Update README.md

Updated pi compatibility statement.

README.md

@@ -7,9 +7,7 @@
 RTL-SDR UAT tools
 
 
-Use with Raspberry Pi 3B. Do **not** use with the Raspberry Pi 3 _**B+**_.
-
-Raspberry Pi 2 with the Edimax EW-7811Un Wi-Fi dongle is supported but not recommended for new builds.
+Use with Raspberry Pi 3B. The 3B+ and Pi 4B will work but use a lot more power.
 
 Tested and works well with most common R820T and R820T2 RTL-SDR devices.
 
@@ -25,6 +23,7 @@ Apps with stratux recognition/support:
 * iFly GPS 9.4+.
 * DroidEFB 2.1.1+.
 * kwikEFIS
+* Pilots Atlas
 
 Tested weather/traffic displays:
 * Avare

goflying

@@ -1 +1 @@
-Subproject commit 0ba3e51be74b4848488e06ec0fee74ebaa7ef705
+Subproject commit 1da95360a858bfdc5af2b4e7d5caa66542f164e1

image/10-stratux.rules

@@ -43,3 +43,6 @@ SUBSYSTEMS=="usb", ATTRS{interface}=="Stratux Serialout", SYMLINK+="serialout%n"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{product}=="DIY SoftRF", SYMLINK+="softrf"
 # TTGO T-Beam (ESP32 with OTP CP2104 chip)
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{product}=="CP2104 USB to UART Bridge Controller", SYMLINK+="softrf"
+# Dongle Edition (LilyGO & SoftRF T-Motion. USB CDC ACM output)
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", SYMLINK+="softrf"
+# end of SoftRF section

image/dhcpd-smart.conf

@@ -0,0 +1,13 @@
+ddns-update-style none;
+default-lease-time 86400;	# 24 hours
+max-lease-time 172800;		# 48 hours
+authoritative;
+log-facility local7;
+subnet 192.168.10.0 netmask 255.255.255.0 {
+	range 192.168.10.10 192.168.10.50;
+	option broadcast-address 192.168.10.255;
+	default-lease-time 12000;
+	max-lease-time 12000;
+	option domain-name "stratux.local";
+	option domain-name-servers 4.2.2.2;
+}

main/gen_gdl90.go

@@ -295,18 +295,24 @@ func makeOwnshipReport() bool {
 	// See p.16.
 	msg[0] = 0x0A // Message type "Ownship".
 
-	msg[1] = 0x01 // Alert status, address type.
-
+	// Retrieve ICAO code from settings
 	code, _ := hex.DecodeString(globalSettings.OwnshipModeS)
-	if len(code) != 3 {
+
+	// Ownship Target Identify (see 3.5.1.2 of GDL-90 Specifications)
+	// First half of byte is 0 for Alert type of 'No Traffic Alert'
+	// Second half of byte is 0 for traffic type 'ADS-B with ICAO'
+	// Send 0x01 by default, unless ICAO is set, send 0x00
+	if (len(code) == 3 && code[0] != 0xF0 && code[0] != 0x00) {
+		msg[1] = 0x00 // ADS-B Out with ICAO
+		msg[2] = code[0] // Mode S address.
+		msg[3] = code[1] // Mode S address.
+		msg[4] = code[2] // Mode S address.
+	} else {
+		msg[1] = 0x01 // ADS-B Out with self-assigned code
 		// Reserved dummy code.
 		msg[2] = 0xF0
 		msg[3] = 0x00
 		msg[4] = 0x00
-	} else {
-		msg[2] = code[0] // Mode S address.
-		msg[3] = code[1] // Mode S address.
-		msg[4] = code[2] // Mode S address.
 	}
 
 	var tmp []byte
@@ -1097,6 +1103,7 @@ func getProductNameFromId(product_id int) string {
 }
 
 type settings struct {
+	DarkMode             bool
 	UAT_Enabled          bool
 	ES_Enabled           bool
 	Ping_Enabled         bool
@@ -1122,6 +1129,8 @@ type settings struct {
 	WiFiChannel          int
 	WiFiSecurityEnabled  bool
 	WiFiPassphrase       string
+	WiFiSmartEnabled     bool // "Smart WiFi" - disables the default gateway for iOS.
+	NoSleep              bool
 }
 
 type status struct {
@@ -1178,6 +1187,7 @@ var globalSettings settings
 var globalStatus status
 
 func defaultSettings() {
+	globalSettings.DarkMode = false
 	globalSettings.UAT_Enabled = true
 	globalSettings.ES_Enabled = true
 	globalSettings.GPS_Enabled = true
@@ -1196,6 +1206,7 @@ func defaultSettings() {
 	globalSettings.OwnshipModeS = "F00000"
 	globalSettings.DeveloperMode = false
 	globalSettings.StaticIps = make([]string, 0)
+	globalSettings.NoSleep = false
 }
 
