Fixed IMU address

README.md

@@ -3,25 +3,7 @@
 ## Setup
 ```sh
 sudo apt update && sudo apt upgrade -y
-sudo apt install htop i2c-tools
+sudo apt install htop i2c-tools hwclock
-raspi-config # enable i2c
+raspi-config # enable i2c & UART
-```
+echo "@reboot root hwclock -s" >> /etc/crontab
-
-### MAC fix
-```sh
-MAC_PREFIX="80:86:00"
-
-files=(
-    "/etc/systemd/network/eth0.network"
-    "/etc/systemd/network/wlan0.network"
-)
-
-for file in "${files[@]}"; do
-    if [ -n "$(cat $file | grep MACAddress )" ]; then continue; fi
-    mac_address=$(printf '%02X:%02X:%02X' $((RANDOM % 256)) $((RANDOM % 256)) $((RANDOM % 256)))
-    cat <<EOF >> "$file"
-[Link]
-MACAddress=$MAC_PREFIX:$mac_address
-EOF
-done
 ```

package-lock.json

@@ -9,7 +9,8 @@
       "version": "0.0.0",
       "license": "MIT",
       "dependencies": {
-        "bme280-sensor": "^0.1.7",
+        "@ztimson/utils": "^0.21.6",
+        "cors": "^2.8.5",
         "express": "^4.21.1",
         "i2c-bus": "^5.2.3",
         "serialport": "^12.0.0"
@@ -220,6 +221,12 @@
         "url": "https://opencollective.com/serialport/donate"
       }
     },
+    "node_modules/@ztimson/utils": {
+      "version": "0.21.6",
+      "resolved": "https://registry.npmjs.org/@ztimson/utils/-/utils-0.21.6.tgz",
+      "integrity": "sha512-wOjwd9N6m73NgsuCIWr1yrmWwp7CLoDu6vdlhE0CiXhEqzC9qRhkOcP8Sgn7n0nK3RANlwDtYKJl02iuRAcoJw==",
+      "license": "MIT"
+    },
     "node_modules/accepts": {
       "version": "1.3.8",
       "resolved": "https://registry.npmjs.org/accepts/-/accepts-1.3.8.tgz",
@@ -246,15 +253,6 @@
         "file-uri-to-path": "1.0.0"
       }
     },
-    "node_modules/bme280-sensor": {
-      "version": "0.1.7",
-      "resolved": "https://registry.npmjs.org/bme280-sensor/-/bme280-sensor-0.1.7.tgz",
-      "integrity": "sha512-8+ss7jXMpRUUaR6bJWcvCt1bwdNqcusGjQtsuSqh5xTEZhJocDX21eo/j1g0zVZW9WEn4JAGNXyGwKTx4/Dj+A==",
-      "license": "MIT",
-      "dependencies": {
-        "i2c-bus": "^5.1.0"
-      }
-    },
     "node_modules/body-parser": {
       "version": "1.20.3",
       "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.3.tgz",
@@ -358,6 +356,19 @@
       "integrity": "sha512-QADzlaHc8icV8I7vbaJXJwod9HWYp8uCqf1xa4OfNu1T7JVxQIrUgOWtHdNDtPiywmFbiS12VjotIXLrKM3orQ==",
       "license": "MIT"
     },
+    "node_modules/cors": {
+      "version": "2.8.5",
+      "resolved": "https://registry.npmjs.org/cors/-/cors-2.8.5.tgz",
+      "integrity": "sha512-KIHbLJqu73RGr/hnbrO9uBeixNGuvSQjul/jdFvS/KFSIH1hWVd1ng7zOHx+YrEfInLG7q4n6GHQ9cDtxv/P6g==",
+      "license": "MIT",
+      "dependencies": {
+        "object-assign": "^4",
+        "vary": "^1"
+      },
+      "engines": {
+        "node": ">= 0.10"
+      }
+    },
     "node_modules/debug": {
       "version": "4.3.4",
       "resolved": "https://registry.npmjs.org/debug/-/debug-4.3.4.tgz",
@@ -815,6 +826,15 @@
         "node-gyp-build-test": "build-test.js"
       }
     },
+    "node_modules/object-assign": {
+      "version": "4.1.1",
+      "resolved": "https://registry.npmjs.org/object-assign/-/object-assign-4.1.1.tgz",
+      "integrity": "sha512-rJgTQnkUnH1sFw8yT6VSU3zD3sWmu6sZhIseY8VX+GRu3P6F7Fu+JNDoXfklElbLJSnc3FUQHVe4cU5hj+BcUg==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
     "node_modules/object-inspect": {
       "version": "1.13.2",
       "resolved": "https://registry.npmjs.org/object-inspect/-/object-inspect-1.13.2.tgz",

