#include "aoview.h"
#include <math.h>
-static int pad_pres;
-static int pad_accel;
-
-static int pad_pres_total;
-static int pad_accel_total;
static double pad_lat_total;
static double pad_lon_total;
static int pad_alt_total;
-static int npad;
+static int npad_gps;
static int prev_tick;
static double prev_accel;
-static double velocity;
static double pad_lat;
static double pad_lon;
static double pad_alt;
+static double min_pres;
+static double min_accel;
-#define NUM_PAD_SAMPLES 50
-
-
+#define NUM_PAD_SAMPLES 10
static void
aoview_great_circle (double start_lat, double start_lon,
{
double rad = M_PI / 180;
double earth_radius = 6371.2;
- double a = (90 - start_lat) * rad;
- double b = (90 - end_lat) * rad;
- double phi = (end_lon - start_lon) * rad;
- double cosr = cos(a) * cos(b) + sin(a) * sin(b) * cos(phi);
- double r = acos(cosr);
- double rdist = earth_radius * r;
- double sinth = sin(phi) * sin(b) / sin(r);
- double th = asin(sinth) / rad;
- *dist = rdist;
- *bearing = th;
+ double lat1 = rad * start_lat;
+ double lon1 = -rad * start_lon;
+ double lat2 = rad * end_lat;
+ double lon2 = -rad * end_lon;
+
+ double d = acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2));
+ double argacos = (sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1));
+ double crs;
+ if (sin(lon2-lon1) < 0)
+ crs = acos(argacos);
+ else
+ crs = 2 * M_PI - acos(argacos);
+ *dist = d * earth_radius;
+ *bearing = crs * 180/M_PI;
+}
+
+static void
+aoview_state_add_deg(char *label, double deg)
+{
+ double int_part;
+ double min;
+
+ int_part = floor (deg);
+ min = (deg - int_part) * 60.0;
+ aoview_table_add_row(label, "%d°%lf'",
+ (int) int_part, min);
+
}
void
{
int altitude;
double accel;
- double velocity_change;
int ticks;
double dist;
double bearing;
double temp;
+ double velocity;
double battery;
double drogue_sense, main_sense;
+ double max_accel;
if (!strcmp(state->state, "pad")) {
- if (npad < NUM_PAD_SAMPLES) {
- pad_accel_total += state->accel;
- pad_pres_total += state->pres;
+ if (state->locked && npad_gps < NUM_PAD_SAMPLES) {
pad_lat_total += state->lat;
pad_lon_total += state->lon;
pad_alt_total += state->alt;
- npad++;
- velocity = 0;
+ npad_gps++;
}
- if (npad <= NUM_PAD_SAMPLES) {
- pad_pres = pad_pres_total / npad;
- pad_accel = pad_accel_total / npad;
- pad_lat = pad_lat_total / npad;
- pad_lon = pad_lon_total / npad;
- pad_alt = pad_alt_total / npad;
+ if (state->locked && npad_gps <= NUM_PAD_SAMPLES) {
+ pad_lat = pad_lat_total / npad_gps;
+ pad_lon = pad_lon_total / npad_gps;
+ pad_alt = pad_alt_total / npad_gps;
}
+ min_pres = state->ground_pres;
+ min_accel = state->ground_accel;
}
- altitude = aoview_pres_to_altitude(state->pres) - aoview_pres_to_altitude(pad_pres);
- accel = (pad_accel - state->accel) / 264.8 * 9.80665;
- velocity_change = (accel + prev_accel) / 2.0;
+ if (state->flight_pres < min_pres)
+ min_pres = state->flight_pres;
+ if (state->flight_accel < min_accel)
+ min_accel = state->flight_accel;
+ altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres);
+ accel = (state->ground_accel - state->flight_accel) / 27.0;
+ velocity = state->flight_vel / 2700.0;
+ max_accel = (state->ground_accel - min_accel) / 27.0;
ticks = state->tick - prev_tick;
- velocity -= velocity_change * (ticks / 100.0);
temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
battery = (state->batt / 32767.0 * 5.0);
drogue_sense = (state->drogue / 32767.0 * 15.0);
prev_accel = accel;
prev_tick = state->tick;
aoview_table_start();
- aoview_table_add_row("RSSI", "%ddB", state->rssi);
+
+ if (npad_gps >= NUM_PAD_SAMPLES)
+ aoview_table_add_row("Ground state", "ready");
+ else
+ aoview_table_add_row("Ground state", "waiting for gps (%d)",
+ NUM_PAD_SAMPLES - npad_gps);
+ aoview_table_add_row("Rocket state", "%s", state->state);
+ aoview_table_add_row("Callsign", "%s", state->callsign);
+ aoview_table_add_row("Rocket serial", "%d", state->serial);
+
+ aoview_table_add_row("RSSI", "%ddBm", state->rssi);
aoview_table_add_row("Height", "%dm", altitude);
+ aoview_table_add_row("Max height", "%dm",
+ aoview_pres_to_altitude(min_pres) -
+ aoview_pres_to_altitude(state->ground_pres));
aoview_table_add_row("Acceleration", "%gm/s²", accel);
+ aoview_table_add_row("Max acceleration", "%gm/s²", max_accel);
aoview_table_add_row("Velocity", "%gm/s", velocity);
aoview_table_add_row("Temperature", "%g°C", temp);
aoview_table_add_row("Battery", "%gV", battery);
aoview_table_add_row("Drogue", "%gV", drogue_sense);
aoview_table_add_row("Main", "%gV", main_sense);
- aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(pad_pres));
+ aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(state->ground_pres));
aoview_table_add_row("Satellites", "%d", state->nsat);
if (state->locked) {
- aoview_table_add_row("Lat", "%g", state->lat);
- aoview_table_add_row("Lon", "%g", state->lon);
+ aoview_state_add_deg("Latitude", state->lat);
+ aoview_state_add_deg("Longitude", state->lon);
aoview_table_add_row("GPS alt", "%d", state->alt);
aoview_table_add_row("GPS time", "%02d:%02d:%02d",
state->gps_time.hour,
state->gps_time.second);
aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon,
&dist, &bearing);
- aoview_table_add_row("Course", "%gkm %g°", dist, bearing);
+ aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
+ aoview_table_add_row("Direction from pad", "%g°", bearing);
} else {
aoview_table_add_row("GPS", "unlocked");
}
+ if (npad_gps) {
+ aoview_state_add_deg("Pad latitude", pad_lat);
+ aoview_state_add_deg("Pad longitude", pad_lon);
+ aoview_table_add_row("Pad GPS alt", "%gm", pad_alt);
+ }
aoview_table_finish();
}
+void
+aoview_state_new(void)
+{
+ pad_lat_total = 0;
+ pad_lon_total = 0;
+ pad_alt_total = 0;
+ npad_gps = 0;
+ prev_tick = 0;
+ prev_accel = 0;
+ pad_lat = 0;
+ pad_lon = 0;
+ pad_alt = 0;
+ min_pres = 32767;
+ min_accel = 32767;
+}
+
void
aoview_state_init(GladeXML *xml)
{
+ aoview_state_new();
}
projects / fw / altos / blobdiff