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--- projects:high_altitude_slug:software [2006/07/25 15:27] – phatmonkey
+++ projects:high_altitude_slug:software [2008/07/19 23:33] (current) – external edit 127.0.0.1
@@ Line 3: / Line 3: @@
 ===== Onboard =====
-The on board software is written entirely in C. Non-realtime IPC is done with a TCP server that repeats back any information sent to it. This makes debugging/monitoring/controlling over a network very simple. Realtime data is stored in shared memory.
+Still being planned
-==== Processes ====
-There are 5 major processes:
-=== main.c ===
-Forks, controls and handles errors from other processes. This also controls the shared memory,
-=== flight.c ===
-This process manages the flight (ie, keeps track of when it is ascending/descending/landed, sends text messages etc) and keeps a list of waypoints. The main waypoint tasks:
-  * Keeping a list of waypoints. Waypoints consist of a position and an optional required altitude.
-  * Calculating "sub waypoints" for circling around to get to required altitudes etc.
-  * Calculating when a waypoint is reached based on GPS position and thresholds
-  * Calculating headings to go in based on the current position and the next waypoint (continuous so it will not drift off course)
-Currently for development, there is a very simple waypoint manager that cycles around a set of waypoints in an array.
-=== roll.c ===
-  * Maintaining straight/level flight.
-  * Calculate current heading
-  * Bank and turn based on heading to next waypoint and current heading
-=== pitch.c ===
-  * Maintain constant airspeed, maybe based on stall speed at current altitude or fixed pitch. Without a pressure sensor, this will have to be done purely with ground speed, so a fixed pitch may be necessary. I shall have to look into attaching a pitot pressure sensor.
-Currently for powered flight development, this process is just maintaining a certain altitude.
-=== gps_reader.c ===
-  * Reads GPS data from gpsd using libgps and sticks it in shared memory.
-=== thermopile_reader.c ===
-  * Reads data from thermopiles with i2c-io-api, calculates pitch and bank angles and puts it in shared memory.
-=== data_logger.c ===
-  * Logs data to a CSV file. Could potentially relay data for the ground station.
-==== Libraries ====
-=== client.c ===
-See [[.software:client]]
-  * Client for server.
-=== coordinates.c ===
-  * Various coordinate conversions.
-=== logger.c ===
-  * Logs errors and messages.
-=== servos.c ===
-  * Controls servos via i2c.
-==== Logging ====
-Error and message logging is logged to seperate log files by logger.c.
-Data logging is done to a single [[wp>Comma-separated values|CSV]] file by data_logger.c, in the format:
-  [UNIX timestamp],[flight status],[latitude],[longitude],[altitude],[speed],[vertical speed],[heading],[x thermopile normalised reading],[y thermopile normalised reading],[z thermopile normalised reading]
 ==== Other pages ====
@@ Line 61: / Line 9: @@
   * [[.software:protocol]]
-===== Ground station =====
-Data will be transmitted down to a slug on the ground. The slug and the Gumstix are both little endian, so data can simply be transmitted without any conversion. The slug will run a server on the ground, anything sent to that server will be relayed up onto the server on the slug, giving us pretty much full control.
-Some data will be sent down to the ground station slug automatically in the same format used for IPC on the glider. Other data can be requested.