 func readSettings() {
@@ -1306,6 +1317,14 @@ func saveWiFiUserSettings() {
 		fmt.Fprintf(writer, "wpa_passphrase=%s\n", globalSettings.WiFiPassphrase)
 	}
 	writer.Flush()
+
+	// "Smart WiFi". Just use one of two pre-made dhcpd config files.
+	dhcpd_config := "/etc/dhcp/dhcpd-not_smart.conf"
+	if globalSettings.WiFiSmartEnabled {
+		dhcpd_config = "/etc/dhcp/dhcpd-smart.conf"
+	}
+	os.Remove("/etc/dhcp/dhcpd.conf")
+	os.Symlink(dhcpd_config, "/etc/dhcp/dhcpd.conf")
 }
 
 func openReplay(fn string, compressed bool) (WriteCloser, error) {

main/managementinterface.go

@@ -271,6 +271,8 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
 				for key, val := range msg {
 					// log.Printf("handleSettingsSetRequest:json: testing for key:%s of type %s\n", key, reflect.TypeOf(val))
 					switch key {
+					case "DarkMode":
+						globalSettings.DarkMode = val.(bool)
 					case "UAT_Enabled":
 						globalSettings.UAT_Enabled = val.(bool)
 					case "ES_Enabled":
@@ -378,6 +380,9 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
 					case "WiFiPassphrase":
 						globalSettings.WiFiPassphrase = val.(string)
 						resetWiFi = true
+					case "WiFiSmartEnabled":
+						globalSettings.WiFiSmartEnabled = val.(bool)
+						resetWiFi = true
 					default:
 						log.Printf("handleSettingsSetRequest:json: unrecognized key:%s\n", key)
 					}

main/network.go

@@ -145,6 +145,9 @@ func getDHCPLeases() (map[string]string, error) {
 	 ***WARNING***: netMutex must be locked before calling this function.
 */
 func isSleeping(k string) bool {
+	if globalSettings.NoSleep == true {
+		return false
+	}
 	ipAndPort := strings.Split(k, ":")
 	// No ping response. Assume disconnected/sleeping device.
 	if lastPing, ok := pingResponse[ipAndPort[0]]; !ok || stratuxClock.Since(lastPing) > (10*time.Second) {

main/sensors.go

@@ -19,6 +19,12 @@ const (
 	numRetries uint8 = 5
 	calCLimit        = 0.15
 	calDLimit        = 10.0
+
+	// WHO_AM_I values to differentiate between the different IMUs.
+	MPUREG_WHO_AM_I     = 0x75
+	MPUREG_WHO_AM_I_VAL = 0x71 // Expected value.
+	ICMREG_WHO_AM_I     = 0x00
+	ICMREG_WHO_AM_I_VAL = 0xEA // Expected value.
 )
 
 var (
@@ -123,13 +129,36 @@ func tempAndPressureSender() {
 }
 
 func initIMU() (ok bool) {
-	imu, err := sensors.NewMPU9250()
-	if err == nil {
-		myIMUReader = imu
-		return true
+	// Check if the chip is the ICM-20948 or MPU-9250.
+	v, err := i2cbus.ReadByteFromReg(0x68, ICMREG_WHO_AM_I)
+	if err != nil {
+		log.Printf("Error identifying IMU: %s\n", err.Error())
+		return false
+	}
+	v2, err := i2cbus.ReadByteFromReg(0x68, MPUREG_WHO_AM_I)
+	if err != nil {
+		log.Printf("Error identifying IMU: %s\n", err.Error())
+		return false
 	}
 
-	// TODO westphae: try to connect to MPU9150 or other IMUs.
+	if v == ICMREG_WHO_AM_I_VAL {
+		log.Println("ICM-20948 detected.")
+		imu, err := sensors.NewICM20948(&i2cbus)
+		if err == nil {
+			myIMUReader = imu
+			return true
+		}
+	} else if v2 == MPUREG_WHO_AM_I_VAL {
+		log.Println("MPU-9250 detected.")
+		imu, err := sensors.NewMPU9250(&i2cbus)
+		if err == nil {
+			myIMUReader = imu
+			return true
+		}
+	} else {
+		log.Printf("Could not identify MPU. v=%02x, v2=%02x.\n", v, v2)
+		return false
+	}
 
