#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,
}
static void
-aoview_state_add_deg(char *label, double deg, char pos, char neg)
+aoview_state_add_deg(int column, char *label, double deg, char pos, char neg)
{
double int_part;
double min;
}
int_part = floor (deg);
min = (deg - int_part) * 60.0;
- aoview_table_add_row(label, "%d°%lf'%c",
+ aoview_table_add_row(column, label, "%d°%lf'%c",
(int) int_part, min, sign);
}
0,
};
+static double
+aoview_time(void)
+{
+ struct timespec now;
+
+ clock_gettime(CLOCK_MONOTONIC, &now);
+ return (double) now.tv_sec + (double) now.tv_nsec / 1.0e9;
+}
+
/*
* Fill out the derived data fields
*/
static void
-aoview_state_derive(struct aostate *state)
+aoview_state_derive(struct aodata *data, struct aostate *state)
{
int i;
+ double new_height;
+ double height_change;
+ double time_change;
+ int tick_count;
+
+ state->report_time = aoview_time();
- 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->prev_data = state->data;
+ state->data = *data;
+ tick_count = data->tick;
+ if (tick_count < state->prev_data.tick)
+ tick_count += 65536;
+ time_change = (tick_count - state->prev_data.tick) / 100.0;
+
+ state->ground_altitude = aoview_pres_to_altitude(data->ground_pres);
+ new_height = aoview_pres_to_altitude(data->flight_pres) - state->ground_altitude;
+ height_change = new_height - state->height;
+ state->height = new_height;
+ if (time_change)
+ state->baro_speed = (state->baro_speed * 3 + (height_change / time_change)) / 4.0;
+ state->acceleration = (data->ground_accel - data->flight_accel) / 27.0;
+ state->speed = data->flight_vel / 2700.0;
+ state->temperature = ((data->temp / 32767.0 * 3.3) - 0.5) / 0.01;
+ state->drogue_sense = data->drogue / 32767.0 * 15.0;
+ state->main_sense = data->main / 32767.0 * 15.0;
+ state->battery = data->batt / 32767.0 * 5.0;
+ if (!strcmp(data->state, "pad")) {
+ if (data->locked && data->nsat > 4) {
state->npad++;
- state->pad_lat_total += state->lat;
- state->pad_lon_total += state->lon;
- state->pad_alt_total += state->alt;
+ state->pad_lat_total += data->lat;
+ state->pad_lon_total += data->lon;
+ state->pad_alt_total += data->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]))
+ if (!strcmp(data->state, ascent_states[i]))
state->ascent = TRUE;
/* Only look at accelerometer data on the way up */
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);
+ if (data->locked) {
+ state->lat = data->lat;
+ state->lon = data->lon;
+ aoview_great_circle(state->pad_lat, state->pad_lon, data->lat, data->lon,
+ &state->distance, &state->bearing);
+ state->gps_valid = 1;
+ }
+ if (state->npad) {
+ state->gps_height = data->alt - state->pad_alt;
+ } else {
+ state->gps_height = 0;
+ }
}
void
-aoview_state_speak(struct aostate *state)
+aoview_speak_state(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"))
+ if (strcmp(state->data.state, state->prev_data.state)) {
+ aoview_voice_speak("%s\n", state->data.state);
+ if (!strcmp(state->data.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 (!strcmp(state->prev_data.state, "boost"))
+ aoview_voice_speak("max speed %d meters per second\n",
+ (int) state->max_speed);
}
- 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_speak_height(struct aostate *state)
+{
+ aoview_voice_speak("%d meters\n", state->height);
+}
+
+struct aostate aostate;
+
+static guint aostate_timeout;
+
+#define COMPASS_LIMIT(n) ((n * 22.5) + 22.5/2)
+
+static char *compass_points[] = {
+ "north",
+ "north north east",
+ "north east",
+ "east north east",
+ "east",
+ "east south east",
+ "south east",
+ "south south east",
+ "south",
+ "south south west",
+ "south west",
+ "west south west",
+ "west",
+ "west north west",
+ "north west",
+ "north north west",
+};
+
+static char *
+aoview_compass_point(double bearing)
+{
+ int i;
+ while (bearing < 0)
+ bearing += 360.0;
+ while (bearing >= 360.0)
+ bearing -= 360.0;
+
+ i = floor ((bearing - 22.5/2) / 22.5 + 0.5);
+ if (i < 0) i = 0;
+ if (i >= sizeof (compass_points) / sizeof (compass_points[0]))
+ i = 0;
+ return compass_points[i];
+}
+
+static gboolean
+aoview_state_timeout(gpointer data)