package.json

@@ -5,12 +5,13 @@
   "main": "index.js",
   "type": "module",
   "scripts": {
-    "start": "node src/main.js"
+    "apollo": "node src/main.js"
   },
   "author": "",
   "license": "MIT",
   "dependencies": {
-    "bme280-sensor": "^0.1.7",
+    "cors": "^2.8.5",
+    "@ztimson/utils": "^0.21.6",
     "express": "^4.21.1",
     "i2c-bus": "^5.2.3",
     "serialport": "^12.0.0"

src/apollo.js

@@ -1,23 +1,26 @@
 import SensorSuite from './sensor-suite.js'
 
-export default class Apollo {
+class Apollo {
-  sensor;
+    sensor;
-  onStop;
+    onStop;
 
-  get status() {
+    get status() {
-    return {...this.sensor.status};
+        return {...this.sensor.status};
-  }
+    }
 
-  constructor() {
+    constructor() {
-    this.sensor = new SensorSuite();
+        this.sensor = new SensorSuite();
-  }
+    }
 
-  async start() {
+    async start() {
-    await this.sensor.start();
+        await this.sensor.start();
-  }
+    }
 
-  stop() {
+    stop() {
-    this.sensor.stop();
+        this.sensor.stop();
-    if(this.onStop) this.onStop();
+        if (this.onStop) this.onStop();
-  }
+    }
 }
+
+const APOLLO = new Apollo();
+export default APOLLO;

src/bme280.js

@@ -0,0 +1,35 @@
+import i2c from 'i2c-bus';
+
+export async function bme(address = 0x76) {
+    const i2cBus = await i2c.openPromisified(1);
+    const data = await Promise.all([
+        i2cBus.readByte(address, 0xFA), // Temp MSB
+        i2cBus.readByte(address, 0xFB), // Temp LSB
+        i2cBus.readByte(address, 0xFC), // Temp XLSB
+        i2cBus.readByte(address, 0xF7), // Pressure MSB
+        i2cBus.readByte(address, 0xF8), // Pressure LSB
+        i2cBus.readByte(address, 0xF9), // Pressure XLSB
+        i2cBus.readByte(address, 0xFD), // Humidity MSB
+        i2cBus.readByte(address, 0xFE), // Humidity LSB
+    ]);
+
+    // Calibration registers
+    const CALIBRATION_LENGTH = 24;
+    const calibBuffer = Buffer.alloc(CALIBRATION_LENGTH);
+    await i2cBus.readI2cBlock(address, 0x88, CALIBRATION_LENGTH, calibBuffer);
+    const T1 = calibBuffer.readUInt16LE(0);
+    const T2 = calibBuffer.readInt16LE(2);
+    const T3 = calibBuffer.readInt16LE(4);
+
+    const rawTemp = (data[0] << 12) | (data[1] << 4) | (data[2] >> 4);
+    const var1 = (((rawTemp >> 3) - (T1 << 1)) * T2) / 2048;
+    const var2 = (((((rawTemp >> 4) - T1) * ((rawTemp >> 4) - T1)) >> 12) * T3) / 16384;
+    const temp = (var1 + var2) / 5120.0;
+
+    await i2cBus.close();
+    return {
+        temperature: temp,
+        pressure: ((data[3] << 12) | (data[4] << 4) | (data[5] >> 4)) / 25600,
+        humidity: ((data[6] << 8) | data[7]) / 1024.0,
+    };
+}

