git.gag.com Git - fw/altos/blob - src/ao_flight_test.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 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <string.h>
  24 #include <getopt.h>
  25 #include <math.h>
  26
  27 #define AO_HERTZ        100
  28
  29 #define AO_ADC_RING     64
  30 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  31 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  32
  33 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  34 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  35 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  36
  37 /*
  38  * One set of samples read from the A/D converter
  39  */
  40 struct ao_adc {
  41         uint16_t        tick;           /* tick when the sample was read */
  42         int16_t         accel;          /* accelerometer */
  43         int16_t         pres;           /* pressure sensor */
  44         int16_t         pres_real;      /* unclipped */
  45         int16_t         temp;           /* temperature sensor */
  46         int16_t         v_batt;         /* battery voltage */
  47         int16_t         sense_d;        /* drogue continuity sense */
  48         int16_t         sense_m;        /* main continuity sense */
  49 };
  50
  51 #define __pdata
  52 #define __data
  53 #define __xdata
  54 #define __code
  55 #define __reentrant
  56
  57 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  58 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  59 #define from_fix(x)     ((x) >> 16)
  60
  61 /*
  62  * Above this height, the baro sensor doesn't work
  63  */
  64 #define AO_MAX_BARO_HEIGHT      12000
  65 #define AO_BARO_SATURATE        13000
  66 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  67
  68 /*
  69  * Above this speed, baro measurements are unreliable
  70  */
  71 #define AO_MAX_BARO_SPEED       200
  72
  73 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
  74
  75 enum ao_flight_state {
  76         ao_flight_startup = 0,
  77         ao_flight_idle = 1,
  78         ao_flight_pad = 2,
  79         ao_flight_boost = 3,
  80         ao_flight_fast = 4,
  81         ao_flight_coast = 5,
  82         ao_flight_drogue = 6,
  83         ao_flight_main = 7,
  84         ao_flight_landed = 8,
  85         ao_flight_invalid = 9
  86 };
  87
  88 extern enum ao_flight_state ao_flight_state;
  89
  90 #define FALSE 0
  91 #define TRUE 1
  92
  93 struct ao_adc ao_adc_ring[AO_ADC_RING];
  94 uint8_t ao_adc_head;
  95 int     ao_summary = 0;
  96
  97 #define ao_led_on(l)
  98 #define ao_led_off(l)
  99 #define ao_timer_set_adc_interval(i)
 100 #define ao_wakeup(wchan) ao_dump_state()
 101 #define ao_cmd_register(c)
 102 #define ao_usb_disable()
 103 #define ao_telemetry_set_interval(x)
 104 #define ao_rdf_set(rdf)
 105 #define ao_packet_slave_start()
 106 #define ao_packet_slave_stop()
 107
 108 enum ao_igniter {
 109         ao_igniter_drogue = 0,
 110         ao_igniter_main = 1
 111 };
 112
 113 struct ao_adc ao_adc_static;
 114
 115 int     drogue_height;
 116 double  drogue_time;
 117 int     main_height;
 118 double  main_time;
 119
 120 int     tick_offset;
 121
 122 static int32_t  ao_k_height;
 123
 124 void
 125 ao_ignite(enum ao_igniter igniter)
 126 {
 127         double time = (double) (ao_adc_static.tick + tick_offset) / 100;
 128
 129         if (igniter == ao_igniter_drogue) {
 130                 drogue_time = time;
 131                 drogue_height = ao_k_height >> 16;
 132         } else {
 133                 main_time = time;
 134                 main_height = ao_k_height >> 16;
 135         }
 136 }
 137
 138 struct ao_task {
 139         int dummy;
 140 };
 141
 142 #define ao_add_task(t,f,n)
 143
 144 #define ao_log_start()
 145 #define ao_log_stop()
 146
 147 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 148 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 149
 150 #define AO_FLIGHT_TEST
 151
 152 int     ao_flight_debug;
 153
 154 FILE *emulator_in;
 155 char *emulator_app;
 156 char *emulator_name;
 157 double emulator_error_max = 4;
 158
 159 void
 160 ao_dump_state(void);
 161
 162 void
 163 ao_sleep(void *wchan);
 164
 165 const char const * const ao_state_names[] = {
 166         "startup", "idle", "pad", "boost", "fast",
 167         "coast", "drogue", "main", "landed", "invalid"
 168 };
 169
 170 struct ao_cmds {
 171         void            (*func)(void);
 172         const char      *help;
 173 };
 174
 175 #include "ao_convert.c"
 176
 177 struct ao_config {
 178         uint16_t        main_deploy;
 179         int16_t         accel_plus_g;
 180         int16_t         accel_minus_g;
 181 };
 182
 183 #define ao_config_get()
 184
 185 struct ao_config ao_config;
 186
 187 #define DATA_TO_XDATA(x) (x)
 188
 189 #define HAS_FLIGHT 1
 190 #define HAS_ADC 1
 191 #define HAS_USB 1
 192 #define HAS_GPS 1
 193 #ifndef HAS_ACCEL
 194 #define HAS_ACCEL 1
 195 #define HAS_ACCEL_REF 0
 196 #endif
 197
 198 #define GRAVITY 9.80665
 199 extern int16_t ao_ground_accel, ao_flight_accel;
 200 extern int16_t ao_accel_2g;
 201
 202 extern uint16_t ao_sample_tick;
 203
 204 extern int16_t  ao_sample_height;
 205 extern int16_t  ao_sample_accel;
 206 extern int32_t  ao_accel_scale;
 207 extern int16_t  ao_ground_height;
 208 extern int16_t  ao_sample_alt;
 209
 210 int ao_sample_prev_tick;
 211 uint16_t        prev_tick;
