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feature: add autopilot related 127237, 129284, 129283
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@tkurki
tkurki committed Jan 26, 2020
1 parent 2b48ee2 commit 0e01f2a
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240 changes: 240 additions & 0 deletions conversions/autopilot.js
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module.exports = (app, plugin) => {
return {
conversions: [
to129283_xte,
to127237_heading_track_control
]
}
}

const to129283_xte = {
pgn: 129283,
title: 'Cross Track Error (129283',
optionKey: 'xte',
keys: [
'navigation.courseRhumbline.crossTrackError'
],
callback: (XTE) => [{
pgn: 129283,
XTE,
"XTE mode": "Autonomous",
"Navigation Terminated": "No"
}]
}

/*
{
"PGN": 127237,
"Id": "headingTrackControl",
"Description": "Heading/Track control",
"Complete": false,
"Length": 21,
"RepeatingFields": 0,
"Fields": [
{
"Order": 1, "Id": "rudderLimitExceeded",
"Name": "Rudder Limit Exceeded",
"BitLength": 2, "BitOffset": 0, "BitStart": 0, "Signed": false
}, {
"Order": 2, "Id": "offHeadingLimitExceeded",
"Name": "Off-Heading Limit Exceeded",
"BitLength": 2, "BitOffset": 2, "BitStart": 2, "Signed": false
}, {
"Order": 3, "Id": "offTrackLimitExceeded",
"Name": "Off-Track Limit Exceeded",
"BitLength": 2, "BitOffset": 4, "BitStart": 4, "Signed": false
}, {
"Order": 4, "Id": "override",
"Name": "Override",
"BitLength": 2, "BitOffset": 6, "BitStart": 6, "Signed": false
}, {
"Order": 5, "Id": "steeringMode",
"Name": "Steering Mode",
"BitLength": 4, "BitOffset": 8, "BitStart": 0, "Signed": false
}, {
"Order": 6, "Id": "turnMode",
"Name": "Turn Mode",
"BitLength": 4, "BitOffset": 12, "BitStart": 4, "Signed": false
}, {
"Order": 7, "Id": "headingReference",
"Name": "Heading Reference",
"BitLength": 3, "BitOffset": 16, "BitStart": 0, "Signed": false
}, {
"Order": 8, "Id": "reserved",
"Name": "Reserved",
"BitLength": 3, "BitOffset": 19, "BitStart": 3,
"Type": "Binary data", "Signed": false
}, {
"Order": 9, "Id": "commandedRudderDirection",
"Name": "Commanded Rudder Direction",
"BitLength": 2, "BitOffset": 22, "BitStart": 6, "Signed": false
}, {
"Order": 10, "Id": "commandedRudderAngle",
"Name": "Commanded Rudder Angle",
"BitLength": 16, "BitOffset": 24, "BitStart": 0,
"Units": "rad", "Resolution": "0.0001", "Signed": true
}, {
"Order": 11, "Id": "headingToSteerCourse",
"Name": "Heading-To-Steer (Course)",
"BitLength": 16, "BitOffset": 40, "BitStart": 0,
"Units": "rad", "Resolution": "0.0001", "Signed": false
}, {
"Order": 12, "Id": "track",
"Name": "Track",
"BitLength": 16, "BitOffset": 56, "BitStart": 0,
"Units": "rad", "Resolution": "0.0001", "Signed": false
}, {
"Order": 13, "Id": "rudderLimit",
"Name": "Rudder Limit",
"BitLength": 16, "BitOffset": 72, "BitStart": 0,
"Units": "rad", "Resolution": "0.0001", "Signed": false
}, {
"Order": 14, "Id": "offHeadingLimit",
"Name": "Off-Heading Limit",
"BitLength": 16, "BitOffset": 88, "BitStart": 0,
"Units": "rad", "Resolution": "0.0001", "Signed": false
}, {
"Order": 15, "Id": "radiusOfTurnOrder",
"Name": "Radius of Turn Order",
"BitLength": 16, "BitOffset": 104, "BitStart": 0,
"Units": "rad", "Resolution": "0.0001", "Signed": true
}, {
"Order": 16, "Id": "rateOfTurnOrder",
"Name": "Rate of Turn Order",
"BitLength": 16, "BitOffset": 120, "BitStart": 0,
"Units": "rad/s", "Resolution": 3.125e-05, "Signed": true
}, {
"Order": 17, "Id": "offTrackLimit",
"Name": "Off-Track Limit",
"BitLength": 16, "BitOffset": 136, "BitStart": 0,
"Units": "m", "Signed": true
}, {
"Order": 18, "Id": "vesselHeading",
"Name": "Vessel Heading",
"BitLength": 16, "BitOffset": 152, "BitStart": 0,
"Units": "rad", "Resolution": "0.0001", "Signed": false
}]
}
*/
const to127237_heading_track_control = {
pgn: 127237,
title: 'Heading/Track control (127237)',
optionKey: 'trackcontrol',
keys: [
'steering.autopilot.target.headingTrue',
'navigation.courseRhumbline.bearingToDestinationTrue',
'navigation.courseRhumbline.bearingOriginToDestinationTrue'
],
callback: (steerToTrue, bearingToDest, bearingOriginToDest) => {
return [{
pgn: 127237,
"Course/Bearing reference": 0,
"Heading-To-Steer (Course)": steerToTrue,
"Bearing, Position to Destination Waypoint": bearingToDest,
"Bearing, Origin to Destination Waypoint": bearingOriginToDest
}]
}
}

