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.
28 #define GRAVITY 9.80665
33 #define AO_DATA_RING 64
34 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
35 #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
37 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
38 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
39 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
41 #define AO_GPS_NEW_DATA 1
42 #define AO_GPS_NEW_TRACKING 2
47 #define AO_ADC_NUM_SENSE 6
53 int16_t sense[AO_ADC_NUM_SENSE];
62 * One set of samples read from the A/D converter
65 int16_t accel; /* accelerometer */
66 int16_t pres; /* pressure sensor */
67 int16_t pres_real; /* unclipped */
68 int16_t temp; /* temperature sensor */
69 int16_t v_batt; /* battery voltage */
70 int16_t sense_d; /* drogue continuity sense */
71 int16_t sense_m; /* main continuity sense */
76 #define HAS_ACCEL_REF 0
95 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
96 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
97 #define from_fix(x) ((x) >> 16)
100 * Above this height, the baro sensor doesn't work
102 #define AO_BARO_SATURATE 13000
103 #define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
106 * Above this speed, baro measurements are unreliable
108 #define AO_MAX_BARO_SPEED 200
110 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
112 extern enum ao_flight_state ao_flight_state;
117 volatile struct ao_data ao_data_ring[AO_DATA_RING];
118 volatile uint8_t ao_data_head;
122 #define ao_led_off(l)
123 #define ao_timer_set_adc_interval(i)
124 #define ao_wakeup(wchan) ao_dump_state()
125 #define ao_cmd_register(c)
126 #define ao_usb_disable()
127 #define ao_telemetry_set_interval(x)
128 #define ao_rdf_set(rdf)
129 #define ao_packet_slave_start()
130 #define ao_packet_slave_stop()
134 ao_igniter_drogue = 0,
138 struct ao_data ao_data_static;
147 static int32_t ao_k_height;
152 return ao_data_static.tick;
156 ao_delay(int16_t interval)
162 ao_ignite(enum ao_igniter igniter)
164 double time = (double) (ao_data_static.tick + tick_offset) / 100;
166 if (igniter == ao_igniter_drogue) {
168 drogue_height = ao_k_height >> 16;
171 main_height = ao_k_height >> 16;
179 #define ao_add_task(t,f,n) ((void) (t))
181 #define ao_log_start()
182 #define ao_log_stop()
184 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
185 #define AO_SEC_TO_TICKS(s) ((s) * 100)
187 #define AO_FLIGHT_TEST
195 double emulator_error_max = 4;
196 double emulator_height_error_max = 20; /* noise in the baro sensor */
202 ao_sleep(void *wchan);
204 const char const * const ao_state_names[] = {
205 "startup", "idle", "pad", "boost", "fast",
206 "coast", "drogue", "main", "landed", "invalid"
214 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
215 #define ao_xmemset(d,v,c) memset(d,v,c)
216 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
218 #define AO_NEED_ALTITUDE_TO_PRES 1
220 #include "ao_convert_pa.c"
221 #include <ao_ms5607.h>
222 struct ao_ms5607_prom ms5607_prom;
223 #include "ao_ms5607_convert.c"
224 #define AO_PYRO_NUM 4
227 #include "ao_convert.c"
231 uint16_t main_deploy;
232 int16_t accel_plus_g;
233 int16_t accel_minus_g;
234 uint8_t pad_orientation;
235 uint16_t apogee_lockout;
237 struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
238 int16_t accel_zero_along;
239 int16_t accel_zero_across;
240 int16_t accel_zero_through;
244 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
245 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
247 #define ao_config_get()
249 struct ao_config ao_config;
251 #define DATA_TO_XDATA(x) (x)
254 extern int16_t ao_ground_accel, ao_flight_accel;
255 extern int16_t ao_accel_2g;
257 typedef int16_t accel_t;
259 extern uint16_t ao_sample_tick;
261 extern alt_t ao_sample_height;
262 extern accel_t ao_sample_accel;