 212
 213 #include "ao_kalman.c"
 214 #include "ao_sample.c"
 215 #include "ao_flight.c"
 216
 217 #define to_double(f)    ((f) / 65536.0)
 218
 219 static int      ao_records_read = 0;
 220 static int      ao_eof_read = 0;
 221 static int      ao_flight_ground_accel;
 222 static int      ao_flight_started = 0;
 223 static int      ao_test_max_height;
 224 static double   ao_test_max_height_time;
 225 static int      ao_test_main_height;
 226 static double   ao_test_main_height_time;
 227
 228 void
 229 ao_test_exit(void)
 230 {
 231         double  drogue_error;
 232         double  main_error;
 233
 234         if (!ao_test_main_height_time) {
 235                 ao_test_main_height_time = ao_test_max_height_time;
 236                 ao_test_main_height = ao_test_max_height;
 237         }
 238         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 239         main_error = fabs(ao_test_main_height_time - main_time);
 240         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 241                 printf ("%s %s\n",
 242                         emulator_app, emulator_name);
 243                 printf ("\tApogee error %g\n", drogue_error);
 244                 printf ("\tMain error %g\n", main_error);
 245                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
 246                         ao_test_max_height, ao_test_max_height_time,
 247                         ao_test_main_height, ao_test_main_height_time);
 248                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
 249                         drogue_height, drogue_time, main_height, main_time);
 250                 exit (1);
 251         }
 252         exit(0);
 253 }
 254
 255 void
 256 ao_insert(void)
 257 {
 258         double  time;
 259
 260         ao_adc_ring[ao_adc_head] = ao_adc_static;
 261         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 262         if (ao_flight_state != ao_flight_startup) {
 263                 double  height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
 264                 double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
 265                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 266
 267                 if (!tick_offset)
 268                         tick_offset = -ao_adc_static.tick;
 269                 if ((prev_tick - ao_adc_static.tick) > 0x400)
 270                         tick_offset += 65536;
 271                 prev_tick = ao_adc_static.tick;
 272                 time = (double) (ao_adc_static.tick + tick_offset) / 100;
 273
 274                 if (ao_test_max_height < height) {
 275                         ao_test_max_height = height;
 276                         ao_test_max_height_time = time;
 277                 }
 278                 if (height > ao_config.main_deploy) {
 279                         ao_test_main_height_time = time;
 280                         ao_test_main_height = height;
 281                 }
 282
 283                 if (!ao_summary) {
 284                         printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\n",
 285                                time,
 286                                height,
 287                                accel,
 288                                ao_state_names[ao_flight_state],
 289                                ao_k_height / 65536.0,
 290                                ao_k_speed / 65536.0 / 16.0,
 291                                ao_k_accel / 65536.0 / 16.0,
 292                                drogue_height,
 293                                main_height,
 294                                ao_error_h_sq_avg);
 295                         if (ao_flight_state == ao_flight_landed)
 296                                 ao_test_exit();
 297                 }
 298         }
 299 }
 300
 301 #define AO_MAX_CALLSIGN                 8
 302 #define AO_MAX_VERSION                  8
 303 #define AO_MAX_TELEMETRY                128
 304
 305 struct ao_telemetry_generic {
 306         uint16_t        serial;         /* 0 */
 307         uint16_t        tick;           /* 2 */
 308         uint8_t         type;           /* 4 */
 309         uint8_t         payload[27];    /* 5 */
 310         /* 32 */
 311 };
 312
 313 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 314 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 315 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 316
 317 struct ao_telemetry_sensor {
 318         uint16_t        serial;         /*  0 */
 319         uint16_t        tick;           /*  2 */
 320         uint8_t         type;           /*  4 */
 321
 322         uint8_t         state;          /*  5 flight state */
 323         int16_t         accel;          /*  6 accelerometer (TM only) */
 324         int16_t         pres;           /*  8 pressure sensor */
 325         int16_t         temp;           /* 10 temperature sensor */
 326         int16_t         v_batt;         /* 12 battery voltage */
 327         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 328         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 329
 330         int16_t         acceleration;   /* 18 m/s² * 16 */
 331         int16_t         speed;          /* 20 m/s * 16 */
 332         int16_t         height;         /* 22 m */
 333
 334         int16_t         ground_pres;    /* 24 average pres on pad */
