Add link to info about quality metric algorithms

Makefile

@@ -8,10 +8,11 @@ ALL = MotionCal imuread
 CC = gcc
 CXX = g++
 CFLAGS = -O2 -Wall -D$(OS)
+WXCONFIG = ~/wxwidgets/3.0.2.gtk2-opengl/bin/wx-config
+WXFLAGS = `$(WXCONFIG) --cppflags`
 CXXFLAGS = $(CFLAGS) `$(WXCONFIG) --cppflags`
 LDFLAGS =
 SFLAG = -s
-WXCONFIG = ~/wxwidgets/3.0.2.gtk2-opengl/bin/wx-config
 CLILIBS = -lglut -lGLU -lGL -lm
 MAKEFLAGS = --jobs=12
 
@@ -20,8 +21,9 @@ ALL = MotionCal.dmg
 CC = gcc-4.2
 CXX = g++-4.2
 CFLAGS = -O2 -Wall -D$(OS)
-CXXFLAGS = $(CFLAGS) `$(WXCONFIG) --cppflags`
 WXCONFIG = ~/wxwidgets/3.0.2.mac-opengl/bin/wx-config
+WXFLAGS = `$(WXCONFIG) --cppflags`
+CXXFLAGS = $(CFLAGS) `$(WXCONFIG) --cppflags`
 SFLAG = -s
 CLILIBS = -lglut -lGLU -lGL -lm
 VERSION = 0.01
@@ -32,6 +34,7 @@ CC = /usr/bin/clang
 CXX = /usr/bin/clang++
 CFLAGS = -O2 -Wall -DMACOSX
 WXCONFIG = wx-config
+WXFLAGS = `$(WXCONFIG) --cppflags`
 CXXFLAGS = $(CFLAGS) `$(WXCONFIG) --cppflags`
 SFLAG =
 CLILIBS = -lglut -lGLU -lGL -lm
@@ -39,33 +42,42 @@ VERSION = 0.01
 
 else ifeq ($(OS), WINDOWS)
 ALL = MotionCal.exe
-CC = i686-w64-mingw32-gcc
-CXX = i686-w64-mingw32-g++
-WINDRES = i686-w64-mingw32-windres
+#MINGW_TOOLCHAIN = i586-mingw32msvc
+MINGW_TOOLCHAIN = i686-w64-mingw32
+CC = $(MINGW_TOOLCHAIN)-gcc
+CXX = $(MINGW_TOOLCHAIN)-g++
+WINDRES = $(MINGW_TOOLCHAIN)-windres
 CFLAGS = -O2 -Wall -D$(OS)
-CXXFLAGS = $(CFLAGS) `$(WXCONFIG) --cppflags`
+WXFLAGS = `$(WXCONFIG) --cppflags`
+CXXFLAGS = $(CFLAGS) $(WXFLAGS)
 LDFLAGS = -static -static-libgcc
 SFLAG = -s
-WXCONFIG = ~/wxwidgets/3.0.2.mingw-opengl/bin/wx-config
+#WXCONFIG = ~/wxwidgets/3.0.2.mingw-opengl-i586/bin/wx-config
+#WXCONFIG = ~/wxwidgets/3.0.2.mingw-opengl/bin/wx-config
+WXCONFIG = ~/wxwidgets/3.1.0.mingw-opengl/bin/wx-config
 CLILIBS = -lglut32 -lglu32 -lopengl32 -lm
 MAKEFLAGS = --jobs=12
 
 endif
 
 OBJS = visualize.o serialdata.o rawdata.o magcal.o matrix.o fusion.o quality.o mahony.o
+IMGS = checkgreen.png checkempty.png checkemptygray.png
 
 all: $(ALL)
 
-MotionCal: gui.o portlist.o $(OBJS)
+MotionCal: gui.o portlist.o images.o $(OBJS)
 	$(CXX) $(SFLAG) $(CFLAGS) $(LDFLAGS) -o $@ $^ `$(WXCONFIG) --libs all,opengl`
 
-MotionCal.exe: resource.o gui.o portlist.o $(OBJS)
+MotionCal.exe: resource.o gui.o portlist.o images.o $(OBJS)
 	$(CXX) $(SFLAG) $(CFLAGS) $(LDFLAGS) -o $@ $^ `$(WXCONFIG) --libs all,opengl`
 	-pjrcwinsigntool $@
 	-./cp_windows.sh $@
 
-resource.o: resource.rs icon.ico
-	$(WINDRES) -o resource.o resource.rs
+resource.o: resource.rc icon.ico
+	$(WINDRES) $(WXFLAGS) -o resource.o resource.rc
+
+images.cpp: $(IMGS) png2c.pl
+	perl png2c.pl $(IMGS) > images.cpp
 
 MotionCal.app: MotionCal Info.plist icon.icns
 	mkdir -p $@/Contents/MacOS
@@ -86,7 +98,7 @@ imuread: imuread.o $(OBJS)
 	$(CC) -s $(CFLAGS) $(LDFLAGS) -o $@ $^ $(CLILIBS)
 
 clean:
-	rm -f gui MotionCal imuread *.o *.exe *.sign?
+	rm -f gui MotionCal imuread *.o *.exe *.sign? images.cpp
 	rm -rf MotionCal.app MotionCal.dmg .DS_Store dmg_tmpdir
 
 gui.o: gui.cpp gui.h imuread.h Makefile

gui.cpp

@@ -2,10 +2,8 @@
 #include "imuread.h"
 
 
-
-wxMenu *port_menu;
-wxMenu *sendcal_menu;
 wxString port_name;
+static bool show_calibration_confirmed = false;
 
 
 wxBEGIN_EVENT_TABLE(MyCanvas, wxGLCanvas)
@@ -49,9 +47,10 @@ void MyCanvas::OnPaint( wxPaintEvent& WXUNUSED(event) )
 
 void MyCanvas::InitGL()
 {
-	//printf("Init\n");
 	SetCurrent(*m_glRC);
 	visualize_init();
+	wxSizeEvent e = wxSizeEvent(GetSize());
+	OnSize(e);
 }
 
