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IMU Norden kann kalibriert werden

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Eskimue
2026-05-28 19:52:01 +02:00
parent 948ced194b
commit 9609bb282f
3 changed files with 218 additions and 5 deletions
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gui/admin.html
+74 -1
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@@ -138,6 +138,24 @@
<span class="sr-key">RPY</span>
<strong id="imu_roll_pitch_yaw" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-blue"></span>
<span class="sr-key">Heading roh</span>
<strong id="imu_heading_raw" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-ok"></span>
<span class="sr-key">Heading korr.</span>
<strong id="imu_heading_corrected" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
<span class="sr-key">Nord-Offset</span>
<strong id="imu_heading_offset" class="sr-val">-</strong>
</div>
<div class="act-grid">
<button class="act-btn subtle full" onclick="setImuNorth()">Aktuelle Richtung als Norden setzen</button>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
<span class="sr-key">Hinweis</span>
@@ -942,6 +960,9 @@
magnetic: '--',
quaternion: '--',
rollPitchYaw: '--',
headingRawDeg: null,
headingCorrectedDeg: null,
headingOffsetDeg: 0,
error: '--',
lastDataAt: 0,
lastMagAt: 0,
@@ -1049,6 +1070,8 @@
imuRosState.magnetic = '--';
imuRosState.quaternion = '--';
imuRosState.rollPitchYaw = '--';
imuRosState.headingRawDeg = null;
imuRosState.headingCorrectedDeg = null;
imuRosState.error = 'Keine ROS-Verbindung';
imuRosState.lastDataAt = 0;
imuRosState.lastMagAt = 0;
@@ -1279,6 +1302,23 @@
'Yaw ' + Number(values[2]).toFixed(1) + '°';
}
function normalizeHeadingDeg(value) {
var heading = Number(value || 0) % 360;
if (heading < 0) heading += 360;
return heading;
}
function formatHeadingDeg(value) {
if (typeof value !== 'number' || isNaN(value)) return '--';
return normalizeHeadingDeg(value).toFixed(1).replace('.', ',') + '°';
}
function formatHeadingOffsetDeg(value) {
if (typeof value !== 'number' || isNaN(value)) return '--';
var prefix = value >= 0 ? '+' : '';
return prefix + Number(value).toFixed(1).replace('.', ',') + '°';
}
function renderImuRosState() {
var now = Date.now();
var dataFresh = imuRosState.lastDataAt && (now - imuRosState.lastDataAt) < 3000;
@@ -1307,6 +1347,9 @@
setText('imu_magnetic', magFresh ? imuRosState.magnetic : '--');
setText('imu_quaternion', dataFresh ? imuRosState.quaternion : '--');
setText('imu_roll_pitch_yaw', dataFresh ? imuRosState.rollPitchYaw : '--');
setText('imu_heading_raw', dataFresh ? formatHeadingDeg(imuRosState.headingRawDeg) : '--');
setText('imu_heading_corrected', dataFresh ? formatHeadingDeg(imuRosState.headingCorrectedDeg) : '--');
setText('imu_heading_offset', formatHeadingOffsetDeg(imuRosState.headingOffsetDeg));
setText('imu_error', error || '-');
}
@@ -2614,7 +2657,12 @@
Number(angularVelocity.z || 0)
], 'rad/s', 3);
imuRosState.quaternion = formatImuQuaternion(quaternion);
imuRosState.rollPitchYaw = formatRollPitchYaw(quaternionToEulerDeg(quaternion));
var eulerDeg = quaternionToEulerDeg(quaternion);
imuRosState.rollPitchYaw = formatRollPitchYaw(eulerDeg);
imuRosState.headingRawDeg = Array.isArray(eulerDeg) ? normalizeHeadingDeg(eulerDeg[2]) : null;
imuRosState.headingCorrectedDeg = Array.isArray(eulerDeg)
? normalizeHeadingDeg(eulerDeg[2] + Number(imuRosState.headingOffsetDeg || 0))
: null;
imuRosState.lastDataAt = Date.now();
if (!imuRosState.error || imuRosState.error === 'Keine ROS-Verbindung' || imuRosState.error === 'Noch keine frischen IMU-Daten') {
imuRosState.error = '';
@@ -2660,6 +2708,10 @@
function renderStatus(data) {
var system = data.system || {};
var services = data.services || {};
var imuHeading = data.imu_heading || {};
if (typeof imuHeading.offset_deg === 'number') imuRosState.headingOffsetDeg = imuHeading.offset_deg;
if (typeof imuHeading.raw_heading_deg === 'number') imuRosState.headingRawDeg = imuHeading.raw_heading_deg;
if (typeof imuHeading.corrected_heading_deg === 'number') imuRosState.headingCorrectedDeg = imuHeading.corrected_heading_deg;
setAdminStatus(data.status || 'Bereit');
setText('info_ips', system.ips);
setText('info_wifi', system.wifi);
@@ -2695,6 +2747,7 @@
setServiceState('camera_service_state', services.camera);
setServiceState('service_admin_api', services.admin_api);
setServiceState('service_exomy', services.exomy);
renderImuRosState();
}
async function fetchStatus() {
@@ -2733,6 +2786,26 @@
}
}
async function setImuNorth() {
if (!window.confirm('Rover jetzt wirklich sauber nach Norden ausgerichtet?')) return;
setAdminStatus('Speichere Nordrichtung...');
try {
var response = await fetch(adminApiBase + '/api/imu/set-north', { method: 'POST' });
var data = await response.json();
if (!response.ok) throw new Error(data.status || ('status ' + response.status));
var imuHeading = data.imu_heading || {};
if (typeof imuHeading.offset_deg === 'number') imuRosState.headingOffsetDeg = imuHeading.offset_deg;
if (typeof imuHeading.raw_heading_deg === 'number') imuRosState.headingRawDeg = imuHeading.raw_heading_deg;
if (typeof imuHeading.corrected_heading_deg === 'number') imuRosState.headingCorrectedDeg = imuHeading.corrected_heading_deg;
renderImuRosState();
setAdminStatus(data.status || 'Nordrichtung gespeichert');
window.setTimeout(fetchStatus, 500);
} catch (error) {
setAdminStatus('Nord-Kalibrierung fehlgeschlagen');
alert(error.message || 'Nordrichtung konnte nicht gespeichert werden.');
}
}
async function fetchDelay() {
try {
var response = await fetch(adminApiBase + '/api/delay');