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(A Flight Data Recorder): Operation Manual

1. manual setup address of AD12 8 IRQ 7 five volt range bipolar mode Initialize Board return on error clear task list return on error assign point addresses channels 0 1 2 and 3 return on error channels 4 5 and 6 return on error channals 8 9 and 10 return on error channels 12 and 13 return on error set up timers counter 1 mode 3 period 4 47 usec return on error counter 2 1760period 8 millisec return on error set scale for point 0 return on error same for points 1 and 2 return on error set scale for point 3 return on error set acale for point 4 return on error same for points 4 thru 11 DParameters 2 5 A ADParameters 3 13 status call_driver if status 0 FatalError A001 return on error ADTask 4 set gains ADParameters 0 0 ADParameters 1 2 ADParameters 2 0 status call_driver if status 0 FatalError A001 return on error ADParameters 0 3 ADParameters 1 3 ADParameters 2 1 status call driver if status 0 FatalError A001 return on error ADParameters 0 4 ADParameters 1 13 ADParameters 2 2 status call_driver if status 0 FatalError A001 return on error ret
2. OTClear FloppyFlag 1 kok k k kok k kok k kok kk k kok k kk k k kk k kk k kk k k k kk k A A k k k k k k k k k k k k k FX hh JE CopyToFloppy copies all data files in the datasave directory to f4 the floppy It copies only file with are not archived Paa After a successful copy to floppy the source file is mark as XI f as archived so it will not be copied again The source file is retained not erased m is x CopyToFloppy calls FileCopy to perforn the disk to disk copy Kf ya XL RR RIK kok k kok KOKK KKR KKK KKK kk k kk k kok k kk k kk AK I ARKA void CopyToFloppy void har fname har dest a har destfile 20 har search 80 har sourcefile 80 truct ffblk block truct diskfree_t free p NOTO int FileCopy char char f dos getdiskfree l amp free 0 F QTReset QTWLine No Disk in Drive 1 45 OTWLine FILE COPY ABORTTED 3 OTBeep delay 2000 return if strlen DataDirPath strcpy search DataDirPath strcpy sourcefile DataDirPath strcat search fname if findfirst search amp block FA_ARCH 0 return strcpy destfile dest strcat destfile block ff name strcat sourcefile block ff name if chmod sourcefile 0 0x20 CopyMessage destfile if FileCopy destfile sourcefile chmod sourcefile 1 0x00 for jj if findnext sblock 0 return strcpy sourc
3. void WriteToFile void void ReadSysParameters void void SysTime long int void WriteToBuffer void int WriteRestart void void checkdisk void void CopyToFloppy void int handler int int int int void DisplaySignOn char char Y void QTClear void void QTWLine char int void QTBeep void void LEDUpdate void void GetKeyboardInput void UpdateCount char void ReadRestart void void QTReset void void DisplayRestart void unsigned ADSetup void unsigned ADProcedures void unsigned ADCheckRdy void void GetKeyboardInput void void Pacing void void ADLoop void void SignOff void void CopyMessage char void ReadCompass void float GetMagHeading void void DisplayCompass void FILE in int main int status ReadSysParameters ReadRestart harderr handler error handler subsitute status GreenleafSet16550TriggerLevel TRIGGER_04 if status lt 0 printf Error returned on Trigger d n status FatalError I001 exit 0 GreenleafSetPortHardware COM3 IRQ5 0x2e8 KVH PortOpenGreenleafPolled COM3 9600L N 8 1 if KVH NULL FatalError I002 GPS PortOpenGreenleafFast COM1 9600L N 8 1 if GPS NULL printf Port Open Failed FatalError 1003 exit 0 UseRtsCts GPS 1 QT PortOpenGreenleafPolled COM2 9600L N 8 1 if QT NULL FatalError I
4. FILE in char buffer 80 char marker float temp 8 char path 50 int ch char c int count O index char keys 10 25 PitchOffset PitchGain RollOffset RollGain AltOffset AltGain BallOffset BallGain SystemID DataDirPath if in fopen logger ini rt NULL FatalError S001 for jj if fgets buffer 80 in NULL break for index 0 index lt 10 index if strstr buffer keys index NULL switch index case 8 GetChar buffer amp ch c ch if isalpha c eount goto next case 9 if GetString buffer path goto next default if temp index GetFloat buffer lt 9999 goto next next fclose in if count 9 36 SystemID c PitchOffset temp 0 PitchGain temp 1 RollOffset temp 2 RollGain temp 3 AltOffset temp 4 AltGain temp 5 BallOffset temp 6 BallGain temp 7 if strlen path 0 strcpy DataDirPath path else FatalError S002 float GetFloat char buffer char marker char tempbuffer 80 float value if marker strstr buffer NULL strcpy tempbuffer marker 1 if sscanf tempbuffer f amp value 1 return value return 10000 void GetChar char buffer int x char marker char tempbuffer 80 if marker strstr buffer NULL strcpy tempbuffer marker 1
