Transmit computed ground pressure and acceleration values

[fw/altos] / aoview / aoview_state.c

diff --git a/aoview/aoview_state.c b/aoview/aoview_state.c
index 85ed7b5a629964442e131793d87c949981aa6dae..02ae0307c249ac9cb7c736de7ff649a1edf576e6 100644 (file)
--- a/aoview/aoview_state.c
+++ b/aoview/aoview_state.c
@@ -18,19 +18,12 @@
 #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;
@@ -80,54 +73,39 @@ aoview_state_notify(struct aostate *state)
 {
        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) {
-                               pad_lat_total += state->lat;
-                               pad_lon_total += state->lon;
-                               pad_alt_total += state->alt;
-                               npad_gps++;
-                       }
-                       npad++;
-                       velocity = 0;
-               }
-               if (npad <= NUM_PAD_SAMPLES) {
-                       pad_pres = pad_pres_total / npad;
-                       pad_accel = pad_accel_total / npad;
-                       if (npad_gps) {
-                               pad_lat = pad_lat_total / npad_gps;
-                               pad_lon = pad_lon_total / npad_gps;
-                               pad_alt = pad_alt_total / npad_gps;
-                       }
+               if (state->locked && npad_gps < NUM_PAD_SAMPLES) {
+                       pad_lat_total += state->lat;
+                       pad_lon_total += state->lon;
+                       pad_alt_total += state->alt;
+                       npad_gps++;
                }
-               if (npad == NUM_PAD_SAMPLES) {
-                       npad++;
-                       velocity = 0;
-                       min_pres = pad_pres;
-                       min_accel = pad_accel;
+               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;
        }
-       if (state->pres < min_pres)
-               min_pres = state->pres;
-       if (state->accel < min_accel)
-               min_accel = state->accel;
-       altitude = aoview_pres_to_altitude(state->pres) - aoview_pres_to_altitude(pad_pres);
-       accel = (pad_accel - state->accel) / 264.8 *  9.80665;
-       max_accel = (pad_accel - min_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);
@@ -137,20 +115,20 @@ aoview_state_notify(struct aostate *state)
        prev_tick = state->tick;
        aoview_table_start();
 
-       if (npad >= NUM_PAD_SAMPLES)
+       if (npad_gps >= NUM_PAD_SAMPLES)
                aoview_table_add_row("Ground state", "ready");
        else
-               aoview_table_add_row("Ground state", "preparing (%d)",
-                                    NUM_PAD_SAMPLES - npad);
+               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", "%ddB", state->rssi);
+       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(pad_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);
@@ -158,7 +136,7 @@ aoview_state_notify(struct aostate *state)
        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_state_add_deg("Latitude", state->lat);
@@ -186,9 +164,17 @@ aoview_state_notify(struct aostate *state)
 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;
-       npad = 0;
 }
 
 void