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MAGFit: use full WMM2025 model with date and altitude #373

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MAGFit: use full WMM2025 model with date and altitude #373

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10 changes: 7 additions & 3 deletions MAGFit/index.html
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Original file line number Diff line number Diff line change
Expand Up @@ -77,16 +77,20 @@ <h1 style="text-align:center"><a href="" style="color: #000000; text-decoration:
</td>
<td style="width: 10px;"></td>
<td>
<fieldset style="width:200px;height:80px">
<fieldset style="width:200px;min-height:80px">
<legend>Location
<img id="TT" src="../images/question-circle.svg" style="width: 1em; vertical-align: bottom"
data-tippy-content='Location used to get the expected earth field from the World Magnetic Model. Filled in from the EKF origin or last position in the log, or from the AHRS_ORIGIN_LAT and AHRS_ORIGIN_LON parameters. If the log has no location, for example when flying without GPS, enter it here. The Calculate button must be clicked after any change of location.'
data-tippy-content='Location, altitude above sea level and date used to get the expected earth field from the World Magnetic Model (WMM2025). Location and altitude are filled in from the EKF origin or last position in the log, or from the AHRS_ORIGIN parameters. The date is taken from GPS time in the log, or is the current date if there is none. If the log has no location, for example when flying without GPS, enter it here. The Calculate button must be clicked after any change.'
data-tippy-maxWidth='750px'/>
</legend>
<label for="Lat">Latitude</label>
<input id="Lat" name="Lat" type="number" min="-90" max="90" step="any" onchange="set_need_calc(true)" style="width:90px"/><br><br>
<label for="Lng">Longitude</label>
<input id="Lng" name="Lng" type="number" min="-180" max="180" step="any" onchange="set_need_calc(true)" style="width:90px"/>
<input id="Lng" name="Lng" type="number" min="-180" max="180" step="any" onchange="set_need_calc(true)" style="width:90px"/><br><br>
<label for="Alt">Altitude (m)</label>
<input id="Alt" name="Alt" type="number" step="any" value="0" onchange="set_need_calc(true)" style="width:70px"/><br><br>
<label for="Date">Date</label>
<input id="Date" name="Date" type="date" onchange="set_need_calc(true)"/>
</fieldset>
</td>
<td style="width: 10px;"></td>
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52 changes: 41 additions & 11 deletions MAGFit/magfit.js
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Original file line number Diff line number Diff line change
Expand Up @@ -788,23 +788,28 @@ function find_end_index(time) {
function update_earth_field() {
const Lat = parseFloat(document.getElementById("Lat").value)
const Lng = parseFloat(document.getElementById("Lng").value)
if (isNaN(Lat) || isNaN(Lng)) {
const Alt = parseFloat(document.getElementById("Alt").value)
const date = new Date(document.getElementById("Date").value)
if (isNaN(Lat) || isNaN(Lng) || isNaN(date.getTime())) {
return false
}
if ((earth_field != null) && (earth_field.Lat === Lat) && (earth_field.Lng === Lng)) {
const year = decimal_year(date)
if ((earth_field != null) && (earth_field.Lat === Lat) && (earth_field.Lng === Lng) && (earth_field.Alt === Alt) && (earth_field.year === year)) {
// No change
return true
}

const field = expected_earth_field_lat_lon(Lat, Lng)
const field = expected_earth_field(Lat, Lng, Alt, year)
if (field == null) {
return false
}
console.log("EF: " + field.vector[0] + ", " + field.vector[1] + ", " + field.vector[2] + " at Lat: " + Lat + " Lng: " + Lng)
console.log("EF: " + field.vector[0] + ", " + field.vector[1] + ", " + field.vector[2] + " at Lat: " + Lat + " Lng: " + Lng + " Alt: " + Alt + " Year: " + year)

earth_field = field
earth_field.Lat = Lat
earth_field.Lng = Lng
earth_field.Alt = Alt
earth_field.year = year

// Expected body frame field must be re-calculated
source = null
Expand All @@ -815,7 +820,7 @@ function update_earth_field() {
function calculate() {

if (!update_earth_field()) {
alert("Enter a valid latitude and longitude in the Location box")
alert("Enter a valid latitude, longitude and date in the Location box")
return
}

Expand Down Expand Up @@ -1685,28 +1690,48 @@ function calc_error(A, B) {
return ret
}

// Return latitude, longitude (deg) and altitude (m)
function extractLatLon(log, get_param) {
var Lat, Lng
var Lat, Lng, Alt
if (("ORGN" in log.messageTypes) && ("instances" in log.messageTypes.ORGN) && (0 in log.messageTypes.ORGN.instances)) {
const ORGN = log.get_instance("ORGN", 0)
Lat = ORGN.Lat[ORGN.Lat.length-1] * 10**-7
Lng = ORGN.Lng[ORGN.Lng.length-1] * 10**-7
return [Lat, Lng]
Alt = ORGN.Alt[ORGN.Alt.length-1]
return [Lat, Lng, Alt]
}
console.warn("no ORGN message found")
if ("POS" in log.messageTypes) {
const POS = log.get("POS")
Lat = POS.Lat[POS.Lat.length-1] * 10**-7
Lng = POS.Lng[POS.Lng.length-1] * 10**-7
return [Lat, Lng]
Alt = POS.Alt[POS.Alt.length-1]
return [Lat, Lng, Alt]
}
// Recorded origin params, zero if not set
const origin_lat = get_param("AHRS_ORIGIN_LAT")
const origin_lng = get_param("AHRS_ORIGIN_LON")
if ((origin_lat != null) && (origin_lng != null) && ((origin_lat != 0) || (origin_lng != 0))) {
return [origin_lat, origin_lng]
return [origin_lat, origin_lng, get_param("AHRS_ORIGIN_ALT")]
}
return [Lat, Lng, Alt]
}

// Get date of log from GPS time, returns undefined if there is no GPS time
function get_log_date(log) {
if (!("GPS" in log.messageTypes) || !("instances" in log.messageTypes.GPS)) {
return
}
for (const inst of Object.keys(log.messageTypes.GPS.instances)) {
const GWk = log.get_instance("GPS", inst, "GWk")
const GMS = log.get_instance("GPS", inst, "GMS")
for (let i = 0; i < GWk.length; i++) {
if (GWk[i] > 0) {
// GPS epoch is 6 January 1980, ignore leap seconds as only the date is needed
return new Date(Date.UTC(1980, 0, 6) + (GWk[i] * 604800 * 1000) + GMS[i])
}
}
}
return [Lat, Lng]
}

// Enable/disable calculate and save params button
Expand Down Expand Up @@ -1988,10 +2013,15 @@ async function load(log_file) {
// Use origin msg
// Use last EKF origin for earth field
// If there is no location in the log it can be entered manually
var [Lat, Lng] = extractLatLon(log, get_param)
var [Lat, Lng, Alt] = extractLatLon(log, get_param)
earth_field = null
document.getElementById("Lat").value = (Lat != null) ? Lat : ""
document.getElementById("Lng").value = (Lng != null) ? Lng : ""
document.getElementById("Alt").value = (Alt != null) ? Math.round(Alt) : 0

// Date for magnetic model, use the current date if the log does not have GPS time
const log_date = get_log_date(log) || new Date()
document.getElementById("Date").value = log_date.toISOString().slice(0, 10)

// Workout which attitude source to use, Note that this is not clever enough to deal with primary changing in flight
const EKF_TYPE = get_param("AHRS_EKF_TYPE")
Expand Down
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