rename IMU Monitor to Attitude Monitor

Author: semuadmin

README.md

@@ -181,7 +181,7 @@ For more comprehensive installation instructions, please refer to [INSTALLATION.
 ---
 | Widget | To show or hide the various widgets, go to Menu..View and click on the relevant hide/show option. |
 |---------------------------|---------------------------------------------------------------------------------------------------|
-|![banner widget](https://github.com/semuconsulting/PyGPSClient/blob/master/images/banner_widget.png?raw=true)| Expandable banner showing key navigation status information based on messages received from receiver. To expand or collapse the banner or serial port configuration widgets, click the ![expand icon](https://github.com/semuconsulting/PyGPSClient/blob/master/src/pygpsclient/resources/iconmonstr-arrow-80-16.png?raw=true)/![expand icon](https://github.com/semuconsulting/PyGPSClient/blob/master/src/pygpsclient/resources/iconmonstr-triangle-1-16.png?raw=true) buttons. **NB**: some fields (e.g. hdop/vdop, hacc/vacc) are only available from proprietary NMEA or UBX messages and may not be output by default. The minimum messages required to populate all available fields are: NMEA: GGA, GSA, GSV, RMC, UBX00 (proprietary); UBX: NAV-DOP, NAV-PVT, NAV-SAT; UNI: BESTNAV, SATSINFO, STADOP |
+|![banner widget](https://github.com/semuconsulting/PyGPSClient/blob/master/images/banner_widget.png?raw=true)| Expandable banner showing key navigation status information based on messages received from receiver. To expand or collapse the banner or serial port configuration widgets, click the ![expand icon](https://github.com/semuconsulting/PyGPSClient/blob/master/src/pygpsclient/resources/iconmonstr-arrow-80-16.png?raw=true)/![expand icon](https://github.com/semuconsulting/PyGPSClient/blob/master/src/pygpsclient/resources/iconmonstr-triangle-1-16.png?raw=true) buttons. Ordinarily 'track:' represents heading of motion (aka course over ground), but the field will display 'hdg:' where static heading (yaw) is available. **NB**: some fields (e.g. hdop/vdop, hacc/vacc) are only available from proprietary NMEA or UBX messages and may not be output by default. The minimum messages required to populate all available fields are: NMEA: GGA, GSA, GSV, RMC, UBX00 (proprietary); UBX: NAV-DOP, NAV-PVT, NAV-SAT; UNI: BESTNAV, SATSINFO, STADOP. |
 |![console widget](https://github.com/semuconsulting/PyGPSClient/blob/master/images/console_widget.png?raw=true)| Configurable serial console widget showing incoming GNSS data streams in either parsed, binary or tabular hexadecimal formats. Double-right-click to copy contents of console to the clipboard. The scroll behaviour and number of lines retained in the console can be configured via the settings panel. Supports user-configurable color tagging of selected strings for easy identification. Color tags are loaded from the `"colortag_b":` value (`0` = disable, `1` = enable) and `"colortags_l":` list (`[string, color]` pairs) in your json configuration file (see example provided). If color is set to "HALT", streaming will halt on any match and a warning displayed. NB: color tagging does impose a small performance overhead - turning it off will improve console response times at very high transaction rates.|
 |![skyview widget](https://github.com/semuconsulting/PyGPSClient/blob/master/images/skyview_widget.png?raw=true)| Skyview widget showing current satellite visibility and position (elevation / azimuth). Satellite icon borders are colour-coded to distinguish between different GNSS constellations. For consistency between NMEA and UBX data sources, will display GLONASS NMEA SVID (65-96) rather than slot (1-24). |
 |![levelsview widget](https://github.com/semuconsulting/PyGPSClient/blob/master/images/graphview_widget.png?raw=true)| Levels view widget showing current satellite carrier-to-noise (C/No) levels for each GNSS constellation. Double-click to toggle legend. Double-right-click to toggle levels where C/No = 0 dbHz. |
@@ -195,7 +195,7 @@ For more comprehensive installation instructions, please refer to [INSTALLATION.
 |![scatterplot widget](https://github.com/semuconsulting/PyGPSClient/blob/master/images/scatterplot_widget.png?raw=true)| Scatterplot widget showing variability in position reporting over time. (Optional) Enter fixed reference position. Select Average to center plot on dynamic average position (*displayed at top left*), or Fixed to center on fixed reference position (*if entered*). Check Autorange to set plot range automatically. Set the update interval (e.g. 4 = every 4th navigation solution). Use the range slider or mouse wheel to adjust plot range. Right-click to set fixed reference point to the current mouse cursor position. Double-click to clear the existing data. |
 |![rover widget](https://github.com/semuconsulting/PyGPSClient/blob/master/images/rover_widget.png?raw=true) | Rover widget plots the relative 2D position, track and status information for the roving receiver in a fixed or moving base / rover RTK configuration. Can also display relative position of NTRIP mountpoint and receiver in a static RTK configuration. Double-click to clear existing plot. |
 |![chart view](https://github.com/semuconsulting/PyGPSClient/blob/master/images/chart_widget.png?raw=true) | Chart widget acts as a multi-channel "plotter", allowing the user to plot a series of named numeric data attributes from any parsed GNSS data source, with configurable y (value) and x (time) axes. By default, the number of channels is set to 4, but this can be manually edited by the user via the json configuration file setting `chartsettings_d["numchn_n"]`. For each channel, user can select: (*optional*) identity of message source e.g. `NAV-PVT`; attribute name e.g. `hAcc`; scaling factor (divisor) e.g. 1000; y axis range e.g. 0 - 5. Wildcards are available for attribute groups - "\*" (average of group values), "+" (maximum of group values), "-" (minimum of group values) e.g. `cno*` will plot the average `cno` value for a group of satellites. Double-click to clear the existing data. Double-right-click to save the current chart data to the clipboard in CSV format, which can be directly pasted into a spreadsheet application. |
-|![IMU widget](https://github.com/semuconsulting/PyGPSClient/blob/master/images/imu_widget.png?raw=true) |  IMU (Inertial Management Unit) Monitor widget showing current orientation/attitude (roll, pitch, yaw) and status of IMU from any IMU/Dead Reckoning message source. Select range in degrees (from ±1 to ±180 degrees). |
+|![attitude widget](https://github.com/semuconsulting/PyGPSClient/blob/master/images/attitude_widget.png?raw=true) |  Attitude Monitor widget (*formerly "IMU Monitor"*) showing current orientation/attitude (roll, pitch, yaw *aka 'static heading'*) and status from a variety of IMU, Dead Reckoning, Dual Antenna or other 2D/3D attitude message sources. Select range in degrees (from ±1 to ±180 degrees). |
 
