PDF of schematic

Added PCB readme
Update Readme.md
2023-10-12 22:18:56 +02:00 · 2020-12-14 09:40:28 +01:00 · 2020-10-29 22:13:24 +01:00 · 2020-08-27 22:36:44 +01:00 · 2020-08-27 21:48:10 +01:00 · 2020-08-27 21:29:56 +01:00
--- a/Readme.md
+++ b/Readme.md
@ -1,6 +1,6 @@
+## I2C

-
-You need to use software driver to I2c, and therefore, disable bluetooth. This is for rPI 3 and up.
+You need to use software driver to I2C, and therefore, disable bluetooth. This is for rPI 3 and up.

 [https://raspberrypi.stackexchange.com/questions/45570/how-do-i-make-serial-work-on-the-raspberry-pi3-or-later-model]

@ -19,26 +19,46 @@ dtoverlay=i2c-gpio,i2c_gpio_sda=2,i2c_gpio_scl=3
 ```


-dependencies
+## Dependencies

+SSDV:
+
+git submodule update --init --recursive
+
+---
 sudo apt-get install libboost-program-options-dev

+---
 git clone https://github.com/zeromq/libzmq.git

 build with cmake

+---
 git clone https://github.com/zeromq/cppzmq.git

 build with cmake

+---
 http://abyz.me.uk/rpi/pigpio/download.html
+```
+wget https://github.com/joan2937/pigpio/archive/master.zip
+unzip master.zip
+cd pigpio-master
+make
+sudo make install
+```

+---
 pip3 install zmq exifread picamera psutil

 sudo apt-get install imagemagick

-run on one thread:
+## Run on one thread:

 ```
 taskset -c 1 ./tracker
 ```
+
+
+## MTX2 datasheet
+http://www.radiometrix.com/files/additional/mtx2.pdf
--- a/camera/camera.py
+++ b/camera/camera.py
@ -173,20 +173,24 @@ def SetCameraExif(camera, state):


 def StateLoop(port):
+	'''
+	query tracker over ZMQ
+	ask for: nmea_current, dynamics, flight_state
+	save in global STATE dictionary
+	'''
 	REQUEST_TIMEOUT = 3000
 	REQUEST_RETRIES = 1e30
 	SERVER_ENDPOINT = "tcp://localhost:" + str(port)

 	global STATE

-
 	print("Connecting to " + SERVER_ENDPOINT)
 	context = zmq.Context(1)
 	client = context.socket(zmq.REQ)
 	client.connect(SERVER_ENDPOINT)
 	poll = zmq.Poller()
 	poll.register(client, zmq.POLLIN)
-	query_msgs = ['nmea', 'dynamics', 'flight_state']
+	query_msgs = ['nmea_current', 'dynamics', 'flight_state']

 	retries_left = REQUEST_RETRIES
 	while THREADS_RUN and retries_left:
@ -231,7 +235,6 @@ def StateLoop(port):
 	context.term()


-
 def SSDV_DeliverLoop(callsign, out_ssdv_path, res):
 	'''
 	picks last image from PHOTO_ARR, converts to SSDV and copies to output
@ -251,6 +254,7 @@ def SSDV_DeliverLoop(callsign, out_ssdv_path, res):
 		time.sleep(5)

 		if not PHOTO_ARR:
+			print('SSDV_DeliverLoop - PHOTO_ARR empty.')
 			continue

 		if os.path.isfile(out_ssdv_path):
@ -270,7 +274,11 @@ def SSDV_DeliverLoop(callsign, out_ssdv_path, res):
 			pass


-def next_path(i_base, ext = ''): # get next subdir/subfile
+def next_path(i_base, ext = ''):
+	'''
+	for a directory filled with subdirs or files named like: 000001, 000002, 000003
+	get next dir/file that does not exist yet
+	'''
 	if ext and ext[0] != '.':
 		ext = '.' + ext
 	i = 1
@ -313,39 +321,67 @@ def CameraLoop(session_dir, opts):
 	global PHOTO_ARR

 	snapshot_time = datetime.fromtimestamp(0)
+	hires_photo_time = datetime.fromtimestamp(0)

-	alt = 0
-	dAlt = 0
-	dAltAvg = 0
 	global THREADS_RUN
 	while(THREADS_RUN):

+		# camera can cause interference to GPS resulting in FIX loss
+		# monitor FIX age and disable camera for 5 minutes
+		if 'nmea_current' in STATE and 'fixAge' in STATE['nmea_current']:
+			fixage = int( STATE['nmea_current']['fixAge'] )
+			if fixage > 180:
+				print('GPS FIX lost. Stop Camera and wait.')
