#include <ao_data.h>
#include <ao_log.h>
+#include <ao_telemetry.h>
+
+#if TELEMEGA
+int ao_gps_count;
+struct ao_telemetry_location ao_gps_first;
+struct ao_telemetry_location ao_gps_prev;
+struct ao_telemetry_location ao_gps_static;
+
+struct ao_telemetry_satellite ao_gps_tracking;
+
+static inline double sqr(double a) { return a * a; }
+
+void
+cc_great_circle (double start_lat, double start_lon,
+ double end_lat, double end_lon,
+ double *dist, double *bearing)
+{
+ 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 lat2 = rad * end_lat;
+ 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 = course * 180/M_PI;
+}
+
+double
+ao_distance_from_pad(void)
+{
+ double dist, bearing;
+ if (!ao_gps_count)
+ return 0;
+
+ cc_great_circle(ao_gps_first.latitude / 1e7,
+ ao_gps_first.longitude / 1e7,
+ ao_gps_static.latitude / 1e7,
+ ao_gps_static.longitude / 1e7,
+ &dist, &bearing);
+ return dist;
+}
+
+double
+ao_gps_angle(void)
+{
+ double dist, bearing;
+ double height;
+ double angle;
+
+ if (ao_gps_count < 2)
+ return 0;
+
+ cc_great_circle(ao_gps_prev.latitude / 1e7,
+ ao_gps_prev.longitude / 1e7,
+ ao_gps_static.latitude / 1e7,
+ ao_gps_static.longitude / 1e7,
+ &dist, &bearing);
+ height = ao_gps_static.altitude - ao_gps_prev.altitude;
+
+ angle = atan2(dist, height);
+ return angle * 180/M_PI;
+}
+#endif
#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
#if TELEMEGA
#include "ao_convert_pa.c"
#include <ao_ms5607.h>
-struct ao_ms5607_prom ms5607_prom;
+struct ao_ms5607_prom ao_ms5607_prom;
#include "ao_ms5607_convert.c"
#define AO_PYRO_NUM 4
#include <ao_pyro.h>
double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
#endif
+ (void) accel;
if (!tick_offset)
tick_offset = -ao_data_static.tick;
if ((prev_tick - ao_data_static.tick) > 0x400)
ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
+ (void) ao_mag_angle;
+
static struct ao_quaternion ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
struct ao_quaternion ao_out;
int out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
+#if 0
printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
time,
ao_state_names[ao_flight_state],
ao_sample_orient, out,
mag_azel.el,
mag_azel.az);
-
+#endif
+ printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
+ time,
+ ao_state_names[ao_flight_state],
+ ao_k_height / 65536.0,
+ ao_sample_orient, out,
+ ao_distance_from_pad(),
+ (int) floor (ao_gps_angle() + 0.5),
+ (ao_gps_static.flags & 0xf) * 10);
#if 0
printf ("\t\tstate %-8.8s ground az: %4d el %4d mag az %4d el %4d rot az %4d el %4d el_diff %4d az_diff %4d angle %4d tilt %4d ground %8.5f %8.5f %8.5f cur %8.5f %8.5f %8.5f rot %8.5f %8.5f %8.5f\n",
}
}
-#define AO_MAX_CALLSIGN 8
-#define AO_MAX_VERSION 8
-#define AO_MAX_TELEMETRY 128
-
-struct ao_telemetry_generic {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t payload[27]; /* 5 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
-#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
-#define AO_TELEMETRY_SENSOR_TELENANO 0x03
-
-struct ao_telemetry_sensor {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
- int16_t accel; /* 6 accelerometer (TM only) */
- int16_t pres; /* 8 pressure sensor */
- int16_t temp; /* 10 temperature sensor */
- int16_t v_batt; /* 12 battery voltage */
- int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
- int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
-
- int16_t acceleration; /* 18 m/s² * 16 */
- int16_t speed; /* 20 m/s * 16 */
- int16_t height; /* 22 m */
-
- int16_t ground_pres; /* 24 average pres on pad */
- int16_t ground_accel; /* 26 average accel on pad */
- int16_t accel_plus_g; /* 28 accel calibration at +1g */
- int16_t accel_minus_g; /* 30 accel calibration at -1g */
- /* 32 */
-};
-
-#define AO_TELEMETRY_CONFIGURATION 0x04
-
-struct ao_telemetry_configuration {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t device; /* 5 device type */
- uint16_t flight; /* 6 flight number */
- uint8_t config_major; /* 8 Config major version */
- uint8_t config_minor; /* 9 Config minor version */
- uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
