altosui: add elevation and range information
authorKeith Packard <keithp@keithp.com>
Fri, 27 Aug 2010 17:58:55 +0000 (10:58 -0700)
committerKeith Packard <keithp@keithp.com>
Fri, 27 Aug 2010 17:58:55 +0000 (10:58 -0700)
Signed-off-by: Keith Packard <keithp@keithp.com>
ao-tools/altosui/AltosCSV.java
ao-tools/altosui/AltosEepromReader.java
ao-tools/altosui/AltosEepromRecord.java
ao-tools/altosui/AltosState.java
ao-tools/altosui/AltosUI.java

index db50e7a..4ce8e30 100644 (file)
@@ -76,7 +76,9 @@ public class AltosCSV {
         *      minute (0-59)
         *      second (0-59)
         *      from_pad_dist (m)
-        *      from_pad_dir (deg true)
+        *      from_pad_azimuth (deg true)
+        *      from_pad_range (m)
+        *      from_pad_elevation (deg from horizon)
         *
         * GPS Sat data
         *      hdop
@@ -121,7 +123,7 @@ public class AltosCSV {
        }
 
        void write_gps_header() {
-               out.printf("connected locked nsat latitude longitude altitude year month day hour minute second pad_dist pad_dir");
+               out.printf("connected locked nsat latitude longitude altitude year month day hour minute second pad_dist pad_range pad_az pad_el");
        }
 
        void write_gps(AltosRecord record) {
@@ -133,7 +135,7 @@ public class AltosCSV {
                if (from_pad == null)
                        from_pad = new AltosGreatCircle();
 
-               out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%6d,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%4.0f",
+               out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%6d,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f",
                           gps.connected?1:0,
                           gps.locked?1:0,
                           gps.nsat,
@@ -147,7 +149,9 @@ public class AltosCSV {
                           gps.minute,
                           gps.second,
                           from_pad.distance,
-                          from_pad.bearing);
+                          state.range,
+                          from_pad.bearing,
+                          state.elevation);
        }
 
        void write_header() {
index 3f2d4c6..0705d44 100644 (file)
@@ -42,7 +42,7 @@ import altosui.AltosEepromMonitor;
  */
 class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
 
-       int     index;
+       public int      index;
 
        public AltosOrderedRecord(String line, int in_index, int prev_tick)
                throws ParseException {
@@ -56,6 +56,11 @@ class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOr
                index = in_index;
        }
 
+       public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
+               super(in_cmd, in_tick, in_a, in_b);
+               index = in_index;
+       }
+
        public int compareTo(AltosOrderedRecord o) {
                int     tick_diff = tick - o.tick;
                if (tick_diff != 0)
@@ -100,6 +105,10 @@ public class AltosEepromReader extends AltosReader {
 
        int                     boost_tick;
 
+       boolean                 saw_gps_date;
+
+       boolean                 missing_gps_time;
+
        public AltosRecord read() throws IOException, ParseException {
                for (;;) {
                        if (record == null) {
@@ -168,6 +177,12 @@ public class AltosEepromReader extends AltosReader {
                                state.gps.date_valid = (flags & Altos.AO_GPS_DATE_VALID) != 0;
                                state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
                                        Altos.AO_GPS_NUM_SAT_SHIFT;
+                               System.out.printf("GPS %2d:%02d:%02d%s%s%s %d\n",
+                                                 state.gps.hour, state.gps.minute, state.gps.second,
+                                                 state.gps.connected ? " connected" : "",
+                                                 state.gps.locked ? " locked" : "",
+                                                 state.gps.date_valid ? " date_valid" : "",
+                                                 state.gps.nsat);
                                break;
                        case Altos.AO_LOG_GPS_LAT:
                                int lat32 = record.a | (record.b << 16);
@@ -267,6 +282,38 @@ public class AltosEepromReader extends AltosReader {
                }
        }
 
