git.gag.com Git - fw/altos/blob - src/test/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; 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       0
  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 static double   simple_speed;
 268
 269 int16_t
 270 ao_time(void)
 271 {
 272         return ao_data_static.tick;
 273 }
 274
 275 void
 276 ao_delay(int16_t interval)
 277 {
 278         return;
 279 }
 280
 281 void
 282 ao_ignite(enum ao_igniter igniter)
 283 {
 284         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 285
 286         if (igniter == ao_igniter_drogue) {
 287                 drogue_time = time;
 288                 drogue_height = ao_k_height >> 16;
 289         } else {
 290                 main_time = time;
 291                 main_height = ao_k_height >> 16;
 292         }
 293 }
 294
 295 struct ao_task {
 296         int dummy;
 297 };
 298
 299 #define ao_add_task(t,f,n) ((void) (t))
 300
 301 #define ao_log_start()
 302 #define ao_log_stop()
 303
 304 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 305 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 306
 307 #define AO_FLIGHT_TEST
 308
 309 int     ao_flight_debug;
 310
 311 FILE *emulator_in;
 312 char *emulator_app;
 313 char *emulator_name;
 314 char *emulator_info;
 315 double emulator_error_max = 4;
 316 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 317
 318 void
 319 ao_dump_state(void);
 320
 321 void
 322 ao_sleep(void *wchan);
 323
 324 const char * const ao_state_names[] = {
 325         "startup", "idle", "pad", "boost", "fast",
 326         "coast", "drogue", "main", "landed", "invalid"
 327 };
 328
 329 struct ao_cmds {
 330         void            (*func)(void);
 331         const char      *help;
 332 };
 333
 334 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 335 #define ao_xmemset(d,v,c) memset(d,v,c)
 336 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 337
 338 #define AO_NEED_ALTITUDE_TO_PRES 1
 339 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 340 #include "ao_convert_pa.c"
 341 #include <ao_ms5607.h>
 342 struct ao_ms5607_prom   ao_ms5607_prom;
 343 #include "ao_ms5607_convert.c"
 344 #define AO_PYRO_NUM     4
 345 #include <ao_pyro.h>
 346 #else
 347 #include "ao_convert.c"
 348 #endif
 349
 350 #include <ao_config.h>
 351 #include <ao_fake_flight.h>
 352
 353 #define ao_config_get()
 354
 355 struct ao_config ao_config;
 356
 357 #define DATA_TO_XDATA(x) (x)
 358
 359
 360 extern int16_t ao_ground_accel, ao_flight_accel;
 361 extern int16_t ao_accel_2g;
 362
 363 typedef int16_t accel_t;
 364
 365 uint16_t        ao_serial_number;
 366 uint16_t        ao_flight_number;
 367
 368 extern uint16_t ao_sample_tick;
 369
 370 extern alt_t    ao_sample_height;
 371 extern accel_t  ao_sample_accel;
 372 extern int32_t  ao_accel_scale;
 373 extern alt_t    ao_ground_height;
 374 extern alt_t    ao_sample_alt;
 375
 376 double ao_sample_qangle;
 377
 378 int ao_sample_prev_tick;
 379 uint16_t        prev_tick;
 380
 381
 382 #include "ao_kalman.c"
 383 #include "ao_sqrt.c"
 384 #include "ao_sample.c"
 385 #include "ao_flight.c"
 386 #if TELEMEGA
 387 #define AO_PYRO_NUM     4
 388
 389 #define AO_PYRO_0       0
 390 #define AO_PYRO_1       1
 391 #define AO_PYRO_2       2
 392 #define AO_PYRO_3       3
 393
 394 #define PYRO_DBG        1
 395
 396 static void
 397 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 398 {
 399         printf ("set pyro %d %d\n", pin, value);
 400 }
 401
 402 #include "ao_pyro.c"
 403 #endif
 404
 405 #define to_double(f)    ((f) / 65536.0)
 406
 407 static int      ao_records_read = 0;
 408 static int      ao_eof_read = 0;
 409 static int      ao_flight_ground_accel;
 410 static int      ao_flight_started = 0;
 411 static int      ao_test_max_height;
 412 static double   ao_test_max_height_time;
 413 static int      ao_test_main_height;
 414 static double   ao_test_main_height_time;
 415 static double   ao_test_landed_time;
 416 static double   ao_test_landed_height;
 417 static double   ao_test_landed_time;
 418 static int      landed_set;
 419 static double   landed_time;
 420 static double   landed_height;
 421
 422 #if HAS_MPU6000
 423 static struct ao_mpu6000_sample ao_ground_mpu6000;
 424 #endif
 425
 426 void
 427 ao_test_exit(void)
 428 {
 429         double  drogue_error;
 430         double  main_error;
 431         double  landed_error;
 432         double  landed_time_error;
 433
 434         if (!ao_test_main_height_time) {
 435                 ao_test_main_height_time = ao_test_max_height_time;
 436                 ao_test_main_height = ao_test_max_height;
 437         }
 438         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 439         main_error = fabs(ao_test_main_height_time - main_time);
 440         landed_error = fabs(ao_test_landed_height - landed_height);
 441         landed_time_error = ao_test_landed_time - landed_time;
 442         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 443                 printf ("%s %s\n",
 444                         emulator_app, emulator_name);
 445                 if (emulator_info)
 446                         printf ("\t%s\n", emulator_info);
 447                 printf ("\tApogee error %g\n", drogue_error);
 448                 printf ("\tMain error %g\n", main_error);
 449                 printf ("\tLanded height error %g\n", landed_error);
 450                 printf ("\tLanded time error %g\n", landed_time_error);
 451                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 452                         ao_test_max_height, ao_test_max_height_time,
 453                         ao_test_main_height, ao_test_main_height_time,
 454                         ao_test_landed_height, ao_test_landed_time);
 455                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 456                         drogue_height, drogue_time, main_height, main_time,