 335         int16_t         ground_accel;   /* 26 average accel on pad */
 336         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 337         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 338         /* 32 */
 339 };
 340
 341 #define AO_TELEMETRY_CONFIGURATION      0x04
 342
 343 struct ao_telemetry_configuration {
 344         uint16_t        serial;                         /*  0 */
 345         uint16_t        tick;                           /*  2 */
 346         uint8_t         type;                           /*  4 */
 347
 348         uint8_t         device;                         /*  5 device type */
 349         uint16_t        flight;                         /*  6 flight number */
 350         uint8_t         config_major;                   /*  8 Config major version */
 351         uint8_t         config_minor;                   /*  9 Config minor version */
 352         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 353         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 354         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 355         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 356         char            version[AO_MAX_VERSION];        /* 24 Software version */
 357         /* 32 */
 358 };
 359
 360 #define AO_TELEMETRY_LOCATION           0x05
 361
 362 #define AO_GPS_MODE_NOT_VALID           'N'
 363 #define AO_GPS_MODE_AUTONOMOUS          'A'
 364 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 365 #define AO_GPS_MODE_ESTIMATED           'E'
 366 #define AO_GPS_MODE_MANUAL              'M'
 367 #define AO_GPS_MODE_SIMULATED           'S'
 368
 369 struct ao_telemetry_location {
 370         uint16_t        serial;         /*  0 */
 371         uint16_t        tick;           /*  2 */
 372         uint8_t         type;           /*  4 */
 373
 374         uint8_t         flags;          /*  5 Number of sats and other flags */
 375         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 376         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 377         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 378         uint8_t         year;           /* 16 (- 2000) */
 379         uint8_t         month;          /* 17 (1-12) */
 380         uint8_t         day;            /* 18 (1-31) */
 381         uint8_t         hour;           /* 19 (0-23) */
 382         uint8_t         minute;         /* 20 (0-59) */
 383         uint8_t         second;         /* 21 (0-59) */
 384         uint8_t         pdop;           /* 22 (m * 5) */
 385         uint8_t         hdop;           /* 23 (m * 5) */
 386         uint8_t         vdop;           /* 24 (m * 5) */
 387         uint8_t         mode;           /* 25 */
 388         uint16_t        ground_speed;   /* 26 cm/s */
 389         int16_t         climb_rate;     /* 28 cm/s */
 390         uint8_t         course;         /* 30 degrees / 2 */
 391         uint8_t         unused[1];      /* 31 */
 392         /* 32 */
 393 };
 394
 395 #define AO_TELEMETRY_SATELLITE          0x06
 396
 397 struct ao_telemetry_satellite_info {
 398         uint8_t         svid;
 399         uint8_t         c_n_1;
 400 };
 401
 402 struct ao_telemetry_satellite {
 403         uint16_t                                serial;         /*  0 */
 404         uint16_t                                tick;           /*  2 */
 405         uint8_t                                 type;           /*  4 */
 406         uint8_t                                 channels;       /*  5 number of reported sats */
 407
 408         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 409         uint8_t                                 unused[2];      /* 30 */
 410         /* 32 */
 411 };
 412
 413 union ao_telemetry_all {
 414         struct ao_telemetry_generic             generic;
 415         struct ao_telemetry_sensor              sensor;
 416         struct ao_telemetry_configuration       configuration;
 417         struct ao_telemetry_location            location;
 418         struct ao_telemetry_satellite           satellite;
 419 };
 420
 421 uint16_t
 422 uint16(uint8_t *bytes, int off)
 423 {
 424         off++;
 425         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 426 }
 427
 428 int16_t
 429 int16(uint8_t *bytes, int off)
 430 {
 431         return (int16_t) uint16(bytes, off);
 432 }
 433
 434 void
 435 ao_sleep(void *wchan)
 436 {
 437         if (wchan == &ao_adc_head) {
 438                 char            type;
 439                 uint16_t        tick;
 440                 uint16_t        a, b;
 441                 int             ret;
 442                 uint8_t         bytes[1024];
 443                 union ao_telemetry_all  telem;
 444                 char            line[1024];
 445                 char            *saveptr;
 446                 char            *l;
 447                 char            *words[64];
 448                 int             nword;
 449
 450                 for (;;) {
 451                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 452                         {
 453                                 ao_adc_static.accel = ao_flight_ground_accel;
 454                                 ao_insert();
 455                                 return;
 456                         }
 457
 458                         if (!fgets(line, sizeof (line), emulator_in)) {
