nujw
GitHub
commit
beec369bc2
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@ -2640,7 +2640,7 @@
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"name": "GPS Adventure Sports",
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"shortName":"GPS Adv Sport",
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"icon": "app.png",
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"version":"1.01",
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"version":"1.02",
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"description": "GPS speed, altitude and distance to waypoint display. Designed for easy viewing and use during outdoor activities such as para-gliding, hang-gliding, sailing, cycling etc.",
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"tags": "tool,outdoors",
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"type":"app",
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@ -3,8 +3,174 @@ Speed and Altitude [speedalt]
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Mike Bennett mike[at]kereru.com
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1.16 : Use new GPS settings module
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1.21 : Third mode large clock display
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1.02 : add smoothing with kalman filter
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*/
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var v = '1.24';
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var v = '1.02g';
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/*kalmanjs, Wouter Bulten, MIT, https://github.com/wouterbulten/kalmanjs */
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var KalmanFilter = (function () {
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'use strict';
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function _classCallCheck(instance, Constructor) {
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if (!(instance instanceof Constructor)) {
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throw new TypeError("Cannot call a class as a function");
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}
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}
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function _defineProperties(target, props) {
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for (var i = 0; i < props.length; i++) {
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var descriptor = props[i];
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descriptor.enumerable = descriptor.enumerable || false;
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descriptor.configurable = true;
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if ("value" in descriptor) descriptor.writable = true;
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Object.defineProperty(target, descriptor.key, descriptor);
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}
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}
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function _createClass(Constructor, protoProps, staticProps) {
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if (protoProps) _defineProperties(Constructor.prototype, protoProps);
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if (staticProps) _defineProperties(Constructor, staticProps);
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return Constructor;
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}
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/**
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* KalmanFilter
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* @class
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* @author Wouter Bulten
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* @see {@link http://github.com/wouterbulten/kalmanjs}
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* @version Version: 1.0.0-beta
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* @copyright Copyright 2015-2018 Wouter Bulten
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* @license MIT License
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* @preserve
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*/
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var KalmanFilter =
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/*#__PURE__*/
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function () {
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/**
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* Create 1-dimensional kalman filter
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* @param {Number} options.R Process noise
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* @param {Number} options.Q Measurement noise
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* @param {Number} options.A State vector
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* @param {Number} options.B Control vector
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* @param {Number} options.C Measurement vector
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* @return {KalmanFilter}
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*/
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function KalmanFilter() {
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var _ref = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {},
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_ref$R = _ref.R,
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R = _ref$R === void 0 ? 1 : _ref$R,
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_ref$Q = _ref.Q,
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Q = _ref$Q === void 0 ? 1 : _ref$Q,
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_ref$A = _ref.A,
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A = _ref$A === void 0 ? 1 : _ref$A,
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_ref$B = _ref.B,
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B = _ref$B === void 0 ? 0 : _ref$B,
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_ref$C = _ref.C,
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C = _ref$C === void 0 ? 1 : _ref$C;
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_classCallCheck(this, KalmanFilter);
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this.R = R; // noise power desirable
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this.Q = Q; // noise power estimated
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this.A = A;
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this.C = C;
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this.B = B;
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this.cov = NaN;
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this.x = NaN; // estimated signal without noise
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}
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/**
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* Filter a new value
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* @param {Number} z Measurement
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* @param {Number} u Control
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* @return {Number}
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*/
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_createClass(KalmanFilter, [{
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key: "filter",
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value: function filter(z) {
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var u = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : 0;
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if (isNaN(this.x)) {
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this.x = 1 / this.C * z;
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this.cov = 1 / this.C * this.Q * (1 / this.C);
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} else {
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// Compute prediction
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var predX = this.predict(u);
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var predCov = this.uncertainty(); // Kalman gain
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var K = predCov * this.C * (1 / (this.C * predCov * this.C + this.Q)); // Correction
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this.x = predX + K * (z - this.C * predX);
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this.cov = predCov - K * this.C * predCov;
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}
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return this.x;
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}
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/**
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* Predict next value
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* @param {Number} [u] Control
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* @return {Number}
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*/
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}, {
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key: "predict",
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value: function predict() {
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var u = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : 0;
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return this.A * this.x + this.B * u;
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}
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/**
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* Return uncertainty of filter
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* @return {Number}
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*/
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}, {
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key: "uncertainty",
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value: function uncertainty() {
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return this.A * this.cov * this.A + this.R;
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}
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/**
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* Return the last filtered measurement
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* @return {Number}
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*/
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}, {
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key: "lastMeasurement",
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value: function lastMeasurement() {
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return this.x;
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}
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/**
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* Set measurement noise Q
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* @param {Number} noise
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*/
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}, {
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key: "setMeasurementNoise",
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value: function setMeasurementNoise(noise) {
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this.Q = noise;
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}
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/**
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* Set the process noise R
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* @param {Number} noise
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*/
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}, {
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key: "setProcessNoise",
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value: function setProcessNoise(noise) {
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this.R = noise;
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}
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}]);
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return KalmanFilter;
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}();
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return KalmanFilter;
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}());
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var buf = Graphics.createArrayBuffer(240,160,2,{msb:true});
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// Load fonts
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@ -20,6 +186,7 @@ var tmrLP; // Timer for delay in switching to low power after screen
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var max = {};
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max.spd = 0;
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max.alt = 0;
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max.n = 0; // counter. Only start comparing for max after a certain number of fixes to allow kalman filter to have smoohed the data.