+				CAMERA.stop_preview()
+				while fixage > 180:
+					print('fixage', fixage)
+					time.sleep(5)
+					fixage = int( STATE['nmea_current']['fixAge'] )
+				print("GPS fix reacquired. Waiting 5 minutes to start camera.")
+				time.sleep(5 * 60)
+
 		disk_use_percent = int( psutil.disk_usage('/').percent )
 		if disk_use_percent > 95:
-			CAMERA.stop_preview()
 			print("Free disk space left: ", disk_use_percent, '% . Waiting.')
+			CAMERA.stop_preview()
 			time.sleep(60)
 			continue

 		if 'flight_state' in STATE and STATE['flight_state']['flight_state'] == 'kLanded':
-			CAMERA.stop_preview()
 			print("flight_state::klanded - stop camera and wait.")
+			CAMERA.stop_preview()
 			time.sleep(60)
 			continue

-		CAMERA.start_preview()

-		# full res photo
-		print("Photo HI")
-		CAMERA.resolution = (3280, 2464)
-		SetCameraExif(CAMERA, STATE)
-		CAMERA.annotate_text = ''
-		CAMERA.capture( next_path(photo_hi_dir, 'jpeg'))
+		# make full res photo before recording next clip. not more often than 60 secs.
+		hires_photo_path = None
+		if seconds_since(hires_photo_time) > 60:
+			print("Photo HI")
+			CAMERA.start_preview()
+			CAMERA.resolution = (2592 , 1944 ) # v1
+			# CAMERA.resolution = (3280, 2464) # v2
+			SetCameraExif(CAMERA, STATE)
+			CAMERA.annotate_text = ''
+			hires_photo_path = next_path(photo_hi_dir, 'jpeg')
+			CAMERA.capture( hires_photo_path )
+			CAMERA.stop_preview()
+			hires_photo_time = utcnow()
+
+		# do not record video in standby mode
+		# instead send hires_photo_path to SSDV
+		if 'flight_state' in STATE and STATE['flight_state']['flight_state'] == 'kStandBy':
+			CAMERA.stop_preview()
+			print("flight_state::kStandBy - skip video recording. Send HiRes to SSDV.")
+			PHOTO_ARR.append( hires_photo_path )
+			time.sleep(60)
+			continue

 		# video clip
 		print("Video")
 		video_duration_secs = int( opts['cam_video_dur'] )
 		snapshot_interval_secs = int( opts['cam_snapshot_interval'] )
+		CAMERA.start_preview()
 		CAMERA.resolution = (1280, 720)
 		CAMERA.start_recording( next_path(video_dir, 'h264'))

@ -355,12 +391,23 @@ def CameraLoop(session_dir, opts):
 			if not THREADS_RUN:
 				break

-			disk_use_percent = int( psutil.disk_usage('/').percent )
-			if disk_use_percent > 95:
+			fixage = 0
+			if 'nmea_current' in STATE and 'fixAge' in STATE['nmea_current']:
+				fixage = int( STATE['nmea_current']['fixAge'] )
+			if fixage > 180:
+				print("GPS FIX lost - stop camera.")
 				CAMERA.stop_preview()
-				print("Free disk low - abort camera.")
 				break

+			disk_use_percent = int( psutil.disk_usage('/').percent )
+			if disk_use_percent > 95:
+				print("Free disk low - abort camera.")
+				CAMERA.stop_preview()
+				break
+
+			alt = 0
+			dAlt = 0
+			dAltAvg = 0
 			if 'dynamics' in STATE and 'alt' in STATE['dynamics']:
 				alt = 	STATE['dynamics']['alt']['val']
 				dAlt = 	STATE['dynamics']['alt']['dVdT']
@ -372,9 +419,10 @@ def CameraLoop(session_dir, opts):

 			if seconds_since(snapshot_time) > snapshot_interval_secs:
 				print("Photo LO")
-				PHOTO_ARR.append( next_path(photo_lo_dir, 'jpg') )
-				CAMERA.capture( PHOTO_ARR[-1] , use_video_port = True )
+				img_path = next_path(photo_lo_dir, 'jpg')
+				CAMERA.capture( img_path , use_video_port = True )
 				snapshot_time = utcnow()
+				PHOTO_ARR.append( img_path )

 			time.sleep(1)
 		CAMERA.stop_recording()
--- a/pcb/Readme.md
+++ b/pcb/Readme.md
@ -0,0 +1,3 @@
+IMPORTANT:
+Powering to 3.3V from a regulator does not work here.