 	return false
 }

selfupdate/makeupdate.sh

@@ -36,7 +36,8 @@ cp image/99-uavionix.rules work/bin/
 cp image/motd work/bin/
 cp image/stratux-wifi.sh work/bin/
 cp image/rc.local work/bin/
-cp image/dhcpd.conf work/bin/
+cp image/dhcpd-not_smart.conf work/bin/
+cp image/dhcpd-smart.conf work/bin/
 cp image/interfaces work/bin/
 cp image/logrotate.conf work/bin/
 cp image/logrotate_d_stratux work/bin/

selfupdate/update_footer.sh

@@ -87,7 +87,9 @@ cp -f ahrs_approx /usr/bin/
 chmod 755 /usr/bin/ahrs_approx
 
 # DHCPD Config.
-cp -f dhcpd.conf /etc/dhcp/dhcpd.conf
+cp -f dhcpd-not_smart.conf /etc/dhcp/
+cp -f dhcpd-smart.conf /etc/dhcp/
+ln -s /etc/dhcp/dhcpd-not_smart.conf /etc/dhcp/dhcpd.conf
 
 # Interfaces file.
 cp -f interfaces /etc/network/interfaces

sensors/icm20948.go

@@ -0,0 +1,98 @@
+// Package sensors provides a stratux interface to sensors used for AHRS calculations.
+package sensors
+
+import (
+	"../goflying/icm20948"
+	"github.com/kidoman/embd"
+)
+
+const (
+	gyroRange  = 250 // gyroRange is the default range to use for the Gyro.
+	accelRange = 4   // accelRange is the default range to use for the Accel.
+	updateFreq = 50  // updateFreq is the rate at which to update the sensor values.
+)
+
+// ICM20948 represents an InvenSense ICM-20948 attached to the I2C bus and satisfies
+// the IMUReader interface.
+type ICM20948 struct {
+	mpu *icm20948.ICM20948
+}
+
+// NewICM20948 returns an instance of the ICM-20948 IMUReader, connected to an
+// ICM-20948 attached on the I2C bus with either valid address.
+func NewICM20948(i2cbus *embd.I2CBus) (*ICM20948, error) {
+	var (
+		m   ICM20948
+		mpu *icm20948.ICM20948
+		err error
+	)
+
+	mpu, err = icm20948.NewICM20948(i2cbus, gyroRange, accelRange, updateFreq, true, false)
+	if err != nil {
+		return nil, err
+	}
+
+	// Set Gyro (Accel) LPFs to 25 Hz to filter out prop/glareshield vibrations above 1200 (1260) RPM
+	mpu.SetGyroLPF(25)
+	mpu.SetAccelLPF(25)
+
+	m.mpu = mpu
+	return &m, nil
+}
+
+// Read returns the average (since last reading) time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
+// error reading Gyro/Accel, and error reading Mag.
+func (m *ICM20948) Read() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
+	var (
+		data *icm20948.MPUData
+		i    int8
+	)
+	data = new(icm20948.MPUData)
+
+	for data.N == 0 && i < 5 {
+		data = <-m.mpu.CAvg
+		T = data.T.UnixNano()
+		G1 = data.G1
+		G2 = data.G2
+		G3 = data.G3
+		A1 = data.A1
+		A2 = data.A2
+		A3 = data.A3
+		M1 = data.M1
+		M2 = data.M2
+		M3 = data.M3
+		GAError = data.GAError
+		MAGError = data.MagError
+		i++
+	}
+	return
+}
+
+// ReadOne returns the most recent time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
+// error reading Gyro/Accel, and error reading Mag.
+func (m *ICM20948) ReadOne() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
+	var (
+		data *icm20948.MPUData
+	)
+	data = new(icm20948.MPUData)
+
+	data = <-m.mpu.C
+	T = data.T.UnixNano()
+	G1 = data.G1
+	G2 = data.G2
+	G3 = data.G3
+	A1 = data.A1
+	A2 = data.A2
+	A3 = data.A3
+	M1 = data.M1
+	M2 = data.M2
+	M3 = data.M3
+	GAError = data.GAError
+	MAGError = data.MagError
+	return
+}
+
+// Close stops reading the MPU.
+func (m *ICM20948) Close() {
+	m.mpu.CloseMPU()
+}

sensors/mpu9250.go

@@ -3,12 +3,13 @@ package sensors
 
 import (
 	"../goflying/mpu9250"
+	"github.com/kidoman/embd"
 )
 
 const (
-	gyroRange  = 250 // gyroRange is the default range to use for the Gyro.
-	accelRange = 4   // accelRange is the default range to use for the Accel.
-	updateFreq = 50  // updateFreq is the rate at which to update the sensor values.
+	mpu9250GyroRange  = 250 // mpu9250GyroRange is the default range to use for the Gyro.
+	mpu9250AccelRange = 4   // mpu9250AccelRange is the default range to use for the Accel.
+	mpu9250UpdateFreq = 50  // mpu9250UpdateFreq is the rate at which to update the sensor values.
 )
 
