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   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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define _GNU_SOURCE
  20
  21 #include <stdint.h>
  22 #include <stdio.h>
  23 #include <stdlib.h>
  24 #include <stddef.h>
  25 #include <string.h>
  26 #include <getopt.h>
  27 #include <math.h>
  28
  29 #define GRAVITY 9.80665
  30
  31 #define AO_HERTZ        100
  32
  33 #define HAS_ADC 1
  34 #define AO_DATA_RING    64
  35 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  36 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  37
  38 #if 0
  39 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  40 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  41 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  42 #endif
  43
  44 #define AO_GPS_NEW_DATA         1
  45 #define AO_GPS_NEW_TRACKING     2
  46
  47 int ao_gps_new;
  48
  49 #if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
  50 #define TELEMETRUM_V1 1
  51 #endif
  52
  53 #if TELEMEGA
  54 #define AO_ADC_NUM_SENSE        6
  55 #define HAS_MS5607              1
  56 #define HAS_MPU6000             1
  57 #define HAS_MMA655X             1
  58 #define HAS_HMC5883             1
  59 #define HAS_BEEP                1
  60 #define AO_CONFIG_MAX_SIZE      1024
  61 #define AO_MMA655X_INVERT       0
  62
  63 struct ao_adc {
  64         int16_t                 sense[AO_ADC_NUM_SENSE];
  65         int16_t                 v_batt;
  66         int16_t                 v_pbatt;
  67         int16_t                 temp;
  68 };
  69 #endif
  70
  71 #if TELEMETRUM_V2
  72 #define AO_ADC_NUM_SENSE        2
  73 #define HAS_MS5607              1
  74 #define HAS_MMA655X             1
  75 #define AO_MMA655X_INVERT       1
  76 #define HAS_BEEP                1
  77 #define AO_CONFIG_MAX_SIZE      1024
  78
  79 struct ao_adc {
  80         int16_t                 sense_a;
  81         int16_t                 sense_m;
  82         int16_t                 v_batt;
  83         int16_t                 temp;
  84 };
  85 #endif
  86
  87 #if EASYMINI
  88 #define AO_ADC_NUM_SENSE        2
  89 #define HAS_MS5607              1
  90 #define HAS_BEEP                1
  91 #define AO_CONFIG_MAX_SIZE      1024
  92
  93 struct ao_adc {
  94         int16_t                 sense_a;
  95         int16_t                 sense_m;
  96         int16_t                 v_batt;
  97 };
  98 #endif
  99
 100 #if TELEMETRUM_V1
 101 /*
 102  * One set of samples read from the A/D converter
 103  */
 104 struct ao_adc {
 105         int16_t         accel;          /* accelerometer */
 106         int16_t         pres;           /* pressure sensor */
 107         int16_t         pres_real;      /* unclipped */
 108         int16_t         temp;           /* temperature sensor */
 109         int16_t         v_batt;         /* battery voltage */
 110         int16_t         sense_d;        /* drogue continuity sense */
 111         int16_t         sense_m;        /* main continuity sense */
 112 };
 113
 114 #ifndef HAS_ACCEL
 115 #define HAS_ACCEL 1
 116 #define HAS_ACCEL_REF 0
 117 #endif
 118
 119 #endif
 120
 121 #define __pdata
 122 #define __data
 123 #define __xdata
 124 #define __code
 125 #define __reentrant
 126
 127 #define HAS_FLIGHT 1
 128 #define HAS_IGNITE 1
 129 #define HAS_USB 1
 130 #define HAS_GPS 1
 131
 132 #include <ao_data.h>
 133 #include <ao_log.h>
 134 #include <ao_telemetry.h>
 135 #include <ao_sample.h>
 136
 137 #if TELEMEGA
 138 int ao_gps_count;
 139 struct ao_telemetry_location ao_gps_first;
 140 struct ao_telemetry_location ao_gps_prev;
 141 struct ao_telemetry_location ao_gps_static;
 142
 143 struct ao_telemetry_satellite ao_gps_tracking;
 144
 145 static inline double sqr(double a) { return a * a; }
 146
 147 void
 148 cc_great_circle (double start_lat, double start_lon,
 149                  double end_lat, double end_lon,
 150                  double *dist, double *bearing)
 151 {
 152         const double rad = M_PI / 180;
 153         const double earth_radius = 6371.2 * 1000;      /* in meters */
 154         double lat1 = rad * start_lat;
 155         double lon1 = rad * -start_lon;
 156         double lat2 = rad * end_lat;
 157         double lon2 = rad * -end_lon;
 158
 159 //      double d_lat = lat2 - lat1;
 160         double d_lon = lon2 - lon1;
 161
 162         /* From http://en.wikipedia.org/wiki/Great-circle_distance */
 163         double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
 164                           sqr(cos(lat1) * sin(lat2) -
 165                               sin(lat1) * cos(lat2) * cos(d_lon)));
 166         double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
 167         double d = atan2(vdn,vdd);
 168         double course;
 169
 170         if (cos(lat1) < 1e-20) {
 171                 if (lat1 > 0)
 172                         course = M_PI;
 173                 else
 174                         course = -M_PI;
 175         } else {
 176                 if (d < 1e-10)
 177                         course = 0;
 178                 else
 179                         course = acos((sin(lat2)-sin(lat1)*cos(d)) /
 180                                       (sin(d)*cos(lat1)));
 181                 if (sin(lon2-lon1) > 0)
 182                         course = 2 * M_PI-course;
 183         }
 184         *dist = d * earth_radius;
 185         *bearing = course * 180/M_PI;
 186 }
 187
 188 double
 189 ao_distance_from_pad(void)
 190 {
 191         double  dist, bearing;
 192         if (!ao_gps_count)
 193                 return 0;
 194
 195         cc_great_circle(ao_gps_first.latitude / 1e7,
 196                         ao_gps_first.longitude / 1e7,
 197                         ao_gps_static.latitude / 1e7,
 198                         ao_gps_static.longitude / 1e7,
 199                         &dist, &bearing);
 200         return dist;
 201 }
 202
 203 double
 204 ao_gps_angle(void)
 205 {
 206         double  dist, bearing;
 207         double  height;
 208         double  angle;
 209
 210         if (ao_gps_count < 2)
 211                 return 0;
 212
 213         cc_great_circle(ao_gps_prev.latitude / 1e7,
 214                         ao_gps_prev.longitude / 1e7,
 215                         ao_gps_static.latitude / 1e7,
 216                         ao_gps_static.longitude / 1e7,
 217                         &dist, &bearing);
 218         height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 219
 220         angle = atan2(dist, height);
 221         return angle * 180/M_PI;
 222 }
 223 #endif
 224