 457                         landed_height, landed_time);
 458                 exit (1);
 459         }
 460         exit(0);
 461 }
 462
 463 #ifdef TELEMEGA
 464 struct ao_azel {
 465         int     az;
 466         int     el;
 467 };
 468
 469 static void
 470 azel (struct ao_azel *r, struct ao_quaternion *q)
 471 {
 472         double  v;
 473
 474         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 475         v = sqrt (q->x*q->x + q->y*q->y);
 476         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 477 }
 478 #endif
 479
 480 void
 481 ao_insert(void)
 482 {
 483         double  time;
 484
 485         ao_data_ring[ao_data_head] = ao_data_static;
 486         if (ao_flight_state != ao_flight_startup) {
 487 #if HAS_ACCEL
 488                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 489                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 490 #else
 491                 double  accel = 0.0;
 492 #endif
 493
 494                 (void) accel;
 495                 if (!tick_offset)
 496                         tick_offset = -ao_data_static.tick;
 497                 if ((prev_tick - ao_data_static.tick) > 0x400)
 498                         tick_offset += 65536;
 499                 simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
 500                 prev_tick = ao_data_static.tick;
 501                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 502
 503 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 504                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 505                 double height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 506
 507                 /* Hack to skip baro spike at accidental drogue charge
 508                  * firing in 2015-09-26-serial-2093-flight-0012.eeprom
 509                  * so we can test the kalman filter with this data. Just
 510                  * keep reporting the same baro value across the pressure spike
 511                  */
 512                 {
 513                         static struct ao_ms5607_sample save;
 514                         if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
 515                                 ao_data_ring[ao_data_head].ms5607_raw = save;
 516                         } else {
 517                                 save = ao_data_static.ms5607_raw;
 518                         }
 519                 }
 520 #else
 521                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 522 #endif
 523
 524                 if (ao_test_max_height < height) {
 525                         ao_test_max_height = height;
 526                         ao_test_max_height_time = time;
 527                         ao_test_landed_height = height;
 528                         ao_test_landed_time = time;
 529                 }
 530                 if (height > ao_config.main_deploy) {
 531                         ao_test_main_height_time = time;
 532                         ao_test_main_height = height;
 533                 }
 534
 535                 if (ao_test_landed_height > height) {
 536                         ao_test_landed_height = height;
 537                         ao_test_landed_time = time;
 538                 }
 539
 540                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 541                         landed_set = 1;
 542                         landed_time = time;
 543                         landed_height = height;
 544                 }
 545
 546                 if (!ao_summary) {
 547 #if TELEMEGA
 548                         static struct ao_quaternion     ao_ground_mag;
 549                         static int                      ao_ground_mag_set;
 550
 551                         if (!ao_ground_mag_set) {
 552                                 ao_quaternion_init_vector (&ao_ground_mag,
 553                                                            ao_data_mag_across(&ao_data_static),
 554                                                            ao_data_mag_through(&ao_data_static),
 555                                                            ao_data_mag_along(&ao_data_static));
 556                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 557                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 558                                 ao_ground_mag_set = 1;
 559                         }
 560
 561                         struct ao_quaternion            ao_mag, ao_mag_rot;
 562
 563                         ao_quaternion_init_vector(&ao_mag,
 564                                                   ao_data_mag_across(&ao_data_static),
 565                                                   ao_data_mag_through(&ao_data_static),
 566                                                   ao_data_mag_along(&ao_data_static));
 567
 568                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 569                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 570
 571                         float                           ao_dot;
 572                         int                             ao_mag_angle;
 573
 574                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 575
 576                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 577
 578                         azel(&ground_azel, &ao_ground_mag);
 579                         azel(&mag_azel, &ao_mag);
 580                         azel(&rot_azel, &ao_mag_rot);
 581
 582                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 583
 584                         (void) ao_mag_angle;
 585
 586                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 587                         struct ao_quaternion            ao_out;
 588
 589                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 590
