diff options
| author | Keith Packard <keithp@keithp.com> | 2009-05-17 22:29:54 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2009-05-17 22:29:54 -0700 |
| commit | 7cb9fb675f56bf30ab6bf0bcdc5cb679709ffe3e (patch) | |
| tree | 3bd1f4cce887c142790e31a0d35d55796e1b8df0 /aoview/aoview_state.c | |
| parent | 2c780d67b8a22d75a2da4b2af21fd35f0c6f5236 (diff) | |
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>
Diffstat (limited to 'aoview/aoview_state.c')
| -rw-r--r-- | aoview/aoview_state.c | 42 |
1 files changed, 25 insertions, 17 deletions
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 |