientation of cursor
+ privateScope.cursorStyle.getImage().setRotation((telemetry.heading / 360.0) * 6.28318);
+
+
+
+ //Update text
+ privateScope.$viewport.find("#gs-telemetry-latitude").html(lat);
+ privateScope.$viewport.find("#gs-telemetry-longitude").html(lon);
+ }
+
+ privateScope.$viewport.find("#gs-telemetry-altitude").html(telemetry.altitude / 100.0 + 'm');
+ privateScope.$viewport.find("#gs-telemetry-voltage").html(telemetry.voltage / 100.0 + 'V');
+ privateScope.$viewport.find("#gs-telemetry-sats").html(telemetry.gpsSats);
+ privateScope.$viewport.find("#gs-telemetry-speed").html(telemetry.groundSpeed * 100 + 'm/s');
+
+ let fixText = '';
+ if (telemetry.gpsFix == 3) {
+ fixText = '3D';
+ } else if (telemetry.gpsFix == 2) {
+ fixText = '2D';
+ } else {
+ fixText = 'No fix';
+ }
+
+ privateScope.$viewport.find("#gs-telemetry-fix").html(fixText);
+ };
+
+ return publicScope;
+})();
\ No newline at end of file
diff --git a/js/ltmDecoder.js b/js/ltmDecoder.js
new file mode 100644
index 000000000..ef72c69a0
--- /dev/null
+++ b/js/ltmDecoder.js
@@ -0,0 +1,260 @@
+'use strict';
+
+var helper = helper || {};
+
+helper.ltmDecoder = (function () {
+
+ let TELEMETRY = {
+ //A frame
+ pitch: null,
+ roll: null,
+ heading: null,
+
+ //S frame
+ voltage: null,
+ currectDrawn: null,
+ rssi: null,
+ airspeed: null,
+ flightmode: null,
+ flightmodeName: null,
+
+ armed: null,
+ failsafe: null,
+
+ //G frame
+ latitude: null,
+ longitude: null,
+ altitude: null,
+ groundSpeed: null,
+ gpsFix: null,
+ gpsSats: null,
+
+
+ //X frame
+ hdop: null,
+ sensorStatus: null,
+ frameCounter: null,
+ disarmReason: null,
+ disarmReasonName: null
+
+ };
+
+ let publicScope = {},
+ privateScope = {};
+
+ const LTM_TIMEOUT_MS = 5000;
+ const LTM_FRAME_TIMEOUT_MS = 700;
+ const LTM_HEADER_START_1 = '$';
+ const LTM_HEADER_START_2 = 'T';
+ const LTM_FRAMELENGTH = {
+ 'G': 18,
+ 'A': 10,
+ 'S': 11,
+ 'O': 18,
+ 'N': 10,
+ 'X': 10
+ };
+
+ const LTM_FLIGHT_MODE_NAMES = [
+ "MANUAL",
+ "RATE",
+ "ANGLE",
+ "HORIZON",
+ "ACRO",
+ "STABALIZED1",
+ "STABALIZED2",
+ "STABILIZED3",
+ "ALTHOLD",
+ "GPSHOLD",
+ "WAYPOINTS",
+ "HEADHOLD",
+ "CIRCLE",
+ "RTH",
+ "FOLLOWME",
+ "LAND",
+ "FLYBYWIRE1",
+ "FLYBYWIRE2",
+ "CRUISE",
+ "UNKNOWN",
+ "LAUNCH",
+ "AUTOTUNE"
+ ];
+
+ const LTM_DISARM_REASON_NAMES = [
+ "NONE",
+ "TIMEOUT",
+ "STICKS",
+ "SWITCH_3D",
+ "SWITCH",
+ "KILLSWITCH",
+ "FAILSAFE",
+ "NAVIGATION",
+ "LANDING"
+ ];
+
+ const LTM_STATE_IDLE = 0;
+ const LTM_STATE_HEADER_START_1 = 1;
+ const LTM_STATE_HEADER_START_2 = 2;
+ const LTM_STATE_MSGTYPE = 3;
+
+ privateScope.protocolState = LTM_STATE_IDLE;
+ privateScope.lastFrameReceivedMs = null;
+ privateScope.frameType = null;
+ privateScope.frameLength = null;
+ privateScope.receiverIndex = 0;
+ privateScope.serialBuffer = [];
+ privateScope.frameProcessingStartedAtMs = 0;
+
+ privateScope.readByte = function (offset) {
+ return privateScope.serialBuffer[offset];
+ };
+
+ privateScope.readInt = function (offset) {
+ return privateScope.serialBuffer[offset] + (privateScope.serialBuffer[offset + 1] << 8);
+ }
+
+ privateScope.readInt32 = function (offset) {
+ return privateScope.serialBuffer[offset] + (privateScope.serialBuffer[offset + 1] << 8) + (privateScope.serialBuffer[offset + 2] << 16) + (privateScope.serialBuffer[offset + 3] << 24);
+ }
+
+ privateScope.push = function (data) {
+ let charCode = String.fromCharCode(data);
+
+ //If frame is processed for too long, reset protocol state
+ if (privateScope.protocolState != LTM_STATE_IDLE && new Date().getTime() - privateScope.frameProcessingStartedAtMs > LTM_FRAME_TIMEOUT_MS) {
+ privateScope.protocolState = LTM_STATE_IDLE;
+ privateScope.frameProcessingStartedAtMs = new Date().getTime();