 // MPU9250 represents an InvenSense MPU9250 attached to the I2C bus and satisfies
@@ -19,14 +20,14 @@ type MPU9250 struct {
 
 // NewMPU9250 returns an instance of the MPU9250 IMUReader, connected to an
 // MPU9250 attached on the I2C bus with either valid address.
-func NewMPU9250() (*MPU9250, error) {
+func NewMPU9250(i2cbus *embd.I2CBus) (*MPU9250, error) {
 	var (
 		m   MPU9250
 		mpu *mpu9250.MPU9250
 		err error
 	)
 
-	mpu, err = mpu9250.NewMPU9250(gyroRange, accelRange, updateFreq, true, false)
+	mpu, err = mpu9250.NewMPU9250(i2cbus, mpu9250GyroRange, mpu9250AccelRange, mpu9250UpdateFreq, true, false)
 	if err != nil {
 		return nil, err
 	}

tools/ahrs_plot.go

@@ -1,87 +0,0 @@
-package main
-
-import (
-	"bufio"
-	"fmt"
-	"github.com/gonum/plot"
-	"github.com/gonum/plot/plotter"
-	"github.com/gonum/plot/plotutil"
-	"github.com/gonum/plot/vg"
-	"net/http"
-	"os"
-	"strconv"
-	"strings"
-	"time"
-)
-
-type XY struct {
-	X float64
-	Y float64
-}
-
-func imageWriter() {
-	for {
-		p, err := plot.New()
-		if err != nil {
-			panic(err)
-		}
-		p.Title.Text = "AHRS Plot"
-		p.X.Label.Text = "Roll"
-		p.Y.Label.Text = "Pitch"
-
-		file, err := os.Open("ahrs_table.log")
-		if err != nil {
-			panic(err)
-		}
-		defer file.Close()
-
-		scanner := bufio.NewScanner(file)
-
-		vals := make([]XY, 0)
-		for scanner.Scan() {
-			l := scanner.Text()
-			x := strings.Split(l, ",")
-			if len(x) < 3 {
-				continue
-			}
-			roll, err := strconv.ParseFloat(x[0], 64)
-			if err != nil {
-				continue
-			}
-			pitch, err := strconv.ParseFloat(x[1], 64)
-			if err != nil {
-				continue
-			}
-			v := XY{X: roll, Y: pitch}
-			vals = append(vals, v)
-		}
-		vals_XY := make(plotter.XYs, len(vals))
-		for i := 0; i < len(vals); i++ {
-			vals_XY[i].X = vals[i].X
-			vals_XY[i].Y = vals[i].Y
-		}
-		err = plotutil.AddScatters(p, "First", vals_XY)
-		if err != nil {
-			panic(err)
-		}
-		if err := p.Save(8*vg.Inch, 8*vg.Inch, "out.png"); err != nil {
-			panic(err)
-		}
-		time.Sleep(1000 * time.Millisecond)
-	}
-}
-
-func main() {
-	go imageWriter()
-	http.Handle("/", http.FileServer(http.Dir(".")))
-	err := http.ListenAndServe(":8080", nil)
-
-	if err != nil {
-		fmt.Printf("managementInterface ListenAndServe: %s\n", err.Error())
-	}
-
-	for {
-		time.Sleep(1 * time.Second)
-	}
-
-}