 591 #if 0
 592                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 593
 594                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 595                                 time,
 596                                 ao_state_names[ao_flight_state],
 597                                 ao_k_height / 65536.0,
 598                                 ao_sample_orient, out,
 599                                 mag_azel.el,
 600                                 mag_azel.az);
 601 #endif
 602 #if 0
 603                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 604                                 time,
 605                                 ao_state_names[ao_flight_state],
 606                                 ao_k_height / 65536.0,
 607                                 ao_sample_orient, out,
 608                                 ao_distance_from_pad(),
 609                                 (int) floor (ao_gps_angle() + 0.5),
 610                                 (ao_gps_static.flags & 0xf) * 10);
 611
 612 #endif
 613 #if 0
 614                         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",
 615                                 ao_state_names[ao_flight_state],
 616                                 ground_azel.az, ground_azel.el,
 617                                 mag_azel.az, mag_azel.el,
 618                                 rot_azel.az, rot_azel.el,
 619                                 ground_azel.el - rot_azel.el,
 620                                 ground_azel.az - rot_azel.az,
 621                                 ao_mag_angle,
 622                                 ao_sample_orient,
 623                                 ao_ground_mag.x,
 624                                 ao_ground_mag.y,
 625                                 ao_ground_mag.z,
 626                                 ao_mag.x,
 627                                 ao_mag.y,
 628                                 ao_mag.z,
 629                                 ao_mag_rot.x,
 630                                 ao_mag_rot.y,
 631                                 ao_mag_rot.z);
 632 #endif
 633 #endif
 634
 635 #if 1
 636                         printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
 637                                "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
 638 #if TELEMEGA
 639                                " angle %5d "
 640                                "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 "
 641 #endif
 642                                "\n",
 643                                time,
 644                                height,
 645                                accel,
 646                                simple_speed > -100.0 ? simple_speed : -100.0,
 647                                ao_state_names[ao_flight_state],
 648                                ao_k_height / 65536.0,
 649                                ao_k_speed / 65536.0 / 16.0,
 650                                ao_k_accel / 65536.0 / 16.0,
 651                                ao_avg_height,
 652                                drogue_height,
 653                                main_height,
 654                                ao_error_h_sq_avg
 655 #if TELEMEGA
 656                                , ao_sample_orient,
 657
 658                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 659                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 660                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 661                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 662                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 663                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 664                                ao_data_static.hmc5883.x,
 665                                ao_data_static.hmc5883.y,
 666                                ao_data_static.hmc5883.z,
 667                                ao_mag_angle
 668 #endif
 669                                 );
 670 #endif
 671
 672 //                      if (ao_flight_state == ao_flight_landed)
 673 //                              ao_test_exit();
 674                 }
 675         }
 676         ao_data_head = ao_data_ring_next(ao_data_head);
 677 }
 678
 679
 680 uint16_t
 681 uint16(uint8_t *bytes, int off)
 682 {
 683         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 684 }
 685
 686 int16_t
 687 int16(uint8_t *bytes, int off)
 688 {
 689         return (int16_t) uint16(bytes, off);
 690 }
 691
 692 uint32_t
 693 uint32(uint8_t *bytes, int off)
 694 {
 695         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 696                 (((uint32_t) bytes[off+2]) << 16) |
 697                 (((uint32_t) bytes[off+3]) << 24);
 698 }
 699
 700 int32_t
 701 int32(uint8_t *bytes, int off)
 702 {
 703         return (int32_t) uint32(bytes, off);
 704 }
 705
 706 uint32_t
 707 uint24(uint8_t *bytes, int off)
 708 {
 709         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 710                 (((uint32_t) bytes[off+2]) << 16);
 711 }
 712
 713 int32_t
 714 int24(uint8_t *bytes, int off)
 715 {
 716         return (int32_t) uint24(bytes, off);
 717 }
 718
 719 static int log_format;
 720
 721 void
 722 ao_sleep(void *wchan)
 723 {
 724         if (wchan == &ao_data_head) {
 725                 char            type = 0;
 726                 uint16_t        tick = 0;
 727                 uint16_t        a = 0, b = 0;
 728                 uint8_t         bytes[1024];
 729                 union ao_telemetry_all  telem;
 730                 char            line[1024];
 731                 char            *saveptr;
 732                 char            *l;
 733                 char            *words[64];
 734                 int             nword;
 735
 736 #if TELEMEGA
