Send computed accel/vel/pres values over the radio 0.3
authorKeith Packard <keithp@keithp.com>
Mon, 18 May 2009 05:29:54 +0000 (22:29 -0700)
committerKeith Packard <keithp@keithp.com>
Mon, 18 May 2009 05:29:54 +0000 (22:29 -0700)
These computed values reflect what the flight computer is actually refering
to for state changes, and will be useful in debugging the flight software as
well as provide a filtered view of the data.

Signed-off-by: Keith Packard <keithp@keithp.com>
ao.h
ao_monitor.c
ao_telemetry.c
aoview/aoview.h
aoview/aoview_monitor.c
aoview/aoview_state.c

diff --git a/ao.h b/ao.h
index 76fc00c..3155852 100644 (file)
--- a/ao.h
+++ b/ao.h
@@ -568,6 +568,7 @@ extern __pdata enum ao_flight_state ao_flight_state;
 extern __pdata uint16_t                        ao_flight_tick;
 extern __pdata int16_t                 ao_flight_accel;
 extern __pdata int16_t                 ao_flight_pres;
+extern __pdata int32_t                 ao_flight_vel;
 extern __pdata int16_t                 ao_ground_pres;
 extern __pdata int16_t                 ao_ground_accel;
 extern __pdata int16_t                 ao_min_pres;
@@ -723,6 +724,9 @@ ao_gps_report_init(void);
 struct ao_telemetry {
        uint8_t                 addr;
        uint8_t                 flight_state;
+       int16_t                 flight_accel;
+       int32_t                 flight_vel;
+       int16_t                 flight_pres;
        struct ao_adc           adc;
        struct ao_gps_data      gps;
        char                    callsign[AO_MAX_CALLSIGN];
index 6aed581..880f257 100644 (file)
@@ -41,14 +41,17 @@ ao_monitor(void)
                                recv.telemetry.addr,
                                (int) recv.rssi - 74, recv.status,
                                ao_state_names[state]);
-                       printf("%5u a: %5d p: %5d t: %5d v: %5d d: %5d m: %5d ",
+                       printf("%5u a: %5d p: %5d t: %5d v: %5d d: %5d m: %5d fa: %5d fv: %7ld fp: %5d ",
                               recv.telemetry.adc.tick,
                               recv.telemetry.adc.accel,
                               recv.telemetry.adc.pres,
                               recv.telemetry.adc.temp,
                               recv.telemetry.adc.v_batt,
                               recv.telemetry.adc.sense_d,
-                              recv.telemetry.adc.sense_m);
+                              recv.telemetry.adc.sense_m,
+                              recv.telemetry.flight_accel,
+                              recv.telemetry.flight_vel,
+                              recv.telemetry.flight_pres);
                        ao_gps_print(&recv.telemetry.gps);
                        ao_rssi_set((int) recv.rssi - 74);
                } else {
index 5299b48..b4461e9 100644 (file)
@@ -36,6 +36,9 @@ ao_telemetry(void)
                while (ao_telemetry_interval == 0)
                        ao_sleep(&ao_telemetry_interval);
                telemetry.flight_state = ao_flight_state;
+               telemetry.flight_accel = ao_flight_accel;
+               telemetry.flight_vel = ao_flight_vel;
+               telemetry.flight_pres = ao_flight_pres;
                ao_adc_get(&telemetry.adc);
                ao_mutex_get(&ao_gps_mutex);
                memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
index 7824491..44412be 100644 (file)
@@ -58,6 +58,9 @@ struct aostate {
        int     batt;
        int     drogue;
        int     main;
+       int     flight_accel;
+       int     flight_vel;
+       int     flight_pres;
        int     nsat;
        int     locked;
        struct {
index 3b3245e..b0189c6 100644 (file)
@@ -82,7 +82,7 @@ aoview_monitor_parse(char *line)
                if (words[nword] == NULL)
                        break;
        }
-       if (nword < 26)
+       if (nword < 32)
                return;
        if (strcmp(words[0], "CALL") != 0)
                return;
@@ -100,13 +100,16 @@ aoview_monitor_parse(char *line)
        aoview_parse_int(&state.batt, words[18]);
        aoview_parse_int(&state.drogue, words[20]);
        aoview_parse_int(&state.main, words[22]);
-       aoview_parse_int(&state.nsat, words[24]);
-       if (strcmp (words[26], "unlocked") != 0 && nword >= 29) {
+       aoview_parse_int(&state.flight_accel, words[24]);
+       aoview_parse_int(&state.flight_vel, words[26]);
+       aoview_parse_int(&state.flight_pres, words[28]);
+       aoview_parse_int(&state.nsat, words[30]);
+       if (strcmp (words[32], "unlocked") != 0 && nword >= 35) {
                state.locked = 1;
-               sscanf(words[26], "%d:%d:%d", &state.gps_time.hour, &state.gps_time.minute, &state.gps_time.second);
-               aoview_parse_pos(&state.lat, words[27]);
-               aoview_parse_pos(&state.lon, words[28]);
-               sscanf(words[29], "%dm", &state.alt);
+               sscanf(words[32], "%d:%d:%d", &state.gps_time.hour, &state.gps_time.minute, &state.gps_time.second);
+               aoview_parse_pos(&state.lat, words[33]);
+               aoview_parse_pos(&state.lon, words[34]);
+               sscanf(words[35], "%dm", &state.alt);
        } else {
                state.locked = 0;
                state.gps_time.hour = state.gps_time.minute = state.gps_time.second = 0;
index 85ed7b5..dda92af 100644 (file)
@@ -20,7 +20,6 @@
 
