Merge branch 'branch-1.5' into debian

Conflicts:
	ChangeLog
	Releasing
	altosui/Instdrv/NSIS/Includes/java.nsh
	altosui/altos-windows.nsi.in
	configure.ac
	doc/Makefile
	doc/altusmetrum.xsl
	micropeak/micropeak-windows.nsi.in
	telegps/telegps-windows.nsi.in

8 files changed, 124 insertions, 58 deletions

diff --git a/src/test/Makefile b/src/test/Makefile
index 017f7f71..02e1d22b 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,6 +1,7 @@
 vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
+	ao_flight_test_metrum \
 	ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
 	ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \
 	ao_ms5607_convert_test ao_quaternion_test
@@ -33,6 +34,9 @@ ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kal
 ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
 	cc -DTELEMEGA=1 $(CFLAGS) -o $@ $< -lm
 
+ao_flight_test_metrum: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
+	cc -DTELEMETRUM_V2=1 $(CFLAGS) -o $@ $< -lm
+
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
 	cc $(CFLAGS) -o $@ $<
 
diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c
index 86cf527a..ae505dea 100644
--- a/src/test/ao_aprs_test.c
+++ b/src/test/ao_aprs_test.c
@@ -21,6 +21,8 @@
 #include <stdint.h>
 #include <stdarg.h>
 
+#define HAS_GPS	1
+
 #include <ao_telemetry.h>
 
 #define AO_GPS_NUM_SAT_MASK	(0xf << 0)
@@ -97,41 +99,14 @@ audio_gap(int secs)
 #endif
 }
 
-#include <math.h>
-
-int
-ao_aprs_encode_altitude_expensive(int meters)
-{
-	double	feet = meters / 0.3048;
-
-	double	encode = log(feet) / log(1.002);
-	return floor(encode + 0.5);
-}
-
 // This is where we go after reset.
 int main(int argc, char **argv)
 {
-	int	e, x;
-	int	a;
-
-	for (a = 1; a < 100000; a++) {
-		e = ao_aprs_encode_altitude(a);
-		x = ao_aprs_encode_altitude_expensive(a);
-
-		if (e != x) {
-			double	back_feet, back_meters;
-			back_feet = pow(1.002, e);
-			back_meters = back_feet * 0.3048;
-			fprintf (stderr, "APRS altitude encoding failure: altitude %d actual %d expected %d actual meters %f\n",
-				 a, e, x, back_meters);
-		}
-	}
-
     audio_gap(1);
 
     ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000;
     ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000;
-    ao_gps_data.altitude = 84;
+    AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, 84);
     ao_gps_data.flags = (AO_GPS_VALID|AO_GPS_RUNNING);
 
     /* Transmit one packet */
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 0647fc6c..8b737ca1 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -34,15 +34,21 @@
 #define ao_data_ring_next(n)	(((n) + 1) & (AO_DATA_RING - 1))
 #define ao_data_ring_prev(n)	(((n) - 1) & (AO_DATA_RING - 1))
 
+#if 0
 #define AO_M_TO_HEIGHT(m)	((int16_t) (m))
 #define AO_MS_TO_SPEED(ms)	((int16_t) ((ms) * 16))
 #define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
+#endif
 
 #define AO_GPS_NEW_DATA		1
 #define AO_GPS_NEW_TRACKING	2
 
 int ao_gps_new;
 
