speedandcurrent 1.7.1 → 1.7.3

package/index.js

@@ -45,6 +45,9 @@ module.exports = function (app) {
     showStatistics: false
   };
 
+  const isReadyAndFresh = (input) => !!input && input.ready === true && !input.stale;
+
+
   function readOptions() {
     const stored = app.readPluginOptions();
     const raw = stored && stored.configuration ? stored.configuration : (stored || {});
@@ -358,6 +361,14 @@ module.exports = function (app) {
     noCurrent.ySmoother.reset(0,0);
     PolarSmoother.send(app, plugin.id, [noCurrent]);
 
+    MessageHandler.setMeta(app, plugin.id, 'navigation.leewayAngle', {
+      units: 'rad',
+      description: 'Leeway Angle',
+      displayUnits: {
+        category: 'angle'
+      }
+    });
+
 
     // boat speed — STW magnitude is optionally forwarded; leeway angle passOn is always false
     const rawBoatSpeedPolar = new Polar(app, plugin.id, 'boatSpeed');
@@ -529,25 +540,22 @@ module.exports = function (app) {
    */
   function correct(wellUnderway) {
     // prepare iteration
+    if (!isReadyAndFresh(rawAttitude) || !isReadyAndFresh(rawBoatSpeed) || !isReadyAndFresh(rawHeading)) return;
     const heel = rawAttitude.value?.roll;
     const speed = rawBoatSpeed.magnitude;
     const theta = rawHeading.value;
     //app.debug(`Heel: ${SI.toDegrees(heel).toFixed(1)}°, Speed: ${SI.toKnots(speed).toFixed(2)} kn, Heading: ${SI.toDegrees(theta).toFixed(1)}°`);
-    if (!Number.isFinite(heel) || !Number.isFinite(speed) || !Number.isFinite(theta)) {
-      //app.debug("Invalid input data");
-      return;
-    }
-
+    
     correctedBoatSpeed.copyFrom(rawBoatSpeed);
     speedCorrection.setVectorValue({ x: 0, y: 0 }) ;
-    if (speed > 0 && !rawAttitude.stale ) {
+    if (speed > 0 ) {
       const { correction, variance } = table.getCorrection(speed, heel);
       speedCorrection.setVectorValue(correction, variance);
       correctedBoatSpeed.add(speedCorrection);
     }
     Polar.send(app, plugin.id, [correctedBoatSpeed]);
     // estimate current
-    if (wellUnderway && !rawGroundSpeed.stale) {
+    if (wellUnderway && isReadyAndFresh(rawGroundSpeed)) {
       boatSpeedRefGround.copyFrom(correctedBoatSpeed);
       boatSpeedRefGround.rotate(theta);
       rawCurrent.copyFrom(rawGroundSpeed);
@@ -568,15 +576,14 @@ module.exports = function (app) {
    * @param {number} [minSpeed=0] - The minimum speed threshold (in SI units) required to update the correction table.
    */
   function updateTable(assumeCurrent = false, minSpeed = 0) {
+    if (!isReadyAndFresh(smoothedAttitude) || !isReadyAndFresh(smoothedBoatSpeed) || !isReadyAndFresh(smoothedHeading) || !isReadyAndFresh(smoothedGroundSpeed)) return;
     // prepare iteration
     const heel = smoothedAttitude.value.roll;
     const speed = smoothedBoatSpeed.magnitude;
     const theta = smoothedHeading.value;
 
-    if (!Number.isFinite(heel) || !Number.isFinite(speed) || !Number.isFinite(theta)) return;
-
-    // update correction table
-    if (speed > minSpeed && !smoothedAttitude.stale && !smoothedHeading.stale  && !smoothedGroundSpeed.stale) {
+        // update correction table
+    if (speed > minSpeed ) {
       table.update(speed, heel, smoothedGroundSpeed, assumeCurrent ? smoothedCurrent : noCurrent, smoothedBoatSpeed, theta);
     }
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "speedandcurrent",
-  "version": "1.7.1",
+  "version": "1.7.3",
   "description": "A plugin that automatically corrects boat speed and calculates current and leeway using sensor fusion.",
   "main": "index.js",
   "scripts": {
@@ -31,7 +31,7 @@
   },
   "dependencies": {
     "kalman-filter": "^2.3.0",
-    "signalkutilities": "^1.8.0"
+    "signalkutilities": "^1.9.1"
   },
   "files": [
     "index.js",