diff options
| -rw-r--r-- | ao.h | 4 | ||||
| -rw-r--r-- | ao_monitor.c | 7 | ||||
| -rw-r--r-- | ao_telemetry.c | 3 | ||||
| -rw-r--r-- | aoview/aoview.h | 3 | ||||
| -rw-r--r-- | aoview/aoview_monitor.c | 17 | ||||
| -rw-r--r-- | aoview/aoview_state.c | 42 |
6 files changed, 50 insertions, 26 deletions
@@ -568,6 +568,7 @@ extern __pdata enum ao_flight_state ao_flight_state; extern __pdata uint16_t ao_flight_tick; extern __pdata int16_t ao_flight_accel; extern __pdata int16_t ao_flight_pres; +extern __pdata int32_t ao_flight_vel; extern __pdata int16_t ao_ground_pres; extern __pdata int16_t ao_ground_accel; extern __pdata int16_t ao_min_pres; @@ -723,6 +724,9 @@ ao_gps_report_init(void); struct ao_telemetry { uint8_t addr; uint8_t flight_state; + int16_t flight_accel; + int32_t flight_vel; + int16_t flight_pres; struct ao_adc adc; struct ao_gps_data gps; char callsign[AO_MAX_CALLSIGN]; diff --git a/ao_monitor.c b/ao_monitor.c index 6aed581a..880f257c 100644 --- a/ao_monitor.c +++ b/ao_monitor.c @@ -41,14 +41,17 @@ ao_monitor(void) recv.telemetry.addr, (int) recv.rssi - 74, recv.status, ao_state_names[state]); - printf("%5u a: %5d p: %5d t: %5d v: %5d d: %5d m: %5d ", + printf("%5u a: %5d p: %5d t: %5d v: %5d d: %5d m: %5d fa: %5d fv: %7ld fp: %5d ", recv.telemetry.adc.tick, recv.telemetry.adc.accel, recv.telemetry.adc.pres, recv.telemetry.adc.temp, recv.telemetry.adc.v_batt, recv.telemetry.adc.sense_d, - recv.telemetry.adc.sense_m); + recv.telemetry.adc.sense_m, + recv.telemetry.flight_accel, + recv.telemetry.flight_vel, + recv.telemetry.flight_pres); ao_gps_print(&recv.telemetry.gps); ao_rssi_set((int) recv.rssi - 74); } else { diff --git a/ao_telemetry.c b/ao_telemetry.c index 5299b487..b4461e92 100644 --- a/ao_telemetry.c +++ b/ao_telemetry.c @@ -36,6 +36,9 @@ ao_telemetry(void) while (ao_telemetry_interval == 0) ao_sleep(&ao_telemetry_interval); telemetry.flight_state = ao_flight_state; + telemetry.flight_accel = ao_flight_accel; + telemetry.flight_vel = ao_flight_vel; + telemetry.flight_pres = ao_flight_pres; ao_adc_get(&telemetry.adc); ao_mutex_get(&ao_gps_mutex); memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data)); diff --git a/aoview/aoview.h b/aoview/aoview.h index 78244912..44412bec 100644 --- a/aoview/aoview.h +++ b/aoview/aoview.h @@ -58,6 +58,9 @@ struct aostate { int batt; int drogue; int main; + int flight_accel; + int flight_vel; + int flight_pres; int nsat; int locked; struct { diff --git a/aoview/aoview_monitor.c b/aoview/aoview_monitor.c index 3b3245e2..b0189c60 100644 --- a/aoview/aoview_monitor.c +++ b/aoview/aoview_monitor.c @@ -82,7 +82,7 @@ aoview_monitor_parse(char *line) if (words[nword] == NULL) break; } - if (nword < 26) + if (nword < 32) return; if (strcmp(words[0], "CALL") != 0) return; @@ -100,13 +100,16 @@ aoview_monitor_parse(char *line) aoview_parse_int(&state.batt, words[18]); aoview_parse_int(&state.drogue, words[20]); aoview_parse_int(&state.main, words[22]); - aoview_parse_int(&state.nsat, words[24]); - if (strcmp (words[26], "unlocked") != 0 && nword >= 29) { + aoview_parse_int(&state.flight_accel, words[24]); + aoview_parse_int(&state.flight_vel, words[26]); + aoview_parse_int(&state.flight_pres, words[28]); + aoview_parse_int(&state.nsat, words[30]); + if (strcmp (words[32], "unlocked") != 0 && nword >= 