#include "aoview.h"
#include <math.h>
-static int pad_pres;
-static int pad_accel;
+static inline double sqr(a) { return a * a; };
-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 prev_tick;
-static double prev_accel;
-static double velocity;
-static double pad_lat;
-static double pad_lon;
-static double pad_alt;
+static void
+aoview_great_circle (double start_lat, double start_lon,
+ double end_lat, double end_lon,
+ double *dist, double *bearing)
+{
+ const double rad = M_PI / 180;
+ const double earth_radius = 6371.2 * 1000; /* in meters */
+ double lat1 = rad * start_lat;
+ double lon1 = rad * -start_lon;
+ double lat2 = rad * end_lat;
+ double lon2 = rad * -end_lon;
-#define NUM_PAD_SAMPLES 50
+ double d_lat = lat2 - lat1;
+ double d_lon = lon2 - lon1;
+ /* From http://en.wikipedia.org/wiki/Great-circle_distance */
+ double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
+ sqr(cos(lat1) * sin(lat2) -
+ sin(lat1) * cos(lat2) * cos(d_lon)));
+ double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
+ double d = atan2(vdn,vdd);
+ double course;
+ if (cos(lat1) < 1e-20) {
+ if (lat1 > 0)
+ course = M_PI;
+ else
+ course = -M_PI;
+ } else {
+ if (d < 1e-10)
+ course = 0;
+ else
+ course = acos((sin(lat2)-sin(lat1)*cos(d)) /
+ (sin(d)*cos(lat1)));
+ if (sin(lon2-lon1) > 0)
+ course = 2 * M_PI-course;
+ }
+ *dist = d * earth_radius;
+ *bearing = course * 180/M_PI;
+}
static void
-aoview_great_circle (double start_lat, double start_lon,
- double end_lat, double end_lon,
- double *dist, double *bearing)
+aoview_state_add_deg(char *label, double deg, char pos, char neg)
{
- 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 int_part;
+ double min;
+ char sign = pos;
+
+ if (deg < 0) {
+ deg = -deg;
+ sign = neg;
+ }
+ int_part = floor (deg);
+ min = (deg - int_part) * 60.0;
+ aoview_table_add_row(label, "%d°%lf'%c",
+ (int) int_part, min, sign);
+
}
-void
-aoview_state_notify(struct aostate *state)
+static char *ascent_states[] = {
+ "boost",
+ "fast",
+ "coast",
+ 0,
+};
+
+/*
+ * Fill out the derived data fields
+ */
+static void
+aoview_state_derive(struct aostate *state)
{
- int altitude;
- double accel;
- double velocity_change;
- int ticks;
- double dist;
- double bearing;
- double temp;
- double battery;
- double drogue_sense, main_sense;
+ int i;
+ state->ground_altitude = aoview_pres_to_altitude(state->ground_pres);
+ state->height = aoview_pres_to_altitude(state->flight_pres) - state->ground_altitude;
+ state->acceleration = (state->ground_accel - state->flight_accel) / 27.0;
+ state->speed = state->flight_vel / 2700.0;
+ state->temperature = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
+ state->drogue_sense = state->drogue / 32767.0 * 15.0;
+ state->main_sense = state->main / 32767.0 * 15.0;
+ state->battery = state->batt / 32767.0 * 5.0;
if (!strcmp(state->state, "pad")) {
- if (npad < NUM_PAD_SAMPLES) {
- pad_accel_total += state->accel;
- pad_pres_total += state->pres;
- pad_lat_total += state->lat;
- pad_lon_total += state->lon;
- pad_alt_total += state->alt;
- npad++;
- velocity = 0;
- }
- 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) {
+ state->npad++;
+ state->pad_lat_total += state->lat;
+ state->pad_lon_total += state->lon;
+ state->pad_alt_total += state->alt;
+ state->pad_lat = state->pad_lat_total / state->npad;
+ state->pad_lon = state->pad_lon_total / state->npad;
+ state->pad_alt = state->pad_alt_total / state->npad;
}
}
- 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;
- 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);
- main_sense = (state->main / 32767.0 * 15.0);
-
- prev_accel = accel;
- prev_tick = state->tick;
+ state->ascent = FALSE;
+ for (i = 0; ascent_states[i]; i++)
+ if (!strcmp(state->state, ascent_states[i]))
+ state->ascent = TRUE;
+
+ /* Only look at accelerometer data on the way up */
+ if (state->ascent && state->acceleration > state->max_acceleration)
