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esp32-nmea2000-obp60
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Code Releases Activity

Roll and pitch offset and roll angle violation

This commit is contained in:
norbert-walter 2022-04-12 22:00:06 +02:00
parent 8054567f4f
commit d029ad0373
2 changed files with 89 additions and 30 deletions
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77
lib/obp60task/PageRollPitch.cpp
View File

@ -42,43 +42,58 @@ public:
bool holdvalues = config->getBool(config->holdvalues);
String flashLED = config->getString(config->flashLED);
String backlightMode = config->getString(config->backlight);
int rolllimit = config->getInt(config->rollLimit);
String roffset = config->getString(config->rollOffset);
double rolloffset = roffset.toFloat()/360*(2*PI);
String poffset = config->getString(config->pitchOffset);
double pitchoffset = poffset.toFloat()/360*(2*PI);
// Get boat values for roll
GwApi::BoatValue *bvalue1 = pageData.values[0]; // First element in list (only one value by PageOneValue)
GwApi::BoatValue *bvalue1 = pageData.values[0]; // First element in list (xdrRoll)
String name1 = xdrDelete(bvalue1->getName()); // Value name
name1 = name1.substring(0, 6); // String length limit for value name // Other simulation data see OBP60Formater.cpp
bool valid1 = bvalue1->valid; // Valid information
if(valid1 == false){
if(valid1 == true){
value1 = bvalue1->value + rolloffset; // Raw value for pitch
}
else{
value1 = 0;
}
value1 = bvalue1->value; // Raw value for roll in rad
String svalue1 = formatValue(bvalue1, commonData).svalue; // Formatted value as string including unit conversion and switching decimal places
String unit1 = formatValue(bvalue1, commonData).unit; // Unit of value
String svalue1 = formatValue(bvalue1, commonData).svalue; // Formatted value as string including unit conversion and switching decimal places
String unit1 = formatValue(bvalue1, commonData).unit; // Unit of value
if(valid1 == true){
svalue1old = svalue1; // Save old value
unit1old = unit1; // Save old unit
}
// Get boat values for pitch
GwApi::BoatValue *bvalue2 = pageData.values[1]; // First element in list (only one value by PageOneValue)
GwApi::BoatValue *bvalue2 = pageData.values[1]; // Second element in list (xdrPitch)
String name2 = xdrDelete(bvalue2->getName()); // Value name
name2 = name2.substring(0, 6); // String length limit for value name
bool valid2 = bvalue2->valid; // Valid information
value2 = bvalue2->value; // Raw value for pitch
if(valid1 == false){
value1 = 0;
if(valid2 == true){
value2 = bvalue2->value + pitchoffset; // Raw value for pitch
}
String svalue2 = formatValue(bvalue2, commonData).svalue; // Formatted value as string including unit conversion and switching decimal places
String unit2 = formatValue(bvalue2, commonData).unit; // Unit of value
else{
value2 = 0;
}
String svalue2 = formatValue(bvalue2, commonData).svalue; // Formatted value as string including unit conversion and switching decimal places
String unit2 = formatValue(bvalue2, commonData).unit; // Unit of value
if(valid2 == true){
svalue2old = svalue2; // Save old value
unit2old = unit2; // Save old unit
}
// Optical warning by limit violation (unused)
// Optical warning by limit violation
if(String(flashLED) == "Limit Violation"){
setBlinkingLED(false);
setPortPin(OBP_FLASH_LED, false);
// Limits for roll
if(value1*360/(2*PI) > -1*rolllimit && value1*360/(2*PI) < rolllimit){
setBlinkingLED(false);
setPortPin(OBP_FLASH_LED, false);
}
else{
setBlinkingLED(true);
}
}
// Logging boat values
@ -203,12 +218,14 @@ public:
}
}
// Draw keel position pointer
float startwidth = 8; // Start width of pointer
// Draw mast position pointer
float startwidth = 8; // Start width of pointer
value1 = (2 * pi ) - value1; // Mirror coordiante system for pointer, keel and boat
if(valid1 == true || holdvalues == true || simulation == true){
float sinx=sin((2 * pi) - (value1 + pi));
float cosx=cos((2 * pi) - (value1 + pi));
float sinx=sin(value1 + pi);
float cosx=cos(value1 + pi);
// Normal pointer
// Pointer as triangle with center base 2*width
float xx1 = -startwidth;
@ -236,23 +253,23 @@ public:
// Center circle
display.fillCircle(200, 150, startwidth + 22, bgcolor);
display.fillCircle(200, 150, startwidth + 20, pixelcolor); // Boat circle
int x0 = 200 + 10*cos((2 * pi) - value1);
int y0 = 150 + 10*sin((2 * pi) - value1);
int x1 = x0 + 50*cos((2 * pi) - value1);
int y1 = y0 + 50*sin((2 * pi) - value1);
int x2 = x0 + 50*cos((2 * pi) - value1 - pi/2);
int y2 = y0 + 50*sin((2 * pi) - value1 - pi/2);
display.fillTriangle(x0, y0, x1, y1, x2, y2, bgcolor); // Clear half top side of circle (right triangle)
x1 = x0 + 50*cos((2 * pi) - value1 + pi);
y1 = y0 + 50*sin((2 * pi) - value1 + pi);
display.fillTriangle(x0, y0, x1, y1, x2, y2, bgcolor); // Clear half top side of circle (left triangle)
int x0 = 200;
int y0 = 150;
int x1 = x0 + 50*cos(value1);
int y1 = y0 + 50*sin(value1);
int x2 = x0 + 50*cos(value1 - pi/2);
int y2 = y0 + 50*sin(value1 - pi/2);
display.fillTriangle(x0, y0, x1, y1, x2, y2, bgcolor); // Clear half top side of boat circle (right triangle)
x1 = x0 + 50*cos(value1 + pi);
y1 = y0 + 50*sin(value1 + pi);
display.fillTriangle(x0, y0, x1, y1, x2, y2, bgcolor); // Clear half top side of boat circle (left triangle)
display.fillRect(150, 160, 100, 4, pixelcolor); // Water line
// Draw roll pointer
startwidth = 4; // Start width of pointer
if(valid1 == true || holdvalues == true || simulation == true){
float sinx=sin((2 * pi) - value1); // Roll
float cosx=cos((2 * pi) - value1);
float sinx=sin(value1); // Roll
float cosx=cos(value1);
// Normal pointer
// Pointer as triangle with center base 2*width
float xx1 = -startwidth;

42
lib/obp60task/config.json
View File

@ -446,6 +446,48 @@
"obp60":"true"
}
},
{
"name": "rollLimit",
"label": "Roll Limit",
"type": "number",
"default": "40",
"check": "checkMinMax",
"min": -90,
"max": 90,
"description": "Limit violation for roll angle [-90°...+90°]",
"category": "OBP60 Hardware",
"capabilities": {
"obp60":"true"
}
},
{
"name": "rollOffset",
"label": "Roll Offset",
"type": "number",
"default": "0",
"check": "checkMinMax",
"min": -45,
"max": 45,
"description": "Roll offset angle [-45°...+45°]",
"category": "OBP60 Hardware",
"capabilities": {
"obp60":"true"
}
},
{
"name": "pitchOffset",
"label": "Pitch Offset",
"type": "number",
"default": "0",
"check": "checkMinMax",
"min": -45,
"max": 45,
"description": "Pitch offset angle [-45°...+45°]",
"category": "OBP60 Hardware",
"capabilities": {
"obp60":"true"
}
},
{
"name": "useTempSensor",
"label": "Temp. Sensor",