Published October 21, 2020 © MIT

Wio Terminal Attitude Indicator

Attitude Indicator can perfectly work on the Wio terminal, there are displaying pitch, bank, and accel. （Author：プロフィール）

IntermediateShowcase (no instructions)5 hours2,365

Things used in this project

Hardware components

Seeed Studio Wio Terminal

Wio Terminal Battery Chassis

Software apps and online services

Arduino IDE

Story

Thanks to the original author プロフィール for his contribution to this article.

The attitude indicator of the airplane was successfully transplanted to wio terminal. The wio terminal build-in powerful accel to support to display high accuracy pitch, bank, and XYZ value, meanwhile, there is an electronic flight instrument that can according to you turn to different angles to display the way. Also, we can use it to simular a cockpit on a specific occasion.

Features

High accuracy data detect
High-performance display real-time electronic flight instrument

Get start

Hardware required

Software requited

You can follow below the link to download the Arduino IDE and learn more about Wio Terminal.

Wio terminalinformation andArduino IDE Download

Wio terminal library

Before you upload the code, you need to download the library to support the code.

install the LovyanGFX library
Install the LIS3DHTR library

If you do not know how to install the library please check here.

Instruction

If you first time uses Wio terminal, Please go to this link: Wio terminal gets start, there have clear guidelines.

Step1

Open the Arduino IDE -> Tools -> selet board: Wio terminal -> selet the current port.

Step 2

Copy the code stick on the Arduino IDE, then upload it. the attitude indicator will be displayed on the screen.

Step 3

Plug the Wio terminal battery chassis on the back of Wio terminal, it for easy to carry-on.

Wio terminal Attitude Indicator

#include"LIS3DHTR.h"
#include <LovyanGFX.hpp>
#include <math.h>

#define DARKGREEN24 0x38761DU
#define GREEN24 0x00FF00
#define RED24 0xFF0000U
#define YELLOW24 0xFFFF00U
#define WHITE24 0xFFFFFFU
#define BLACK24 0x000000U
#define ORANGE24 0xF1C232U
#define EARTH24 0xB45F06U
#define SKY24   0x0000FFU
#define DEARTH24 0xA55706U
#define DSKY24   0x0000DBU

#define pi 3.1415

LIS3DHTR<TwoWire> lis;
static LGFX lcd;
static LGFX_Sprite canvas(&lcd);   
static LGFX_Sprite bank(&canvas);  
static LGFX_Sprite pitch(&bank);   
static auto transpalette = 0;           
 
 
void setup() {
  Serial.begin(115200);
//   while (!Serial);
  lis.begin(Wire1);
 
  if (!lis) {
    Serial.println("ERROR");
    while(1);
  }
  lis.setOutputDataRate(LIS3DHTR_DATARATE_25HZ); //Data output rate
  lis.setFullScaleRange(LIS3DHTR_RANGE_2G); //Scale range set to 2g

  // Display set up
  lcd.init();
  lcd.setRotation(1);
  lcd.setBrightness(128);
//set color
  canvas.setColorDepth(16);
  bank.setColorDepth(16);
  pitch.setColorDepth(16);

//keep memory
  canvas.createSprite(180,180);
  bank.createSprite(180, 180);
  pitch.createSprite(140, 140);

// create parts
  canvas.fillScreen(transpalette);
  bank.fillScreen(transpalette);
  pitch.fillScreen(transpalette);
  
//Pitch sprite  
  pitch.fillArc(70,70,70,1,0,180,DEARTH24);
  pitch.fillArc(70,70,70,1,180,360,DSKY24);
  pitch.drawFastHLine(0,70,140,WHITE24);   //0
  pitch.drawFastHLine(30,30,80,WHITE24);   //20
  pitch.drawFastHLine(50,50,40,WHITE24);   //10
  pitch.drawFastHLine(55,60,30,WHITE24);   //5
  pitch.drawFastHLine(55,40,30,WHITE24);   //15

//Bank sprite
  pitch.setPivot(70,70);
  pitch.pushRotateZoom(90,90,0,1,1);

