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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 inline double sqr(a) { return a * a; };
static void
aoview_great_circle (double start_lat, double start_lon,
double end_lat, double end_lon,
double *dist, double *bearing)
{
const double rad = M_PI / 180;
const double earth_radius = 6371.2 * 1000; /* in meters */
double lat1 = rad * start_lat;
double lon1 = rad * -start_lon;
double lat2 = rad * end_lat;
double lon2 = rad * -end_lon;
double d_lat = lat2 - lat1;
double d_lon = lon2 - lon1;
/* From http://en.wikipedia.org/wiki/Great-circle_distance */
double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
sqr(cos(lat1) * sin(lat2) -
sin(lat1) * cos(lat2) * cos(d_lon)));
double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
double d = atan2(vdn,vdd);
double course;
if (cos(lat1) < 1e-20) {
if (lat1 > 0)
course = M_PI;
else
course = -M_PI;
} else {
if (d < 1e-10)
course = 0;
else
course = acos((sin(lat2)-sin(lat1)*cos(d)) /
(sin(d)*cos(lat1)));
if (sin(lon2-lon1) > 0)
course = 2 * M_PI-course;
}
*dist = d * earth_radius;
*bearing = course * 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,
};
/*
* Fill out the derived data fields
*/
static void
aoview_state_derive(struct aostate *state)
{
int i;
state->ground_altitude = aoview_pres_to_altitude(state->ground_pres);
state->height = aoview_pres_to_altitude(state->flight_pres) - state->ground_altitude;
state->acceleration = (state->ground_accel - state->flight_accel) / 27.0;
state->speed = state->flight_vel / 2700.0;
state->temperature = ((state->temp / 32767.0 * 3.3) - 0.5) / 0.01;
state->drogue_sense = state->drogue / 32767.0 * 15.0;
state->main_sense = state->main / 32767.0 * 15.0;
state->battery = state->batt / 32767.0 * 5.0;
if (!strcmp(state->state, "pad")) {
if (state->locked) {
state->npad++;
state->pad_lat_total += state->lat;
state->pad_lon_total += state->lon;
state->pad_alt_total += state->alt;
state->pad_lat = state->pad_lat_total / state->npad;
state->pad_lon = state->pad_lon_total / state->npad;
state->pad_alt = state->pad_alt_total / state->npad;
}
}
state->ascent = FALSE;
for (i = 0; ascent_states[i]; i++)
if (!strcmp(state->state, ascent_states[i]))
state->ascent = TRUE;
/* Only look at accelerometer data on the way up */
if (state->ascent && state->acceleration > state->max_acceleration)
state->max_acceleration = state->acceleration;
if (state->ascent && state->speed > state->max_speed)
state->max_speed = state->speed;
if (state->height > state->max_height)
state->max_height = state->height;
aoview_great_circle(state->pad_lat, state->pad_lon, state->lat, state->lon,
&state->distance, &state->bearing);
}
void
aoview_state_speak(struct aostate *state)
{
static char last_state[32];
int i;
gboolean report = FALSE;
int this_tick;
static int last_tick;
static int last_altitude;
int this_altitude;
if (strcmp(state->state, last_state)) {
aoview_voice_speak("%s\n", state->state);
if (!strcmp(state->state, "drogue"))
aoview_voice_speak("apogee %d meters\n",
(int) state->max_height);
report = TRUE;
strcpy(last_state, state->state);
}
this_altitude = aoview_pres_to_altitude(state->flight_pres) - aoview_pres_to_altitude(state->ground_pres);
this_tick = state->tick;
while (this_tick < last_tick)
this_tick += 65536;
if (strcmp(state->state, "pad") != 0) {
if (this_altitude / 1000 != last_altitude / 1000)
report = TRUE;
if (this_tick - last_tick >= 10 * 100)
report = TRUE;
}
if (report) {
aoview_voice_speak("%d meters\n",
this_altitude);
if (state->ascent)
aoview_voice_speak("%d meters per second\n",
state->flight_vel / 2700);
last_tick = state->tick;
last_altitude = this_altitude;
printf ("report at tick %d height %d\n",
state->tick, this_altitude);
}
}
void
aoview_state_notify(struct aostate *state)
{
aoview_state_derive(state);
aoview_table_start();
if (state->npad >= MIN_PAD_SAMPLES)
aoview_table_add_row("Ground state", "ready");
else
aoview_table_add_row("Ground state", "waiting for gps (%d)",
MIN_PAD_SAMPLES - state->npad);
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", state->height);
aoview_table_add_row("Max height", "%dm", state->max_height);
aoview_table_add_row("Acceleration", "%gm/s²", state->acceleration);
aoview_table_add_row("Max acceleration", "%gm/s²", state->max_acceleration);
aoview_table_add_row("Speed", "%gm/s", state->speed);
aoview_table_add_row("Max Speed", "%gm/s", state->max_speed);
aoview_table_add_row("Temperature", "%g°C", state->temperature);
aoview_table_add_row("Battery", "%gV", state->battery);
aoview_table_add_row("Drogue", "%gV", state->drogue_sense);
aoview_table_add_row("Main", "%gV", state->main_sense);
aoview_table_add_row("Pad altitude", "%dm", state->ground_altitude);
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_table_add_row("Distance from pad", "%gm", state->distance);
aoview_table_add_row("Direction from pad", "%g°", state->bearing);
} else {
aoview_table_add_row("GPS", "unlocked");
}
if (state->npad) {
aoview_state_add_deg("Pad latitude", state->pad_lat, 'N', 'S');
aoview_state_add_deg("Pad longitude", state->pad_lon, 'E', 'W');
aoview_table_add_row("Pad GPS alt", "%gm", state->pad_alt);
}
aoview_table_finish();
aoview_label_show(state);
aoview_state_speak(state);
}
void
aoview_state_new(void)
{
}
void
aoview_state_init(GladeXML *xml)
{
aoview_state_new();
aoview_voice_speak("initializing rocket flight monitoring system\n");
}
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