263 extern int32_t ao_accel_scale;
264 extern alt_t ao_ground_height;
265 extern alt_t ao_sample_alt;
267 double ao_sample_qangle;
269 int ao_sample_prev_tick;
273 #include "ao_kalman.c"
275 #include "ao_sample.c"
276 #include "ao_flight.c"
278 #define AO_PYRO_NUM 4
286 ao_pyro_pin_set(uint8_t pin, uint8_t value)
288 printf ("set pyro %d %d\n", pin, value);
294 #define to_double(f) ((f) / 65536.0)
296 static int ao_records_read = 0;
297 static int ao_eof_read = 0;
298 static int ao_flight_ground_accel;
299 static int ao_flight_started = 0;
300 static int ao_test_max_height;
301 static double ao_test_max_height_time;
302 static int ao_test_main_height;
303 static double ao_test_main_height_time;
304 static double ao_test_landed_time;
305 static double ao_test_landed_height;
306 static double ao_test_landed_time;
307 static int landed_set;
308 static double landed_time;
309 static double landed_height;
312 static struct ao_mpu6000_sample ao_ground_mpu6000;
321 double landed_time_error;
323 if (!ao_test_main_height_time) {
324 ao_test_main_height_time = ao_test_max_height_time;
325 ao_test_main_height = ao_test_max_height;
327 drogue_error = fabs(ao_test_max_height_time - drogue_time);
328 main_error = fabs(ao_test_main_height_time - main_time);
329 landed_error = fabs(ao_test_landed_height - landed_height);
330 landed_time_error = ao_test_landed_time - landed_time;
331 if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
333 emulator_app, emulator_name);
335 printf ("\t%s\n", emulator_info);
336 printf ("\tApogee error %g\n", drogue_error);
337 printf ("\tMain error %g\n", main_error);
338 printf ("\tLanded height error %g\n", landed_error);
339 printf ("\tLanded time error %g\n", landed_time_error);
340 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
341 ao_test_max_height, ao_test_max_height_time,
342 ao_test_main_height, ao_test_main_height_time,
343 ao_test_landed_height, ao_test_landed_time);
344 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
345 drogue_height, drogue_time, main_height, main_time,
346 landed_height, landed_time);
357 ao_data_ring[ao_data_head] = ao_data_static;
358 ao_data_head = ao_data_ring_next(ao_data_head);
359 if (ao_flight_state != ao_flight_startup) {
361 double accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
362 (ao_config.accel_minus_g - ao_config.accel_plus_g);
369 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
370 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
372 double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
376 tick_offset = -ao_data_static.tick;
377 if ((prev_tick - ao_data_static.tick) > 0x400)
378 tick_offset += 65536;
379 prev_tick = ao_data_static.tick;
380 time = (double) (ao_data_static.tick + tick_offset) / 100;
382 if (ao_test_max_height < height) {
383 ao_test_max_height = height;
384 ao_test_max_height_time = time;
385 ao_test_landed_height = height;
386 ao_test_landed_time = time;
388 if (height > ao_config.main_deploy) {
389 ao_test_main_height_time = time;
390 ao_test_main_height = height;
393 if (ao_test_landed_height > height) {
394 ao_test_landed_height = height;
395 ao_test_landed_time = time;
398 if (ao_flight_state == ao_flight_landed && !landed_set) {
401 landed_height = height;
405 printf("%7.2f height %8.2f accel %8.3f "
408 /* "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f " */
410 "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
417 ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
418 ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
419 ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
420 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
421 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
422 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
425 ao_state_names[ao_flight_state],