 225 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 226 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 227 #define from_fix(x)     ((x) >> 16)
 228
 229 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 230
 231 extern enum ao_flight_state ao_flight_state;
 232
 233 #define FALSE 0
 234 #define TRUE 1
 235
 236 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 237 volatile uint8_t ao_data_head;
 238 int     ao_summary = 0;
 239
 240 #define ao_led_on(l)
 241 #define ao_led_off(l)
 242 #define ao_timer_set_adc_interval(i)
 243 #define ao_wakeup(wchan) ao_dump_state()
 244 #define ao_cmd_register(c)
 245 #define ao_usb_disable()
 246 #define ao_telemetry_set_interval(x)
 247 #define ao_rdf_set(rdf)
 248 #define ao_packet_slave_start()
 249 #define ao_packet_slave_stop()
 250 #define flush()
 251
 252 enum ao_igniter {
 253         ao_igniter_drogue = 0,
 254         ao_igniter_main = 1
 255 };
 256
 257 struct ao_data ao_data_static;
 258
 259 int     drogue_height;
 260 double  drogue_time;
 261 int     main_height;
 262 double  main_time;
 263
 264 int     tick_offset;
 265
 266 static ao_k_t   ao_k_height;
 267
 268 int16_t
 269 ao_time(void)
 270 {
 271         return ao_data_static.tick;
 272 }
 273
 274 void
 275 ao_delay(int16_t interval)
 276 {
 277         return;
 278 }
 279
 280 void
 281 ao_ignite(enum ao_igniter igniter)
 282 {
 283         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 284
 285         if (igniter == ao_igniter_drogue) {
 286                 drogue_time = time;
 287                 drogue_height = ao_k_height >> 16;
 288         } else {
 289                 main_time = time;
 290                 main_height = ao_k_height >> 16;
 291         }
 292 }
 293
 294 struct ao_task {
 295         int dummy;
 296 };
 297
 298 #define ao_add_task(t,f,n) ((void) (t))
 299
 300 #define ao_log_start()
 301 #define ao_log_stop()
 302
 303 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 304 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 305
 306 #define AO_FLIGHT_TEST
 307
 308 int     ao_flight_debug;
 309
 310 FILE *emulator_in;
 311 char *emulator_app;
 312 char *emulator_name;
 313 char *emulator_info;
 314 double emulator_error_max = 4;
 315 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 316
 317 void
 318 ao_dump_state(void);
 319
 320 void
 321 ao_sleep(void *wchan);
 322
 323 const char const * const ao_state_names[] = {
 324         "startup", "idle", "pad", "boost", "fast",
 325         "coast", "drogue", "main", "landed", "invalid"
 326 };
 327
 328 struct ao_cmds {
 329         void            (*func)(void);
 330         const char      *help;
 331 };
 332
 333 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 334 #define ao_xmemset(d,v,c) memset(d,v,c)
 335 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 336
 337 #define AO_NEED_ALTITUDE_TO_PRES 1
 338 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 339 #include "ao_convert_pa.c"
 340 #include <ao_ms5607.h>
 341 struct ao_ms5607_prom   ao_ms5607_prom;
 342 #include "ao_ms5607_convert.c"
 343 #define AO_PYRO_NUM     4
 344 #include <ao_pyro.h>
 345 #else
 346 #include "ao_convert.c"
 347 #endif
 348
 349 #include <ao_config.h>
 350 #include <ao_fake_flight.h>
 351
 352 #define ao_config_get()
 353
 354 struct ao_config ao_config;
 355
 356 #define DATA_TO_XDATA(x) (x)
 357
 358
 359 extern int16_t ao_ground_accel, ao_flight_accel;
 360 extern int16_t ao_accel_2g;
 361
 362 typedef int16_t accel_t;
 363
 364 extern uint16_t ao_sample_tick;
 365
 366 extern alt_t    ao_sample_height;
 367 extern accel_t  ao_sample_accel;
 368 extern int32_t  ao_accel_scale;
 369 extern alt_t    ao_ground_height;
 370 extern alt_t    ao_sample_alt;
 371
 372 double ao_sample_qangle;
 373
 374 int ao_sample_prev_tick;
 375 uint16_t        prev_tick;
 376
 377
 378 #include "ao_kalman.c"
 379 #include "ao_sqrt.c"
 380 #include "ao_sample.c"
 381 #include "ao_flight.c"
 382 #if TELEMEGA
 383 #define AO_PYRO_NUM     4
 384
 385 #define AO_PYRO_0       0
 386 #define AO_PYRO_1       1
 387 #define AO_PYRO_2       2
 388 #define AO_PYRO_3       3
 389
 390 #define PYRO_DBG        1
 391
 392 static void
 393 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 394 {
 395         printf ("set pyro %d %d\n", pin, value);
 396 }
 397
 398 #include "ao_pyro.c"
 399 #endif
 400
 401 #define to_double(f)    ((f) / 65536.0)
 402
 403 static int      ao_records_read = 0;
 404 static int      ao_eof_read = 0;
 405 static int      ao_flight_ground_accel;
 406 static int      ao_flight_started = 0;
 407 static int      ao_test_max_height;
 408 static double   ao_test_max_height_time;
 409 static int      ao_test_main_height;
 410 static double   ao_test_main_height_time;
 411 static double   ao_test_landed_time;
 412 static double   ao_test_landed_height;
 413 static double   ao_test_landed_time;
 414 static int      landed_set;
 415 static double   landed_time;
 416 static double   landed_height;
 417
 418 #if HAS_MPU6000
 419 static struct ao_mpu6000_sample ao_ground_mpu6000;
 420 #endif
 421
 422 void
 423 ao_test_exit(void)
 424 {
 425         double  drogue_error;
 426         double  main_error;
 427         double  landed_error;
 428         double  landed_time_error;
 429
 430         if (!ao_test_main_height_time) {
 431                 ao_test_main_height_time = ao_test_max_height_time;
 432                 ao_test_main_height = ao_test_max_height;
 433         }
 434         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 435         main_error = fabs(ao_test_main_height_time - main_time);
 436         landed_error = fabs(ao_test_landed_height - landed_height);
 437         landed_time_error = ao_test_landed_time - landed_time;
 438         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 439                 printf ("%s %s\n",
 440                         emulator_app, emulator_name);
 441                 if (emulator_info)
 442                         printf ("\t%s\n", emulator_info);
 443                 printf ("\tApogee error %g\n", drogue_error);
 444                 printf ("\tMain error %g\n", main_error);
 445                 printf ("\tLanded height error %g\n", landed_error);
 446                 printf ("\tLanded time error %g\n", landed_time_error);
 447                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 448                         ao_test_max_height, ao_test_max_height_time,
 449                         ao_test_main_height, ao_test_main_height_time,
 450                         ao_test_landed_height, ao_test_landed_time);