  bank.fillArc(90,90,90,70,0,180,EARTH24);
  bank.fillArc(90,90,90,70,180,360,SKY24);
  bank.fillTriangle(90,20,85,3,95,3,WHITE24);
  bank.drawFastHLine(0,90,20,WHITE24);
  bank.drawFastHLine(160,90,20,WHITE24);
  bank.drawLine(90-90.0*cos(30.0/180.0*pi),90-90.0*sin(30.0/180.0*pi),90-70.0*cos(30.0/180.0*pi),90-70.0*sin(30.0/180.0*pi),WHITE24);
  bank.drawLine(90-90.0*cos(60.0/180.0*pi),90-90.0*sin(60.0/180.0*pi),90-70.0*cos(60.0/180.0*pi),90-70.0*sin(60.0/180.0*pi),WHITE24);
  bank.drawLine(90-80.0*cos(70.0/180.0*pi),90-80.0*sin(70.0/180.0*pi),90-70.0*cos(70.0/180.0*pi),90-70.0*sin(70.0/180.0*pi),WHITE24);
  bank.drawLine(90-80.0*cos(80.0/180.0*pi),90-80.0*sin(80.0/180.0*pi),90-70.0*cos(80.0/180.0*pi),90-70.0*sin(80.0/180.0*pi),WHITE24);
  bank.fillTriangle(40,40,35,31,31,35,WHITE24);
  bank.drawLine(90+90.0*cos(30.0/180.0*pi),90-90.0*sin(30.0/180.0*pi),90+70.0*cos(30.0/180.0*pi),90-70.0*sin(30.0/180.0*pi),WHITE24);
  bank.drawLine(90+90.0*cos(60.0/180.0*pi),90-90.0*sin(60.0/180.0*pi),90+70.0*cos(60.0/180.0*pi),90-70.0*sin(60.0/180.0*pi),WHITE24);
  bank.drawLine(90+80.0*cos(70.0/180.0*pi),90-80.0*sin(70.0/180.0*pi),90+70.0*cos(70.0/180.0*pi),90-70.0*sin(70.0/180.0*pi),WHITE24);
  bank.drawLine(90+80.0*cos(80.0/180.0*pi),90-80.0*sin(80.0/180.0*pi),90+70.0*cos(80.0/180.0*pi),90-70.0*sin(80.0/180.0*pi),WHITE24);
  bank.fillTriangle(139,40,144,31,148,35,WHITE24);
  
  lcd.clear(); 
  bank.setPivot(90,90);
  bank.pushRotateZoom(90,90,0,1,1);
  
  canvas.drawTriangle(90,20,85,30,95,30,ORANGE24);
  canvas.drawCircle(90,90,5,RED24);
  canvas.drawFastHLine(30,90,50,ORANGE24);
  canvas.drawFastHLine(100,90,50,ORANGE24);
  canvas.drawFastVLine(80,90,5,ORANGE24);
  canvas.drawFastVLine(100,90,5,ORANGE24);
  canvas.drawCircle(90,90,70,BLACK24);

  canvas.pushSprite(70,30);
  
}

  int p_plot_x = 159, p_plot_y = 119;
  float px_values=0.0, py_values=0.0, pz_values=0.0;
  float px_angle=0, py_angle=0, pz_angle=0;   
    
void loop() {
  float x_values, y_values, z_values, x_angle, y_angle, z_angle;
  x_values = lis.getAccelerationX();
  y_values = lis.getAccelerationY();
  z_values = lis.getAccelerationZ();

  x_angle = 180.0/3.1415*asin(x_values);
  y_angle = 180.0/3.1415*asin(y_values);
  z_angle = 180.0/3.1415*asin(z_values);
/* 
  Serial.print("X: "); Serial.print(x_values);
  Serial.print(" Y: "); Serial.print(y_values);
  Serial.print(" Z: "); Serial.print(z_values);
  Serial.println();
*/

//pitch sprite
  pitch.fillRect(0,0,140,70+2*z_angle,DSKY24);
  pitch.fillRect(0,70+2*z_angle,140,140,DEARTH24);
  pitch.drawFastHLine(0,70+2*z_angle,140,WHITE24);   //0
  pitch.drawFastHLine(30,30+2*z_angle,80,WHITE24);   //20
  pitch.drawFastHLine(50,50+2*z_angle,40,WHITE24);   //10
  pitch.drawFastHLine(55,60+2*z_angle,30,WHITE24);   //5
  pitch.drawFastHLine(55,40+2*z_angle,30,WHITE24);   //15
  pitch.drawFastHLine(30,110+2*z_angle,80,BLACK24);   //20
  pitch.drawFastHLine(50,90+2*z_angle,40,BLACK24);   //10
  pitch.drawFastHLine(55,80+2*z_angle,30,BLACK24);   //5
  pitch.drawFastHLine(55,100+2*z_angle,30,BLACK24);   //15
  //pitch.fillArc(70,70,70,90,0,359,BLACK24);
  pitch.fillTriangle(0,0,41,0,0,41,BLACK24);   
  pitch.fillTriangle(140,0,99,0,140,41,BLACK24);  
  pitch.fillTriangle(140,140,140,99,99,140,BLACK24);  
  pitch.fillTriangle(0,140,41,140,0,99,BLACK24);   
  pitch.setTextSize(1);
  pitch.drawNumber(20,20,27+2*z_angle);  pitch.drawNumber(20,110,27+2*z_angle);
  pitch.drawNumber(10,20,47+2*z_angle);  pitch.drawNumber(10,110,47+2*z_angle);
  pitch.drawNumber(20,20,107+2*z_angle);  pitch.drawNumber(20,110,107+2*z_angle);
  pitch.drawNumber(10,20,87+2*z_angle);  pitch.drawNumber(10,110,87+2*z_angle);
  