src/bms.js

@@ -0,0 +1,19 @@
+import i2c from 'i2c-bus';
+
+export async function bms(address = 0x57) {
+    const i2cBus = await i2c.openPromisified(1);
+    const data = await Promise.all([
+        i2cBus.readByte(address, 0x02),
+        i2cBus.readByte(address, 0x04),
+        i2cBus.readByte(address, 0x22),
+        i2cBus.readByte(address, 0x23),
+        i2cBus.readByte(address, 0x2a),
+    ]);
+    await i2cBus.close();
+    return {
+        charging: !!((data[0] >> 7) & 1),
+        percentage: data[4] / 100,
+        temperature: data[1] - 40,
+        voltage: ((data[2] << 8) | data[3]) / 1000,
+    }
+}

src/bno080.js

@@ -0,0 +1,71 @@
+import i2c from 'i2c-bus';
+
+export async function imu(address = 0x4B) {  // BNO080 default I2C address
+    const i2cBus = await i2c.openPromisified(1);
+
+    // Register addresses for accelerometer, gyroscope, and magnetometer data (assumes configuration is done)
+    const ACCEL_X_LSB = 0x08;
+    const ACCEL_X_MSB = 0x09;
+    const ACCEL_Y_LSB = 0x0A;
+    const ACCEL_Y_MSB = 0x0B;
+    const ACCEL_Z_LSB = 0x0C;
+    const ACCEL_Z_MSB = 0x0D;
+
+    const GYRO_X_LSB = 0x10;
+    const GYRO_X_MSB = 0x11;
+    const GYRO_Y_LSB = 0x12;
+    const GYRO_Y_MSB = 0x13;
+    const GYRO_Z_LSB = 0x14;
+    const GYRO_Z_MSB = 0x15;
+
+    const MAG_X_LSB = 0x16;  // Hypothetical register for magnetometer X LSB
+    const MAG_X_MSB = 0x17;  // Hypothetical register for magnetometer X MSB
+    const MAG_Y_LSB = 0x18;  // Hypothetical register for magnetometer Y LSB
+    const MAG_Y_MSB = 0x19;  // Hypothetical register for magnetometer Y MSB
+    const MAG_Z_LSB = 0x1A;  // Hypothetical register for magnetometer Z LSB
+    const MAG_Z_MSB = 0x1B;  // Hypothetical register for magnetometer Z MSB
+
+    // Read data from the sensor registers
+    const data = await Promise.all([
+        i2cBus.readByte(address, ACCEL_X_LSB),
+        i2cBus.readByte(address, ACCEL_X_MSB),
+        i2cBus.readByte(address, ACCEL_Y_LSB),
+        i2cBus.readByte(address, ACCEL_Y_MSB),
+        i2cBus.readByte(address, ACCEL_Z_LSB),
+        i2cBus.readByte(address, ACCEL_Z_MSB),
+        i2cBus.readByte(address, GYRO_X_LSB),
+        i2cBus.readByte(address, GYRO_X_MSB),
+        i2cBus.readByte(address, GYRO_Y_LSB),
+        i2cBus.readByte(address, GYRO_Y_MSB),
+        i2cBus.readByte(address, GYRO_Z_LSB),
+        i2cBus.readByte(address, GYRO_Z_MSB),
+        i2cBus.readByte(address, MAG_X_LSB),
+        i2cBus.readByte(address, MAG_X_MSB),
+        i2cBus.readByte(address, MAG_Y_LSB),
+        i2cBus.readByte(address, MAG_Y_MSB),
+        i2cBus.readByte(address, MAG_Z_LSB),
+        i2cBus.readByte(address, MAG_Z_MSB),
+    ]);
+
+    // Convert accelerometer data
+    const accelX = ((data[1] << 8) | data[0]) / 1000;
+    const accelY = ((data[3] << 8) | data[2]) / 1000;
+    const accelZ = ((data[5] << 8) | data[4]) / 1000;
+
+    // Convert gyroscope data
+    const gyroX = ((data[7] << 8) | data[6]) / 1000;
+    const gyroY = ((data[9] << 8) | data[8]) / 1000;
+    const gyroZ = ((data[11] << 8) | data[10]) / 1000;
+
+    // Convert magnetometer data
+    const magX = ((data[13] << 8) | data[12]) / 1000;  // Hypothetical conversion factor
+    const magY = ((data[15] << 8) | data[14]) / 1000;
+    const magZ = ((data[17] << 8) | data[16]) / 1000;
+
+    await i2cBus.close();
+    return {
+        acceleration: { x: accelX, y: accelY, z: accelZ },
+        gyroscope: { x: gyroX, y: gyroY, z: gyroZ },
+        magnetometer: { x: magX, y: magY, z: magZ },
+    };
+}

