mirror of https://github.com/espruino/BangleApps
724 lines
18 KiB
JavaScript
724 lines
18 KiB
JavaScript
/*
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Speed and Altitude [speedalt]
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Mike Bennett mike[at]kereru.com
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1.00 : Use new GPS settings module
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1.01 : 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 = '1.02g';
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const BANGLEJS2 = process.env.HWVERSION==2;
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const screenH = g.getHeight();
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const screenH_Half = screenH / 2;
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const screenH_Third = screenH / 3;
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const screenH_TwoThirds = screenH * 2 / 3;
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const screenW = g.getWidth();
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const screenW_Half = screenW / 2;
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const fontFactorB2 = 2/3;
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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(screenW,screenH_TwoThirds,2,{msb:true});
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if (!BANGLEJS2)
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require("Font7x11Numeric7Seg").add(Graphics); // Load fonts
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var lf = {fix:0,satellites:0};
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var showMax = 0; // 1 = display the max values. 0 = display the cur fix
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var pwrSav = 1; // 1 = default power saving with watch screen off and GPS to PMOO mode. 0 = screen kept on.
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var canDraw = 1;
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var time = ''; // Last time string displayed. Re displayed in background colour to remove before drawing new time.
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var tmrLP; // Timer for delay in switching to low power after screen turns off
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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" || process.env.BOARD=="EMSCRIPTEN2")?1:0; // 1 = running in emulator. Supplies test values;
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var wp = {}; // Waypoint to use for distance from cur position.
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//var SATinView = 0;
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function nxtWp(inc){
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cfg.wp+=inc;
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loadWp();
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}
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function loadWp() {
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var w = require("waypoints").load();
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if (cfg.wp>=w.length) cfg.wp=0;
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if (cfg.wp<0) cfg.wp = w.length-1;
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savSettings();
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wp = w[cfg.wp];
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}
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function radians(a) {
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return a*Math.PI/180;
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}
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function distance(a,b){
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var x = radians(a.lon-b.lon) * Math.cos(radians((a.lat+b.lat)/2));
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var y = radians(b.lat-a.lat);
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// Distance in selected units
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var d = Math.sqrt(x*x + y*y) * 6371000;
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d = (d/parseFloat(cfg.dist)).toFixed(2);
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if ( d >= 100 ) d = parseFloat(d).toFixed(1);
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if ( d >= 1000 ) d = parseFloat(d).toFixed(0);
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return d;
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}
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function drawFix(dat) {
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if (!canDraw) return;
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buf.clear();
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var v = '';
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var u='';
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// Primary Display
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v = (cfg.primSpd)?dat.speed.toString():dat.alt.toString();
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// Primary Units
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u = (cfg.primSpd)?cfg.spd_unit:dat.alt_units;
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drawPrimary(v,u);
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// Secondary Display
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v = (cfg.primSpd)?dat.alt.toString():dat.speed.toString();
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// Secondary Units
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u = (cfg.primSpd)?dat.alt_units:cfg.spd_unit;
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drawSecondary(v,u);
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// Time
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drawTime();
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// Waypoint name
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drawWP();
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//Sats
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if ( dat.age > 10 ) {
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if ( dat.age > 90 ) dat.age = '>90';
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drawSats('Age:'+dat.age);
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}
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else drawSats('Sats:'+dat.sats);
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/* else if (!BANGLEJS2) {
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drawSats('Sats:'+dat.sats);
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} else {
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if (lf.fix) {
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if(emulator)console.log("fix "+lf.fix);
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drawSats('Sats:'+dat.sats);
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} else {
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if(emulator)console.log("inView: "+SATinView);
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drawSats('View:' + SATinView);
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}
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}
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*/
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g.reset();
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g.drawImage(img,0,40);
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}
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function drawClock() {
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if (!canDraw) return;
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buf.clear();
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drawTime();
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drawWP();
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g.reset();
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g.drawImage(img,0,40);
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}
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function drawPrimary(n,u) {
