magnav: Outsource tilt compensation to library

apps/magnav/ChangeLog

@@ -2,6 +2,5 @@
 0.02: Course marker
 0.03: Tilt compensation and calibration
 0.04: Fix Font size
-0.05: Inital portable version 
-
-
+0.05: Initial portable version
+0.06: Outsource tilt compensation to library

apps/magnav/lib.js

@@ -0,0 +1,41 @@
+exports.calibrate = () => {
+  var max={x:-32000, y:-32000, z:-32000},
+      min={x:32000, y:32000, z:32000};
+  var ref = setInterval(()=>{
+      var m = Bangle.getCompass();
+      max.x = m.x>max.x?m.x:max.x;
+      max.y = m.y>max.y?m.y:max.y;
+      max.z = m.z>max.z?m.z:max.z;
+      min.x = m.x<min.x?m.x:min.x;
+      min.y = m.y<min.y?m.y:min.y;
+      min.z = m.z<min.z?m.z:min.z;
+  }, 100);
+  return new Promise((resolve) => {
+     setTimeout(()=>{
+       if(ref) clearInterval(ref);
+       var offset = {x:(max.x+min.x)/2,y:(max.y+min.y)/2,z:(max.z+min.z)/2};
+       var delta  = {x:(max.x-min.x)/2,y:(max.y-min.y)/2,z:(max.z-min.z)/2};
+       var avg = (delta.x+delta.y+delta.z)/3;
+       var scale = {x:avg/delta.x, y:avg/delta.y, z:avg/delta.z};
+       resolve({offset:offset,scale:scale});
+     },20000);
+  });
+}
+
+exports.tiltfixread = (O,S) => {
+  "ram"
+  var m = Bangle.getCompass();
+  var g = Bangle.getAccel();
+  m.dx =(m.x-O.x)*S.x; m.dy=(m.y-O.y)*S.y; m.dz=(m.z-O.z)*S.z;
+  var d = Math.atan2(-m.dx,m.dy)*180/Math.PI;
+  if (d<0) d+=360;
+  var phi = Math.atan(-g.x/-g.z);
+  var cosphi = Math.cos(phi), sinphi = Math.sin(phi);
+  var theta = Math.atan(-g.y/(-g.x*sinphi-g.z*cosphi));
+  var costheta = Math.cos(theta), sintheta = Math.sin(theta);
+  var xh = m.dy*costheta + m.dx*sinphi*sintheta + m.dz*cosphi*sintheta;
+  var yh = m.dz*sinphi - m.dx*cosphi;
+  var psi = Math.atan2(yh,xh)*180/Math.PI;
+  if (psi<0) psi+=360;
+  return psi;
+}

apps/magnav/magnav_b1.js

@@ -61,24 +61,7 @@ function newHeading(m,h){
 
 var candraw = false;
 var CALIBDATA = require("Storage").readJSON("magnav.json",1)||null;
-
-function tiltfixread(O,S){
-  "ram"
-  var m = Bangle.getCompass();
-  var g = Bangle.getAccel();
-  m.dx =(m.x-O.x)*S.x; m.dy=(m.y-O.y)*S.y; m.dz=(m.z-O.z)*S.z;
-  var d = Math.atan2(-m.dx,m.dy)*180/Math.PI;
-  if (d<0) d+=360;
-  var phi = Math.atan(-g.x/-g.z);
-  var cosphi = Math.cos(phi), sinphi = Math.sin(phi);
-  var theta = Math.atan(-g.y/(-g.x*sinphi-g.z*cosphi));
-  var costheta = Math.cos(theta), sintheta = Math.sin(theta);
-  var xh = m.dy*costheta + m.dx*sinphi*sintheta + m.dz*cosphi*sintheta;
-  var yh = m.dz*sinphi - m.dx*cosphi;
-  var psi = Math.atan2(yh,xh)*180/Math.PI;
-  if (psi<0) psi+=360;
-  return psi;
-}
+const tiltfixread = require("magnav").tiltfixread;
 
 // Note actual mag is 360-m, error in firmware
 function reading() {
@@ -97,30 +80,6 @@ function reading() {
   flip(buf,Yoff+80);
 }
 
-function calibrate(){
-  var max={x:-32000, y:-32000, z:-32000},
-      min={x:32000, y:32000, z:32000};
-  var ref = setInterval(()=>{
-      var m = Bangle.getCompass();
-      max.x = m.x>max.x?m.x:max.x;
-      max.y = m.y>max.y?m.y:max.y;
-      max.z = m.z>max.z?m.z:max.z;
-      min.x = m.x<min.x?m.x:min.x;
-      min.y = m.y<min.y?m.y:min.y;
-      min.z = m.z<min.z?m.z:min.z;
-  }, 100);
-  return new Promise((resolve) => {
-     setTimeout(()=>{
-       if(ref) clearInterval(ref);
-       var offset = {x:(max.x+min.x)/2,y:(max.y+min.y)/2,z:(max.z+min.z)/2};
-       var delta  = {x:(max.x-min.x)/2,y:(max.y-min.y)/2,z:(max.z-min.z)/2};
-       var avg = (delta.x+delta.y+delta.z)/3;
-       var scale = {x:avg/delta.x, y:avg/delta.y, z:avg/delta.z};
-       resolve({offset:offset,scale:scale});
-     },20000);
-  });
-}
-
 var calibrating=false;
 function docalibrate(first){
     calibrating=true;
@@ -139,7 +98,7 @@ function docalibrate(first){
           buf.drawString("Fig 8s to",120,0);
           buf.drawString("Calibrate",120,26);
           flip(buf,Yoff);
-          calibrate().then((r)=>{
+          require("magnav").calibrate().then((r)=>{
             CALIBDATA=r;
             require("Storage").write("magnav.json",r);
             restart()