src/cli.js

@@ -1,17 +0,0 @@
-import Controller from './controller.js';
-import {ask} from './misc.js';
-
-export default class Cli extends Controller {
-  constructor(apollo) {
-    super(apollo);
-    console.log(this.help());
-  }
-
-  async start() {
-    while(true) {
-      const cmd = await ask('> ');
-      console.log(this.run(cmd));
-      console.log();
-    }
-  }
-}

src/controller.js

@@ -1,37 +0,0 @@
-import {$} from './misc.js';
-
-export default class Controller {
-  apollo;
-
-  constructor(apollo) {
-    this.apollo = apollo;
-  }
-
-  help() {
-    return `
-Apollo v0.0.0
-
-Commands:
-exit     - Stop Apollo
-help     - Display manual
-reboot   - Reboot System
-sensors  - All sensor data
-shutdown - Shutdown System
-stop     - Stop Apollo
-status   - Subsystem status
-`;
-  }
-
-  run(cmd) {
-    cmd = cmd.toLowerCase();
-    if(cmd == 'help') return this.help();
-    else if(cmd == 'reboot') $`reboot now`;
-    else if(cmd == 'sensors') return this.apollo.sensor.data;
-    else if(cmd == 'shutdown') {
-      $`shutdown now`;
-      this.apollo.stop();
-    } else if(cmd == 'status') return this.apollo.status;
-    else if(cmd == 'stop' || cmd == 'exit') process.exit();
-    else return `Unknown Command: ${cmd}`;
-  }
-}

src/daemon.js

@@ -0,0 +1,53 @@
+import cors from 'cors';
+import express from 'express';
+import path from 'path';
+import APOLLO from './apollo.js';
+import {$} from './misc.js';
+
+export default class Daemon {
+    apollo;
+    express;
+
+    constructor(port = 1969) {
+        this.apollo = APOLLO;
+        this.apollo.start();
+
+        this.express = express();
+
+        this.express.use(cors('*'));
+
+        this.express.get('/api/*', async (req, res) => {
+            const cmd = req.params['0'];
+            res.json(await this.run(cmd));
+        });
+
+        this.express.get('/favicon.*', (req, res) => {
+            const absolute = path.join(import.meta.url, '/../../ui/favicon.png').replace('file:', '');
+            res.sendFile(absolute);
+        });
+
+        this.express.get('*', (req, res) => {
+            let p = req.params['0'];
+            if (!p || p == '/') p = 'index.html';
+            const absolute = path.join(import.meta.url, '/../../ui/', p).replace('file:', '');
+            res.sendFile(absolute);
+        });
+
+        this.express.listen(port, () => 'Started Apollo');
+    }
+
+    run(cmd) {
+        cmd = cmd.toLowerCase();
+        if (cmd === 'reboot') $`reboot now`;
+        else if (cmd === 'sensors') return this.apollo.sensor.data;
+        else if (cmd === 'shutdown') {
+            this.run('stop');
+            $`shutdown now`;
+        } else if (cmd === 'status') return this.apollo.status;
+        else if (cmd === 'stop') {
+            this.express.stop();
+            this.apollo.stop();
+        }
+        else return `Unknown Command: ${cmd}`;
+    }
+}

src/http.js

@@ -1,25 +0,0 @@
-
-import express from 'express';
-import path from 'path';
-import Controller from './controller.js';
-
-export default class Http extends Controller {
-  express;
-
-  constructor(apollo, port = 8000) {
-    super(apollo);
-    this.express = express();
-    this.express.get('*', (req, res) => {
-       let p = req.params['0'];
-       if(!p || p == '/') p = 'index.html';
-       const absolute = path.join(import.meta.url, '/../../ui/', p).replace('file:', '');
-       res.sendFile(absolute);
-    });
-    this.express.get('/api/*', async (req, res) => {
-      const cmd = req.params['0'];
-      console.log(cmd);
-      res.json(await this.run(cmd));
-    });
-    this.express.listen(port);
-  }
-}

src/main.js

@@ -1,14 +1,54 @@
-import Apollo from './apollo.js';
+import {ask} from './misc.js';
-import Cli from './cli.js';
+import Daemon from './daemon.js';
-import Http from './http.js';
-import Serial from './serial.js';
 
