From 7cb9fb675f56bf30ab6bf0bcdc5cb679709ffe3e Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 17 May 2009 22:29:54 -0700 Subject: [PATCH] Send computed accel/vel/pres values over the radio 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 --- ao.h | 4 ++++ ao_monitor.c | 7 +++++-- ao_telemetry.c | 3 +++ aoview/aoview.h | 3 +++ aoview/aoview_monitor.c | 17 ++++++++++------- aoview/aoview_state.c | 42 ++++++++++++++++++++++++----------------- 6 files changed, 50 insertions(+), 26 deletions(-) diff --git a/ao.h b/ao.h index 76fc00ce..31558529 100644 --- 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]; diff --git a/ao_monitor.c b/ao_monitor.c index 6aed581a..880f257c 100644 --- a/ao_monitor.c +++ b/ao_monitor.c @@ -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 { diff --git a/ao_telemetry.c b/ao_telemetry.c index 5299b487..b4461e92 100644 --- a/ao_telemetry.c +++ b/ao_telemetry.c @@ -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)); diff --git a/aoview/aoview.h b/aoview/aoview.h index 78244912..44412bec 100644 --- a/aoview/aoview.h +++ b/aoview/aoview.h @@ -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 { diff --git a/aoview/aoview_monitor.c b/aoview/aoview_monitor.c index 3b3245e2..b0189c60 100644 --- a/aoview/aoview_monitor.c +++ b/aoview/aoview_monitor.c @@ -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; diff --git a/aoview/aoview_state.c b/aoview/aoview_state.c index 85ed7b5a..dda92af9 100644 --- a/aoview/aoview_state.c +++ b/aoview/aoview_state.c @@ -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 -- 2.30.2