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-rw-r--r--aoview/aoview.h47
-rw-r--r--aoview/aoview_monitor.c60
-rw-r--r--aoview/aoview_state.c77
3 files changed, 100 insertions, 84 deletions
diff --git a/aoview/aoview.h b/aoview/aoview.h
index 4ed0ffab..62d0640b 100644
--- a/aoview/aoview.h
+++ b/aoview/aoview.h
@@ -51,6 +51,30 @@ struct usbdev {
int idVendor;
};
+struct aogps_time {
+ int hour;
+ int minute;
+ int second;
+};
+
+struct aogps {
+ int nsat;
+ int gps_locked;
+ int gps_connected;
+ struct aogps_time gps_time;
+ double lat; /* degrees (+N -S) */
+ double lon; /* degrees (+E -W) */
+ int alt; /* m */
+
+ int gps_extended; /* has extra data */
+ double ground_speed; /* m/s */
+ int course; /* degrees */
+ double climb_rate; /* m/s */
+ double hdop; /* unitless? */
+ int h_error; /* m */
+ int v_error; /* m */
+};
+
struct aodata {
char callsign[16];
int serial;
@@ -68,23 +92,7 @@ struct aodata {
int flight_vel;
int flight_pres;
int ground_pres;
- int nsat;
- int gps_locked;
- int gps_connected;
- struct {
- int hour;
- int minute;
- int second;
- } gps_time;
- double lat; /* degrees (+N -S) */
- double lon; /* degrees (+E -W) */
- int alt; /* m */
- double ground_speed; /* m/s */
- int course; /* degrees */
- double climb_rate; /* m/s */
- double hdop; /* unitless? */
- int h_error; /* m */
- int v_error; /* m */
+ struct aogps gps;
};
struct aostate {
@@ -112,10 +120,9 @@ struct aostate {
double max_acceleration;
double max_speed;
- double lat;
- double lon;
- int gps_valid;
+ struct aogps gps;
+ int gps_valid;
double pad_lat;
double pad_lon;
double pad_alt;
diff --git a/aoview/aoview_monitor.c b/aoview/aoview_monitor.c
index dd0e6019..9265a199 100644
--- a/aoview/aoview_monitor.c
+++ b/aoview/aoview_monitor.c
@@ -105,41 +105,43 @@ 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]);
- aoview_parse_int(&data.nsat, words[34]);
+ aoview_parse_int(&data.gps.nsat, words[34]);
if (strcmp (words[36], "unlocked") == 0) {
- data.gps_connected = 1;
- data.gps_locked = 0;
- data.gps_time.hour = data.gps_time.minute = data.gps_time.second = 0;
- data.lat = data.lon = 0;
- data.alt = 0;
+ data.gps.gps_connected = 1;
+ data.gps.gps_locked = 0;
+ data.gps.gps_time.hour = data.gps.gps_time.minute = data.gps.gps_time.second = 0;
+ data.gps.lat = data.gps.lon = 0;
+ data.gps.alt = 0;
} else if (nword >= 40) {
- data.gps_locked = 1;
- data.gps_connected = 1;
- sscanf(words[36], "%d:%d:%d", &data.gps_time.hour, &data.gps_time.minute, &data.gps_time.second);
- aoview_parse_pos(&data.lat, words[37]);
- aoview_parse_pos(&data.lon, words[38]);
- sscanf(words[39], "%dm", &data.alt);
+ data.gps.gps_locked = 1;
+ data.gps.gps_connected = 1;
+ sscanf(words[36], "%d:%d:%d", &data.gps.gps_time.hour, &data.gps.gps_time.minute, &data.gps.gps_time.second);
+ aoview_parse_pos(&data.gps.lat, words[37]);
+ aoview_parse_pos(&data.gps.lon, words[38]);
+ sscanf(words[39], "%dm", &data.gps.alt);
} else {
- data.gps_connected = 0;
- data.gps_locked = 0;
- data.gps_time.hour = data.gps_time.minute = data.gps_time.second = 0;
- data.lat = data.lon = 0;
- data.alt = 0;
