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 static int      pad_pres_total;
  24 static int      pad_accel_total;
  25 static double   pad_lat_total;
  26 static double   pad_lon_total;
  27 static int      pad_alt_total;
  28 static int      npad;
  29 static int      npad_gps;
  30 static int      prev_tick;
  31 static double   prev_accel;
  32 static double   pad_lat;
  33 static double   pad_lon;
  34 static double   pad_alt;
  35 static double   min_pres;
  36 static double   min_accel;
  37
  38 #define NUM_PAD_SAMPLES 10
  39
  40 static void
  41 aoview_great_circle (double start_lat, double start_lon,
  42                      double end_lat, double end_lon,
  43                      double *dist, double *bearing)
  44 {
  45         double rad = M_PI / 180;
  46         double earth_radius = 6371.2;
  47         double lat1 = rad * start_lat;
  48         double lon1 = -rad * start_lon;
  49         double lat2 = rad * end_lat;
  50         double lon2 = -rad * end_lon;
  51
  52         double d = acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2));
  53         double argacos = (sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1));
  54         double crs;
  55         if (sin(lon2-lon1) < 0)
  56                 crs = acos(argacos);
  57         else
  58                 crs = 2 * M_PI - acos(argacos);
  59         *dist = d * earth_radius;
  60         *bearing = crs * 180/M_PI;
  61 }
  62
  63 static void
  64 aoview_state_add_deg(char *label, double deg)
  65 {
  66         double  int_part;
  67         double  min;
  68
  69         int_part = floor (deg);
  70         min = (deg - int_part) * 60.0;
  71         aoview_table_add_row(label, "%d°%lf'",
  72                              (int) int_part, min);
  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 (npad < NUM_PAD_SAMPLES) {
  92                         pad_accel_total += state->flight_accel;
  93                         pad_pres_total += state->flight_pres;
  94                         if (state->locked) {
  95                                 pad_lat_total += state->lat;
  96                                 pad_lon_total += state->lon;
  97                                 pad_alt_total += state->alt;
  98                                 npad_gps++;
  99                         }
 100                         npad++;
 101                 }
 102                 if (npad <= NUM_PAD_SAMPLES) {
 103                         pad_pres = pad_pres_total / npad;
 104                         pad_accel = pad_accel_total / npad;
 105                         if (npad_gps) {
 106                                 pad_lat = pad_lat_total / npad_gps;
 107                                 pad_lon = pad_lon_total / npad_gps;
 108                                 pad_alt = pad_alt_total / npad_gps;
 109                         }
 110                 }
 111                 if (npad == NUM_PAD_SAMPLES) {
 112                         npad++;
 113                         min_pres = pad_pres;
 114                         min_accel = pad_accel;
 115                 }
 116         }
 117         if (state->flight_pres < min_pres)
 118                 min_pres = state->flight_pres;
 119         if (state->flight_accel < min_accel)
 120                 min_accel = state->flight_accel;
 121         altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(pad_pres);
 122         accel = (pad_accel - state->flight_accel) / 27.0;
 123         velocity = state->flight_vel / 2700.0;
 124         max_accel = (pad_accel - min_accel) / 27.0;
 125         ticks = state->tick - prev_tick;
 126         temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
 127         battery = (state->batt / 32767.0 * 5.0);
 128         drogue_sense = (state->drogue / 32767.0 * 15.0);
 129         main_sense = (state->main / 32767.0 * 15.0);
 130
 131         prev_accel = accel;
 132         prev_tick = state->tick;
 133         aoview_table_start();
 134
 135         if (npad >= NUM_PAD_SAMPLES)
 136                 aoview_table_add_row("Ground state", "ready");
 137         else
 138                 aoview_table_add_row("Ground state", "preparing (%d)",
 139                                      NUM_PAD_SAMPLES - npad);
 140         aoview_table_add_row("Rocket state", "%s", state->state);
 141         aoview_table_add_row("Callsign", "%s", state->callsign);
 142         aoview_table_add_row("Rocket serial", "%d", state->serial);
 143
 144         aoview_table_add_row("RSSI", "%ddB", state->rssi);
 145         aoview_table_add_row("Height", "%dm", altitude);
 146         aoview_table_add_row("Max height", "%dm",
 147                              aoview_pres_to_altitude(min_pres) -
 148                              aoview_pres_to_altitude(pad_pres));
 149         aoview_table_add_row("Acceleration", "%gm/s²", accel);
 150         aoview_table_add_row("Max acceleration", "%gm/s²", max_accel);
 151         aoview_table_add_row("Velocity", "%gm/s", velocity);
 152         aoview_table_add_row("Temperature", "%g°C", temp);
 153         aoview_table_add_row("Battery", "%gV", battery);
 154         aoview_table_add_row("Drogue", "%gV", drogue_sense);
 155         aoview_table_add_row("Main", "%gV", main_sense);
 156         aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(pad_pres));
 157         aoview_table_add_row("Satellites", "%d", state->nsat);
 158         if (state->locked) {
 159                 aoview_state_add_deg("Latitude", state->lat);
 160                 aoview_state_add_deg("Longitude", state->lon);
 161                 aoview_table_add_row("GPS alt", "%d", state->alt);
 162                 aoview_table_add_row("GPS time", "%02d:%02d:%02d",
 163                                      state->gps_time.hour,
 164                                      state->gps_time.minute,
 165                                      state->gps_time.second);
 166                 aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon,
 167                                     &dist, &bearing);
 168                 aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
 169                 aoview_table_add_row("Direction from pad", "%g°", bearing);
 170         } else {
 171                 aoview_table_add_row("GPS", "unlocked");
 172         }
 173         if (npad_gps) {
 174                 aoview_state_add_deg("Pad latitude", pad_lat);
 175                 aoview_state_add_deg("Pad longitude", pad_lon);
 176                 aoview_table_add_row("Pad GPS alt", "%gm", pad_alt);
 177         }
 178         aoview_table_finish();
 179 }
 180
 181 void
 182 aoview_state_new(void)
 183 {
 184         pad_pres = 0;
 185         pad_accel = 0;
 186         pad_pres_total = 0;
 187         pad_accel_total = 0;
 188         pad_lat_total = 0;
 189         pad_lon_total = 0;
 190         pad_alt_total = 0;
 191         npad = 0;
 192         npad_gps = 0;
 193         prev_tick = 0;
 194         prev_accel = 0;
 195         pad_lat = 0;
 196         pad_lon = 0;
 197         pad_alt = 0;
 198         min_pres = 32767;
 199         min_accel = 32767;
 200 }
 201
 202 void
 203 aoview_state_init(GladeXML *xml)
 204 {
 205         aoview_state_new();
 206 }