 737                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 738                         ao_pyro_check();
 739 #endif
 740                 for (;;) {
 741                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 742                         {
 743
 744 #if TELEMEGA
 745                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 746 #endif
 747 #if TELEMETRUM_V1
 748                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 749 #endif
 750
 751                                 ao_insert();
 752                                 return;
 753                         }
 754
 755                         if (!fgets(line, sizeof (line), emulator_in)) {
 756                                 if (++ao_eof_read >= 1000) {
 757                                         if (!ao_summary)
 758                                                 printf ("no more data, exiting simulation\n");
 759                                         ao_test_exit();
 760                                 }
 761                                 ao_data_static.tick += 10;
 762                                 ao_insert();
 763                                 return;
 764                         }
 765                         l = line;
 766                         for (nword = 0; nword < 64; nword++) {
 767                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 768                                 l = NULL;
 769                                 if (words[nword] == NULL)
 770                                         break;
 771                         }
 772 #if TELEMEGA
 773                         if ((log_format == AO_LOG_FORMAT_TELEMEGA_OLD || log_format == AO_LOG_FORMAT_TELEMEGA) && nword == 30 && strlen(words[0]) == 1) {
 774                                 int     i;
 775                                 struct ao_ms5607_value  value;
 776
 777                                 type = words[0][0];
 778                                 tick = strtoul(words[1], NULL, 16);
 779 //                              printf ("%c %04x", type, tick);
 780                                 for (i = 2; i < nword; i++) {
 781                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 782 //                                      printf(" %02x", bytes[i-2]);
 783                                 }
 784 //                              printf ("\n");
 785                                 switch (type) {
 786                                 case 'F':
 787                                         ao_flight_number = uint16(bytes, 0);
 788                                         ao_flight_ground_accel = int16(bytes, 2);
 789                                         ao_flight_started = 1;
 790                                         ao_ground_pres = int32(bytes, 4);
 791                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 792                                         ao_ground_accel_along = int16(bytes, 8);
 793                                         ao_ground_accel_across = int16(bytes, 10);
 794                                         ao_ground_accel_through = int16(bytes, 12);
 795                                         ao_ground_roll = int16(bytes, 14);
 796                                         ao_ground_pitch = int16(bytes, 16);
 797                                         ao_ground_yaw = int16(bytes, 18);
 798                                         ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 799                                         ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 800                                         ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 801                                         ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 802                                         ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 803                                         ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 804                                         break;
 805                                 case 'A':
 806                                         ao_data_static.tick = tick;
 807                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 808                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 809                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 810                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 811                                         ao_data_static.mpu6000.accel_y = int16(bytes, 10);
 812                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 813                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 814                                         ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
 815                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 816                                         ao_data_static.hmc5883.x = int16(bytes, 20);
 817                                         ao_data_static.hmc5883.y = int16(bytes, 22);
 818                                         ao_data_static.hmc5883.z = int16(bytes, 24);
 819 #if HAS_MMA655X
 820                                         ao_data_static.mma655x = int16(bytes, 26);
 821                                         if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
 822                                                 ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
 823 #endif
 824                                         ao_records_read++;
 825                                         ao_insert();
 826                                         return;
 827                                 case 'G':
 828                                         ao_gps_prev = ao_gps_static;
 829                                         ao_gps_static.tick = tick;
 830                                         ao_gps_static.latitude = int32(bytes, 0);
