X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=aoview%2Faoview_state.c;h=9852cabd257633687bbe691ce2db0a64fcca86ab;hp=d5e978b68833a856651fd0a999f9c7c9506d4997;hb=d7c2d358ed8a1afc9f0ba2bd830b10f6b56dc7b1;hpb=80cadf44f5f1accd6ddfca25c2af8d4d424f26d9

diff --git a/aoview/aoview_state.c b/aoview/aoview_state.c
index d5e978b6..9852cabd 100644
--- a/aoview/aoview_state.c
+++ b/aoview/aoview_state.c
@@ -62,7 +62,7 @@ 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;
@@ -74,7 +74,7 @@ aoview_state_add_deg(char *label, double deg, char pos, char neg)
 	}
 	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);
 
 }
@@ -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->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;
@@ -152,15 +159,17 @@ aoview_state_derive(struct aodata *data, struct aostate *state)
 
 	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;
 	}
@@ -178,6 +187,8 @@ 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
@@ -240,7 +251,7 @@ aoview_state_timeout(gpointer data)
 				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);
@@ -266,51 +277,58 @@ aoview_state_notify(struct aodata *data)
 	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);