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 <keithp@keithp.com>

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)