 831                                         ao_gps_static.longitude = int32(bytes, 4);
 832                                         {
 833                                                 int32_t altitude = int32(bytes, 8);
 834                                                 AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
 835                                         }
 836                                         ao_gps_static.flags = bytes[13];
 837                                         if (!ao_gps_count)
 838                                                 ao_gps_first = ao_gps_static;
 839                                         ao_gps_count++;
 840                                         break;
 841                                 }
 842                                 continue;
 843                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 844                                 if (strcmp(words[1], "reserved:") == 0)
 845                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 846                                 else if (strcmp(words[1], "sens:") == 0)
 847                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 848                                 else if (strcmp(words[1], "off:") == 0)
 849                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 850                                 else if (strcmp(words[1], "tcs:") == 0)
 851                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 852                                 else if (strcmp(words[1], "tco:") == 0)
 853                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 854                                 else if (strcmp(words[1], "tref:") == 0)
 855                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 856                                 else if (strcmp(words[1], "tempsens:") == 0)
 857                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 858                                 else if (strcmp(words[1], "crc:") == 0)
 859                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 860                                 continue;
 861                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 862                                 int     p = strtoul(words[1], NULL, 10);
 863                                 int     i, j;
 864                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 865
 866                                 for (i = 2; i < nword; i++) {
 867                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 868                                                 if (!strcmp (words[i], ao_pyro_values[j].name))
 869                                                         break;
 870                                         if (j == NUM_PYRO_VALUES)
 871                                                 continue;
 872                                         pyro->flags |= ao_pyro_values[j].flag;
 873                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 874                                                 int16_t val = strtoul(words[++i], NULL, 10);
 875                                                 printf("pyro %d condition %s value %d\n", p, words[i-1], val);
 876                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 877                                         }
 878                                 }
 879                         }
 880 #endif
 881 #if EASYMINI
 882                         if ((log_format == AO_LOG_FORMAT_EASYMINI1 || log_format == AO_LOG_FORMAT_EASYMINI2) && nword == 14 && strlen(words[0]) == 1) {
 883                                 int     i;
 884                                 struct ao_ms5607_value  value;
 885
 886                                 type = words[0][0];
 887                                 tick = strtoul(words[1], NULL, 16);
 888 //                              printf ("%c %04x", type, tick);
 889                                 for (i = 2; i < nword; i++) {
 890                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 891 //                                      printf(" %02x", bytes[i-2]);
 892                                 }
 893 //                              printf ("\n");
 894                                 switch (type) {
 895                                 case 'F':
 896                                         ao_flight_started = 1;
 897                                         ao_flight_number = uint16(bytes, 0);
 898                                         ao_ground_pres = uint32(bytes, 4);
 899                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 900 #if 0
 901                                         printf("ground pres %d height %d\n", ao_ground_pres, ao_ground_height);
 902                                         printf("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d\n",
 903                                                ao_ms5607_prom.sens,
 904                                                ao_ms5607_prom.off,
 905                                                ao_ms5607_prom.tcs,
 906                                                ao_ms5607_prom.tco,
 907                                                ao_ms5607_prom.tref,
 908                                                ao_ms5607_prom.tempsens,
 909                                                ao_ms5607_prom.crc);
 910 #endif
 911                                         break;
 912                                 case 'A':
 913                                         ao_data_static.tick = tick;
 914                                         ao_data_static.ms5607_raw.pres = int24(bytes, 0);
 915                                         ao_data_static.ms5607_raw.temp = int24(bytes, 3);
 916 #if 0
 917                                         printf("raw pres %d temp %d\n",