+ console.log('LTM privateScope.protocolState: TIMEOUT, forcing into IDLE, processed frame: ' + privateScope.frameType);
+ }
+
+ if (privateScope.protocolState == LTM_STATE_IDLE) {
+ if (charCode == LTM_HEADER_START_1) {
+ privateScope.protocolState = LTM_STATE_HEADER_START_1;
+ privateScope.frameProcessingStartedAtMs = new Date().getTime();
+ }
+ return;
+ } else if (privateScope.protocolState == LTM_STATE_HEADER_START_1) {
+ if (charCode == LTM_HEADER_START_2) {
+ privateScope.protocolState = LTM_STATE_HEADER_START_2;
+ } else {
+ privateScope.protocolState = LTM_STATE_IDLE;
+ }
+ return;
+ } else if (privateScope.protocolState == LTM_STATE_HEADER_START_2) {
+
+ //Check if incoming frame type is a known one
+ if (LTM_FRAMELENGTH[charCode] == undefined) {
+ //Unknown frame type, reset protocol state
+ privateScope.protocolState = LTM_STATE_IDLE;
+ console.log('Unknown frame type, reset protocol state');
+ } else {
+ //Known frame type, store it and move to next state
+ privateScope.frameType = charCode;
+ privateScope.frameLength = LTM_FRAMELENGTH[charCode];
+ privateScope.receiverIndex = 0;
+ privateScope.serialBuffer = [];
+ privateScope.protocolState = LTM_STATE_MSGTYPE;
+ console.log('protocolState: LTM_STATE_MSGTYPE', 'will expext frame ' + privateScope.frameType, 'expected length: ' + privateScope.frameLength);
+ }
+ return;
+
+ } else if (privateScope.protocolState == LTM_STATE_MSGTYPE) {
+
+ /*
+ * Check if last payload byte has been received.
+ */
+ if (privateScope.receiverIndex == privateScope.frameLength - 4) {
+ /*
+ * If YES, check checksum and execute data processing
+ */
+
+ let checksum = 0;
+ for (let i = 0; i < privateScope.serialBuffer.length; i++) {
+ checksum ^= privateScope.serialBuffer[i];
+ }
+
+ if (checksum != data) {
+ console.log('LTM checksum error, frame type: ' + privateScope.frameType + ' rejected');
+ privateScope.protocolState = LTM_STATE_IDLE;
+ privateScope.serialBuffer = [];
+ privateScope.receiverIndex = 0;
+ return;
+ }
+
+ if (privateScope.frameType == 'A') {
+ TELEMETRY.pitch = privateScope.readInt(0);
+ TELEMETRY.roll = privateScope.readInt(2);
+ TELEMETRY.heading = privateScope.readInt(4);
+ }
+
+ if (privateScope.frameType == 'S') {
+ TELEMETRY.voltage = privateScope.readInt(0);
+ TELEMETRY.currectDrawn = privateScope.readInt(2);
+ TELEMETRY.rssi = privateScope.readByte(4);
+
+ TELEMETRY.airspeed = privateScope.readByte(5);
+
+ let fm = privateScope.readByte(6);
+ TELEMETRY.flightmode = fm >> 2;
+ TELEMETRY.flightmodeName = LTM_FLIGHT_MODE_NAMES[TELEMETRY.flightmode];
+
+ TELEMETRY.armed = (fm & 0x02) >> 1;
+ TELEMETRY.failsafe = fm & 0x01;
+ }
+
+ if (privateScope.frameType == 'G') {
+ TELEMETRY.latitude = privateScope.readInt32(0);
+ TELEMETRY.longitude = privateScope.readInt32(4);
+ TELEMETRY.groundSpeed = privateScope.readByte(8);
+ TELEMETRY.altitude = privateScope.readInt32(9);
+
+ let raw = privateScope.readByte(13);
+ TELEMETRY.gpsSats = raw >> 2;
+ TELEMETRY.gpsFix = raw & 0x03;
+ }
+
+ if (privateScope.frameType == 'X') {
+ TELEMETRY.hdop = privateScope.readInt(0);
+ TELEMETRY.sensorStatus = privateScope.readByte(2);
+ TELEMETRY.frameCounter = privateScope.readByte(3);
+ TELEMETRY.disarmReason = privateScope.readByte(4);
+ TELEMETRY.disarmReasonName = LTM_DISARM_REASON_NAMES[TELEMETRY.disarmReason];
+ }
+
+ privateScope.protocolState = LTM_STATE_IDLE;
+ privateScope.serialBuffer = [];
+ privateScope.lastFrameReceivedMs = new Date().getTime();
+ privateScope.receiverIndex = 0;
+
+ } else {
+ /*
+ * If no, put data into buffer
+ */
+ privateScope.serialBuffer.push(data);
+ privateScope.receiverIndex++;
+ }
+ }
+ }
+
+ publicScope.read = function (readInfo) {
+ var data = new Uint8Array(readInfo.data);
+
+ for (var i = 0; i < data.length; i++) {
+ privateScope.push(data[i]);