426 ao_k_height / 65536.0,
427 ao_k_speed / 65536.0 / 16.0,
428 ao_k_accel / 65536.0 / 16.0,
434 // if (ao_flight_state == ao_flight_landed)
440 #define AO_MAX_CALLSIGN 8
441 #define AO_MAX_VERSION 8
442 #define AO_MAX_TELEMETRY 128
444 struct ao_telemetry_generic {
445 uint16_t serial; /* 0 */
446 uint16_t tick; /* 2 */
447 uint8_t type; /* 4 */
448 uint8_t payload[27]; /* 5 */
452 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
453 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
454 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
456 struct ao_telemetry_sensor {
457 uint16_t serial; /* 0 */
458 uint16_t tick; /* 2 */
459 uint8_t type; /* 4 */
461 uint8_t state; /* 5 flight state */
462 int16_t accel; /* 6 accelerometer (TM only) */
463 int16_t pres; /* 8 pressure sensor */
464 int16_t temp; /* 10 temperature sensor */
465 int16_t v_batt; /* 12 battery voltage */
466 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
467 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
469 int16_t acceleration; /* 18 m/s² * 16 */
470 int16_t speed; /* 20 m/s * 16 */
471 int16_t height; /* 22 m */
473 int16_t ground_pres; /* 24 average pres on pad */
474 int16_t ground_accel; /* 26 average accel on pad */
475 int16_t accel_plus_g; /* 28 accel calibration at +1g */
476 int16_t accel_minus_g; /* 30 accel calibration at -1g */
480 #define AO_TELEMETRY_CONFIGURATION 0x04
482 struct ao_telemetry_configuration {
483 uint16_t serial; /* 0 */
484 uint16_t tick; /* 2 */
485 uint8_t type; /* 4 */
487 uint8_t device; /* 5 device type */
488 uint16_t flight; /* 6 flight number */
489 uint8_t config_major; /* 8 Config major version */
490 uint8_t config_minor; /* 9 Config minor version */
491 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
492 uint16_t main_deploy; /* 12 Main deploy alt in meters */
493 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
494 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
495 char version[AO_MAX_VERSION]; /* 24 Software version */
499 #define AO_TELEMETRY_LOCATION 0x05
501 #define AO_GPS_MODE_NOT_VALID 'N'
502 #define AO_GPS_MODE_AUTONOMOUS 'A'
503 #define AO_GPS_MODE_DIFFERENTIAL 'D'
504 #define AO_GPS_MODE_ESTIMATED 'E'
505 #define AO_GPS_MODE_MANUAL 'M'
506 #define AO_GPS_MODE_SIMULATED 'S'
508 struct ao_telemetry_location {
509 uint16_t serial; /* 0 */
510 uint16_t tick; /* 2 */
511 uint8_t type; /* 4 */
513 uint8_t flags; /* 5 Number of sats and other flags */
514 int16_t altitude; /* 6 GPS reported altitude (m) */
515 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
516 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
517 uint8_t year; /* 16 (- 2000) */
518 uint8_t month; /* 17 (1-12) */
519 uint8_t day; /* 18 (1-31) */
520 uint8_t hour; /* 19 (0-23) */
521 uint8_t minute; /* 20 (0-59) */
522 uint8_t second; /* 21 (0-59) */
523 uint8_t pdop; /* 22 (m * 5) */
524 uint8_t hdop; /* 23 (m * 5) */
525 uint8_t vdop; /* 24 (m * 5) */
526 uint8_t mode; /* 25 */
527 uint16_t ground_speed; /* 26 cm/s */
528 int16_t climb_rate; /* 28 cm/s */
529 uint8_t course; /* 30 degrees / 2 */
530 uint8_t unused[1]; /* 31 */
534 #define AO_TELEMETRY_SATELLITE 0x06
536 struct ao_telemetry_satellite_info {
541 struct ao_telemetry_satellite {
542 uint16_t serial; /* 0 */
543 uint16_t tick; /* 2 */
544 uint8_t type; /* 4 */
545 uint8_t channels; /* 5 number of reported sats */
547 struct ao_telemetry_satellite_info sats[12]; /* 6 */
548 uint8_t unused[2]; /* 30 */
552 union ao_telemetry_all {
553 struct ao_telemetry_generic generic;
554 struct ao_telemetry_sensor sensor;
555 struct ao_telemetry_configuration configuration;
556 struct ao_telemetry_location location;
557 struct ao_telemetry_satellite satellite;
561 uint16(uint8_t *bytes, int off)
563 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