35) { state.locked = 1; - sscanf(words[26], "%d:%d:%d", &state.gps_time.hour, &state.gps_time.minute, &state.gps_time.second); - aoview_parse_pos(&state.lat, words[27]); - aoview_parse_pos(&state.lon, words[28]); - sscanf(words[29], "%dm", &state.alt); + sscanf(words[32], "%d:%d:%d", &state.gps_time.hour, &state.gps_time.minute, &state.gps_time.second); + aoview_parse_pos(&state.lat, words[33]); + aoview_parse_pos(&state.lon, words[34]); + sscanf(words[35], "%dm", &state.alt); } else { state.locked = 0; state.gps_time.hour = state.gps_time.minute = state.gps_time.second = 0; diff --git a/aoview/aoview_state.c b/aoview/aoview_state.c index 85ed7b5a..dda92af9 100644 --- a/aoview/aoview_state.c +++ b/aoview/aoview_state.c @@ -20,7 +20,6 @@ static int pad_pres; static int pad_accel; - static int pad_pres_total; static int pad_accel_total; static double pad_lat_total; @@ -30,7 +29,6 @@ static int npad; static int npad_gps; static int prev_tick; static double prev_accel; -static double velocity; static double pad_lat; static double pad_lon; static double pad_alt; @@ -80,19 +78,19 @@ aoview_state_notify(struct aostate *state) { int altitude; double accel; - double velocity_change; int ticks; double dist; double bearing; double temp; + double velocity; double battery; double drogue_sense, main_sense; double max_accel; if (!strcmp(state->state, "pad")) { if (npad < NUM_PAD_SAMPLES) { - pad_accel_total += state->accel; - pad_pres_total += state->pres; + pad_accel_total += state->flight_accel; + pad_pres_total += state->flight_pres; if (state->locked) { pad_lat_total += state->lat; pad_lon_total += state->lon; @@ -100,7 +98,6 @@ aoview_state_notify(struct aostate *state) npad_gps++; } npad++; - velocity = 0; } if (npad <= NUM_PAD_SAMPLES) { pad_pres = pad_pres_total / npad; @@ -113,21 +110,19 @@ aoview_state_notify(struct aostate *state) } if (npad == NUM_PAD_SAMPLES) { npad++; - velocity = 0; min_pres = pad_pres; min_accel = pad_accel; } } - if (state->pres < min_pres) - min_pres = state->pres; - if (state->accel < min_accel) - min_accel = state->accel; - altitude = aoview_pres_to_altitude(state->pres) - aoview_pres_to_altitude(pad_pres); - accel = (pad_accel - state->accel) / 264.8 * 9.80665; - max_accel = (pad_accel - min_accel) / 264.8 * 9.80665; - velocity_change = (accel + prev_accel) / 2.0; + if (state->flight_pres < min_pres) + min_pres = state->flight_pres; + if (state->flight_accel < min_accel) + min_accel = state->flight_accel; + altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(pad_pres); + accel = (pad_accel - state->flight_accel) / 27.0; + velocity = state->flight_vel / 2700.0; + max_accel = (pad_accel - min_accel) / 27.0; ticks = state->tick - prev_tick; - velocity -= velocity_change * (ticks / 100.0); temp = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01; battery = (state->batt / 32767.0 * 5.0); drogue_sense = (state->drogue / 32767.0 * 15.0); @@ -186,9 +181,22 @@ aoview_state_notify(struct aostate *state) void aoview_state_new(void) { + pad_pres = 0; + pad_accel = 0; + pad_pres_total = 0; + pad_accel_total = 0; + pad_lat_total = 0; + pad_lon_total = 0; + pad_alt_total = 0; + npad = 0; + npad_gps = 0; + prev_tick = 0; + prev_accel = 0; + pad_lat = 0; + pad_lon = 0; + pad_alt = 0; min_pres = 32767; min_accel = 32767; - npad = 0; } void |