5. The board is configured by means of jumpers There are fifteen sets of three pins each the sets are labeled JP1 through JP15 Each set may be jumped in three ways e H the center and upper pins jumpered e L the center and lower pins jumpered e Open no jumper installed The following table documents the jumper configuration used in the Data Logger Table 4 SIIG UO Board Configuration Position Jumper Position Jumper R H IP OPEN ji H OPE OPE Ol N po H N 24 Appendix 3 Configuration of the KVH Compass System The KVH C100 compass system is configured by software supplied by the manufacturer This is MSDOS program but can be run within the Windows environment The files C100USR EXE and CLIST TXT must be copied to a directory and the executable run from that directory Since the C100 compass system is mounted in separate enclosure and both the RS 232 serial communications and the DC power are routed through the single interconnection cable the following procedure should be used to run the setup program Use a serial extension cable to connect the computer running the C100USR program to the cable in the Data Logger which is normally connected to COMG the serial port which is associated with the SIIG I O Professional multifunction input output board This allows the Data Logger to supply the 12 VDC to power the compass engine The compass engines used in the Data Logger are set to commu
6. W001 Error opening data file W002 Error writing to the data file W003 Error closing the data file Structure and Content of Data Files Each data file is automatically assigned a unique name when a logging session is started This is done to minimize the number of steps the operator must do to record a session The file is named using a combination of the System identifier the date and the time Zulu or Universal Coordinated Time which the particular logging session was started The format is SystemID DDHHMM YYM where SystemID is the character A or B DD is the two digit day of the month HH is the two digit hour of the day in 24 hour format MM is the two digit minute of the hour YY is the last two digits of the year M is a character representing the month 1 9 A Oct B Nov and C Dec As noted previously the Data Logger files are stored in binary format The details of the binary storage format is defined by the C structure record which may be found in any of the program listings in Appendix 7 Note that an int is a 16 bit and a long int is a 32 bit integer A float is equivalent to the 32 bit floating point and a double is equivalent to the 64 bit floating point representation defined by ANSI IEEE 754 1985 IEEE Standard for Binary Floating Point Arithmetic 13 Since it was never intended that the data files be read directly in binary format the above is more for informa
7. Z Ky f r WriteToFile uses previously defined file name if present or JR generates a new name based on the date and time Then JE writes the contents of the buffer to this file and closes Fil the file each time uA e T RR RK kok k kok KROK k k kok KKK KKK kk k k kk k kok k kk k kk k kk k kk KKK k kk S void WriteToFile char directory 80 f char templ 15 temp2 5 string 20 Log File if RecordIndex lt 10 amp amp FlushRecordBufferFlag return not yet and no flush if RecordIndex 0 FlushRecordBufferFlag 0 return if we get here there is data to write if LogFileNamed if ReStartFlag NameFile generate file name from date if strlen DataDirPath If there is a path add it strcpy directory DataDirPath strcat directory LogFileName add filename strcpy LogFileName directory copy to global LogFileNamed 1 ReStartUpdateFlag 1 fnsplit LogFileName NULL NULL temp1 temp2 strcat templ temp2 strcat string temp1 QTWLine string 2 if logfilepointer fopen LogFileName a b NULL FatalError W001 if fwrite RecordBuffer sizeof Record RecordIndex logfilepointer RecordIndex FatalError W002 if fclose logfilepointer 0 FatalError W003 RecordIndex 0 FlushRecordBufferFlag 0 43 RR RIK k kok k kok KOKK KKR A RR A kk k KKK X WriteToBuffer averages summe