 918                                                ao_data_static.ms5607_raw.pres,
 919                                                ao_data_static.ms5607_raw.temp);
 920 #endif
 921                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 922 //                                      printf("pres %d height %d\n", value.pres, ao_pa_to_altitude(value.pres));
 923                                         ao_records_read++;
 924                                         ao_insert();
 925                                         return;
 926                                 }
 927                                 continue;
 928                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 929                                 if (strcmp(words[1], "reserved:") == 0)
 930                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 931                                 else if (strcmp(words[1], "sens:") == 0)
 932                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 933                                 else if (strcmp(words[1], "off:") == 0)
 934                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 935                                 else if (strcmp(words[1], "tcs:") == 0)
 936                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 937                                 else if (strcmp(words[1], "tco:") == 0)
 938                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 939                                 else if (strcmp(words[1], "tref:") == 0)
 940                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 941                                 else if (strcmp(words[1], "tempsens:") == 0)
 942                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 943                                 else if (strcmp(words[1], "crc:") == 0)
 944                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 945                                 continue;
 946                         }
 947 #endif
 948 #if TELEMETRUM_V2
 949                         if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) {
 950                                 int     i;
 951                                 struct ao_ms5607_value  value;
 952
 953                                 type = words[0][0];
 954                                 tick = strtoul(words[1], NULL, 16);
 955 //                              printf ("%c %04x", type, tick);
 956                                 for (i = 2; i < nword; i++) {
 957                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 958 //                                      printf(" %02x", bytes[i-2]);
 959                                 }
 960 //                              printf ("\n");
 961                                 switch (type) {
 962                                 case 'F':
 963                                         ao_flight_number = uint16(bytes, 0);
 964                                         ao_flight_ground_accel = int16(bytes, 2);
 965                                         ao_flight_started = 1;
 966                                         ao_ground_pres = int32(bytes, 4);
 967                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 968                                         break;
 969                                 case 'A':
 970                                         ao_data_static.tick = tick;
 971                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 972                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 973                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 974                                         ao_data_static.mma655x = int16(bytes, 8);
 975                                         ao_records_read++;
 976                                         ao_insert();
 977                                         return;
 978                                 }
 979                                 continue;
 980                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 981                                 if (strcmp(words[1], "reserved:") == 0)
 982                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 983                                 else if (strcmp(words[1], "sens:") == 0)
 984                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 985                                 else if (strcmp(words[1], "off:") == 0)
 986                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 987                                 else if (strcmp(words[1], "tcs:") == 0)
 988                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 989                                 else if (strcmp(words[1], "tco:") == 0)
 990                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 991                                 else if (strcmp(words[1], "tref:") == 0)
 992                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 993                                 else if (strcmp(words[1], "tempsens:") == 0)
 994                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 995                                 else if (strcmp(words[1], "crc:") == 0)
 996                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 997                                 continue;
 998                         }
 999 #endif
1000 #if TELEMETRUM_V1
1001                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
1002                                 type = words[0][0];
1003                                 tick = strtoul(words[1], NULL, 16);
1004                                 a = strtoul(words[2], NULL, 16);
1005                                 b = strtoul(words[3], NULL, 16);
1006                                 if (type == 'P')
1007                                         type = 'A';
1008                         }
1009 #endif
