Add --gps option to ao-postflight

diff --git a/ao-tools/ao-postflight/ao-postflight.c b/ao-tools/ao-postflight/ao-postflight.c
index 1e6ac74478ed43e17a0071d9b0b80ec91e28b618..6418521e39c8a47117a88b920b6f6fca493e469e 100644 (file)
--- a/ao-tools/ao-postflight/ao-postflight.c
+++ b/ao-tools/ao-postflight/ao-postflight.c
@@ -162,7 +162,7 @@ merge_data(struct cc_perioddata *first, struct cc_perioddata *last, double split
 }
 
 static void
-analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FILE *raw_file, char *plot_name)
+analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FILE *raw_file, char *plot_name, FILE *gps_file)
 {
        double  height;
        double  accel;
@@ -312,6 +312,17 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FI
                                time, pres, accel);
                }
        }
+       if (gps_file) {
+               fprintf(gps_file, "%9s %12s %12s %12s\n",
+                       "time", "lat", "lon", "alt");
+               for (i = 0; i < f->gps.num; i++) {
+                       fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f\n",
+                               (f->gps.data[i].time - boost_start) / 100.0,
+                               f->gps.data[i].lat,
+                               f->gps.data[i].lon,
+                               f->gps.data[i].alt);
+               }
+       }
        if (cooked && plot_name) {
                struct cc_perioddata    *speed;
                plsdev("svgcairo");
@@ -350,6 +361,7 @@ static const struct option options[] = {
        { .name = "detail", .has_arg = 1, .val = 'd' },
        { .name = "plot", .has_arg = 1, .val = 'p' },
        { .name = "raw", .has_arg = 1, .val = 'r' },
+       { .name = "gps", .has_arg = 1, .val = 'g' },
        { 0, 0, 0, 0},
 };
 
@@ -360,6 +372,7 @@ static void usage(char *program)
                "\t[--detail=<detail-file] [-d <detail-file>]\n"
                "\t[--raw=<raw-file> -r <raw-file]\n"
                "\t[--plot=<plot-file> -p <plot-file>]\n"
+               "\t[--gps=<gps-file> -g <gps-file>]\n"
                "\t{flight-log} ...\n", program);
        exit(1);
 }
@@ -371,6 +384,7 @@ main (int argc, char **argv)
        FILE                    *summary_file = NULL;
        FILE                    *detail_file = NULL;
        FILE                    *raw_file = NULL;
+       FILE                    *gps_file = NULL;
        int                     i;
        int                     ret = 0;
        struct cc_flightraw     *raw;
@@ -381,8 +395,9 @@ main (int argc, char **argv)
        char                    *detail_name = NULL;
        char                    *raw_name = NULL;
        char                    *plot_name = NULL;
+       char                    *gps_name = NULL;
 
-       while ((c = getopt_long(argc, argv, "s:d:p:r:", options, NULL)) != -1) {
+       while ((c = getopt_long(argc, argv, "s:d:p:r:g:", options, NULL)) != -1) {
                switch (c) {
                case 's':
                        summary_name = optarg;
@@ -396,6 +411,9 @@ main (int argc, char **argv)
                case 'r':
                        raw_name = optarg;
                        break;
+               case 'g':
+                       gps_name = optarg;
+                       break;
                default:
                        usage(argv[0]);
                        break;
@@ -427,6 +445,13 @@ main (int argc, char **argv)
                        exit(1);
                }
        }
+       if (gps_name) {
+               gps_file = fopen(gps_name, "w");
+               if (!gps_file) {
+                       perror(gps_name);
+                       exit(1);
+               }
+       }
        for (i = optind; i < argc; i++) {
                file = fopen(argv[i], "r");
                if (!file) {
@@ -447,7 +472,7 @@ main (int argc, char **argv)
                }
                if (!raw->serial)
                        raw->serial = serial;
-               analyse_flight(raw, summary_file, detail_file, raw_file, plot_name);
+               analyse_flight(raw, summary_file, detail_file, raw_file, plot_name, gps_file);
                cc_flightraw_free(raw);
        }
        return ret;

diff --git a/ao-tools/lib/cc-logfile.c b/ao-tools/lib/cc-logfile.c
index 4abf7eb6341189263898e488cd399e43835f48ac..2136eec4d428cde3d077cb9a0c407259111af63d 100644 (file)
--- a/ao-tools/lib/cc-logfile.c
+++ b/ao-tools/lib/cc-logfile.c
@@ -80,6 +80,44 @@ gpsdata_add(struct cc_gpsdata *data, struct cc_gpselt *elt)
        return 1;
 }
 