 451                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 452                         drogue_height, drogue_time, main_height, main_time,
 453                         landed_height, landed_time);
 454                 exit (1);
 455         }
 456         exit(0);
 457 }
 458
 459 #ifdef TELEMEGA
 460 struct ao_azel {
 461         int     az;
 462         int     el;
 463 };
 464
 465 static void
 466 azel (struct ao_azel *r, struct ao_quaternion *q)
 467 {
 468         double  v;
 469
 470         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 471         v = sqrt (q->x*q->x + q->y*q->y);
 472         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 473 }
 474 #endif
 475
 476 void
 477 ao_insert(void)
 478 {
 479         double  time;
 480
 481         ao_data_ring[ao_data_head] = ao_data_static;
 482         ao_data_head = ao_data_ring_next(ao_data_head);
 483         if (ao_flight_state != ao_flight_startup) {
 484 #if HAS_ACCEL
 485                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 486                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 487 #else
 488                 double  accel = 0.0;
 489 #endif
 490 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 491                 double  height;
 492
 493                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 494                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 495 #else
 496                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 497 #endif
 498
 499                 (void) accel;
 500                 if (!tick_offset)
 501                         tick_offset = -ao_data_static.tick;
 502                 if ((prev_tick - ao_data_static.tick) > 0x400)
 503                         tick_offset += 65536;
 504                 prev_tick = ao_data_static.tick;
 505                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 506
 507                 if (ao_test_max_height < height) {
 508                         ao_test_max_height = height;
 509                         ao_test_max_height_time = time;
 510                         ao_test_landed_height = height;
 511                         ao_test_landed_time = time;
 512                 }
 513                 if (height > ao_config.main_deploy) {
 514                         ao_test_main_height_time = time;
 515                         ao_test_main_height = height;
 516                 }
 517
 518                 if (ao_test_landed_height > height) {
 519                         ao_test_landed_height = height;
 520                         ao_test_landed_time = time;
 521                 }
 522
 523                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 524                         landed_set = 1;
 525                         landed_time = time;
 526                         landed_height = height;
 527                 }
 528
 529                 if (!ao_summary) {
 530 #if TELEMEGA
 531                         static struct ao_quaternion     ao_ground_mag;
 532                         static int                      ao_ground_mag_set;
 533
 534                         if (!ao_ground_mag_set) {
 535                                 ao_quaternion_init_vector (&ao_ground_mag,
 536                                                            ao_data_mag_across(&ao_data_static),
 537                                                            ao_data_mag_through(&ao_data_static),
 538                                                            ao_data_mag_along(&ao_data_static));
 539                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 540                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 541                                 ao_ground_mag_set = 1;
 542                         }
 543
 544                         struct ao_quaternion            ao_mag, ao_mag_rot;
 545
 546                         ao_quaternion_init_vector(&ao_mag,
 547                                                   ao_data_mag_across(&ao_data_static),
 548                                                   ao_data_mag_through(&ao_data_static),
 549                                                   ao_data_mag_along(&ao_data_static));
 550
 551                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 552                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 553
 554                         float                           ao_dot;
 555                         int                             ao_mag_angle;
 556
 557                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 558
 559                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 560
 561                         azel(&ground_azel, &ao_ground_mag);
 562                         azel(&mag_azel, &ao_mag);
 563                         azel(&rot_azel, &ao_mag_rot);
 564
 565                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 566
 567                         (void) ao_mag_angle;
 568
 569                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 570                         struct ao_quaternion            ao_out;
 571
 572                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 573
 574 #if 0
 575                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 576
 577                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 578                                 time,
 579                                 ao_state_names[ao_flight_state],
 580                                 ao_k_height / 65536.0,
 581                                 ao_sample_orient, out,
 582                                 mag_azel.el,
 583                                 mag_azel.az);
 584 #endif
 585 #if 0
 586                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 587                                 time,
 588                                 ao_state_names[ao_flight_state],
 589                                 ao_k_height / 65536.0,
 590                                 ao_sample_orient, out,
 591                                 ao_distance_from_pad(),
 592                                 (int) floor (ao_gps_angle() + 0.5),
 593                                 (ao_gps_static.flags & 0xf) * 10);
 594
 595 #endif
 596 #if 0
 597                         printf ("\t\tstate %-8.8s ground az: %4d el %4d mag az %4d el %4d rot az %4d el %4d el_diff %4d az_diff %4d angle %4d tilt %4d ground %8.5f %8.5f %8.5f cur %8.5f %8.5f %8.5f rot %8.5f %8.5f %8.5f\n",
 598                                 ao_state_names[ao_flight_state],
 599                                 ground_azel.az, ground_azel.el,