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var emulator = (process.env.BOARD=="EMSCRIPTEN")?1:0; // 1 = running in emulator. Supplies test values;
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@ -206,7 +373,7 @@ function drawSats(sats) {
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buf.setFontAlign(1,1); //right, bottom
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buf.drawString(sats,240,160);
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buf.setFontVector(40);
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buf.setFontVector(30);
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buf.setColor(2);
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if ( cfg.modeA == 1 ) {
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@ -223,13 +390,14 @@ function onGPS(fix) {
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if ( emulator ) {
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fix.fix = 1;
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fix.speed = 10;
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fix.alt = 354;
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fix.speed = 10 + (Math.random()*5);
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fix.alt = 354 + (Math.random()*50);
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fix.lat = -38.92;
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fix.lon = 175.7613350;
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fix.course = 245;
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fix.satellites = 12;
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fix.time = new Date();
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fix.smoothed = 0;
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}
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var m;
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@ -240,7 +408,17 @@ function onGPS(fix) {
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var age = '---';
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if (fix.fix) lf = fix;
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if (lf.fix) {
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if (lf.fix) {
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// Smooth data
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if ( lf.smoothed !== 1 ) {
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if ( cfg.spdFilt ) lf.speed = spdFilter.filter(lf.speed);
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if ( cfg.altFilt ) lf.alt = altFilter.filter(lf.alt);
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lf.smoothed = 1;
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if ( max.n <= 15 ) max.n++;
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}
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// Speed
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if ( cfg.spd == 0 ) {
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@ -252,12 +430,12 @@ function onGPS(fix) {
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if ( sp < 10 ) sp = sp.toFixed(1);
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else sp = Math.round(sp);
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if (parseFloat(sp) > parseFloat(max.spd) ) max.spd = parseFloat(sp);
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if (parseFloat(sp) > parseFloat(max.spd) && max.n > 15 ) max.spd = parseFloat(sp);
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// Altitude
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al = lf.alt;
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al = Math.round(parseFloat(al)/parseFloat(cfg.alt));
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if (parseFloat(al) > parseFloat(max.alt) ) max.alt = parseFloat(al);
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if (parseFloat(al) > parseFloat(max.alt) && max.n > 15 ) max.alt = parseFloat(al);
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// Distance to waypoint
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di = distance(lf,wp);
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@ -390,7 +568,7 @@ function savSettings() {
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function setLpMode(m) {
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if (tmrLP) {clearInterval(tmrLP);tmrLP = false;} // Stop any scheduled drop to low power
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if ( !gpssetup ) return;
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gpssetup.setPowerMode({power_mode:m})
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gpssetup.setPowerMode({power_mode:m});
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}
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// =Main Prog
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cfg.modeA = cfg.modeA||0; // 0 = [D]ist, 1 = [A]ltitude, 2 = [C]lock
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cfg.primSpd = cfg.primSpd||0; // 1 = Spd in primary, 0 = Spd in secondary
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cfg.spdFilt = cfg.spdFilt==undefined?true:cfg.spdFilt;
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cfg.altFilt = cfg.altFilt==undefined?true:cfg.altFilt;
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if ( cfg.spdFilt ) var spdFilter = new KalmanFilter({R: 0.1 , Q: 1 });
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if ( cfg.altFilt ) var altFilter = new KalmanFilter({R: 0.01, Q: 2 });
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loadWp();
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@ -29,13 +29,15 @@
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settings.colour = c;
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writeSettings();
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}
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const appMenu = {
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'': {'title': 'GPS Speed Alt'},
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'< Back': back,
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'< Load GPS Adv Sport': ()=>{load('speedalt.app.js');},
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'Units' : function() { E.showMenu(unitsMenu); },
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'Colours' : function() { E.showMenu(colMenu); }/*,
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'Colours' : function() { E.showMenu(colMenu); },
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'Kalman Filter' : function() { E.showMenu(kalMenu); }/*,
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'Vibrate' : {
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value : settings.buzz,
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format : v => v?"On":"Off",
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'Night' : function() { setColour(2); }
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};
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const kalMenu = {
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'': {'title': 'Kalman Filter'},
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'< Back': function() { E.showMenu(appMenu); },
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'Speed' : {
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value : settings.spdFilt,
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format : v => v?"On":"Off",
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onchange : () => { settings.spdFilt = !settings.spdFilt; writeSettings(); }
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},
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'Altitude' : {
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value : settings.altFilt,
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format : v => v?"On":"Off",
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onchange : () => { settings.altFilt = !settings.altFilt; writeSettings(); }
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}
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};
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E.showMenu(appMenu);
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})
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});
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