- uint16_t main_deploy; /* 12 Main deploy alt in meters */
- uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
- char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
- char version[AO_MAX_VERSION]; /* 24 Software version */
- /* 32 */
-};
-
-#define AO_TELEMETRY_LOCATION 0x05
-
-#define AO_GPS_MODE_NOT_VALID 'N'
-#define AO_GPS_MODE_AUTONOMOUS 'A'
-#define AO_GPS_MODE_DIFFERENTIAL 'D'
-#define AO_GPS_MODE_ESTIMATED 'E'
-#define AO_GPS_MODE_MANUAL 'M'
-#define AO_GPS_MODE_SIMULATED 'S'
-
-struct ao_telemetry_location {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t flags; /* 5 Number of sats and other flags */
- int16_t altitude; /* 6 GPS reported altitude (m) */
- int32_t latitude; /* 8 latitude (degrees * 10⁷) */
- int32_t longitude; /* 12 longitude (degrees * 10⁷) */
- uint8_t year; /* 16 (- 2000) */
- uint8_t month; /* 17 (1-12) */
- uint8_t day; /* 18 (1-31) */
- uint8_t hour; /* 19 (0-23) */
- uint8_t minute; /* 20 (0-59) */
- uint8_t second; /* 21 (0-59) */
- uint8_t pdop; /* 22 (m * 5) */
- uint8_t hdop; /* 23 (m * 5) */
- uint8_t vdop; /* 24 (m * 5) */
- uint8_t mode; /* 25 */
- uint16_t ground_speed; /* 26 cm/s */
- int16_t climb_rate; /* 28 cm/s */
- uint8_t course; /* 30 degrees / 2 */
- uint8_t unused[1]; /* 31 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SATELLITE 0x06
-
-struct ao_telemetry_satellite_info {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-struct ao_telemetry_satellite {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t channels; /* 5 number of reported sats */
-
- struct ao_telemetry_satellite_info sats[12]; /* 6 */
- uint8_t unused[2]; /* 30 */
- /* 32 */
-};
-
-union ao_telemetry_all {
- struct ao_telemetry_generic generic;
- struct ao_telemetry_sensor sensor;
- struct ao_telemetry_configuration configuration;
- struct ao_telemetry_location location;
- struct ao_telemetry_satellite satellite;
-};
uint16_t
uint16(uint8_t *bytes, int off)
ao_flight_started = 1;
ao_ground_pres = int32(bytes, 4);
ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+ ao_ground_accel_along = int16(bytes, 8);
+ ao_ground_accel_across = int16(bytes, 10);
+ ao_ground_accel_through = int16(bytes, 12);
+ ao_ground_roll = int16(bytes, 14);
+ ao_ground_pitch = int16(bytes, 16);
+ ao_ground_yaw = int16(bytes, 18);
+ ao_ground_mpu6000.accel_x = ao_ground_accel_across;
+ ao_ground_mpu6000.accel_y = ao_ground_accel_along;
+ ao_ground_mpu6000.accel_z = ao_ground_accel_through;
+ ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
+ ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
+ ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
break;
case 'A':
ao_data_static.tick = tick;
ao_records_read++;
ao_insert();
return;
+ case 'G':
+ ao_gps_prev = ao_gps_static;
+ ao_gps_static.tick = tick;
+ ao_gps_static.latitude = int32(bytes, 0);
+ ao_gps_static.longitude = int32(bytes, 4);
+ ao_gps_static.altitude = int32(bytes, 8);
+ ao_gps_static.flags = bytes[13];
+ if (!ao_gps_count)
+ ao_gps_first = ao_gps_static;
+ ao_gps_count++;
+ break;
}
continue;
} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
if (strcmp(words[1], "reserved:") == 0)
- ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "sens:") == 0)
- ms5607_prom.sens = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "off:") == 0)
- ms5607_prom.off = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "tcs:") == 0)
- ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "tco:") == 0)
- ms5607_prom.tco = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "tref:") == 0)
- ms5607_prom.tref = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "tempsens:") == 0)
- ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "crc:") == 0)
- ms5607_prom.crc = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
continue;
} else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
int p = strtoul(words[1], NULL, 10);
for (i = 2; i < nword; i++) {
for (j = 0; j < NUM_PYRO_VALUES; j++)
- if (!strcmp (words[2], ao_pyro_values[j].name))
+ if (!strcmp (words[i], ao_pyro_values[j].name))
break;
if (j == NUM_PYRO_VALUES)
continue;
projects / fw / altos / blobdiff