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if(emulator)console.log("drawPrimary: " + n +" "+ u);
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// Primary Display
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var s=40; // Font size
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var l=n.length;
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if ( l <= 7 ) s=48;
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if ( l <= 6 ) s=55;
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if ( l <= 5 ) s=66;
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if ( l <= 4 ) s=85;
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if ( l <= 3 ) s=110;
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buf.setFontAlign(0,-1); //Centre
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buf.setColor(1);
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if (BANGLEJS2) s *= fontFactorB2;
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buf.setFontVector(s);
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buf.drawString(n,screenW_Half-10,0);
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// Primary Units
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s = 35; // Font size
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buf.setFontAlign(1,-1,3); //right
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buf.setColor(2);
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if (BANGLEJS2) s = 20;
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buf.setFontVector(s);
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buf.drawString(u,screenW-30,0);
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}
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function drawSecondary(n,u) {
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if(emulator)console.log("drawSecondary: " + n +" "+ u);
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var xu = 180; // units X position
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var l=n.length;
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if ( l <= 5 ) xu = 155;
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if ( l <= 4 ) xu = 125;
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if ( l <= 3 ) xu = 100;
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if ( l <= 2 ) xu = 65;
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if ( l <= 1 ) xu = 35;
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buf.setFontAlign(-1,1); //left, bottom
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buf.setColor(1);
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var s = 45; // Font size
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if (BANGLEJS2) s *= fontFactorB2;
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buf.setFontVector(s);
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buf.drawString(n,5,screenH_TwoThirds-20);
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// Secondary Units
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buf.setFontAlign(-1,1); //left, bottom
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buf.setColor(2);
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s = 30; // Font size
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if (BANGLEJS2) s *= fontFactorB2;
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buf.setFontVector(s);
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buf.drawString(u,xu - (BANGLEJS2*xu/5),screenH_TwoThirds-25);
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}
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function drawTime() {
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var x, y;
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if ( cfg.modeA == 2 ) {
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x = screenW_Half;
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y = 0;
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buf.setFontAlign(0,-1);
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buf.setFontVector(screenH_Third);
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}
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else {
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x = 0;
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y = screenH_TwoThirds;
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buf.setFontAlign(-1,1);
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if (!BANGLEJS2)
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buf.setFont("7x11Numeric7Seg", 2);
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else
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buf.setFont("6x8", 2);
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}
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buf.setColor(0);
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buf.drawString(time,x,y);
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time = require("locale").time(new Date(),1);
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buf.setColor(3);
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buf.drawString(time,x,y);
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}
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function drawWP() { // from waypoints.json - see README.md
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var nm = wp.name;
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if ( nm == undefined || nm == 'NONE' || cfg.modeA ==1 ) nm = '';
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if (emulator) nm="waypoint";
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buf.setColor(2);
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var s = 20; // Font size
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if ( cfg.modeA == 0 ) { // dist mode
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if(emulator)console.log("drawWP() 0: "+nm);
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buf.setFontAlign(-1,1); //left, bottom
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if (BANGLEJS2) s *= fontFactorB2;
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buf.setFontVector(s);
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buf.drawString(nm.substring(0,6),72,screenH_TwoThirds-(BANGLEJS2 * 15));
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}
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if ( cfg.modeA == 2 ) { // clock/large mode
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if(emulator)console.log("drawWP() 2: "+nm);
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s = 55; // Font size
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buf.setFontAlign(0,1); //left, bottom
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if (BANGLEJS2) s *= fontFactorB2;
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buf.setFontVector(s);
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buf.drawString(nm.substring(0,6),screenW_Half,screenH_TwoThirds-(BANGLEJS2 * 20));
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}
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}
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function drawSats(sats) {
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buf.setColor(3);
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buf.setFont("6x8", 2);
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buf.setFontAlign(1,1); //right, bottom
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buf.drawString(sats,screenW,screenH_TwoThirds);
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s = 30; // Font size
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if (BANGLEJS2) s = 18;
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buf.setFontVector(s);
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buf.setColor(2);
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if ( cfg.modeA == 1 ) {
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buf.drawString('A',screenW,140-(BANGLEJS2 * 40));
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if ( showMax ) {
