From ea468fe2af5dbc674c08e2f2c1d6766e6596f9a1 Mon Sep 17 00:00:00 2001
From: Jakob Odersky <jakob@odersky.com>
Date: Mon, 18 Apr 2016 03:09:11 -0700
Subject: Roll angle fixes

---
 .../src/main/scala/mavigator/cockpit/Instruments.scala   | 16 +++++++++-------
 .../src/main/scala/mavigator/cockpit/Layout.scala        |  1 +
 .../main/scala/mavigator/cockpit/MavlinkWebSockets.scala |  5 ++++-
 .../src/main/scala/mavigator/index/ActiveVehicle.scala   |  2 +-
 4 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/mavigator-cockpit/src/main/scala/mavigator/cockpit/Instruments.scala b/mavigator-cockpit/src/main/scala/mavigator/cockpit/Instruments.scala
index 7c4bf92..c8715f4 100644
--- a/mavigator-cockpit/src/main/scala/mavigator/cockpit/Instruments.scala
+++ b/mavigator-cockpit/src/main/scala/mavigator/cockpit/Instruments.scala
@@ -35,7 +35,7 @@ trait Instruments { page: Page =>
     /** Called when element has been loaded. */
     private def load(event: dom.Event): Unit = {
       for (part <- moveable) {
-        part.style.transition = "transform 20ms ease-out"
+        //part.style.transition = "transform 300ms ease"
       }
     }
 
@@ -59,7 +59,7 @@ trait Instruments { page: Page =>
 
     /** Applies rotation styling to an element. */
     def rotate(elem: html.Element, rad: Double): Unit = {
-      elem.style.transform = "rotateZ(" + rad + "rad)";
+      elem.style.transform = "rotate(" + rad + "rad)";
     }
 
   }
@@ -74,7 +74,7 @@ trait Instruments { page: Page =>
       import SvgInstrument._
       val (pitch, roll) = pitchRoll
       translate(pitchPart, 0, (pitch * 180 / math.Pi * 10).toInt) // 1deg === 10px
-      rotate(rollPart, roll)
+      rotate(rollPart, -roll)
     }
   }
 
@@ -82,15 +82,16 @@ trait Instruments { page: Page =>
     import SvgInstrument._
 
     override def element = div(`class`:="hud-overlay")(objectElement).render
-    lazy val horizon = part("horizon")
-    lazy override val moveable = Seq(horizon)
+    lazy val rollPart = part("roll")
+    lazy val pitchPart = part("pitch")
+    lazy override val moveable = Seq(rollPart, pitchPart)
 
     override def update(pitchRoll: (Float, Float)) = {
       val (pitch, roll) = pitchRoll
-
       val t = (pitch * 180 / math.Pi * 10).toInt // 1deg === 10px
 
-      horizon.style.transform = s"rotateZ(${roll}rad)translate(0px, ${t}px) "
+      SvgInstrument.rotate(rollPart, -roll)
+      SvgInstrument.translate(pitchPart, 0, t)
     }
   }
 
@@ -171,3 +172,4 @@ trait Instruments { page: Page =>
   def instrumentStyles: Seq[String] = Seq(overlayStyle, modeStyle)
 
 }
+
diff --git a/mavigator-cockpit/src/main/scala/mavigator/cockpit/Layout.scala b/mavigator-cockpit/src/main/scala/mavigator/cockpit/Layout.scala
index 887c4d6..991ee9a 100644
--- a/mavigator-cockpit/src/main/scala/mavigator/cockpit/Layout.scala
+++ b/mavigator-cockpit/src/main/scala/mavigator/cockpit/Layout.scala
@@ -18,6 +18,7 @@ trait Layout { self: Page with Instruments =>
 
   /** Element to deisplay on heads-up display (main area). */
   def hud = div(id :="hud")(
+    horizonOverlay.element,
     attitudeOverlay.element
   )
 
diff --git a/mavigator-cockpit/src/main/scala/mavigator/cockpit/MavlinkWebSockets.scala b/mavigator-cockpit/src/main/scala/mavigator/cockpit/MavlinkWebSockets.scala
index 3797005..b2ecf48 100644
--- a/mavigator-cockpit/src/main/scala/mavigator/cockpit/MavlinkWebSockets.scala
+++ b/mavigator-cockpit/src/main/scala/mavigator/cockpit/MavlinkWebSockets.scala
@@ -52,7 +52,10 @@ trait MavlinkWebSockets { self: Instruments =>
   }
 
   private def onMessage(msg: Message): Unit = msg match {
-    case a: Attitude => attitudeOverlay.update((a.pitch.toFloat, a.roll.toFloat))
+    case a: Attitude =>
+      attitudeOverlay.update((a.pitch, a.roll))
+      horizonOverlay.update((a.pitch, a.roll))
+
     case _ => ()
   }
 
diff --git a/mavigator-cockpit/src/main/scala/mavigator/index/ActiveVehicle.scala b/mavigator-cockpit/src/main/scala/mavigator/index/ActiveVehicle.scala
index 7e59ed8..dc0febc 100644
--- a/mavigator-cockpit/src/main/scala/mavigator/index/ActiveVehicle.scala
+++ b/mavigator-cockpit/src/main/scala/mavigator/index/ActiveVehicle.scala
@@ -26,7 +26,7 @@ object ActiveVehicle {
   def autopilot(tpe: Int) = tpe match {
     case MavAutopilot.MavAutopilotGeneric => "Generic"
     case MavAutopilot.MavAutopilotInvalid => "Invalid"
-    case MavAutopilot.MavAutopilotPixhawk => "Pixhawk"
+    case MavAutopilot.MavAutopilotPx4 => "PX4"
     case _ => "Other"
   }
 
-- 
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