#include "aoview.h"
#include <math.h>
-static int pad_pres;
-static int pad_accel;
-
-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 npad_gps;
-static int prev_tick;
-static double prev_accel;
-static double velocity;
-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(double 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 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 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
-aoview_state_add_deg(char *label, double deg)
+aoview_state_add_deg(int column, char *label, double deg, char pos, char neg)
{
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'",
- (int) int_part, min);
+ aoview_table_add_row(column, label, "%d°%lf'%c",
+ (int) int_part, min, sign);
}
-void
-aoview_state_notify(struct aostate *state)
+static char *ascent_states[] = {
+ "boost",
+ "fast",
+ "coast",
+ 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 aodata *data, 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;
- double max_accel;
-
- if (!strcmp(state->state, "pad")) {
- if (npad < NUM_PAD_SAMPLES) {
- pad_accel_total += state->accel;
- pad_pres_total += state->pres;
- if (state->locked) {
- pad_lat_total += state->lat;
- pad_lon_total += state->lon;
- pad_alt_total += state->alt;
- npad_gps++;
+ int i;
+ double new_height;
+ double height_change;
+ double time_change;
+ int tick_count;
+
+ 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)
+ 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 += data->lat;
+ state->pad_lon_total += data->lon;
+ state->pad_alt_total += data->alt;
+ if (state->npad > 1) {
+ state->pad_lat = (state->pad_lat * 31 + data->lat) / 32.0;
+ state->pad_lon = (state->pad_lon * 31 + data->lon) / 32.0;
+ state->pad_alt = (state->pad_alt * 31 + data->alt) / 32.0;
+ } else {
+ state->pad_lat = data->lat;
+ state->pad_lon = data->lon;
+ state->pad_alt = data->alt;
}
- npad++;
- velocity = 0;
}
- if (npad <= NUM_PAD_SAMPLES) {
- pad_pres = pad_pres_total / npad;
- pad_accel = pad_accel_total / npad;
- if (npad_gps) {
- pad_lat = pad_lat_total / npad_gps;
- pad_lon = pad_lon_total / npad_gps;
- pad_alt = pad_alt_total / npad_gps;
+ }
+ state->ascent = FALSE;
+ for (i = 0; ascent_states[i]; i++)
+ if (!strcmp(data->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;
+ 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_speak_state(struct aostate *state)
+{
+ 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);
+ if (!strcmp(state->prev_data.state, "boost"))
+ 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_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);
}
}
- if (npad == NUM_PAD_SAMPLES) {
- npad++;
- velocity = 0;
- min_pres = pad_pres;
- min_accel = pad_accel;
- }
+ aostate_timeout = 0;
+ return FALSE;
}
- if (state->pres < min_pres)
- min_pres = state->pres;
- if (state->accel < min_accel)
- min_accel = state->accel;
- altitude = aoview_pres_to_altitude(state->pres) - aoview_pres_to_altitude(pad_pres);
- accel = (pad_accel - state->accel) / 264.8 * 9.80665;
- max_accel = (pad_accel - min_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;
+ return TRUE;
+}
+
+void
+aoview_state_reset(void)
+{
+ memset(&aostate, '\0', sizeof (aostate));
+}
+
+void
+aoview_state_notify(struct aodata *data)
+{
+ struct aostate *state = &aostate;
+ aoview_state_derive(data, state);
aoview_table_start();
- if (npad >= NUM_PAD_SAMPLES)
- aoview_table_add_row("Ground state", "ready");
+ if (state->npad >= MIN_PAD_SAMPLES)
+ aoview_table_add_row(0, "Ground state", "ready");
else
- aoview_table_add_row("Ground state", "preparing (%d)",
- NUM_PAD_SAMPLES - 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", "%ddB", 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(pad_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(pad_pres));
- aoview_table_add_row("Satellites", "%d", state->nsat);
- if (state->locked) {
- aoview_state_add_deg("Latitude", state->lat);
- aoview_state_add_deg("Longitude", state->lon);
- 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("Distance from pad", "%gm", dist * 1000);
- aoview_table_add_row("Direction from pad", "%g°", bearing);
+ aoview_table_add_row(0, "Ground state", "waiting for gps (%d)",
+ MIN_PAD_SAMPLES - state->npad);
+ 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 (npad_gps) {
- aoview_state_add_deg("Pad latitude", pad_lat);
- aoview_state_add_deg("Pad longitude", pad_lon);
- aoview_table_add_row("Pad GPS alt", "%gm", pad_alt);
+ if (state->npad) {
+ 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_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_new(void)
{
- min_pres = 32767;
- min_accel = 32767;
- npad = 0;
}
void
projects / fw / altos / blobdiff