+ }
+ };
+
+ publicScope.isReceiving = function () {
+ return privateScope.lastFrameReceivedMs !== null && (new Date().getTime() - privateScope.lastFrameReceivedMs) < LTM_TIMEOUT_MS;
+ };
+
+ publicScope.wasEverReceiving = function () {
+ return privateScope.lastFrameReceivedMs !== null;
+ };
+
+ publicScope.get = function () {
+ return TELEMETRY;
+ };
+
+ return publicScope;
+})();
\ No newline at end of file
diff --git a/js/msp.js b/js/msp.js
index 38ef7ab01..a2046c493 100644
--- a/js/msp.js
+++ b/js/msp.js
@@ -78,6 +78,8 @@ var MSP = {
last_received_timestamp: null,
analog_last_received_timestamp: null,
+ lastFrameReceivedMs: 0,
+
read: function (readInfo) {
var data = new Uint8Array(readInfo.data);
@@ -236,6 +238,7 @@ var MSP = {
if (this.message_checksum == expected_checksum) {
// message received, process
mspHelper.processData(this);
+ this.lastFrameReceivedMs = Date.now();
} else {
console.log('code: ' + this.code + ' - crc failed');
this.packet_error++;
@@ -378,6 +381,12 @@ var MSP = {
this.packet_error = 0; // reset CRC packet error counter for next session
this.callbacks_cleanup();
+ },
+ isReceiving: function () {
+ return Date.now() - this.lastFrameReceivedMs < 5000;
+ },
+ wasEverReceiving: function () {
+ return this.lastFrameReceivedMs > 0;
}
};
diff --git a/js/serial_backend.js b/js/serial_backend.js
index 827169f63..6a85819a1 100755
--- a/js/serial_backend.js
+++ b/js/serial_backend.js
@@ -129,6 +129,11 @@ $(document).ready(function () {
});
$('div.connect_controls a.connect').click(function () {
+
+ if (helper.groundstation.isActivated()) {
+ helper.groundstation.deactivate();
+ }
+
if (GUI.connect_lock != true) { // GUI control overrides the user control
var clicks = $(this).data('clicks');
@@ -322,10 +327,13 @@ function onOpen(openInfo) {
chrome.storage.local.set({wireless_mode_enabled: $('#wireless-mode').is(":checked")});
CONFIGURATOR.connection.addOnReceiveListener(read_serial);
+ CONFIGURATOR.connection.addOnReceiveListener(helper.ltmDecoder.read);
// disconnect after 10 seconds with error if we don't get IDENT data
helper.timeout.add('connecting', function () {
- if (!CONFIGURATOR.connectionValid) {
+
+ //As we add LTM listener, we need to invalidate connection only when both protocols are not listening!
+ if (!CONFIGURATOR.connectionValid && !helper.ltmDecoder.isReceiving()) {
GUI.log(chrome.i18n.getMessage('noConfigurationReceived'));
helper.mspQueue.flush();
@@ -337,6 +345,13 @@ function onOpen(openInfo) {
}
}, 10000);
+ //Add a timer that every 1s will check if LTM stream is receiving data and display alert if so
+ helper.interval.add('ltm-connection-check', function () {
+ if (helper.ltmDecoder.isReceiving()) {
+ helper.groundstation.activate($('#main-wrapper'));
+ }
+ }, 1000);
+
FC.resetState();
// request configuration data. Start with MSPv1 and
diff --git a/main.html b/main.html
index 92c89a58d..bc44efc9a 100755
--- a/main.html
+++ b/main.html
@@ -174,6 +174,49 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/css/groundstation.css b/src/css/groundstation.css
new file mode 100644
index 000000000..abc4a75b8
--- /dev/null
+++ b/src/css/groundstation.css
@@ -0,0 +1,37 @@
+#view-groundstation {
+ background-color: #2e2e2e;
+ width: 100%;
+ height: 100%;
+ display: flex;
+}
+
+#groundstation-map {
+ width: 100%;
+ height: 100%;
+}
+
+#groundstation-telemetry {
+ width: 20%;
+ color: #ddd;
+}
+
+.groundstation-telemetry__header {
+ margin: 1em;
+ text-align: center;
+}
+
+.groundstation-telemetry__row {
+ display: flex;
+ justify-content: space-between;
+ margin: 1em;
+ font-size: 1.1em;
+}
+
+.groundstation-telemetry__row--big {
+ font-size: 2.2em;
+}
+
+.groundstation-telemetry__label {
+ color: #aaa;
+ font-weight: bold;
+}
\ No newline at end of file