#include "aoview.h"
#include <math.h>
-static double pad_lat_total;
-static double pad_lon_total;
-static int pad_alt_total;
-static int npad_gps;
-static int prev_tick;
-static double prev_accel;
-static double pad_lat;
-static double pad_lon;
-static double pad_alt;
-static double min_pres;
-static double min_accel;
-
-#define NUM_PAD_SAMPLES 10
+static inline double sqr(a) { return a * a; };
static void
aoview_great_circle (double start_lat, double start_lon,
double end_lat, double end_lon,
double *dist, double *bearing)
{
- double rad = M_PI / 180;
- double earth_radius = 6371.2;
+ 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 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);
+ double lon2 = rad * -end_lon;
+
+ 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 = crs * 180/M_PI;
+ *bearing = course * 180/M_PI;
}
static void
0,
};
+/*
+ * Fill out the derived data fields
+ */
+static void
+aoview_state_derive(struct aostate *state)
+{
+ 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 (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;
+ }
+ }
+ 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;
- static time_t last_time;
- time_t this_time;
+ int this_tick;
+ static int last_tick;
static int last_altitude;
int this_altitude;
if (strcmp(state->state, last_state)) {
- aoview_voice_speak("rocket state now %s\n", state->state);
+ aoview_voice_speak("%s\n", state->state);
if (!strcmp(state->state, "drogue"))
- aoview_voice_speak("maximum altitude %d meters\n",
- aoview_pres_to_altitude(min_pres) -
- aoview_pres_to_altitude(state->ground_pres));
+ aoview_voice_speak("apogee %d meters\n",
+ (int) state->max_height);
report = TRUE;
strcpy(last_state, state->state);
}
- this_time = time(NULL);
this_altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres);
- if (this_time - last_time >= 10)
- report = TRUE;
- if (this_altitude / 1000 != last_altitude / 1000)
- report = TRUE;
-
+ 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("altitude %d meters\n",
+ aoview_voice_speak("%d meters\n",
this_altitude);
- for (i = 0; ascent_states[i]; i++)
- if (!strcmp(ascent_states[i], state->state)) {
- aoview_voice_speak("speed %d meters per second\n",
- state->flight_vel / 2700);
- break;
- }
+ 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);
}
-
- last_time = this_time;
- last_altitude = this_altitude;
}
void
aoview_state_notify(struct aostate *state)
{
- int altitude;
- double accel;
- 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 (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 (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->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;
- 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;
+ aoview_state_derive(state);
aoview_table_start();
- if (npad_gps >= NUM_PAD_SAMPLES)
+ if (state->npad >= MIN_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);
+ 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", 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(state->ground_pres));
+ 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_state_add_deg("Latitude", state->lat, 'N', '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_great_circle(pad_lat, pad_lon, state->lat, state->lon,
- &dist, &bearing);
- aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
- aoview_table_add_row("Direction from pad", "%g°", bearing);
+ 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 (npad_gps) {
- aoview_state_add_deg("Pad latitude", pad_lat, 'N', 'S');
- aoview_state_add_deg("Pad longitude", pad_lon, 'E', 'W');
- aoview_table_add_row("Pad GPS alt", "%gm", pad_alt);
+ 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)
{
- 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
projects / fw / altos / blobdiff