fix units: use SI in instruments)

7 files changed, 22 insertions, 30 deletions

diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
index f17e91a..6465f26 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
@@ -1,9 +1,5 @@
 package vfd.dashboard.ui
 
-import org.mavlink.messages.Attitude
-import org.mavlink.messages.Motor
-import org.mavlink.messages.Power
-
 import rx.Obs
 import scalatags.JsDom.all._
 import vfd.dashboard.Environment
@@ -14,6 +10,8 @@ import vfd.dashboard.ui.instruments.Bar
 import vfd.dashboard.ui.instruments.Compass
 import vfd.dashboard.ui.instruments.Generic
 import vfd.dashboard.ui.instruments.Horizon
+import org.mavlink.messages.Heartbeat
+import org.mavlink.messages.Attitude
 
 class Layout(socket: MavlinkSocket)(implicit env: Environment) {
 
@@ -133,21 +131,15 @@ class Layout(socket: MavlinkSocket)(implicit env: Environment) {
   //message router
   Obs(socket.message, skipInitial = true) {
     socket.message() match {
+      
+      case att: Attitude =>
+        horizon.value() = (att.pitch, att.roll)
+        compass.value() = att.yaw
 
-      case Motor(m0, m1, m2, m3) =>
-        motor0.value() = m0
-        motor1.value() = m1
-        motor2.value() = m2
-        motor3.value() = m3
-        powerDistribution.value() = (m0, m1, m2, m3)
-
-      case Power(mV) =>
-        batteryLevel.value() = (100 * (mV - 9600) / 12600)
+      //TODO route other messages
 
-      case Attitude(roll, pitch, yaw) =>
-        horizon.value() = (pitch, roll)
-        compass.value() = (yaw)
-        
+      case _ => ()
+      
     }
   }
 
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Altimeter.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Altimeter.scala
index 9ff3bb5..732ab43 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Altimeter.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Altimeter.scala
@@ -12,8 +12,8 @@ class Altimeter(implicit env: Environment) extends SvgInstrument[Double] {
   lazy val hand = part("hand")
   lazy val moveable = Seq(hand)
 
-  // 36deg === 1m
+  // 1m === 36deg = 2Pi / 10 ~= 0.62832
   protected def update(altitude: Double) = {
-    rotate(hand, (altitude * 36).toInt)
+    rotate(hand, (altitude * 0.62832).toInt)
   }
 }
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Compass.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Compass.scala
index e2d79e4..341c866 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Compass.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Compass.scala
@@ -13,6 +13,6 @@ class Compass(implicit env: Environment) extends SvgInstrument[Double] {
   lazy val moveable = Seq(plate)
   
   protected def update(heading: Double) = {
-    rotate(plate, heading.toInt)
+    rotate(plate, heading)
   }
 }
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Horizon.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Horizon.scala
index 2484561..0e95843 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Horizon.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/Horizon.scala
@@ -14,7 +14,7 @@ class Horizon(implicit env: Environment) extends SvgInstrument[(Double, Double)]
   lazy val moveable = Seq(pitch, roll)
   
   protected def update(pitchRoll: (Double, Double)) = {
-    translate(pitch, 0, pitchRoll._1.toInt)
-    rotate(roll, pitchRoll._2.toInt)
+    translate(pitch, 0, (pitchRoll._1 * 180 / math.Pi).toInt) // 1deg === 1px
+    rotate(roll, pitchRoll._2)
   }
 }
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/SvgInstrument.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/SvgInstrument.scala
index c639cec..fe6c58a 100644
--- a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/SvgInstrument.scala
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/instruments/SvgInstrument.scala
@@ -23,7 +23,7 @@ trait SvgInstrument[A] extends Instrument[A] {
   /** Called when element has been loaded. */
   protected def load(event: dom.Event): Unit = {
     for (part <- moveable) {
-      part.style.transition = "transform 250ms ease-out"
+      part.style.transition = "transform 50ms ease-out"
     }
     ready()
   }
@@ -47,8 +47,8 @@ object SvgInstrument {
   }
 
   /** Applies rotation styling to an element. */
-  def rotate(elem: html.Element, deg: Int): Unit = {
-    elem.style.transform = "rotateZ(" + deg + "deg)";
+  def rotate(elem: html.Element, rad: Double): Unit = {
+    elem.style.transform = "rotateZ(" + rad + "rad)";
   }
 
 }
\ No newline at end of file
diff --git a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala b/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
index 1051607..d05d824 100644
--- a/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
+++ b/vfd-uav/src/main/scala/vfd/uav/MockConnection.scala
@@ -39,8 +39,8 @@ class MockConnection(localSystemId: Byte, localComponentId: Byte, remoteSystemId
     system.scheduler.schedule(0.01.seconds, 0.01.seconds){plan.tick(0.01)}
     
     //send messages
-    scheduleMessage(0.1.seconds)(plan.position)
-    scheduleMessage(0.1.seconds)(plan.attitude)
+    scheduleMessage(0.05.seconds)(plan.position)
+    scheduleMessage(0.05.seconds)(plan.attitude)
     scheduleMessage(2.seconds)(plan.heartbeat)
     
     //simulate noisy line
diff --git a/vfd-uav/src/main/scala/vfd/uav/mock/RandomFlightPlan.scala b/vfd-uav/src/main/scala/vfd/uav/mock/RandomFlightPlan.scala
index e2c5708..df05d98 100644
--- a/vfd-uav/src/main/scala/vfd/uav/mock/RandomFlightPlan.scala
+++ b/vfd-uav/src/main/scala/vfd/uav/mock/RandomFlightPlan.scala
@@ -49,9 +49,9 @@ class RandomFlightPlan {
 
   def attitude = Attitude(
     (time * 1000).toInt,
-    (time / 5 * math.Pi * 2).toFloat,
-    (time / 4 * math.Pi * 2).toFloat,
-    (time / 3 * math.Pi * 2).toFloat,
+    (2 * math.Pi * time / 6).toFloat,
+    (math.sin(2 * math.Pi * time / 5) * math.Pi / 6).toFloat,
+    (2 * math.Pi * time / 4).toFloat,
     0,
     0,
     0