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buf.setFontAlign(0,1); //centre, bottom
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buf.drawString('MAX',screenW_Half,screenH_TwoThirds + 4);
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}
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}
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if ( cfg.modeA == 0 ) buf.drawString('D',screenW,140-(BANGLEJS2 * 40));
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}
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function onGPS(fix) {
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if ( emulator ) {
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fix.fix = 1;
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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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var sp = '---';
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var al = '---';
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var di = '---';
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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 (BANGLEJS2 && !emulator) Bangle.removeListener('GPS-raw', onGPSraw);
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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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m = require("locale").speed(lf.speed).match(/([0-9,\.]+)(.*)/); // regex splits numbers from units
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sp = parseFloat(m[1]);
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cfg.spd_unit = m[2];
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}
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else sp = parseFloat(lf.speed)/parseFloat(cfg.spd); // Calculate for selected units
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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.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.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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if (isNaN(di)) di = 0;
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// Age of last fix (secs)
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age = Math.max(0,Math.round(getTime())-(lf.time.getTime()/1000));
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}
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if ( cfg.modeA == 1 ) {
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if ( showMax )
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drawFix({
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speed:max.spd,
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sats:lf.satellites,
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alt:max.alt,
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alt_units:cfg.alt_unit,
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age:age,
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fix:lf.fix
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}); // Speed and alt maximums
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else
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drawFix({
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speed:sp,
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sats:lf.satellites,
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alt:al,
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alt_units:cfg.alt_unit,
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age:age,
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fix:lf.fix
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}); // Show speed/altitude
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}
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if ( cfg.modeA == 0 ) {
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// Show speed/distance
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if ( di <= 0 )
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drawFix({
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speed:sp,
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sats:lf.satellites,
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alt:'',
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alt_units:'',
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age:age,
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fix:lf.fix
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}); // No WP selected
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else
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drawFix({
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speed:sp,
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sats:lf.satellites,
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alt:di,
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alt_units:cfg.dist_unit,
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age:age,
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fix:lf.fix
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});
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}
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if ( cfg.modeA == 2 ) {
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// Large clock
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drawClock();
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}
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}
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function btn1press(longpress) {
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|
if(emulator) console.log("Btn1, long="+longpress);
|
|
if ( cfg.modeA == 1 ) { // Spd+Alt mode - Switch between fix and MAX
|
|
if ( !longpress ) showMax = !showMax; // Short press toggle fix/max display
|
|
else { max.spd = 0; max.alt = 0; } // Long press resets max values.
|
|
}
|
|
else nxtWp(1); // Spd+Dist or Clock mode - Select next waypoint
|
|
onGPS(lf);
|
|
}
|
|
function btn2press(){
|
|
if(emulator) console.log("Btn2");
|
|
pwrSav=!pwrSav;
|
|
if ( pwrSav ) {
|
|
LED1.reset();
|
|
var s = require('Storage').readJSON('setting.json',1)||{};
|
|
var t = s.timeout||10;
|
|
Bangle.setLCDTimeout(t);
|
|
}
|
|
else {
|
|
Bangle.setLCDTimeout(0);
|
|
Bangle.setLCDPower(1);
|
|
LED1.set();
|
|
}
|
|
}
|
|
function btn3press(){
|
|
if(emulator) console.log("Btn3");
|
|
cfg.modeA = cfg.modeA+1;
|
|
if ( cfg.modeA > 2 ) cfg.modeA = 0;
|
|
if(emulator)console.log("cfg.modeA="+cfg.modeA);
|
|
savSettings();
|
|
onGPS(lf);
|
|
}
|
|
function btn4press(){
|
|
if(emulator) console.log("Btn4");
|
|
cfg.primSpd = !cfg.primSpd;
|
|
savSettings();
|
|
onGPS(lf); // Update display
|
|
}
|
|
|
|
|
|
function setButtons(){
|
|
if (!BANGLEJS2) { // Buttons for Bangle.js 1
|
|
setWatch(function(e) {
|
|
btn1press(( e.time - e.lastTime) > 2); // > 2 sec. is long press
|
|
}, BTN1, { edge:"falling",repeat:true});
|
|
|
|
// Power saving on/off (red dot visible if off)
|
|
setWatch(btn2press, BTN2, {repeat:true,edge:"falling"});
|
|
|
|
// Toggle between alt or dist
|
|
setWatch(btn3press, BTN3, {repeat:true,edge:"falling"});
|
|
|
|
// Touch left screen to toggle display
|
|
setWatch(btn4press, BTN4, {repeat:true,edge:"falling"});
|
|
|
|
} else { // Buttons for Bangle.js 2
|
|
setWatch(function(e) {
|
|
btn1press(( e.time - e.lastTime) > 0.4); // > 0.4 sec. is long press
|
|
}, BTN1, { edge:"falling",repeat:true});
|
|
|
|
Bangle.on('touch', function(btn_l_r, e) {
|
|
if(e.x < screenW_Half) btn4press();
|
|
else
|
|
if (e.y < screenH_Half)
|
|
btn2press();
|
|
else
|
|
btn3press();
|
|
});
|
|
}
|
|
}
|
|
|
|
|
|
function updateClock() {
|
|
if (!canDraw) return;
|
|
drawTime();
|
|
g.reset();
|
|
g.drawImage(img,0,40);
|
|
if ( emulator ) {max.spd++;max.alt++;}
|
|
}
|
|
|
|
function startDraw(){
|
|
canDraw=true;
|
|
setLpMode('SuperE'); // off
|
|
g.clear();
|
|
Bangle.drawWidgets();
|
|
onGPS(lf); // draw app screen
|
|
}
|
|
|
|
function stopDraw() {
|
|
canDraw=false;
|
|
if (!tmrLP) tmrLP=setInterval(function () {if (lf.fix) setLpMode('PSMOO');}, 10000); //Drop to low power in 10 secs. Keep lp mode off until we have a first fix.
