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Added more precise function to calculate NL (based on cmath lib).

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Created constants for some of the values scattered in the code.
This commit is contained in:
teixeluis 2021-06-19 23:41:06 +01:00
parent 8afd83a4e1
commit 2ceb49e4f2
4 changed files with 51 additions and 12 deletions
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11
firmware/application/apps/ui_adsb_rx.cpp
View File

@ -205,7 +205,7 @@ void ADSBRxView::on_frame(const ADSBFrameMessage * message) {
auto frame = message->frame;
uint32_t ICAO_address = frame.get_ICAO_address();
if (frame.check_CRC() && frame.get_ICAO_address()) {
if (frame.check_CRC() && ICAO_address) {
rtcGetTime(&RTCD1, &datetime);
auto& entry = ::on_packet(recent, ICAO_address);
frame.set_rx_timestamp(datetime.minute() * 60 + datetime.second());
@ -222,11 +222,14 @@ void ADSBRxView::on_frame(const ADSBFrameMessage * message) {
uint8_t msg_sub = frame.get_msg_sub();
uint8_t * raw_data = frame.get_raw_data();
if ((msg_type >= 1) && (msg_type <= 4)) {
if ((msg_type >= AIRCRAFT_ID_L) && (msg_type <= AIRCRAFT_ID_H)) {
callsign = decode_frame_id(frame);
entry.set_callsign(callsign);
logentry+=callsign+" ";
} else if (((msg_type >= 9) && (msg_type <= 18)) || ((msg_type >= 20) && (msg_type <= 22))) {
}
//
else if (((msg_type >= AIRBORNE_POS_BARO_L) && (msg_type <= AIRBORNE_POS_BARO_H)) ||
((msg_type >= AIRBORNE_POS_GPS_L) && (msg_type <= AIRBORNE_POS_GPS_H))) {
entry.set_frame_pos(frame, raw_data[6] & 4);
if (entry.pos.valid) {
@ -242,7 +245,7 @@ void ADSBRxView::on_frame(const ADSBFrameMessage * message) {
if (send_updates)
details_view->update(entry);
}
} else if(msg_type == 19 && msg_sub >= 1 && msg_sub <= 4){
} else if(msg_type == AIRBORNE_VEL && msg_sub >= VEL_GND_SUBSONIC && msg_sub <= VEL_AIR_SUPERSONIC){
entry.set_frame_velo(frame);
logentry += "Type:" + to_string_dec_uint(msg_sub) +
" Hdg:" + to_string_dec_uint(entry.velo.heading) +

32
firmware/application/apps/ui_adsb_rx.hpp
View File

@ -36,9 +36,33 @@ using namespace adsb;
namespace ui {
#define ADSB_DECAY_A 10 // In seconds
#define ADSB_DECAY_B 30
#define ADSB_DECAY_C 60 // Can be used for removing old entries, RecentEntries already caps to 64
#define ADSB_DECAY_A 10 // In seconds
#define ADSB_DECAY_B 30
#define ADSB_DECAY_C 60 // Can be used for removing old entries, RecentEntries already caps to 64
#define AIRCRAFT_ID_L 1 // aircraft ID message type (lowest type id)
#define AIRCRAFT_ID_H 4 // aircraft ID message type (highest type id)
#define SURFACE_POS_L 5 // surface position (lowest type id)
#define SURFACE_POS_H 8 // surface position (highest type id)
#define AIRBORNE_POS_BARO_L 9 // airborne position (lowest type id)
#define AIRBORNE_POS_BARO_H 18 // airborne position (highest type id)
#define AIRBORNE_VEL 19 // airborne velocities
#define AIRBORNE_POS_GPS_L 20 // airborne position (lowest type id)
#define AIRBORNE_POS_GPS_H 22 // airborne position (highest type id)
#define RESERVED_L 23 // reserved for other uses
#define RESERVED_H 31 // reserved for other uses
#define VEL_GND_SUBSONIC 1
#define VEL_GND_SUPERSONIC 2
#define VEL_AIR_SUBSONIC 3
#define VEL_AIR_SUPERSONIC 4
#define O_E_FRAME_TIMEOUT 20 // timeout between odd and even frames
struct AircraftRecentEntry {
using Key = uint32_t;
@ -82,7 +106,7 @@ struct AircraftRecentEntry {
frame_pos_odd = frame;
if (!frame_pos_even.empty() && !frame_pos_odd.empty()) {
if (abs(frame_pos_even.get_rx_timestamp() - frame_pos_odd.get_rx_timestamp()) < 20)
if (abs(frame_pos_even.get_rx_timestamp() - frame_pos_odd.get_rx_timestamp()) < O_E_FRAME_TIMEOUT)
pos = decode_frame_pos(frame_pos_even, frame_pos_odd);
}
}

16
firmware/common/adsb.cpp
View File

@ -141,7 +141,11 @@ float cpr_mod(float a, float b) {
return a - (b * floor(a / b));
}
int cpr_NL(float lat) {
int cpr_NL_precise(float lat) {
return (int) floor(2 * PI / acos(1 - ((1 - cos(PI / (2 * NZ))) / pow(cos(PI * lat / 180), 2))));
}
int cpr_NL_approx(float lat) {
if (lat < 0)
lat = -lat; // Symmetry
@ -150,7 +154,11 @@ int cpr_NL(float lat) {
return 59 - c;
}
return 1;
return 1;
}
int cpr_NL(float lat) {
return cpr_NL_precise(lat);
}
int cpr_N(float lat, int is_odd) {
@ -258,7 +266,7 @@ adsb_pos decode_frame_pos(ADSBFrame& frame_even, ADSBFrame& frame_odd) {
// Compute longitude
if (time_even > time_odd) {
// Use even frame
// Use even frame2
ni = cpr_N(latE, 0);
Dlon = 360.0 / ni;
@ -279,7 +287,7 @@ adsb_pos decode_frame_pos(ADSBFrame& frame_even, ADSBFrame& frame_odd) {
position.latitude = latO;
}
if (position.longitude > 180) position.longitude -= 360;
if (position.longitude >= 180) position.longitude -= 360;
position.valid = true;

4
firmware/common/adsb.hpp
View File

@ -83,6 +83,10 @@ const float adsb_lat_lut[58] = {
86.53536998, 87.00000000
};
const float PI = 3.14159265358979323846;
const float NZ = 15;
void make_frame_adsb(ADSBFrame& frame, const uint32_t ICAO_address);
void encode_frame_id(ADSBFrame& frame, const uint32_t ICAO_address, const std::string& callsign);