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2)
+#define TELEMETRUM_V1 1
+#endif
+
 #if TELEMEGA
 #define AO_ADC_NUM_SENSE	6
 #define HAS_MS5607		1
@@ -50,6 +56,7 @@ int ao_gps_new;
 #define HAS_MMA655X		1
 #define HAS_HMC5883 		1
 #define HAS_BEEP		1
+#define AO_CONFIG_MAX_SIZE	1024
 
 struct ao_adc {
 	int16_t			sense[AO_ADC_NUM_SENSE];
@@ -57,7 +64,25 @@ struct ao_adc {
 	int16_t			v_pbatt;
 	int16_t			temp;
 };
-#else
+#endif
+
+#if TELEMETRUM_V2
+#define AO_ADC_NUM_SENSE	2
+#define HAS_MS5607		1
+#define HAS_MMA655X		1
+#define HAS_BEEP		1
+#define AO_CONFIG_MAX_SIZE	1024
+
+struct ao_adc {
+	int16_t			sense_a;
+	int16_t			sense_m;
+	int16_t			v_batt;
+	int16_t			temp;
+};
+#endif
+
+
+#if TELEMETRUM_V1
 /*
  * One set of samples read from the A/D converter
  */
@@ -92,6 +117,7 @@ struct ao_adc {
 #include <ao_data.h>
 #include <ao_log.h>
 #include <ao_telemetry.h>
+#include <ao_sample.h>
 
 #if TELEMEGA
 int ao_gps_count;
@@ -174,7 +200,7 @@ ao_gps_angle(void)
 			ao_gps_static.latitude / 1e7,
 			ao_gps_static.longitude / 1e7,
 			&dist, &bearing);
-	height = ao_gps_static.altitude - ao_gps_prev.altitude;
+	height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 
 	angle = atan2(dist, height);
 	return angle * 180/M_PI;
@@ -185,17 +211,6 @@ ao_gps_angle(void)
 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 #define from_fix(x)	((x) >> 16)
 
-/*
- * Above this height, the baro sensor doesn't work
- */
-#define AO_BARO_SATURATE	13000
-#define AO_MIN_BARO_VALUE	ao_altitude_to_pres(AO_BARO_SATURATE)
-
-/*
- * Above this speed, baro measurements are unreliable
- */
-#define AO_MAX_BARO_SPEED	200
-
 #define ACCEL_NOSE_UP	(ao_accel_2g >> 2)
 
 extern enum ao_flight_state ao_flight_state;
@@ -233,7 +248,7 @@ double	main_time;
 
 int	tick_offset;
 
-static int32_t	ao_k_height;
+static ao_k_t	ao_k_height;
 
 int16_t
 ao_time(void)
@@ -305,7 +320,7 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
-#if TELEMEGA
+#if TELEMEGA || TELEMETRUM_V2
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
 struct ao_ms5607_prom	ao_ms5607_prom;
@@ -455,7 +470,7 @@ ao_insert(void)
 #else
 		double	accel = 0.0;
 #endif
-#if TELEMEGA
+#if TELEMEGA || TELEMETRUM_V2
 		double	height;
 
 		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -550,6 +565,7 @@ ao_insert(void)
 				mag_azel.el,
 				mag_azel.az);
 #endif
+#if 0
 			printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 				time,
 				ao_state_names[ao_flight_state],
@@ -559,6 +575,7 @@ ao_insert(void)
 				(int) floor (ao_gps_angle() + 0.5),
 				(ao_gps_static.flags & 0xf) * 10);
 
+#endif
 #if 0
 			printf ("\t\tstate %-8.8s ground az: %4d el %4d mag az %4d el %4d rot az %4d el %4d el_diff %4d az_diff %4d angle %4d tilt %4d ground %8.5f %8.5f %8.5f cur %8.5f %8.5f %8.5f rot %8.5f %8.5f %8.5f\n",
 				ao_state_names[ao_flight_state],
@@ -581,9 +598,9 @@ ao_insert(void)
 #endif
 #endif
 
-#if 0
+#if 1
 			printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA
+#if TELEMEGA && 0
 			       "angle %5d "
 			       "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
 #endif
@@ -591,7 +608,7 @@ ao_insert(void)
 			       time,
 			       height,
 			       accel,
-#if TELEMEGA
+#if TELEMEGA && 0
 			       ao_sample_orient,
 