 
@@ -61,144 +60,179 @@ void MyCanvas::InitGL()
 BEGIN_EVENT_TABLE(MyFrame,wxFrame)
 	EVT_MENU(wxID_ABOUT, MyFrame::OnAbout)
 	EVT_MENU(wxID_EXIT, MyFrame::OnQuit)
-	EVT_MENU(ID_SENDCAL, MyFrame::OnSendCal)
+	EVT_MENU(ID_SENDCAL_MENU, MyFrame::OnSendCal)
+	EVT_BUTTON(ID_CLEAR_BUTTON, MyFrame::OnClear)
+	EVT_BUTTON(ID_SENDCAL_BUTTON, MyFrame::OnSendCal)
 	EVT_TIMER(ID_TIMER, MyFrame::OnTimer)
-	EVT_MENU_RANGE(9000, 9999, MyFrame::OnPort)
-	EVT_MENU_OPEN(MyMenu::OnShowPortList)
-	EVT_MENU_HIGHLIGHT(-1, MyMenu::OnHighlight)
+	EVT_MENU_RANGE(9000, 9999, MyFrame::OnPortMenu)
+	EVT_MENU_OPEN(MyFrame::OnShowMenu)
+	EVT_COMBOBOX(ID_PORTLIST, MyFrame::OnPortList)
+	EVT_COMBOBOX_DROPDOWN(ID_PORTLIST, MyFrame::OnShowPortList)
 END_EVENT_TABLE()
 
 
+
 MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
     const wxPoint &position, const wxSize& size, long style) :
     wxFrame( parent, id, title, position, size, style )
 {
+	wxPanel *panel;
 	wxMenuBar *menuBar;
 	wxMenu *menu;
+	wxSizer *topsizer;
+	wxSizer *leftsizer, *middlesizer, *rightsizer;
 	wxSizer *hsizer, *vsizer, *calsizer;
 	wxStaticText *text;
-	//wxMenuItem *item;
 	int i, j;
 
+	topsizer = new wxBoxSizer(wxHORIZONTAL);
+	panel = new wxPanel(this);
+
 	menuBar = new wxMenuBar;
 	menu = new wxMenu;
-	menu->Append(ID_SENDCAL, wxT("Send Calibration"));
-	sendcal_menu = menu;
-	sendcal_menu->Enable(ID_SENDCAL, false);
+	menu->Append(ID_SENDCAL_MENU, wxT("Send Calibration"));
+	m_sendcal_menu = menu;
+	m_sendcal_menu->Enable(ID_SENDCAL_MENU, false);
 	menu->Append(wxID_EXIT, wxT("Quit"));
 	menuBar->Append(menu, wxT("&File"));
 
 	menu = new wxMenu;
 	menuBar->Append(menu, "Port");
-	port_menu = menu;
+	m_port_menu = menu;
 
 	menu = new wxMenu;
-	//item = new wxMenuItem(menu, ID_ABOUT, "About");
 	menu->Append(wxID_ABOUT, wxT("About"));
 	menuBar->Append(menu, wxT("&Help"));
 	SetMenuBar(menuBar);
 
-	wxBoxSizer *topsizer = new wxBoxSizer(wxHORIZONTAL);
-	wxBoxSizer *leftsizer = new wxStaticBoxSizer(wxVERTICAL, this, "Communication");
-	wxBoxSizer *middlesizer = new wxStaticBoxSizer(wxVERTICAL, this, "Magnetometer");
-	wxBoxSizer *rightsizer = new wxStaticBoxSizer(wxVERTICAL, this, "Calibration");
+	leftsizer = new wxStaticBoxSizer(wxVERTICAL, panel, "Communication");
+	middlesizer = new wxStaticBoxSizer(wxVERTICAL, panel, "Magnetometer");
+	rightsizer = new wxStaticBoxSizer(wxVERTICAL, panel, "Calibration");
 
 	topsizer->Add(leftsizer, 0, wxALL | wxEXPAND | wxALIGN_TOP, 5);
 	topsizer->Add(middlesizer, 1, wxALL | wxEXPAND, 5);
 	topsizer->Add(rightsizer, 0, wxALL | wxEXPAND | wxALIGN_TOP, 5);
 
+	vsizer = new wxBoxSizer(wxVERTICAL);
+	leftsizer->Add(vsizer, 0, wxALL, 8);
+	text = new wxStaticText(panel, wxID_ANY, "Port");
+	vsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
+	m_port_list = new wxComboBox(panel, ID_PORTLIST, "",
+		wxDefaultPosition, wxDefaultSize, 0, NULL, wxCB_READONLY);
+	m_port_list->Append("(none)");
+	m_port_list->Append(SAMPLE_PORT_NAME); // never seen, only for initial size
+	m_port_list->SetSelection(0);
+	vsizer->Add(m_port_list, 1, wxEXPAND, 0);
+
+	vsizer->AddSpacer(8);
+	text = new wxStaticText(panel, wxID_ANY, "Actions");
+	vsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
+	m_button_clear = new wxButton(panel, ID_CLEAR_BUTTON, "Clear");
+	m_button_clear->Enable(false);
+	vsizer->Add(m_button_clear, 1, wxEXPAND, 0);
+	m_button_sendcal = new wxButton(panel, ID_SENDCAL_BUTTON, "Send Cal");
+	vsizer->Add(m_button_sendcal, 1, wxEXPAND, 0);
+	m_button_sendcal->Enable(false);
+	vsizer->AddSpacer(16);
+	text = new wxStaticText(panel, wxID_ANY, "Status");
+	vsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
+	wxImage::AddHandler(new wxPNGHandler);
+	//m_confirm_icon = new wxStaticBitmap(panel, ID_CONFIRM_ICON, MyBitmap("checkgreen.png"));
+	m_confirm_icon = new wxStaticBitmap(panel, wxID_ANY, MyBitmap("checkemptygray.png"));
+	vsizer->Add(m_confirm_icon, 0, wxALL | wxALIGN_CENTER_HORIZONTAL, 0);
+
 	vsizer = new wxBoxSizer(wxVERTICAL);
 	middlesizer->Add(vsizer, 1, wxEXPAND | wxALL, 8);
 