tools/ahrs_table.go

@@ -1,109 +0,0 @@
-package main
-
-import (
-	"encoding/hex"
-	"encoding/json"
-	"fmt"
-	"io/ioutil"
-	"net"
-	"net/http"
-	"os"
-	"sync"
-	"time"
-)
-
-const (
-	SITUATION_URL = "http://127.0.0.1/getSituation"
-)
-
-type MySituation struct {
-	AHRSRoll  float64
-	AHRSPitch float64
-}
-
-var Location MySituation
-
-var situationMutex *sync.Mutex
-
-func chkErr(err error) {
-	if err != nil {
-		fmt.Printf("error: %s\n", err.Error())
-		os.Exit(1)
-	}
-}
-
-var currentAHRSString string
-
-func listener() {
-	t := time.Now()
-	addr := net.UDPAddr{Port: 41504, IP: net.ParseIP("0.0.0.0")}
-	conn, err := net.ListenUDP("udp", &addr)
-	if err != nil {
-		fmt.Printf("error listening: %s\n", err.Error())
-		return
-	}
-	defer conn.Close()
-	for {
-		buf := make([]byte, 1024)
-		n, _, err := conn.ReadFrom(buf)
-		if err != nil {
-			fmt.Printf("Err receive: %s\n", err.Error())
-			continue
-		}
-		buf_encoded := make([]byte, hex.EncodedLen(n))
-		hex.Encode(buf_encoded, buf[:n])
-		t2 := time.Now()
-		time_diff := t2.Sub(t)
-		t = t2
-
-		fmt.Sprintf("%d,%s\n", time_diff/time.Millisecond, buf_encoded)
-		currentAHRSString = string(buf_encoded)
-	}
-}
-
-func situationUpdater() {
-	situationUpdateTicker := time.NewTicker(100 * time.Millisecond)
-	for {
-		<-situationUpdateTicker.C
-		situationMutex.Lock()
-
-		resp, err := http.Get(SITUATION_URL)
-		if err != nil {
-			fmt.Printf("HTTP GET error: %s\n", err.Error())
-			situationMutex.Unlock()
-			continue
-		}
-
-		body, err := ioutil.ReadAll(resp.Body)
-		if err != nil {
-			fmt.Printf("HTTP GET body error: %s\n", err.Error())
-			resp.Body.Close()
-			situationMutex.Unlock()
-			continue
-		}
-
-		//		fmt.Printf("body: %s\n", string(body))
-		err = json.Unmarshal(body, &Location)
-
-		if err != nil {
-			fmt.Printf("HTTP JSON unmarshal error: %s\n", err.Error())
-		}
-		resp.Body.Close()
-		situationMutex.Unlock()
-
-	}
-}
-
-func main() {
-	situationMutex = &sync.Mutex{}
-
-	go listener()
-	go situationUpdater()
-
-	tm := time.NewTicker(125 * time.Millisecond)
-	for {
-		<-tm.C
-		fmt.Printf("%f,%f,%s\n", Location.AHRSRoll, Location.AHRSPitch, currentAHRSString)
-	}
-
-}

tools/udp_listen.go

@@ -1,34 +0,0 @@
-package main
-
-import (
-	"encoding/hex"
-	"fmt"
-	"net"
-	"time"
-)
-
-func main() {
-	t := time.Now()
-	addr := net.UDPAddr{Port: 41504, IP: net.ParseIP("0.0.0.0")}
-	conn, err := net.ListenUDP("udp", &addr)
-	if err != nil {
-		fmt.Printf("ffMonitor(): error listening: %s\n", err.Error())
-		return
-	}
-	defer conn.Close()
-	for {
-		buf := make([]byte, 1024)
-		n, _, err := conn.ReadFrom(buf)
-		if err != nil {
-			fmt.Printf("Err receive: %s\n", err.Error())
-			continue
-		}
-		buf_encoded := make([]byte, hex.EncodedLen(n))
-		hex.Encode(buf_encoded, buf[:n])
-		t2 := time.Now()
-		time_diff := t2.Sub(t)
-		t = t2
-
-		fmt.Printf("%d,%s\n", time_diff/time.Millisecond, buf_encoded)
-	}
-}

tools/udp_replay.go

@@ -1,67 +0,0 @@
-package main
-
-import (
-	"bufio"
-	"encoding/hex"
-	"fmt"
-	"net"
-	"os"
-	"strconv"
-	"strings"
-	"time"
-)
-
-func main() {
-	if len(os.Args) < 2 {
-		fmt.Printf("%s: <file>\n", os.Args[0])
-		return
-	}
-
-	f, err := os.Open(os.Args[1])
-	if err != nil {
-		fmt.Printf("error: %s\n", err.Error())
-		return
-	}
-	defer f.Close()
-
-	scanner := bufio.NewScanner(f)
-
-	// Open a socket.
-	BROADCAST_IPv4 := net.IPv4(255, 255, 255, 255)
-
-	//	addr, _ := net.ResolveUDPAddr("udp", "192.168.10.10:41501")
-	//	laddr, _ := net.ResolveUDPAddr("udp", "192.168.10.1:58814")
-	//	conn, err := net.DialUDP("udp", laddr, addr)
-	conn, err := net.DialUDP("udp", nil, &net.UDPAddr{
-		IP:   BROADCAST_IPv4,
-		Port: 41504,
-	})
-
-	if err != nil {
-		fmt.Printf("DialUDP(): %s\n", err.Error())
-		return
-	}
-
-	for scanner.Scan() {
-		s := scanner.Text()
-		x := strings.Split(s, ",")
-		if len(x) < 2 {
-			continue
-		}
-		i, err := strconv.ParseInt(x[0], 10, 32)
-		if err != nil {
-			fmt.Printf("error parsing '%s': %s.\n", x[0], err.Error())
-			continue
-		}
-		buf := make([]byte, hex.DecodedLen(len(x[1])))
-		n, err := hex.Decode(buf, []byte(x[1]))
-		if err != nil {
-			fmt.Printf("error parsing '%s': %s.\n", x[1], err.Error())
-			continue
-		}
-
-		fmt.Printf("sleeping %dms, sending %s\n", i, x[1])
-		time.Sleep(time.Duration(i) * time.Millisecond)
-		conn.Write(buf[:n])
-	}
-}