+       /*
+        * Given an AO_LOG_GPS_TIME record with correct time, and one
+        * missing time, rewrite the missing time values with the good
+        * ones, assuming that the difference between them is 'diff' seconds
+        */
+       void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
+
+               int diff = (bad.tick - good.tick + 50) / 100;
+
+               int hour = (good.a & 0xff);
+               int minute = (good.a >> 8);
+               int second = (good.b & 0xff);
+               int flags = (good.b >> 8);
+               int seconds = hour * 3600 + minute * 60 + second;
+
+               int new_seconds = seconds + diff;
+               if (new_seconds < 0)
+                       new_seconds += 24 * 3600;
+               int new_second = (new_seconds % 60);
+               int new_minutes = (new_seconds / 60);
+               int new_minute = (new_minutes % 60);
+               int new_hours = (new_minutes / 60);
+               int new_hour = (new_hours % 24);
+
+               System.out.printf("Synthesizing time good %2d:%02d:%02d bad %2d:%02d:%02d\n",
+                                 hour, minute, second,
+                                 new_hour, new_minute, new_second);
+
+               bad.a = new_hour + (new_minute << 8);
+               bad.b = new_second + (flags << 8);
+       }
+
        /*
         * Read the whole file, dumping records into a RB tree so
         * we can enumerate them in time order -- the eeprom data
@@ -282,9 +329,13 @@ public class AltosEepromReader extends AltosReader {
                seen = 0;
                records = new TreeSet<AltosOrderedRecord>();
 
+               AltosOrderedRecord last_gps_time = null;
+
                int index = 0;
                int tick = 0;
 
+               boolean missing_time = false;
+
                try {
                        for (;;) {
                                String line = AltosRecord.gets(input);
@@ -300,6 +351,52 @@ public class AltosEepromReader extends AltosReader {
                                        saw_boost = true;
                                        boost_tick = tick;
                                }
+
+                               /* Two firmware bugs caused the loss of some GPS data.
+                                * The flight date would never be recorded, and often
+                                * the flight time would get overwritten by another
+                                * record. Detect the loss of the GPS date and fix up the
+                                * missing time records
+                                */
+                               if (record.cmd == Altos.AO_LOG_GPS_DATE)
+                                       saw_gps_date = true;
+
+                               /* go back and fix up any missing time values */
+                               if (record.cmd == Altos.AO_LOG_GPS_TIME) {
+                                       last_gps_time = record;
+                                       if (missing_time) {
+                                               System.out.printf("Going back to clean up broken GPS time records\n");
+                                               Iterator<AltosOrderedRecord> iterator = records.iterator();
+                                               while (iterator.hasNext()) {
+                                                       AltosOrderedRecord old = iterator.next();
+                                                       if (old.cmd == Altos.AO_LOG_GPS_TIME) {
+                                                               System.out.printf("Old time record %d, %d\n", old.a, old.b);
+                                                       }
+                                                       if (old.cmd == Altos.AO_LOG_GPS_TIME &&
+                                                           old.a == -1 && old.b == -1)
+                                                       {
+                                                               update_time(record, old);
+                                                       }
+                                               }
+                                               missing_time = false;
+                                       }
+                               }
+
+                               if (record.cmd == Altos.AO_LOG_GPS_LAT) {
+                                       if (last_gps_time == null || last_gps_time.tick != record.tick) {
+                                               AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
+                                                                                                        record.tick,
+                                                                                                        -1, -1, index-1);
+                                               if (last_gps_time != null)
+                                                       update_time(last_gps_time, add_gps_time);
+                                               else {
+                                                       System.out.printf("early GPS missing time\n");
+                                                       missing_time = true;
+                                               }
+                                               records.add(add_gps_time);
+                                               record.index = index++;
+                                       }
+                               }
                                records.add(record);
                        }
                } catch (IOException io) {
index 86ac1fd..4d0817a 100644 (file)
@@ -44,7 +44,7 @@ public class AltosEepromRecord {
        public int      tick;
        public int      a;
        public int      b;
-       String          data;
+       public String   data;
        public boolean  tick_valid;
 
        public AltosEepromRecord (String line) throws ParseException {
@@ -107,4 +107,11 @@ public class AltosEepromRecord {
                }
        }
 