+ data.gps.gps_connected = 0;
+ data.gps.gps_locked = 0;
+ data.gps.gps_time.hour = data.gps.gps_time.minute = data.gps.gps_time.second = 0;
+ data.gps.lat = data.gps.lon = 0;
+ data.gps.alt = 0;
}
if (nword >= 46) {
- sscanf(words[40], "%lfm/s", &data.ground_speed);
- sscanf(words[41], "%d", &data.course);
- sscanf(words[42], "%lfm/s", &data.climb_rate);
- sscanf(words[43], "%lf", &data.hdop);
- sscanf(words[44], "%d", &data.h_error);
- sscanf(words[45], "%d", &data.v_error);
+ data.gps.gps_extended = 1;
+ sscanf(words[40], "%lfm/s", &data.gps.ground_speed);
+ sscanf(words[41], "%d", &data.gps.course);
+ sscanf(words[42], "%lfm/s", &data.gps.climb_rate);
+ sscanf(words[43], "%lf", &data.gps.hdop);
+ sscanf(words[44], "%d", &data.gps.h_error);
+ sscanf(words[45], "%d", &data.gps.v_error);
} else {
- data.ground_speed = 0;
- data.course = 0;
- data.climb_rate = 0;
- data.hdop = 0;
- data.h_error = 0;
- data.v_error = 0;
+ data.gps.gps_extended = 0;
+ data.gps.ground_speed = 0;
+ data.gps.course = 0;
+ data.gps.climb_rate = 0;
+ data.gps.hdop = 0;
+ data.gps.h_error = 0;
+ data.gps.v_error = 0;
}
aoview_state_notify(&data);
return TRUE;
diff --git a/aoview/aoview_state.c b/aoview/aoview_state.c
index a0a608e0..9852cabd 100644
--- a/aoview/aoview_state.c
+++ b/aoview/aoview_state.c
@@ -130,19 +130,19 @@ aoview_state_derive(struct aodata *data, struct aostate *state)
state->main_sense = data->main / 32767.0 * 15.0;
state->battery = data->batt / 32767.0 * 5.0;
if (!strcmp(data->state, "pad")) {
- if (data->gps_locked && data->nsat >= 4) {
+ if (data->gps.gps_locked && data->gps.nsat >= 4) {
state->npad++;
- state->pad_lat_total += data->lat;
- state->pad_lon_total += data->lon;
- state->pad_alt_total += data->alt;
+ state->pad_lat_total += data->gps.lat;
+ state->pad_lon_total += data->gps.lon;
+ state->pad_alt_total += data->gps.alt;
if (state->npad > 1) {
- state->pad_lat = (state->pad_lat * 31 + data->lat) / 32.0;
- state->pad_lon = (state->pad_lon * 31 + data->lon) / 32.0;
- state->pad_alt = (state->pad_alt * 31 + data->alt) / 32.0;
+ state->pad_lat = (state->pad_lat * 31 + data->gps.lat) / 32.0;
+ state->pad_lon = (state->pad_lon * 31 + data->gps.lon) / 32.0;
+ state->pad_alt = (state->pad_alt * 31 + data->gps.alt) / 32.0;
} else {
- state->pad_lat = data->lat;
- state->pad_lon = data->lon;
- state->pad_alt = data->alt;
+ state->pad_lat = data->gps.lat;
+ state->pad_lon = data->gps.lon;
+ state->pad_alt = data->gps.alt;
}
}
}
@@ -159,15 +159,17 @@ aoview_state_derive(struct aodata *data, struct aostate *state)
if (state->height > state->max_height)
state->max_height = state->height;
- if (data->gps_locked) {
- state->lat = data->lat;
- state->lon = data->lon;
- aoview_great_circle(state->pad_lat, state->pad_lon, data->lat, data->lon,
- &state->distance, &state->bearing);
+ state->gps.gps_locked = data->gps.gps_locked;
+ state->gps.gps_connected = data->gps.gps_connected;
+ if (data->gps.gps_locked) {
+ state->gps = data->gps;
state->gps_valid = 1;
+ if (state->npad)
+ aoview_great_circle(state->pad_lat, state->pad_lon, state->gps.lat, state->gps.lon,
