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 double   pad_lat_total;
  22 static double   pad_lon_total;
  23 static int      pad_alt_total;
  24 static int      npad_gps;
  25 static int      prev_tick;
  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;
  32
  33 #define NUM_PAD_SAMPLES 10
  34
  35 static void
  36 aoview_great_circle (double start_lat, double start_lon,
  37                      double end_lat, double end_lon,
  38                      double *dist, double *bearing)
  39 {
  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;
  46
  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));
  49         double crs;
  50         if (sin(lon2-lon1) < 0)
  51                 crs = acos(argacos);
  52         else
  53                 crs = 2 * M_PI - acos(argacos);
  54         *dist = d * earth_radius;
  55         *bearing = crs * 180/M_PI;
  56 }
  57
  58 static void
  59 aoview_state_add_deg(char *label, double deg, char pos, char neg)
  60 {
  61         double  int_part;
  62         double  min;
  63         char    sign = pos;
  64
  65         if (deg < 0) {
  66                 deg = -deg;
  67                 sign = neg;
  68         }
  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);
  73
  74 }
  75
  76 void
  77 aoview_state_notify(struct aostate *state)
  78 {
  79         int     altitude;
  80         double  accel;
  81         int     ticks;
  82         double  dist;
  83         double  bearing;
  84         double  temp;
  85         double  velocity;
  86         double  battery;
  87         double  drogue_sense, main_sense;
  88         double  max_accel;
  89
  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;
  95                         npad_gps++;
  96                 }
  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;
 101                 }
 102                 min_pres = state->ground_pres;
 103                 min_accel = state->ground_accel;
 104         }
 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);
 118
 119         prev_accel = accel;
 120         prev_tick = state->tick;
 121         aoview_table_start();
 122
 123         if (npad_gps >= NUM_PAD_SAMPLES)
 124                 aoview_table_add_row("Ground state", "ready");
 125         else
 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);
 131
 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);
 146         if (state->locked) {
 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,
 155                                     &dist, &bearing);
 156                 aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
 157                 aoview_table_add_row("Direction from pad", "%g°", bearing);
 158         } else {
 159                 aoview_table_add_row("GPS", "unlocked");
 160         }
 161         if (npad_gps) {
 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);
 165         }
 166         aoview_table_finish();
 167 }
 168
 169 void
 170 aoview_state_new(void)
 171 {
 172         pad_lat_total = 0;
 173         pad_lon_total = 0;
 174         pad_alt_total = 0;
 175         npad_gps = 0;
 176         prev_tick = 0;
 177         prev_accel = 0;
 178         pad_lat = 0;
 179         pad_lon = 0;
 180         pad_alt = 0;
 181         min_pres = 32767;
 182         min_accel = 32767;
 183 }
 184
 185 void
 186 aoview_state_init(GladeXML *xml)
 187 {
 188         aoview_state_new();
 189 }