Transmit computed ground pressure and acceleration values0.4

These are the last two values relevant to figuring out the state of the
flight computer, and as they are computed by averaging 10 seconds of 100Hz
sample data, they're a lot more accurate than anything the receiver could do
on its own.

Signed-off-by: Keith Packard <keithp@keithp.com>

3 files changed, 33 insertions, 51 deletions

diff --git a/aoview/aoview.h b/aoview/aoview.h
index 44412bec..4abbde88 100644
--- a/aoview/aoview.h
+++ b/aoview/aoview.h
@@ -59,8 +59,10 @@ struct aostate {
 	int	drogue;
 	int	main;
 	int	flight_accel;
+	int	ground_accel;
 	int	flight_vel;
 	int	flight_pres;
+	int	ground_pres;
 	int	nsat;
 	int	locked;
 	struct {
diff --git a/aoview/aoview_monitor.c b/aoview/aoview_monitor.c
index b0189c60..7a04c82f 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 < 32)
+	if (nword < 36)
 		return;
 	if (strcmp(words[0], "CALL") != 0)
 		return;
@@ -101,15 +101,17 @@ aoview_monitor_parse(char *line)
 	aoview_parse_int(&state.drogue, words[20]);
 	aoview_parse_int(&state.main, words[22]);
 	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) {
+	aoview_parse_int(&state.ground_accel, words[26]);
+	aoview_parse_int(&state.flight_vel, words[28]);
+	aoview_parse_int(&state.flight_pres, words[30]);
+	aoview_parse_int(&state.ground_pres, words[32]);
+	aoview_parse_int(&state.nsat, words[34]);
+	if (strcmp (words[36], "unlocked") != 0 && nword >= 41) {
 		state.locked = 1;
-		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);
+		sscanf(words[36], "%d:%d:%d", &state.gps_time.hour, &state.gps_time.minute, &state.gps_time.second);
+		aoview_parse_pos(&state.lat, words[39]);
+		aoview_parse_pos(&state.lon, words[40]);
+		sscanf(words[41], "%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 dda92af9..02ae0307 100644
--- a/aoview/aoview_state.c
+++ b/aoview/aoview_state.c
@@ -18,14 +18,9 @@
 #include "aoview.h"
 #include <math.h>
 
-static int	pad_pres;
-static int	pad_accel;
-static int	pad_pres_total;
-static int	pad_accel_total;
 static double	pad_lat_total;
 static double	pad_lon_total;
 static int	pad_alt_total;
-static int	npad;
 static int	npad_gps;
 static int	prev_tick;
 static double	prev_accel;
@@ -88,40 +83,28 @@ aoview_state_notify(struct aostate *state)
 	double	max_accel;
 
 	if (!strcmp(state->state, "pad")) {
-		if (npad < NUM_PAD_SAMPLES) {
-			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;
-				pad_alt_total += state->alt;
-				npad_gps++;
-			}
-			npad++;
+		if (state->locked && npad_gps < NUM_PAD_SAMPLES) {
+			pad_lat_total += state->lat;
+			pad_lon_total += state->lon;
+			pad_alt_total += state->alt;
+			npad_gps++;
 		}
-		if (npad <= NUM_PAD_SAMPLES) {
-			pad_pres = pad_pres_total / npad;
-			pad_accel = pad_accel_total / npad;
-			if (npad_gps) {
-				pad_lat = pad_lat_total / npad_gps;
-				pad_lon = pad_lon_total / npad_gps;
-				pad_alt = pad_alt_total / npad_gps;
-			}
-		}
-		if (npad == NUM_PAD_SAMPLES) {
-			npad++;
-			min_pres = pad_pres;
-			min_accel = pad_accel;
+		if (state->locked && npad_gps <= NUM_PAD_SAMPLES) {
+			pad_lat = pad_lat_total / npad_gps;
+			pad_lon = pad_lon_total / npad_gps;
+			pad_alt = pad_alt_total / npad_gps;
 		}
+		min_pres = state->ground_pres;
+		min_accel = state->ground_accel;
 	}
 	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;
+	altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres);
+	accel = (state->ground_accel - state->flight_accel) / 27.0;
 	velocity = state->flight_vel / 2700.0;
-	max_accel = (pad_accel - min_accel) / 27.0;
+	max_accel = (state->ground_accel - min_accel) / 27.0;
 	ticks = state->tick - prev_tick;
 	temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
 	battery = (state->batt / 32767.0 * 5.0);
@@ -132,20 +115,20 @@ aoview_state_notify(struct aostate *state)
 	prev_tick = state->tick;
 	aoview_table_start();
 
-	if (npad >= NUM_PAD_SAMPLES)
+	if (npad_gps >= NUM_PAD_SAMPLES)
 		aoview_table_add_row("Ground state", "ready");
 	else
-		aoview_table_add_row("Ground state", "preparing (%d)",
-				     NUM_PAD_SAMPLES - npad);
+		aoview_table_add_row("Ground state", "waiting for gps (%d)",
+				     NUM_PAD_SAMPLES - npad_gps);
 	aoview_table_add_row("Rocket state", "%s", state->state);
 	aoview_table_add_row("Callsign", "%s", state->callsign);
 	aoview_table_add_row("Rocket serial", "%d", state->serial);
 
-	aoview_table_add_row("RSSI", "%ddB", state->rssi);
+	aoview_table_add_row("RSSI", "%ddBm", state->rssi);
 	aoview_table_add_row("Height", "%dm", altitude);
 	aoview_table_add_row("Max height", "%dm",
 			     aoview_pres_to_altitude(min_pres) -
-			     aoview_pres_to_altitude(pad_pres));
+			     aoview_pres_to_altitude(state->ground_pres));
 	aoview_table_add_row("Acceleration", "%gm/s²", accel);
 	aoview_table_add_row("Max acceleration", "%gm/s²", max_accel);
 	aoview_table_add_row("Velocity", "%gm/s", velocity);
@@ -153,7 +136,7 @@ aoview_state_notify(struct aostate *state)
 	aoview_table_add_row("Battery", "%gV", battery);
 	aoview_table_add_row("Drogue", "%gV", drogue_sense);
 	aoview_table_add_row("Main", "%gV", main_sense);
-	aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(pad_pres));
+	aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(state->ground_pres));
 	aoview_table_add_row("Satellites", "%d", state->nsat);
 	if (state->locked) {
 		aoview_state_add_deg("Latitude", state->lat);
@@ -181,14 +164,9 @@ 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;