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      npad_gps;
  31 static int      prev_tick;
  32 static double   prev_accel;
  33 static double   velocity;
  34 static double   pad_lat;
  35 static double   pad_lon;
  36 static double   pad_alt;
  37 static double   min_pres;
  38 static double   min_accel;
  39
  40 #define NUM_PAD_SAMPLES 10
  41
  42 static void
  43 aoview_great_circle (double start_lat, double start_lon,
  44                      double end_lat, double end_lon,
  45                      double *dist, double *bearing)
  46 {
  47         double rad = M_PI / 180;
  48         double earth_radius = 6371.2;
  49         double lat1 = rad * start_lat;
  50         double lon1 = -rad * start_lon;
  51         double lat2 = rad * end_lat;
  52         double lon2 = -rad * end_lon;
  53
  54         double d = acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2));
  55         double argacos = (sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1));
  56         double crs;
  57         if (sin(lon2-lon1) < 0)
  58                 crs = acos(argacos);
  59         else
  60                 crs = 2 * M_PI - acos(argacos);
  61         *dist = d * earth_radius;
  62         *bearing = crs * 180/M_PI;
  63 }
  64
  65 static void
  66 aoview_state_add_deg(char *label, double deg)
  67 {
  68         double  int_part;
  69         double  min;
  70
  71         int_part = floor (deg);
  72         min = (deg - int_part) * 60.0;
  73         aoview_table_add_row(label, "%d°%lf'",
  74                              (int) int_part, min);
  75
  76 }
  77
  78 void
  79 aoview_state_notify(struct aostate *state)
  80 {
  81         int     altitude;
  82         double  accel;
  83         double  velocity_change;
  84         int     ticks;
  85         double  dist;
  86         double  bearing;
  87         double  temp;
  88         double  battery;
  89         double  drogue_sense, main_sense;
  90         double  max_accel;
  91
  92         if (!strcmp(state->state, "pad")) {
  93                 if (npad < NUM_PAD_SAMPLES) {
  94                         pad_accel_total += state->accel;
  95                         pad_pres_total += state->pres;
  96                         if (state->locked) {
  97                                 pad_lat_total += state->lat;
  98                                 pad_lon_total += state->lon;
  99                                 pad_alt_total += state->alt;
 100                                 npad_gps++;
 101                         }
 102                         npad++;
 103                         velocity = 0;
 104                 }
 105                 if (npad <= NUM_PAD_SAMPLES) {
 106                         pad_pres = pad_pres_total / npad;
 107                         pad_accel = pad_accel_total / npad;
 108                         if (npad_gps) {
 109                                 pad_lat = pad_lat_total / npad_gps;
 110                                 pad_lon = pad_lon_total / npad_gps;
 111                                 pad_alt = pad_alt_total / npad_gps;
 112                         }
 113                 }
 114                 if (npad == NUM_PAD_SAMPLES) {
 115                         npad++;
 116                         velocity = 0;
 117                         min_pres = pad_pres;
 118                         min_accel = pad_accel;
 119                 }
 120         }
 121         if (state->pres < min_pres)
 122                 min_pres = state->pres;
 123         if (state->accel < min_accel)
 124                 min_accel = state->accel;
 125         altitude = aoview_pres_to_altitude(state->pres) - aoview_pres_to_altitude(pad_pres);
 126         accel = (pad_accel - state->accel) / 264.8 *  9.80665;
 127         max_accel = (pad_accel - min_accel) / 264.8 * 9.80665;
 128         velocity_change = (accel + prev_accel) / 2.0;
 129         ticks = state->tick - prev_tick;
 130         velocity -= velocity_change * (ticks / 100.0);
 131         temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
 132         battery = (state->batt / 32767.0 * 5.0);
 133         drogue_sense = (state->drogue / 32767.0 * 15.0);
 134         main_sense = (state->main / 32767.0 * 15.0);
 135
 136         prev_accel = accel;
 137         prev_tick = state->tick;
 138         aoview_table_start();
 139
 140         if (npad >= NUM_PAD_SAMPLES)
 141                 aoview_table_add_row("Ground state", "ready");
 142         else
 143                 aoview_table_add_row("Ground state", "preparing (%d)",
 144                                      NUM_PAD_SAMPLES - npad);
 145         aoview_table_add_row("Rocket state", "%s", state->state);
 146         aoview_table_add_row("Callsign", "%s", state->callsign);
 147         aoview_table_add_row("Rocket serial", "%d", state->serial);
 148
 149         aoview_table_add_row("RSSI", "%ddB", state->rssi);
 150         aoview_table_add_row("Height", "%dm", altitude);
 151         aoview_table_add_row("Max height", "%dm",
 152                              aoview_pres_to_altitude(min_pres) -
 153                              aoview_pres_to_altitude(pad_pres));
 154         aoview_table_add_row("Acceleration", "%gm/s²", accel);
 155         aoview_table_add_row("Max acceleration", "%gm/s²", max_accel);
 156         aoview_table_add_row("Velocity", "%gm/s", velocity);
 157         aoview_table_add_row("Temperature", "%g°C", temp);
 158         aoview_table_add_row("Battery", "%gV", battery);
 159         aoview_table_add_row("Drogue", "%gV", drogue_sense);
 160         aoview_table_add_row("Main", "%gV", main_sense);
 161         aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(pad_pres));
 162         aoview_table_add_row("Satellites", "%d", state->nsat);
 163         if (state->locked) {
 164                 aoview_state_add_deg("Latitude", state->lat);
 165                 aoview_state_add_deg("Longitude", state->lon);
 166                 aoview_table_add_row("GPS alt", "%d", state->alt);
 167                 aoview_table_add_row("GPS time", "%02d:%02d:%02d",
 168                                      state->gps_time.hour,
 169                                      state->gps_time.minute,
 170                                      state->gps_time.second);
 171                 aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon,
 172                                     &dist, &bearing);
 173                 aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
 174                 aoview_table_add_row("Direction from pad", "%g°", bearing);
 175         } else {
 176                 aoview_table_add_row("GPS", "unlocked");
 177         }
 178         if (npad_gps) {
 179                 aoview_state_add_deg("Pad latitude", pad_lat);
 180                 aoview_state_add_deg("Pad longitude", pad_lon);
 181                 aoview_table_add_row("Pad GPS alt", "%gm", pad_alt);
 182         }
 183         aoview_table_finish();
 184 }
 185
 186 void
 187 aoview_state_new(void)
 188 {
 189         min_pres = 32767;
 190         min_accel = 32767;
 191         npad = 0;
 192 }
 193
 194 void
 195 aoview_state_init(GladeXML *xml)
 196 {
 197         aoview_state_new();
 198 }