+Instead, use 5V regulator and connect to 5V pin.
--- a/pcb/eagle/HabTrackerPiZero_Shield.brd
+++ b/pcb/eagle/HabTrackerPiZero_Shield.brd
@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <!DOCTYPE eagle SYSTEM "eagle.dtd">
-<eagle version="9.4.2">
+<eagle version="9.6.2">
 <drawing>
 <settings>
 <setting alwaysvectorfont="no"/>
@ -1629,7 +1629,7 @@ design rules under a new name.</description>
 <param name="PrefDir.13" value="0"/>
 <param name="PrefDir.14" value="0"/>
 <param name="PrefDir.15" value="0"/>
-<param name="PrefDir.16" value="0"/>
+<param name="PrefDir.16" value="a"/>
 <param name="cfVia" value="8"/>
 <param name="cfNonPref" value="5"/>
 <param name="cfChangeDir" value="2"/>
@ -1704,9 +1704,9 @@ design rules under a new name.</description>
 </pass>
 </autorouter>
 <elements>
-<element name="3V3_REGULATOR" library="pinhead" library_urn="urn:adsk.eagle:library:325" package="1X03" package3d_urn="urn:adsk.eagle:package:22458/2" value="3.3" x="27.94" y="11.43" smashed="yes">
-<attribute name="POPULARITY" value="92" x="53.34" y="-36.83" size="1.778" layer="27" display="off"/>
-<attribute name="VALUE" x="31.75" y="9.525" size="1.27" layer="27"/>
+<element name="3V3_REGULATOR" library="pinhead" library_urn="urn:adsk.eagle:library:325" package="1X03" package3d_urn="urn:adsk.eagle:package:22458/2" value="3.3" x="29.94" y="11.43" smashed="yes">
+<attribute name="POPULARITY" value="92" x="55.34" y="-36.83" size="1.778" layer="27" display="off"/>
+<attribute name="VALUE" x="31.75" y="13.525" size="1.27" layer="27"/>
 </element>
 <element name="BATT" library="pinhead" library_urn="urn:adsk.eagle:library:325" package="1X02" package3d_urn="urn:adsk.eagle:package:22435/2" value="5" x="21.59" y="22.86" smashed="yes" rot="R90">
 <attribute name="POPULARITY" value="98" x="69.85" y="67.31" size="1.778" layer="27" rot="R90" display="off"/>
@ -1780,9 +1780,6 @@ design rules under a new name.</description>
 <wire x1="50.8" y1="29.21" x2="54.61" y2="33.02" width="0.508" layer="16"/>
 <wire x1="43.815" y1="29.21" x2="50.8" y2="29.21" width="0.508" layer="16"/>
 <wire x1="54.61" y1="33.02" x2="54.77" y2="33.39" width="0.508" layer="16"/>
-<wire x1="27.94" y1="22.86" x2="27.94" y2="11.43" width="0.508" layer="16"/>
-<wire x1="23.495" y1="22.86" x2="27.94" y2="22.86" width="0.508" layer="16"/>
-<wire x1="22.225" y1="24.13" x2="23.495" y2="22.86" width="0.508" layer="16"/>
 <wire x1="72.39" y1="33.02" x2="68.58" y2="29.21" width="0.508" layer="16"/>
 <wire x1="68.58" y1="29.21" x2="67.31" y2="27.94" width="0.508" layer="16"/>
 <wire x1="72.39" y1="33.02" x2="72.55" y2="33.39" width="0.508" layer="16"/>
@ -1799,19 +1796,21 @@ design rules under a new name.</description>
 <wire x1="59.055" y1="29.21" x2="55.245" y2="33.02" width="0.508" layer="16"/>
 <wire x1="68.58" y1="29.21" x2="59.055" y2="29.21" width="0.508" layer="16"/>
 <wire x1="55.245" y1="33.02" x2="54.77" y2="33.39" width="0.508" layer="16"/>
+<wire x1="29.6672" y1="16.6624" x2="29.6672" y2="11.7856" width="0.508" layer="16"/>
+<wire x1="22.352" y1="23.9776" x2="29.6672" y2="16.6624" width="0.508" layer="16"/>
+<wire x1="29.6672" y1="11.7856" x2="29.94" y2="11.43" width="0.508" layer="16"/>
+<wire x1="22.352" y1="23.9776" x2="21.59" y2="24.13" width="0.508" layer="16"/>