 ---
 ## <a name="ubxconfig">UBX Configuration Facilities</a>

RELEASE_NOTES.md

@@ -3,6 +3,7 @@
 ### RELEASE 1.6.9
 
 1. Add manually-editable `resizeable_dialog_b` configuration setting as a workaround for screen scaling issues on some platforms (e.g. Ubuntu Wayland). Fixes #250.
+1. IMU Monitor renamed to Attitude Monitor, and various internal enhancements including explicit display of NAV-PVT `headVehValid` status.
 
 ### RELEASE 1.6.8
 

docs/pygpsclient.rst

@@ -20,6 +20,14 @@ pygpsclient.app module
    :undoc-members:
    :show-inheritance:
 
+pygpsclient.attitude\_frame module
+----------------------------------
+
+.. automodule:: pygpsclient.attitude_frame
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
 pygpsclient.banner\_frame module
 --------------------------------
 
@@ -148,14 +156,6 @@ pygpsclient.importmap\_dialog module
    :undoc-members:
    :show-inheritance:
 
-pygpsclient.imu\_frame module
------------------------------
-
-.. automodule:: pygpsclient.imu_frame
-   :members:
-   :undoc-members:
-   :show-inheritance:
-
 pygpsclient.init\_presets module
 --------------------------------
 

images/imu_widget.png images/attitude_widget.pngimages/imu_widget.png renamed to images/attitude_widget.png

@@ -1,10 +1,10 @@
 """
-imu_frame.py
+attitude_frame.py
 
-IMU (Inertial Management Unit) frame class for PyGPSClient Application.
+Attitude (3D orientation) frame class for PyGPSClient Application.
 
 This show orientiation (Pitch, Roll, Yaw) and calibration status of
-any UBX or NMEA IMU source.
+a variety of sources.
 
 Created 23 March 2023
 
@@ -43,7 +43,7 @@
     WIDGETU2,
 )
 from pygpsclient.helpers import rgb2str, scale_font
-from pygpsclient.strings import DLGWAITIMU
+from pygpsclient.strings import DLGWAITATTITUDE
 
 OFFSETX = 5
 OFFSETY = 10
@@ -68,9 +68,9 @@
 OPTIONS = ("N/A",)
 
 
-class IMUFrame(Frame):
+class AttitudeFrame(Frame):
     """
-    IMU (Inertial Management Unit) frame class.
+    Attitude (3D orientation) frame class.
     """
 
     def __init__(self, app: Frame, parent: Frame, *args, **kwargs):
@@ -403,7 +403,7 @@ def _on_waiting(self):
         """
 
         if self._waiting:
-            self._canvas.create_alert(DLGWAITIMU, tags=TAG_WAIT)
+            self._canvas.create_alert(DLGWAITATTITUDE, tags=TAG_WAIT)
 
     def get_size(self) -> tuple:
         """

src/pygpsclient/imu_frame.py src/pygpsclient/attitude_frame.pysrc/pygpsclient/imu_frame.py renamed to src/pygpsclient/attitude_frame.py