-	text = new wxStaticText(this, wxID_ANY, "");
+	text = new wxStaticText(panel, wxID_ANY, "");
 	text->SetLabelMarkup("<small><i>Ideal calibration is a perfectly centered sphere</i></small>");
 	vsizer->Add(text, 0, wxALIGN_CENTER_HORIZONTAL, 0);
 
 	int gl_attrib[20] = { WX_GL_RGBA, WX_GL_MIN_RED, 1, WX_GL_MIN_GREEN, 1,
 		WX_GL_MIN_BLUE, 1, WX_GL_DEPTH_SIZE, 1, WX_GL_DOUBLEBUFFER, 0};
-	m_canvas = new MyCanvas(this, wxID_ANY, gl_attrib);
-	m_canvas->SetMinSize(wxSize(400,400));
+	m_canvas = new MyCanvas(panel, wxID_ANY, gl_attrib);
+	m_canvas->SetMinSize(wxSize(480,480));
 	vsizer->Add(m_canvas, 1, wxEXPAND | wxALL, 0);
 
-
 	hsizer = new wxGridSizer(4, 0, 15);
 	middlesizer->Add(hsizer, 0, wxALL | wxALIGN_CENTER_HORIZONTAL, 5);
 	vsizer = new wxBoxSizer(wxVERTICAL);
 	hsizer->Add(vsizer, 1, wxALIGN_CENTER_HORIZONTAL);
-	text = new wxStaticText(this, wxID_ANY, "Gaps");
+	text = new wxStaticText(panel, wxID_ANY, "Gaps");
 	vsizer->Add(text, 1, wxALIGN_CENTER_HORIZONTAL);
-	m_err_coverage = new wxStaticText(this, wxID_ANY, "100.0%");
+	m_err_coverage = new wxStaticText(panel, wxID_ANY, "100.0%");
 	vsizer->Add(m_err_coverage, 1, wxALIGN_CENTER_HORIZONTAL);
 	vsizer = new wxBoxSizer(wxVERTICAL);
 	hsizer->Add(vsizer, 1, wxALIGN_CENTER_HORIZONTAL);
-	text = new wxStaticText(this, wxID_ANY, "Variance");
+	text = new wxStaticText(panel, wxID_ANY, "Variance");
 	vsizer->Add(text, 1, wxALIGN_CENTER_HORIZONTAL);
-	m_err_variance = new wxStaticText(this, wxID_ANY, "100.0%");
+	m_err_variance = new wxStaticText(panel, wxID_ANY, "100.0%");
 	vsizer->Add(m_err_variance, 1, wxALIGN_CENTER_HORIZONTAL);
 	vsizer = new wxBoxSizer(wxVERTICAL);
 	hsizer->Add(vsizer, 1, wxALIGN_CENTER_HORIZONTAL);
-	text = new wxStaticText(this, wxID_ANY, "Wobble");
+	text = new wxStaticText(panel, wxID_ANY, "Wobble");
 	vsizer->Add(text, 1, wxALIGN_CENTER_HORIZONTAL);
-	m_err_wobble = new wxStaticText(this, wxID_ANY, "100.0%");
+	m_err_wobble = new wxStaticText(panel, wxID_ANY, "100.0%");
 	vsizer->Add(m_err_wobble, 1, wxALIGN_CENTER_HORIZONTAL);
 	vsizer = new wxBoxSizer(wxVERTICAL);
 	hsizer->Add(vsizer, 1, wxALIGN_CENTER_HORIZONTAL);
-	text = new wxStaticText(this, wxID_ANY, "Fit Error");
+	text = new wxStaticText(panel, wxID_ANY, "Fit Error");
 	vsizer->Add(text, 1, wxALIGN_CENTER_HORIZONTAL);
-	m_err_fit = new wxStaticText(this, wxID_ANY, "100.0%");
+	m_err_fit = new wxStaticText(panel, wxID_ANY, "100.0%");
 	vsizer->Add(m_err_fit, 1, wxALIGN_CENTER_HORIZONTAL);
 
 	calsizer = new wxBoxSizer(wxVERTICAL);
 	rightsizer->Add(calsizer, 0, wxALL, 8);
-	text = new wxStaticText(this, wxID_ANY, "Magnetic Offset");
+	text = new wxStaticText(panel, wxID_ANY, "Magnetic Offset");
 	calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
 	vsizer = new wxGridSizer(1, 0, 0);
 	calsizer->Add(vsizer, 1, wxLEFT, 20);
 	for (i=0; i < 3; i++) {
-		m_mag_offset[i] = new wxStaticText(this, wxID_ANY, "0.00");
+		m_mag_offset[i] = new wxStaticText(panel, wxID_ANY, "0.00");
 		vsizer->Add(m_mag_offset[i], 1);
 	}
-	text = new wxStaticText(this, wxID_ANY, "Magnetic Mapping");
+	text = new wxStaticText(panel, wxID_ANY, "Magnetic Mapping");
 	calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
 	vsizer = new wxGridSizer(3, 0, 12);
 	calsizer->Add(vsizer, 1, wxLEFT, 20);
 	for (i=0; i < 3; i++) {
 		for (j=0; j < 3; j++) {
-			m_mag_mapping[i][j] = new wxStaticText(this, wxID_ANY,
+			m_mag_mapping[i][j] = new wxStaticText(panel, wxID_ANY,
 				((i == j) ? "+1.000" : "+0.000"));
 			vsizer->Add(m_mag_mapping[i][j], 1);
 		}
 	}
-	text = new wxStaticText(this, wxID_ANY, "Magnetic Field");
+	text = new wxStaticText(panel, wxID_ANY, "Magnetic Field");
 	calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
-	m_mag_field = new wxStaticText(this, wxID_ANY, "0.00");
+	m_mag_field = new wxStaticText(panel, wxID_ANY, "0.00");
 	calsizer->Add(m_mag_field, 0, wxLEFT, 20);
-	text = new wxStaticText(this, wxID_ANY, "Accelerometer");
+	text = new wxStaticText(panel, wxID_ANY, "Accelerometer");
 	calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
 	vsizer = new wxGridSizer(1, 0, 0);
 	calsizer->Add(vsizer, 1, wxLEFT, 20);
 	for (i=0; i < 3; i++) {
-		m_accel[i] = new wxStaticText(this, wxID_ANY, "0.000");
+		m_accel[i] = new wxStaticText(panel, wxID_ANY, "0.000");
 		vsizer->Add(m_accel[i], 1);
 	}
-	text = new wxStaticText(this, wxID_ANY, "Gyroscope");
+	text = new wxStaticText(panel, wxID_ANY, "Gyroscope");
 	calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
 	vsizer = new wxGridSizer(1, 0, 0);
 	calsizer->Add(vsizer, 1, wxLEFT, 20);
 	for (i=0; i < 3; i++) {
-		m_gyro[i] = new wxStaticText(this, wxID_ANY, "0.000");
+		m_gyro[i] = new wxStaticText(panel, wxID_ANY, "0.000");
 		vsizer->Add(m_gyro[i], 1);
 	}
 
