diff options
89 files changed, 1220 insertions, 377 deletions
diff --git a/altoslib/AltosCSV.java b/altoslib/AltosCSV.java index 7e3d6d07..4a9278d9 100644 --- a/altoslib/AltosCSV.java +++ b/altoslib/AltosCSV.java @@ -29,6 +29,14 @@ public class AltosCSV implements AltosWriter { LinkedList<AltosState> pad_states; AltosState state; + static boolean has_basic; + static boolean has_battery; + static boolean has_flight_state; + static boolean has_advanced; + static boolean has_gps; + static boolean has_gps_sat; + static boolean has_companion; + static final int ALTOS_CSV_VERSION = 5; /* Version 4 format: @@ -55,10 +63,12 @@ public class AltosCSV implements AltosWriter { * accelerometer speed (m/s) * barometer speed (m/s) * temp (°C) - * battery (V) * drogue (V) * main (V) * + * Battery + * battery (V) + * * Advanced sensors (if available) * accel_x (m/s²) * accel_y (m/s²) @@ -87,7 +97,9 @@ public class AltosCSV implements AltosWriter { * from_pad_azimuth (deg true) * from_pad_range (m) * from_pad_elevation (deg from horizon) + * pdop * hdop + * vdop * * GPS Sat data * C/N0 data for all 32 valid SDIDs @@ -107,7 +119,7 @@ public class AltosCSV implements AltosWriter { void write_general(AltosState state) { out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d", ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign, - (double) state.time, (double) state.tick / 100.0, + (double) state.time_since_boost(), (double) state.tick / 100.0, state.rssi, state.status & 0x7f); } @@ -121,11 +133,11 @@ public class AltosCSV implements AltosWriter { } void write_basic_header() { - out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage"); + out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,drogue_voltage,main_voltage"); } void write_basic(AltosState state) { - out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f", + out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f", state.acceleration(), state.pressure(), state.altitude(), @@ -133,11 +145,18 @@ public class AltosCSV implements AltosWriter { state.speed(), state.speed(), state.temperature, - state.battery_voltage, state.apogee_voltage, state.main_voltage); } + void write_battery_header() { + out.printf("battery_voltage"); + } + + void write_battery(AltosState state) { + out.printf("%5.2f", state.battery_voltage); + } + void write_advanced_header() { out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z"); } @@ -150,14 +169,14 @@ public class AltosCSV implements AltosWriter { imu = new AltosIMU(); if (mag == null) mag = new AltosMag(); - out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d", + out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f", imu.accel_x, imu.accel_y, imu.accel_z, imu.gyro_x, imu.gyro_y, imu.gyro_z, mag.x, mag.y, mag.z); } void write_gps_header() { - out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop"); + out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,pdop,hdop,vdop"); } void write_gps(AltosState state) { @@ -169,7 +188,7 @@ public class AltosCSV implements AltosWriter { if (from_pad == null) from_pad = new AltosGreatCircle(); - out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f", + out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f,%6.1f,%6.1f", gps.connected?1:0, gps.locked?1:0, gps.nsat, @@ -186,7 +205,9 @@ public class AltosCSV implements AltosWriter { state.range, from_pad.bearing, state.elevation, - gps.hdop); + gps.pdop, + gps.hdop, + gps.vdop); } void write_gps_sat_header() { @@ -239,52 +260,83 @@ public class AltosCSV implements AltosWriter { out.printf(",0"); } - void write_header(boolean advanced, boolean gps, boolean companion) { + void write_header() { out.printf("#"); write_general_header(); - out.printf(","); write_flight_header(); - out.printf(","); write_basic_header(); - if (advanced) - out.printf(","); write_advanced_header(); - if (gps) { - out.printf(","); write_gps_header(); - out.printf(","); write_gps_sat_header(); + if (has_flight_state) { + out.printf(","); + write_flight_header(); } - if (companion) { - out.printf(","); write_companion_header(); + if (has_basic) { + out.printf(","); + write_basic_header(); + } + if (has_battery) { + out.printf(","); + write_battery_header(); + } + if (has_advanced) { + out.printf(","); + write_advanced_header(); + } + if (has_gps) { + out.printf(","); + write_gps_header(); + } + if (has_gps_sat) { + out.printf(","); + write_gps_sat_header(); + } + if (has_companion) { + out.printf(","); + write_companion_header(); } out.printf ("\n"); } void write_one(AltosState state) { - write_general(state); out.printf(","); - write_flight(state); out.printf(","); - write_basic(state); out.printf(","); - if (state.imu != null || state.mag != null) + write_general(state); + if (has_flight_state) { + out.printf(","); + write_flight(state); + } + if (has_basic) { + out.printf(","); + write_basic(state); + } + if (has_battery) { + out.printf(","); + write_battery(state); + } + if (has_advanced) { + out.printf(","); write_advanced(state); - if (state.gps != null) { + } + if (has_gps) { + out.printf(","); + write_gps(state); + } + if (has_gps_sat) { out.printf(","); - write_gps(state); out.printf(","); write_gps_sat(state); } - if (state.companion != null) { + if (has_companion) { out.printf(","); write_companion(state); } out.printf ("\n"); } - void flush_pad() { + private void flush_pad() { while (!pad_states.isEmpty()) { write_one (pad_states.remove()); } } - public void write(AltosState state) { + private void write(AltosState state) { if (state.state == AltosLib.ao_flight_startup) return; if (!header_written) { - write_header(state.imu != null || state.mag != null, - state.gps != null, state.companion != null); + write_header(); header_written = true; } if (!seen_boost) { @@ -300,7 +352,7 @@ public class AltosCSV implements AltosWriter { pad_states.add(state); } - public PrintStream out() { + private PrintStream out() { return out; } @@ -314,6 +366,31 @@ public class AltosCSV implements AltosWriter { public void write(AltosStateIterable states) { states.write_comments(out()); + + has_flight_state = false; + has_basic = false; + has_battery = false; + has_advanced = false; + has_gps = false; + has_gps_sat = false; + has_companion = false; + for (AltosState state : states) { + if (state.state != AltosLib.ao_flight_stateless && state.state != AltosLib.ao_flight_invalid && state.state != AltosLib.ao_flight_startup) + has_flight_state = true; + if (state.acceleration() != AltosLib.MISSING || state.pressure() != AltosLib.MISSING) + has_basic = true; + if (state.battery_voltage != AltosLib.MISSING) + has_battery = true; + if (state.imu != null || state.mag != null) + has_advanced = true; + if (state.gps != null) { + has_gps = true; + if (state.gps.cc_gps_sat != null) + has_gps_sat = true; + } + if (state.companion != null) + has_companion = true; + } for (AltosState state : states) write(state); } diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java index 847436cd..134a0ed2 100644 --- a/altoslib/AltosConfigData.java +++ b/altoslib/AltosConfigData.java @@ -31,6 +31,7 @@ public class AltosConfigData implements Iterable<String> { public int log_format; public int log_space; public String version; + public int altitude_32; /* Strings returned */ public LinkedList<String> lines; @@ -274,6 +275,7 @@ public class AltosConfigData implements Iterable<String> { try { flight = get_int(line, "current-flight"); } catch (Exception e) {} try { log_format = get_int(line, "log-format"); } catch (Exception e) {} try { log_space = get_int(line, "log-space"); } catch (Exception e) {} + try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {} try { version = get_string(line, "software-version"); } catch (Exception e) {} /* Version also contains MS5607 info, which we ignore here */ @@ -484,6 +486,7 @@ public class AltosConfigData implements Iterable<String> { dest.set_serial(serial); dest.set_product(product); dest.set_version(version); + dest.set_altitude_32(altitude_32); dest.set_main_deploy(main_deploy); dest.set_apogee_delay(apogee_delay); dest.set_apogee_lockout(apogee_lockout); diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java index 987da53b..3f0a7075 100644 --- a/altoslib/AltosConfigValues.java +++ b/altoslib/AltosConfigValues.java @@ -25,6 +25,8 @@ public interface AltosConfigValues { public abstract void set_serial(int serial); + public abstract void set_altitude_32(int altitude_32); + public abstract void set_main_deploy(int new_main_deploy); public abstract int main_deploy() throws AltosConfigDataException; diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java index 2514b4fc..482f0b5f 100644 --- a/altoslib/AltosEepromGPS.java +++ b/altoslib/AltosEepromGPS.java @@ -37,7 +37,7 @@ public class AltosEepromGPS extends AltosEeprom { /* AO_LOG_GPS_TIME elements */ public int latitude() { return data32(0); } public int longitude() { return data32(4); } - public int altitude() { return data16(8); } + public int altitude_low() { return data16(8); } public int hour() { return data8(10); } public int minute() { return data8(11); } public int second() { return data8(12); } @@ -52,6 +52,7 @@ public class AltosEepromGPS extends AltosEeprom { public int hdop() { return data8(23); } public int vdop() { return data8(24); } public int mode() { return data8(25); } + public int altitude_high() { return data16(26); } public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; } @@ -99,7 +100,10 @@ public class AltosEepromGPS extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); gps.hour = hour(); gps.minute = minute(); @@ -118,8 +122,21 @@ public class AltosEepromGPS extends AltosEeprom { gps.ground_speed = ground_speed() * 1.0e-2; gps.course = course() * 2; gps.climb_rate = climb_rate() * 1.0e-2; - gps.hdop = hdop(); - gps.vdop = vdop(); + if (state.compare_version("1.4.9") >= 0) { + gps.pdop = pdop() / 10.0; + gps.hdop = hdop() / 10.0; + gps.vdop = vdop() / 10.0; + } else { + gps.pdop = pdop() / 100.0; + if (gps.pdop < 0.8) + gps.pdop += 2.56; + gps.hdop = hdop() / 100.0; + if (gps.hdop < 0.8) + gps.hdop += 2.56; + gps.vdop = vdop() / 100.0; + if (gps.vdop < 0.8) + gps.vdop += 2.56; + } break; } } diff --git a/altoslib/AltosEepromHeader.java b/altoslib/AltosEepromHeader.java index 47e9eceb..71030655 100644 --- a/altoslib/AltosEepromHeader.java +++ b/altoslib/AltosEepromHeader.java @@ -96,6 +96,22 @@ public class AltosEepromHeader extends AltosEeprom { case AltosLib.AO_LOG_SOFTWARE_VERSION: state.set_firmware_version(data); break; + case AltosLib.AO_LOG_FREQUENCY: + case AltosLib.AO_LOG_APOGEE_LOCKOUT: + case AltosLib.AO_LOG_RADIO_RATE: + case AltosLib.AO_LOG_IGNITE_MODE: + case AltosLib.AO_LOG_PAD_ORIENTATION: + case AltosLib.AO_LOG_RADIO_ENABLE: + case AltosLib.AO_LOG_AES_KEY: + case AltosLib.AO_LOG_APRS: + case AltosLib.AO_LOG_BEEP_SETTING: + case AltosLib.AO_LOG_TRACKER_SETTING: + case AltosLib.AO_LOG_PYRO_TIME: + case AltosLib.AO_LOG_APRS_ID: + break; + case AltosLib.AO_LOG_ALTITUDE_32: + state.set_altitude_32(config_a); + break; } } @@ -161,6 +177,22 @@ public class AltosEepromHeader extends AltosEeprom { case AltosLib.AO_LOG_BARO_CRC: out.printf ("# Baro crc: %d\n", config_a); break; + case AltosLib.AO_LOG_FREQUENCY: + case AltosLib.AO_LOG_APOGEE_LOCKOUT: + case AltosLib.AO_LOG_RADIO_RATE: + case AltosLib.AO_LOG_IGNITE_MODE: + case AltosLib.AO_LOG_PAD_ORIENTATION: + case AltosLib.AO_LOG_RADIO_ENABLE: + case AltosLib.AO_LOG_AES_KEY: + case AltosLib.AO_LOG_APRS: + case AltosLib.AO_LOG_BEEP_SETTING: + case AltosLib.AO_LOG_TRACKER_SETTING: + case AltosLib.AO_LOG_PYRO_TIME: + case AltosLib.AO_LOG_APRS_ID: + break; + case AltosLib.AO_LOG_ALTITUDE_32: + out.printf("# Altitude-32: %d\n", config_a); + break; } } @@ -205,6 +237,9 @@ public class AltosEepromHeader extends AltosEeprom { } else if (tokens[0].equals("log-format")) { cmd = AltosLib.AO_LOG_LOG_FORMAT; config_a = Integer.parseInt(tokens[1]); + } else if (tokens[0].equals("altitude-32")) { + cmd = AltosLib.AO_LOG_ALTITUDE_32; + config_a = Integer.parseInt(tokens[1]); } else if (tokens[0].equals("software-version")) { cmd = AltosLib.AO_LOG_SOFTWARE_VERSION; data = tokens[1]; diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java index 5d5f3fef..adaa7f31 100644 --- a/altoslib/AltosEepromMega.java +++ b/altoslib/AltosEepromMega.java @@ -67,7 +67,7 @@ public class AltosEepromMega extends AltosEeprom { /* AO_LOG_GPS_TIME elements */ public int latitude() { return data32(0); } public int longitude() { return data32(4); } - public int altitude() { return data16(8); } + public int altitude_low() { return data16(8); } public int hour() { return data8(10); } public int minute() { return data8(11); } public int second() { return data8(12); } @@ -82,6 +82,7 @@ public class AltosEepromMega extends AltosEeprom { public int hdop() { return data8(23); } public int vdop() { return data8(24); } public int mode() { return data8(25); } + public int altitude_high() { return data16(26); } /* AO_LOG_GPS_SAT elements */ public int nsat() { return data16(0); } @@ -168,7 +169,11 @@ public class AltosEepromMega extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); gps.hour = hour(); gps.minute = minute(); @@ -187,8 +192,21 @@ public class AltosEepromMega extends AltosEeprom { gps.ground_speed = ground_speed() * 1.0e-2; gps.course = course() * 2; gps.climb_rate = climb_rate() * 1.0e-2; - gps.hdop = hdop(); - gps.vdop = vdop(); + if (state.compare_version("1.4.9") >= 0) { + gps.pdop = pdop() / 10.0; + gps.hdop = hdop() / 10.0; + gps.vdop = vdop() / 10.0; + } else { + gps.pdop = pdop() / 100.0; + if (gps.pdop < 0.8) + gps.pdop += 2.56; + gps.hdop = hdop() / 100.0; + if (gps.hdop < 0.8) + gps.hdop += 2.56; + gps.vdop = vdop() / 100.0; + if (gps.vdop < 0.8) + gps.vdop += 2.56; + } break; case AltosLib.AO_LOG_GPS_SAT: state.set_tick(tick); diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java index 24277118..d9a65989 100644 --- a/altoslib/AltosEepromMetrum2.java +++ b/altoslib/AltosEepromMetrum2.java @@ -49,7 +49,8 @@ public class AltosEepromMetrum2 extends AltosEeprom { /* AO_LOG_GPS_POS elements */ public int latitude() { return data32(0); } public int longitude() { return data32(4); } - public int altitude() { return data16(8); } + public int altitude_low() { return data16(8); } + public int altitude_high() { return data16(10); } /* AO_LOG_GPS_TIME elements */ public int hour() { return data8(0); } @@ -59,6 +60,7 @@ public class AltosEepromMetrum2 extends AltosEeprom { public int year() { return data8(4); } public int month() { return data8(5); } public int day() { return data8(6); } + public int pdop() { return data8(7); } /* AO_LOG_GPS_SAT elements */ public int nsat() { return data8(0); } @@ -117,7 +119,10 @@ public class AltosEepromMetrum2 extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); break; case AltosLib.AO_LOG_GPS_TIME: gps = state.make_temp_gps(false); @@ -136,6 +141,7 @@ public class AltosEepromMetrum2 extends AltosEeprom { gps.year = 2000 + year(); gps.month = month(); gps.day = day(); + gps.pdop = pdop() / 10.0; break; case AltosLib.AO_LOG_GPS_SAT: gps = state.make_temp_gps(true); diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java index aabcfc5b..0154e95d 100644 --- a/altoslib/AltosGPS.java +++ b/altoslib/AltosGPS.java @@ -40,10 +40,11 @@ public class AltosGPS implements Cloneable { public double ground_speed; /* m/s */ public int course; /* degrees */ public double climb_rate; /* m/s */ + public double pdop; /* unitless */ public double hdop; /* unitless */ public double vdop; /* unitless */ - public int h_error; /* m */ - public int v_error; /* m */ + public double h_error; /* m */ + public double v_error; /* m */ public AltosGPSSat[] cc_gps_sat; /* tracking data */ @@ -95,6 +96,7 @@ public class AltosGPS implements Cloneable { AltosLib.MISSING, 1/100.0); course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE, AltosLib.MISSING); + pdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_PDOP, MISSING, 1.0); hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0); vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0); h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING); @@ -268,14 +270,26 @@ public class AltosGPS implements Cloneable { cc_gps_sat[cc_gps_sat.length - 1] = sat; } - public AltosGPS() { + private void init() { lat = AltosLib.MISSING; lon = AltosLib.MISSING; alt = AltosLib.MISSING; + ground_speed = AltosLib.MISSING; + course = AltosLib.MISSING; + climb_rate = AltosLib.MISSING; + pdop = AltosLib.MISSING; + hdop = AltosLib.MISSING; + vdop = AltosLib.MISSING; + h_error = AltosLib.MISSING; + v_error = AltosLib.MISSING; ClearGPSTime(); cc_gps_sat = null; } + public AltosGPS() { + init(); + } + public AltosGPS clone() { AltosGPS g = new AltosGPS(); @@ -295,7 +309,9 @@ public class AltosGPS implements Cloneable { g.ground_speed = ground_speed; /* m/s */ g.course = course; /* degrees */ g.climb_rate = climb_rate; /* m/s */ - g.hdop = hdop; /* unitless? */ + g.pdop = pdop; /* unitless */ + g.hdop = hdop; /* unitless */ + g.vdop = vdop; /* unitless */ g.h_error = h_error; /* m */ g.v_error = v_error; /* m */ @@ -327,9 +343,11 @@ public class AltosGPS implements Cloneable { ground_speed = old.ground_speed; /* m/s */ course = old.course; /* degrees */ climb_rate = old.climb_rate; /* m/s */ + pdop = old.pdop; /* unitless? */ hdop = old.hdop; /* unitless? */ - h_error = old.h_error; /* m */ - v_error = old.v_error; /* m */ + vdop = old.vdop; /* unitless? */ + h_error = old.h_error; /* m */ + v_error = old.v_error; /* m */ if (old.cc_gps_sat != null) { cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length]; @@ -340,11 +358,7 @@ public class AltosGPS implements Cloneable { } } } else { - lat = AltosLib.MISSING; - lon = AltosLib.MISSING; - alt = AltosLib.MISSING; - ClearGPSTime(); - cc_gps_sat = null; + init(); } } diff --git a/altoslib/AltosKML.java b/altoslib/AltosKML.java index e31ddfba..e701fda3 100644 --- a/altoslib/AltosKML.java +++ b/altoslib/AltosKML.java @@ -28,18 +28,25 @@ public class AltosKML implements AltosWriter { double gps_start_altitude; static final String[] kml_state_colors = { - "FF000000", - "FF000000", - "FF000000", - "FF0000FF", - "FF4080FF", - "FF00FFFF", - "FFFF0000", - "FF00FF00", - "FF000000", - "FFFFFFFF" + "FF000000", // startup + "FF000000", // idle + "FF000000", // pad + "FF0000FF", // boost + "FF4080FF", // fast + "FF00FFFF", // coast + "FFFF0000", // drogue + "FF00FF00", // main + "FF000000", // landed + "FFFFFFFF", // invalid + "FFFF0000", // stateless }; + static String state_color(int state) { + if (state < 0 || kml_state_colors.length <= state) + return kml_state_colors[AltosLib.ao_flight_invalid]; + return kml_state_colors[state]; + } + static final String kml_header_start = "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n" + "<kml xmlns=\"http://www.opengis.net/kml/2.2\">\n" + @@ -95,7 +102,8 @@ public class AltosKML implements AltosWriter { void state_start(AltosState state) { String state_name = AltosLib.state_name(state.state); - out.printf(kml_style_start, state_name, kml_state_colors[state.state]); + String state_color = state_color(state.state); + out.printf(kml_style_start, state_name, state_color); out.printf("\tState: %s\n", state_name); out.printf("%s", kml_style_end); out.printf(kml_placemark_start, state_name, state_name); diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java index c2ec0e3b..68bdd17f 100644 --- a/altoslib/AltosLib.java +++ b/altoslib/AltosLib.java @@ -51,6 +51,20 @@ public class AltosLib { public static final int AO_LOG_SERIAL_NUMBER = 2002; public static final int AO_LOG_LOG_FORMAT = 2003; + public static final int AO_LOG_FREQUENCY = 2004; + public static final int AO_LOG_APOGEE_LOCKOUT = 2005; + public static final int AO_LOG_RADIO_RATE = 2006; + public static final int AO_LOG_IGNITE_MODE = 2007; + public static final int AO_LOG_PAD_ORIENTATION = 2008; + public static final int AO_LOG_RADIO_ENABLE = 2009; + public static final int AO_LOG_AES_KEY = 2010; + public static final int AO_LOG_APRS = 2011; + public static final int AO_LOG_BEEP_SETTING = 2012; + public static final int AO_LOG_TRACKER_SETTING = 2013; + public static final int AO_LOG_PYRO_TIME = 2014; + public static final int AO_LOG_APRS_ID = 2015; + public static final int AO_LOG_ALTITUDE_32 = 2016; + /* Added for header fields in telemega files */ public static final int AO_LOG_BARO_RESERVED = 3000; public static final int AO_LOG_BARO_SENS = 3001; @@ -215,6 +229,31 @@ public class AltosLib { telemetry)); } + private static int[] split_version(String version) { + String[] tokens = version.split("\\."); + int[] ret = new int[tokens.length]; + for (int i = 0; i < tokens.length; i++) + ret[i] = Integer.parseInt(tokens[i]); + return ret; + } + + public static int compare_version(String version_a, String version_b) { + int[] a = split_version(version_a); + int[] b = split_version(version_b); + + for (int i = 0; i < Math.min(a.length, b.length); i++) { + if (a[i] < b[i]) + return -1; + if (a[i] > b[i]) + return 1; + } + if (a.length < b.length) + return -1; + if (a.length > b.length) + return 1; + return 0; + } + private static String[] state_to_string = { "startup", "idle", diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 5e7908af..5fce15c4 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -271,6 +271,7 @@ public class AltosState implements Cloneable { public int state; public int flight; public int serial; + public int altitude_32; public int receiver_serial; public boolean landed; public boolean ascent; /* going up? */ @@ -472,15 +473,23 @@ public class AltosState implements Cloneable { pressure.set(p, time); } + public double baro_height() { + double a = altitude(); + double g = ground_altitude(); + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + return a - g; + return AltosLib.MISSING; + } + public double height() { double k = kalman_height.value(); if (k != AltosLib.MISSING) return k; - double a = altitude(); - double g = ground_altitude(); - if (a != AltosLib.MISSING && g != AltosLib.MISSING) - return a - g; + double b = baro_height(); + if (b != AltosLib.MISSING) + return b; + return gps_height(); } @@ -762,6 +771,7 @@ public class AltosState implements Cloneable { product = null; serial = AltosLib.MISSING; receiver_serial = AltosLib.MISSING; + altitude_32 = AltosLib.MISSING; baro = null; companion = null; @@ -899,6 +909,7 @@ public class AltosState implements Cloneable { product = old.product; serial = old.serial; receiver_serial = old.receiver_serial; + altitude_32 = old.altitude_32; baro = old.baro; companion = old.companion; @@ -1024,6 +1035,12 @@ public class AltosState implements Cloneable { firmware_version = version; } + public int compare_version(String other_version) { + if (firmware_version == null) + return AltosLib.MISSING; + return AltosLib.compare_version(firmware_version, other_version); + } + private void re_init() { int bt = boost_tick; int rs = receiver_serial; @@ -1060,6 +1077,15 @@ public class AltosState implements Cloneable { receiver_serial = serial; } + public boolean altitude_32() { + return altitude_32 == 1; + } + + public void set_altitude_32(int altitude_32) { + if (altitude_32 != AltosLib.MISSING) + this.altitude_32 = altitude_32; + } + public int rssi() { if (rssi == AltosLib.MISSING) return 0; diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java index 4d50a059..2f15cd89 100644 --- a/altoslib/AltosTelemetry.java +++ b/altoslib/AltosTelemetry.java @@ -114,6 +114,35 @@ public abstract class AltosTelemetry implements AltosStateUpdate { return telem; } + public static int extend_height(AltosState state, int height_16) { + double compare_height; + int height = height_16; + + System.out.printf("state kalman height %g altitude %g ground_altitude %g gps_height %g\n", + state.kalman_height.value(), state.altitude(), state.ground_altitude(), state.gps_height()); + if (state.gps != null && state.gps.alt != AltosLib.MISSING) { + compare_height = state.gps_height(); + } else { + compare_height = state.height(); + } + + if (compare_height != AltosLib.MISSING) { + int high_bits = (int) Math.floor (compare_height / 65536.0); + + height = (high_bits << 16) | (height_16 & 0xffff); + + if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height)) + height += 65536; + else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height)) + height -= 65536; + if (height != height_16) { + System.out.printf("Height adjusted from %d to %d with %g\n", + height_16, height, compare_height); + } + } + return height; + } + public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException { String[] word = line.split("\\s+"); int i =0; diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java index b7aae3c4..72a8bc4a 100644 --- a/altoslib/AltosTelemetryLegacy.java +++ b/altoslib/AltosTelemetryLegacy.java @@ -186,6 +186,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry { * g_v GPS vertical speed (integer, cm/sec) * g_s GPS horizontal speed (integer, cm/sec) * g_c GPS course (integer, 0-359) + * g_pd GPS pdop (integer * 10) * g_hd GPS hdop (integer * 10) * g_vd GPS vdop (integer * 10) * g_he GPS h error (integer) @@ -209,6 +210,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry { final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v"; final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g"; final static String AO_TELEM_GPS_COURSE = "g_c"; + final static String AO_TELEM_GPS_PDOP = "g_pd"; final static String AO_TELEM_GPS_HDOP = "g_hd"; final static String AO_TELEM_GPS_VDOP = "g_vd"; final static String AO_TELEM_GPS_HERROR = "g_he"; diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java index 32ca7608..427ae16e 100644 --- a/altoslib/AltosTelemetryLocation.java +++ b/altoslib/AltosTelemetryLocation.java @@ -37,11 +37,12 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard { int climb_rate; int course; + public static final int AO_GPS_MODE_ALTITUDE_24 = (1 << 0); /* Reports 24-bits of altitude */ + public AltosTelemetryLocation(int[] bytes) { super(bytes); flags = uint8(5); - altitude = int16(6); latitude = uint32(8); longitude = uint32(12); year = uint8(16); @@ -57,6 +58,11 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard { ground_speed = uint16(26); climb_rate = int16(28); course = uint8(30); + + if ((mode & AO_GPS_MODE_ALTITUDE_24) != 0) { + altitude = (int8(31) << 16) | uint16(6); + } else + altitude = int16(6); } public void update_state(AltosState state) { @@ -80,8 +86,9 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard { gps.ground_speed = ground_speed * 1.0e-2; gps.course = course * 2; gps.climb_rate = climb_rate * 1.0e-2; - gps.hdop = hdop; - gps.vdop = vdop; + gps.pdop = pdop / 10.0; + gps.hdop = hdop / 10.0; + gps.vdop = vdop / 10.0; } state.set_temp_gps(); } diff --git a/altoslib/AltosTelemetryMegaData.java b/altoslib/AltosTelemetryMegaData.java index 93610118..8b1869bb 100644 --- a/altoslib/AltosTelemetryMegaData.java +++ b/altoslib/AltosTelemetryMegaData.java @@ -31,7 +31,7 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard { int acceleration; int speed; - int height; + int height_16; public AltosTelemetryMegaData(int[] bytes) { super(bytes); @@ -55,7 +55,8 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard { acceleration = int16(26); speed = int16(28); - height = int16(30); + + height_16 = int16(30); } public void update_state(AltosState state) { @@ -79,7 +80,13 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard { state.set_ground_pressure(ground_pres); state.set_accel_g(accel_plus_g, accel_minus_g); - state.set_kalman(height, speed/16.0, acceleration / 16.0); + /* Fill in the high bits of height from recent GPS + * data if available, otherwise guess using the + * previous kalman height + */ + + state.set_kalman(extend_height(state, height_16), + speed/16.0, acceleration / 16.0); } } diff --git a/altoslib/AltosTelemetryMetrumSensor.java b/altoslib/AltosTelemetryMetrumSensor.java index 3e0abedc..beab6da9 100644 --- a/altoslib/AltosTelemetryMetrumSensor.java +++ b/altoslib/AltosTelemetryMetrumSensor.java @@ -27,7 +27,7 @@ public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { int acceleration; int speed; - int height; + int height_16; int v_batt; int sense_a; @@ -43,7 +43,7 @@ public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { acceleration = int16(14); speed = int16(16); - height = int16(18); + height_16 = int16(18); v_batt = int16(20); sense_a = int16(22); @@ -59,7 +59,8 @@ public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { state.set_pressure(pres); state.set_temperature(temp/100.0); - state.set_kalman(height, speed/16.0, acceleration/16.0); + state.set_kalman(extend_height(state, height_16), + speed/16.0, acceleration/16.0); state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt)); diff --git a/altoslib/AltosWriter.java b/altoslib/AltosWriter.java index 9df52250..fb208b02 100644 --- a/altoslib/AltosWriter.java +++ b/altoslib/AltosWriter.java @@ -19,8 +19,6 @@ package org.altusmetrum.altoslib_5; public interface AltosWriter { - public void write(AltosState state); - public void write(AltosStateIterable states); public void close(); diff --git a/altosui/AltosConfigUI.java b/altosui/AltosConfigUI.java index 043cb876..9fcace61 100644 --- a/altosui/AltosConfigUI.java +++ b/altosui/AltosConfigUI.java @@ -926,6 +926,9 @@ public class AltosConfigUI serial_value.setText(String.format("%d", serial)); } + public void set_altitude_32(int altitude_32) { + } + public void set_main_deploy(int new_main_deploy) { main_deploy_value.setSelectedItem(AltosConvert.height.say(new_main_deploy)); main_deploy_value.setEnabled(new_main_deploy >= 0); diff --git a/altosui/AltosConfigureUI.java b/altosui/AltosConfigureUI.java index 80d6d341..85a3f6c0 100644 --- a/altosui/AltosConfigureUI.java +++ b/altosui/AltosConfigureUI.java @@ -89,6 +89,8 @@ public class AltosConfigureUI row++; } + boolean has_bluetooth; + public void add_bluetooth() { JButton manage_bluetooth = new JButton("Manage Bluetooth"); manage_bluetooth.addActionListener(new ActionListener() { @@ -98,6 +100,7 @@ public class AltosConfigureUI }); pane.add(manage_bluetooth, constraints(0, 2)); /* in the same row as add_frequencies, so don't bump row */ + has_bluetooth = true; } public void add_frequencies() { @@ -108,7 +111,10 @@ public class AltosConfigureUI } }); manage_frequencies.setToolTipText("Configure which values are shown in frequency menus"); - pane.add(manage_frequencies, constraints(2, 1)); + if (has_bluetooth) + pane.add(manage_frequencies, constraints(2, 1)); + else + pane.add(manage_frequencies, constraints(0, 3)); row++; } diff --git a/altosui/AltosLanded.java b/altosui/AltosLanded.java index 50c1ea31..7c50adac 100644 --- a/altosui/AltosLanded.java +++ b/altosui/AltosLanded.java @@ -151,6 +151,12 @@ public class AltosLanded extends AltosUIFlightTab implements ActionListener { return "Landed"; } + public void show(AltosState state, AltosListenerState listener_state) { + super.show(state, listener_state); + if (reader.backing_file() != null) + graph.setEnabled(true); + } + public AltosLanded(AltosFlightReader in_reader) { reader = in_reader; diff --git a/altosui/Makefile.am b/altosui/Makefile.am index c79e27c0..44258fd2 100644 --- a/altosui/Makefile.am +++ b/altosui/Makefile.am @@ -104,6 +104,14 @@ MACOSX_ICONS =\ $(ICONDIR)/application-vnd.altusmetrum.eeprom.icns \ $(ICONDIR)/application-vnd.altusmetrum.telemetry.icns +LINUX_ICONS =\ + $(ICONDIR)/altusmetrum-altosui.svg \ + $(ICONDIR)/application-vnd.altusmetrum.eeprom.svg \ + $(ICONDIR)/application-vnd.altusmetrum.telemetry.svg + +LINUX_MIMETYPE =\ + $(ICONDIR)/org-altusmetrum-mimetypes.xml + # Firmware FIRMWARE_TD_0_2=$(top_srcdir)/src/teledongle-v0.2/teledongle-v0.2-$(VERSION).ihx FIRMWARE_TD=$(FIRMWARE_TD_0_2) @@ -152,7 +160,7 @@ FAT_FILES=$(FATJAR) $(ALTOSLIB_CLASS) $(ALTOSUILIB_CLASS) $(FREETTS_CLASS) $(JFR LINUX_LIBS=libaltos32.so libaltos64.so -LINUX_FILES=$(FAT_FILES) $(LINUX_LIBS) $(FIRMWARE) $(DOC) $(desktop_file).in $(ICONDIR)/altusmetrum-altosui.svg +LINUX_FILES=$(FAT_FILES) $(LINUX_LIBS) $(FIRMWARE) $(DOC) $(desktop_file).in $(LINUX_ICONS) $(LINUX_MIMETYPE) LINUX_EXTRA=altosui-fat MACOSX_INFO_PLIST=Info.plist diff --git a/altosui/linux-install.sh b/altosui/linux-install.sh index 957b1aad..2e44c2aa 100644 --- a/altosui/linux-install.sh +++ b/altosui/linux-install.sh @@ -130,6 +130,7 @@ esac # # Create the .desktop file by editing the paths # + case "$target" in /*) target_abs="$target" @@ -149,43 +150,46 @@ for infile in "$target"/AltOS/*.desktop.in; do done # -# Figure out where to install the .desktop files. If we can, write it -# to the public /usr/share/applications, otherwise, write it to the -# per-user ~/.local/share/applications +# Install the .desktop file # -public=/usr/share/applications -private=$HOME/.local/share/applications -apps="" +for desktop in "$target"/AltOS/*.desktop; do + case `id -u` in + 0) + xdg-desktop-menu install --mode system "$desktop" + ;; + *) + xdg-desktop-menu install --mode user "$desktop" + ;; + esac +done -if [ -d "$public" -a -w "$public" ]; then - apps="$public" -else - mkdir -p "$private" >/dev/null 2>&1 - if [ -d "$private" -a -w "$private" ]; then - apps="$private" - fi -fi - -case "$apps" in -"") - echo "Cannot install application icon" - finish 1 - ;; -esac +# +# Install mime type file +# + +for mimetype in "$target"/AltOS/*-mimetypes.xml; do + case `id -u` in + 0) + xdg-mime install --mode system "$mimetype" + ;; + *) + xdg-mime install --mode user "$mimetype" + ;; + esac +done -echo -n "Installing .desktop files to $apps..." +# +# Install icons +# -cp "$target"/AltOS/*.desktop "$apps" +for icon_dir in /usr/share/icons/hicolor/scalable/mimetypes "$HOME/.icons" "$HOME/.kde/share/icons"; do + if [ -w "$icon_dir" ]; then + cp "$target"/AltOS/*.svg "$icon_dir" + update-icon-caches "$icon_dir" + fi +done -case "$?" in -0) - echo " done." - ;; -*) - echo " failed." - ;; -esac # # Install icon to desktop if desired @@ -222,13 +226,14 @@ if [ -d $HOME/Desktop ]; then esac done - echo -n "Installing desktop icons..." case "$do_desktop" in - [yY]*) - for d in "$target"/AltOS/*.desktop; do - ln -f -s "$d" "$HOME/Desktop/" - done - ;; + [yY]*) + echo -n "Installing desktop icons..." + for d in "$target"/AltOS/*.desktop; do + base=`basename $d` + cp --remove-destination "$d" "$HOME/Desktop/" + done + ;; esac echo " done." diff --git a/altosuilib/AltosDeviceDialog.java b/altosuilib/AltosDeviceDialog.java index 0875bea7..d2ccd5e7 100644 --- a/altosuilib/AltosDeviceDialog.java +++ b/altosuilib/AltosDeviceDialog.java @@ -131,7 +131,8 @@ public abstract class AltosDeviceDialog extends AltosUIDialog implements ActionL buttonPane.add(cancel_button); buttonPane.add(Box.createRigidArea(new Dimension(10, 0))); - add_bluetooth(); + if (AltosUILib.has_bluetooth) + add_bluetooth(); buttonPane.add(select_button); diff --git a/altosuilib/AltosGraph.java b/altosuilib/AltosGraph.java index 292437de..522eea1e 100644 --- a/altosuilib/AltosGraph.java +++ b/altosuilib/AltosGraph.java @@ -172,6 +172,29 @@ class AltosMagUnits extends AltosUnits { } } +class AltosDopUnits extends AltosUnits { + + public double value(double p, boolean imperial_units) { + return p; + } + + public double inverse(double p, boolean imperial_units) { + return p; + } + + public String show_units(boolean imperial_units) { + return null; + } + + public String say_units(boolean imperial_units) { + return null; + } + + public int show_fraction(int width, boolean imperial_units) { + return 1; + } +} + public class AltosGraph extends AltosUIGraph { static final private Color height_color = new Color(194,31,31); @@ -191,6 +214,9 @@ public class AltosGraph extends AltosUIGraph { static final private Color gps_course_color = new Color (100, 31, 112); static final private Color gps_ground_speed_color = new Color (31, 112, 100); static final private Color gps_climb_rate_color = new Color (31, 31, 112); + static final private Color gps_pdop_color = new Color(50, 194, 0); + static final private Color