+ state->max_acceleration = state->acceleration;
+ if (state->ascent && state->speed > state->max_speed)
+ state->max_speed = state->speed;
+
+ if (state->height > state->max_height)
+ state->max_height = state->height;
+ aoview_great_circle(state->pad_lat, state->pad_lon, state->lat, state->lon,
+ &state->distance, &state->bearing);
+}
+
+void
+aoview_state_speak(struct aostate *state)
+{
+ static char last_state[32];
+ int i;
+ gboolean report = FALSE;
+ int this_tick;
+ static int last_tick;
+ static int last_altitude;
+ int this_altitude;
+
+ if (strcmp(state->state, last_state)) {
+ aoview_voice_speak("%s\n", state->state);
+ if (!strcmp(state->state, "drogue"))
+ aoview_voice_speak("apogee %d meters\n",
+ (int) state->max_height);
+ report = TRUE;
+ strcpy(last_state, state->state);
+ }
+ this_altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres);
+ this_tick = state->tick;
+ while (this_tick < last_tick)
+ this_tick += 65536;
+ if (strcmp(state->state, "pad") != 0) {
+ if (this_altitude / 1000 != last_altitude / 1000)
+ report = TRUE;
+ if (this_tick - last_tick >= 10 * 100)
+ report = TRUE;
+ }
+ if (report) {
+ aoview_voice_speak("%d meters\n",
+ this_altitude);
+ if (state->ascent)
+ aoview_voice_speak("%d meters per second\n",
+ state->flight_vel / 2700);
+ last_tick = state->tick;
+ last_altitude = this_altitude;
+ printf ("report at tick %d height %d\n",
+ state->tick, this_altitude);
+ }
+}
+
+void
+aoview_state_notify(struct aostate *state)
+{
+ aoview_state_derive(state);
aoview_table_start();
- aoview_table_add_row("RSSI", "%ddB", state->rssi);
- aoview_table_add_row("Height", "%dm", altitude);
- aoview_table_add_row("Acceleration", "%gm/s²", 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));
+
+ if (state->npad >= MIN_PAD_SAMPLES)
+ aoview_table_add_row("Ground state", "ready");
+ else
+ aoview_table_add_row("Ground state", "waiting for gps (%d)",
+ MIN_PAD_SAMPLES - state->npad);
+ 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", state->height);
+ aoview_table_add_row("Max height", "%dm", state->max_height);
+ aoview_table_add_row("Acceleration", "%gm/s²", state->acceleration);
+ aoview_table_add_row("Max acceleration", "%gm/s²", state->max_acceleration);
+ aoview_table_add_row("Speed", "%gm/s", state->speed);
+ aoview_table_add_row("Max Speed", "%gm/s", state->max_speed);
+ aoview_table_add_row("Temperature", "%g°C", state->temperature);
+ aoview_table_add_row("Battery", "%gV", state->battery);
+ aoview_table_add_row("Drogue", "%gV", state->drogue_sense);
+ aoview_table_add_row("Main", "%gV", state->main_sense);
+ aoview_table_add_row("Pad altitude", "%dm", state->ground_altitude);
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, '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 time", "%02d:%02d:%02d",
state->gps_time.hour,
state->gps_time.minute,
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("GPS ground speed", "%fm/s %d°",
+ state->ground_speed,
+ state->course);
+ aoview_table_add_row("GPS climb rate", "%fm/s",
+ state->climb_rate);
+ aoview_table_add_row("GPS precision", "%f(hdop) %dm(h) %dm(v)\n",
+ state->hdop, state->h_error, state->v_error);
+ aoview_table_add_row("Distance from pad", "%gm", state->distance);
+ aoview_table_add_row("Direction from pad", "%g°", state->bearing);
} else {
aoview_table_add_row("GPS", "unlocked");
}
+ if (state->npad) {
+ aoview_state_add_deg("Pad latitude", state->pad_lat, 'N', 'S');
+ aoview_state_add_deg("Pad longitude", state->pad_lon, 'E', 'W');
+ aoview_table_add_row("Pad GPS alt", "%gm", state->pad_alt);
+ }
aoview_table_finish();
+ aoview_label_show(state);
+ aoview_state_speak(state);
+}
+
+void
+aoview_state_new(void)
+{
}
void
aoview_state_init(GladeXML *xml)
{
+ aoview_state_new();
+ aoview_voice_speak("initializing rocket flight monitoring system\n");
}
projects / fw / altos / blobdiff