|
|
}
|
|
|
|
function savSettings() {
|
|
require("Storage").write('speedalt.json',cfg);
|
|
}
|
|
|
|
function setLpMode(m) {
|
|
if (tmrLP) {clearInterval(tmrLP);tmrLP = false;} // Stop any scheduled drop to low power
|
|
if ( !gpssetup ) return;
|
|
gpssetup.setPowerMode({power_mode:m});
|
|
}
|
|
|
|
// =Main Prog
|
|
|
|
// Read settings.
|
|
let cfg = require('Storage').readJSON('speedalt.json',1)||{};
|
|
|
|
cfg.spd = cfg.spd||0; // Multiplier for speed unit conversions. 0 = use the locale values for speed
|
|
cfg.spd_unit = cfg.spd_unit||'km/h'; // Displayed speed unit
|
|
cfg.alt = cfg.alt||1;// Multiplier for altitude unit conversions. (feet:'0.3048')
|
|
cfg.alt_unit = cfg.alt_unit||'meter'; // Displayed altitude units ('feet')
|
|
cfg.dist = cfg.dist||1000;// Multiplier for distnce unit conversions.
|
|
cfg.dist_unit = cfg.dist_unit||'km'; // Displayed altitude units
|
|
cfg.colour = cfg.colour||0; // Colour scheme.
|
|
cfg.wp = cfg.wp||0; // Last selected waypoint for dist
|
|
cfg.modeA = cfg.modeA||1; // 0 = [D]ist, 1 = [A]ltitude, 2 = [C]lock
|
|
cfg.primSpd = cfg.primSpd||1; // 1 = Spd in primary, 0 = Spd in secondary
|
|
|
|
cfg.spdFilt = cfg.spdFilt==undefined?true:cfg.spdFilt;
|
|
cfg.altFilt = cfg.altFilt==undefined?true:cfg.altFilt;
|
|
|
|
if ( cfg.spdFilt ) var spdFilter = new KalmanFilter({R: 0.1 , Q: 1 });
|
|
if ( cfg.altFilt ) var altFilter = new KalmanFilter({R: 0.01, Q: 2 });
|
|
|
|
loadWp();
|
|
|
|
/*
|
|
Colour Pallet Idx
|
|
0 : Background (black)
|
|
1 : Speed/Alt
|
|
2 : Units
|
|
3 : Sats
|
|
*/
|
|
const background = 0; // g.theme.bg = 0xFFFF = gelb!?
|
|
var img = {
|
|
width:buf.getWidth(),
|
|
height:buf.getHeight(),
|
|
bpp:2,
|
|
buffer:buf.buffer,
|
|
palette:new Uint16Array([background,0x4FE0,0xEFE0,0x07DB]) // "Default"
|
|
};
|
|
|
|
if ( cfg.colour == 1 ) img.palette = new Uint16Array([background,0xFFFF,0xFFF6,0xDFFF]); // "Hi contrast"
|
|
if ( cfg.colour == 2 ) img.palette = new Uint16Array([background,0xFF800,0xFAE0,0xF813]); // "Night"
|
|
|
|
var SCREENACCESS = {
|
|
withApp:true,
|
|
request:function(){this.withApp=false;stopDraw();},
|
|
release:function(){this.withApp=true;startDraw();}
|
|
};
|
|
|
|
Bangle.on('lcdPower',function(on) {
|
|
if (!SCREENACCESS.withApp) return;
|
|
if (on) startDraw();
|
|
else stopDraw();
|
|
});
|
|
|
|
|
|
var gpssetup;
|
|
try {
|
|
gpssetup = require("gpssetup");
|
|
} catch(e) {
|
|
gpssetup = false;
|
|
}
|
|
|
|
// All set up. Lets go.
|
|
g.clear();
|
|
onGPS(lf);
|
|
Bangle.setGPSPower(1);
|
|
|
|
if ( gpssetup ) {
|
|
gpssetup.setPowerMode({power_mode:"SuperE"}).then(function() { Bangle.setGPSPower(1); });
|
|
}
|
|
else {
|
|
Bangle.setGPSPower(1);
|
|
}
|
|
|
|
Bangle.on('GPS', onGPS);
|
|
|
|
setButtons();
|
|
setInterval(updateClock, 10000);
|
|
Bangle.loadWidgets();
|
|
Bangle.drawWidgets();
|