 600                                 mag_azel.az, mag_azel.el,
 601                                 rot_azel.az, rot_azel.el,
 602                                 ground_azel.el - rot_azel.el,
 603                                 ground_azel.az - rot_azel.az,
 604                                 ao_mag_angle,
 605                                 ao_sample_orient,
 606                                 ao_ground_mag.x,
 607                                 ao_ground_mag.y,
 608                                 ao_ground_mag.z,
 609                                 ao_mag.x,
 610                                 ao_mag.y,
 611                                 ao_mag.z,
 612                                 ao_mag_rot.x,
 613                                 ao_mag_rot.y,
 614                                 ao_mag_rot.z);
 615 #endif
 616 #endif
 617
 618 #if 1
 619                         printf("%7.2f height %8.2f accel %8.3f "
 620 #if TELEMEGA && 1
 621                                "angle %5d "
 622                                "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
 623 #endif
 624                                "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",
 625                                time,
 626                                height,
 627                                accel,
 628 #if TELEMEGA && 1
 629                                ao_sample_orient,
 630
 631                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 632                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 633                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 634                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 635                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 636                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 637                                ao_data_static.hmc5883.x,
 638                                ao_data_static.hmc5883.y,
 639                                ao_data_static.hmc5883.z,
 640                                ao_mag_angle,
 641 #endif
 642                                ao_state_names[ao_flight_state],
 643                                ao_k_height / 65536.0,
 644                                ao_k_speed / 65536.0 / 16.0,
 645                                ao_k_accel / 65536.0 / 16.0,
 646                                ao_avg_height,
 647                                drogue_height,
 648                                main_height,
 649                                ao_error_h_sq_avg);
 650 #endif
 651
 652 //                      if (ao_flight_state == ao_flight_landed)
 653 //                              ao_test_exit();
 654                 }
 655         }
 656 }
 657
 658
 659 uint16_t
 660 uint16(uint8_t *bytes, int off)
 661 {
 662         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 663 }
 664
 665 int16_t
 666 int16(uint8_t *bytes, int off)
 667 {
 668         return (int16_t) uint16(bytes, off);
 669 }
 670
 671 uint32_t
 672 uint32(uint8_t *bytes, int off)
 673 {
 674         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 675                 (((uint32_t) bytes[off+2]) << 16) |
 676                 (((uint32_t) bytes[off+3]) << 24);
 677 }
 678
 679 int32_t
 680 int32(uint8_t *bytes, int off)
 681 {
 682         return (int32_t) uint32(bytes, off);
 683 }
 684
 685 uint32_t
 686 uint24(uint8_t *bytes, int off)
 687 {
 688         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 689                 (((uint32_t) bytes[off+2]) << 16);
 690 }
 691
 692 int32_t
 693 int24(uint8_t *bytes, int off)
 694 {
 695         return (int32_t) uint24(bytes, off);
 696 }
 697
 698 static int log_format;
 699
 700 void
 701 ao_sleep(void *wchan)
 702 {
 703         if (wchan == &ao_data_head) {
 704                 char            type = 0;
 705                 uint16_t        tick = 0;
 706                 uint16_t        a = 0, b = 0;
 707                 uint8_t         bytes[1024];
 708                 union ao_telemetry_all  telem;
 709                 char            line[1024];
 710                 char            *saveptr;
 711                 char            *l;
 712                 char            *words[64];
 713                 int             nword;
 714
 715 #if TELEMEGA
 716                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 717                         ao_pyro_check();
 718 #endif
 719                 for (;;) {
 720                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 721                         {
 722
 723 #if TELEMEGA
 724                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 725 #endif
 726 #if TELEMETRUM_V1
 727                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 728 #endif
 729
 730                                 ao_insert();
 731                                 return;
 732                         }
 733
 734                         if (!fgets(line, sizeof (line), emulator_in)) {
 735                                 if (++ao_eof_read >= 1000) {
 736                                         if (!ao_summary)
 737                                                 printf ("no more data, exiting simulation\n");
 738                                         ao_test_exit();
 739                                 }
 740                                 ao_data_static.tick += 10;
 741                                 ao_insert();
 742                                 return;
 743                         }
 744                         l = line;
 745                         for (nword = 0; nword < 64; nword++) {
 746                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 747                                 l = NULL;
 748                                 if (words[nword] == NULL)
 749                                         break;
 750                         }
 751 #if TELEMEGA
 752                         if ((log_format == AO_LOG_FORMAT_TELEMEGA_OLD || log_format == AO_LOG_FORMAT_TELEMEGA) && nword == 30 && strlen(words[0]) == 1) {
 753                                 int     i;
 754                                 struct ao_ms5607_value  value;
 755
 756                                 type = words[0][0];
 757                                 tick = strtoul(words[1], NULL, 16);
 758 //                              printf ("%c %04x", type, tick);
 759                                 for (i = 2; i < nword; i++) {
 760                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 761 //                                      printf(" %02x", bytes[i-2]);
 762                                 }