 459                                 if (++ao_eof_read >= 1000) {
 460                                         if (!ao_summary)
 461                                                 printf ("no more data, exiting simulation\n");
 462                                         ao_test_exit();
 463                                 }
 464                                 ao_adc_static.tick += 10;
 465                                 ao_insert();
 466                                 return;
 467                         }
 468                         l = line;
 469                         for (nword = 0; nword < 64; nword++) {
 470                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 471                                 l = NULL;
 472                                 if (words[nword] == NULL)
 473                                         break;
 474                         }
 475                         if (nword == 4) {
 476                                 type = words[0][0];
 477                                 tick = strtoul(words[1], NULL, 16);
 478                                 a = strtoul(words[2], NULL, 16);
 479                                 b = strtoul(words[3], NULL, 16);
 480                                 if (type == 'P')
 481                                         type = 'A';
 482                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 483                                 ao_config.accel_plus_g = atoi(words[3]);
 484                                 ao_config.accel_minus_g = atoi(words[5]);
 485                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 486                                 ao_config.main_deploy = atoi(words[2]);
 487                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 488                                 tick = atoi(words[10]);
 489                                 if (!ao_flight_started) {
 490                                         type = 'F';
 491                                         a = atoi(words[26]);
 492                                         ao_flight_started = 1;
 493                                 } else {
 494                                         type = 'A';
 495                                         a = atoi(words[12]);
 496                                         b = atoi(words[14]);
 497                                 }
 498                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 499                                 char    *hex = words[1];
 500                                 char    elt[3];
 501                                 int     i, len;
 502                                 uint8_t sum;
 503
 504                                 len = strlen(hex);
 505                                 if (len > sizeof (bytes) * 2) {
 506                                         len = sizeof (bytes)*2;
 507                                         hex[len] = '\0';
 508                                 }
 509                                 for (i = 0; i < len; i += 2) {
 510                                         elt[0] = hex[i];
 511                                         elt[1] = hex[i+1];
 512                                         elt[2] = '\0';
 513                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 514                                 }
 515                                 len = i/2;
 516                                 if (bytes[0] != len - 2) {
 517                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 518                                         continue;
 519                                 }
 520                                 sum = 0x5a;
 521                                 for (i = 1; i < len-1; i++)
 522                                         sum += bytes[i];
 523                                 if (sum != bytes[len-1]) {
 524                                         printf ("bad checksum\n");
 525                                         continue;
 526                                 }
 527                                 if ((bytes[len-2] & 0x80) == 0) {
 528                                         continue;
 529                                 }
 530                                 if (len == 36) {
 531                                         memcpy(&telem, bytes + 1, 32);
 532                                         tick = telem.generic.tick;
 533                                         switch (telem.generic.type) {
 534                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 535                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 536                                         case AO_TELEMETRY_SENSOR_TELENANO:
 537                                                 if (!ao_flight_started) {
 538                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 539                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 540                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 541                                                         ao_flight_started = 1;
 542                                                 }
 543                                                 type = 'A';
 544                                                 a = telem.sensor.accel;
 545                                                 b = telem.sensor.pres;
