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feat: GPS webserver hosted on esp32 #2

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feat: GPS webserver hosted on esp32 #2

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913c2e5
feat: GPS webserver hosted on esp32
KrzysKond May 25, 2026
d845a41
feat: run webserve only in transceiver mode, when transceiver mode se…
KrzysKond May 25, 2026
faec92b
feat: add GS position, fix refresh
KrzysKond May 25, 2026
06ebdac
feat: hardcode bunker position
KrzysKond May 26, 2026
3fd5dbc
fix: remove orphan column
KrzysKond May 26, 2026
391f4ce
review fixes v1
KrzysKond May 30, 2026
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106 changes: 104 additions & 2 deletions src/esp32s3/esp32s3.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,15 @@
#include <RadioLib.h> // from RadioLib by Jan Gromes v7.6.0
#include <TinyGPS++.h> // from TinyGPSPlus by Mikal Hart v1.0.3
#include "simba_headers/simba/mavlink.h" // generated from simba.xml

#include <WiFi.h> // from the ESP32 Arduino framework
#include <WebServer.h> // from the ESP32 Arduino framework
#include "LoRaQueue.hpp"

#define DEBUG

#define MODE_RECEIVER 0
#define MODE_TRANSMITTER 1
#define MODE_TRANSCEIVER 2
#define MODULE_MODE MODE_RECEIVER

#define LORA_NSS 41
Expand All @@ -25,14 +27,29 @@
#define MAV_TX 1

#define TX_INTERVAL_MS 2000UL
#define TX_INTERVAL_TRANSCEIVER_MS 5000UL
#define TX_GNSS_TO_COMPUTER_INTERVAL_MS 1000UL
#define TX_RADIO_STATS_TO_COMPUTER_INTERVAL_MS 1000
#define READ_NOISE_INTERVAL_MS 50UL
#define LOOP_DELAY_MS 10UL // main loop delay

#define UART_RING_BUFFER_SIZE 8096 // zabezpieczenie przed burstami danych

#define WIFI_AP_SSID "LoRa-GPS"
#define WIFI_AP_PASS "simba1234"
#define WIFI_AP_IP "192.168.10.131"
#define WEB_REFRESH_SEC 10

#define LAT_SETUP_AREA 35.342322
#define LON_SETUP_AREA -117.825152

LoRaQueue loraQueue;
WebServer webServer(80);

mavlink_simba_gps_t loraRxRocketGps = {};

bool loraRxValid = false;
unsigned long loraRxLastUpdateMs = 0;

SPIClass spiLora(HSPI);
SX1262 radio = new Module(LORA_NSS, LORA_DIO1, LORA_RESET, LORA_BUSY, spiLora);
Expand All @@ -54,6 +71,7 @@ void readNoise();
void readMavlinkUART();

void sendBytesToComputer(uint8_t* data, size_t length);
void handleWebRoot();

volatile bool radioEvent = false;
void radioEventCallback() {
Expand Down Expand Up @@ -124,6 +142,19 @@ void setup() {
Serial.printf("[INIT] BLAD LoRa: %d\n", state);
while (true);
}

if (radioStatus.mode == RadioMode::TRANSCEIVER) {
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@patrickthemoon patrickthemoon May 30, 2026

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to bym jednak zmienił na coś w stylu if RECOVERY_RADIO (i wszędzie gdzie dotyczy webservera)
a transciever zostawił osobno, bo jednak ma inną funkcję (moja wina, źle zaplanowałem jak to zrobić)

IPAddress ip, gateway, subnet;
ip.fromString(WIFI_AP_IP);
gateway.fromString(WIFI_AP_IP);
subnet.fromString("255.255.255.0");
WiFi.softAPConfig(ip, gateway, subnet);
WiFi.softAP(WIFI_AP_SSID, WIFI_AP_PASS);
Serial.printf("[INIT] WiFi AP: %s IP: %s\n", WIFI_AP_SSID, WIFI_AP_IP);

webServer.on("/", handleWebRoot);
webServer.begin();
}
}

void loop() {
Expand Down Expand Up @@ -161,6 +192,10 @@ void loop() {
// send link stats to Serial once in a while
sendRadioStatsToComputer();

if (radioStatus.mode == RadioMode::TRANSCEIVER) {
webServer.handleClient();
}

// count delay and imply a delay so it is a LOOP_DELAY_MS delay between the start of each loop iteration
unsigned long loopDuration = millis() - loopStart;
if (loopDuration < LOOP_DELAY_MS) {
Expand Down Expand Up @@ -226,9 +261,13 @@ void sendInternalGPSPos()

static unsigned long lastSend = 0;

if (millis() - lastSend < TX_INTERVAL_MS) {
unsigned long interval = (radioStatus.mode == RadioMode::TRANSCEIVER)
? TX_INTERVAL_TRANSCEIVER_MS
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@patrickthemoon patrickthemoon May 30, 2026