 763 //                              printf ("\n");
 764                                 switch (type) {
 765                                 case 'F':
 766                                         ao_flight_ground_accel = int16(bytes, 2);
 767                                         ao_flight_started = 1;
 768                                         ao_ground_pres = int32(bytes, 4);
 769                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 770                                         ao_ground_accel_along = int16(bytes, 8);
 771                                         ao_ground_accel_across = int16(bytes, 10);
 772                                         ao_ground_accel_through = int16(bytes, 12);
 773                                         ao_ground_roll = int16(bytes, 14);
 774                                         ao_ground_pitch = int16(bytes, 16);
 775                                         ao_ground_yaw = int16(bytes, 18);
 776                                         ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 777                                         ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 778                                         ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 779                                         ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 780                                         ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 781                                         ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 782                                         break;
 783                                 case 'A':
 784                                         ao_data_static.tick = tick;
 785                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 786                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 787                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 788                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 789                                         ao_data_static.mpu6000.accel_y = int16(bytes, 10);
 790                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 791                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 792                                         ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
 793                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 794                                         ao_data_static.hmc5883.x = int16(bytes, 20);
 795                                         ao_data_static.hmc5883.y = int16(bytes, 22);
 796                                         ao_data_static.hmc5883.z = int16(bytes, 24);
 797 #if HAS_MMA655X
 798                                         ao_data_static.mma655x = int16(bytes, 26);
 799                                         if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
 800                                                 ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
 801 #endif
 802                                         ao_records_read++;
 803                                         ao_insert();
 804                                         return;
 805                                 case 'G':
 806                                         ao_gps_prev = ao_gps_static;
 807                                         ao_gps_static.tick = tick;
 808                                         ao_gps_static.latitude = int32(bytes, 0);
 809                                         ao_gps_static.longitude = int32(bytes, 4);
 810                                         {
 811                                                 int32_t altitude = int32(bytes, 8);
 812                                                 AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
 813                                         }
 814                                         ao_gps_static.flags = bytes[13];
 815                                         if (!ao_gps_count)
 816                                                 ao_gps_first = ao_gps_static;
 817                                         ao_gps_count++;
 818                                         break;
 819                                 }
 820                                 continue;
 821                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 822                                 if (strcmp(words[1], "reserved:") == 0)
 823                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 824                                 else if (strcmp(words[1], "sens:") == 0)
 825                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 826                                 else if (strcmp(words[1], "off:") == 0)
 827                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 828                                 else if (strcmp(words[1], "tcs:") == 0)
 829                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 830                                 else if (strcmp(words[1], "tco:") == 0)
 831                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 832                                 else if (strcmp(words[1], "tref:") == 0)
 833                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 834                                 else if (strcmp(words[1], "tempsens:") == 0)
 835                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 836                                 else if (strcmp(words[1], "crc:") == 0)
 837                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 838                                 continue;
 839                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 840                                 int     p = strtoul(words[1], NULL, 10);
 841                                 int     i, j;
 842                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 843
 844                                 for (i = 2; i < nword; i++) {
 845                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 846                                                 if (!strcmp (words[i], ao_pyro_values[j].name))
 847                                                         break;
 848                                         if (j == NUM_PYRO_VALUES)
 849                                                 continue;
 850                                         pyro->flags |= ao_pyro_values[j].flag;
 851                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 852                                                 int16_t val = strtoul(words[++i], NULL, 10);