@@ -453,6 +453,8 @@ def _update_track(self, units):
         else:
             self._lbl_spd.config(text=NA)
         track = self.__app.gnss_status.track
+        # ltrk = "  hdg:" if self.__app.gnss_status.headvehvalid else "  track:"
+        # self._lbl_ltrk.config(text=ltrk)
         if isinstance(track, (int, float)):
             self._lbl_trk.config(text=f"{track:05.1f} °")
         else:

src/pygpsclient/banner_frame.py

@@ -41,7 +41,8 @@ def reset(self):
         self.alt = 0.0  # height above sea level m
         self.hae = 0.0  # height above ellipsoid m
         self.speed = 0.0  # speed m/s
-        self.track = 0.0  # track degrees
+        self.track = 0.0  # track (heading of motion or course over ground) degrees
+        self.headvehvalid = 0  # 0 = heading of motion, 1 = static heading (yaw)
         self.fix = "NO FIX"  # fix type e.g. "3D"
         self.siv = 0  # satellites in view
         self.sip = 0  # satellites in position solution

src/pygpsclient/gnss_status.py

@@ -684,6 +684,21 @@ def get_units(units: str) -> tuple:
     return dst_u, dst_c, ele_u, ele_c, spd_u, spd_c
 
 
+def hdg2yaw(heading: float) -> float:
+    """
+    Convert heading (0 - 360) to yaw (-180 - 180)
+
+    :param float heading: heading in range 0 - 360
+    :return: yaw in range -180 to 180
+    :rtype: float
+    """
+
+    heading %= 360
+    if heading > 180:
+        heading -= 360
+    return heading
+
+
 def hsv2rgb(h: float, s: float, v: float) -> str:
     """
     Convert HSV values (in range 0-1) to RGB color string.

src/pygpsclient/helpers.py

@@ -25,7 +25,7 @@
 
 from pygpsclient.dialog_state import DLGTSERVER
 from pygpsclient.globals import SAT_EXPIRY, TKGN
-from pygpsclient.helpers import fix2desc, kmph2ms, knots2ms, svid2gnssid
+from pygpsclient.helpers import fix2desc, hdg2yaw, kmph2ms, knots2ms, svid2gnssid
 from pygpsclient.strings import DLGTNMEA, NA
 
 
@@ -152,6 +152,7 @@ def _process_RMC(self, data: NMEAMessage):
             self.__app.gnss_status.speed = knots2ms(data.spd)  # convert to m/s
         if data.cog != "":
             self.__app.gnss_status.track = data.cog
+        self.__app.gnss_status.headvehvalid = 0
 
     def _process_GGA(self, data: NMEAMessage):
         """
@@ -289,6 +290,7 @@ def _process_VTG(self, data: NMEAMessage):
         if data.sogk is not None:
             self.__app.gnss_status.speed = kmph2ms(data.sogk)  # convert to m/s
         self.__app.gnss_status.fix = fix2desc("VTG", data.posMode)
+        self.__app.gnss_status.headvehvalid = 0
         # only works for NMEA 4.10 and later...
         # self.__app.gnss_status.diff_corr = 1 if data.posMode == "D" else 0
 
@@ -518,7 +520,7 @@ def _process_IMU(self, data: NMEAMessage):
             ims["pitch"] = round(getattr(data, "pitch", 0), 4)
             ims["yaw"] = round(getattr(data, "yaw", 0), 4)
             if hasattr(data, "heading"):  # range 0 - 360
-                ims["yaw"] = round(data.heading - 180, 4)
+                ims["yaw"] = round(hdg2yaw(data.heading), 4)
             ims["status"] = str(getattr(data, "quality", ""))
         except (TypeError, KeyError, AttributeError):
             pass

src/pygpsclient/nmea_handler.py

@@ -10,6 +10,8 @@
 :license: BSD 3-Clause
 """
 
+# pylint: disable=use-implicit-booleaness-not-comparison
+
 from datetime import datetime, timezone
 from logging import getLogger
 from pathlib import Path
@@ -829,7 +831,7 @@ def _do_conversion(self, **kwargs):
             ]
             observer = self._observer.get()
             doi = self._doi.get()
-            license = self._license.get()
+            licen = self._license.get()
             station = self._station.get()
             comments = ["PyGPSClient RINEX Converter Dialog"]
             country = self._countrycode.get()
@@ -859,7 +861,7 @@ def _do_conversion(self, **kwargs):
                 comments=comments,
                 protfilter=protfilter,
                 doi=doi,
-                license=license,
+                license=licen,
                 station=station,
                 country=country,
                 **kwargs,