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fajne

: TX_INTERVAL_MS;
if (millis() - lastSend < interval) {
return; // not time to send yet
}

lastSend = millis();
static mavlink_message_t msg;
static mavlink_status_t mav_status;
Expand Down Expand Up @@ -382,6 +421,23 @@ void readRadioTransmission()
// no errors
// send bytes to the computer
sendBytesToComputer(data, numBytes);

// parse for SIMBA_GPS to update the web page (transceiver only)
if (radioStatus.mode == RadioMode::TRANSCEIVER) {
static mavlink_message_t rxMsg;
static mavlink_status_t rxStatus;
for (int i = 0; i < numBytes; i++) {
if (mavlink_parse_char(MAVLINK_COMM_1, data[i], &rxMsg, &rxStatus)) {
if (rxMsg.msgid == MAVLINK_MSG_ID_SIMBA_GPS) {
if (rxMsg.sysid == 1 && rxMsg.compid == 200){
mavlink_msg_simba_gps_decode(&rxMsg, &loraRxRocketGps);
}
loraRxValid = true;
loraRxLastUpdateMs = millis();
}
}
}
}
}
}

Expand Down Expand Up @@ -422,4 +478,50 @@ void sendBytesToComputer(uint8_t* data, size_t length)
Serial.write(data, length);
// also the mavlink serial (rocket)
SerialMAV.write(data, length);
}

void handleWebRoot()
{
String html = F("<!DOCTYPE html><html><head>"
"<meta charset='utf-8'>"
"<title>LoRa GPS</title>"
"<style>body{font-family:monospace;max-width:620px;margin:40px auto;padding:0 16px}"
"h2{margin-bottom:4px}table{border-collapse:collapse;width:100%}"
"td{padding:6px 10px;border:1px solid #ccc}th{padding:6px 10px;background:#eee;border:1px solid #ccc}"
"a{color:#1a73e8}.stale{color:#999}</style>"
"<script>setInterval(function(){window.location='/';},");
html += (WEB_REFRESH_SEC * 1000);
html += F(");</script>"
"</head><body>"
"<h2>LoRa GPS Tracker</h2>");

html += F("<h3>Rocket (LoRa RX)</h3>");
if (loraRxValid) {
double lat = loraRxRocketGps.lat / 1e7;
double lon = loraRxRocketGps.lon / 1e7;
float alt = loraRxRocketGps.altitude / 100.0f;
html += F("<table><tr><th>Lat</th><th>Lon</th></tr><tr>");
html += "<td>" + String(lat, 7) + "</td>";
html += "<td>" + String(lon, 7) + "</td>";
html += "<td>" + String(alt, 1) + "</td></tr></table>";
html += "<p><a href='https://maps.google.com/?q=" +
String(lat, 7) + "," + String(lon, 7) +
"' target='_blank'>Open in Google Maps</a></p>";
} else {
html += F("<p class='stale'>No data received yet.</p>");
}

html += F("<hr>");
html += F("<h3>Setup area)</h3>");
html += F("<table><tr><th>Lat</th><th>Lon</th><th>Alt (m)</th></tr><tr>");
html += "<td>" + String(LAT_SETUP_AREA, 7) + "</td>";
html += "<td>" + String(LON_SETUP_AREA, 7) + "</td></tr></table>";
html += "<p><a href='https://maps.google.com/?q=" +
String(LAT_SETUP_AREA, 7) + "," + String(LON_SETUP_AREA, 7) +
"' target='_blank'>Open in Google Maps</a></p>";

html += F("<p style='color:#999;font-size:0.85em'>Refreshes every ");
html += WEB_REFRESH_SEC;
html += F(" s</p></body></html>");
webServer.send(200, "text/html", html);
}
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@patrickthemoon patrickthemoon May 30, 2026

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PODSUMOWANIE, spoko kod, na razie nie mergujemy do mastera, żeby jednak nie mieszać http do esp w rakiecie

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