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Issue#199 update - add satellite info, change DOP display, add compass rose #248

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merged 3 commits into from
Jul 5, 2020
Merged

Issue#199 update - add satellite info, change DOP display, add compass rose #248

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cda423a
Changed GPS DOP display to bars, added satellites display and compass…
Professr Jul 3, 2020
4d04d10
Merge screen.cpp
Professr Jul 3, 2020
d511693
Merge branch 'master' into issue#199
geeksville Jul 4, 2020
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24 changes: 21 additions & 3 deletions src/GPSStatus.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,20 +17,24 @@ namespace meshtastic {
int32_t latitude = 0, longitude = 0; // as an int mult by 1e-7 to get value as double
int32_t altitude = 0;
uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs scaling before use)
uint32_t heading = 0;
uint32_t numSatellites = 0;

public:

GPSStatus() {
statusType = STATUS_TYPE_GPS;
}
GPSStatus( bool hasLock, bool isConnected, int32_t latitude, int32_t longitude, int32_t altitude, uint32_t dop ) : Status()
GPSStatus( bool hasLock, bool isConnected, int32_t latitude, int32_t longitude, int32_t altitude, uint32_t dop, uint32_t heading, uint32_t numSatellites ) : Status()
{
this->hasLock = hasLock;
this->isConnected = isConnected;
this->latitude = latitude;
this->longitude = longitude;
this->altitude = altitude;
this->dop = dop;
this->heading = heading;
this->numSatellites = numSatellites;
}
GPSStatus(const GPSStatus &);
GPSStatus &operator=(const GPSStatus &);
Expand Down Expand Up @@ -70,6 +74,16 @@ namespace meshtastic {
return dop;
}

uint32_t getHeading() const
{
return heading;
}

uint32_t getNumSatellites() const
{
return numSatellites;
}

bool matches(const GPSStatus *newStatus) const
{
return (
Expand All @@ -78,7 +92,9 @@ namespace meshtastic {
newStatus->latitude != latitude ||
newStatus->longitude != longitude ||
newStatus->altitude != altitude ||
newStatus->dop != dop
newStatus->dop != dop ||
newStatus->heading != heading ||
newStatus->numSatellites != numSatellites
);
}
int updateStatus(const GPSStatus *newStatus) {
Expand All @@ -93,9 +109,11 @@ namespace meshtastic {
longitude = newStatus->longitude;
altitude = newStatus->altitude;
dop = newStatus->dop;
heading = newStatus->heading;
numSatellites = newStatus->numSatellites;
}
if(isDirty) {
DEBUG_MSG("New GPS pos lat=%f, lon=%f, alt=%d, pdop=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2);
DEBUG_MSG("New GPS pos lat=%f, lon=%f, alt=%d, pdop=%f, heading=%f, sats=%d\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2, heading * 1e-5, numSatellites);
onNewStatus.notifyObservers(this);
}
return 0;
Expand Down
2 changes: 2 additions & 0 deletions src/gps/GPS.h
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Expand Up @@ -36,6 +36,8 @@ class GPS : public Observable<void *>
int32_t latitude = 0, longitude = 0; // as an int mult by 1e-7 to get value as double
int32_t altitude = 0;
uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs scaling before use)
uint32_t heading = 0; // Heading of motion, in degrees * 10^-5
uint32_t numSatellites = 0;

bool isConnected = false; // Do we have a GPS we are talking to

Expand Down
12 changes: 9 additions & 3 deletions src/gps/NEMAGPS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,20 +54,26 @@ void NEMAGPS::loop()
longitude = toDegInt(loc.lng);
}
// Diminution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
if(reader.hdop.isValid()) {
if (reader.hdop.isValid()) {
dop = reader.hdop.value();
}
if (reader.course.isValid()) {
heading = reader.course.value() * 1e3; //Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
}
if (reader.satellites.isValid()) {
numSatellites = reader.satellites.value();
}

// expect gps pos lat=37.520825, lon=-122.309162, alt=158
DEBUG_MSG("new NEMA GPS pos lat=%f, lon=%f, alt=%d, hdop=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2);
DEBUG_MSG("new NEMA GPS pos lat=%f, lon=%f, alt=%d, hdop=%f, heading=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2, heading * 1e-5);

hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
if (hasValidLocation)
notifyObservers(NULL);
}

// Notify any status instances that are observing us
const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop);
const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
newStatus.notifyObservers(&status);
}
}
4 changes: 3 additions & 1 deletion src/gps/UBloxGPS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,8 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
longitude = ublox.getLongitude(0);
altitude = ublox.getAltitude(0) / 1000; // in mm convert to meters
dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
heading = ublox.getHeading(0);
numSatellites = ublox.getSIV(0);

// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
Expand All @@ -129,7 +131,7 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
wantNewLocation = true;