gps_hdop_color = new Color(50, 0, 194); + static final private Color gps_vdop_color = new Color(194, 0, 50); static final private Color temperature_color = new Color (31, 194, 194); static final private Color dbm_color = new Color(31, 100, 100); static final private Color state_color = new Color(0,0,0); @@ -212,11 +238,12 @@ public class AltosGraph extends AltosUIGraph { static AltosGyroUnits gyro_units = new AltosGyroUnits(); static AltosOrient orient_units = new AltosOrient(); static AltosMagUnits mag_units = new AltosMagUnits(); + static AltosDopUnits dop_units = new AltosDopUnits(); AltosUIAxis height_axis, speed_axis, accel_axis, voltage_axis, temperature_axis, nsat_axis, dbm_axis; AltosUIAxis distance_axis, pressure_axis; AltosUIAxis gyro_axis, orient_axis, mag_axis; - AltosUIAxis course_axis; + AltosUIAxis course_axis, dop_axis; public AltosGraph(AltosUIEnable enable, AltosFlightStats stats, AltosGraphDataSet dataSet) { super(enable); @@ -236,6 +263,7 @@ public class AltosGraph extends AltosUIGraph { orient_axis = newAxis("Tilt Angle", orient_units, orient_color, 0); mag_axis = newAxis("Magnetic Field", mag_units, mag_x_color, 0); course_axis = newAxis("Course", orient_units, gps_course_color, 0); + dop_axis = newAxis("Dilution of Precision", dop_units, gps_pdop_color, 0); addMarker("State", AltosGraphDataPoint.data_state, state_color); @@ -325,6 +353,24 @@ public class AltosGraph extends AltosUIGraph { gps_climb_rate_color, enable_gps, speed_axis); + addSeries("GPS Position DOP", + AltosGraphDataPoint.data_gps_pdop, + dop_units, + gps_pdop_color, + false, + dop_axis); + addSeries("GPS Horizontal DOP", + AltosGraphDataPoint.data_gps_hdop, + dop_units, + gps_hdop_color, + false, + dop_axis); + addSeries("GPS Vertical DOP", + AltosGraphDataPoint.data_gps_vdop, + dop_units, + gps_vdop_color, + false, + dop_axis); } if (stats.has_rssi) addSeries("Received Signal Strength", diff --git a/altosuilib/AltosGraphDataPoint.java b/altosuilib/AltosGraphDataPoint.java index 14486abf..56dadb8b 100644 --- a/altosuilib/AltosGraphDataPoint.java +++ b/altosuilib/AltosGraphDataPoint.java @@ -53,7 +53,10 @@ public class AltosGraphDataPoint implements AltosUIDataPoint { public static final int data_gps_course = 27; public static final int data_gps_ground_speed = 28; public static final int data_gps_climb_rate = 29; - public static final int data_ignitor_0 = 30; + public static final int data_gps_pdop = 30; + public static final int data_gps_hdop = 31; + public static final int data_gps_vdop = 32; + public static final int data_ignitor_0 = 33; public static final int data_ignitor_num = 32; public static final int data_ignitor_max = data_ignitor_0 + data_ignitor_num - 1; public static final int data_ignitor_fired_0 = data_ignitor_0 + data_ignitor_num; @@ -194,6 +197,24 @@ public class AltosGraphDataPoint implements AltosUIDataPoint { else y = AltosLib.MISSING; break; + case data_gps_pdop: + if (state.gps != null) + y = state.gps.pdop; + else + y = AltosLib.MISSING; + break; + case data_gps_hdop: + if (state.gps != null) + y = state.gps.hdop; + else + y = AltosLib.MISSING; + break; + case data_gps_vdop: + if (state.gps != null) + y = state.gps.vdop; + else + y = AltosLib.MISSING; + break; default: if (data_ignitor_0 <= index && index <= data_ignitor_max) { int ignitor = index - data_ignitor_0; diff --git a/altosuilib/AltosInfoTable.java b/altosuilib/AltosInfoTable.java index ce986ac5..625fe76f 100644 --- a/altosuilib/AltosInfoTable.java +++ b/altosuilib/AltosInfoTable.java @@ -198,24 +198,28 @@ public class AltosInfoTable extends JTable implements AltosFlightDisplay, Hierar if (state.gps_height != AltosLib.MISSING) info_add_row(1, "GPS height", "%8.1f", state.gps_height); - /* The SkyTraq GPS doesn't report these values */ - /* - if (false) { - info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°", - state.gps.ground_speed, - state.gps.course); - info_add_row(1, "GPS climb rate", "%8.1f m/s", - state.gps.climb_rate); - info_add_row(1, "GPS error", "%6d m(h)%3d m(v)", - state.gps.h_error, state.gps.v_error); - } - */ - - info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop); + if (state.gps.ground_speed != AltosLib.MISSING && state.gps.course != AltosLib.MISSING) + info_add_row(1, "GPS ground speed", "%6.1f m/s %3d°", + state.gps.ground_speed, + state.gps.course); + if (state.gps.climb_rate != AltosLib.MISSING) + info_add_row(1, "GPS climb rate", "%6.1f m/s", + state.gps.climb_rate); + + if (state.gps.h_error != AltosLib.MISSING && state.gps.v_error != AltosLib.MISSING) + info_add_row(1, "GPS error", "%6d m(h)%3d m(v)", + state.gps.h_error, state.gps.v_error); + if (state.gps.pdop != AltosLib.MISSING && + state.gps.hdop != AltosLib.MISSING && + state.gps.vdop != AltosLib.MISSING) + info_add_row(1, "GPS dop", "%3.1fp/%3.1fh/%3.1fv", + state.gps.pdop, + state.gps.hdop, + state.gps.vdop); if (state.npad > 0) { if (state.from_pad != null) { - info_add_row(1, "Distance from pad", "%6d m", + info_add_row(1, "Ground pad dist", "%6d m", (int) (state.from_pad.distance + 0.5)); info_add_row(1, "Direction from pad", "%6d°", (int) (state.from_pad.bearing + 0.5)); @@ -234,12 +238,12 @@ public class AltosInfoTable extends JTable implements AltosFlightDisplay, Hierar info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt); } if (state.gps.year != AltosLib.MISSING) - info_add_row(1, "GPS date", "%04d-%02d-%02d", + info_add_row(2, "GPS date", "%04d-%02d-%02d", state.gps.year, state.gps.month, state.gps.day); if (state.gps.hour != AltosLib.MISSING) - info_add_row(1, "GPS time", " %02d:%02d:%02d", + info_add_row(2, "GPS time", " %02d:%02d:%02d", state.gps.hour, state.gps.minute, state.gps.second); diff --git a/altosuilib/AltosScanUI.java b/altosuilib/AltosScanUI.java index 7b5f2c7e..7e51a55a 100644 --- a/altosuilib/AltosScanUI.java +++ b/altosuilib/AltosScanUI.java @@ -356,10 +356,13 @@ public class AltosScanUI if (r != null) { if (device != null) { if (reader != null) { + System.out.printf("frequency %g rate %d\n", r.frequency.frequency, r.rate); reader.set_telemetry(r.telemetry); reader.set_telemetry_rate(r.rate); reader.set_frequency(r.frequency.frequency); reader.save_frequency(); + reader.save_telemetry(); + reader.save_telemetry_rate(); owner.scan_device_selected(device); } } @@ -519,7 +522,7 @@ public class AltosScanUI rate_boxes[k].addActionListener(this); rate_boxes[k].setSelected((scanning_rate & (1 << k)) != 0); } - y_offset_rate += AltosLib.ao_telemetry_rate_max; + y_offset_rate += AltosLib.ao_telemetry_rate_max + 1; } if (select_telemetry) { diff --git a/altosuilib/AltosUIAxis.java b/altosuilib/AltosUIAxis.java index 1b5b9205..9e98ddb7 100644 --- a/altosuilib/AltosUIAxis.java +++ b/altosuilib/AltosUIAxis.java @@ -48,7 +48,11 @@ public class AltosUIAxis extends NumberAxis { public final static int axis_default = axis_include_zero; public void set_units() { - setLabel(String.format("%s (%s)", label, units.show_units())); + String u = units.show_units(); + if (u != null) + setLabel(String.format("%s (%s)", label, u)); + else + setLabel(label); } public void set_enable(boolean enable) { diff --git a/altosuilib/AltosUIConfigure.java b/altosuilib/AltosUIConfigure.java index 5648d1df..9c0f3bc7 100644 --- a/altosuilib/AltosUIConfigure.java +++ b/altosuilib/AltosUIConfigure.java @@ -283,7 +283,8 @@ public class AltosUIConfigure add_look_and_feel(); add_position(); add_map_cache(); - add_bluetooth(); + if (AltosUILib.has_bluetooth) + add_bluetooth(); add_frequencies(); /* And a close button at the bottom */ diff --git a/altosuilib/AltosUIFrame.java b/altosuilib/AltosUIFrame.java index 5b915e85..2e886932 100644 --- a/altosuilib/AltosUIFrame.java +++ b/altosuilib/AltosUIFrame.java @@ -36,12 +36,12 @@ public class AltosUIFrame extends JFrame implements AltosUIListener, AltosPositi } static String[] altos_icon_names = { - "/altus-metrum-16.png", - "/altus-metrum-32.png", - "/altus-metrum-48.png", - "/altus-metrum-64.png", - "/altus-metrum-128.png", - "/altus-metrum-256.png" + "/altusmetrum-altosui-16.png", + "/altusmetrum-altosui-32.png", + "/altusmetrum-altosui-48.png", + "/altusmetrum-altosui-64.png", + "/altusmetrum-altosui-128.png", + "/altusmetrum-altosui-256.png" }; static public String[] icon_names; diff --git a/altosuilib/AltosUILib.java b/altosuilib/AltosUILib.java index 0050f12c..8fa7dfe6 100644 --- a/altosuilib/AltosUILib.java +++ b/altosuilib/AltosUILib.java @@ -80,6 +80,7 @@ public class AltosUILib extends AltosLib { static public boolean initialized = false; static public boolean loaded_library = false; + static public boolean has_bluetooth = false; static final String[] library_names = { "altos", "altos32", "altos64" }; @@ -96,6 +97,13 @@ public class AltosUILib extends AltosLib { loaded_library = false; } } + + String OS = System.getProperty("os.name"); + + if (OS.startsWith("Linux")) { + has_bluetooth = true; + } + initialized = true; } return loaded_library; diff --git a/ao-tools/lib/cc-convert.c b/ao-tools/lib/cc-convert.c index 8d6876a0..b82dd778 100644 --- a/ao-tools/lib/cc-convert.c +++ b/ao-tools/lib/cc-convert.c @@ -108,6 +108,29 @@ cc_altitude_to_pressure(double altitude) return pressure; } +double +cc_altitude_to_temperature(double altitude) +{ + + double base_temperature = LAYER0_BASE_TEMPERATURE; + double temperature; + + int layer_number; /* identifies layer in the atmosphere */ + double delta_z; /* difference between two altitudes */ + + /* calculate the base temperature for the atmospheric layer + associated with the inputted altitude */ + for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) { + delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number]; + base_temperature += delta_z * lapse_rate[layer_number]; + } + + /* calculate the pressure at the inputted altitude */ + delta_z = altitude - base_altitude[layer_number]; + temperature = base_temperature + lapse_rate[layer_number] * delta_z; + + return temperature - 273.15; +} /* outputs the altitude associated with the given pressure. the altitude returned is measured with respect to the mean sea level */ diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h index c07f8cd0..bff4b2c9 100644 --- a/ao-tools/lib/cc.h +++ b/ao-tools/lib/cc.h @@ -346,6 +346,143 @@ struct ao_log_mega { } u; }; +struct ao_log_metrum { + char type; /* 0 */ + uint8_t csum; /* 1 */ + uint16_t tick; /* 2 */ + union { /* 4 */ + /* AO_LOG_FLIGHT */ + struct { + uint16_t flight; /* 4 */ + int16_t ground_accel; /* 6 */ + uint32_t ground_pres; /* 8 */ + uint32_t ground_temp; /* 12 */ + } flight; /* 16 */ + /* AO_LOG_STATE */ + struct { + uint16_t state; /* 4 */ + uint16_t reason; /* 6 */ + } state; /* 8 */ + /* AO_LOG_SENSOR */ + struct { + uint32_t pres; /* 4 */ + uint32_t temp; /* 8 */ + int16_t accel; /* 12 */ + } sensor; /* 14 */ + /* AO_LOG_TEMP_VOLT */ + struct { + int16_t v_batt; /* 4 */ + int16_t sense_a; /* 6 */ + int16_t sense_m; /* 8 */ + } volt; /* 10 */ + /* AO_LOG_GPS_POS */ + struct { + int32_t latitude; /* 4 */ + int32_t longitude; /* 8 */ + uint16_t altitude_low; /* 12 */ + int16_t altitude_high; /* 14 */ + } gps; /* 16 */ + /* AO_LOG_GPS_TIME */ + struct { + uint8_t hour; /* 4 */ + uint8_t minute; /* 5 */ + uint8_t second; /* 6 */ + uint8_t flags; /* 7 */ + uint8_t year; /* 8 */ + uint8_t month; /* 9 */ + uint8_t day; /* 10 */ + uint8_t pdop; /* 11 */ + } gps_time; /* 12 */ + /* AO_LOG_GPS_SAT (up to three packets) */ + struct { + uint8_t channels; /* 4 */ + uint8_t more; /* 5 */ + struct { + uint8_t svid; + uint8_t c_n; + } sats[4]; /* 6 */ + } gps_sat; /* 14 */ + uint8_t raw[12]; /* 4 */ + } u; /* 16 */ +}; + +struct ao_log_mini { + char type; /* 0 */ + uint8_t csum; /* 1 */ + uint16_t tick; /* 2 */ + union { /* 4 */ + /* AO_LOG_FLIGHT */ + struct { + uint16_t flight; /* 4 */ + uint16_t r6; + uint32_t ground_pres; /* 8 */ + } flight; + /* AO_LOG_STATE */ + struct { + uint16_t state; /* 4 */ + uint16_t reason; /* 6 */ + } state; + /* AO_LOG_SENSOR */ + struct { + uint8_t pres[3]; /* 4 */ + uint8_t temp[3]; /* 7 */ + int16_t sense_a; /* 10 */ + int16_t sense_m; /* 12 */ + int16_t v_batt; /* 14 */ + } sensor; /* 16 */ + } u; /* 16 */ +}; /* 16 */ + +#define ao_log_pack24(dst,value) do { \ + (dst)[0] = (value); \ + (dst)[1] = (value) >> 8; \ + (dst)[2] = (value) >> 16; \ + } while (0) + +struct ao_log_gps { + char type; /* 0 */ + uint8_t csum; /* 1 */ + uint16_t tick; /* 2 */ + union { /* 4 */ + /* AO_LOG_FLIGHT */ + struct { + uint16_t flight; /* 4 */ + int16_t start_altitude; /* 6 */ + int32_t start_latitude; /* 8 */ + int32_t start_longitude; /* 12 */ + } flight; /* 16 */ + /* AO_LOG_GPS_TIME */ + struct { + int32_t latitude; /* 4 */ + int32_t longitude; /* 8 */ + uint16_t altitude_low; /* 12 */ + uint8_t hour; /* 14 */ + uint8_t minute; /* 15 */ + uint8_t second; /* 16 */ + uint8_t flags; /* 17 */ + uint8_t year; /* 18 */ + uint8_t month; /* 19 */ + uint8_t day; /* 20 */ + uint8_t course; /* 21 */ + uint16_t ground_speed; /* 22 */ + int16_t climb_rate; /* 24 */ + uint8_t pdop; /* 26 */ + uint8_t hdop; /* 27 */ + uint8_t vdop; /* 28 */ + uint8_t mode; /* 29 */ + int16_t altitude_high; /* 30 */ + } gps; /* 31 */ + /* AO_LOG_GPS_SAT */ + struct { + uint16_t channels; /* 4 */ + struct { + uint8_t svid; + uint8_t c_n; + } sats[12]; /* 6 */ + } gps_sat; /* 30 */ + } u; +}; + #define AO_CONFIG_CONFIG 1 #define AO_CONFIG_MAIN 2 #define AO_CONFIG_APOGEE 3 @@ -380,9 +517,30 @@ struct ao_log_mega { #define AO_LOG_GPS_ALT 'H' #define AO_LOG_GPS_SAT 'V' #define AO_LOG_GPS_DATE 'Y' +#define AO_LOG_GPS_POS 'P' #define AO_LOG_CONFIG 'c' +#define AO_GPS_NUM_SAT_MASK (0xf << 0) +#define AO_GPS_NUM_SAT_SHIFT (0) + +#define AO_GPS_VALID (1 << 4) +#define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) + +#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ +#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */ +#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */ +#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */ +#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */ +#define AO_LOG_FORMAT_TELEMEGA 5 /* 32 byte typed telemega records */ +#define AO_LOG_FORMAT_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */ +#define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */ +#define AO_LOG_FORMAT_TELEMINI 8 /* 16-byte MS5607 baro only, 3.3V supply */ +#define AO_LOG_FORMAT_TELEGPS 9 /* 32 byte telegps records */ +#define AO_LOG_FORMAT_NONE 127 /* No log at all */ + int cc_mega_parse(const char *input_line, struct ao_log_mega *l); @@ -399,6 +557,9 @@ double cc_altitude_to_pressure(double altitude); double +cc_altitude_to_temperature(double altitude); + +double cc_barometer_to_pressure(double baro); double diff --git a/configure.ac b/configure.ac index 8cc5adc1..c2b8b55c 100644 --- a/configure.ac +++ b/configure.ac @@ -18,7 +18,7 @@ dnl dnl Process this file with autoconf to create configure. AC_PREREQ(2.57) -AC_INIT([altos], 1.4.9.1) +AC_INIT([altos], 1.4.9.2) AC_CONFIG_SRCDIR([src/kernel/ao.h]) AM_INIT_AUTOMAKE([foreign dist-bzip2]) AM_MAINTAINER_MODE diff --git a/libaltos/Makefile.am b/libaltos/Makefile.am index d2531133..1db2d486 100644 --- a/libaltos/Makefile.am +++ b/libaltos/Makefile.am @@ -41,8 +41,7 @@ cjnitest64_LDADD=libaltos64.la endif - -LIBS=-lbluetooth +LIBS=-ldl HFILES=libaltos.h diff --git a/libaltos/libaltos.c b/libaltos/libaltos.c index b7ec98fc..4e3bc2c5 100644 --- a/libaltos/libaltos.c +++ b/libaltos/libaltos.c @@ -643,6 +643,49 @@ altos_list_finish(struct altos_list *usbdevs) free(usbdevs); } +#include <dlfcn.h> + +static void *libbt; +static int bt_initialized; + +static int init_bt(void) { + if (!bt_initialized) { + bt_initialized = 1; + libbt = dlopen("libbluetooth.so.3", RTLD_LAZY); + if (!libbt) + printf("failed to find bluetooth library\n"); + } + return libbt != NULL; +} + +#define join(a,b) a ## b +#define bt_func(name, ret, fail, formals, actuals) \ + static ret join(altos_, name) formals { \ + static ret (*name) formals; \ + if (!init_bt()) return fail; \ + name = dlsym(libbt, #name); \ + if (!name) return fail; \ + return name actuals; \ + } + +bt_func(ba2str, int, -1, (const bdaddr_t *ba, char *str), (ba, str)) +#define ba2str altos_ba2str + +bt_func(str2ba, int, -1, (const char *str, bdaddr_t *ba), (str, ba)) +#define str2ba altos_str2ba + +bt_func(hci_read_remote_name, int, -1, (int sock, const bdaddr_t *ba, int len, char *name, int timeout), (sock, ba, len, name, timeout)) +#define hci_read_remote_name altos_hci_read_remote_name + +bt_func(hci_open_dev, int, -1, (int dev_id), (dev_id)) +#define hci_open_dev altos_hci_open_dev + +bt_func(hci_get_route, int, -1, (bdaddr_t *bdaddr), (bdaddr)) +#define hci_get_route altos_hci_get_route + +bt_func(hci_inquiry, int, -1, (int adapter_id, int len, int max_rsp, const uint8_t *lap, inquiry_info **devs, long flags), (adapter_id, len, max_rsp, lap, devs, flags)) +#define hci_inquiry altos_hci_inquiry + struct altos_bt_list { inquiry_info *ii; int sock; @@ -706,7 +749,8 @@ altos_bt_list_next(struct altos_bt_list *bt_list, return 0; ii = &bt_list->ii[bt_list->rsp]; - ba2str(&ii->bdaddr, device->addr); + if (ba2str(&ii->bdaddr, device->addr) < 0) + return 0; memset(&device->name, '\0', sizeof (device->name)); if (hci_read_remote_name(bt_list->sock, &ii->bdaddr, sizeof (device->name), @@ -742,11 +786,17 @@ altos_bt_open(struct altos_bt_device *device) struct altos_file *file; file = calloc(1, sizeof (struct altos_file)); - if (!file) + if (!file) { + errno = ENOMEM; + altos_set_last_posix_error(); goto no_file; + } addr.rc_family = AF_BLUETOOTH; addr.rc_channel = 1; - str2ba(device->addr, &addr.rc_bdaddr); + if (str2ba(device->addr, &addr.rc_bdaddr) < 0) { + altos_set_last_posix_error(); + goto no_sock; + } for (i = 0; i < 5; i++) { file->fd = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); diff --git a/micropeak/Makefile.am b/micropeak/Makefile.am index e3b77c8a..15865606 100644 --- a/micropeak/Makefile.am +++ b/micropeak/Makefile.am @@ -82,6 +82,13 @@ MACOSX_ICONS =\ ../icon/altusmetrum-micropeak.icns \ ../icon/application-vnd.altusmetrum.micropeak.icns +LINUX_ICONS =\ + $(ICONDIR)/altusmetrum-micropeak.svg \ + $(ICONDIR)/application-vnd.altusmetrum.micropeak.svg + +LINUX_MIMETYPE =\ + $(ICONDIR)/org-altusmetrum-mimetypes.xml + desktopdir = $(datadir)/applications desktop_file = altusmetrum-micropeak.desktop desktop_SCRIPTS = $(desktop_file) @@ -114,7 +121,7 @@ DOC=$(MICROPEAK_DOC) FAT_FILES=$(FATJAR) $(ALTOSLIB_CLASS) $(ALTOSUILIB_CLASS) $(FREETTS_CLASS) $(JFREECHART_CLASS) $(JCOMMON_CLASS) -LINUX_FILES=$(FAT_FILES) libaltos.so $(FIRMWARE) $(DOC) $(desktop_file).in ../icon/altusmetrum-micropeak.svg +LINUX_FILES=$(FAT_FILES) libaltos.so $(FIRMWARE) $(DOC) $(desktop_file).in $(LINUX_ICONS) $(LINUX_MIMETYPE) LINUX_EXTRA=micropeak-fat $(desktop_file).in MACOSX_DRIVER_URL=http://www.ftdichip.com/Drivers/VCP/MacOSX/FTDIUSBSerialDriver_v2_2_18.dmg diff --git a/micropeak/MicroFrame.java b/micropeak/MicroFrame.java index f82d1c5e..8b3d49b5 100644 --- a/micropeak/MicroFrame.java +++ b/micropeak/MicroFrame.java @@ -25,12 +25,12 @@ import org.altusmetrum.altosuilib_3.*; public class MicroFrame extends AltosUIFrame { static String[] micro_icon_names = { - "/micropeak-16.png", - "/micropeak-32.png", - "/micropeak-48.png", - "/micropeak-64.png", - "/micropeak-128.png", - "/micropeak-256.png" + "/altusmetrum-micropeak-16.png", + "/altusmetrum-micropeak-32.png", + "/altusmetrum-micropeak-48.png", + "/altusmetrum-micropeak-64.png", + "/altusmetrum-micropeak-128.png", + "/altusmetrum-micropeak-256.png" }; static { set_icon_names(micro_icon_names); } diff --git a/src/Makefile b/src/Makefile index a7a26b26..3494ba62 100644 --- a/src/Makefile +++ b/src/Makefile @@ -109,7 +109,7 @@ altitude-pa.h: make-altitude-pa altitude-pa-small.h: make-altitude-pa nickle $< --sample 3 > $@ -ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c +ao_kalman.h: make-kalman kalman.5c kalman_micro.5c kalman_filter.5c load_csv.5c matrix.5c bash $< kalman > $@ ao_whiten.h: make-whiten diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index 1bc3d716..e12f813f 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -20,6 +20,8 @@ #define HAS_RADIO 1 #define DISABLE_LOG_SPACE 1 +#define AO_VALUE_32 0 +#define HAS_WIDE_GPS 0 #if defined(TELEMETRUM_V_1_0) /* Discontinued and was never built with CC1111 chips needing this */ diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c index a9047149..19beb78f 100644 --- a/src/drivers/ao_aprs.c +++ b/src/drivers/ao_aprs.c @@ -713,7 +713,7 @@ static int tncPositionPacket(void) if (ao_gps_data.flags & AO_GPS_VALID) { latitude = ao_gps_data.latitude; longitude = ao_gps_data.longitude; - altitude = ao_gps_data.altitude; + altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data); if (altitude < 0) altitude = 0; } diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c index 944a37f9..066df6ff 100644 --- a/src/drivers/ao_gps_skytraq.c +++ b/src/drivers/ao_gps_skytraq.c @@ -278,16 +278,17 @@ ao_nmea_gga(void) ao_gps_lexchar(); i = ao_gps_decimal(0xff); - if (i <= 50) { - i = (uint8_t) 5 * i; + if (i <= 25) { + i = (uint8_t) 10 * i; if (ao_gps_char == '.') - i = (i + ((uint8_t) ao_gps_decimal(1) >> 1)); + i = (i + ((uint8_t) ao_gps_decimal(1))); } else i = 255; ao_gps_next.hdop = i; ao_gps_skip_field(); - ao_gps_next.altitude = ao_gps_decimal(0xff); + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_next, ao_gps_decimal(0xff)); + ao_gps_skip_field(); /* skip any fractional portion */ ao_nmea_finish(); diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c index 077698a9..74c29e0a 100644 --- a/src/drivers/ao_gps_ublox.c +++ b/src/drivers/ao_gps_ublox.c @@ -728,7 +728,7 @@ ao_gps(void) __reentrant if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC)) ao_gps_data.flags |= AO_GPS_DATE_VALID; - ao_gps_data.altitude = nav_posllh.alt_msl / 1000; + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_posllh.alt_msl / 1000); ao_gps_data.latitude = nav_posllh.lat; ao_gps_data.longitude = nav_posllh.lon; @@ -740,11 +740,11 @@ ao_gps(void) __reentrant ao_gps_data.minute = nav_timeutc.min; ao_gps_data.second = nav_timeutc.sec; - ao_gps_data.pdop = nav_dop.pdop; - ao_gps_data.hdop = nav_dop.hdop; - ao_gps_data.vdop = nav_dop.vdop; - - /* mode is not set */ + /* we report dop scaled by 10, but ublox provides dop scaled by 100 + */ + ao_gps_data.pdop = nav_dop.pdop / 10; + ao_gps_data.hdop = nav_dop.hdop / 10; + ao_gps_data.vdop = nav_dop.vdop / 10; ao_gps_data.ground_speed = nav_velned.g_speed; ao_gps_data.climb_rate = -nav_velned.vel_d; diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c index 9e642836..32c00068 100644 --- a/src/drivers/ao_lco_func.c +++ b/src/drivers/ao_lco_func.c @@ -28,7 +28,21 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset) { int8_t r; uint16_t sent_time; + uint16_t timeout = AO_MS_TO_TICKS(10); +#if HAS_RADIO_RATE + switch (ao_config.radio_rate) { + case AO_RADIO_RATE_38400: + default: + break; + case AO_RADIO_RATE_9600: + timeout = AO_MS_TO_TICKS(20); + break; + case AO_RADIO_RATE_2400: + timeout = AO_MS_TO_TICKS(80); + break; + } +#endif ao_mutex_get(&ao_lco_mutex); command.tick = ao_time() - *tick_offset; command.box = box; @@ -36,7 +50,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset) command.channels = 0; ao_radio_cmac_send(&command, sizeof (command)); sent_time = ao_time(); - r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(10)); + r = ao_radio_cmac_recv(query, sizeof (*query), timeout); if (r == AO_RADIO_CMAC_OK) *tick_offset = sent_time - query->tick; ao_mutex_put(&ao_lco_mutex); diff --git a/src/kalman/kalman.5c b/src/kalman/kalman.5c index 46fa8e1f..55fde04c 100755 --- a/src/kalman/kalman.5c +++ b/src/kalman/kalman.5c @@ -457,7 +457,7 @@ void main() { name = sprintf("%s_K%d_%d", prefix, i, time_inc); else name = sprintf("%s_K%d%d_%d", prefix, i, j, time_inc); - printf ("#define %s to_fix32(%12.10f)\n", name, k[i,j]); + printf ("#define %s to_fix_k(%12.10f)\n", name, k[i,j]); } printf ("\n"); exit(0); diff --git a/src/kalman/kalman_micro.5c