Integrate flite into aoview directly. Fix great circle computation.

[fw/altos] / aoview / aoview_state.c

diff --git a/aoview/aoview_state.c b/aoview/aoview_state.c
index 4ba1854e0237fc3584786aa2793f6901b957c6a3..030db99ffca94eb8fd4a5db237425e5b3c13f2f6 100644 (file)
--- a/aoview/aoview_state.c
+++ b/aoview/aoview_state.c
@@ -18,7 +18,7 @@
 #include "aoview.h"
 #include <math.h>
 
-static inline double sqr(a) { return a * a; };
+static inline double sqr(double a) { return a * a; };
 
 static void
 aoview_great_circle (double start_lat, double start_lon,
@@ -103,7 +103,7 @@ aoview_state_derive(struct aostate *state)
        state->main_sense = state->main / 32767.0 * 15.0;
        state->battery = state->batt / 32767.0 * 5.0;
        if (!strcmp(state->state, "pad")) {
-               if (state->locked) {
+               if (state->locked && state->nsat > 4) {
                        state->npad++;
                        state->pad_lat_total += state->lat;
                        state->pad_lon_total += state->lon;
@@ -128,6 +128,11 @@ aoview_state_derive(struct aostate *state)
                state->max_height = state->height;
        aoview_great_circle(state->pad_lat, state->pad_lon, state->lat, state->lon,
                            &state->distance, &state->bearing);
+       if (state->npad) {
+               state->gps_height = state->alt - state->pad_alt;
+       } else {
+               state->gps_height = 0;
+       }
 }
 
 void
@@ -167,8 +172,6 @@ aoview_state_speak(struct aostate *state)
                                           state->flight_vel / 2700);
                last_tick = state->tick;
                last_altitude = this_altitude;
-               printf ("report at tick %d height %d\n",
-                       state->tick, this_altitude);
        }
 }
 
@@ -203,7 +206,7 @@ aoview_state_notify(struct aostate *state)
        if (state->locked) {
                aoview_state_add_deg("Latitude", state->lat, 'N', 'S');
                aoview_state_add_deg("Longitude", state->lon, 'E', 'W');
-               aoview_table_add_row("GPS alt", "%d", state->alt);
+               aoview_table_add_row("GPS height", "%d", state->gps_height);
                aoview_table_add_row("GPS time", "%02d:%02d:%02d",
                                     state->gps_time.hour,
                                     state->gps_time.minute,
@@ -239,5 +242,4 @@ void
 aoview_state_init(GladeXML *xml)
 {
        aoview_state_new();
-       aoview_voice_speak("initializing rocket flight monitoring system\n");
 }