-(async () => {
+const command = process.argv.slice(2).join(' ');
-  const apollo = new Apollo();
+let remote = 'localhost:1969';
-  const cli = new Cli(apollo);
+
-  const serial = new Serial(apollo);
+function help() {
-  const http = new Http(apollo);
+    return `
-  await apollo.start();
+Apollo v0.0.0
-  cli.start();
+Remote: ${remote}
-  // serial.start();
+
-})();
+Commands:
+exit          - Exit CLI
+help          - Display this manual
+reboot        - Reboot System
+remote <addr> - Get/Set Apollo address
+sensors       - Display sensor data
+shutdown      - Shutdown System
+start  <port> - Start Apollo server
+stop          - Stop Apollo server
+status        - Apollo Subsystems status
+`;
+}
+
+function run(cmd) {
+  try {
+    if(cmd.toLowerCase() === 'exit') process.exit();
+    else if(cmd === 'help') return help();
+    else if(cmd === 'remote') return remote;
+    else if(cmd.startsWith('remote')) {
+      remote = cmd.split(' ').pop();
+      return `Remote Set: ${remote}`;
+    } else if(cmd.startsWith('start')) {
+        const port = +cmd.split(' ').pop() || 1969;
+        new Daemon(port);
+        return `Listening on: http://localhost:${port}`;
+    } else return fetch(`${remote.startsWith('http') ? '' : 'http://'}${remote}/api/${cmd}`).then(resp => {
+        if(resp.ok && resp.headers['Content-Type']?.includes('json'))
+            return resp.json();
+        else return resp.text();
+    }).catch(err => err.message);
+  } catch(err) {
+    return err.message || err;
+  }
+}
+
+if(command) console.log(run(command));
+else {
+    console.log(help());
+    while(true) {
+        const cmd = await ask('> ');
+        console.log(await run(cmd), '\n');
+    }
+}

src/misc.js

@@ -2,11 +2,11 @@ import * as readline from 'node:readline';
 import {exec} from 'child_process';
 
 export function $(str, ...args) {
-	let cmd = str.reduce((acc, part, i) => acc + part + (args[i] || ''), '');
+    let cmd = str.reduce((acc, part, i) => acc + part + (args[i] || ''), '');
-	return new Promise((res, rej) => exec(cmd, (err, stdout, stderr) => {
+    return new Promise((res, rej) => exec(cmd, (err, stdout, stderr) => {
-		if(err || stderr) return rej(err || stderr);
+        if (err || stderr) return rej(err || stderr);
-		return res(stdout);
+        return res(stdout);
-	}))
+    }))
 }
 
 export function ask(prompt, hide = false) {
@@ -49,23 +49,3 @@ export function ask(prompt, hide = false) {
         }
     });
 }
-
-export function poll(cb, ms) {
-    let cancel = false, timeout = null;
-    const p = async () => {
-        if(cancel) return;
-        const start = new Date().getTime();
-        await cb();
-        const end = new Date().getTime();
-        timeout = setTimeout(() => p(), ms - (end - start));
-    };
-    p();
-    return () => {
-        cancel = true;
-        if(timeout) clearTimeout(timeout);
-    }
-}
-
-export function sleep(ms) {
-    return new Promise(res => setTimeout(res, ms));
-}

src/sensor-suite.js

@@ -1,46 +1,57 @@
-import BME280 from 'bme280-sensor';
+import {adjustedInterval, sleep} from '@ztimson/utils';
-import {poll} from './misc.js';
+import {bms} from './bms.js';
+import {bme} from './bme280.js';
+import {imu} from './bno080.js';
 
 export default class SensorSuite {
-    bme280;
+    data = {
-    stopBme280;
+        battery: {charging: false, temperature: 0, percentage: 0, voltage: 0},
-
+        environment: {humidity: 0, temperature: 0, pressure: 0, altitude: 0},
-    _data = {
+        movement: {accelerometer: null, gyro: null, magnetometer: null},
-        acceleration: [null, null, null],
+        gps: {accuracy: null, lat: null, long: null, altitude: 0, ground: 0, time: 0}
-        altitude: null,
-        battery: null,
-        gpsStrength: null,
-        gyro: [null, null, null],
-        humidity: null,
-        magnetometer: [null, null, null],
-        position: [null, null],
-        pressure: null,
-        temperature: null,
-        voltage: null,
     }
-    set data(d) { this._data = d; }
+    intervals = [];
-    get data() { return {timestamp: new Date().getTime(), ...this._data}; }
+    status = {}
 