 static int     pad_pres;
 static int     pad_accel;
-
 static int     pad_pres_total;
 static int     pad_accel_total;
 static double  pad_lat_total;
@@ -30,7 +29,6 @@ static int    npad;
 static int     npad_gps;
 static int     prev_tick;
 static double  prev_accel;
-static double  velocity;
 static double  pad_lat;
 static double  pad_lon;
 static double  pad_alt;
@@ -80,19 +78,19 @@ aoview_state_notify(struct aostate *state)
 {
        int     altitude;
        double  accel;
-       double  velocity_change;
        int     ticks;
        double  dist;
        double  bearing;
        double  temp;
+       double  velocity;
        double  battery;
        double  drogue_sense, main_sense;
        double  max_accel;
 
        if (!strcmp(state->state, "pad")) {
                if (npad < NUM_PAD_SAMPLES) {
-                       pad_accel_total += state->accel;
-                       pad_pres_total += state->pres;
+                       pad_accel_total += state->flight_accel;
+                       pad_pres_total += state->flight_pres;
                        if (state->locked) {
                                pad_lat_total += state->lat;
                                pad_lon_total += state->lon;
@@ -100,7 +98,6 @@ aoview_state_notify(struct aostate *state)
                                npad_gps++;
                        }
                        npad++;
-                       velocity = 0;
                }
                if (npad <= NUM_PAD_SAMPLES) {
                        pad_pres = pad_pres_total / npad;
@@ -113,21 +110,19 @@ aoview_state_notify(struct aostate *state)
                }
                if (npad == NUM_PAD_SAMPLES) {
                        npad++;
-                       velocity = 0;
                        min_pres = pad_pres;
                        min_accel = pad_accel;
                }
        }
-       if (state->pres < min_pres)
-               min_pres = state->pres;
-       if (state->accel < min_accel)
-               min_accel = state->accel;
-       altitude = aoview_pres_to_altitude(state->pres) - aoview_pres_to_altitude(pad_pres);
-       accel = (pad_accel - state->accel) / 264.8 *  9.80665;
-       max_accel = (pad_accel - min_accel) / 264.8 * 9.80665;
-       velocity_change = (accel + prev_accel) / 2.0;
+       if (state->flight_pres < min_pres)
+               min_pres = state->flight_pres;
+       if (state->flight_accel < min_accel)
+               min_accel = state->flight_accel;
+       altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(pad_pres);
+       accel = (pad_accel - state->flight_accel) / 27.0;
+       velocity = state->flight_vel / 2700.0;
+       max_accel = (pad_accel - min_accel) / 27.0;
        ticks = state->tick - prev_tick;
-       velocity -= velocity_change * (ticks / 100.0);
        temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
        battery = (state->batt / 32767.0 * 5.0);
        drogue_sense = (state->drogue / 32767.0 * 15.0);
@@ -186,9 +181,22 @@ aoview_state_notify(struct aostate *state)
 void
 aoview_state_new(void)
 {
+       pad_pres = 0;
+       pad_accel = 0;
+       pad_pres_total = 0;
+       pad_accel_total = 0;
+       pad_lat_total = 0;
+       pad_lon_total = 0;
+       pad_alt_total = 0;
+       npad = 0;
+       npad_gps = 0;
+       prev_tick = 0;
+       prev_accel = 0;
+       pad_lat = 0;
+       pad_lon = 0;
+       pad_alt = 0;
        min_pres = 32767;
        min_accel = 32767;
-       npad = 0;
 }
 
 void