git.gag.com Git - fw/altos/blob - aoview/aoview_state.c

   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include "aoview.h"
  19 #include <math.h>
  20
  21 static int      pad_pres;
  22 static int      pad_accel;
  23
  24 static int      pad_pres_total;
  25 static int      pad_accel_total;
  26 static double   pad_lat_total;
  27 static double   pad_lon_total;
  28 static int      pad_alt_total;
  29 static int      npad;
  30 static int      prev_tick;
  31 static double   prev_accel;
  32 static double   velocity;
  33 static double   pad_lat;
  34 static double   pad_lon;
  35 static double   pad_alt;
  36
  37 #define NUM_PAD_SAMPLES 50
  38
  39
  40
  41 static void
  42 aoview_great_circle (double start_lat, double start_lon,
  43                      double end_lat, double end_lon,
  44                      double *dist, double *bearing)
  45 {
  46         double rad = M_PI / 180;
  47         double earth_radius = 6371.2;
  48         double a = (90 - start_lat) * rad;
  49         double b = (90 - end_lat) * rad;
  50         double phi = (end_lon - start_lon) * rad;
  51         double cosr = cos(a) * cos(b) + sin(a) * sin(b) * cos(phi);
  52         double r = acos(cosr);
  53         double rdist = earth_radius * r;
  54         double sinth = sin(phi) * sin(b) / sin(r);
  55         double th = asin(sinth) / rad;
  56         *dist = rdist;
  57         *bearing = th;
  58 }
  59
  60 void
  61 aoview_state_notify(struct aostate *state)
  62 {
  63         int     altitude;
  64         double  accel;
  65         double  velocity_change;
  66         int     ticks;
  67         double  dist;
  68         double  bearing;
  69         double  temp;
  70         double  battery;
  71         double  drogue_sense, main_sense;
  72
  73         if (!strcmp(state->state, "pad")) {
  74                 if (npad < NUM_PAD_SAMPLES) {
  75                         pad_accel_total += state->accel;
  76                         pad_pres_total += state->pres;
  77                         pad_lat_total += state->lat;
  78                         pad_lon_total += state->lon;
  79                         pad_alt_total += state->alt;
  80                         npad++;
  81                         velocity = 0;
  82                 }
  83                 if (npad <= NUM_PAD_SAMPLES) {
  84                         pad_pres = pad_pres_total / npad;
  85                         pad_accel = pad_accel_total / npad;
  86                         pad_lat = pad_lat_total / npad;
  87                         pad_lon = pad_lon_total / npad;
  88                         pad_alt = pad_alt_total / npad;
  89                 }
  90         }
  91         altitude = aoview_pres_to_altitude(state->pres) - aoview_pres_to_altitude(pad_pres);
  92         accel = (pad_accel - state->accel) / 264.8 *  9.80665;
  93         velocity_change = (accel + prev_accel) / 2.0;
  94         ticks = state->tick - prev_tick;
  95         velocity -= velocity_change * (ticks / 100.0);
  96         temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
  97         battery = (state->batt / 32767.0 * 5.0);
  98         drogue_sense = (state->drogue / 32767.0 * 15.0);
  99         main_sense = (state->main / 32767.0 * 15.0);
 100
 101         prev_accel = accel;
 102         prev_tick = state->tick;
 103         aoview_table_start();
 104         aoview_table_add_row("RSSI", "%ddB", state->rssi);
 105         aoview_table_add_row("Height", "%dm", altitude);
 106         aoview_table_add_row("Acceleration", "%gm/s²", accel);
 107         aoview_table_add_row("Velocity", "%gm/s", velocity);
 108         aoview_table_add_row("Temperature", "%g°C", temp);
 109         aoview_table_add_row("Battery", "%gV", battery);
 110         aoview_table_add_row("Drogue", "%gV", drogue_sense);
 111         aoview_table_add_row("Main", "%gV", main_sense);
 112         aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(pad_pres));
 113         aoview_table_add_row("Satellites", "%d", state->nsat);
 114         if (state->locked) {
 115                 aoview_table_add_row("Lat", "%g", state->lat);
 116                 aoview_table_add_row("Lon", "%g", state->lon);
 117                 aoview_table_add_row("GPS alt", "%d", state->alt);
 118                 aoview_table_add_row("GPS time", "%02d:%02d:%02d",
 119                                      state->gps_time.hour,
 120                                      state->gps_time.minute,
 121                                      state->gps_time.second);
 122                 aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon,
 123                                     &dist, &bearing);
 124                 aoview_table_add_row("Course", "%gkm %g°", dist, bearing);
 125         } else {
 126                 aoview_table_add_row("GPS", "unlocked");
 127         }
 128         aoview_table_finish();
 129 }
 130
 131 void
 132 aoview_state_init(GladeXML *xml)
 133 {
 134 }