 <polygon width="0.1524" layer="1">
-<vertex x="13.97" y="41.91"/>
-<vertex x="13.97" y="6.35"/>
-<vertex x="83.82" y="6.35"/>
-<vertex x="85.09" y="7.62"/>
-<vertex x="85.09" y="41.91"/>
+<vertex x="15" y="42"/>
+<vertex x="15" y="7"/>
+<vertex x="82" y="7"/>
+<vertex x="82" y="42"/>
 </polygon>
 <polygon width="0.1524" layer="16">
-<vertex x="13.97" y="41.91"/>
-<vertex x="13.97" y="6.35"/>
-<vertex x="83.82" y="6.35"/>
-<vertex x="85.09" y="7.62"/>
-<vertex x="85.09" y="41.91"/>
+<vertex x="14" y="43"/>
+<vertex x="14" y="6"/>
+<vertex x="83" y="6"/>
+<vertex x="83" y="43"/>
 </polygon>
 </signal>
 <signal name="SDA">
@ -1926,21 +1925,24 @@ design rules under a new name.</description>
 <wire x1="44.45" y1="24.765" x2="42.545" y2="24.765" width="0.508" layer="16"/>
 <wire x1="45.085" y1="24.765" x2="48.26" y2="27.94" width="0.508" layer="16"/>
 <wire x1="44.45" y1="24.765" x2="45.085" y2="24.765" width="0.508" layer="16"/>
-<wire x1="30.48" y1="21.59" x2="30.48" y2="11.43" width="0.508" layer="16"/>
 <wire x1="39.37" y1="21.59" x2="34.29" y2="21.59" width="0.508" layer="16"/>
-<wire x1="34.29" y1="21.59" x2="30.48" y2="21.59" width="0.508" layer="16"/>
 <wire x1="34.29" y1="21.59" x2="34.29" y2="24.13" width="0.508" layer="16"/>
 <wire x1="34.29" y1="24.13" x2="34.29" y2="26.67" width="0.508" layer="16"/>
 <wire x1="24.765" y1="24.13" x2="24.765" y2="33.02" width="0.508" layer="16"/>
 <wire x1="34.29" y1="24.13" x2="24.765" y2="24.13" width="0.508" layer="16"/>
 <wire x1="24.765" y1="33.02" x2="24.29" y2="33.39" width="0.508" layer="16"/>
+<wire x1="32.512" y1="19.9136" x2="32.512" y2="11.7856" width="0.508" layer="16"/>
+<wire x1="34.1376" y1="21.5392" x2="32.512" y2="19.9136" width="0.508" layer="16"/>
+<wire x1="32.512" y1="11.7856" x2="32.48" y2="11.43" width="0.508" layer="16"/>
+<wire x1="34.1376" y1="21.5392" x2="34.29" y2="21.59" width="0.508" layer="16"/>
 </signal>
 <signal name="5V">
 <contactref element="3V3_REGULATOR" pad="1"/>
 <contactref element="BATT" pad="1"/>
-<wire x1="25.4" y1="20.955" x2="25.4" y2="11.43" width="0.508" layer="16"/>
-<wire x1="22.225" y1="20.955" x2="25.4" y2="20.955" width="0.508" layer="16"/>
-<wire x1="21.59" y1="21.59" x2="22.225" y2="20.955" width="0.508" layer="16"/>
+<wire x1="21.9456" y1="17.0688" x2="21.9456" y2="21.5392" width="0.508" layer="1"/>
+<wire x1="27.2288" y1="11.7856" x2="21.9456" y2="17.0688" width="0.508" layer="1"/>
+<wire x1="21.9456" y1="21.5392" x2="21.59" y2="21.59" width="0.508" layer="1"/>
+<wire x1="27.2288" y1="11.7856" x2="27.4" y2="11.43" width="0.508" layer="1"/>
 </signal>
 <signal name="N$7">
 <contactref element="R5" pad="2"/>
--- a/pcb/eagle/HabTrackerPiZero_Shield.pdf
+++ b/pcb/eagle/HabTrackerPiZero_Shield.pdf
--- a/pcb/eagle/HabTrackerPiZero_Shield.pro
+++ b/pcb/eagle/HabTrackerPiZero_Shield.pro
@ -1,25 +1,25 @@
-EAGLE AutoRouter Statistics:
-
-Job           : /home/mfratczak/dev/Eagle/HabTrackerPiZero/HabTrackerPiZero_Shield_v304.brd
-
-Start at      : 21:19:28 (15.01.2020)
-End at        : 21:19:30 (15.01.2020)
-Elapsed time  : 00:00:01
-
-Signals       :    13   RoutingGrid: 16 mil  Layers: 1
-Connections   :    31   predefined:  28 ( 0 Vias )
-
-Router memory :   104140
-
-Passname          : TopRouter     Route Optimize1 Optimize2 Optimize3 Optimize4