 	calsizer->AddSpacer(8);
-	text = new wxStaticText(this, wxID_ANY, "");
+	text = new wxStaticText(panel, wxID_ANY, "");
 	text->SetLabelMarkup("<small>Calibration should be performed\n<b>after</b> final installation.  Presence\nof magnets and ferrous metals\ncan alter magnetic calibration.\nMechanical stress during\nassembly can alter accelerometer\nand gyroscope calibration.</small>");
 	//text->Wrap(200);
 	//calsizer->Add(text, 0, wxEXPAND | wxALIGN_CENTER_HORIZONTAL, 0);
 	calsizer->Add(text, 0, wxALIGN_CENTER_HORIZONTAL, 0);
 
-	topsizer->SetSizeHints(this);
-	SetSizerAndFit(topsizer);
+	panel->SetSizer(topsizer);
+	topsizer->SetSizeHints(panel);
+	Fit();
 	Show(true);
 	Raise();
 
@@ -211,6 +245,7 @@ MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
 
 void MyFrame::OnTimer(wxTimerEvent &event)
 {
+	static int firstrun=1;
 	float gaps, variance, wobble, fiterror;
 	char buf[32];
 	int i, j;
@@ -218,15 +253,29 @@ void MyFrame::OnTimer(wxTimerEvent &event)
 	//printf("OnTimer\n");
 	if (port_is_open()) {
 		read_serial_data();
+		if (firstrun && m_canvas->IsShown()) {
+			//int h, w;
+			//m_canvas->GetSize(&w, &h);
+			//printf("Canvas initial size = %d, %d\n", w, h);
+			firstrun = 0;
+		}
 		m_canvas->Refresh();
 		gaps = quality_surface_gap_error();
 		variance = quality_magnitude_variance_error();
 		wobble = quality_wobble_error();
 		fiterror = quality_spherical_fit_error();
 		if (gaps < 15.0f && variance < 4.5f && wobble < 4.0f && fiterror < 5.0f) {
-			sendcal_menu->Enable(ID_SENDCAL, true);
+			if (!m_sendcal_menu->IsEnabled(ID_SENDCAL_MENU) || !m_button_sendcal->IsEnabled()) {
+				m_sendcal_menu->Enable(ID_SENDCAL_MENU, true);
+				m_button_sendcal->Enable(true);
+				m_confirm_icon->SetBitmap(MyBitmap("checkempty.png"));
+			}
 		} else if (gaps > 20.0f && variance > 5.0f && wobble > 5.0f && fiterror > 6.0f) {
-			sendcal_menu->Enable(ID_SENDCAL, false);
+			if (m_sendcal_menu->IsEnabled(ID_SENDCAL_MENU) || m_button_sendcal->IsEnabled()) {
+				m_sendcal_menu->Enable(ID_SENDCAL_MENU, false);
+				m_button_sendcal->Enable(false);
+				m_confirm_icon->SetBitmap(MyBitmap("checkemptygray.png"));
+			}
 		}
 		snprintf(buf, sizeof(buf), "%.1f%%", quality_surface_gap_error());
 		m_err_coverage->SetLabelText(buf);
@@ -257,13 +306,33 @@ void MyFrame::OnTimer(wxTimerEvent &event)
 			m_gyro[i]->SetLabelText(buf);
 		}
 	} else {
-		sendcal_menu->Enable(ID_SENDCAL, false);
+		if (!port_name.IsEmpty()) {
+			//printf("port has closed, updating stuff\n");
+			m_sendcal_menu->Enable(ID_SENDCAL_MENU, false);
+			m_button_clear->Enable(false);
+			m_button_sendcal->Enable(false);
+			m_confirm_icon->SetBitmap(MyBitmap("checkemptygray.png"));
+			m_port_list->Clear();
+			m_port_list->Append("(none)");
+			m_port_list->SetSelection(0);
+			port_name = "";
+		}
 	}
+	if (show_calibration_confirmed) {
+		m_confirm_icon->SetBitmap(MyBitmap("checkgreen.png"));
+		show_calibration_confirmed = false;
+	}
+}
+
+void MyFrame::OnClear(wxCommandEvent &event)
+{
+	//printf("OnClear\n");
+	raw_data_reset();
 }
 
 void MyFrame::OnSendCal(wxCommandEvent &event)
 {
-	printf("OnSendCal\n");
+	/*printf("OnSendCal\n");
 	printf("Magnetic Calibration:   (%.1f%% fit error)\n", magcal.FitError);
 	printf("   %7.2f   %6.3f %6.3f %6.3f\n",
 		magcal.V[0], magcal.invW[0][0], magcal.invW[0][1], magcal.invW[0][2]);
@@ -271,23 +340,85 @@ void MyFrame::OnSendCal(wxCommandEvent &event)
 		magcal.V[1], magcal.invW[1][0], magcal.invW[1][1], magcal.invW[1][2]);
 	printf("   %7.2f   %6.3f %6.3f %6.3f\n",
 		magcal.V[2], magcal.invW[2][0], magcal.invW[2][1], magcal.invW[2][2]);
+	*/
+	m_confirm_icon->SetBitmap(MyBitmap("checkempty.png"));
 	send_calibration();
 }
 