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
@@ -674,7 +691,8 @@ ao_sleep(void *wchan)
 			{
 #if TELEMEGA
 				ao_data_static.mpu6000 = ao_ground_mpu6000;
-#else
+#endif
+#if TELEMETRUM_V1
 				ao_data_static.adc.accel = ao_flight_ground_accel;
 #endif
 				ao_insert();
@@ -755,7 +773,10 @@ ao_sleep(void *wchan)
 					ao_gps_static.tick = tick;
 					ao_gps_static.latitude = int32(bytes, 0);
 					ao_gps_static.longitude = int32(bytes, 4);
-					ao_gps_static.altitude = int32(bytes, 8);
+					{
+						int32_t	altitude = int32(bytes, 8);
+						AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
+					}
 					ao_gps_static.flags = bytes[13];
 					if (!ao_gps_count)
 						ao_gps_first = ao_gps_static;
@@ -795,11 +816,64 @@ ao_sleep(void *wchan)
 					pyro->flags |= ao_pyro_values[j].flag;
 					if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 						int16_t	val = strtoul(words[++i], NULL, 10);
+						printf("pyro %d condition %s value %d\n", p, words[i-1], val);
 						*((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 					}
 				}
 			}
-#else
+#endif
+#if TELEMETRUM_V2
+			if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) {
+				int	i;
+				struct ao_ms5607_value	value;
+
+				type = words[0][0];
+				tick = strtoul(words[1], NULL, 16);
+//				printf ("%c %04x", type, tick);
+				for (i = 2; i < nword; i++) {
+					bytes[i - 2] = strtoul(words[i], NULL, 16);
+//					printf(" %02x", bytes[i-2]);
+				}
+//				printf ("\n");
+				switch (type) {
+				case 'F':
+					ao_flight_ground_accel = int16(bytes, 2);
+					ao_flight_started = 1;
+					ao_ground_pres = int32(bytes, 4);
+					ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+					break;
+				case 'A':
+					ao_data_static.tick = tick;
+					ao_data_static.ms5607_raw.pres = int32(bytes, 0);
+					ao_data_static.ms5607_raw.temp = int32(bytes, 4);
+					ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
+					ao_data_static.mma655x = int16(bytes, 8);
+					ao_records_read++;
+					ao_insert();
+					return;
+				}
+				continue;
+			} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
+				if (strcmp(words[1], "reserved:") == 0)
+					ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "sens:") == 0)
+					ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "off:") == 0)
+					ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "tcs:") == 0)
+					ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "tco:") == 0)
+					ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "tref:") == 0)
+					ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "tempsens:") == 0)
+					ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+				else if (strcmp(words[1], "crc:") == 0)
+					ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
+				continue;
+			}
+#endif
+#if TELEMETRUM_V1
 			if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 				type = words[0][0];
 				tick = strtoul(words[1], NULL, 16);
@@ -924,7 +998,7 @@ ao_sleep(void *wchan)
 			if (type != 'F' && !ao_flight_started)
 				continue;
 
-#if TELEMEGA
+#if TELEMEGA || TELEMETRUM_V2
 			(void) a;
 			(void) b;
 #else
@@ -945,8 +1019,6 @@ ao_sleep(void *wchan)
 				ao_data_static.tick = tick;
 				ao_data_static.adc.accel = a;
 				ao_data_static.adc.pres_real = b;
-				if (b < AO_MIN_BARO_VALUE)
-					b = AO_MIN_BARO_VALUE;
 				ao_data_static.adc.pres = b;
 				ao_records_read++;
 				ao_insert();
diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c
index e799ab0f..543bbcc3 100644
--- a/src/test/ao_gps_test.c
+++ b/src/test/ao_gps_test.c
@@ -53,6 +53,9 @@ struct ao_gps_orig {
 	uint16_t		v_error;	/* m */
 };
 
