state->report_time = aoview_time();
state->prev_data = state->data;
+ state->prev_npad = state->npad;
state->data = *data;
tick_count = data->tick;
if (tick_count < state->prev_data.tick)
state->main_sense = data->main / 32767.0 * 15.0;
state->battery = data->batt / 32767.0 * 5.0;
if (!strcmp(data->state, "pad")) {
- if (data->locked && data->nsat > 4) {
+ if (data->gps_locked && data->nsat >= 4) {
state->npad++;
state->pad_lat_total += data->lat;
state->pad_lon_total += data->lon;
state->pad_alt_total += data->alt;
- state->pad_lat = state->pad_lat_total / state->npad;
- state->pad_lon = state->pad_lon_total / state->npad;
- state->pad_alt = state->pad_alt_total / state->npad;
+ if (state->npad > 1) {
+ state->pad_lat = (state->pad_lat * 31 + data->lat) / 32.0;
+ state->pad_lon = (state->pad_lon * 31 + data->lon) / 32.0;
+ state->pad_alt = (state->pad_alt * 31 + data->alt) / 32.0;
+ } else {
+ state->pad_lat = data->lat;
+ state->pad_lon = data->lon;
+ state->pad_alt = data->alt;
+ }
}
}
state->ascent = FALSE;
if (state->height > state->max_height)
state->max_height = state->height;
- if (data->locked) {
+ if (data->gps_locked) {
state->lat = data->lat;
state->lon = data->lon;
aoview_great_circle(state->pad_lat, state->pad_lon, data->lat, data->lon,
aoview_voice_speak("max speed %d meters per second\n",
(int) state->max_speed);
}
+ if (state->prev_npad < MIN_PAD_SAMPLES && state->npad >= MIN_PAD_SAMPLES)
+ aoview_voice_speak("g p s ready\n");
}
void
aoview_table_add_row(0, "Main", "%5.2fV", state->main_sense);
aoview_table_add_row(0, "Pad altitude", "%dm", state->ground_altitude);
aoview_table_add_row(1, "Satellites", "%d", state->data.nsat);
- if (state->data.locked) {
+ if (state->data.gps_locked) {
aoview_state_add_deg(1, "Latitude", state->data.lat, 'N', 'S');
aoview_state_add_deg(1, "Longitude", state->data.lon, 'E', 'W');
aoview_table_add_row(1, "GPS height", "%d", state->gps_height);
state->data.hdop, state->data.h_error, state->data.v_error);
aoview_table_add_row(1, "Distance from pad", "%5.0fm", state->distance);
aoview_table_add_row(1, "Direction from pad", "%4.0f°", state->bearing);
- } else {
+ } else if (state->data.gps_connected) {
aoview_table_add_row(1, "GPS", "unlocked");
+ } else {
+ aoview_table_add_row(1, "GPS", "not available");
}
if (state->npad) {
aoview_state_add_deg(1, "Pad latitude", state->pad_lat, 'N', 'S');