}
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);
}
state->report_time = aoview_time();
state->prev_data = state->data;
+ state->prev_npad = state->npad;
state->data = *data;
tick_count = data->tick;
if (tick_count < state->prev_data.tick)
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) {
+ if (data->gps.gps_locked && data->gps.nsat >= 4) {
state->npad++;
- 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->pad_lat_total += data->gps.lat;
+ state->pad_lon_total += data->gps.lon;
+ state->pad_alt_total += data->gps.alt;
+ if (state->npad > 1) {
+ state->pad_lat = (state->pad_lat * 31 + data->gps.lat) / 32.0;
+ state->pad_lon = (state->pad_lon * 31 + data->gps.lon) / 32.0;
+ state->pad_alt = (state->pad_alt * 31 + data->gps.alt) / 32.0;
+ } else {
+ state->pad_lat = data->gps.lat;
+ state->pad_lon = data->gps.lon;
+ state->pad_alt = data->gps.alt;
+ }
}
}
state->ascent = FALSE;
if (state->height > state->max_height)
state->max_height = state->height;
- 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.gps_locked = data->gps.gps_locked;
+ state->gps.gps_connected = data->gps.gps_connected;
+ if (data->gps.gps_locked) {
+ state->gps = data->gps;
state->gps_valid = 1;
+ if (state->npad)
+ aoview_great_circle(state->pad_lat, state->pad_lon, state->gps.lat, state->gps.lon,
+ &state->distance, &state->bearing);
}
if (state->npad) {
- state->gps_height = data->alt - state->pad_alt;
+ state->gps_height = state->gps.alt - state->pad_alt;
} else {
state->gps_height = 0;
}
aoview_voice_speak("max speed %d meters per second\n",
(int) state->max_speed);
}
+ if (state->prev_npad < MIN_PAD_SAMPLES && state->npad >= MIN_PAD_SAMPLES)
+ aoview_voice_speak("g p s ready\n");
}
void
aoview_voice_speak("rocket landed safely\n");
else
aoview_voice_speak("rocket may have crashed\n");
- if (aostate.gps_valid) {
+ if (aostate.gps.gps_connected) {
aoview_voice_speak("rocket reported %s of pad distance %d meters\n",
aoview_compass_point(aostate.bearing),
(int) aostate.distance);
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->data.state);
- aoview_table_add_row("Callsign", "%s", state->data.callsign);
- aoview_table_add_row("Rocket serial", "%d", state->data.serial);
-
- aoview_table_add_row("RSSI", "%6ddBm", state->data.rssi);
- aoview_table_add_row("Height", "%6dm", state->height);
- aoview_table_add_row("Max height", "%6dm", state->max_height);
- aoview_table_add_row("Acceleration", "%7.1fm/s²", state->acceleration);
- aoview_table_add_row("Max acceleration", "%7.1fm/s²", state->max_acceleration);
- aoview_table_add_row("Speed", "%7.1fm/s", state->ascent ? state->speed : state->baro_speed);
- aoview_table_add_row("Max Speed", "%7.1fm/s", state->max_speed);
- aoview_table_add_row("Temperature", "%6.2f°C", state->temperature);
- aoview_table_add_row("Battery", "%5.2fV", state->battery);
- aoview_table_add_row("Drogue", "%5.2fV", state->drogue_sense);
- aoview_table_add_row("Main", "%5.2fV", state->main_sense);
- aoview_table_add_row("Pad altitude", "%dm", state->ground_altitude);
- aoview_table_add_row("Satellites", "%d", state->data.nsat);
- if (state->data.locked) {
- aoview_state_add_deg("Latitude", state->data.lat, 'N', 'S');
- aoview_state_add_deg("Longitude", state->data.lon, 'E', 'W');
- aoview_table_add_row("GPS height", "%d", state->gps_height);
- aoview_table_add_row("GPS time", "%02d:%02d:%02d",
- state->data.gps_time.hour,
- state->data.gps_time.minute,
- state->data.gps_time.second);
- aoview_table_add_row("GPS ground speed", "%7.1fm/s %d°",
- state->data.ground_speed,
- state->data.course);
- aoview_table_add_row("GPS climb rate", "%7.1fm/s",
- state->data.climb_rate);
- aoview_table_add_row("GPS precision", "%f(hdop) %dm(h) %dm(v)\n",
- state->data.hdop, state->data.h_error, state->data.v_error);
- aoview_table_add_row("Distance from pad", "%5.0fm", state->distance);
- aoview_table_add_row("Direction from pad", "%4.0f°", 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->gps.nsat);
+ if (state->gps.gps_locked) {
+ aoview_table_add_row(1, "GPS", "locked");
+ } else if (state->gps.gps_connected) {
+ aoview_table_add_row(1, "GPS", "unlocked");
} else {
- aoview_table_add_row("GPS", "unlocked");
+ aoview_table_add_row(1, "GPS", "not available");
+ }
+ if (state->gps_valid) {
+ aoview_state_add_deg(1, "Latitude", state->gps.lat, 'N', 'S');
+ aoview_state_add_deg(1, "Longitude", state->gps.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->gps.gps_time.hour,
+ state->gps.gps_time.minute,
+ state->gps.gps_time.second);
+ }
+ if (state->gps.gps_extended) {
+ aoview_table_add_row(1, "GPS ground speed", "%7.1fm/s %d°",
+ state->gps.ground_speed,
+ state->gps.course);
+ aoview_table_add_row(1, "GPS climb rate", "%7.1fm/s",
+ state->gps.climb_rate);
+ aoview_table_add_row(1, "GPS precision", "%4.1f(hdop) %3dm(h) %3dm(v)",
+ state->gps.hdop, state->gps.h_error, state->gps.v_error);
}
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_add_row(1, "Distance from pad", "%5.0fm", state->distance);
+ aoview_table_add_row(1, "Direction from pad", "%4.0f°", state->bearing);
+ 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);
projects / fw / altos / blobdiff