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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 double pad_lat_total;
static double pad_lon_total;
static int pad_alt_total;
static int npad_gps;
static int prev_tick;
static double prev_accel;
static double pad_lat;
static double pad_lon;
static double pad_alt;
static double min_pres;
static double min_accel;
#define NUM_PAD_SAMPLES 10
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 lat1 = rad * start_lat;
double lon1 = -rad * start_lon;
double lat2 = rad * end_lat;
double lon2 = -rad * end_lon;
double d = acos(sin(lat1)*sin(lat2)+cos(lat1)*cos(lat2)*cos(lon1-lon2));
double argacos = (sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1));
double crs;
if (sin(lon2-lon1) < 0)
crs = acos(argacos);
else
crs = 2 * M_PI - acos(argacos);
*dist = d * earth_radius;
*bearing = crs * 180/M_PI;
}
static void
aoview_state_add_deg(char *label, double deg, char pos, char neg)
{
double int_part;
double min;
char sign = pos;
if (deg < 0) {
deg = -deg;
sign = neg;
}
int_part = floor (deg);
min = (deg - int_part) * 60.0;
aoview_table_add_row(label, "%d°%lf'%c",
(int) int_part, min, sign);
}
static char *ascent_states[] = {
"boost",
"fast",
"coast",
0,
};
void
aoview_state_speak(struct aostate *state)
{
static char last_state[32];
int i;
gboolean report = FALSE;
static time_t last_time;
time_t this_time;
static int last_altitude;
int this_altitude;
if (strcmp(state->state, last_state)) {
aoview_voice_speak("rocket state now %s\n", state->state);
if (!strcmp(state->state, "drogue"))
aoview_voice_speak("maximum altitude %d meters\n",
aoview_pres_to_altitude(min_pres) -
aoview_pres_to_altitude(state->ground_pres));
report = TRUE;
strcpy(last_state, state->state);
}
this_time = time(NULL);
this_altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres);
if (this_time - last_time >= 10)
report = TRUE;
if (this_altitude / 1000 != last_altitude / 1000)
report = TRUE;
if (report) {
aoview_voice_speak("altitude %d meters\n",
this_altitude);
for (i = 0; ascent_states[i]; i++)
if (!strcmp(ascent_states[i], state->state)) {
aoview_voice_speak("speed %d meters per second\n",
state->flight_vel / 2700);
break;
}
}
last_time = this_time;
last_altitude = this_altitude;
}
void
aoview_state_notify(struct aostate *state)
{
int altitude;
double accel;
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 (state->locked && npad_gps < NUM_PAD_SAMPLES) {
pad_lat_total += state->lat;
pad_lon_total += state->lon;
pad_alt_total += state->alt;
npad_gps++;
}
if (state->locked && npad_gps <= NUM_PAD_SAMPLES) {
pad_lat = pad_lat_total / npad_gps;
pad_lon = pad_lon_total / npad_gps;
pad_alt = pad_alt_total / npad_gps;
}
min_pres = state->ground_pres;
min_accel = state->ground_accel;
}
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(state->ground_pres);
accel = (state->ground_accel - state->flight_accel) / 27.0;
velocity = state->flight_vel / 2700.0;
max_accel = (state->ground_accel - min_accel) / 27.0;
ticks = state->tick - prev_tick;
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();
if (npad_gps >= NUM_PAD_SAMPLES)
aoview_table_add_row("Ground state", "ready");
else
aoview_table_add_row("Ground state", "waiting for gps (%d)",
NUM_PAD_SAMPLES - npad_gps);
aoview_table_add_row("Rocket state", "%s", state->state);
aoview_table_add_row("Callsign", "%s", state->callsign);
aoview_table_add_row("Rocket serial", "%d", state->serial);
aoview_table_add_row("RSSI", "%ddBm", state->rssi);
aoview_table_add_row("Height", "%dm", altitude);
aoview_table_add_row("Max height", "%dm",
aoview_pres_to_altitude(min_pres) -
aoview_pres_to_altitude(state->ground_pres));
aoview_table_add_row("Acceleration", "%gm/s²", accel);
aoview_table_add_row("Max acceleration", "%gm/s²", max_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(state->ground_pres));
aoview_table_add_row("Satellites", "%d", state->nsat);
if (state->locked) {
aoview_state_add_deg("Latitude", state->lat, 'N', 'S');
aoview_state_add_deg("Longitude", state->lon, 'E', 'W');
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_table_add_row("GPS ground speed", "%fm/s %d°",
state->ground_speed,
state->course);
aoview_table_add_row("GPS climb rate", "%fm/s",
state->climb_rate);
aoview_table_add_row("GPS precision", "%f(hdop) %dm(h) %dm(v)\n",
state->hdop, state->h_error, state->v_error);
aoview_great_circle(pad_lat, pad_lon, state->lat, state->lon,
&dist, &bearing);
aoview_table_add_row("Distance from pad", "%gm", dist * 1000);
aoview_table_add_row("Direction from pad", "%g°", bearing);
} else {
aoview_table_add_row("GPS", "unlocked");
}
if (npad_gps) {
aoview_state_add_deg("Pad latitude", pad_lat, 'N', 'S');
aoview_state_add_deg("Pad longitude", pad_lon, 'E', 'W');
aoview_table_add_row("Pad GPS alt", "%gm", pad_alt);
}
aoview_table_finish();
aoview_state_speak(state);
}
void
aoview_state_new(void)
{
pad_lat_total = 0;
pad_lon_total = 0;
pad_alt_total = 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;
}
void
aoview_state_init(GladeXML *xml)
{
aoview_state_new();
aoview_voice_speak("initializing rocket flight monitoring system\n");
}
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