-    get status() { return { sensors: 'ok' }; }
+    #altitude; // Pressure <-> GPS correction for future calculations TODO: Update on GPS events
+    get altitude() {
+        return data.environment.altitude + (this.#altitude ?? 0);
+    }
 
     constructor() {
-        this.bme280 = new BME280({i2cBusNo: 1, i2cAddress: 0x76});
+    }
+
+    static #hPaToAltitude(hPa) {
+        return 44330 * (1 - Math.pow(hPa / 1013.25, 1 / 5.255));
     }
 
     async start() {
-        await this.bme280.init();
+        // Movement
+        this.intervals.push(adjustedInterval(async () => {
+            this.data.movement = await this.statusWrapper(imu(), 'imu');
+        }, 1000));
+        // Environment
+        this.intervals.push(adjustedInterval(async () => {
+            this.data.environment = await this.statusWrapper(bme(), 'bme280');
+        }, 1000));
+        // Battery
+        await sleep(500); // Offset reading sensor data
+        this.intervals.push(adjustedInterval(async () => {
+            this.data.battery = await this.statusWrapper(bms(), 'bms');
+        }, 1000));
+    }
 
-        // Poll environmental data
+    statusWrapper(promise, key) {
-        this.stopBme280 = poll(async () => {
+        return promise.then(resp => {
-            const d = await this.bme280.readSensorData();
+            this.status[key] = 'ok'
-            this._data.humidity = d.humidity / 100;
+            return resp;
-            this._data.temperature = d.temperature_C;
+        }).catch(err => {
-            this._data.pressure = d.pressure_hPa;
+            this.status[key] = err.message;
-            this._data.altitude = BME280.calculateAltitudeMeters(this.data.pressure);
+        });
-        }, 1000);
     }
 
     stop() {
-      if(this.stopBme280) this.stopBme280();
+        this.intervals.forEach(unsubscribe => unsubscribe());
+        this.intervals = [];
     }
 }

src/serial.js

@@ -1,29 +0,0 @@
-import {SerialPort} from 'serialport';
-import Controller from './controller.js';
-
-export default class Serial extends Controller {
-  baud;
-  interval;
-  port;
-
-  constructor(apollo, options) {
-    super(apollo);
-    this.options = {
-      baud: 9600,
-      ...options
-    };
-  }
-
-  async start() {
-    this.interval = setInterval(async () => {
-      const cons = (await SerialPort.list()).map(p => p.path);
-      if(this.ports.length > 0) {
-        this.port = new SerialPort({path: cons[0], baudRate: this.options.baud});
-        this.port.on('open', () => this.help());
-        this.port.on('data', cmd => port.write(JSON.stringify(this.run(cmd))));
-        this.port.on('close', () => this.start());
-        clearInterval(this.interval);
-      }
-    }, 1000);
-  }
-}

ui/index.html

@@ -1,11 +1,240 @@
 <!Doctype html>
 
 <html>
-  <head>
+	<head>
-    <title>Apollo v0.0.0</title>
+		<title>Apollo v0.0.0</title>
-  </head>
+		<link href="./assets/bootstrap.min.css" rel="stylesheet"/>
+		<link href="./assets/font-awesome/css/font-awesome.css" rel="stylesheet"/>
+		<style>
+			html, body {
+				margin: 0;
+				padding: 0;
+				width: 100%;
+				height: 100%;
+				background: #1a1a1a;
+				color: #aaa;
+				font-family: sans-serif;
+			}
 