web/css/dark-mode.css

@@ -0,0 +1,184 @@
+pre {
+	color: #9b9b9b;
+}
+
+.app-body,
+.panel-default,
+.scrollable-content,
+.form-group {
+	color: #9b9b9b;
+        background-color: #121212;
+}
+
+.help-page {
+	background-color: #121212;
+}
+
+a,
+.btn,
+.navbar-app .btn {
+	color: #1e88e5;
+}
+
+a:hover,
+a:focus,
+.btn:hover,
+.btn:focus,
+.navbar-app .btn:hover,
+.navbar-app .btn:focus {
+	color: #42a5f5;
+}
+
+.btn-primary {
+	color: #121212;
+	background-color: #1e88e5;
+	border-color: #1e88e5;
+}
+
+.btn-primary:hover {
+	color: #121212;
+	background-color: #42a5f5;
+	border-color: #42a5f5;
+}
+
+.btn-default {
+	color: #e0e0e0;
+	background-color: #343434;
+}
+
+.btn-default:hover {
+	background-color: #383838;
+}
+
+a.list-group-item,
+.list-group-item {
+	color: #e0e0e0;
+	border-color: #373737;
+	background-color: #242424;
+}
+
+a.list-group-item:hover,
+.list-group-item:hover {
+	text-decoration: none;
+	color: #e0e0e0;
+	background-color: #373737;
+}
+
+.list-group-item.active,
+.list-group-item.active:focus,
+.list-group-item.active:hover {
+	color: #121212;
+	background-color: #1e88e5;
+	border-color: #1e88e5;
+}
+
+.navbar-app {
+	background-color: #2d2d2d;
+	border-color: #373737;
+}
+
+.panel {
+	border-color: #373737;
+}
+
+.panel-default>.panel-heading {
+	color: #e0e0e0;
+	background-color: #2d2d2d;
+	border-color: #373737;
+}
+
+.panel-default>.panel-footer {
+	color: #e0e0e0;
+	background-color: #2d2d2d;
+	border-color: #373737;
+}
+
+.row-header {
+	background-color: #212121;
+}
+
+.separator {
+	border-bottom-color: #2d2d2d;
+}
+
+.sidebar-header,
+.app-name {
+	color: #e0e0e0;
+	background-color: #2d2d2d;
+	border-color: #373737;
+}
+
+.switch {
+	background-color: #2d2d2d;
+	border-color: #9b9b9b;
+}
+
+.switch .switch-handle {
+	background-color: #9b9b9b;
+	border-color: #9b9b9b;
+}
+
+.switch.active {
+	background-color: #1e88e5;
+	border-color: #1e88e5;
+}
+
+.text-primary {
+	color: #1e88e5;
+}
+
+.label-success {
+	color: #121212;
+	background-color: #4caf50;
+}
+
+.label-warning {
+	color: #121212;
+	background-color: #ffeb3b;
+}
+
+.label-danger {
+	color: #121212;
+	background-color: #f44336;
+}
+
+/* Input changes */
+input[type=text],
+input[type=number] {
+	color: #e0e0e0;
+	background-color: #212121;
+	border: 2px solid #2d2d2d;
+	border-radius: 4px;
+}
+
+input.ng-invalid:not(.grayout) {
+	color: #121212;
+}
+
+select {
+	color: #e0e0e0;
+	background-color: #212121;
+	border: 2px solid #2d2d2d;
+	border-radius: 4px;
+}
+
+/* Modal changes */
+.modal-content {
+	background-color: #343434;
+}
+
+.modal-header {
+	border-color: #9b9b9b;
+}
+
+.modal-title {
+	color: #e0e0e0;
+}
+
+.modal-body {
+	color: #9b9b9b;
+}
+
+.modal-footer {
+	border-color: #9b9b9b;
+}

web/css/main.css

@@ -262,6 +262,9 @@
 	width: 100%;
 }
 
+.row-header {
+	background-color: #f7f7f7;
+}
 
 /* ***************************************************************************
 everything below this comment represents tweaks to the mobile-angular-uis CSS

web/index.html

@@ -50,6 +50,7 @@
 
 	<link rel="stylesheet" href="css/main.css" />
 	<link rel="stylesheet" href="css/ahrs.css" />
+	<link rel="stylesheet" id="themeStylesheet" href="" />
 