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	((l)->altitude)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
+
 #define SIRF_SAT_STATE_ACQUIRED			(1 << 0)
 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define SIRF_SAT_BIT_SYNC_COMPLETE		(1 << 2)
@@ -433,7 +436,7 @@ ao_dump_state(void *wchan)
 
 	if (wchan != &ao_gps_new)
 		return;
-	
+
 	if (ao_gps_new & AO_GPS_NEW_DATA) {
 		ao_gps_print(&ao_gps_data);
 		putchar('\n');
diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
index 1b590d5e..5eb7118d 100644
--- a/src/test/ao_gps_test_skytraq.c
+++ b/src/test/ao_gps_test_skytraq.c
@@ -16,6 +16,7 @@
  */
 
 #define AO_GPS_TEST
+#define HAS_GPS 1
 #include "ao_host.h"
 #include <termios.h>
 #include <errno.h>
@@ -53,6 +54,9 @@ struct ao_gps_orig {
 	uint16_t		v_error;	/* m */
 };
 
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	((l)->altitude)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
+
 #define SIRF_SAT_STATE_ACQUIRED			(1 << 0)
 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define SIRF_SAT_BIT_SYNC_COMPLETE		(1 << 2)
diff --git a/src/test/ao_gps_test_ublox.c b/src/test/ao_gps_test_ublox.c
index 4eb4b837..5ea205d6 100644
--- a/src/test/ao_gps_test_ublox.c
+++ b/src/test/ao_gps_test_ublox.c
@@ -16,6 +16,7 @@
  */
 
 #define AO_GPS_TEST
+#define HAS_GPS	1
 #include "ao_host.h"
 #include <termios.h>
 #include <errno.h>
@@ -44,7 +45,7 @@ struct ao_telemetry_location {
 	uint8_t			flags;
 	int32_t			latitude;	/* degrees * 10⁷ */
 	int32_t			longitude;	/* degrees * 10⁷ */
-	int16_t			altitude;	/* m */
+	int16_t			altitude_low;	/* m */
 	uint16_t		ground_speed;	/* cm/s */
 	uint8_t			course;		/* degrees / 2 */
 	uint8_t			pdop;		/* * 5 */
@@ -53,8 +54,14 @@ struct ao_telemetry_location {
 	int16_t			climb_rate;	/* cm/s */
 	uint16_t		h_error;	/* m */
 	uint16_t		v_error;	/* m */
+	int16_t			altitude_high;	/* m */
 };
 
+typedef int32_t		gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	(((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \
+						 ((l)->altitude_low = (a)))
+
 #define UBLOX_SAT_STATE_ACQUIRED		(1 << 0)
 #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define UBLOX_SAT_BIT_SYNC_COMPLETE		(1 << 2)
diff --git a/src/test/ao_micropeak_test.c b/src/test/ao_micropeak_test.c
index 5961bd93..f4af707e 100644
--- a/src/test/ao_micropeak_test.c
+++ b/src/test/ao_micropeak_test.c
@@ -33,6 +33,7 @@ uint8_t ao_flight_debug;
 #define AO_FLIGHT_TEST
 
 typedef int32_t alt_t;
+typedef int32_t pres_t;
 
 #define AO_MS_TO_TICKS(ms)	((ms) / 10)
 
diff --git a/src/test/plottest b/src/test/plottest
index 76af5ee7..7d253ff1 100755
--- a/src/test/plottest
+++ b/src/test/plottest
@@ -10,7 +10,7 @@ plot "$1" using 1:3 with lines axes x1y1 title "raw height",\
 "$1" using 1:9 with lines axes x1y1 title "height",\
 "$1" using 1:11 with lines axes x1y2 title "speed",\
 "$1" using 1:13 with lines axes x1y2 title "accel",\
-"$1" using 1:15 with lines axes x1y1 title "drogue",\
-"$1" using 1:17 with lines axes x1y1 title "main",\
-"$1" using 1:19 with lines axes x1y1 title "error"
+"$1" using 1:17 with lines axes x1y1 title "drogue",\
+"$1" using 1:19 with lines axes x1y1 title "main",\
+"$1" using 1:21 with lines axes x1y1 title "error"
 EOF