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GDL90 GPS Altitude msl vs WGS-84 ellipsoid #749

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GDL90 GPS Altitude msl vs WGS-84 ellipsoid #749

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2656dc2
GDL90: switch AltMSL / AltEllipsoid
PepperJo Sep 22, 2018
fa9c9b2
GDL90: traffic report GNSS altitude
PepperJo Sep 22, 2018
156d0cb
Website: Add height above ellipsoid
PepperJo Sep 23, 2018
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19 changes: 15 additions & 4 deletions main/gen_gdl90.go
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Original file line number Diff line number Diff line change
Expand Up @@ -441,9 +441,16 @@ func makeOwnshipGeometricAltitudeReport() bool {
msg := make([]byte, 5)
// See p.28.
msg[0] = 0x0B // Message type "Ownship Geo Alt".
alt := int16(mySituation.GPSAltitudeMSL / 5) // GPS Altitude, encoded to 16-bit int using 5-foot resolution
msg[1] = byte(alt >> 8) // Altitude.
msg[2] = byte(alt & 0x00FF) // Altitude.

var GPSalt float32
if globalSettings.GDL90MSLAlt_Enabled {
GPSalt = mySituation.GPSAltitudeMSL
} else {
GPSalt = mySituation.GPSHeightAboveEllipsoid
}
encodedAlt := int16(GPSalt / 5) // GPS Altitude, encoded to 16-bit int using 5-foot resolution
msg[1] = byte(encodedAlt >> 8) // Altitude.
msg[2] = byte(encodedAlt & 0x00FF) // Altitude.

//TODO: "Figure of Merit". 0x7FFF "Not available".
msg[3] = 0x00
Expand Down Expand Up @@ -671,7 +678,9 @@ func makeFFIDMessage() []byte {
}
copy(msg[19:], devLongName)

msg[38] = 0x01 // Capabilities mask. MSL altitude for Ownship Geometric report.
if globalSettings.GDL90MSLAlt_Enabled {
msg[38] = 0x01 // Capabilities mask. MSL altitude for Ownship Geometric report.
}

return prepareMessage(msg)
}
Expand Down Expand Up @@ -1116,6 +1125,7 @@ type settings struct {
DeveloperMode bool
GLimits string
StaticIps []string
GDL90MSLAlt_Enabled bool
}

type status struct {
Expand Down Expand Up @@ -1187,6 +1197,7 @@ func defaultSettings() {
globalSettings.OwnshipModeS = "F00000"
globalSettings.DeveloperMode = false
globalSettings.StaticIps = make([]string, 0)
globalSettings.GDL90MSLAlt_Enabled = true
}

func readSettings() {
Expand Down
2 changes: 2 additions & 0 deletions main/managementinterface.go
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Expand Up @@ -364,6 +364,8 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
continue
}
globalSettings.StaticIps = ips
case "GDL90MSLAlt_Enabled":
globalSettings.GDL90MSLAlt_Enabled = val.(bool)
default:
log.Printf("handleSettingsSetRequest:json: unrecognized key:%s\n", key)
}
Expand Down
21 changes: 15 additions & 6 deletions main/traffic.go
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Expand Up @@ -315,15 +315,24 @@ func makeTrafficReportMsg(ti TrafficInfo) []byte {
//
// Algo example at: https://play.golang.org/p/VXCckSdsvT
//
var alt int16
if ti.Alt < -1000 || ti.Alt > 101350 {
alt = 0x0FFF
// GDL90 expects barometric altitude in traffic reports
var baroAlt int32
if ti.AltIsGNSS {
// Convert from GPS geoid height to barometric altitude
baroAlt = ti.Alt - int32(mySituation.GPSGeoidSep)
baroAlt = baroAlt - int32(mySituation.GPSAltitudeMSL) + int32(mySituation.BaroPressureAltitude)
} else {
baroAlt = ti.Alt
}
var encodedAlt int16
if baroAlt < -1000 || baroAlt > 101350 {
encodedAlt = 0x0FFF
} else {
// output guaranteed to be between 0x0000 and 0x0FFE
alt = int16((ti.Alt / 25) + 40)
encodedAlt = int16((baroAlt / 25) + 40)
}
msg[11] = byte((alt & 0xFF0) >> 4) // Altitude.
msg[12] = byte((alt & 0x00F) << 4)
msg[11] = byte((encodedAlt & 0xFF0) >> 4) // Altitude.
msg[12] = byte((encodedAlt & 0x00F) << 4)