//Bank sprite
  pitch.setPivot(70,70);
  pitch.pushRotateZoom(90,90,0,1,1);

  bank.fillArc(90,90,90,70,0,180,EARTH24);
  bank.fillArc(90,90,90,70,180,360,SKY24);
  bank.fillTriangle(90,20,85,3,95,3,WHITE24);
  bank.drawFastHLine(0,90,20,WHITE24);
  bank.drawFastHLine(160,90,20,WHITE24);
  bank.drawLine(90-90.0*cos(30.0/180.0*pi),90-90.0*sin(30.0/180.0*pi),90-70.0*cos(30.0/180.0*pi),90-70.0*sin(30.0/180.0*pi),WHITE24);
  bank.drawLine(90-90.0*cos(60.0/180.0*pi),90-90.0*sin(60.0/180.0*pi),90-70.0*cos(60.0/180.0*pi),90-70.0*sin(60.0/180.0*pi),WHITE24);
  bank.drawLine(90-80.0*cos(70.0/180.0*pi),90-80.0*sin(70.0/180.0*pi),90-70.0*cos(70.0/180.0*pi),90-70.0*sin(70.0/180.0*pi),WHITE24);
  bank.drawLine(90-80.0*cos(80.0/180.0*pi),90-80.0*sin(80.0/180.0*pi),90-70.0*cos(80.0/180.0*pi),90-70.0*sin(80.0/180.0*pi),WHITE24);
  bank.fillTriangle(40,40,35,31,31,35,WHITE24);
  bank.drawLine(90+90.0*cos(30.0/180.0*pi),90-90.0*sin(30.0/180.0*pi),90+70.0*cos(30.0/180.0*pi),90-70.0*sin(30.0/180.0*pi),WHITE24);
  bank.drawLine(90+90.0*cos(60.0/180.0*pi),90-90.0*sin(60.0/180.0*pi),90+70.0*cos(60.0/180.0*pi),90-70.0*sin(60.0/180.0*pi),WHITE24);
  bank.drawLine(90+80.0*cos(70.0/180.0*pi),90-80.0*sin(70.0/180.0*pi),90+70.0*cos(70.0/180.0*pi),90-70.0*sin(70.0/180.0*pi),WHITE24);
  bank.drawLine(90+80.0*cos(80.0/180.0*pi),90-80.0*sin(80.0/180.0*pi),90+70.0*cos(80.0/180.0*pi),90-70.0*sin(80.0/180.0*pi),WHITE24);
  bank.fillTriangle(139,40,144,31,148,35,WHITE24);

  bank.setPivot(90,90);
  pitch.setPivot(70,70);

  bank.pushRotateZoom(90,90,y_angle,1,1);
  
  canvas.drawTriangle(90,20,85,30,95,30,ORANGE24);
  canvas.drawCircle(90,90,5,RED24);
  canvas.drawFastHLine(30,90,50,ORANGE24);
  canvas.drawFastHLine(100,90,50,ORANGE24);
  canvas.drawFastVLine(80,90,5,ORANGE24);
  canvas.drawFastVLine(100,90,5,ORANGE24);
  canvas.drawCircle(90,90,70,BLACK24);

  canvas.pushSprite(70,30);

  lcd.drawString("Pitch", 20, 35);
  lcd.drawString("Bank", 20, 65);
  lcd.drawString("Accel.", 250, 35);
  lcd.drawString("X", 260, 50);
  lcd.drawString("Y", 260, 70);
  lcd.drawString("Z", 260, 90);
 
  lcd.setTextColor(BLACK24,BLACK24);
  lcd.drawString(String(pz_angle), 30, 50);
  lcd.drawString(String(py_angle), 30, 80);
  lcd.drawString(String(px_values), 290, 50);
  lcd.drawString(String(py_values), 290, 70);
  lcd.drawString(String(pz_values), 290, 90);
  lcd.setTextColor(YELLOW24,BLACK24);
  lcd.drawString(String(z_angle), 30, 50);
  lcd.drawString(String(y_angle), 30, 80);
  lcd.drawString(String(x_values), 280, 50);
  lcd.drawString(String(y_values), 280, 70);
  lcd.drawString(String(z_values), 280, 90);

  px_values = x_values;
  py_values = y_values;
  pz_values = z_values;
  px_angle = x_angle;
  py_angle = y_angle;
  pz_angle = z_angle;
  
  delay(50);
}

Credits

Seeed

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Seeed R&D Team