 853                                                 printf("pyro %d condition %s value %d\n", p, words[i-1], val);
 854                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 855                                         }
 856                                 }
 857                         }
 858 #endif
 859 #if EASYMINI
 860                         if ((log_format == AO_LOG_FORMAT_EASYMINI1 || log_format == AO_LOG_FORMAT_EASYMINI2) && nword == 14 && strlen(words[0]) == 1) {
 861                                 int     i;
 862                                 struct ao_ms5607_value  value;
 863
 864                                 type = words[0][0];
 865                                 tick = strtoul(words[1], NULL, 16);
 866 //                              printf ("%c %04x", type, tick);
 867                                 for (i = 2; i < nword; i++) {
 868                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 869 //                                      printf(" %02x", bytes[i-2]);
 870                                 }
 871 //                              printf ("\n");
 872                                 switch (type) {
 873                                 case 'F':
 874                                         ao_flight_started = 1;
 875                                         ao_ground_pres = uint32(bytes, 4);
 876                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 877 #if 0
 878                                         printf("ground pres %d height %d\n", ao_ground_pres, ao_ground_height);
 879                                         printf("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d\n",
 880                                                ao_ms5607_prom.sens,
 881                                                ao_ms5607_prom.off,
 882                                                ao_ms5607_prom.tcs,
 883                                                ao_ms5607_prom.tco,
 884                                                ao_ms5607_prom.tref,
 885                                                ao_ms5607_prom.tempsens,
 886                                                ao_ms5607_prom.crc);
 887 #endif
 888                                         break;
 889                                 case 'A':
 890                                         ao_data_static.tick = tick;
 891                                         ao_data_static.ms5607_raw.pres = int24(bytes, 0);
 892                                         ao_data_static.ms5607_raw.temp = int24(bytes, 3);
 893 #if 0
 894                                         printf("raw pres %d temp %d\n",
 895                                                ao_data_static.ms5607_raw.pres,
 896                                                ao_data_static.ms5607_raw.temp);
 897 #endif
 898                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 899 //                                      printf("pres %d height %d\n", value.pres, ao_pa_to_altitude(value.pres));
 900                                         ao_records_read++;
 901                                         ao_insert();
 902                                         return;
 903                                 }
 904                                 continue;
 905                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 906                                 if (strcmp(words[1], "reserved:") == 0)
 907                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 908                                 else if (strcmp(words[1], "sens:") == 0)
 909                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 910                                 else if (strcmp(words[1], "off:") == 0)
 911                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 912                                 else if (strcmp(words[1], "tcs:") == 0)
 913                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 914                                 else if (strcmp(words[1], "tco:") == 0)
 915                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 916                                 else if (strcmp(words[1], "tref:") == 0)
 917                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 918                                 else if (strcmp(words[1], "tempsens:") == 0)
 919                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 920                                 else if (strcmp(words[1], "crc:") == 0)
 921                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 922                                 continue;
 923                         }
 924 #endif
 925 #if TELEMETRUM_V2
 926                         if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) {
 927                                 int     i;
 928                                 struct ao_ms5607_value  value;
 929
 930                                 type = words[0][0];
 931                                 tick = strtoul(words[1], NULL, 16);
 932 //                              printf ("%c %04x", type, tick);
 933                                 for (i = 2; i < nword; i++) {
 934                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 935 //                                      printf(" %02x", bytes[i-2]);
 936                                 }
 937 //                              printf ("\n");
 938                                 switch (type) {
 939                                 case 'F':
 940                                         ao_flight_ground_accel = int16(bytes, 2);
 941                                         ao_flight_started = 1;
 942                                         ao_ground_pres = int32(bytes, 4);
 943                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 944                                         break;
 945                                 case 'A':
 946                                         ao_data_static.tick = tick;
 947                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 948                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 949                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 950                                         ao_data_static.mma655x = int16(bytes, 8);
 951                                         ao_records_read++;
 952                                         ao_insert();
 953                                         return;
 954                                 }
 955                                 continue;
 956                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 957                                 if (strcmp(words[1], "reserved:") == 0)
