Rolling average for pad location. Say 'GPS ready'.

[fw/altos] / aoview / aoview_state.c

diff --git a/aoview/aoview_state.c b/aoview/aoview_state.c
index 8b43ec2993c87559c95f786e057b8f702229755f..cf1594cd8c143297fe8ab587d8f8d8313fc880e2 100644 (file)
--- a/aoview/aoview_state.c
+++ b/aoview/aoview_state.c
@@ -110,6 +110,7 @@ aoview_state_derive(struct aodata *data, struct aostate *state)
        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)
@@ -129,14 +130,20 @@ aoview_state_derive(struct aodata *data, struct aostate *state)
        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->locked && data->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;
+                       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;
+                       }
                }
        }
        state->ascent = FALSE;
@@ -178,6 +185,8 @@ aoview_speak_state(struct aostate *state)
                        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