+{
+ double now = aoview_time();
+
+ if (strlen(aostate.data.state) > 0 && strcmp(aostate.data.state, "pad") != 0)
+ aoview_speak_height(&aostate);
+ if (now - aostate.report_time >= 20 || !strcmp(aostate.data.state, "landed")) {
+ if (!aostate.ascent) {
+ if (fabs(aostate.baro_speed) < 20 && aostate.height < 100)
+ aoview_voice_speak("rocket landed safely\n");
+ else
+ aoview_voice_speak("rocket may have crashed\n");
+ if (aostate.gps_valid) {
+ aoview_voice_speak("rocket reported %s of pad distance %d meters\n",
+ aoview_compass_point(aostate.bearing),
+ (int) aostate.distance);
+ }
+ }
+ aostate_timeout = 0;
+ return FALSE;
}
+ return TRUE;
+}
+
+void
+aoview_state_reset(void)
+{
+ memset(&aostate, '\0', sizeof (aostate));
}
void
-aoview_state_notify(struct aostate *state)
+aoview_state_notify(struct aodata *data)
{
- aoview_state_derive(state);
+ struct aostate *state = &aostate;
+ aoview_state_derive(data, state);
aoview_table_start();
if (state->npad >= MIN_PAD_SAMPLES)
- aoview_table_add_row("Ground state", "ready");
+ aoview_table_add_row(0, "Ground state", "ready");
else
- aoview_table_add_row("Ground state", "waiting for gps (%d)",
+ aoview_table_add_row(0, "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_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_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);
+ aoview_table_add_row(0, "Rocket state", "%s", state->data.state);
+ aoview_table_add_row(0, "Callsign", "%s", state->data.callsign);
+ aoview_table_add_row(0, "Rocket serial", "%d", state->data.serial);
+
+ aoview_table_add_row(0, "RSSI", "%6ddBm", state->data.rssi);
+ aoview_table_add_row(0, "Height", "%6dm", state->height);
+ aoview_table_add_row(0, "Max height", "%6dm", state->max_height);
+ aoview_table_add_row(0, "Acceleration", "%7.1fm/s²", state->acceleration);
+ aoview_table_add_row(0, "Max acceleration", "%7.1fm/s²", state->max_acceleration);
+ aoview_table_add_row(0, "Speed", "%7.1fm/s", state->ascent ? state->speed : state->baro_speed);
+ aoview_table_add_row(0, "Max Speed", "%7.1fm/s", state->max_speed);
+ aoview_table_add_row(0, "Temperature", "%6.2f°C", state->temperature);
+ aoview_table_add_row(0, "Battery", "%5.2fV", state->battery);
+ aoview_table_add_row(0, "Drogue", "%5.2fV", state->drogue_sense);
+ aoview_table_add_row(0, "Main", "%5.2fV", state->main_sense);
+ aoview_table_add_row(0, "Pad altitude", "%dm", state->ground_altitude);
+ aoview_table_add_row(1, "Satellites", "%d", state->data.nsat);
+ if (state->data.locked) {
+ aoview_state_add_deg(1, "Latitude", state->data.lat, 'N', 'S');
+ aoview_state_add_deg(1, "Longitude", state->data.lon, 'E', 'W');
+ aoview_table_add_row(1, "GPS height", "%d", state->gps_height);
+ aoview_table_add_row(1, "GPS time", "%02d:%02d:%02d",
+ state->data.gps_time.hour,
+ state->data.gps_time.minute,
+ state->data.gps_time.second);
+ aoview_table_add_row(1, "GPS ground speed", "%7.1fm/s %d°",
+ state->data.ground_speed,
+ state->data.course);
+ aoview_table_add_row(1, "GPS climb rate", "%7.1fm/s",
+ state->data.climb_rate);
+ aoview_table_add_row(1, "GPS precision", "%f(hdop) %dm(h) %dm(v)\n",
+ state->data.hdop, state->data.h_error, state->data.v_error);
+ aoview_table_add_row(1, "Distance from pad", "%5.0fm", state->distance);
+ aoview_table_add_row(1, "Direction from pad", "%4.0f°", state->bearing);
} else {
- aoview_table_add_row("GPS", "unlocked");
+ aoview_table_add_row(1, "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_state_add_deg(1, "Pad latitude", state->pad_lat, 'N', 'S');
+ aoview_state_add_deg(1, "Pad longitude", state->pad_lon, 'E', 'W');
+ aoview_table_add_row(1, "Pad GPS alt", "%gm", state->pad_alt);
}
aoview_table_finish();
aoview_label_show(state);
- aoview_state_speak(state);
+ aoview_speak_state(state);
+ if (!aostate_timeout && strcmp(state->data.state, "pad") != 0)
+ aostate_timeout = g_timeout_add_seconds(10, aoview_state_timeout, NULL);
}
void
aoview_state_init(GladeXML *xml)
{
aoview_state_new();
- aoview_voice_speak("initializing rocket flight monitoring system\n");
}
projects / fw / altos / blobdiff