567 int16(uint8_t *bytes, int off)
569 return (int16_t) uint16(bytes, off);
573 uint32(uint8_t *bytes, int off)
575 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
576 (((uint32_t) bytes[off+2]) << 16) |
577 (((uint32_t) bytes[off+3]) << 24);
581 int32(uint8_t *bytes, int off)
583 return (int32_t) uint32(bytes, off);
586 static int log_format;
589 ao_sleep(void *wchan)
591 if (wchan == &ao_data_head) {
594 uint16_t a = 0, b = 0;
596 union ao_telemetry_all telem;
604 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
608 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
611 ao_data_static.mpu6000 = ao_ground_mpu6000;
613 ao_data_static.adc.accel = ao_flight_ground_accel;
619 if (!fgets(line, sizeof (line), emulator_in)) {
620 if (++ao_eof_read >= 1000) {
622 printf ("no more data, exiting simulation\n");
625 ao_data_static.tick += 10;
630 for (nword = 0; nword < 64; nword++) {
631 words[nword] = strtok_r(l, " \t\n", &saveptr);
633 if (words[nword] == NULL)
637 if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
639 struct ao_ms5607_value value;
642 tick = strtoul(words[1], NULL, 16);
643 // printf ("%c %04x", type, tick);
644 for (i = 2; i < nword; i++) {
645 bytes[i - 2] = strtoul(words[i], NULL, 16);
646 // printf(" %02x", bytes[i-2]);
651 ao_flight_ground_accel = int16(bytes, 2);
652 ao_flight_started = 1;
653 ao_ground_pres = int32(bytes, 4);
654 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
657 ao_data_static.tick = tick;
658 ao_data_static.ms5607_raw.pres = int32(bytes, 0);
659 ao_data_static.ms5607_raw.temp = int32(bytes, 4);
660 ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
661 ao_data_static.mpu6000.accel_x = int16(bytes, 8);
662 ao_data_static.mpu6000.accel_y = -int16(bytes, 10);
663 ao_data_static.mpu6000.accel_z = int16(bytes, 12);
664 ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
665 ao_data_static.mpu6000.gyro_y = -int16(bytes, 16);
666 ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
668 ao_data_static.mma655x = int16(bytes, 26);
675 } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
676 if (strcmp(words[1], "reserved:") == 0)
677 ms5607_prom.reserved = strtoul(words[2], NULL, 10);
678 else if (strcmp(words[1], "sens:") == 0)
679 ms5607_prom.sens = strtoul(words[2], NULL, 10);
680 else if (strcmp(words[1], "off:") == 0)
681 ms5607_prom.off = strtoul(words[2], NULL, 10);
682 else if (strcmp(words[1], "tcs:") == 0)
683 ms5607_prom.tcs = strtoul(words[2], NULL, 10);
684 else if (strcmp(words[1], "tco:") == 0)
685 ms5607_prom.tco = strtoul(words[2], NULL, 10);
686 else if (strcmp(words[1], "tref:") == 0)
687 ms5607_prom.tref = strtoul(words[2], NULL, 10);
688 else if (strcmp(words[1], "tempsens:") == 0)
689 ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
690 else if (strcmp(words[1], "crc:") == 0)
691 ms5607_prom.crc = strtoul(words[2], NULL, 10);
693 } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
694 int p = strtoul(words[1], NULL, 10);
696 struct ao_pyro *pyro = &ao_config.pyro[p];
698 for (i = 2; i < nword; i++) {
699 for (j = 0; j < NUM_PYRO_VALUES; j++)
700 if (!strcmp (words[2], ao_pyro_values[j].name))
702 if (j == NUM_PYRO_VALUES)
704 pyro->flags |= ao_pyro_values[j].flag;
705 if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
706 int16_t val = strtoul(words[++i], NULL, 10);
707 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
712 if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
714 tick = strtoul(words[1], NULL, 16);
715 a = strtoul(words[2], NULL, 16);
716 b = strtoul(words[3], NULL, 16);
721 else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
722 log_format = strtoul(words[1], NULL, 10);
723 } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
724 ao_config.accel_plus_g = atoi(words[3]);
725 ao_config.accel_minus_g = atoi(words[5]);
