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Stratux automagic reverse PFD/AHRS roll orientation #59

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Stratux automagic reverse PFD/AHRS roll orientation #59

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d6f90fb
Update ahrs_message.dart
b-spatz Feb 27, 2025
542773a
Update message_factory.dart
b-spatz Feb 27, 2025
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7 changes: 5 additions & 2 deletions lib/gdl90/ahrs_message.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@ import 'package:avaremp/pfd_painter.dart';

import 'message.dart';

bool isStratux = false; // share state with message_factory.dart

class AhrsMessage extends Message {

double? aoa;
Expand Down Expand Up @@ -119,7 +121,8 @@ class AhrsMessage extends Message {
double num;
num = _combineBytesForFloat(m0, m1);
if (num != 0x7FFF) {
roll = num / 10;
// roll = num / 10;
roll = (isStratux == true) ? -(num / 10) : (num / 10); // reverse roll orientation
}
num = _combineBytesForFloat(m2, m3);
if (num != 0x7FFF) {
Expand Down Expand Up @@ -156,4 +159,4 @@ class AhrsMessage extends Message {
}
}
}
}
}
4 changes: 4 additions & 0 deletions lib/gdl90/message_factory.dart
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Expand Up @@ -26,6 +26,9 @@ class MessageFactory
switch (type) {
case MessageType.heartBeat:
break;
case MessageType.heartBeatStratux:
isStratux = true;
break;
case MessageType.uplink:
m = UplinkMessage(type);
case MessageType.ownShip:
Expand Down Expand Up @@ -96,6 +99,7 @@ class MessageFactory

class MessageType {
static const int heartBeat = 0x00;
static const int heartBeatStratux = 0xCC; // per https://github.com/cyoung/stratux/blob/master/notes/app-vendor-integration.md
static const int uplink = 0x07;
static const int ownShip = 0x0A;
static const int ownShipGeometricAltitude = 0x0B;
Expand Down