-void MyFrame::OnPort(wxCommandEvent &event)
+void calibration_confirmed(void)
+{
+	show_calibration_confirmed = true;
+}
+
+
+void MyFrame::OnShowMenu(wxMenuEvent &event)
+{
+        wxMenu *menu = event.GetMenu();
+        if (menu != m_port_menu) return;
+        //printf("OnShow Port Menu, %s\n", (const char *)menu->GetTitle());
+	while (menu->GetMenuItemCount() > 0) {
+		menu->Delete(menu->GetMenuItems()[0]);
+	}
+        menu->AppendRadioItem(9000, " (none)");
+	bool isopen = port_is_open();
+	if (!isopen) menu->Check(9000, true);
+        wxArrayString list = serial_port_list();
+        int num = list.GetCount();
+        for (int i=0; i < num; i++) {
+                menu->AppendRadioItem(9001 + i, list[i]);
+                if (isopen && port_name.IsSameAs(list[i])) {
+                        menu->Check(9001 + i, true);
+                }
+        }
+	menu->UpdateUI();
+}
+
+void MyFrame::OnShowPortList(wxCommandEvent& event)
+{
+	//printf("OnShowPortList\n");
+	m_port_list->Clear();
+	m_port_list->Append("(none)");
+	wxArrayString list = serial_port_list();
+	int num = list.GetCount();
+	for (int i=0; i < num; i++) {
+		m_port_list->Append(list[i]);
+	}
+}
+
+
+void MyFrame::OnPortMenu(wxCommandEvent &event)
 {
         int id = event.GetId();
-        wxString name = port_menu->FindItem(id)->GetItemLabelText();
+        wxString name = m_port_menu->FindItem(id)->GetItemLabelText();
 
 	close_port();
-        //printf("OnPort, id = %d, name = %s\n", id, (const char *)name);
-	sendcal_menu->Enable(ID_SENDCAL, false);
+        //printf("OnPortMenu, id = %d, name = %s\n", id, (const char *)name);
 	port_name = name;
+	m_port_list->Clear();
+	m_port_list->Append(port_name);
+	m_port_list->SetSelection(0);
         if (id == 9000) return;
 	raw_data_reset();
 	open_port((const char *)name);
+	m_button_clear->Enable(true);
 }
 
+void MyFrame::OnPortList(wxCommandEvent& event)
+{
+	int selected = m_port_list->GetSelection();
+	if (selected == wxNOT_FOUND) return;
+	wxString name = m_port_list->GetString(selected);
+	//printf("OnPortList, %s\n", (const char *)name);
+	close_port();
+	port_name = name;
+	if (name == "(none)") return;
+	raw_data_reset();
+	open_port((const char *)name);
+	m_button_clear->Enable(true);
+}
+
+
+
 
 void MyFrame::OnAbout(wxCommandEvent &event)
 {
@@ -296,7 +427,7 @@ void MyFrame::OnAbout(wxCommandEvent &event)
 		"Paul Stoffregen <paul@pjrc.com>\n"
 		"http://www.pjrc.com/store/prop_shield.html\n"
 		"https://github.com/PaulStoffregen/MotionCal\n\n"
-		"Copyright 2016, PJRC.COM, LLC.",
+		"Copyright 2018, PJRC.COM, LLC.",
                 "About MotionCal", wxOK|wxICON_INFORMATION|wxCENTER);
         dialog.ShowModal();
 }
@@ -313,48 +444,6 @@ MyFrame::~MyFrame(void)
 }
 
 
-/*****************************************************************************/
-// Port Menu
-
-MyMenu::MyMenu(const wxString& title, long style) : wxMenu(title, style)
-{
-}
-
-void MyMenu::OnShowPortList(wxMenuEvent &event)
-{
-        wxMenu *menu;
-	int any=0;
-        int num;
-
-        menu = event.GetMenu();
-        //printf("OnShowPortList, %s\n", (const char *)menu->GetTitle());
-        if (menu != port_menu) return;
-	while (menu->GetMenuItemCount() > 0) {
-		menu->Delete(menu->GetMenuItems()[0]);
-	}
-        menu->AppendRadioItem(9000, " (none)");
-        wxArrayString list = serial_port_list();
-        num = list.GetCount();
-	bool isopen = port_is_open();
-        for (int i=0; i < num; i++) {
-                //printf("%d: port %s\n", i, (const char *)list[i]);
-                menu->AppendRadioItem(9001 + i, list[i]);
-                if (isopen && port_name.IsSameAs(list[i])) {
-                        menu->Check(9001 + i, true);
-                        any = 1;
-                }
-        }
-        if (!any) menu->Check(9000, true);
-	menu->UpdateUI();
-}
-
-void MyMenu::OnHighlight(wxMenuEvent &event)
-{
-	//printf("OnHighlight\n");
-}
-
-
-
 /*****************************************************************************/
 
 IMPLEMENT_APP(MyApp)

gui.h

@@ -24,8 +24,10 @@
 
 
 #define ID_TIMER		10000
-#define ID_SENDCAL		10001
-
+#define ID_SENDCAL_MENU		10001
+#define ID_CLEAR_BUTTON		10002
+#define ID_SENDCAL_BUTTON	10003
+#define ID_PORTLIST		10004
 
 class MyCanvas : public wxGLCanvas
 {
@@ -61,9 +63,6 @@ public:
 		const wxSize &size = wxDefaultSize,
 		long style = wxDEFAULT_FRAME_STYLE);
 	~MyFrame(void);
-	void InitGL();
-	void OnPort(wxCommandEvent &event);
-	void OnSendCal(wxCommandEvent &event);
 private:
 	wxStaticText *m_err_coverage;
 	wxStaticText *m_err_variance;
@@ -78,20 +77,24 @@ private:
 
 	MyCanvas *m_canvas;
 	wxTimer *m_timer;
+	wxButton *m_button_clear;
+	wxButton *m_button_sendcal;
+	wxStaticBitmap *m_confirm_icon;
+	wxMenu *m_port_menu;
+	wxComboBox *m_port_list;
+	wxMenu *m_sendcal_menu;
+	void OnSendCal(wxCommandEvent &event);
+	void OnClear(wxCommandEvent &event);
+	void OnShowMenu(wxMenuEvent &event);
+	void OnShowPortList(wxCommandEvent &event);
+	void OnPortList(wxCommandEvent& event);
+	void OnPortMenu(wxCommandEvent &event);
+	void OnTimer(wxTimerEvent &event);
 	void OnAbout(wxCommandEvent &event);
 	void OnQuit(wxCommandEvent &event);
-	void OnTimer(wxTimerEvent &event);
 	DECLARE_EVENT_TABLE()
 };
 
-class MyMenu: public wxMenu
-{
-public:
-	MyMenu(const wxString& title = "", long style = 0);
-	void OnShowPortList(wxMenuEvent &event);
-	void OnHighlight(wxMenuEvent &event);
-};
-
 
 class MyApp: public wxApp
 {
@@ -106,5 +109,17 @@ private:
 // portlist.cpp
 wxArrayString serial_port_list();
 