 	<script src="maui/js/angular.min.js"></script>
 	<script src="maui/js/angular-ui-router.min.js"></script>

web/js/main.js

@@ -99,7 +99,23 @@ app.controller('MainCtrl', function ($scope, $http) {
     .then(function(response) {
 			var settings = angular.fromJson(response.data);
             $scope.DeveloperMode = settings.DeveloperMode;
+
+            // Update theme
+            $scope.updateTheme(settings.DarkMode);
     }, function(response) {
         //Second function handles error
     });	
+
+    $scope.updateTheme = function(darkMode) {
+        if(darkMode != $scope.DarkMode) {
+            // console.log("Updating theme, use dark mode?", darkMode);
+            $scope.DarkMode = darkMode;
+
+            if($scope.DarkMode) {
+                document.getElementById('themeStylesheet').href = 'css/dark-mode.css';
+            } else {
+                document.getElementById('themeStylesheet').href = '';
+            }
+        }
+    };
 });

web/plates/gps.html

@@ -83,7 +83,11 @@
     			</div>
 				<div class="row">
 					<span class="col-xs-6 text-center">{{gps_lat}}, {{gps_lon}} &plusmn; {{gps_horizontal_accuracy}} m <br>
-						{{gps_alt}} &plusmn; {{gps_vertical_accuracy}} ft  @ {{gps_vert_speed}} ft/min</span>
+						<b>Altitude MSL:</b> <br>
+						{{gps_alt}} &plusmn; {{gps_vertical_accuracy}} ft  @ {{gps_vert_speed}} ft/min <br>
+						<b>Height WGS-84 ellipsoid:</b> <br>
+						{{ gps_height_above_ellipsoid }} ft
+					</span>
 					<span class="col-xs-6 text-center">{{gps_track}}&deg; @ {{gps_speed}} KTS</span>
 				</div>
 			</div>

web/plates/js/gps.js

@@ -165,6 +165,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
         $scope.gps_lat = situation.GPSLatitude.toFixed(5); // result is string
         $scope.gps_lon = situation.GPSLongitude.toFixed(5); // result is string
         $scope.gps_alt = situation.GPSAltitudeMSL.toFixed(1);
+        $scope.gps_height_above_ellipsoid = situation.GPSHeightAboveEllipsoid.toFixed(1);
         $scope.gps_track = situation.GPSTrueCourse.toFixed(1);
         $scope.gps_speed = situation.GPSGroundSpeed.toFixed(1);
         $scope.gps_vert_speed = situation.GPSVerticalSpeed.toFixed(1);
@@ -172,6 +173,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
             $scope.gps_lat = "--";
             $scope.gps_lon = "--";
             $scope.gps_alt = "--";
+            $scope.gps_height_above_ellipsoid = "--";
             $scope.gps_track = "--";
             $scope.gps_speed = "--";
             $scope.gps_vert_speed = "--";

web/plates/js/settings.js

@@ -8,7 +8,7 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 	$scope.$parent.helppage = 'plates/settings-help.html';
 
 	var toggles = ['UAT_Enabled', 'ES_Enabled', 'Ping_Enabled', 'GPS_Enabled', 'IMU_Sensor_Enabled',
-		'BMP_Sensor_Enabled', 'DisplayTrafficSource', 'DEBUG', 'ReplayLog', 'AHRSLog'];
+		'BMP_Sensor_Enabled', 'DisplayTrafficSource', 'DEBUG', 'ReplayLog', 'AHRSLog', 'DarkMode'];
 	var settings = {};
 	for (var i = 0; i < toggles.length; i++) {
 		settings[toggles[i]] = undefined;
@@ -24,6 +24,9 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 			$scope.Baud = settings.SerialOutputs['/dev/serialout0'].Baud;
 			$scope.visible_serialout = true;
 		}
+
+		$scope.DarkMode = settings.DarkMode;
+
 		$scope.UAT_Enabled = settings.UAT_Enabled;
 		$scope.ES_Enabled = settings.ES_Enabled;
 		$scope.Ping_Enabled = settings.Ping_Enabled;
@@ -47,8 +50,12 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
         $scope.WiFiPassphrase = settings.WiFiPassphrase;
         $scope.WiFiSecurityEnabled = settings.WiFiSecurityEnabled;
         $scope.WiFiChannel = settings.WiFiChannel;
+        $scope.WiFiSmartEnabled = settings.WiFiSmartEnabled;
 