apps/magnav/metadata.json

@@ -1,7 +1,7 @@
 {
   "id": "magnav",
   "name": "Navigation Compass",
-  "version": "0.05",
+  "version": "0.06",
   "description": "Compass with linear display as for GPSNAV. Has Tilt compensation and remembers calibration.",
   "screenshots": [{"url":"screenshot-b2.png"},{"url":"screenshot-light-b2.png"}],
   "icon": "magnav.png",
@@ -11,6 +11,7 @@
   "storage": [
     {"name":"magnav.app.js","url":"magnav_b1.js","supports":["BANGLEJS"]},
     {"name":"magnav.app.js","url":"magnav_b2.js","supports":["BANGLEJS2"]},
+    {"name":"magnav","url":"lib.js"},
     {"name":"magnav.img","url":"magnav-icon.js","evaluate":true}
   ],
   "data": [{"name":"magnav.json"}]

apps/waypointer/ChangeLog

@@ -5,3 +5,4 @@
 0.05: Fix not displaying of wpindex = 0
 0.06: Added adjustment for Bangle.js magnetometer heading fix
 0.07: Add settings file with the option to disable the slow direction updates
+0.08: Use tilt compensation from new magnav library

apps/waypointer/app.js

@@ -85,31 +85,22 @@ function newHeading(m,h){
 }
 
 var CALIBDATA = require("Storage").readJSON("magnav.json",1) || {};
-
-function tiltfixread(O,S){
-  var m = Bangle.getCompass();
-  if (O === undefined || S === undefined) {
-    // no valid calibration from magnav, use built in
-    return m.heading;
-  }
-  var g = Bangle.getAccel();
-  m.dx =(m.x-O.x)*S.x; m.dy=(m.y-O.y)*S.y; m.dz=(m.z-O.z)*S.z;
-  var d = Math.atan2(-m.dx,m.dy)*180/Math.PI;
-  if (d<0) d+=360;
-  var phi = Math.atan(-g.x/-g.z);
-  var cosphi = Math.cos(phi), sinphi = Math.sin(phi);
-  var theta = Math.atan(-g.y/(-g.x*sinphi-g.z*cosphi));
-  var costheta = Math.cos(theta), sintheta = Math.sin(theta);
-  var xh = m.dy*costheta + m.dx*sinphi*sintheta + m.dz*cosphi*sintheta;
-  var yh = m.dz*sinphi - m.dx*cosphi;
-  var psi = Math.atan2(yh,xh)*180/Math.PI;
-  if (psi<0) psi+=360;
-  return psi;
+let tiltfixread;
+try {
+  tiltfixread = require("magnav").tiltfixread;
+} catch(e) {
+  // magnav not installed
 }
 
 // Note actual mag is 360-m, error in firmware
 function read_compass() {
-  var d = tiltfixread(CALIBDATA.offset,CALIBDATA.scale);
+  let d;
+  if (tiltfixread === undefined || CALIBDATA.offset === undefined || CALIBDATA.scale === undefined) {
+    // magnav not installed or no valid calibration, use built in
+    d = Bangle.getCompass().heading;
+  } else {
+    d = tiltfixread(CALIBDATA.offset,CALIBDATA.scale);
+  }
   if (isNaN(d)) return; // built in compass heading can return NaN when uncalibrated
   heading = newHeading(d,heading);
   direction = wp_bearing - heading;
@@ -278,6 +269,9 @@ function doselect(){
      wp = waypoints[wpindex];
      require("waypoints").save(waypoints);
   }
+  if (selected) {
+    Bangle.resetCompass(); // reset built in compass when a waypoint is selected
+  }
   selected=!selected;
   drawN();
 }
@@ -294,6 +288,7 @@ Bangle.drawWidgets();
 // load widgets can turn off GPS
 Bangle.setGPSPower(1);
 Bangle.setCompassPower(1);
+Bangle.resetCompass() // reset built in compass on start in case we are not using tilt compensation
 drawAll();
 startTimers();
 Bangle.on('GPS', onGPS);

apps/waypointer/metadata.json

@@ -1,12 +1,12 @@
 {
   "id": "waypointer",
   "name": "Way Pointer",
-  "version": "0.07",
+  "version": "0.08",
   "description": "Navigate to a waypoint using the GPS for bearing and compass to point way, uses the same waypoint interface as GPS Navigation",
   "icon": "waypointer.png",
   "tags": "tool,outdoors,gps",
   "supports": ["BANGLEJS", "BANGLEJS2"],
-  "dependencies" : { "waypoints":"type" },
+  "dependencies" : { "waypoints":"type", "magnav" : "app" },
   "readme": "README.md",
   "storage": [
     {"name":"waypointer.app.js","url":"app.js"},