+// images.cpp
+wxBitmap MyBitmap(const char *name);
+
+// sample port name, for initial sizing of left panel
+#if defined(LINUX)
+#define SAMPLE_PORT_NAME "/dev/ttyACM5."
+#elif defined(WINDOWS)
+#define SAMPLE_PORT_NAME "COM22:."
+#elif defined(MACOSX)
+#define SAMPLE_PORT_NAME "/dev/cu.usbmodem2457891..."
+#endif
+
 
 #endif

imuread.c

@@ -21,8 +21,67 @@ static void glut_display_callback(void)
 	glutSwapBuffers();
 }
 
+extern int invert_q0;
+extern int invert_q1;
+extern int invert_q2;
+extern int invert_q3;
+extern int invert_x;
+extern int invert_y;
+extern int invert_z;
+
+static void print_invert_state(void)
+{
+	printf("Invert: %s %s %s %s  %s %s %s\n",
+		(invert_q0 ? "Q0" : "  "),
+		(invert_q1 ? "Q1" : "  "),
+		(invert_q2 ? "Q2" : "  "),
+		(invert_q3 ? "Q3" : "  "),
+		(invert_x ? "x'" : "  "),
+		(invert_y ? "y'" : "  "),
+		(invert_z ? "z'" : "  ")
+	);
+}
+
+
 static void glut_keystroke_callback(unsigned char ch, int x, int y)
 {
+	if (ch == '0') {
+		invert_q0 ^= 1;
+		print_invert_state();
+		return;
+	}
+	if (ch == '1') {
+		invert_q1 ^= 1;
+		print_invert_state();
+		return;
+	}
+	if (ch == '2') {
+		invert_q2 ^= 1;
+		print_invert_state();
+		return;
+	}
+	if (ch == '3') {
+		invert_q3 ^= 1;
+		print_invert_state();
+		return;
+	}
+	if (ch == 'x') {
+		invert_x ^= 1;
+		print_invert_state();
+		return;
+	}
+	if (ch == 'y') {
+		invert_y ^= 1;
+		print_invert_state();
+		return;
+	}
+	if (ch == 'z') {
+		invert_z ^= 1;
+		print_invert_state();
+		return;
+	}
+
+
 	if (magcal.FitError > 9.0) {
 		printf("Poor Calibration: ");
 		printf("soft iron fit error = %.1f%%\n", magcal.FitError);
@@ -38,6 +97,11 @@ static void glut_keystroke_callback(unsigned char ch, int x, int y)
 	send_calibration();
 }
 
+void calibration_confirmed(void)
+{
+	printf("Calibration confirmed!\n");
+}
+
 int main(int argc, char *argv[])
 {
 	raw_data_reset();

imuread.h

@@ -15,8 +15,8 @@
 #if defined(LINUX)
   #include <termios.h>
   #include <unistd.h>
-  #include <GL/gl.h>
-  #include <GL/glu.h>
+  #include <GL/gl.h>  // sudo apt install mesa-common-dev
+  #include <GL/glu.h> // sudo apt install libglu1-mesa-dev freeglut3-dev
 #elif defined(WINDOWS)
   #include <windows.h>
   #include <GL/gl.h>
@@ -69,6 +69,7 @@ extern void close_port(void);
 void raw_data_reset(void);
 void cal1_data(const float *data);
 void cal2_data(const float *data);
+void calibration_confirmed(void);
 void raw_data(const int16_t *data);
 int send_calibration(void);
 void visualize_init(void);

magcal.c

@@ -453,7 +453,7 @@ static void fUpdateCalibration10EIG(MagCalibration_t *MagCal)
 	// sum between MINEQUATIONS to MAXEQUATIONS entries into the 10x10 product matrix matA
 	iCount = 0;
 	for (j = 0; j < MAGBUFFSIZE; j++) {
-		if (MagCal->valid[j] != -1) {
+		if (MagCal->valid[j]) {
 			// use first valid magnetic buffer entry as estimate for offset
 			// to help solution (bit counts)
 			if (iCount == 0) {

png2c.pl

@@ -0,0 +1,95 @@
+#! /usr/bin/perl
+
+binmode IN, ":bytes";
+$file = $ARGV[0];
+
+print "#include <wx/bitmap.h>\n";
+print "#include <wx/image.h>\n";
+print "#include <wx/mstream.h>\n";
+print "\n";
+
+foreach $file (@ARGV) {
+	open(IN, $file) or die "Can't open $file: $!\n";
+	$count = 0;
+	$len = -s $file;
+	$filelist[$numfiles] = $file;
+	$file =~ /^([-_A-Za-z0-9\/]+)/;
+	$name = "png_$1";
+	$name =~ s/\//_/g;
+	$name =~ s/-/_/g;
+	$size[$numfiles] = $len;
+	$list[$numfiles++] = $name;
+	print "static unsigned char ${name}[$len] = \{\n";
+	while (read(IN, $byte, 1) == 1) {
+		$n = ord($byte);
+		printf '0x%02X', $n;
+		print ',' if $count < $len - 1;
+		print "\n" if $count++ % 12 == 11;
+	}
+	print "\};\n";
+	close(IN);
+}
+print "\nstatic const unsigned char *png_image_list[] = {\n";
+for ($i=0; $i<$numfiles; $i++) {
+	print "$list[$i]";
+	print ',' if $i < $numfiles - 1;
+	print "\n";
+}
+print "\};\n";
+
+print "\nstatic const char *png_image_name[] = {\n";
+for ($i=0; $i<$numfiles; $i++) {
+	print "\"$filelist[$i]\"";
+	print ',' if $i < $numfiles - 1;
+	print "\n";
+}
+print "\};\n";
+
+print "\nstatic const unsigned int png_image_size[] = {\n";
+for ($i=0; $i<$numfiles; $i++) {
+	print "$size[$i]";
+	print ',' if $i < $numfiles - 1;
+	print "\n";
+}
+print "\};\n";
+
+print "\nstatic wxBitmap * image_list[] = {\n";
+for ($i=0; $i<$numfiles; $i++) {
+        print "NULL";
+        print ',' if $i < $numfiles - 1;
+        print "\n";
+}
+
+print "\};\n\n";
+
+print <<EOT;
+wxBitmap MyBitmap(size_t index)
+{
+	if (index >= $numfiles || index < 0) return wxNullBitmap;
+	wxBitmap *p = image_list[index];
+	if (p) return *p;
+	wxMemoryInputStream istream(png_image_list[index], png_image_size[index]);
+	wxImage img(istream, wxBITMAP_TYPE_PNG);
+	p = new wxBitmap(img);
+	return *p;
+}
+
+wxBitmap MyBitmap(const char *name)
+{
+	for (size_t i=0; i < $numfiles; i++) {
+		if (strcmp(name, png_image_name[i]) == 0) return MyBitmap(i);
+	}
+	return wxNullBitmap;
+}
+EOT
+
+
+
+
+
+
+
+
+
+
+

quality.c

@@ -1,5 +1,7 @@
 #include "imuread.h"
 
