Merge pull request #641 from cyoung/ahrs_dev

AHRS for v1.4r1.

.gitignore

@@ -6,6 +6,7 @@ dump978/uat2json
 dump978/uat2text
 gen_gdl90
 libdump978.so
+fancontrol
 
 *.mp4
 

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "dump1090"]
 	path = dump1090
 	url = https://github.com/AvSquirrel/dump1090
+[submodule "goflying"]
+	path = goflying
+	url = https://github.com/westphae/goflying

Makefile

@@ -14,8 +14,8 @@ all:
 	make xdump978 xdump1090 xgen_gdl90 $(PLATFORMDEPENDENT)
 
 xgen_gdl90:
-	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 main/cputemp.go
+	go get -t -d -v ./main ./test ./godump978 ./uatparse ./sensors
+	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 main/sensors.go main/cputemp.go
 
 fancontrol:
 	go get -t -d -v ./main

circle.yml

@@ -18,3 +18,6 @@ deployment:
     branch: master
     commands:
       - yes | ssh -i ~/.ssh/id_updates.stratux.me stratux-updates@updates.stratux.me "touch queue/`git log -n 1 --pretty=%H`"
+    branch: ahrs_dev
+    commands:
+      - yes | ssh -i ~/.ssh/id_updates.stratux.me stratux-updates@updates.stratux.me "touch queue/`git log -n 1 --pretty=%H`"

main/equations.go

@@ -249,6 +249,16 @@ func degreesHdg(angle float64) float64 {
 	return angle * 180.0 / math.Pi
 }
 
+// roundToInt16 cheaply rounds a float64 to an int16, rather than truncating
+func roundToInt16(in float64) (out int16) {
+	if in >= 0 {
+		out = int16(in + 0.5)
+	} else {
+		out = int16(in - 0.5)
+	}
+	return
+}
+
 /*
 Distance functions based on rectangular coordinate systems
 Simple calculations and "good enough" on small scale (± 1° of lat / lon)
@@ -323,17 +333,23 @@ func distance(lat1, lon1, lat2, lon2 float64) (dist, bearing float64) {
 	return
 }
 
+// CalcAltitude determines the pressure altitude (feet) from the atmospheric pressure (hPa)
+func CalcAltitude(press float64) (altitude float64) {
+	altitude = 145366.45 * (1.0 - math.Pow(press/1013.25, 0.190284))
+	return
+}
+
 // golang only defines min/max for float64. Really.
 func iMin(x, y int) int {
-    if x < y {
-        return x
-    }
-    return y
+	if x < y {
+		return x
+	}
+	return y
 }
 
 func iMax(x, y int) int {
-    if x > y {
-        return x
-    }
-    return y
+	if x > y {
+		return x
+	}
+	return y
 }