         $scope.Channels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11];
+
+		// Update theme
+		$scope.$parent.updateTheme($scope.DarkMode);
 	}
 
 	function getSettings() {
@@ -287,7 +294,8 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
                 "WiFiSSID" :  $scope.WiFiSSID,
                 "WiFiSecurityEnabled" : $scope.WiFiSecurityEnabled,
                 "WiFiPassphrase" : $scope.WiFiPassphrase,
-                "WiFiChannel" : parseInt($scope.WiFiChannel)
+                "WiFiChannel" : parseInt($scope.WiFiChannel),
+                "WiFiSmartEnabled": $scope.WiFiSmartEnabled
             };
 
             // console.log(angular.toJson(newsettings));

web/plates/settings.html

@@ -56,6 +56,21 @@
                 </div>
             </div>
         </div>
+<!-- App Theme -->
+        <div class="panel-group col-sm-12">
+            <div class="panel panel-default">
+                <div class="panel-heading">Theme</div>
+                <div class="panel-body">
+                    <!-- Dark Mode -->
+                    <div class="form-group">
+                        <label class="control-label col-xs-7">Dark Mode</label>
+                        <div class="col-xs-5">
+                            <ui-switch ng-model='DarkMode' settings-change></ui-switch>
+                        </div>
+                    </div>
+                </div>
+            </div>
+        </div>
     </div>
 <!-- End Left Col -->
 <!-- Begin Right Col -->
@@ -134,6 +149,12 @@
                             <select id="WiFiChannel" class="input-small col-sm-2 form-control-sm"
                                     ng-model="WiFiChannel" ng-options="x for x in Channels"></select>
                         </div>
+                        <div class="form-group reset-flow">
+                            <label class="control-label col-xs-7">Smart WiFi</label>
+                            <div class="col-xs-5">
+                                <ui-switch ng-model="WiFiSmartEnabled" settings-change></ui-switch>
+                            </div>
+                        </div>
                         <div class="form-group reset-flow">
                             <button class="btn btn-primary btn-block" ng-click="updateWiFi()">Submit WiFi Changes</button>
                         </div>
@@ -383,6 +404,7 @@
                         <p>WiFi Security: <b>{{WiFiSecurityEnabled}}</b></p>
                         <p>WiFi Passphrase: <b>{{WiFiPassphrase}}</b></p>
                         <p>WiFi Channel: <b>{{WiFiChannel}}</b></p>
+                        <p>Smart mode: <b>{{WiFiSmartEnabled}}</b></p>
                         <p>Your Stratux's WiFi services are now restarting to apply the new settings. This could take up to 30 seconds.<br/>
                            You might have to reconnect to your new WiFi SSID. </p>
                     </div>

web/plates/status.html

@@ -1,6 +1,6 @@
 <div class="col-sm-12">
 	<div class="text-center">
-		<a ng-click="VersionClick()" class="btn btn-hidden"<strong>Version: <span>{{Version}} ({{Build}})</span></strong></a>
+		<a ng-click="VersionClick()" class="btn btn-hidden"><strong>Version: <span>{{Version}} ({{Build}})</span></strong></a>
 	</div>
 	<div class="panel panel-default">
 		<div class="panel-heading">
@@ -56,10 +56,10 @@
 				</div>
 				<div class="row" ng-class="{'section_invisible': !visible_uat}">
 					<div class="col-sm-12">
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">Towers</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">METARS</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">TAFS</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">NEXRAD</span>
+						<span align="center" class="col-xs-3 row-header">Towers</span>
+						<span align="center" class="col-xs-3 row-header">METARS</span>
+						<span align="center" class="col-xs-3 row-header">TAFS</span>
+						<span align="center" class="col-xs-3 row-header">NEXRAD</span>
 					</div>
 				</div>
 				<div class="row" ng-class="{'section_invisible': !visible_uat}">
@@ -72,10 +72,10 @@
 				</div>
 				<div class="row" ng-class="{'section_invisible': !visible_uat}">
 					<div class="col-sm-12">
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">PIREP</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">SIGMET</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">NOTAMS</span>
-						<span align="center" style="background-color: #f7f7f7" class="col-xs-3">Other</span>
+						<span align="center" class="col-xs-3 row-header">PIREP</span>
+						<span align="center" class="col-xs-3 row-header">SIGMET</span>
+						<span align="center" class="col-xs-3 row-header">NOTAMS</span>
+						<span align="center" class="col-xs-3 row-header">Other</span>
 					</div>
 				</div>
 				<div class="row" ng-class="{'section_invisible': !visible_uat}">