-
-Time per pass     :  00:00:01  00:00:00  00:00:00  00:00:00  00:00:00  00:00:00
-Number of Ripups  :         0         0         0         0         0         0
-max. Level        :         0         0         0         0         0         0
-max. Total        :         0         0         0         0         0         0
-
-Routed            :         3         3         3         3         3         3
-Vias              :         0         0         0         0         0         0
-Resolution        :   100.0 %   100.0 %   100.0 %   100.0 %   100.0 %   100.0 %
-
-Final             : 100.0% finished
+EAGLE AutoRouter Statistics:
+
+Job           : D:/dev/Projects/pizero_tracker/pizero_tracker/pcb/eagle/HabTrackerPiZero_Shield.brd
+
+Start at      : 22:29:04 (7/22/2020)
+End at        : 22:29:09 (7/22/2020)
+Elapsed time  : 00:00:02
+
+Signals       :    13   RoutingGrid: 16 mil  Layers: 2
+Connections   :    31   predefined:  28 ( 0 Vias )
+
+Router memory :   208280
+
+Passname          : TopRouter     Route Optimize1 Optimize2 Optimize3 Optimize4
+
+Time per pass     :  00:00:02  00:00:00  00:00:00  00:00:00  00:00:00  00:00:00
+Number of Ripups  :         0         0         0         0         0         0
+max. Level        :         0         0         0         0         0         0
+max. Total        :         0         0         0         0         0         0
+
+Routed            :         3         3         3         3         3         3
+Vias              :         0         0         0         0         0         0
+Resolution        :   100.0 %   100.0 %   100.0 %   100.0 %   100.0 %   100.0 %
+
+Final             : 100.0% finished
--- a/pcb/eagle/HabTrackerPiZero_Shield_board.pdf
+++ b/pcb/eagle/HabTrackerPiZero_Shield_board.pdf
--- a/tracker/code/main/GLOB.h
+++ b/tracker/code/main/GLOB.h
@ -32,6 +32,7 @@ private:
    GLOB& operator=( const GLOB& ) = delete; // non copyable

    std::atomic<nmea_t> nmea_; // GPS data
+    std::atomic<nmea_t> nmea_last_valid_; // GPS data - last valid
    std::chrono::steady_clock::time_point gps_fix_timestamp_;

    // sensors dynamics
@ -73,8 +74,16 @@ public:
    dynamics_t  dynamics_get(const std::string& name) const;
    std::vector<std::string>  dynamics_keys() const; // names in dynamics_

-    void    nmea_set(const nmea_t& in_nmea) { get().nmea_ = in_nmea; }
-    nmea_t  nmea_get() { nmea_t ret = get().nmea_; return ret; }
+    void nmea_set(const nmea_t& in_nmea) {
+        get().nmea_ = in_nmea;
+        if(in_nmea.valid()) {
+            get().nmea_last_valid_ = in_nmea;
+            get().gps_fix_now();
+        }
+    }
+
+    nmea_t  nmea_current() { nmea_t ret = get().nmea_; return ret; }
+    nmea_t  nmea_last_valid()   { nmea_t ret = get().nmea_last_valid_; return ret; }

    void gps_fix_now() { gps_fix_timestamp_ = std::chrono::steady_clock::now(); }
    int  gps_fix_age() const { return (std::chrono::steady_clock::now() - gps_fix_timestamp_).count() / 1e9; }
--- a/tracker/code/main/cli.cpp
+++ b/tracker/code/main/cli.cpp
@ -5,7 +5,7 @@
 #include <vector>
 #include <iostream>
 #include <fstream>
-#include "glob.h"
+#include "GLOB.h"

 #include <boost/program_options.hpp>

--- a/tracker/code/main/dynamics_t.cpp
+++ b/tracker/code/main/dynamics_t.cpp