// Notify any status instances that are observing us
const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop);
const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
newStatus.notifyObservers(&status);

// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 1s until we have something over
Expand Down
154 changes: 89 additions & 65 deletions src/screen.cpp
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Expand Up @@ -52,7 +52,10 @@ static FrameCallback normalFrames[MAX_NUM_NODES + NUM_EXTRA_FRAMES];
static uint32_t targetFramerate = IDLE_FRAMERATE;
static char btPIN[16] = "888888";

uint8_t imgBattery[16] = {0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xE7, 0x3C};
uint8_t imgBattery[16] = { 0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xE7, 0x3C };
uint8_t imgSatellite[8] = { 0x70, 0x71, 0x22, 0xFA, 0xFA, 0x22, 0x71, 0x70 };

uint32_t dopThresholds[5] = { 2000, 1000, 500, 200, 100 };

// if defined a pixel will blink to show redraws
// #define SHOW_REDRAWS
Expand Down Expand Up @@ -212,38 +215,39 @@ static void drawNodes(OLEDDisplay *display, int16_t x, int16_t y, NodeStatus *no
// Draw GPS status summary
static void drawGPS(OLEDDisplay *display, int16_t x, int16_t y, const GPSStatus *gps)
{
if (!gps->getIsConnected()) {
if (!gps->getIsConnected())
{
display->drawString(x, y - 2, "No GPS");
return;
}
display->drawFastImage(x, y, 6, 8, gps->getHasLock() ? imgPositionSolid : imgPositionEmpty);
if (!gps->getHasLock()) {
if (!gps->getHasLock())
{
display->drawString(x + 8, y - 2, "No sats");
return;
}
if (gps->getDOP() <= 100) {
display->drawString(x + 8, y - 2, "Ideal");
return;
}
if (gps->getDOP() <= 200) {
display->drawString(x + 8, y - 2, "Exc.");
return;
}
if (gps->getDOP() <= 500) {
display->drawString(x + 8, y - 2, "Good");
return;
}
if (gps->getDOP() <= 1000) {
display->drawString(x + 8, y - 2, "Mod.");
return;
}
if (gps->getDOP() <= 2000) {
display->drawString(x + 8, y - 2, "Fair");
return;
}
if (gps->getDOP() > 0) {
display->drawString(x + 8, y - 2, "Poor");
return;
}
else
{
char satsString[3];
uint8_t bar[2] = { 0 };

//Draw DOP signal bars
for(int i = 0; i < 5; i++)
{
if (gps->getDOP() <= dopThresholds[i])
bar[0] = ~((1 << (5 - i)) - 1);
else
bar[0] = 0b10000000;
//bar[1] = bar[0];
display->drawFastImage(x + 9 + (i * 2), y, 2, 8, bar);
}

//Draw satellite image
display->drawFastImage(x + 24, y, 8, 8, imgSatellite);

//Draw the number of satellites
sprintf(satsString, "%d", gps->getNumSatellites());
display->drawString(x + 34, y - 2, satsString);
}
}

Expand Down Expand Up @@ -386,28 +390,41 @@ static bool hasPosition(NodeInfo *n)
static size_t nodeIndex;
static int8_t prevFrame = -1;

// Draw the compass and arrow pointing to location
static void drawCompass(OLEDDisplay *display, int16_t compassX, int16_t compassY, float headingRadian)
// Draw the arrow pointing to a node's location
static void drawNodeHeading(OLEDDisplay *display, int16_t compassX, int16_t compassY, float headingRadian)
{
// display->drawXbm(compassX, compassY, compass_width, compass_height,
// (const uint8_t *)compass_bits);

Point tip(0.0f, 0.5f), tail(0.0f, -0.5f); // pointing up initially
float arrowOffsetX = 0.2f, arrowOffsetY = 0.2f;
Point leftArrow(tip.x - arrowOffsetX, tip.y - arrowOffsetY), rightArrow(tip.x + arrowOffsetX, tip.y - arrowOffsetY);

Point *points[] = {&tip, &tail, &leftArrow, &rightArrow};

Point *arrowPoints[] = {&tip, &tail, &leftArrow, &rightArrow};

for (int i = 0; i < 4; i++) {
points[i]->rotate(headingRadian);
points[i]->scale(COMPASS_DIAM * 0.6);
points[i]->translate(compassX, compassY);
arrowPoints[i]->rotate(headingRadian);
arrowPoints[i]->scale(COMPASS_DIAM * 0.6);
arrowPoints[i]->translate(compassX, compassY);
}
drawLine(display, tip, tail);
drawLine(display, leftArrow, tip);
drawLine(display, rightArrow, tip);
}

display->drawCircle(compassX, compassY, COMPASS_DIAM / 2);
// Draw the compass heading
static void drawCompassHeading(OLEDDisplay *display, int16_t compassX, int16_t compassY, float myHeading)
{
Point N1(-0.04f, -0.65f), N2( 0.04f, -0.65f);
Point N3(-0.04f, -0.55f), N4( 0.04f, -0.55f);
Point *rosePoints[] = {&N1, &N2, &N3, &N4};

for (int i = 0; i < 4; i++) {
rosePoints[i]->rotate(myHeading);
rosePoints[i]->scale(COMPASS_DIAM);
rosePoints[i]->translate(compassX, compassY);
}
drawLine(display, N1, N3);
drawLine(display, N2, N4);
drawLine(display, N1, N4);
}