// "m" field. Lower four bits define indicator bits:
// - - 0 0 "tt" (msg[17]) is not valid
Expand Down
6 changes: 5 additions & 1 deletion web/plates/gps.html
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Expand Up @@ -21,7 +21,11 @@
</div>
<div class="row">
<span class="col-xs-6 text-center">{{gps_lat}}, {{gps_lon}} &plusmn; {{gps_horizontal_accuracy}} m <br>
{{gps_alt}} &plusmn; {{gps_vertical_accuracy}} ft @ {{gps_vert_speed}} ft/min</span>
<b>Altitude MSL:</b> <br>
{{gps_alt}} &plusmn; {{gps_vertical_accuracy}} ft @ {{gps_vert_speed}} ft/min <br>
<b>Height WGS-84 ellipsoid:</b> <br>
{{ gps_height_above_ellipsoid }} ft
</span>
<span class="col-xs-6 text-center">{{gps_track}}&deg; @ {{gps_speed}} KTS</span>
</div>
</div>
Expand Down
2 changes: 2 additions & 0 deletions web/plates/js/gps.js
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Expand Up @@ -144,13 +144,15 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
$scope.gps_lat = situation.GPSLatitude.toFixed(5); // result is string
$scope.gps_lon = situation.GPSLongitude.toFixed(5); // result is string
$scope.gps_alt = situation.GPSAltitudeMSL.toFixed(1);
$scope.gps_height_above_ellipsoid = situation.GPSHeightAboveEllipsoid.toFixed(1);
$scope.gps_track = situation.GPSTrueCourse.toFixed(1);
$scope.gps_speed = situation.GPSGroundSpeed.toFixed(1);
$scope.gps_vert_speed = situation.GPSVerticalSpeed.toFixed(1);
if ($scope.gps_lat == 0 && $scope.gps_lon == 0) {
$scope.gps_lat = "--";
$scope.gps_lon = "--";
$scope.gps_alt = "--";
$scope.gps_height_above_ellipsoid = "--";
$scope.gps_track = "--";
$scope.gps_speed = "--";
$scope.gps_vert_speed = "--";
Expand Down
3 changes: 2 additions & 1 deletion web/plates/js/settings.js
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
$scope.$parent.helppage = 'plates/settings-help.html';

var toggles = ['UAT_Enabled', 'ES_Enabled', 'Ping_Enabled', 'GPS_Enabled', 'IMU_Sensor_Enabled',
'BMP_Sensor_Enabled', 'DisplayTrafficSource', 'DEBUG', 'ReplayLog', 'AHRSLog'];
'BMP_Sensor_Enabled', 'DisplayTrafficSource', 'DEBUG', 'ReplayLog', 'AHRSLog', 'GDL90MSLAlt_Enabled'];
var settings = {};
for (i = 0; i < toggles.length; i++) {
settings[toggles[i]] = undefined;
Expand Down Expand Up @@ -40,6 +40,7 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
$scope.OwnshipModeS = settings.OwnshipModeS;
$scope.DeveloperMode = settings.DeveloperMode;
$scope.GLimits = settings.GLimits;
$scope.GDL90MSLAlt_Enabled = settings.GDL90MSLAlt_Enabled;
}

function getSettings() {
Expand Down
6 changes: 6 additions & 0 deletions web/plates/settings.html
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,12 @@
<input class="col-xs-7" type="string" required ng-model="StaticIps" ng-list=" " ng-trim="false" placeholder="space-delimited ip's to send network data" ng-blur="updatestaticips()" />
</form>
</div>
<div class="form-group reset-flow">
<label class="control-label col-xs-5">GDL90 MSL Altitude</label>
<div class="col-xs-5">
<ui-switch ng-model='GDL90MSLAlt_Enabled' settings-change></ui-switch>
</div>
</div>
</div>
</div>
</div>
Expand Down