+// Discussion of what these 4 quality metrics really do
+// https://forum.pjrc.com/threads/59277-Motion-Sensor-Calibration-Tool-Parameter-Understanding
 
 //static int countdown=1000;
 //static int pr=0;

rawdata.c

@@ -6,6 +6,9 @@ static AccelSensor_t accel;
 static MagSensor_t   mag;
 static GyroSensor_t  gyro;
 
+static float cal_data_sent[19];
+static int cal_confirm_needed=0;
+
 void raw_data_reset(void)
 {
 	rawcount = OVERSAMPLE_RATIO;
@@ -25,7 +28,7 @@ static int choose_discard_magcal(void)
 	int32_t rawx, rawy, rawz;
 	int32_t dx, dy, dz;
 	float x, y, z;
-	uint64_t distsq, minsum=0xFFFFFFFFFFFFFFFF;
+	uint64_t distsq, minsum=0xFFFFFFFFFFFFFFFFull;
 	static int runcount=0;
 	int i, j, minindex=0;
 	Point_t point;
@@ -120,28 +123,72 @@ static void add_magcal_data(const int16_t *data)
 	magcal.valid[i] = 1;
 }
 
+static int is_float_ok(float actual, float expected)
+{
+	float err, maxerr;
+
+	err = fabsf(actual - expected);
+	maxerr = 0.0001f + fabsf(expected) * 0.00003f;
+	if (err <= maxerr) return 1;
+	return 0;
+}
+
 void cal1_data(const float *data)
 {
-#if 0
-	int i;
+	int i, ok;
 
-	printf("got cal1_data:\n");
-	for (i=0; i<10; i++) {
-		printf("  %.5f\n", data[i]);
+	if (cal_confirm_needed) {
+		#if 0
+		printf("expected cal1: ");
+		for (i=0; i<10; i++) {
+			printf("  %.5f,", cal_data_sent[i]);
+		}
+		printf("\ngot cal1_data: ");
+		for (i=0; i<10; i++) {
+			printf("  %.5f,", data[i]);
+		}
+		printf("\n");
+		#endif
+		ok = 1;
+		for (i=0; i<10; i++) {
+			if (!is_float_ok(data[i], cal_data_sent[i])) ok = 0;
+		}
+		if (ok) {
+			cal_confirm_needed &= ~1; // got cal1 confirm
+			if (cal_confirm_needed == 0) {
+				calibration_confirmed();
+			}
+		}
 	}
-#endif
 }
 
 void cal2_data(const float *data)
 {
-#if 0
-	int i;
+	int i, ok;
 
-	printf("got cal2_data:\n");
-	for (i=0; i<9; i++) {
-		printf("  %.5f\n", data[i]);
+	if (cal_confirm_needed) {
+		#if 0
+		printf("expected cal2: ");
+		for (i=0; i<9; i++) {
+			printf(" %.5f,", cal_data_sent[i+10]);
+		}
+		printf("\ngot cal2_data: ");
+		for (i=0; i<9; i++) {
+			printf(" %.5f,", data[i]);
+		}
+		printf("\n");
+		#endif
+		ok = 1;
+		for (i=0; i<9; i++) {
+			if (!is_float_ok(data[i], cal_data_sent[i+10])) ok = 0;
+		}
+		if (ok) {
+			cal_confirm_needed &= ~2; // got cal2 confirm
+			if (cal_confirm_needed == 0) {
+				calibration_confirmed();
+			}
+		}
 	}
-#endif
 }
 
 void raw_data(const int16_t *data)
@@ -186,10 +233,10 @@ void raw_data(const int16_t *data)
 	z = (float)data[2] * G_PER_COUNT;
 	accel.GpFast[0] = x;
 	accel.GpFast[1] = y;
-	accel.GpFast[2] = y;
+	accel.GpFast[2] = z;
 	accel.Gp[0] += x;
 	accel.Gp[1] += y;
-	accel.Gp[2] += y;
+	accel.Gp[2] += z;
 
 	x = (float)data[3] * DEG_PER_SEC_PER_COUNT;
 	y = (float)data[4] * DEG_PER_SEC_PER_COUNT;
@@ -267,12 +314,15 @@ int send_calibration(void)
 	*p++ = 84;
 	for (i=0; i < 3; i++) {
 		p = copy_lsb_first(p, 0.0f); // accelerometer offsets
+		cal_data_sent[0+i] = 0.0f;
 	}
 	for (i=0; i < 3; i++) {
 		p = copy_lsb_first(p, 0.0f); // gyroscope offsets
+		cal_data_sent[3+i] = 0.0f;
 	}
 	for (i=0; i < 3; i++) {
 		p = copy_lsb_first(p, magcal.V[i]); // 12 bytes offset/hardiron
+		cal_data_sent[6+i] = magcal.V[i];
 	}
 	p = copy_lsb_first(p, magcal.B); // field strength
 	p = copy_lsb_first(p, magcal.invW[0][0]); //10
@@ -281,6 +331,17 @@ int send_calibration(void)
 	p = copy_lsb_first(p, magcal.invW[0][1]); //13
 	p = copy_lsb_first(p, magcal.invW[0][2]); //14
 	p = copy_lsb_first(p, magcal.invW[1][2]); //15
+	cal_data_sent[9] = magcal.B;
+	cal_data_sent[10] = magcal.invW[0][0];
+	cal_data_sent[11] = magcal.invW[0][1];
+	cal_data_sent[12] = magcal.invW[0][2];
+	cal_data_sent[13] = magcal.invW[1][0];
+	cal_data_sent[14] = magcal.invW[1][1];
+	cal_data_sent[15] = magcal.invW[1][2];
+	cal_data_sent[16] = magcal.invW[2][0];
+	cal_data_sent[17] = magcal.invW[2][1];
+	cal_data_sent[18] = magcal.invW[2][2];
+	cal_confirm_needed = 3;
 	crc = 0xFFFF;
 	for (i=0; i < 66; i++) {
 		crc = crc16(crc, buf[i]);

