//Test reading barometer.
public static void Main44()
{
double baseAltitudeFeet = 0.0;
int counter2 = 0;
double alpha = .15;
double previousAltitudeFeet = 0.0;
bool isReady = false;
SerialPort port = new SerialPort("COM7", 9600, Parity.None, 8, StopBits.One);
SerialPortInterface portInterface = new SerialPortInterface(port);
portInterface.Open();
GraphForm rawTemp = new GraphForm("RawTemp");
GraphForm rawPress = new GraphForm("RawPress");
GraphForm temp = new GraphForm("Temp");
GraphForm press = new GraphForm("Pressure");
GraphForm alt = new GraphForm("altitude");
rawTemp.Visible = true;
rawPress.Visible = true;
temp.Visible = true;
press.Visible = true;
alt.Visible = true;
while (true)
{
int var = 0;
while (var != 'S')
{
var = portInterface.ReadByte();
}
uint rwTemp = portInterface.ReadUInt();
rawTemp.AddValueToGraph(rwTemp);
uint rwPress = portInterface.ReadUInt();
rawPress.AddValueToGraph(rwPress);
int temperature = portInterface.ReadInt();
temp.AddValueToGraph(temperature);
int pressure = portInterface.ReadInt();
//press.AddValueToGraph(pressure);
float pressure2 = portInterface.ReadFloat();
//press.AddValueToGraph(pressure2);
float zned = portInterface.ReadFloat();
press.AddValueToGraph(zned);
Application.DoEvents();
//altitude equation from: http://www.barnardmicrosystems.com/L4E_FMU_sensors.htm#Pressure
double altitudemeters = (288.15 / (6.5 / 1000.0)) * (1 - (Math.Pow((pressure / 101325.0), (6.5 / 1000.0) * (287.052 / 9.78))));
double altitudefeet = altitudemeters * 3.28084;
//*******note the barometer appears to need more time to settle
if (counter2 == 40)
{
baseAltitudeFeet = altitudefeet;
counter2 = 80;
}
else if (counter2 == 80)
{
//do nothing
}
else
{
counter2++;
}
if (isReady)
{
//Danger *** This algorithm drifts. Sometimes it takes like 10 seconds
//or more to stabalize. So you have to wait a long time before you should
//read the altitude and set it as the base altitude because of how long it takes.
//Also, as the barometer heats up, the altitude changes. This isn't good as the barometer's
//temperature will probably change throughout the flight
double altitudefeettemp = (double)(altitudefeet - baseAltitudeFeet);
altitudefeet = alpha * (altitudefeettemp) + (1 - alpha) * previousAltitudeFeet;
previousAltitudeFeet = altitudefeet;
alt.AddValueToGraph(altitudefeet);
}
else
{
altitudefeet = (double)(altitudefeet - baseAltitudeFeet);
}
if (altitudefeet < 20 && altitudefeet != 0)
{
isReady = true;
}
}
}
//public static void Main()
public static void Main2()
{
SerialPort port = new SerialPort("COM7", 115200, Parity.None, 8, StopBits.One);
SerialPortInterface portInterface = new SerialPortInterface(port);
portInterface.Open();
GraphForm yawG = new GraphForm("yaw");
GraphForm pitchG = new GraphForm("pitch");
GraphForm rollG = new GraphForm("roll");
GraphForm lax = new GraphForm("lax");
GraphForm lay = new GraphForm("lay");
GraphForm laz = new GraphForm("laz");
GraphForm velX = new GraphForm("velX");
yawG.Visible = true;
pitchG.Visible = true;
rollG.Visible = true;
lax.Visible = true;
lay.Visible = true;
laz.Visible = true;
velX.Visible = true;
/*
GraphForm accxg = new GraphForm("accx");
GraphForm accyg = new GraphForm("accy");
GraphForm acczg = new GraphForm("accz");
GraphForm gyroxg = new GraphForm("gyrox");
GraphForm gyroyg = new GraphForm("gyroy");
GraphForm gyrozg = new GraphForm("gyroz");
GraphForm magxg = new GraphForm("magx");
GraphForm magyg = new GraphForm("magy");
GraphForm magzg = new GraphForm("magz");
accxg.Visible = true;
accyg.Visible = true;
acczg.Visible = true;
gyroxg.Visible = true;
gyroyg.Visible = true;
gyrozg.Visible = true;
magxg.Visible = true;
magyg.Visible = true;
magzg.Visible = true;
*/
port.DiscardInBuffer();
while (true)
{
while (portInterface.ReadByte() != 'S')
{
}
float yaw = portInterface.ReadFloat() * (float)(180.0f / Math.PI);
float pitch = portInterface.ReadFloat() * (float)(180.0f / Math.PI);
float roll = portInterface.ReadFloat() * (float)(180.0f / Math.PI);
float lineX = portInterface.ReadFloat();
float lineY = portInterface.ReadFloat();
float lineZ = portInterface.ReadFloat();
float velocityX = portInterface.ReadFloat();
yawG.AddValueToGraph(yaw);
pitchG.AddValueToGraph(pitch);
rollG.AddValueToGraph(roll);
lax.AddValueToGraph(lineX);
lay.AddValueToGraph(lineY);
laz.AddValueToGraph(lineZ);
velX.AddValueToGraph(velocityX);
/*
float accx = portInterface.ReadFloat();
float accy = portInterface.ReadFloat();
float accz = portInterface.ReadFloat();
float gyrox = portInterface.ReadFloat();
float gyroy = portInterface.ReadFloat();
float gyroz = portInterface.ReadFloat();
float magx = portInterface.ReadFloat();
float magy = portInterface.ReadFloat();
float magz = portInterface.ReadFloat();
accxg.AddValueToGraph(accx);
accyg.AddValueToGraph(accy);
acczg.AddValueToGraph(accz);
gyroxg.AddValueToGraph(gyrox);
gyroyg.AddValueToGraph(gyroy);
gyrozg.AddValueToGraph(gyroz);
magxg.AddValueToGraph(magx);
magyg.AddValueToGraph(magy);
magzg.AddValueToGraph(magz);
*/
Application.DoEvents();
}
}
public static void Main3()
{
SerialPort port = new SerialPort("COM7", 9600, Parity.None, 8, StopBits.One);
SerialPortInterface portInterface = new SerialPortInterface(port);
portInterface.Open();
GraphForm magX = new GraphForm("MagX");
GraphForm magZ = new GraphForm("MagZ");
GraphForm magY = new GraphForm("MagY");
GraphForm frdmagX = new GraphForm("FRDMagX");
GraphForm frdmagZ = new GraphForm("FRDMagZ");
GraphForm frdmagY = new GraphForm("FRDMagY");
magX.Visible = true;
magZ.Visible = true;
magY.Visible = true;
frdmagX.Visible = true;
frdmagZ.Visible = true;
frdmagY.Visible = true;
while (true)
{
int var = 0;
while (var != 'S')
{
var = portInterface.ReadByte();
}
magX.AddValueToGraph(readShort(portInterface));
magY.AddValueToGraph(readShort(portInterface));
magZ.AddValueToGraph(readShort(portInterface));
frdmagX.AddValueToGraph(readShort(portInterface));
frdmagY.AddValueToGraph(readShort(portInterface));
frdmagZ.AddValueToGraph(readShort(portInterface));
Application.DoEvents();
}
}