@ -7,7 +7,6 @@
 #include <algorithm>


-// utc_seconds is HHMMSS converted to seconds. return true if sample was accepted
 void dynamics_t::add(const tp timestamp, const float val)
 {
    val_ = val;
--- a/tracker/code/main/dynamics_t.h
+++ b/tracker/code/main/dynamics_t.h
@ -82,7 +82,7 @@ public:

    bool    initialised() const { return initialised_; }

-    void    add(const tp timestamp, const float val); // utc_seconds is HHMMSS converted to seconds. return true if sample was accepted
+    void    add(const tp timestamp, const float val);

    float   val()   const { return val_; }
    float   min()   const { return val_min_; }
--- a/tracker/code/main/main.cpp
+++ b/tracker/code/main/main.cpp
@ -78,8 +78,16 @@ std::string CRC(std::string i_str)
 zmq::message_t make_zmq_reply(const std::string& i_msg_str)
 {
 	auto& G = GLOB::get();
-	if(i_msg_str == "nmea")	{
-		std::string reply_str = G.nmea_get().json();
+	if(i_msg_str == "nmea_current")	{
+		std::string reply_str = G.nmea_current().json();
+		reply_str.pop_back();
+		reply_str += ",'fixAge':" + std::to_string(G.gps_fix_age()) + "}";
+		zmq::message_t reply( reply_str.size() );
+		memcpy( (void*) reply.data(), reply_str.c_str(), reply_str.size() );
+		return reply;
+	}
+	else if(i_msg_str == "nmea_last_valid") {
+		std::string reply_str = G.nmea_last_valid().json();
 		reply_str.pop_back();
 		reply_str += ",'fixAge':" + std::to_string(G.gps_fix_age()) + "}";
 		zmq::message_t reply( reply_str.size() );
@ -270,21 +278,18 @@ int main1(int argc, char** argv)
 			LOG.log("nmea.log", nmea_str);

 			nmea_t current_nmea;
-			// REUSE LAT,LON,ALT FROM LAST VALID SENTENCE
-			// 	if currently parsed NMEA string has valid lat/lon/alt
-			// 	they will be stored in current_nmea
-			// 	otherwise we keep last valid
-			const nmea_t  valid_nmea = GLOB::get().nmea_get();
-			current_nmea.lat = valid_nmea.lat;
-			current_nmea.lon = valid_nmea.lon;
-			current_nmea.alt = valid_nmea.alt;
+			if( NMEA_parse(nmea_str.c_str(), current_nmea) /*and current_nmea.valid()*/ ) {
+				// RMC has no altitude, copy from last known value
+				if( current_nmea.nmea_msg_type_ == nmea_t::nmea_msg_type_t::kRMC )
+					current_nmea.alt = GLOB::get().nmea_current().alt;

-			if( NMEA_parse(nmea_str.c_str(), current_nmea) and current_nmea.valid() ) {
 				GLOB::get().nmea_set(current_nmea);
-				GLOB::get().gps_fix_now(); // typical time since uBlox msg read to here is under 1 millisecond
-				GLOB::get().dynamics_add("alt", std::chrono::steady_clock::now(), current_nmea.alt);
+
+				if(current_nmea.valid())
+					GLOB::get().dynamics_add("alt", std::chrono::steady_clock::now(), current_nmea.alt);
 				// cout<<C_MAGENTA<<"alt "<<GLOB::get().dynamics_get("alt").str()<<C_OFF<<endl;
 			}
+			// else - parse error or no lock (even no time)
 		}
 	};

@ -293,7 +298,7 @@ int main1(int argc, char** argv)
 	auto fake_gps_loop = [uBlox_i2c_fd]() {
 		cout<<"Using FAKE GPS Coordinates !!!"<<endl;
 		while(G_RUN) {
-			const nmea_t  valid_nmea = GLOB::get().nmea_get();
+			const nmea_t  valid_nmea = GLOB::get().nmea_current();
 			nmea_t  current_nmea;
 			current_nmea.lat = valid_nmea.lat;
 			current_nmea.lon = valid_nmea.lon;
@ -363,7 +368,7 @@ int main1(int argc, char** argv)
 			this_thread::sleep_for( chrono::seconds(1) );

