*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
return 1;
}
+static int
+gpssat_add(struct cc_gpsdata *data, struct cc_gpssat *sat)
+{
+ int i, j;
+ int reuse = 0;
+ int newsizesats;
+ struct cc_gpssats *newsats;
+
+ for (i = data->numsats; --i >= 0;) {
+ if (data->sats[i].sat[0].time == sat->time) {
+ reuse = 1;
+ break;
+ }
+ if (data->sats[i].sat[0].time < sat->time)
+ break;
+ }
+ if (!reuse) {
+ if (data->numsats == data->sizesats) {
+ if (data->sizesats == 0)
+ newsats = malloc((newsizesats = 256) * sizeof (struct cc_gpssats));
+ else
+ newsats = realloc (data->sats, (newsizesats = data->sizesats * 2)
+ * sizeof (struct cc_gpssats));
+ if (!newsats)
+ return 0;
+ data->sats = newsats;
+ data->sizesats = newsizesats;
+ }
+ i = data->numsats++;
+ data->sats[i].nsat = 0;
+ }
+ j = data->sats[i].nsat;
+ if (j < 12) {
+ data->sats[i].sat[j] = *sat;
+ data->sats[i].nsat = j + 1;
+ }
+ return 1;
+}
+
static void
gpsdata_free(struct cc_gpsdata *data)
{
#define AO_LOG_GPS_LON 'W'
#define AO_LOG_GPS_ALT 'H'
#define AO_LOG_GPS_SAT 'V'
+#define AO_LOG_GPS_DATE 'Y'
#define AO_LOG_POS_NONE (~0UL)
+#define GPS_TIME 1
+#define GPS_LAT 2
+#define GPS_LON 4
+#define GPS_ALT 8
+
static int
read_eeprom(const char *line, struct cc_flightraw *f, double *ground_pres, int *ground_pres_count)
{
char type;
int tick;
int a, b;
- struct cc_gpselt gps;
+ static struct cc_gpselt gps;
+ static int gps_valid;
+ struct cc_gpssat sat;
int serial;
if (sscanf(line, "serial-number %u", &serial) == 1) {
timedata_add(&f->state, tick, a);
break;
case AO_LOG_GPS_TIME:
+ /* the flight computer writes TIME first, so reset
+ * any stale data before adding this record
+ */
gps.time = tick;
+ gps.hour = (a & 0xff);
+ gps.minute = (a >> 8) & 0xff;
+ gps.second = (b & 0xff);
+ gps.flags = (b >> 8) & 0xff;
+ gps_valid = GPS_TIME;
break;
case AO_LOG_GPS_LAT:
gps.lat = ((int32_t) (a + (b << 16))) / 10000000.0;
+ gps_valid |= GPS_LAT;
break;
case AO_LOG_GPS_LON:
gps.lon = ((int32_t) (a + (b << 16))) / 10000000.0;
+ gps_valid |= GPS_LON;
break;
case AO_LOG_GPS_ALT:
- gps.alt = ((int32_t) (a + (b << 16)));
- gpsdata_add(&f->gps, &gps);
+ gps.alt = (int16_t) a;
+ gps_valid |= GPS_ALT;
break;
case AO_LOG_GPS_SAT:
+ sat.time = tick;
+ sat.svid = a;
+ sat.c_n = (b >> 8) & 0xff;
+ gpssat_add(&f->gps, &sat);
+ break;
+ case AO_LOG_GPS_DATE:
+ f->year = 2000 + (a & 0xff);
+ f->month = (a >> 8) & 0xff;
+ f->day = (b & 0xff);
break;
default:
return 0;
}
+ if (gps_valid == 0xf) {
+ gps_valid = 0;
+ gpsdata_add(&f->gps, &gps);
+ }
return 1;
}
{
struct cc_telem telem;
struct cc_gpselt gps;
+ struct cc_gpssat sat;
+ int s;
+
if (!cc_telem_parse(line, &telem))
return 0;
f->ground_accel = telem.ground_accel;
timedata_add(&f->main, telem.tick, telem.main);
timedata_add(&f->state, telem.tick, state_name_to_state(telem.state));
if (telem.gps.gps_locked) {
+ f->year = telem.gps.gps_time.year;
+ f->month = telem.gps.gps_time.month;
+ f->day = telem.gps.gps_time.day;
gps.time = telem.tick;
gps.lat = telem.gps.lat;
gps.lon = telem.gps.lon;
gps.alt = telem.gps.alt;
+ gps.hour = telem.gps.gps_time.hour;
+ gps.minute = telem.gps.gps_time.minute;
+ gps.second = telem.gps.gps_time.second;
gpsdata_add(&f->gps, &gps);
}
+ for (s = 0; s < telem.gps_tracking.channels; s++) {
+ sat.time = telem.tick;
+ sat.svid = telem.gps_tracking.sats[s].svid;
+ sat.c_n = telem.gps_tracking.sats[s].c_n0;
+ gpssat_add(&f->gps, &sat);
+ }
return 1;
}