/// Convert an integer GPS coords to a floating point
Expand Down Expand Up @@ -461,29 +478,35 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
const char *fields[] = {username, distStr, signalStr, lastStr, NULL};

// coordinates for the center of the compass/circle
int16_t compassX = x + SCREEN_WIDTH - COMPASS_DIAM / 2 - 1, compassY = y + SCREEN_HEIGHT / 2;
int16_t compassX = x + SCREEN_WIDTH - COMPASS_DIAM / 2 - 5, compassY = y + SCREEN_HEIGHT / 2;

if (ourNode && hasPosition(ourNode) && hasPosition(node)) { // display direction toward node
Position &op = ourNode->position, &p = node->position;
float d = latLongToMeter(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
if (d < 2000)
snprintf(distStr, sizeof(distStr), "%.0f m", d);
else
snprintf(distStr, sizeof(distStr), "%.1f km", d / 1000);

// FIXME, also keep the guess at the operators heading and add/substract
// it. currently we don't do this and instead draw north up only.
float bearingToOther = bearing(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
float myHeading = estimatedHeading(DegD(p.latitude_i), DegD(p.longitude_i));
headingRadian = bearingToOther - myHeading;
drawCompass(display, compassX, compassY, headingRadian);
} else { // direction to node is unknown so display question mark
// Debug info for gps lock errors
// DEBUG_MSG("ourNode %d, ourPos %d, theirPos %d\n", !!ourNode, ourNode && hasPosition(ourNode), hasPosition(node));

display->drawString(compassX - FONT_HEIGHT / 4, compassY - FONT_HEIGHT / 2, "?");
display->drawCircle(compassX, compassY, COMPASS_DIAM / 2);
if(ourNode && hasPosition(ourNode))
{
Position &op = ourNode->position;
float myHeading = estimatedHeading(DegD(op.latitude_i), DegD(op.longitude_i));
drawCompassHeading(display, compassX, compassY, myHeading);

if(hasPosition(node)) { // display direction toward node
Position &p = node->position;
float d = latLongToMeter(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
if (d < 2000)
snprintf(distStr, sizeof(distStr), "%.0f m", d);
else
snprintf(distStr, sizeof(distStr), "%.1f km", d / 1000);

// FIXME, also keep the guess at the operators heading and add/substract
// it. currently we don't do this and instead draw north up only.
float bearingToOther = bearing(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
headingRadian = bearingToOther - myHeading;
drawNodeHeading(display, compassX, compassY, headingRadian);
} else { // direction to node is unknown so display question mark
// Debug info for gps lock errors
// DEBUG_MSG("ourNode %d, ourPos %d, theirPos %d\n", !!ourNode, ourNode && hasPosition(ourNode), hasPosition(node));
display->drawString(compassX - FONT_HEIGHT / 4, compassY - FONT_HEIGHT / 2, "?");
}
}
display->drawCircle(compassX, compassY, COMPASS_DIAM / 2);


// Must be after distStr is populated
drawColumns(display, x, y, fields);
Expand Down Expand Up @@ -760,7 +783,7 @@ void DebugInfo::drawFrame(OLEDDisplay *display, OLEDDisplayUiState *state, int16
// Display nodes status
drawNodes(display, x + (SCREEN_WIDTH * 0.25), y + 2, nodeStatus);
// Display GPS status
drawGPS(display, x + (SCREEN_WIDTH * 0.66), y + 2, gpsStatus);
drawGPS(display, x + (SCREEN_WIDTH * 0.63), y + 2, gpsStatus);
}

display->drawString(x, y + FONT_HEIGHT, channelStr);
Expand Down Expand Up @@ -790,13 +813,14 @@ void Screen::adjustBrightness()
dispdev.setBrightness(brightness);
}

int Screen::handleStatusUpdate(const Status *arg)
int Screen::handleStatusUpdate(const Status *arg)
{
DEBUG_MSG("Screen got status update %d\n", arg->getStatusType());
switch (arg->getStatusType()) {
case STATUS_TYPE_NODE:
setFrames();
break;
//DEBUG_MSG("Screen got status update %d\n", arg->getStatusType());
switch(arg->getStatusType())
{
case STATUS_TYPE_NODE:
setFrames();
break;
}
setPeriod(1); // Update the screen right away
return 0;
Expand Down