+ &state->distance, &state->bearing);
}
if (state->npad) {
- state->gps_height = data->alt - state->pad_alt;
+ state->gps_height = state->gps.alt - state->pad_alt;
} else {
state->gps_height = 0;
}
@@ -249,7 +251,7 @@ aoview_state_timeout(gpointer data)
aoview_voice_speak("rocket landed safely\n");
else
aoview_voice_speak("rocket may have crashed\n");
- if (aostate.gps_valid) {
+ if (aostate.gps.gps_connected) {
aoview_voice_speak("rocket reported %s of pad distance %d meters\n",
aoview_compass_point(aostate.bearing),
(int) aostate.distance);
@@ -295,30 +297,35 @@ aoview_state_notify(struct aodata *data)
aoview_table_add_row(0, "Drogue", "%5.2fV", state->drogue_sense);
aoview_table_add_row(0, "Main", "%5.2fV", state->main_sense);
aoview_table_add_row(0, "Pad altitude", "%dm", state->ground_altitude);
- aoview_table_add_row(1, "Satellites", "%d", state->data.nsat);
- if (state->data.gps_locked) {
- aoview_state_add_deg(1, "Latitude", state->data.lat, 'N', 'S');
- aoview_state_add_deg(1, "Longitude", state->data.lon, 'E', 'W');
+ aoview_table_add_row(1, "Satellites", "%d", state->gps.nsat);
+ if (state->gps.gps_locked) {
+ aoview_table_add_row(1, "GPS", "locked");
+ } else if (state->gps.gps_connected) {
+ aoview_table_add_row(1, "GPS", "unlocked");
+ } else {
+ aoview_table_add_row(1, "GPS", "not available");
+ }
+ if (state->gps_valid) {
+ aoview_state_add_deg(1, "Latitude", state->gps.lat, 'N', 'S');
+ aoview_state_add_deg(1, "Longitude", state->gps.lon, 'E', 'W');
aoview_table_add_row(1, "GPS height", "%d", state->gps_height);
aoview_table_add_row(1, "GPS time", "%02d:%02d:%02d",
- state->data.gps_time.hour,
- state->data.gps_time.minute,
- state->data.gps_time.second);
+ state->gps.gps_time.hour,
+ state->gps.gps_time.minute,
+ state->gps.gps_time.second);
+ }
+ if (state->gps.gps_extended) {
aoview_table_add_row(1, "GPS ground speed", "%7.1fm/s %d°",
- state->data.ground_speed,
- state->data.course);
+ state->gps.ground_speed,
+ state->gps.course);
aoview_table_add_row(1, "GPS climb rate", "%7.1fm/s",
- state->data.climb_rate);
- aoview_table_add_row(1, "GPS precision", "%f(hdop) %dm(h) %dm(v)\n",
- state->data.hdop, state->data.h_error, state->data.v_error);
- aoview_table_add_row(1, "Distance from pad", "%5.0fm", state->distance);
- aoview_table_add_row(1, "Direction from pad", "%4.0f°", state->bearing);
- } else if (state->data.gps_connected) {
- aoview_table_add_row(1, "GPS", "unlocked");
- } else {
- aoview_table_add_row(1, "GPS", "not available");
+ state->gps.climb_rate);
+ aoview_table_add_row(1, "GPS precision", "%4.1f(hdop) %3dm(h) %3dm(v)",
+ state->gps.hdop, state->gps.h_error, state->gps.v_error);
}
if (state->npad) {
+ aoview_table_add_row(1, "Distance from pad", "%5.0fm", state->distance);
+ aoview_table_add_row(1, "Direction from pad", "%4.0f°", state->bearing);
aoview_state_add_deg(1, "Pad latitude", state->pad_lat, 'N', 'S');
aoview_state_add_deg(1, "Pad longitude", state->pad_lon, 'E', 'W');
aoview_table_add_row(1, "Pad GPS alt", "%gm", state->pad_alt);
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 20:25:16 +0000