-  <body>
+			h1{
-    <h1>Apollo v0.0.0</h1>
+				color: white;
-  </body>
+			}
+
+			h2, h3, h4, h5, h6, p {
+				color: #aaa;
+			}
+
+			.card {
+				background: #333;
+			}
+
+
+			.navball {
+				height: 100%;
+				width: 100%;
+				background: url('./assets/navball2.png') repeat;
+				background-size: 360px;
+				transition: all 1s linear;
+			}
+
+			.navball-container {
+				position: relative;
+				height: 180px;
+				width: 180px;
+				border: #aaa 2px solid;
+				border-radius: 50%;
+				overflow: hidden;
+			}
+
+			.navball-cursor {
+				position: absolute;
+				top: 50%;
+				left: 50%;
+				transform: translate(-50%, -50%);
+			}
+
+			.no-signal {
+				top: 50%;
+				background: red;
+				border: darkred;
+				color: black;
+			}
+
+			.no-signal::backdrop {
+				background-color: rgba(0, 0, 0, 0.5); /* Semi-transparent black */
+				backdrop-filter: blur(5px);           /* Optional blur effect */
+			}
+
+			.text-muted {
+				color: #aaa !important;
+			}
+
+			.status {
+				display: inline;
+				margin: 0.25rem;
+				padding: 0.25rem;
+				width: 62px;
+				text-align: center;
+				color: white !important;
+				background: grey;
+			}
+		</style>
+	</head>
+
+	<body>
+		<nav class="px-3 pt-3">
+			<div class="d-flex">
+				<div>
+					<h1 style="font-size: 1rem;">Apollo Control</h1>
+				</div>
+				<div class="flex-grow-1"></div>
+				<div class="text-muted" style="font-size: 1rem">
+					<i class="fa fa-signal mx-2"></i>
+					<i class="fa fa-location-crosshairs mx-2"></i>
+					<span class="battery mx-2">0</span>% <i class="battery-icon fa fa-battery"></i>
+					<span class="mx-2"><span class="time">00:00:00</span> UTC</span>
+				</div>
+			</div>
+		</nav>
+
+		<div class="d-flex">
+			<div style="width: 250px">
+
+				<div class="card m-3 p-3">
+					<h2 class="mb-1" style="font-size: 1rem">Altitude</h2>
+					<hr class="my-1" style="border-color: #aaa">
+				</div>
+
+				<div class="card m-3 p-3">
+					<h2 class="mb-1" style="font-size: 1rem">Model</h2>
+					<hr class="my-1" style="border-color: #aaa">
+				</div>
+
+				<div class="card m-3 p-3">
+					<h2 class="mb-1" style="font-size: 1rem">Nav Ball</h2>
+					<hr class="mt-1 mb-2" style="border-color: #aaa">
+					<div class="navball-container">
+						<div class="navball"></div>
+						<img class="navball-cursor" src="./assets/navball-cursor.png" />
+					</div>
+				</div>
+
+			</div>
+
+			<div class="d-flex flex-column flex-grow-1 my-3">
+
+				<div class="card flex-grow-1 p-3 mb-3"></div>
+
+				<div class="card p-3">
+					<div class="d-flex justify-content-between">
+						<p class="mb-0">T-0</p>
+						<p class="mb-0">T+<span class="t-plus">0</span></p>
+					</div>
+					<input type="range" min="1" max="100" value="50" class="slider" id="myRange">
+				</div>
+
+			</div>
+
+			<div style="width: 250px">
+
+				<div class="d-flex flex-wrap m-3">
+					<div class="status status-bat">BAT</div>
+					<div class="status status-env">ENV</div>
+					<div class="status status-gps">GPS</div>
+					<div class="status status-imu">IMU</div>
+					<div class="status status-tel">TEL</div>
+				</div>
+
+				<div class="card m-3 p-3">
+					<h2 class="mb-1" style="font-size: 1rem">Position</h2>
+					<hr class="my-1" style="border-color: #aaa">
+					<p class="mb-1">Altitude: <span class="altitude">0</span> m</p>
+					<p class="mb-1">Azimuth: <span class="azimuth">0</span>&deg;</p>
+					<p class="mb-1">Coordinates: <span class="latlng">0, 0</span></p>
+				</div>
+
+				<div class="card m-3 p-3">
+					<h2 class="mb-1" style="font-size: 1rem">Sensors</h2>
+					<hr class="my-1" style="border-color: #aaa">