 546                                                 break;
 547                                         }
 548                                 } else if (len == 99) {
 549                                         ao_flight_started = 1;
 550                                         tick = uint16(bytes, 21);
 551                                         ao_flight_ground_accel = int16(bytes, 7);
 552                                         ao_config.accel_plus_g = int16(bytes, 17);
 553                                         ao_config.accel_minus_g = int16(bytes, 19);
 554                                         type = 'A';
 555                                         a = int16(bytes, 23);
 556                                         b = int16(bytes, 25);
 557                                 } else if (len == 98) {
 558                                         ao_flight_started = 1;
 559                                         tick = uint16(bytes, 20);
 560                                         ao_flight_ground_accel = int16(bytes, 6);
 561                                         ao_config.accel_plus_g = int16(bytes, 16);
 562                                         ao_config.accel_minus_g = int16(bytes, 18);
 563                                         type = 'A';
 564                                         a = int16(bytes, 22);
 565                                         b = int16(bytes, 24);
 566                                 } else {
 567                                         printf("unknown len %d\n", len);
 568                                         continue;
 569                                 }
 570                         }
 571                         if (type != 'F' && !ao_flight_started)
 572                                 continue;
 573
 574                         switch (type) {
 575                         case 'F':
 576                                 ao_flight_ground_accel = a;
 577                                 if (ao_config.accel_plus_g == 0) {
 578                                         ao_config.accel_plus_g = a;
 579                                         ao_config.accel_minus_g = a + 530;
 580                                 }
 581                                 if (ao_config.main_deploy == 0)
 582                                         ao_config.main_deploy = 250;
 583                                 ao_flight_started = 1;
 584                                 break;
 585                         case 'S':
 586                                 break;
 587                         case 'A':
 588                                 ao_adc_static.tick = tick;
 589                                 ao_adc_static.accel = a;
 590                                 ao_adc_static.pres_real = b;
 591                                 if (b < AO_MIN_BARO_VALUE)
 592                                         b = AO_MIN_BARO_VALUE;
 593                                 ao_adc_static.pres = b;
 594                                 ao_records_read++;
 595                                 ao_insert();
 596                                 return;
 597                         case 'T':
 598                                 ao_adc_static.tick = tick;
 599                                 ao_adc_static.temp = a;
 600                                 ao_adc_static.v_batt = b;
 601                                 break;
 602                         case 'D':
 603                         case 'G':
 604                         case 'N':
 605                         case 'W':
 606                         case 'H':
 607                                 break;
 608                         }
 609                 }
 610
 611         }
 612 }
 613 #define COUNTS_PER_G 264.8
 614
 615 void
 616 ao_dump_state(void)
 617 {
 618 }
 619
 620 static const struct option options[] = {
 621         { .name = "summary", .has_arg = 0, .val = 's' },
 622         { .name = "debug", .has_arg = 0, .val = 'd' },
 623         { 0, 0, 0, 0},
 624 };
 625
 626 void run_flight_fixed(char *name, FILE *f, int summary)
 627 {
 628         emulator_name = name;
 629         emulator_in = f;
 630         ao_summary = summary;
 631         ao_flight_init();
 632         ao_flight();
 633 }
 634
 635 int
 636 main (int argc, char **argv)
 637 {
 638         int     summary = 0;
 639         int     c;
 640         int     i;
 641
 642 #if HAS_ACCEL
 643         emulator_app="full";
 644 #else
 645         emulator_app="baro";
 646 #endif
 647         while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
 648                 switch (c) {
 649                 case 's':
 650                         summary = 1;
 651                         break;
 652                 case 'd':
 653                         ao_flight_debug = 1;
 654                         break;
 655                 }
 656         }
 657
 658         if (optind == argc)
 659                 run_flight_fixed("<stdin>", stdin, summary);
 660         else
 661                 for (i = optind; i < argc; i++) {
 662                         FILE    *f = fopen(argv[i], "r");
 663                         if (!f) {
 664                                 perror(argv[i]);
 665                                 continue;
 666                         }
 667                         run_flight_fixed(argv[i], f, summary);
 668                         fclose(f);
 669                 }
 670 }