2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
21 static double pad_lat_total;
22 static double pad_lon_total;
23 static int pad_alt_total;
26 static double prev_accel;
27 static double pad_lat;
28 static double pad_lon;
29 static double pad_alt;
30 static double min_pres;
31 static double min_accel;
33 #define NUM_PAD_SAMPLES 10
36 aoview_great_circle (double start_lat, double start_lon,
37 double end_lat, double end_lon,
38 double *dist, double *bearing)
40 double rad = M_PI / 180;
41 double earth_radius = 6371.2;
42 double lat1 = rad * start_lat;
43 double lon1 = -rad * start_lon;
44 double lat2 = rad * end_lat;
45 double lon2 = -rad * end_lon;
47 double d = acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2));
48 double argacos = (sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1));
50 if (sin(lon2-lon1) < 0)
53 crs = 2 * M_PI - acos(argacos);
54 *dist = d * earth_radius;
55 *bearing = crs * 180/M_PI;
59 aoview_state_add_deg(char *label, double deg, char pos, char neg)
69 int_part = floor (deg);
70 min = (deg - int_part) * 60.0;
71 aoview_table_add_row(label, "%d°%lf'%c",
72 (int) int_part, min, sign);
77 aoview_state_notify(struct aostate *state)
87 double drogue_sense, main_sense;
90 if (!strcmp(state->state, "pad")) {
91 if (state->locked && npad_gps < NUM_PAD_SAMPLES) {
92 pad_lat_total += state->lat;
93 pad_lon_total += state->lon;
94 pad_alt_total += state->alt;
97 if (state->locked && npad_gps <= NUM_PAD_SAMPLES) {
98 pad_lat = pad_lat_total / npad_gps;
99 pad_lon = pad_lon_total / npad_gps;
100 pad_alt = pad_alt_total / npad_gps;
102 min_pres = state->ground_pres;
103 min_accel = state->ground_accel;
105 if (state->flight_pres < min_pres)
106 min_pres = state->flight_pres;
107 if (state->flight_accel < min_accel)
108 min_accel = state->flight_accel;
109 altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres);
110 accel = (state->ground_accel - state->flight_accel) / 27.0;
111 velocity = state->flight_vel / 2700.0;
112 max_accel = (state->ground_accel - min_accel) / 27.0;
113 ticks = state->tick - prev_tick;
114 temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
115 battery = (state->batt / 32767.0 * 5.0);
116 drogue_sense = (state->drogue / 32767.0 * 15.0);
117 main_sense = (state->main / 32767.0 * 15.0);
120 prev_tick = state->tick;
121 aoview_table_start();
123 if (npad_gps >= NUM_PAD_SAMPLES)
124 aoview_table_add_row("Ground state", "ready");
126 aoview_table_add_row("Ground state", "waiting for gps (%d)",
127 NUM_PAD_SAMPLES - npad_gps);
128 aoview_table_add_row("Rocket state", "%s", state->state);
129 aoview_table_add_row("Callsign", "%s", state->callsign);
130 aoview_table_add_row("Rocket serial", "%d", state->serial);
132 aoview_table_add_row("RSSI", "%ddBm", state->rssi);
133 aoview_table_add_row("Height", "%dm", altitude);
134 aoview_table_add_row("Max height", "%dm",
135 aoview_pres_to_altitude(min_pres) -
136 aoview_pres_to_altitude(state->ground_pres));
137 aoview_table_add_row("Acceleration", "%gm/s²", accel);
138 aoview_table_add_row("Max acceleration", "%gm/s²", max_accel);
139 aoview_table_add_row("Velocity", "%gm/s", velocity);
140 aoview_table_add_row("Temperature", "%g°C", temp);
141 aoview_table_add_row("Battery", "%gV", battery);
142 aoview_table_add_row("Drogue", "%gV", drogue_sense);
143 aoview_table_add_row("Main", "%gV", main_sense);
144 aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(state->ground_pres));
145 aoview_table_add_row("Satellites", "%d", state->nsat);
147 aoview_state_add_deg("Latitude", state->lat, 'N', 'S');
148 aoview_state_add_deg("Longitude", state->lon, 'E', 'W');
149 aoview_table_add_row("GPS alt", "%d", state->alt);
150 aoview_table_add_row("GPS time", "%02d:%02d:%02d",
151 state->gps_time.hour,
152 state->gps_time.minute,
153 state->gps_time.second);
154 aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon,
156 aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
157 aoview_table_add_row("Direction from pad", "%g°", bearing);
159 aoview_table_add_row("GPS", "unlocked");
162 aoview_state_add_deg("Pad latitude", pad_lat, 'N', 'S');
163 aoview_state_add_deg("Pad longitude", pad_lon, 'E', 'W');
164 aoview_table_add_row("Pad GPS alt", "%gm", pad_alt);
166 aoview_table_finish();
170 aoview_state_new(void)
186 aoview_state_init(GladeXML *xml)