From 1de322b960005c9a16051afa1881fadb00f4bcd6 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 3 Nov 2009 00:40:38 -0800 Subject: [PATCH] Pass accel calibration over telemetry stream. Telemetry data format change. This allows the ground station to convert the accelerometer sensor values into acceleration and speed data. This requires a new telemetry data structure, and so TeleMetrum and TeleDongle units must be updated synchronously. ao-view will parse either telemetry stream, and the serial format from TeleDongle now has a version number to allow for future changes. Signed-off-by: Keith Packard --- ao-tools/ao-view/aoview.h | 2 ++ ao-tools/ao-view/aoview_monitor.c | 23 ++++++++++++++++++++--- ao-tools/ao-view/aoview_state.c | 6 ++++-- src/ao.h | 3 +++ src/ao_monitor.c | 18 +++++++++++------- src/ao_telemetry.c | 2 ++ 6 files changed, 42 insertions(+), 12 deletions(-) diff --git a/ao-tools/ao-view/aoview.h b/ao-tools/ao-view/aoview.h index c582159c..b6d5bcdf 100644 --- a/ao-tools/ao-view/aoview.h +++ b/ao-tools/ao-view/aoview.h @@ -104,6 +104,8 @@ struct aodata { int flight_vel; int flight_pres; int ground_pres; + int accel_plus_g; + int accel_minus_g; struct aogps gps; struct aogps_tracking gps_tracking; }; diff --git a/ao-tools/ao-view/aoview_monitor.c b/ao-tools/ao-view/aoview_monitor.c index 48e20320..6d57f556 100644 --- a/ao-tools/ao-view/aoview_monitor.c +++ b/ao-tools/ao-view/aoview_monitor.c @@ -77,7 +77,9 @@ gboolean aoview_monitor_parse(const char *input_line) { char *saveptr; - char *words[PARSE_MAX_WORDS]; + char *raw_words[PARSE_MAX_WORDS]; + char **words; + int version = 0; int nword; char line_buf[8192], *line; struct aodata data; @@ -89,13 +91,19 @@ aoview_monitor_parse(const char *input_line) line_buf[sizeof(line_buf) - 1] = '\0'; line = line_buf; for (nword = 0; nword < PARSE_MAX_WORDS; nword++) { - words[nword] = strtok_r(line, " \t\n", &saveptr); + raw_words[nword] = strtok_r(line, " \t\n", &saveptr); line = NULL; - if (words[nword] == NULL) + if (raw_words[nword] == NULL) break; } if (nword < 36) return FALSE; + words = raw_words; + if (strcmp(words[0], "VERSION") == 0) { + aoview_parse_int(&version, words[1]); + words += 2; + nword -= 2; + } if (strcmp(words[0], "CALL") != 0) return FALSE; aoview_parse_string(data.callsign, sizeof (data.callsign), words[1]); @@ -115,6 +123,15 @@ aoview_monitor_parse(const char *input_line) aoview_parse_int(&data.flight_vel, words[28]); aoview_parse_int(&data.flight_pres, words[30]); aoview_parse_int(&data.ground_pres, words[32]); + if (version >= 1) { + aoview_parse_int(&data.accel_plus_g, words[34]); + aoview_parse_int(&data.accel_minus_g, words[36]); + words += 4; + nword -= 4; + } else { + data.accel_plus_g = data.ground_accel; + data.accel_minus_g = data.ground_accel + 530; + } aoview_parse_int(&data.gps.nsat, words[34]); if (strcmp (words[36], "unlocked") == 0) { data.gps.gps_connected = 1; diff --git a/ao-tools/ao-view/aoview_state.c b/ao-tools/ao-view/aoview_state.c index f75066dd..f8f01685 100644 --- a/ao-tools/ao-view/aoview_state.c +++ b/ao-tools/ao-view/aoview_state.c @@ -105,6 +105,7 @@ aoview_state_derive(struct aodata *data, struct aostate *state) double new_height; double height_change; double time_change; + double accel_counts_per_mss; int tick_count; state->report_time = aoview_time(); @@ -123,8 +124,9 @@ aoview_state_derive(struct aodata *data, struct aostate *state) state->height = new_height; if (time_change) state->baro_speed = (state->baro_speed * 3 + (height_change / time_change)) / 4.0; - state->acceleration = (data->ground_accel - data->flight_accel) / 27.0; - state->speed = data->flight_vel / 2700.0; + accel_counts_per_mss = ((data->accel_minus_g - data->accel_plus_g) / 2.0) / 9.80665; + state->acceleration = (data->ground_accel - data->flight_accel) / accel_counts_per_mss; + state->speed = data->flight_vel / (accel_counts_per_mss * 100.0); state->temperature = ((data->temp / 32767.0 * 3.3) - 0.5) / 0.01; state->drogue_sense = data->drogue / 32767.0 * 15.0; state->main_sense = data->main / 32767.0 * 15.0; diff --git a/src/ao.h b/src/ao.h index 22e8785f..bc9afcc3 100644 --- a/src/ao.h +++ b/src/ao.h @@ -784,6 +784,7 @@ ao_gps_report_init(void); */ #define AO_MAX_CALLSIGN 8 +#define AO_TELEMETRY_VERSION 1 struct ao_telemetry { uint8_t addr; @@ -793,6 +794,8 @@ struct ao_telemetry { int32_t flight_vel; int16_t flight_pres; int16_t ground_pres; + int16_t accel_plus_g; + int16_t accel_minus_g; struct ao_adc adc; struct ao_gps_data gps; char callsign[AO_MAX_CALLSIGN]; diff --git a/src/ao_monitor.c b/src/ao_monitor.c index d0c1da34..cd0d693e 100644 --- a/src/ao_monitor.c +++ b/src/ao_monitor.c @@ -37,12 +37,14 @@ ao_monitor(void) if (state > ao_flight_invalid) state = ao_flight_invalid; if (recv.status & PKT_APPEND_STATUS_1_CRC_OK) { - printf ("CALL %s SERIAL %3d RSSI %4d STATUS %02x STATE %7s ", - callsign, - 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 fa: %5d ga: %d fv: %7ld fp: %5d gp: %5d ", + printf("VERSION %d CALL %s SERIAL %3d RSSI %4d STATUS %02x STATE %7s ", + AO_TELEMETRY_VERSION, + callsign, + 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 " + "fa: %5d ga: %d fv: %7ld fp: %5d gp: %5d a+: %5d a-: %5d ", recv.telemetry.adc.tick, recv.telemetry.adc.accel, recv.telemetry.adc.pres, @@ -54,7 +56,9 @@ ao_monitor(void) recv.telemetry.ground_accel, recv.telemetry.flight_vel, recv.telemetry.flight_pres, - recv.telemetry.ground_pres); + recv.telemetry.ground_pres, + recv.telemetry.accel_plus_g, + recv.telemetry.accel_minus_g); ao_gps_print(&recv.telemetry.gps); putchar(' '); ao_gps_tracking_print(&recv.telemetry.gps_tracking); diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c index d52e589c..9c923984 100644 --- a/src/ao_telemetry.c +++ b/src/ao_telemetry.c @@ -32,6 +32,8 @@ ao_telemetry(void) ao_config_get(); memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN); telemetry.addr = ao_serial_number; + telemetry.accel_plus_g = ao_config.accel_plus_g; + telemetry.accel_minus_g = ao_config.accel_minus_g; ao_rdf_time = ao_time(); for (;;) { while (ao_telemetry_interval == 0) -- 2.30.2