 			GLOB::get().runtime_secs_ = chrono::duration_cast<chrono::seconds>(chrono::steady_clock::now() - START_TIME).count();
-			const nmea_t nmea = GLOB::get().nmea_get();
+			const nmea_t nmea = GLOB::get().nmea_last_valid();
 			const auto dist_from_home = calc_gps_distance( nmea.lat, nmea.lon, nmea.alt,
 										GLOB::get().cli.lat,  GLOB::get().cli.lon, 0);
 			const auto alt = GLOB::get().dynamics_get("alt");
@ -373,14 +378,14 @@ int main1(int argc, char** argv)
 			if(nmea.valid()) {
 				if( abs(dist_from_home.dist_line_) < 200 and abs(dAltAvg) <= 3 )
 					flight_state = flight_state_t::kStandBy;
-				else if(dAltAvg < -8)
-					flight_state = flight_state_t::kFreefall;
-				else if(dAltAvg < -3)
-					flight_state = flight_state_t::kDescend;
-				else if(dAltAvg > 3)
-					flight_state = flight_state_t::kAscend;
 				else if( abs(dist_from_home.dist_line_) > 2000 and abs(dAltAvg) <= 3 and alt.val() < 2000 )
 					flight_state = flight_state_t::kLanded;
+				else if(dAltAvg < -15)
+					flight_state = flight_state_t::kFreefall;
+				else if(dAltAvg < 0)
+					flight_state = flight_state_t::kDescend;
+				else if(dAltAvg >= 0)
+					flight_state = flight_state_t::kAscend;
 			}
 			// cout<<alt.val()<<" "<<alt.dVdT()<<" "<<alt.dVdT_avg()<<" "<<dist_from_home.dist_line_<<endl;
 			GLOB::get().flight_state_set( flight_state );
@ -466,14 +471,14 @@ int main1(int argc, char** argv)
 			stringstream  tlmtr_stream;

 			// Callsign, ID, UTC:
-			const nmea_t valid_nmea = G.nmea_get();
+			const nmea_t current_nmea = G.nmea_current();
 			tlmtr_stream<<G.cli.callsign;
 			tlmtr_stream<<","<<msg_id;
-			tlmtr_stream<<","<<valid_nmea.utc;
+			tlmtr_stream<<","<<current_nmea.utc;

 			// !! ONLY VALID LAT,LON,ALT ARE BEING SENT. LOOK INTO uBLOX THREAD.
-			tlmtr_stream<<","<<valid_nmea.lat<<","<<valid_nmea.lon<<","<<valid_nmea.alt;
-			tlmtr_stream<<","<<valid_nmea.sats<<","<<GLOB::get().gps_fix_age();
+			tlmtr_stream<<","<<current_nmea.lat<<","<<current_nmea.lon<<","<<current_nmea.alt;
+			tlmtr_stream<<","<<current_nmea.sats<<","<<GLOB::get().gps_fix_age();

 			// runtime
 			tlmtr_stream<<","<<static_cast<int>(GLOB::get().runtime_secs_);
--- a/tracker/code/nmea/nmea.cpp
+++ b/tracker/code/nmea/nmea.cpp
@ -134,6 +134,8 @@ bool NMEA_parse(const char* Buffer, nmea_t& o_nmea)

 	if (strncmp(Buffer + 3, "GGA", 3) == 0) // Global positioning system fix data
 	{
+		o_nmea.nmea_msg_type_ = nmea_t::nmea_msg_type_t::kGGA;
+
 		int scanned_positions =
 			sscanf(Buffer + 7, "%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &
 				utc, &lat, &ns, &lon, &ew, &quality, &sats, &hdop, &alt, &alt_units);
@ -175,6 +177,7 @@ bool NMEA_parse(const char* Buffer, nmea_t& o_nmea)
 					o_nmea.fix_quality = nmea_t::fix_quality_t::kEstimated;
 					break;
 			}
+
 			return true;
 		}
 		else if(scanned_positions > 0 && utc != 0)
@ -191,6 +194,8 @@ bool NMEA_parse(const char* Buffer, nmea_t& o_nmea)
 	} // GGA
 	else if (strncmp(Buffer+3, "RMC", 3) == 0)
 	{
+		o_nmea.nmea_msg_type_ = nmea_t::nmea_msg_type_t::kRMC;
+
 		speedstring[0] = '\0';
 		coursestring[0] = '\0';
 		int scanned_positions =
@ -338,8 +343,9 @@ int nmea_t::utc_as_seconds() const

 bool nmea_t::valid() const
 {
-	// only one at a time can be valid.
