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/*
* Copyright © 2009 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
#include "aoview.h"
#include <math.h>
static int pad_pres;
static int pad_accel;
static int pad_pres_total;
static int pad_accel_total;
static double pad_lat_total;
static double pad_lon_total;
static int pad_alt_total;
static int npad;
static int prev_tick;
static double prev_accel;
static double velocity;
static double pad_lat;
static double pad_lon;
static double pad_alt;
#define NUM_PAD_SAMPLES 50
static void
aoview_great_circle (double start_lat, double start_lon,
double end_lat, double end_lon,
double *dist, double *bearing)
{
double rad = M_PI / 180;
double earth_radius = 6371.2;
double a = (90 - start_lat) * rad;
double b = (90 - end_lat) * rad;
double phi = (end_lon - start_lon) * rad;
double cosr = cos(a) * cos(b) + sin(a) * sin(b) * cos(phi);
double r = acos(cosr);
double rdist = earth_radius * r;
double sinth = sin(phi) * sin(b) / sin(r);
double th = asin(sinth) / rad;
*dist = rdist;
*bearing = th;
}
void
aoview_state_notify(struct aostate *state)
{
int altitude;
double accel;
double velocity_change;
int ticks;
double dist;
double bearing;
double temp;
double battery;
double drogue_sense, main_sense;
if (!strcmp(state->state, "pad")) {
if (npad < NUM_PAD_SAMPLES) {
pad_accel_total += state->accel;
pad_pres_total += state->pres;
pad_lat_total += state->lat;
pad_lon_total += state->lon;
pad_alt_total += state->alt;
npad++;
velocity = 0;
}
if (npad <= NUM_PAD_SAMPLES) {
pad_pres = pad_pres_total / npad;
pad_accel = pad_accel_total / npad;
pad_lat = pad_lat_total / npad;
pad_lon = pad_lon_total / npad;
pad_alt = pad_alt_total / npad;
}
}
altitude = aoview_pres_to_altitude(state->pres) - aoview_pres_to_altitude(pad_pres);
accel = (pad_accel - state->accel) / 264.8 * 9.80665;
velocity_change = (accel + prev_accel) / 2.0;
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);
main_sense = (state->main / 32767.0 * 15.0);
prev_accel = accel;
prev_tick = state->tick;
aoview_table_start();
aoview_table_add_row("RSSI", "%ddB", state->rssi);
aoview_table_add_row("Height", "%dm", altitude);
aoview_table_add_row("Acceleration", "%gm/s²", accel);
aoview_table_add_row("Velocity", "%gm/s", velocity);
aoview_table_add_row("Temperature", "%g°C", temp);
aoview_table_add_row("Battery", "%gV", battery);
aoview_table_add_row("Drogue", "%gV", drogue_sense);
aoview_table_add_row("Main", "%gV", main_sense);
aoview_table_add_row("Pad altitude", "%dm", aoview_pres_to_altitude(pad_pres));
aoview_table_add_row("Satellites", "%d", state->nsat);
if (state->locked) {
aoview_table_add_row("Lat", "%g", state->lat);
aoview_table_add_row("Lon", "%g", state->lon);
aoview_table_add_row("GPS alt", "%d", state->alt);
aoview_table_add_row("GPS time", "%02d:%02d:%02d",
state->gps_time.hour,
state->gps_time.minute,
state->gps_time.second);
aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon,
&dist, &bearing);
aoview_table_add_row("Course", "%gkm %g°", dist, bearing);
} else {
aoview_table_add_row("GPS", "unlocked");
}
aoview_table_finish();
}
void
aoview_state_init(GladeXML *xml)
{
}
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