b/src/kalman/kalman_micro.5c index 266a1182..1b080384 100644 --- a/src/kalman/kalman_micro.5c +++ b/src/kalman/kalman_micro.5c @@ -307,7 +307,7 @@ void main() { name = sprintf("%s_K%d_%d", prefix, i, time_inc); else name = sprintf("%s_K%d%d_%d", prefix, i, j, time_inc); - printf ("#define %s to_fix32(%12.10f)\n", name, k[i,j]); + printf ("#define %s to_fix_k(%12.10f)\n", name, k[i,j]); } printf ("\n"); exit(0); diff --git a/src/kernel/ao.h b/src/kernel/ao.h index a225bc4a..ad5bbf8e 100644 --- a/src/kernel/ao.h +++ b/src/kernel/ao.h @@ -278,15 +278,17 @@ ao_report_init(void); * Given raw data, convert to SI units */ +#if HAS_BARO /* pressure from the sensor to altitude in meters */ -int16_t -ao_pres_to_altitude(int16_t pres) __reentrant; +alt_t +ao_pres_to_altitude(pres_t pres) __reentrant; -int16_t -ao_altitude_to_pres(int16_t alt) __reentrant; +pres_t +ao_altitude_to_pres(alt_t alt) __reentrant; int16_t ao_temp_to_dC(int16_t temp) __reentrant; +#endif /* * ao_convert_pa.c @@ -296,11 +298,13 @@ ao_temp_to_dC(int16_t temp) __reentrant; #include <ao_data.h> +#if HAS_BARO alt_t -ao_pa_to_altitude(int32_t pa); +ao_pa_to_altitude(pres_t pa); int32_t ao_altitude_to_pa(alt_t alt); +#endif #if HAS_DBG #include <ao_dbg.h> diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c index 0052bdce..d2f583ef 100644 --- a/src/kernel/ao_cmd.c +++ b/src/kernel/ao_cmd.c @@ -290,6 +290,9 @@ version(void) #if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND) "program-space %u\n" #endif +#if AO_VALUE_32 + "altitude-32 1\n" +#endif , ao_manufacturer , ao_product , ao_serial_number diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index 32a0967c..d73a3733 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -518,6 +518,9 @@ ao_config_radio_rate_set(void) __reentrant ao_telemetry_reset_interval(); #endif _ao_config_edit_finish(); +#if HAS_RADIO_RECV + ao_radio_recv_abort(); +#endif } #endif diff --git a/src/kernel/ao_convert.c b/src/kernel/ao_convert.c index aa9b5f48..db1f2301 100644 --- a/src/kernel/ao_convert.c +++ b/src/kernel/ao_convert.c @@ -19,14 +19,16 @@ #include "ao.h" #endif -static const int16_t altitude_table[] = { +#include <ao_sample.h> + +static const ao_v_t altitude_table[] = { #include "altitude.h" }; #define ALT_FRAC_SCALE (1 << ALT_FRAC_BITS) #define ALT_FRAC_MASK (ALT_FRAC_SCALE - 1) -int16_t +ao_v_t ao_pres_to_altitude(int16_t pres) __reentrant { uint8_t o; @@ -43,9 +45,9 @@ ao_pres_to_altitude(int16_t pres) __reentrant #if AO_NEED_ALTITUDE_TO_PRES int16_t -ao_altitude_to_pres(int16_t alt) __reentrant +ao_altitude_to_pres(ao_v_t alt) __reentrant { - int16_t span, sub_span; + ao_v_t span, sub_span; uint8_t l, h, m; int32_t pres; diff --git a/src/kernel/ao_convert_pa.c b/src/kernel/ao_convert_pa.c index 20162c1f..410815b6 100644 --- a/src/kernel/ao_convert_pa.c +++ b/src/kernel/ao_convert_pa.c @@ -39,11 +39,11 @@ static const alt_t altitude_table[] AO_CONST_ATTRIB = { #define ALT_MASK (ALT_SCALE - 1) alt_t -ao_pa_to_altitude(int32_t pa) +ao_pa_to_altitude(pres_t pa) { int16_t o; int16_t part; - int32_t low, high; + alt_t low, high; if (pa < 0) pa = 0; @@ -52,16 +52,16 @@ ao_pa_to_altitude(int32_t pa) o = pa >> ALT_SHIFT; part = pa & ALT_MASK; - low = (int32_t) FETCH_ALT(o) * (ALT_SCALE - part); - high = (int32_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1); + low = (alt_t) FETCH_ALT(o) * (ALT_SCALE - part); + high = (alt_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1); return (low + high) >> ALT_SHIFT; } #ifdef AO_CONVERT_TEST -int32_t -ao_altitude_to_pa(int32_t alt) +pres_t +ao_altitude_to_pa(alt_t alt) { - int32_t span, sub_span; + alt_t span, sub_span; uint16_t l, h, m; int32_t pa; @@ -76,7 +76,7 @@ ao_altitude_to_pa(int32_t alt) } span = altitude_table[l] - altitude_table[h]; sub_span = altitude_table[l] - alt; - pa = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_SHIFT) + (span >> 1)) / span; + pa = ((((alt_t) l * (span - sub_span) + (alt_t) h * sub_span) << ALT_SHIFT) + (span >> 1)) / span; if (pa > 120000) pa = 120000; if (pa < 0) diff --git a/src/kernel/ao_convert_pa_test.c b/src/kernel/ao_convert_pa_test.c index 7d5b1922..95422862 100644 --- a/src/kernel/ao_convert_pa_test.c +++ b/src/kernel/ao_convert_pa_test.c @@ -18,6 +18,7 @@ #include <stdint.h> #define AO_CONVERT_TEST typedef int32_t alt_t; +typedef int32_t pres_t; #include "ao_host.h" #include "ao_convert_pa.c" diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index c4b062fd..8f75ad87 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -117,9 +117,7 @@ extern volatile __data uint8_t ao_data_count; typedef int32_t pres_t; -#ifndef AO_ALT_TYPE #define AO_ALT_TYPE int32_t -#endif typedef AO_ALT_TYPE alt_t; @@ -146,10 +144,6 @@ typedef int16_t alt_t; #endif -#if !HAS_BARO -typedef int16_t alt_t; -#endif - /* * Need a few macros to pull data from the sensors: * diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index 2b433ee9..251dbc02 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -60,10 +60,10 @@ __xdata uint8_t ao_sensor_errors; * resting */ static __data uint16_t ao_interval_end; -static __data int16_t ao_interval_min_height; -static __data int16_t ao_interval_max_height; +static __data ao_v_t ao_interval_min_height; +static __data ao_v_t ao_interval_max_height; #if HAS_ACCEL -static __data int16_t ao_coast_avg_accel; +static __data ao_v_t ao_coast_avg_accel; #endif __pdata uint8_t ao_flight_force_idle; @@ -398,14 +398,14 @@ ao_flight(void) } #if HAS_FLIGHT_DEBUG -static inline int int_part(int16_t i) { return i >> 4; } -static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; } +static inline int int_part(ao_v_t i) { return i >> 4; } +static inline int frac_part(ao_v_t i) { return ((i & 0xf) * 100 + 8) / 16; } static void ao_flight_dump(void) { #if HAS_ACCEL - int16_t accel; + ao_v_t accel; accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16; #endif diff --git a/src/kernel/ao_gps_print.c b/src/kernel/ao_gps_print.c index 47c945d7..d26021da 100644 --- a/src/kernel/ao_gps_print.c +++ b/src/kernel/ao_gps_print.c @@ -20,6 +20,10 @@ #endif #include "ao_telem.h" +#ifndef AO_TELEMETRY_LOCATION_ALTITUDE +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((l)->altitude) +#endif + void ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant { @@ -42,7 +46,7 @@ ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant AO_TELEM_GPS_ALTITUDE " %d ", (long) gps_data->latitude, (long) gps_data->longitude, - gps_data->altitude); + AO_TELEMETRY_LOCATION_ALTITUDE(gps_data)); if (gps_data->flags & AO_GPS_DATE_VALID) printf(AO_TELEM_GPS_YEAR " %d " diff --git a/src/kernel/ao_gps_report.c b/src/kernel/ao_gps_report.c index 07201ac2..7ef98a97 100644 --- a/src/kernel/ao_gps_report.c +++ b/src/kernel/ao_gps_report.c @@ -52,8 +52,12 @@ ao_gps_report(void) gps_log.u.gps_longitude = gps_data.longitude; ao_log_data(&gps_log); gps_log.type = AO_LOG_GPS_ALT; - gps_log.u.gps_altitude.altitude = gps_data.altitude; - gps_log.u.gps_altitude.unused = 0xffff; + gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low; +#if HAS_WIDE_GPS + gps_log.u.gps_altitude.altitude_high = gps_data.altitude_high; +#else + gps_log.u.gps_altitude.altitude_high = 0xffff; +#endif ao_log_data(&gps_log); if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) { gps_log.type = AO_LOG_GPS_DATE; diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c index cb0c0fd9..f3711fb1 100644 --- a/src/kernel/ao_gps_report_mega.c +++ b/src/kernel/ao_gps_report_mega.c @@ -78,7 +78,8 @@ ao_gps_report_mega(void) #if GPS_SPARSE_LOG /* Don't log data if GPS has a fix and hasn't moved for a while */ if ((gps_data.flags & AO_GPS_VALID) && - !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, gps_data.altitude)) + !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, + AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data)) continue; #endif if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) { @@ -87,8 +88,8 @@ ao_gps_report_mega(void) gps_log.type = AO_LOG_GPS_TIME; gps_log.u.gps.latitude = gps_data.latitude; gps_log.u.gps.longitude = gps_data.longitude; - gps_log.u.gps.altitude = gps_data.altitude; - + gps_log.u.gps.altitude_low = gps_data.altitude_low; + gps_log.u.gps.altitude_high = gps_data.altitude_high; gps_log.u.gps.hour = gps_data.hour; gps_log.u.gps.minute = gps_data.minute; gps_log.u.gps.second = gps_data.second; diff --git a/src/kernel/ao_gps_report_metrum.c b/src/kernel/ao_gps_report_metrum.c index 696a833b..8ce074fe 100644 --- a/src/kernel/ao_gps_report_metrum.c +++ b/src/kernel/ao_gps_report_metrum.c @@ -44,7 +44,8 @@ ao_gps_report_metrum(void) gps_log.type = AO_LOG_GPS_POS; gps_log.u.gps.latitude = gps_data.latitude; gps_log.u.gps.longitude = gps_data.longitude; - gps_log.u.gps.altitude = gps_data.altitude; + gps_log.u.gps.altitude_low = gps_data.altitude_low; + gps_log.u.gps.altitude_high = gps_data.altitude_high; ao_log_metrum(&gps_log); gps_log.type = AO_LOG_GPS_TIME; @@ -55,6 +56,7 @@ ao_gps_report_metrum(void) gps_log.u.gps_time.year = gps_data.year; gps_log.u.gps_time.month = gps_data.month; gps_log.u.gps_time.day = gps_data.day; + gps_log.u.gps_time.pdop = gps_data.pdop; ao_log_metrum(&gps_log); } diff --git a/src/kernel/ao_gps_show.c b/src/kernel/ao_gps_show.c index 3a05e35a..e45cd795 100644 --- a/src/kernel/ao_gps_show.c +++ b/src/kernel/ao_gps_show.c @@ -19,6 +19,8 @@ #include <ao.h> #endif +#include <ao_data.h> + void ao_gps_show(void) __reentrant { @@ -27,7 +29,11 @@ ao_gps_show(void) __reentrant printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day); printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second); printf ("Lat/Lon: %ld %ld\n", (long) ao_gps_data.latitude, (long) ao_gps_data.longitude); - printf ("Alt: %d\n", ao_gps_data.altitude); +#if HAS_WIDE_GPS + printf ("Alt: %ld\n", (long) AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data)); +#else + printf ("Alt: %d\n", AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data)); +#endif printf ("Flags: 0x%x\n", ao_gps_data.flags); printf ("Sats: %d", ao_gps_tracking_data.channels); for (i = 0; i < ao_gps_tracking_data.channels; i++) diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c index 9aea1f14..7b0f8145 100644 --- a/src/kernel/ao_kalman.c +++ b/src/kernel/ao_kalman.c @@ -23,32 +23,31 @@ #include "ao_sample.h" #include "ao_kalman.h" +static __pdata ao_k_t ao_k_height; +static __pdata ao_k_t ao_k_speed; +static __pdata ao_k_t ao_k_accel; -static __pdata int32_t ao_k_height; -static __pdata int32_t ao_k_speed; -static __pdata int32_t ao_k_accel; +#define AO_K_STEP_100 to_fix_v(0.01) +#define AO_K_STEP_2_2_100 to_fix_v(0.00005) -#define AO_K_STEP_100 to_fix16(0.01) -#define AO_K_STEP_2_2_100 to_fix16(0.00005) +#define AO_K_STEP_10 to_fix_v(0.1) +#define AO_K_STEP_2_2_10 to_fix_v(0.005) -#define AO_K_STEP_10 to_fix16(0.1) -#define AO_K_STEP_2_2_10 to_fix16(0.005) +#define AO_K_STEP_1 to_fix_v(1) +#define AO_K_STEP_2_2_1 to_fix_v(0.5) -#define AO_K_STEP_1 to_fix16(1) -#define AO_K_STEP_2_2_1 to_fix16(0.5) +__pdata ao_v_t ao_height; +__pdata ao_v_t ao_speed; +__pdata ao_v_t ao_accel; +__xdata ao_v_t ao_max_height; +static __pdata ao_k_t ao_avg_height_scaled; +__xdata ao_v_t ao_avg_height; -__pdata int16_t ao_height; -__pdata int16_t ao_speed; -__pdata int16_t ao_accel; -__xdata int16_t ao_max_height; -static __pdata int32_t ao_avg_height_scaled; -__xdata int16_t ao_avg_height; - -__pdata int16_t ao_error_h; -__pdata int16_t ao_error_h_sq_avg; +__pdata ao_v_t ao_error_h; +__pdata ao_v_t ao_error_h_sq_avg; #if HAS_ACCEL -__pdata int16_t ao_error_a; +__pdata ao_v_t ao_error_a; #endif static void @@ -56,40 +55,40 @@ ao_kalman_predict(void) { #ifdef AO_FLIGHT_TEST if (ao_sample_tick - ao_sample_prev_tick > 50) { - ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 + - (int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4; - ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1; + ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 + + (ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4; + ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1; return; } if (ao_sample_tick - ao_sample_prev_tick > 5) { - ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 + - (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4; - ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10; + ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 + + (ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4; + ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10; return; } if (ao_flight_debug) { printf ("predict speed %g + (%g * %g) = %g\n", ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0, - (ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0)); + (ao_k_speed + (ao_k_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0)); } #endif - ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 + - (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4; - ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100; + ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_100 + + (ao_k_t) ao_accel * AO_K_STEP_2_2_100) >> 4; + ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100; } static void ao_kalman_err_height(void) { - int16_t e; - int16_t height_distrust; + ao_v_t e; + ao_v_t height_distrust; #if HAS_ACCEL - int16_t speed_distrust; + ao_v_t speed_distrust; #endif - ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16); + ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16); e = ao_error_h; if (e < 0) @@ -123,7 +122,7 @@ ao_kalman_err_height(void) #endif if (height_distrust > 0x100) height_distrust = 0x100; - ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8); + ao_error_h = (ao_v_t) (((ao_k_t) ao_error_h * (0x100 - height_distrust)) >> 8); #ifdef AO_FLIGHT_TEST if (ao_flight_debug) { printf("over height %g over speed %g distrust: %g height: error %d -> %d\n", @@ -142,21 +141,21 @@ ao_kalman_correct_baro(void) ao_kalman_err_height(); #ifdef AO_FLIGHT_TEST if (ao_sample_tick - ao_sample_prev_tick > 50) { - ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h; - ao_k_speed += (int32_t) AO_BARO_K1_1 * ao_error_h; - ao_k_accel += (int32_t) AO_BARO_K2_1 * ao_error_h; + ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h; + ao_k_speed += (ao_k_t) AO_BARO_K1_1 * ao_error_h; + ao_k_accel += (ao_k_t) AO_BARO_K2_1 * ao_error_h; return; } if (ao_sample_tick - ao_sample_prev_tick > 5) { - ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h; - ao_k_speed += (int32_t) AO_BARO_K1_10 * ao_error_h; - ao_k_accel += (int32_t) AO_BARO_K2_10 * ao_error_h; + ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h; + ao_k_speed += (ao_k_t) AO_BARO_K1_10 * ao_error_h; + ao_k_accel += (ao_k_t) AO_BARO_K2_10 * ao_error_h; return; } #endif - ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h; - ao_k_speed += (int32_t) AO_BARO_K1_100 * ao_error_h; - ao_k_accel += (int32_t) AO_BARO_K2_100 * ao_error_h; + ao_k_height += (ao_k_t) AO_BARO_K0_100 * ao_error_h; + ao_k_speed += (ao_k_t) AO_BARO_K1_100 * ao_error_h; + ao_k_accel += (ao_k_t) AO_BARO_K2_100 * ao_error_h; } #if HAS_ACCEL @@ -164,7 +163,7 @@ ao_kalman_correct_baro(void) static void ao_kalman_err_accel(void) { - int32_t accel; + ao_k_t accel; accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale; @@ -187,18 +186,18 @@ ao_kalman_correct_both(void) (double) ao_error_h, AO_BOTH_K10_1 / 65536.0, (double) ao_error_a, AO_BOTH_K11_1 / 65536.0, (ao_k_speed + - (int32_t) AO_BOTH_K10_1 * ao_error_h + - (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0)); + (ao_k_t) AO_BOTH_K10_1 * ao_error_h + + (ao_k_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0)); } ao_k_height += - (int32_t) AO_BOTH_K00_1 * ao_error_h + - (int32_t) AO_BOTH_K01_1 * ao_error_a; + (ao_k_t) AO_BOTH_K00_1 * ao_error_h + + (ao_k_t) AO_BOTH_K01_1 * ao_error_a; ao_k_speed += - (int32_t) AO_BOTH_K10_1 * ao_error_h + - (int32_t) AO_BOTH_K11_1 * ao_error_a; + (ao_k_t) AO_BOTH_K10_1 * ao_error_h + + (ao_k_t) AO_BOTH_K11_1 * ao_error_a; ao_k_accel += - (int32_t) AO_BOTH_K20_1 * ao_error_h + - (int32_t) AO_BOTH_K21_1 * ao_error_a; + (ao_k_t) AO_BOTH_K20_1 * ao_error_h + + (ao_k_t) AO_BOTH_K21_1 * ao_error_a; return; } if (ao_sample_tick - ao_sample_prev_tick > 5) { @@ -208,18 +207,18 @@ ao_kalman_correct_both(void) (double) ao_error_h, AO_BOTH_K10_10 / 65536.0, (double) ao_error_a, AO_BOTH_K11_10 / 65536.0, (ao_k_speed + - (int32_t) AO_BOTH_K10_10 * ao_error_h + - (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0)); + (ao_k_t) AO_BOTH_K10_10 * ao_error_h + + (ao_k_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0)); } ao_k_height += - (int32_t) AO_BOTH_K00_10 * ao_error_h + - (int32_t) AO_BOTH_K01_10 * ao_error_a; + (ao_k_t) AO_BOTH_K00_10 * ao_error_h + + (ao_k_t) AO_BOTH_K01_10 * ao_error_a; ao_k_speed += - (int32_t) AO_BOTH_K10_10 * ao_error_h + - (int32_t) AO_BOTH_K11_10 * ao_error_a; + (ao_k_t) AO_BOTH_K10_10 * ao_error_h + + (ao_k_t) AO_BOTH_K11_10 * ao_error_a; ao_k_accel += - (int32_t) AO_BOTH_K20_10 * ao_error_h + - (int32_t) AO_BOTH_K21_10 * ao_error_a; + (ao_k_t) AO_BOTH_K20_10 * ao_error_h + + (ao_k_t) AO_BOTH_K21_10 * ao_error_a; return; } if (ao_flight_debug) { @@ -228,19 +227,19 @@ ao_kalman_correct_both(void) (double) ao_error_h, AO_BOTH_K10_100 / 65536.0, (double) ao_error_a, AO_BOTH_K11_100 / 65536.0, (ao_k_speed + - (int32_t) AO_BOTH_K10_100 * ao_error_h + - (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0)); + (ao_k_t) AO_BOTH_K10_100 * ao_error_h + + (ao_k_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0)); } #endif ao_k_height += - (int32_t) AO_BOTH_K00_100 * ao_error_h + - (int32_t) AO_BOTH_K01_100 * ao_error_a; + (ao_k_t) AO_BOTH_K00_100 * ao_error_h + + (ao_k_t) AO_BOTH_K01_100 * ao_error_a; ao_k_speed += - (int32_t) AO_BOTH_K10_100 * ao_error_h + - (int32_t) AO_BOTH_K11_100 * ao_error_a; + (ao_k_t) AO_BOTH_K10_100 * ao_error_h + + (ao_k_t) AO_BOTH_K11_100 * ao_error_a; ao_k_accel += - (int32_t) AO_BOTH_K20_100 * ao_error_h + - (int32_t) AO_BOTH_K21_100 * ao_error_a; + (ao_k_t) AO_BOTH_K20_100 * ao_error_h + + (ao_k_t) AO_BOTH_K21_100 * ao_error_a; } #else @@ -251,14 +250,14 @@ ao_kalman_correct_accel(void) ao_kalman_err_accel(); if (ao_sample_tick - ao_sample_prev_tick > 5) { - ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a; - ao_k_speed += (int32_t) AO_ACCEL_K1_10 * ao_error_a; - ao_k_accel += (int32_t) AO_ACCEL_K2_10 * ao_error_a; + ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a; + ao_k_speed += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a; + ao_k_accel += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a; return; } - ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a; - ao_k_speed += (int32_t) AO_ACCEL_K1_100 * ao_error_a; - ao_k_accel += (int32_t) AO_ACCEL_K2_100 * ao_error_a; + ao_k_height += (ao_k_t) AO_ACCEL_K0_100 * ao_error_a; + ao_k_speed += (ao_k_t) AO_ACCEL_K1_100 * ao_error_a; + ao_k_accel += (ao_k_t) AO_ACCEL_K2_100 * ao_error_a; } #endif /* else FORCE_ACCEL */ diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h index 33cda3eb..da20e067 100644 --- a/src/kernel/ao_log.h +++ b/src/kernel/ao_log.h @@ -176,8 +176,8 @@ struct ao_log_record { int32_t gps_latitude; int32_t gps_longitude; struct { - int16_t altitude; - uint16_t unused; + uint16_t altitude_low; + int16_t altitude_high; } gps_altitude; struct { uint16_t svid; @@ -246,7 +246,7 @@ struct ao_log_mega { struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ - int16_t altitude; /* 12 */ + uint16_t altitude_low; /* 12 */ uint8_t hour; /* 14 */ uint8_t minute; /* 15 */ uint8_t second; /* 16 */ @@ -261,7 +261,8 @@ struct ao_log_mega { uint8_t hdop; /* 27 */ uint8_t vdop; /* 28 */ uint8_t mode; /* 29 */ - } gps; /* 30 */ + int16_t altitude_high; /* 30 */ + } gps; /* 32 */ /* AO_LOG_GPS_SAT */ struct { uint16_t channels; /* 4 */ @@ -273,6 +274,11 @@ struct ao_log_mega { } u; }; +#define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low)) +#define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \ + ((l)->u.gps.altitude_high = (a) >> 16), \ + (l)->u.gps.altitude_low = (a)) + struct ao_log_metrum { char type; /* 0 */ uint8_t csum; /* 1 */ @@ -306,8 +312,9 @@ struct ao_log_metrum { struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ - int16_t altitude; /* 12 */ - } gps; /* 14 */ + uint16_t altitude_low; /* 12 */ + int16_t altitude_high; /* 14 */ + } gps; /* 16 */ /* AO_LOG_GPS_TIME */ struct { uint8_t hour; /* 4 */ @@ -317,7 +324,7 @@ struct ao_log_metrum { uint8_t year; /* 8 */ uint8_t month; /* 9 */ uint8_t day; /* 10 */ - uint8_t pad; /* 11 */ + uint8_t pdop; /* 11 */ } gps_time; /* 12 */ /* AO_LOG_GPS_SAT (up to three packets) */ struct { @@ -381,7 +388,7 @@ struct ao_log_gps { struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ - int16_t altitude; /* 12 */ + uint16_t altitude_low; /* 12 */ uint8_t hour; /* 14 */ uint8_t minute; /* 15 */ uint8_t second; /* 16 */ @@ -396,7 +403,7 @@ struct ao_log_gps { uint8_t hdop; /* 27 */ uint8_t vdop; /* 28 */ uint8_t mode; /* 29 */ - uint8_t state; /* 30 */ + int16_t altitude_high; /* 30 */ } gps; /* 31 */ /* AO_LOG_GPS_SAT */ struct { diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c index 3b728c25..a5a6358b 100644 --- a/src/kernel/ao_log_gps.c +++ b/src/kernel/ao_log_gps.c @@ -75,7 +75,8 @@ ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data) log.type = AO_LOG_GPS_TIME; log.u.gps.latitude = gps_data->latitude; log.u.gps.longitude = gps_data->longitude; - log.u.gps.altitude = gps_data->altitude; + log.u.gps.altitude_low = gps_data->altitude_low; + log.u.gps.altitude_high = gps_data->altitude_high; log.u.gps.hour = gps_data->hour; log.u.gps.minute = gps_data->minute; diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h index 5851f4d1..a9e8c831 100644 --- a/src/kernel/ao_log_gps.h +++ b/src/kernel/ao_log_gps.h @@ -21,9 +21,6 @@ #ifndef _AO_LOG_GPS_H_ #define _AO_LOG_GPS_H_ -uint8_t -ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt); - void ao_log_gps_flight(void); diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c index 0684ea2b..75a29cc4 100644 --- a/src/kernel/ao_microkalman.c +++ b/src/kernel/ao_microkalman.c @@ -22,19 +22,19 @@ #define FIX_BITS 16 -#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) -#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define to_fix_v(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix_k(x) ((int32_t) ((x) * 65536.0 + 0.5)) #define from_fix8(x) ((x) >> 8) #define from_fix(x) ((x) >> 16) -#define fix8_to_fix16(x) ((x) << 8) +#define fix8_to_fix_v(x) ((x) << 8) #define fix16_to_fix8(x) ((x) >> 8) #include <ao_kalman.h> /* Basic time step (96ms) */ -#define AO_MK_STEP to_fix16(0.096) +#define AO_MK_STEP to_fix_v(0.096) /* step ** 2 / 2 */ -#define AO_MK_STEP_2_2 to_fix16(0.004608) +#define AO_MK_STEP_2_2 to_fix_v(0.004608) uint32_t ao_k_pa; /* 24.8 fixed point */ int32_t ao_k_pa_speed; /* 16.16 fixed point */ @@ -49,7 +49,7 @@ ao_microkalman_init(void) { ao_pa = pa; ao_k_pa = pa << 8; -} +} void ao_microkalman_predict(void) diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c index 34658951..29bf2bf6 100644 --- a/src/kernel/ao_sample.c +++ b/src/kernel/ao_sample.c @@ -245,7 +245,7 @@ ao_sample_preflight(void) } else { #if HAS_ACCEL ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g; - ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g; + ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g; #endif ao_sample_preflight_set(); ao_preflight = FALSE; diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h index 16d4c507..2ec998bd 100644 --- a/src/kernel/ao_sample.h +++ b/src/kernel/ao_sample.h @@ -24,6 +24,24 @@ * ao_sample.c */ +#ifndef AO_VALUE_32 +#define AO_VALUE_32 1 +#endif + +#if AO_VALUE_32 +/* + * For 32-bit computed values, use 64-bit intermediates. + */ +typedef int64_t ao_k_t; +typedef int32_t ao_v_t; +#else +/* + * For 16-bit computed values, use 32-bit intermediates. + */ +typedef int32_t ao_k_t; +typedef int16_t ao_v_t; +#endif + /* * Barometer calibration * @@ -87,9 +105,9 @@ * 2047m/s² (over 200g) */ -#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)) +#define