 958                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 959                                 else if (strcmp(words[1], "sens:") == 0)
 960                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 961                                 else if (strcmp(words[1], "off:") == 0)
 962                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 963                                 else if (strcmp(words[1], "tcs:") == 0)
 964                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 965                                 else if (strcmp(words[1], "tco:") == 0)
 966                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 967                                 else if (strcmp(words[1], "tref:") == 0)
 968                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 969                                 else if (strcmp(words[1], "tempsens:") == 0)
 970                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 971                                 else if (strcmp(words[1], "crc:") == 0)
 972                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 973                                 continue;
 974                         }
 975 #endif
 976 #if TELEMETRUM_V1
 977                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 978                                 type = words[0][0];
 979                                 tick = strtoul(words[1], NULL, 16);
 980                                 a = strtoul(words[2], NULL, 16);
 981                                 b = strtoul(words[3], NULL, 16);
 982                                 if (type == 'P')
 983                                         type = 'A';
 984                         }
 985 #endif
 986                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 987                                 log_format = strtoul(words[1], NULL, 10);
 988                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 989                                 ao_config.accel_plus_g = atoi(words[3]);
 990                                 ao_config.accel_minus_g = atoi(words[5]);
 991 #ifdef TELEMEGA
 992                         } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
 993                                 ao_config.accel_zero_along = atoi(words[3]);
 994                                 ao_config.accel_zero_across = atoi(words[5]);
 995                                 ao_config.accel_zero_through = atoi(words[7]);
 996 #endif
 997                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 998                                 ao_config.main_deploy = atoi(words[2]);
 999                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
1000                                    strcmp(words[1], "lockout:") == 0) {
1001                                 ao_config.apogee_lockout = atoi(words[2]);
1002                         } else if (nword >= 3 && strcmp(words[0], "Pad") == 0 &&
1003                                    strcmp(words[1], "orientation:") == 0) {
1004                                 ao_config.pad_orientation = atoi(words[2]);
1005                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
1006                                 tick = atoi(words[10]);
1007                                 if (!ao_flight_started) {
1008                                         type = 'F';
1009                                         a = atoi(words[26]);
1010                                         ao_flight_started = 1;
1011                                 } else {
1012                                         type = 'A';
1013                                         a = atoi(words[12]);
1014                                         b = atoi(words[14]);
1015                                 }
1016                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
1017                                 tick = strtol(words[1], NULL, 16);
1018                                 a = 16384 - 328;
1019                                 b = strtol(words[2], NULL, 10);
1020                                 type = 'A';
1021                                 if (!ao_flight_started) {
1022                                         ao_flight_ground_accel = 16384 - 328;
1023                                         ao_config.accel_plus_g = 16384 - 328;
1024                                         ao_config.accel_minus_g = 16384 + 328;
1025                                         ao_flight_started = 1;
1026                                 }
1027                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
1028                                 __xdata char    *hex = words[1];
1029                                 char    elt[3];
1030                                 int     i, len;
1031                                 uint8_t sum;
1032
1033                                 len = strlen(hex);
1034                                 if (len > sizeof (bytes) * 2) {
1035                                         len = sizeof (bytes)*2;
1036                                         hex[len] = '\0';
1037                                 }
1038                                 for (i = 0; i < len; i += 2) {
1039                                         elt[0] = hex[i];
1040                                         elt[1] = hex[i+1];
1041                                         elt[2] = '\0';
1042                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
1043                                 }
1044                                 len = i/2;
1045                                 if (bytes[0] != len - 2) {
1046                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
1047                                         continue;
1048                                 }
1049                                 sum = 0x5a;
1050                                 for (i = 1; i < len-1; i++)
1051                                         sum += bytes[i];
1052                                 if (sum != bytes[len-1]) {
1053                                         printf ("bad checksum\n");
1054                                         continue;
1055                                 }
1056                                 if ((bytes[len-2] & 0x80) == 0) {
1057                                         continue;
1058                                 }
1059                                 if (len == 36) {
1060                                         ao_xmemcpy(&telem, bytes + 1, 32);
1061                                         tick = telem.generic.tick;
1062                                         switch (telem.generic.type) {
