2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
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.
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.
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.
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;
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;
40 #define NUM_PAD_SAMPLES 10
43 aoview_great_circle (double start_lat, double start_lon,
44 double end_lat, double end_lon,
45 double *dist, double *bearing)
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;
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));
57 if (sin(lon2-lon1) < 0)
60 crs = 2 * M_PI - acos(argacos);
61 *dist = d * earth_radius;
62 *bearing = crs * 180/M_PI;
66 aoview_state_add_deg(char *label, double deg)
71 int_part = floor (deg);
72 min = (deg - int_part) * 60.0;
73 aoview_table_add_row(label, "%d°%lf'",
79 aoview_state_notify(struct aostate *state)
83 double velocity_change;
89 double drogue_sense, main_sense;
92 if (!strcmp(state->state, "pad")) {
93 if (npad < NUM_PAD_SAMPLES) {
94 pad_accel_total += state->accel;
95 pad_pres_total += state->pres;
97 pad_lat_total += state->lat;
98 pad_lon_total += state->lon;
99 pad_alt_total += state->alt;
105 if (npad <= NUM_PAD_SAMPLES) {
106 pad_pres = pad_pres_total / npad;
107 pad_accel = pad_accel_total / npad;
109 pad_lat = pad_lat_total / npad_gps;
110 pad_lon = pad_lon_total / npad_gps;
111 pad_alt = pad_alt_total / npad_gps;
114 if (npad == NUM_PAD_SAMPLES) {
118 min_accel = pad_accel;
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);
137 prev_tick = state->tick;
138 aoview_table_start();
140 if (npad >= NUM_PAD_SAMPLES)
141 aoview_table_add_row("Ground state", "ready");
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);
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);
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,
173 aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
174 aoview_table_add_row("Direction from pad", "%g°", bearing);
176 aoview_table_add_row("GPS", "unlocked");
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);
183 aoview_table_finish();
187 aoview_state_new(void)
195 aoview_state_init(GladeXML *xml)