AO_M_TO_HEIGHT(m) ((ao_v_t) (m)) +#define AO_MS_TO_SPEED(ms) ((ao_v_t) ((ms) * 16)) +#define AO_MSS_TO_ACCEL(mss) ((ao_v_t) ((mss) * 16)) extern __pdata uint16_t ao_sample_tick; /* time of last data */ extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ @@ -134,21 +152,33 @@ uint8_t ao_sample(void); * ao_kalman.c */ -#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) -#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define to_fix_16(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix_32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define to_fix_64(x) ((int64_t) ((x) * 65536.0 + 0.5)) + +#ifdef AO_VALUE_32 +#if AO_VALUE_32 +#define to_fix_v(x) to_fix_32(x) +#define to_fix_k(x) to_fix_64(x) +#else +#define to_fix_v(x) to_fix_16(x) +#define to_fix_k(x) to_fix_32(x) +#endif + #define from_fix(x) ((x) >> 16) -extern __pdata int16_t ao_height; /* meters */ -extern __pdata int16_t ao_speed; /* m/s * 16 */ -extern __pdata int16_t ao_accel; /* m/s² * 16 */ -extern __xdata int16_t ao_max_height; /* max of ao_height */ -extern __xdata int16_t ao_avg_height; /* running average of height */ +extern __pdata ao_v_t ao_height; /* meters */ +extern __pdata ao_v_t ao_speed; /* m/s * 16 */ +extern __pdata ao_v_t ao_accel; /* m/s² * 16 */ +extern __xdata ao_v_t ao_max_height; /* max of ao_height */ +extern __xdata ao_v_t ao_avg_height; /* running average of height */ -extern __pdata int16_t ao_error_h; -extern __pdata int16_t ao_error_h_sq_avg; +extern __pdata ao_v_t ao_error_h; +extern __pdata ao_v_t ao_error_h_sq_avg; #if HAS_ACCEL -extern __pdata int16_t ao_error_a; +extern __pdata ao_v_t ao_error_a; +#endif #endif void ao_kalman(void); diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index d321c8ff..56bd715e 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -344,7 +344,7 @@ ao_send_location(void) ao_mutex_get(&ao_gps_mutex); ao_xmemcpy(&telemetry.location.flags, &ao_gps_data.flags, - 26); + 27); telemetry.location.tick = ao_gps_tick; ao_mutex_put(&ao_gps_mutex); ao_radio_send(&telemetry, sizeof (telemetry)); diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h index be7d0340..83d432cf 100644 --- a/src/kernel/ao_telemetry.h +++ b/src/kernel/ao_telemetry.h @@ -86,12 +86,9 @@ struct ao_telemetry_configuration { #define AO_TELEMETRY_LOCATION 0x05 -#define AO_GPS_MODE_NOT_VALID 'N' -#define AO_GPS_MODE_AUTONOMOUS 'A' -#define AO_GPS_MODE_DIFFERENTIAL 'D' -#define AO_GPS_MODE_ESTIMATED 'E' -#define AO_GPS_MODE_MANUAL 'M' -#define AO_GPS_MODE_SIMULATED 'S' +/* Mode bits */ + +#define AO_GPS_MODE_ALTITUDE_24 (1 << 0) /* reports 24-bits of altitude */ struct ao_telemetry_location { uint16_t serial; /* 0 */ @@ -99,7 +96,7 @@ struct ao_telemetry_location { uint8_t type; /* 4 */ uint8_t flags; /* 5 Number of sats and other flags */ - int16_t altitude; /* 6 GPS reported altitude (m) */ + uint16_t altitude_low; /* 6 GPS reported altitude (m) */ int32_t latitude; /* 8 latitude (degrees * 10⁷) */ int32_t longitude; /* 12 longitude (degrees * 10⁷) */ uint8_t year; /* 16 (- 2000) */ @@ -115,10 +112,31 @@ struct ao_telemetry_location { uint16_t ground_speed; /* 26 cm/s */ int16_t climb_rate; /* 28 cm/s */ uint8_t course; /* 30 degrees / 2 */ - uint8_t unused; /* 31 unused */ + int8_t altitude_high; /* 31 high byte of altitude */ /* 32 */ }; +#if HAS_GPS + +#ifndef HAS_WIDE_GPS +#define HAS_WIDE_GPS 1 +#endif + +#if HAS_WIDE_GPS +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)->mode |= AO_GPS_MODE_ALTITUDE_24), \ + ((l)->altitude_high = (a) >> 16), \ + ((l)->altitude_low = (a))) +#else +typedef int16_t gps_alt_t; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((gps_alt_t) (l)->altitude_low) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode = 0, \ + (l)->altitude_low = (a))) +#endif /* HAS_WIDE_GPS */ + +#endif /* HAS_GPS */ + #define AO_TELEMETRY_SATELLITE 0x06 struct ao_telemetry_satellite_info { diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c index 9febc7f0..d9434048 100644 --- a/src/kernel/ao_tracker.c +++ b/src/kernel/ao_tracker.c @@ -36,9 +36,9 @@ ao_usb_connected(void) #endif struct gps_position { - int32_t latitude; - int32_t longitude; - int16_t altitude; + int32_t latitude; + int32_t longitude; + gps_alt_t altitude; }; #define GPS_RING 16 @@ -122,12 +122,13 @@ ao_tracker(void) { uint8_t ring; uint8_t moving = 0; + gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data); for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) { ground_distance = ao_distance(gps_data.latitude, gps_data.longitude, gps_position[ring].latitude, gps_position[ring].longitude); - height = gps_position[ring].altitude - gps_data.altitude; + height = gps_position[ring].altitude - altitude; if (height < 0) height = -height; @@ -153,7 +154,7 @@ ao_tracker(void) ao_log_gps_data(gps_tick, &gps_data); gps_position[gps_head].latitude = gps_data.latitude; gps_position[gps_head].longitude = gps_data.longitude; - gps_position[gps_head].altitude = gps_data.altitude; + gps_position[gps_head].altitude = altitude; gps_head = ao_gps_ring_next(gps_head); ao_mutex_put(&tracker_mutex); } @@ -203,7 +204,7 @@ ao_tracker_set_telem(void) printf ("log_started: %d\n", log_started); printf ("latitude: %ld\n", (long) gps_data.latitude); printf ("longitude: %ld\n", (long) gps_data.longitude); - printf ("altitude: %d\n", gps_data.altitude); + printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data)); printf ("log_running: %d\n", ao_log_running); printf ("log_start_pos: %ld\n", (long) ao_log_start_pos); printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos); diff --git a/src/product/Makefile.telemetrum b/src/product/Makefile.telemetrum index dbbf57d8..e9b144c0 100644 --- a/src/product/Makefile.telemetrum +++ b/src/product/Makefile.telemetrum @@ -24,6 +24,7 @@ INC = \ altitude.h \ ao_kalman.h \ ao_product.h \ + ao_telemetry.h \ $(TM_INC) CORE_SRC = \ diff --git a/src/telefire-v0.1/Makefile b/src/telefire-v0.1/Makefile index 25267268..99d29826 100644 --- a/src/telefire-v0.1/Makefile +++ b/src/telefire-v0.1/Makefile @@ -25,7 +25,6 @@ INC = \ CORE_SRC = \ ao_cmd.c \ ao_config.c \ - ao_convert.c \ ao_mutex.c \ ao_panic.c \ ao_stdio.c \ diff --git a/src/telefire-v0.2/Makefile b/src/telefire-v0.2/Makefile index ad5065c1..944543c5 100644 --- a/src/telefire-v0.2/Makefile +++ b/src/telefire-v0.2/Makefile @@ -25,7 +25,6 @@ INC = \ CORE_SRC = \ ao_cmd.c \ ao_config.c \ - ao_convert.c \ ao_mutex.c \ ao_panic.c \ ao_stdio.c \ diff --git a/src/telefire-v0.2/ao_pins.h b/src/telefire-v0.2/ao_pins.h index 9e6631ce..ef2d4822 100644 --- a/src/telefire-v0.2/ao_pins.h +++ b/src/telefire-v0.2/ao_pins.h @@ -19,6 +19,7 @@ #define _AO_PINS_H_ #define HAS_RADIO 1 +#define HAS_RADIO_RATE 1 #define HAS_TELEMETRY 0 #define HAS_FLIGHT 0 diff --git a/src/telelco-v0.2/ao_lco.c b/src/telelco-v0.2/ao_lco.c index b3f5bb16..4b5f7a9b 100644 --- a/src/telelco-v0.2/ao_lco.c +++ b/src/telelco-v0.2/ao_lco.c @@ -258,7 +258,7 @@ ao_lco_search(void) for (box = 0; box < AO_PAD_MAX_BOXES; box++) { if ((box % 10) == 0) ao_lco_set_box(box); - for (try = 0; try < 5; try++) { + for (try = 0; try < 3; try++) { tick_offset = 0; r = ao_lco_query(box, &ao_pad_query, &tick_offset); PRINTD("box %d result %d\n", box, r); diff --git a/src/telelco-v0.2/ao_pins.h b/src/telelco-v0.2/ao_pins.h index a6fd4ff8..da790b14 100644 --- a/src/telelco-v0.2/ao_pins.h +++ b/src/telelco-v0.2/ao_pins.h @@ -48,6 +48,7 @@ #define HAS_USB 1 #define HAS_BEEP 1 #define HAS_RADIO 1 +#define HAS_RADIO_RATE 1 #define HAS_TELEMETRY 0 #define HAS_AES 1 diff --git a/src/telemega-v1.0/Makefile b/src/telemega-v1.0/Makefile index 46c768e4..4a1b3908 100644 --- a/src/telemega-v1.0/Makefile +++ b/src/telemega-v1.0/Makefile @@ -31,6 +31,7 @@ INC = \ ao_mpu.h \ stm32l.h \ math.h \ + ao_ms5607_convert.c \ Makefile # diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h index 948310e5..ed911798 100644 --- a/src/telemini-v2.0/ao_pins.h +++ b/src/telemini-v2.0/ao_pins.h @@ -22,6 +22,7 @@ #define HAS_FLIGHT 1 #define HAS_USB 1 +#define AO_VALUE_32 0 #define HAS_USB_PULLUP 1 #define AO_USB_PULLUP_PORT P1 diff --git a/src/teleterra-v0.2/ao_pins.h b/src/teleterra-v0.2/ao_pins.h index 60d627ad..472af534 100644 --- a/src/teleterra-v0.2/ao_pins.h +++ b/src/teleterra-v0.2/ao_pins.h @@ -72,6 +72,8 @@ #define BATTERY_PIN 5 #define HAS_TELEMETRY 0 + + #define AO_VALUE_32 0 #endif #if DBG_ON_P1 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 573b5cb2..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) @@ -100,14 +102,11 @@ audio_gap(int secs) // This is where we go after reset. int main(int argc, char **argv) { - int e, x; - int a; - 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 1ab22e5b..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 @@ -58,7 +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 */ @@ -93,6 +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; @@ -175,7 +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; @@ -186,17 +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; @@ -234,7 +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) @@ -306,7 +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; @@ -456,7 +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); @@ -551,6 +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], @@ -560,6 +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], @@ -582,9 +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 @@ -592,7 +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), @@ -675,7 +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(); @@ -756,7 +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; @@ -801,7 +821,59 @@ ao_sleep(void *wchan) } } } -#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); @@ -926,7 +998,7 @@ ao_sleep(void *wchan) if (type != 'F' && !ao_flight_started) continue; -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 (void) a; (void) b; #else @@ -947,8 +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 diff --git a/telegps/Makefile.am b/telegps/Makefile.am index 6138b004..3b33428e 100644 --- a/telegps/Makefile.am +++ b/telegps/Makefile.am @@ -87,6 +87,14 @@ MACOSX_ICONS =\ ../icon/application-vnd.altusmetrum.eeprom.icns \ ../icon/application-vnd.altusmetrum.telemetry.icns +LINUX_ICONS =\ + $(ICONDIR)/altusmetrum-altosui.svg \ + $(ICONDIR)/application-vnd.altusmetrum.eeprom.svg \ + $(ICONDIR)/application-vnd.altusmetrum.telemetry.svg + +LINUX_MIMETYPE =\ + $(ICONDIR)/org-altusmetrum-mimetypes.xml + # Firmware FIRMWARE_TD_0_2=$(top_srcdir)/src/teledongle-v0.2/teledongle-v0.2-$(VERSION).ihx FIRMWARE_TD=$(FIRMWARE_TD_0_2) @@ -131,7 +139,7 @@ DOC=$(TELEGPS_DOC) FAT_FILES=$(FATJAR) $(ALTOSLIB_CLASS) $(ALTOSUILIB_CLASS) $(FREETTS_CLASS) $(JFREECHART_CLASS) $(JCOMMON_CLASS) -LINUX_FILES=$(FAT_FILES) libaltos.so $(FIRMWARE) $(DOC) $(desktop_file).in ../icon/altusmetrum-telegps.svg +LINUX_FILES=$(FAT_FILES) libaltos.so $(FIRMWARE) $(DOC) $(desktop_file).in $(LINUX_ICONS) $(LINUX_MIMETYPE) LINUX_EXTRA=telegps-fat $(desktop_file).in MACOSX_INFO_PLIST=Info.plist diff --git a/telegps/TeleGPS.java b/telegps/TeleGPS.java index d4b7bacf..a4b221e8 100644 --- a/telegps/TeleGPS.java +++ b/telegps/TeleGPS.java @@ -32,12 +32,12 @@ public class TeleGPS { static String[] telegps_icon_names = { - "/telegps-16.png", - "/telegps-32.png", - "/telegps-48.png", - "/telegps-64.png", - "/telegps-128.png", - "/telegps-256.png" + "/altusmetrum-telegps-16.png", + "/altusmetrum-telegps-32.png", + "/altusmetrum-telegps-48.png", + "/altusmetrum-telegps-64.png", + "/altusmetrum-telegps-128.png", + "/altusmetrum-telegps-256.png" }; static { set_icon_names(telegps_icon_names); } diff --git a/telegps/TeleGPSConfigUI.java b/telegps/TeleGPSConfigUI.java index 2bd1d2df..7a59bf48 100644 --- a/telegps/TeleGPSConfigUI.java +++ b/telegps/TeleGPSConfigUI.java @@ -670,6 +670,9 @@ public class TeleGPSConfigUI serial_value.setText(String.format("%d", serial)); } + public void set_altitude_32(int altitude_32) { + } + public void set_main_deploy(int new_main_deploy) { } |