727 } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
728 ao_config.accel_zero_along = atoi(words[3]);
729 ao_config.accel_zero_across = atoi(words[5]);
730 ao_config.accel_zero_through = atoi(words[7]);
731 printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
733 } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
734 ao_config.main_deploy = atoi(words[2]);
735 } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
736 strcmp(words[1], "lockout:") == 0) {
737 ao_config.apogee_lockout = atoi(words[2]);
738 } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
739 tick = atoi(words[10]);
740 if (!ao_flight_started) {
743 ao_flight_started = 1;
749 } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
750 tick = strtol(words[1], NULL, 16);
752 b = strtol(words[2], NULL, 10);
754 if (!ao_flight_started) {
755 ao_flight_ground_accel = 16384 - 328;
756 ao_config.accel_plus_g = 16384 - 328;
757 ao_config.accel_minus_g = 16384 + 328;
758 ao_flight_started = 1;
760 } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
761 __xdata char *hex = words[1];
767 if (len > sizeof (bytes) * 2) {
768 len = sizeof (bytes)*2;
771 for (i = 0; i < len; i += 2) {
775 bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
778 if (bytes[0] != len - 2) {
779 printf ("bad length %d != %d\n", bytes[0], len - 2);
783 for (i = 1; i < len-1; i++)
785 if (sum != bytes[len-1]) {
786 printf ("bad checksum\n");
789 if ((bytes[len-2] & 0x80) == 0) {
793 ao_xmemcpy(&telem, bytes + 1, 32);
794 tick = telem.generic.tick;
795 switch (telem.generic.type) {
796 case AO_TELEMETRY_SENSOR_TELEMETRUM:
797 case AO_TELEMETRY_SENSOR_TELEMINI:
798 case AO_TELEMETRY_SENSOR_TELENANO:
799 if (!ao_flight_started) {
800 ao_flight_ground_accel = telem.sensor.ground_accel;
801 ao_config.accel_plus_g = telem.sensor.accel_plus_g;
802 ao_config.accel_minus_g = telem.sensor.accel_minus_g;
803 ao_flight_started = 1;
806 a = telem.sensor.accel;
807 b = telem.sensor.pres;
810 } else if (len == 99) {
811 ao_flight_started = 1;
812 tick = uint16(bytes+1, 21);
813 ao_flight_ground_accel = int16(bytes+1, 7);
814 ao_config.accel_plus_g = int16(bytes+1, 17);
815 ao_config.accel_minus_g = int16(bytes+1, 19);
817 a = int16(bytes+1, 23);
818 b = int16(bytes+1, 25);
819 } else if (len == 98) {
820 ao_flight_started = 1;
821 tick = uint16(bytes+1, 20);
822 ao_flight_ground_accel = int16(bytes+1, 6);
823 ao_config.accel_plus_g = int16(bytes+1, 16);
824 ao_config.accel_minus_g = int16(bytes+1, 18);
826 a = int16(bytes+1, 22);
827 b = int16(bytes+1, 24);
829 printf("unknown len %d\n", len);
833 if (type != 'F' && !ao_flight_started)
842 ao_flight_ground_accel = a;
843 if (ao_config.accel_plus_g == 0) {
844 ao_config.accel_plus_g = a;
845 ao_config.accel_minus_g = a + 530;
847 if (ao_config.main_deploy == 0)
848 ao_config.main_deploy = 250;
849 ao_flight_started = 1;
854 ao_data_static.tick = tick;
855 ao_data_static.adc.accel = a;
856 ao_data_static.adc.pres_real = b;
857 if (b < AO_MIN_BARO_VALUE)
858 b = AO_MIN_BARO_VALUE;
859 ao_data_static.adc.pres = b;
864 ao_data_static.tick = tick;
865 ao_data_static.adc.temp = a;
866 ao_data_static.adc.v_batt = b;
880 #define COUNTS_PER_G 264.8
887 static const struct option options[] = {
888 { .name = "summary", .has_arg = 0, .val = 's' },
889 { .name = "debug", .has_arg = 0, .val = 'd' },
890 { .name = "info", .has_arg = 1, .val = 'i' },
894 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
896 emulator_name = name;
898 emulator_info = info;
899 ao_summary = summary;
905 main (int argc, char **argv)
917 while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
932 run_flight_fixed("<stdin>", stdin, summary, info);
934 for (i = optind; i < argc; i++) {
935 FILE *f = fopen(argv[i], "r");
940 run_flight_fixed(argv[i], f, summary, info);