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 lat1 = rad * start_lat;
  49         double lon1 = -rad * start_lon;
  50         double lat2 = rad * end_lat;
  51         double lon2 = -rad * end_lon;
  52
  53         double d = acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2));
  54         double argacos = (sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1));
  55         double crs;
  56         if (sin(lon2-lon1) < 0)
  57                 crs = acos(argacos);
  58         else
  59                 crs = 2 * M_PI - acos(argacos);
  60         *dist = d * earth_radius;
  61         *bearing = crs * 180/M_PI;
  62 }
  63
  64 static void
  65 aoview_state_add_deg(char *label, double deg)
  66 {
  67         double  int_part;
  68         double  min;
  69
  70         int_part = floor (deg);
  71         min = (deg - int_part) * 60.0;
  72         aoview_table_add_row(label, "%d°%lf'",
  73                              (int) int_part, min);
  74
  75 }
  76
  77 void
  78 aoview_state_notify(struct aostate *state)
  79 {
  80         int     altitude;
  81         double  accel;
  82         double  velocity_change;
  83         int     ticks;
  84         double  dist;
  85         double  bearing;
  86         double  temp;
  87         double  battery;
  88         double  drogue_sense, main_sense;
  89
  90         if (!strcmp(state->state, "pad")) {
  91                 if (npad < NUM_PAD_SAMPLES) {
  92                         pad_accel_total += state->accel;
  93                         pad_pres_total += state->pres;
  94                         pad_lat_total += state->lat;
  95                         pad_lon_total += state->lon;
  96                         pad_alt_total += state->alt;
  97                         npad++;
  98                         velocity = 0;
  99                 }
 100                 if (npad <= NUM_PAD_SAMPLES) {
 101                         pad_pres = pad_pres_total / npad;
 102                         pad_accel = pad_accel_total / npad;
 103                         pad_lat = pad_lat_total / npad;
 104                         pad_lon = pad_lon_total / npad;
 105                         pad_alt = pad_alt_total / npad;
 106                 }
 107         }
 108         altitude = aoview_pres_to_altitude(state->pres) - aoview_pres_to_altitude(pad_pres);
 109         accel = (pad_accel - state->accel) / 264.8 *  9.80665;
 110         velocity_change = (accel + prev_accel) / 2.0;
 111         ticks = state->tick - prev_tick;
 112         velocity -= velocity_change * (ticks / 100.0);
 113         temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
 114         battery = (state->batt / 32767.0 * 5.0);
 115         drogue_sense = (state->drogue / 32767.0 * 15.0);
 116         main_sense = (state->main / 32767.0 * 15.0);
 117
 118         prev_accel = accel;
 119         prev_tick = state->tick;
 120         aoview_table_start();
 121         aoview_table_add_row("RSSI", "%ddB", state->rssi);
 122         aoview_table_add_row("Height", "%dm", altitude);
 123         aoview_table_add_row("Acceleration", "%gm/s²", accel);
 124         aoview_table_add_row("Velocity", "%gm/s", velocity);
 125         aoview_table_add_row("Temperature", "%g°C", temp);
 126         aoview_table_add_row("Battery", "%gV", battery);
 127         aoview_table_add_row("Drogue", "%gV", drogue_sense);
 128         aoview_table_add_row("Main", "%gV", main_sense);
 129         aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(pad_pres));
 130         aoview_table_add_row("Satellites", "%d", state->nsat);
 131         if (state->locked) {
 132                 aoview_state_add_deg("Latitude", state->lat);
 133                 aoview_state_add_deg("Longitude", state->lon);
 134                 aoview_table_add_row("GPS alt", "%d", state->alt);
 135                 aoview_table_add_row("GPS time", "%02d:%02d:%02d",
 136                                      state->gps_time.hour,
 137                                      state->gps_time.minute,
 138                                      state->gps_time.second);
 139                 aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon,
 140                                     &dist, &bearing);
 141                 aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
 142                 aoview_table_add_row("Direction from pad", "%g°", bearing);
 143         } else {
 144                 aoview_table_add_row("GPS", "unlocked");
 145         }
 146         aoview_table_finish();
 147 }
 148
 149 void
 150 aoview_state_init(GladeXML *xml)
 151 {
 152 }