+					<p class="mb-1">Battery: <span class="battery">0</span>%</p>
+					<p class="mb-1">Bat. Temp: <span class="battery-temperature">0</span>&deg;C</p>
+					<p class="mb-1">Humidity: <span class="humidity">0</span>%</p>
+					<p class="mb-1">Pressure: <span class="pressure">0</span> hPa</p>
+					<p class="mb-1">Temperature: <span class="temperature">0</span>&deg;C</p>
+					<p class="mb-1">Voltage: <span class="voltage">0</span> v</p>
+				</div>
+
+				<div class="card m-3 p-3">
+					<h2 class="mb-1" style="font-size: 1rem">Telemetry</h2>
+					<hr class="my-1" style="border-color: #aaa">
+					<p class="mb-1">Strength: <span class="azimuth">0</span> db</p>
+					<p class="mb-1">TX/RX: <span class="azimuth">0</span>/0</p>
+					<p class="mb-1">WiFi: AP Mode</p>
+				</div>
+
+			</div>
+		</div>
+
+		<dialog class="no-signal">
+			<i class="fa fa-tower-broadcast pe-2"></i><strong>NO SIGNAL</strong>
+		</dialog>
+
+		<script>
+			const remote = localStorage.getItem('remote') || '';
+
+			function run(cmd) {
+				return fetch(`${remote}/api/${cmd}`).then(async resp => {
+					const value = await resp.text();
+					try {
+						return JSON.parse(value);
+					} catch {
+						return value;
+					}
+				}).catch(err => err.message);
+			}
+
+			const battery = document.querySelectorAll('.battery');
+			const batteryTemp = document.querySelectorAll('.battery-temperature');
+			const batteryIcon = document.querySelectorAll('.battery-icon');
+			const humidity = document.querySelectorAll('.humidity');
+			const navball = document.querySelectorAll('.navball');
+			const pressure = document.querySelectorAll('.pressure');
+			const statusBat = document.querySelectorAll('.status-bat');
+			const statusEnv = document.querySelectorAll('.status-env');
+			const statusImu = document.querySelectorAll('.status-imu');
+			const statusGps = document.querySelectorAll('.status-gps');
+			const statusTel = document.querySelectorAll('.status-tel');
+			const temperature = document.querySelectorAll('.temperature');
+			const time = document.querySelectorAll('.time');
+			const tPlus = document.querySelectorAll('.t-plus');
+			const voltage = document.querySelectorAll('.voltage');
+
+			let count = 0;
+			setInterval(async () => {
+				count++;
+				const now = new Date();
+				time.forEach(t => t.innerHTML = `${now.getUTCHours().toString().padStart(2, 0)}:${now.getMinutes().toString().padStart(2, 0)}:${now.getSeconds().toString().padStart(2, 0)}`);
+				tPlus.forEach(t => t.innerHTML = count.toString());
+
+				run('sensors').then(sensors => {
+					battery.forEach(b => b.innerHTML = (sensors.battery?.percentage || 0) * 100);
+					batteryTemp.forEach(bt => bt.innerHTML = sensors.battery?.temperature || 0);
+					batteryIcon.forEach(bi => bi.className = sensors.battery?.charging ? 'fa fa-bolt' : 'fa fa-battery');
+					humidity.forEach(h => h.innerHTML = sensors.environment?.humidity ?? 0);
+					pressure.forEach(p => p.innerHTML = sensors.environment?.pressure ?? 0);
+					temperature.forEach(t => t.innerHTML = sensors.environment?.temperature ?? 0);
+					voltage.forEach(v => v.innerHTML = sensors.battery?.voltage || 0);
+				});
+
+				run('status').then(status => {
+					statusBat.forEach(sb => sb.style.background = status['bms'] === 'ok' ? 'green' : 'red');
+					statusEnv.forEach(se => se.style.background = status['bme280'] === 'ok' ? 'green' : 'red');
+					statusImu.forEach(sb => sb.style.background = status['imu'] === 'ok' ? 'green' : 'red');
+				});
+
+				navball.forEach(n => n.style.transform = `rotate(${count * 5}deg)`);
+				navball.forEach(n => n.style.backgroundPositionY = `${count}px`);
+			}, 1000);
+		</script>
+	</body>
 </html>