+static int
+gpssat_add(struct cc_gpsdata *data, struct cc_gpssat *sat)
+{
+       int     i, j;
+       int     reuse = 0;
+       int     newsizesats;
+       struct cc_gpssats       *newsats;
+
+       for (i = data->numsats; --i >= 0;) {
+               if (data->sats[i].sat[0].time == sat->time) {
+                       reuse = 1;
+                       break;
+               }
+               if (data->sats[i].sat[0].time < sat->time)
+                       break;
+       }
+       if (!reuse) {
+               if (data->numsats == data->sizesats) {
+                       if (data->sizesats == 0)
+                               newsats = malloc((newsizesats = 256) * sizeof (struct cc_gpssats));
+                       else
+                               newsats = realloc (data->data, (newsizesats = data->sizesats * 2)
+                                                  * sizeof (struct cc_gpssats));
+                       if (!newsats)
+                               return 0;
+                       data->sats = newsats;
+               }
+               i = data->numsats++;
+               data->sats[i].nsat = 0;
+       }
+       j = data->sats[i].nsat;
+       if (j < 12) {
+               data->sats[i].sat[j] = *sat;
+               data->sats[i].nsat = j + 1;
+       }
+       return 1;
+}
+
 static void
 gpsdata_free(struct cc_gpsdata *data)
 {
@@ -100,13 +138,20 @@ gpsdata_free(struct cc_gpsdata *data)
 
 #define AO_LOG_POS_NONE                (~0UL)
 
+#define GPS_TIME       1
+#define GPS_LAT                2
+#define GPS_LON                4
+#define GPS_ALT                8
+
 static int
 read_eeprom(const char *line, struct cc_flightraw *f, double *ground_pres, int *ground_pres_count)
 {
        char    type;
        int     tick;
        int     a, b;
-       struct cc_gpselt        gps;
+       static struct cc_gpselt gps;
+       static int              gps_valid;
+       struct cc_gpssat        sat;
        int     serial;
 
        if (sscanf(line, "serial-number %u", &serial) == 1) {
@@ -145,23 +190,38 @@ read_eeprom(const char *line, struct cc_flightraw *f, double *ground_pres, int *
                timedata_add(&f->state, tick, a);
                break;
        case AO_LOG_GPS_TIME:
+               /* the flight computer writes TIME first, so reset
+                * any stale data before adding this record
+                */
                gps.time = tick;
+               gps_valid = GPS_TIME;
                break;
        case AO_LOG_GPS_LAT:
                gps.lat = ((int32_t) (a + (b << 16))) / 10000000.0;
+               gps_valid |= GPS_LAT;
                break;
        case AO_LOG_GPS_LON:
                gps.lon = ((int32_t) (a + (b << 16))) / 10000000.0;
+               gps_valid |= GPS_LON;
                break;
        case AO_LOG_GPS_ALT:
-               gps.alt = ((int32_t) (a + (b << 16)));
-               gpsdata_add(&f->gps, &gps);
+               gps.alt = (int16_t) a;
+               gps_valid |= GPS_ALT;
                break;
        case AO_LOG_GPS_SAT:
+               sat.time = tick;
+               sat.svid = a;
+               sat.state = (b & 0xff);
+               sat.c_n = (b >> 8) & 0xff;
+               gpssat_add(&f->gps, &sat);
                break;
        default:
                return 0;
        }
+       if (gps_valid == 0xf) {
+               gps_valid = 0;
+               gpsdata_add(&f->gps, &gps);
+       }
        return 1;
 }
 

diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h
index 0122695889b022d05ed63617318ea41bff8a6427..b5f1132fcc1e4d6ac28f2b4b1e696780e93b981c 100644 (file)
--- a/ao-tools/lib/cc.h
+++ b/ao-tools/lib/cc.h
@@ -19,6 +19,7 @@
 #define _CC_H_
 
 #include <stdio.h>
+#include <stdint.h>
 
 char *
 cc_fullname (char *dir, char *file);
@@ -90,11 +91,35 @@ struct cc_gpselt {
        double          alt;
 };
 
+#define SIRF_SAT_STATE_ACQUIRED                        (1 << 0)
+#define SIRF_SAT_STATE_CARRIER_PHASE_VALID     (1 << 1)
+#define SIRF_SAT_BIT_SYNC_COMPLETE             (1 << 2)
+#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE                (1 << 3)
+#define SIRF_SAT_CARRIER_PULLIN_COMPLETE       (1 << 4)
+#define SIRF_SAT_CODE_LOCKED                   (1 << 5)
+#define SIRF_SAT_ACQUISITION_FAILED            (1 << 6)
+#define SIRF_SAT_EPHEMERIS_AVAILABLE           (1 << 7)
+
+struct cc_gpssat {
+       double          time;
+       uint16_t        svid;
+       uint8_t         state;
+       uint8_t         c_n;
+};
+
+struct cc_gpssats {
+       int                     nsat;
+       struct cc_gpssat        sat[12];
+};
+
 struct cc_gpsdata {
        int                     num;
        int                     size;
        struct cc_gpselt        *data;
        double                  time_offset;
+       int                     numsats;
+       int                     sizesats;
+       struct cc_gpssats       *sats;
 };
 
 /*