1010                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
1011                                 log_format = strtoul(words[1], NULL, 10);
1012                         } else if (nword == 2 && strcmp(words[0], "serial-number") == 0) {
1013                                 ao_serial_number = strtoul(words[1], NULL, 10);
1014                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
1015                                 ao_config.accel_plus_g = atoi(words[3]);
1016                                 ao_config.accel_minus_g = atoi(words[5]);
1017 #ifdef TELEMEGA
1018                         } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
1019                                 ao_config.accel_zero_along = atoi(words[3]);
1020                                 ao_config.accel_zero_across = atoi(words[5]);
1021                                 ao_config.accel_zero_through = atoi(words[7]);
1022 #endif
1023                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
1024                                 ao_config.main_deploy = atoi(words[2]);
1025                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
1026                                    strcmp(words[1], "lockout:") == 0) {
1027                                 ao_config.apogee_lockout = atoi(words[2]);
1028                         } else if (nword >= 3 && strcmp(words[0], "Pad") == 0 &&
1029                                    strcmp(words[1], "orientation:") == 0) {
1030                                 ao_config.pad_orientation = atoi(words[2]);
1031                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
1032                                 tick = atoi(words[10]);
1033                                 if (!ao_flight_started) {
1034                                         type = 'F';
1035                                         a = atoi(words[26]);
1036                                         ao_flight_started = 1;
1037                                 } else {
1038                                         type = 'A';
1039                                         a = atoi(words[12]);
1040                                         b = atoi(words[14]);
1041                                 }
1042                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
1043                                 tick = strtol(words[1], NULL, 16);
1044                                 a = 16384 - 328;
1045                                 b = strtol(words[2], NULL, 10);
1046                                 type = 'A';
1047                                 if (!ao_flight_started) {
1048                                         ao_flight_ground_accel = 16384 - 328;
1049                                         ao_config.accel_plus_g = 16384 - 328;
1050                                         ao_config.accel_minus_g = 16384 + 328;
1051                                         ao_flight_started = 1;
1052                                 }
1053                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
1054                                 __xdata char    *hex = words[1];
1055                                 char    elt[3];
1056                                 int     i, len;
1057                                 uint8_t sum;
1058
1059                                 len = strlen(hex);
1060                                 if (len > sizeof (bytes) * 2) {
1061                                         len = sizeof (bytes)*2;
1062                                         hex[len] = '\0';
1063                                 }
1064                                 for (i = 0; i < len; i += 2) {
1065                                         elt[0] = hex[i];
1066                                         elt[1] = hex[i+1];
1067                                         elt[2] = '\0';
1068                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
1069                                 }
1070                                 len = i/2;
1071                                 if (bytes[0] != len - 2) {
1072                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
1073                                         continue;
1074                                 }
1075                                 sum = 0x5a;
1076                                 for (i = 1; i < len-1; i++)
1077                                         sum += bytes[i];
1078                                 if (sum != bytes[len-1]) {
1079                                         printf ("bad checksum\n");
1080                                         continue;
1081                                 }
1082                                 if ((bytes[len-2] & 0x80) == 0) {
1083                                         continue;
1084                                 }
1085                                 if (len == 36) {
1086                                         ao_xmemcpy(&telem, bytes + 1, 32);
1087                                         tick = telem.generic.tick;
1088                                         switch (telem.generic.type) {
1089                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
1090                                         case AO_TELEMETRY_SENSOR_TELEMINI:
1091                                         case AO_TELEMETRY_SENSOR_TELENANO:
1092                                                 if (!ao_flight_started) {
1093                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
1094                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
1095                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
1096                                                         ao_flight_started = 1;
1097                                                 }
1098                                                 type = 'A';
1099                                                 a = telem.sensor.accel;