/*
"PGN": 129284,
"Id": "navigationData",
"Description": "Navigation Data",
"Complete": true,
"Length": 34,
"RepeatingFields": 0,
"Fields": [
{
"Order": 1, "Id": "sid",
"Name": "SID",
"BitLength": 8, "BitOffset": 0, "BitStart": 0, "Signed": false
}, {
"Order": 2, "Id": "distanceToWaypoint",
"Name": "Distance to Waypoint",
"BitLength": 32, "BitOffset": 8, "BitStart": 0,
"Units": "m", "Resolution": "0.01", "Signed": false
}, {
"Order": 3, "Id": "courseBearingReference",
"Name": "Course/Bearing reference",
"BitLength": 2, "BitOffset": 40, "BitStart": 0,
"Type": "Lookup table", "Signed": false,
"EnumValues": [
{ "name": "True", "value": "0" },
{ "name": "Magnetic", "value": "1" }]
}, {
"Order": 4, "Id": "perpendicularCrossed",
"Name": "Perpendicular Crossed",
"BitLength": 2, "BitOffset": 42, "BitStart": 2,
"Type": "Lookup table", "Signed": false,
"EnumValues": [
{ "name": "No", "value": "0" },
{ "name": "Yes", "value": "1" }]
}, {
"Order": 5, "Id": "arrivalCircleEntered",
"Name": "Arrival Circle Entered",
"BitLength": 2, "BitOffset": 44, "BitStart": 4,
"Type": "Lookup table", "Signed": false,
"EnumValues": [
{ "name": "No", "value": "0" },
{ "name": "Yes", "value": "1" }]
}, {
"Order": 6, "Id": "calculationType",
"Name": "Calculation Type",
"BitLength": 2, "BitOffset": 46, "BitStart": 6,
"Type": "Lookup table", "Signed": false,
"EnumValues": [
{ "name": "Great Circle", "value": "0" },
{ "name": "Rhumb Line", "value": "1" }]
}, {
"Order": 7, "Id": "etaTime",
"Name": "ETA Time",
"Description": "Seconds since midnight",
"BitLength": 32, "BitOffset": 48, "BitStart": 0,
"Units": "s",
"Type": "Time", "Resolution": "0.0001", "Signed": false
}, {
"Order": 8, "Id": "etaDate",
"Name": "ETA Date",
"Description": "Days since January 1, 1970",
"BitLength": 16, "BitOffset": 80, "BitStart": 0,
"Units": "days",
"Type": "Date", "Resolution": 1, "Signed": false
}, {
"Order": 9, "Id": "bearingOriginToDestinationWaypoint",
"Name": "Bearing, Origin to Destination Waypoint",
"BitLength": 16, "BitOffset": 96, "BitStart": 0,
"Units": "rad", "Resolution": "0.0001", "Signed": false
}, {
"Order": 10, "Id": "bearingPositionToDestinationWaypoint",
"Name": "Bearing, Position to Destination Waypoint",
"BitLength": 16, "BitOffset": 112, "BitStart": 0,
"Units": "rad", "Resolution": "0.0001", "Signed": false
}, {
"Order": 11, "Id": "originWaypointNumber",
"Name": "Origin Waypoint Number",
"BitLength": 32, "BitOffset": 128, "BitStart": 0, "Signed": false
}, {
"Order": 12, "Id": "destinationWaypointNumber",
"Name": "Destination Waypoint Number",
"BitLength": 32, "BitOffset": 160, "BitStart": 0, "Signed": false
}, {
"Order": 13, "Id": "destinationLatitude",
"Name": "Destination Latitude",
"BitLength": 32, "BitOffset": 192, "BitStart": 0,
"Units": "deg",
"Type": "Latitude", "Resolution": "0.0000001", "Signed": true
}, {
"Order": 14, "Id": "destinationLongitude",
"Name": "Destination Longitude",
"BitLength": 32, "BitOffset": 224, "BitStart": 0,
"Units": "deg",
"Type": "Longitude", "Resolution": "0.0000001", "Signed": true
}, {
"Order": 15, "Id": "waypointClosingVelocity",
"Name": "Waypoint Closing Velocity",
"BitLength": 16, "BitOffset": 256, "BitStart": 0,
"Units": "m/s", "Resolution": "0.01", "Signed": true
}]
}
*/

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