1063                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
1064                                         case AO_TELEMETRY_SENSOR_TELEMINI:
1065                                         case AO_TELEMETRY_SENSOR_TELENANO:
1066                                                 if (!ao_flight_started) {
1067                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
1068                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
1069                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
1070                                                         ao_flight_started = 1;
1071                                                 }
1072                                                 type = 'A';
1073                                                 a = telem.sensor.accel;
1074                                                 b = telem.sensor.pres;
1075                                                 break;
1076                                         }
1077                                 } else if (len == 99) {
1078                                         ao_flight_started = 1;
1079                                         tick = uint16(bytes+1, 21);
1080                                         ao_flight_ground_accel = int16(bytes+1, 7);
1081                                         ao_config.accel_plus_g = int16(bytes+1, 17);
1082                                         ao_config.accel_minus_g = int16(bytes+1, 19);
1083                                         type = 'A';
1084                                         a = int16(bytes+1, 23);
1085                                         b = int16(bytes+1, 25);
1086                                 } else if (len == 98) {
1087                                         ao_flight_started = 1;
1088                                         tick = uint16(bytes+1, 20);
1089                                         ao_flight_ground_accel = int16(bytes+1, 6);
1090                                         ao_config.accel_plus_g = int16(bytes+1, 16);
1091                                         ao_config.accel_minus_g = int16(bytes+1, 18);
1092                                         type = 'A';
1093                                         a = int16(bytes+1, 22);
1094                                         b = int16(bytes+1, 24);
1095                                 } else {
1096                                         printf("unknown len %d\n", len);
1097                                         continue;
1098                                 }
1099                         }
1100                         if (type != 'F' && !ao_flight_started)
1101                                 continue;
1102
1103 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
1104                         (void) a;
1105                         (void) b;
1106 #else
1107                         switch (type) {
1108                         case 'F':
1109                                 ao_flight_ground_accel = a;
1110                                 if (ao_config.accel_plus_g == 0) {
1111                                         ao_config.accel_plus_g = a;
1112                                         ao_config.accel_minus_g = a + 530;
1113                                 }
1114                                 if (ao_config.main_deploy == 0)
1115                                         ao_config.main_deploy = 250;
1116                                 ao_flight_started = 1;
1117                                 break;
1118                         case 'S':
1119                                 break;
1120                         case 'A':
1121                                 ao_data_static.tick = tick;
1122                                 ao_data_static.adc.accel = a;
1123                                 ao_data_static.adc.pres_real = b;
1124                                 ao_data_static.adc.pres = b;
1125                                 ao_records_read++;
1126                                 ao_insert();
1127                                 return;
1128                         case 'T':
1129                                 ao_data_static.tick = tick;
1130                                 ao_data_static.adc.temp = a;
1131                                 ao_data_static.adc.v_batt = b;
1132                                 break;
1133                         case 'D':
1134                         case 'G':
1135                         case 'N':
1136                         case 'W':
1137                         case 'H':
1138                                 break;
1139                         }
1140 #endif
1141                 }
1142
1143         }
1144 }
1145 #define COUNTS_PER_G 264.8
1146
1147 void
1148 ao_dump_state(void)
1149 {
1150 }
1151
1152 static const struct option options[] = {
1153         { .name = "summary", .has_arg = 0, .val = 's' },
1154         { .name = "debug", .has_arg = 0, .val = 'd' },
1155         { .name = "info", .has_arg = 1, .val = 'i' },
1156         { 0, 0, 0, 0},
1157 };
1158
1159 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1160 {
1161         emulator_name = name;
1162         emulator_in = f;
1163         emulator_info = info;
1164         ao_summary = summary;
1165
1166         ao_flight_init();
1167         ao_flight();
1168 }
1169
1170 int
1171 main (int argc, char **argv)
1172 {
1173         int     summary = 0;
1174         int     c;
1175         int     i;
1176         char    *info = NULL;
1177
1178 #if HAS_ACCEL
1179         emulator_app="full";
1180 #else
1181         emulator_app="baro";
1182 #endif
1183         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1184                 switch (c) {
1185                 case 's':
1186                         summary = 1;
1187                         break;
1188                 case 'd':
1189                         ao_flight_debug = 1;
1190                         break;
1191                 case 'i':
1192                         info = optarg;
1193                         break;
1194                 }
1195         }
1196
1197         if (optind == argc)
1198                 run_flight_fixed("<stdin>", stdin, summary, info);
1199         else
1200                 for (i = optind; i < argc; i++) {
1201                         FILE    *f = fopen(argv[i], "r");
1202                         if (!f) {
1203                                 perror(argv[i]);
1204                                 continue;
1205                         }
1206                         run_flight_fixed(argv[i], f, summary, info);
1207                         fclose(f);
1208                 }
1209         exit(0);
1210 }