+       public AltosEepromRecord(int in_cmd, int in_tick, int in_a, int in_b) {
+               tick_valid = true;
+               cmd = in_cmd;
+               tick = in_tick;
+               a = in_a;
+               b = in_b;
+       }
 }
index c13dfe6..3ef00f3 100644 (file)
@@ -64,6 +64,8 @@ public class AltosState {
        boolean gps_ready;
 
        AltosGreatCircle from_pad;
+       double  elevation;      /* from pad */
+       double  range;          /* total distance */
 
        double  gps_height;
 
@@ -124,7 +126,7 @@ public class AltosState {
                }
 
                if (state == Altos.ao_flight_pad) {
-                       if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
+                       if (data.gps != null && data.gps.locked) {
                                npad++;
                                if (npad > 1) {
                                        /* filter pad position */
@@ -161,11 +163,18 @@ public class AltosState {
                if (data.gps != null) {
                        if (gps == null || !gps.locked || data.gps.locked)
                                gps = data.gps;
-                       if (npad > 0 && gps.locked)
+                       if (npad > 0 && gps.locked) {
                                from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+                       }
                }
+               elevation = 0;
+               range = -1;
                if (npad > 0) {
                        gps_height = gps.alt - pad_alt;
+                       if (from_pad != null) {
+                               elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
+                               range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
+                       }
                } else {
                        gps_height = 0;
                }
index 4f3b5dd..5b48e26 100644 (file)
@@ -264,7 +264,7 @@ public class AltosUI extends JFrame {
                private AltosState state;
                int     reported_landing;
 
-               public void report(boolean last) {
+               public synchronized void report(boolean last) {
                        if (state == null)
                                return;
 
@@ -278,7 +278,16 @@ public class AltosUI extends JFrame {
                        }
 
                        /* If the rocket isn't on the pad, then report height */
-                       if (state.state > Altos.ao_flight_pad) {
+                       if (Altos.ao_flight_drogue <= state.state &&
+                           state.state < Altos.ao_flight_landed &&
+                           state.range >= 0)
+                       {
+                               voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
+                                           (int) (state.height + 0.5),
+                                           (int) (state.from_pad.bearing + 0.5),
+                                           (int) (state.elevation + 0.5),
+                                           (int) (state.range + 0.5));
+                       } else if (state.state > Altos.ao_flight_pad) {
                                voice.speak("%d meters", (int) (state.height + 0.5));
                        } else {
                                reported_landing = 0;
@@ -288,7 +297,7 @@ public class AltosUI extends JFrame {
                         * either we've got a landed report or we haven't heard from it in
                         * a long time
                         */
-                       if (!state.ascent &&
+                       if (state.state >= Altos.ao_flight_drogue &&
                            (last ||
                             System.currentTimeMillis() - state.report_time >= 15000 ||
                             state.state == Altos.ao_flight_landed))
@@ -298,7 +307,7 @@ public class AltosUI extends JFrame {
                                else
                                        voice.speak("rocket may have crashed");
                                if (state.from_pad != null)
-                                       voice.speak("bearing %d degrees, range %d meters",
+                                       voice.speak("Bearing %d degrees, range %d meters.",
                                                    (int) (state.from_pad.bearing + 0.5),
                                                    (int) (state.from_pad.distance + 0.5));
                                ++reported_landing;
@@ -311,7 +320,7 @@ public class AltosUI extends JFrame {
                        state = null;
                        try {
                                for (;;) {
-                                       Thread.sleep(10000);
+                                       Thread.sleep(20000);
                                        report(false);
                                }
                        } catch (InterruptedException ie) {
@@ -319,7 +328,10 @@ public class AltosUI extends JFrame {
                }
 
                public void notice(AltosState new_state) {
+                       AltosState old_state = state;
                        state = new_state;
+                       if (old_state != null && old_state.state != state.state)
+                               report(false);
                }
        }