Send computed accel/vel/pres values over the radio0.3

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>

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