resource.rc

@@ -1 +1,2 @@
 MotionCal ICON "icon.ico"
+#include "wx/msw/wx.rc"

serialdata.c

@@ -75,7 +75,7 @@ static int packet_magnetic_cal(const unsigned char *data)
 			magcal.BpFast[1][n] = y;
 			magcal.BpFast[2][n] = z;
 			magcal.valid[n] = 1;
-			printf("mag cal, n=%3d: %5d %5d %5d\n", n, x, y, z);
+			//printf("mag cal, n=%3d: %5d %5d %5d\n", n, x, y, z);
 		}
 		return 1;
 	}
@@ -340,7 +340,7 @@ static int ascii_parse(const unsigned char *data, int len)
 	}
 	return ret;
 fail:
-	printf("ascii FAIL\n");
+	//printf("ascii FAIL\n");
 	ascii_state = ASCII_STATE_WORD;
 	ascii_raw_data_count = 0;
 	ascii_num = 0;
@@ -491,6 +491,7 @@ int open_port(const char *name)
 	len = sizeof(COMMCONFIG);
 	if (!GetCommConfig(port_handle, &port_cfg, &len)) {
 		CloseHandle(port_handle);
+		port_handle = INVALID_HANDLE_VALUE;
 		return 0;
 	}
 	port_cfg.dcb.BaudRate = 115200;
@@ -512,10 +513,12 @@ int open_port(const char *name)
 	port_cfg.dcb.StopBits = ONESTOPBIT;
 	if (!SetCommConfig(port_handle, &port_cfg, sizeof(COMMCONFIG))) {
 		CloseHandle(port_handle);
+		port_handle = INVALID_HANDLE_VALUE;
 		return 0;
 	}
 	if (!EscapeCommFunction(port_handle, CLRDTR | CLRRTS)) {
 		CloseHandle(port_handle);
+		port_handle = INVALID_HANDLE_VALUE;
 		return 0;
 	}
         timeouts.ReadIntervalTimeout            = MAXDWORD;
@@ -525,10 +528,12 @@ int open_port(const char *name)
         timeouts.WriteTotalTimeoutConstant      = 0;
         if (!SetCommTimeouts(port_handle, &timeouts)) {
 		CloseHandle(port_handle);
+		port_handle = INVALID_HANDLE_VALUE;
 		return 0;
 	}
 	if (!EscapeCommFunction(port_handle, SETDTR)) {
 		CloseHandle(port_handle);
+		port_handle = INVALID_HANDLE_VALUE;
 		return 0;
 	}
 	return 1;
@@ -542,10 +547,17 @@ int read_serial_data(void)
 	unsigned char buf[256];
 	int r;
 
+	if (port_handle == INVALID_HANDLE_VALUE) return -1;
 	while (1) {
-		if (!ClearCommError(port_handle, &errmask, &st)) return -1;
+		if (!ClearCommError(port_handle, &errmask, &st)) {
+			r = -1;
+			break;
+		}
 		//printf("Read, %d requested, %lu buffered\n", count, st.cbInQue);
-		if (st.cbInQue <= 0) return 0;
+		if (st.cbInQue <= 0) {
+			r = 0;
+			break;
+		}
 		// now do a ReadFile, now that we know how much we can read
 		// a blocking (non-overlapped) read would be simple, but win32
 		// is all-or-nothing on async I/O and we must have it enabled
@@ -585,6 +597,10 @@ int read_serial_data(void)
 		if (r <= 0) break;
 		newdata(buf, r);
 	}
+	if (r < 0) {
+		CloseHandle(port_handle);
+		port_handle = INVALID_HANDLE_VALUE;
+	}
         return r;
 }
 
@@ -622,7 +638,7 @@ int write_serial_data(const void *ptr, int len)
 void close_port(void)
 {
 	CloseHandle(port_handle);
-	port_handle = NULL;
+	port_handle = INVALID_HANDLE_VALUE;
 }
 
 

visualize.c

@@ -46,6 +46,14 @@ static void rotate(const Point_t *in, Point_t *out, const float *rmatrix)
 static GLuint spherelist;
 static GLuint spherelowreslist;
 
+int invert_q0=0;
+int invert_q1=0;
+int invert_q2=0;
+int invert_q3=1;
+int invert_x=0;
+int invert_y=0;
+int invert_z=0;
+
 void display_callback(void)
 {
 	int i;
@@ -76,11 +84,22 @@ void display_callback(void)
 		memcpy(&orientation, &current_orientation, sizeof(orientation));
 		// TODO: this almost but doesn't perfectly seems to get the
 		//  real & screen axes in sync....
-		//orientation.q0 *= -1.0f;
-		//orientation.q1 *= -1.0f;
-		//orientation.q2 *= -1.0f;
-		orientation.q3 *= -1.0f;
+		if (invert_q0) orientation.q0 *= -1.0f;
+		if (invert_q1) orientation.q1 *= -1.0f;
+		if (invert_q2) orientation.q2 *= -1.0f;
+		if (invert_q3) orientation.q3 *= -1.0f;
 		quad_to_rotation(&orientation, rotation);
+
+		//rotation[0] *= -1.0f;
+		//rotation[1] *= -1.0f;
+		//rotation[2] *= -1.0f;
+		//rotation[3] *= -1.0f;
+		//rotation[4] *= -1.0f;
+		//rotation[5] *= -1.0f;
+		//rotation[6] *= -1.0f;
+		//rotation[7] *= -1.0f;
+		//rotation[8] *= -1.0f;
+
 		for (i=0; i < MAGBUFFSIZE; i++) {
 			if (magcal.valid[i]) {
 				apply_calibration(magcal.BpFast[0][i], magcal.BpFast[1][i],
@@ -91,6 +110,9 @@ void display_callback(void)
 				quality_update(&point);
 				rotate(&point, &draw, rotation);
 				glPushMatrix();
+				if (invert_x) draw.x *= -1.0f;
+				if (invert_y) draw.y *= -1.0f;
+				if (invert_z) draw.z *= -1.0f;
 				glTranslatef(
 					draw.x * xscale + xoff,
 					draw.z * yscale + yoff,