-	// fix_status is from RMC, fix_quality is from GGA
-	return 		fix_status  == fix_status_t::kValid
-			or 	fix_quality != fix_quality_t::kNoFix;
+	if(nmea_msg_type_ == nmea_msg_type_t::kGGA and fix_quality != fix_quality_t::kNoFix)
+		return true;
+	if(nmea_msg_type_ == nmea_msg_type_t::kRMC and fix_status  == fix_status_t::kValid)
+		return true;
+	return false;
 }
--- a/tracker/code/nmea/nmea.h
+++ b/tracker/code/nmea/nmea.h
@ -5,26 +5,23 @@


 // keep data parsed from GGA __and__ RMC messages
+// http://aprs.gids.nl/nmea/#rmc
+// http://aprs.gids.nl/nmea/#gga
+
 class nmea_t
 {
 public:
+	// fields provided by both GGA and RMC messages:
+	//
 	char utc[6] = {'0', '0', '0', '0', '0', '0'}; // HHMMSS

 	float lat = 0; // degree
 	float lon = 0; // degree
+
+	// GGA message fields:
+	//
 	float alt = 0; // meters
-
-	float speed_over_ground_mps = 0;
-	float course_over_ground_deg = 0;
-
 	int sats = 0;
-
-	enum class fix_status_t : int {
-		kInvalid=0, // V
-		kValid=1 // A
-	};
-	fix_status_t fix_status = fix_status_t::kInvalid;
-
 	enum class fix_quality_t : int {
 		kNoFix = 0,
 		kAutonomous = 1,
@ -35,6 +32,25 @@ public:
 	};
 	fix_quality_t fix_quality = fix_quality_t::kNoFix;

+
+	// RMC message fields:
+	//
+	float speed_over_ground_mps = 0;
+	float course_over_ground_deg = 0;
+	enum class fix_status_t : int {
+		kInvalid=0, // V
+		kValid=1 // A
+	};
+	fix_status_t fix_status = fix_status_t::kInvalid;
+
+	enum class nmea_msg_type_t : int {
+		kUnknown = 0,
+		kGGA = 1,
+		kRMC = 2
+	};
+	nmea_msg_type_t nmea_msg_type_ = nmea_msg_type_t::kUnknown;
+
+
 	std::string str() const;
 	std::string json() const;

--- a/tracker/tracker.cfg
+++ b/tracker/tracker.cfg
@ -0,0 +1,37 @@
+# tracker options
+#
+callsign = setcallsign
+freq = 434.5
+baud = 300
+port = 6666
+ssdv = /tracker/ssdv.bin
+logsdir = /tracker/logs/
+# number of telemetry packets to send before SSDV packet
+msg_num = 3
+# launch location
+latlonalt = 52.1120009
+latlonalt = 19.957789
+latlonalt = 100
+# enable watchdog
+watchdog = 1
+
+# hardware configuration
+#
+hw_pin_radio_on = 22
+hw_radio_serial = /dev/serial0
+#pi4
+#hw_ublox_device = /dev/i2c-7
+#pi0
+hw_ublox_device = /dev/i2c-3
+
+# camera
+#
+cam_dir = /tracker/camera
+cam_flip_h = 0
+cam_flip_v = 0
+# SSDV image resolution
+cam_ssdv_res = 128
+# video clip duration in minutes
+cam_video_dur = 15
+# photo snapshot interval in seconds
+cam_snapshot_interval = 30
Autor	SHA1	Wiadomość	Data
Michal Fratczak	5be2df2e68	PDF of schematic	2023-10-12 22:18:56 +02:00
Michal Fratczak	42cb4efc45	Added PCB readme	2020-12-14 09:40:28 +01:00
Michal	546eed4244	Update Readme.md	2020-10-29 22:13:24 +01:00
Michal Fratczak	1127777f86	Stop camera on GPS fix loss.	2020-08-27 22:36:44 +01:00
Michal Fratczak	43a409a0fb	hot bugfix to camera.py	2020-08-27 21:48:10 +01:00
Michal Fratczak	b6bce14496	camera: disable VIDEO in kLanded state. Send hiRes	2020-08-27 21:29:56 +01:00
Michal Fratczak	cb6bb631e2	Improve nmea_t type and fix altitude not being recorded. Adjust flight state logic.	2020-08-25 20:42:23 +01:00
Michal Fratczak	1d7058455b	Merge branch 'master' of https://github.com/ogre/pizero_tracker	2020-08-14 00:11:07 +02:00
Michal Fratczak	206e484462	Track current nmea and last valid nmea. Transmit current, even if not valid.	2020-08-14 00:10:52 +02:00
Michal Fratczak	8f6d03f1b7	Readme upd	2020-07-25 22:53:16 +01:00
Michal Fratczak	15c2b81d6e	Merge branch 'master' of https://github.com/ogre/pizero_tracker	2020-07-25 22:46:20 +01:00
Michal Fratczak	cf2317fe6a	Add tracker.cfg	2020-07-23 22:58:07 +01:00
Michal Fratczak	6ffcfdb1cd	wrong case in include. readme update.	2020-07-23 21:30:58 +01:00
Michal Fratczak	285a2bf80a	PCB: move reg away from corner hole	2020-07-22 22:31:15 +01:00