1100                                                 b = telem.sensor.pres;
1101                                                 break;
1102                                         }
1103                                 } else if (len == 99) {
1104                                         ao_flight_started = 1;
1105                                         tick = uint16(bytes+1, 21);
1106                                         ao_flight_ground_accel = int16(bytes+1, 7);
1107                                         ao_config.accel_plus_g = int16(bytes+1, 17);
1108                                         ao_config.accel_minus_g = int16(bytes+1, 19);
1109                                         type = 'A';
1110                                         a = int16(bytes+1, 23);
1111                                         b = int16(bytes+1, 25);
1112                                 } else if (len == 98) {
1113                                         ao_flight_started = 1;
1114                                         tick = uint16(bytes+1, 20);
1115                                         ao_flight_ground_accel = int16(bytes+1, 6);
1116                                         ao_config.accel_plus_g = int16(bytes+1, 16);
1117                                         ao_config.accel_minus_g = int16(bytes+1, 18);
1118                                         type = 'A';
1119                                         a = int16(bytes+1, 22);
1120                                         b = int16(bytes+1, 24);
1121                                 } else {
1122                                         printf("unknown len %d\n", len);
1123                                         continue;
1124                                 }
1125                         }
1126                         if (type != 'F' && !ao_flight_started)
1127                                 continue;
1128
1129 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
1130                         (void) a;
1131                         (void) b;
1132 #else
1133                         switch (type) {
1134                         case 'F':
1135                                 ao_flight_ground_accel = a;
1136                                 ao_flight_number = b;
1137                                 if (ao_config.accel_plus_g == 0) {
1138                                         ao_config.accel_plus_g = a;
1139                                         ao_config.accel_minus_g = a + 530;
1140                                 }
1141                                 if (ao_config.main_deploy == 0)
1142                                         ao_config.main_deploy = 250;
1143                                 ao_flight_started = 1;
1144                                 break;
1145                         case 'S':
1146                                 break;
1147                         case 'A':
1148                                 ao_data_static.tick = tick;
1149                                 ao_data_static.adc.accel = a;
1150                                 ao_data_static.adc.pres_real = b;
1151                                 ao_data_static.adc.pres = b;
1152                                 ao_records_read++;
1153                                 ao_insert();
1154                                 return;
1155                         case 'T':
1156                                 ao_data_static.tick = tick;
1157                                 ao_data_static.adc.temp = a;
1158                                 ao_data_static.adc.v_batt = b;
1159                                 break;
1160                         case 'D':
1161                         case 'G':
1162                         case 'N':
1163                         case 'W':
1164                         case 'H':
1165                                 break;
1166                         }
1167 #endif
1168                 }
1169
1170         }
1171 }
1172 #define COUNTS_PER_G 264.8
1173
1174 void
1175 ao_dump_state(void)
1176 {
1177 }
1178
1179 static const struct option options[] = {
1180         { .name = "summary", .has_arg = 0, .val = 's' },
1181         { .name = "debug", .has_arg = 0, .val = 'd' },
1182         { .name = "info", .has_arg = 1, .val = 'i' },
1183         { 0, 0, 0, 0},
1184 };
1185
1186 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1187 {
1188         emulator_name = name;
1189         emulator_in = f;
1190         emulator_info = info;
1191         ao_summary = summary;
1192
1193         ao_flight_init();
1194         ao_flight();
1195 }
1196
1197 int
1198 main (int argc, char **argv)
1199 {
1200         int     summary = 0;
1201         int     c;
1202         int     i;
1203         char    *info = NULL;
1204
1205 #if HAS_ACCEL
1206         emulator_app="full";
1207 #else
1208         emulator_app="baro";
1209 #endif
1210         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1211                 switch (c) {
1212                 case 's':
1213                         summary = 1;
1214                         break;
1215                 case 'd':
1216                         ao_flight_debug = 1;
1217                         break;
1218                 case 'i':
1219                         info = optarg;
1220                         break;
1221                 }
1222         }
1223
1224         if (optind == argc)
1225                 run_flight_fixed("<stdin>", stdin, summary, info);
1226         else
1227                 for (i = optind; i < argc; i++) {
1228                         FILE    *f = fopen(argv[i], "r");
1229                         if (!f) {
1230                                 perror(argv[i]);
1231                                 continue;
1232                         }
1233                         run_flight_fixed(argv[i], f, summary, info);
1234                         fclose(f);
1235                 }
1236         exit(0);
1237 }