8. bmajor major 1 0L flat eccensgr 1 0L powl bmajor major 2 0L eccenbsqr powl major bmajor 2 0L 1 01 TN major bmajor majortbmajor TN2 TN TN TN3 TN2 TN TN4 TN3 TN TNS TN4 TN AP major 1 0L TN 5 0L IN2 TN3 4 0L 81 0L TN4 TN5 64 0L BP 3 0L major TN TN2 7 0L TN3 TN4 8 0L 55 0L TN5 64 0L 2 0L CP 15 0L major TN2 TN3 0 75L TN4 TN5 16 0L DP 35 0L major TN3 TNA 11 0L TN5 16 0L 48 0L EP 315 0L major TN4 TN5 512 0L long double rad_cur long double x long double y long double z long double temp temp x sqrtl 1 0L y z z return temp long double true_mer_dis long double a long double b long double c long double d long double e long double f long double temp temp a f b sinl 2 0L f c sinl 4 0L f d sinl 6 0L f e sinl 8 0L f return temp int main void char InputFile 80 OutputFile 80 temp 10 int Res FILE in FILE out char StrBuffer 500 struct record Buffer int size i count factor j char name MAXFILE ext MAXEXT char newext MAXEXT txt int zone long double north east printf Data Logger Conversion Utility n n printf Enter name of File to Convert js gets InputFile printf n nEnter name of File for result gets OutputFile x fnsplit InputFile NULL NULL name ext fnmerge OutputFile NULL NULL name newext
9. case 2 exit program if RecFlag amp amp CalFlag amp amp CompassCheckFlag ExitFlag 1 unlink restart ini return case 1 if RecFlag amp amp CalFlag amp amp CompassCheckFlag amp amp GPSFlag amp amp DCIFlag amp amp GyroFlag ReStartFileFlag 22 RecFlag 1 set RECORD Flag QTLed 5 1 set REC LED on ReStartUpdateFlag 1 OTClear OTWLine Recording 1 unlink restart ini return if RecFlag if recording RecFlag 0 reset RECORD Flag QTLed 5 0 set RECORD LED off QTLed 1 0 FlushRecordBufferFlag 1 ReStartUpdateFlag 0 unlink restart ini OTWLine 1 OTWLine Press EXIT to quit 3 OTWLine START to resume 4 return default return RR RR I KR RR k kok AR AA k kok ok kok kok kok k AR AKA k k k A KAR 3 Display Non Fatal Error Message Sound Alert x Le BRR kok KK k k kok k KORK AR KK AR KKK KRK ARK I void NonFatalError char text OTClear QTWLine Error Detected in 1 OTWLine text 2 OTWLine Procedure Canceled 3 delay 1000 OTBeep delay 1000 OTBeep delay 1000 OTBeep delay 2000 OTClear BR RIK RA k kok KROK KR KORK k e I k k kok k A k kk k kok k kk k kk k kk k kk k ARK I x fe UpdateCount writes the current record number to the display P as an indication of continuing data collec
10. while 1 fclose in fclose out return 0 63
11. BR RIK kok kok kok k kok kok k kok k kok k kok k kk k k kk k kk k kk k kk kk k kk k k k k k k k k k k k I f WA Control Status of Q Term LED s ja 2 RR RIK kok k kok k k kok k kok k k kok KRK k kok AR e k k kok k kok k kk KRK ARK ARKA void OTLed int lamp int function char string 3 ESC P unsigned char c 49 lamps numbered 1 5 from right to left 0 off 1 On 2 blink 3 toggle c 0x40 lamp 8 function string 2 c WriteBuffer QT string 3 RR RIK KAKA KROK KK ORK kok k KK k kok k A I AA kok k kk k kok k kk k k k k kok k k k k k x Toggle Backlight on display ki x BR RK k kok k kok k KROK k kok AR A kk k k kk k kk k kk k k kk kk k kk k kk kk k kk kk k k k k void OTBackLite void char back 3 ESC V B WriteBuffer QT back 3 RR RIK o kok k kok k k kok k kok k AR KAKA KARA KK kok k kk IA kk KRK ARK k k k k ges NG Reset QT Clears dislay Clears LEDs resets stored parameters ey X x BR KIRK IK KK kk Ck kk k k kk k Ck kk k kk Ck k kk Ck kk k kk k kk kk k kk IA k k k k k KKK void QTReset void char rst 2 ESC M WriteBuffer QT rst 2 delay 350 command requires 300 ms RR RK kok k kok KROK KR KORK KRK KKR KAKA A AA A k kok k I k k k k k k ARK k k k k f af JR Adjust Contrast on Q Term Screen y XL RRR k kok k kok k KOKK OK KORK k k kok kok k kk k kok k kok k kk k kk kk k kk k k AKA KKK v
12. head GetMagHeading Record MagHeading int head return NAMEFILE C include lt stdio h gt include lt dos h gt include lt time h gt include lt string h gt extern char LogFileName extern int LogFileNamed extern char SystemID RRR K kok k kok KKK KKK KKK k k kk k kok k kk k kk k kk k k k KKR KA KKK ye x as This routine gives the data file a unique name based on the System ID year month day hour and minute UTC time RR K K kok k kok KROK KKR kk Ck kk k kok Ck Ck kk Ck kk k kok Ck kok k kk KRRRK void NameFile TZ environmental varible should be TZ GMTO and clock should be GMT struct tm time_now int month time_t secs_now char str 80 char tempstr 80 sprintf str Sc SystemID time amp secs now time now localtime amp secs now strftime tempstr 13 d H M y time now strcat str tempstr month time now tm mon 1 sprintf LogFileName s X str month LogFileNamed 1 PACING C include lt stdlib h gt include lt time h gt include lt dos h gt extern time_t WriteTime extern int PacingFlag extern int WriteRecordFlag extern int WriteTimeFlag extern int RecFlag extern int GPSFlag extern int DCIFlag extern struct record unsigned long Time int Mark int Mode double Latitude double Longitude int Altitude int RateOfClimb int Airspeed int MagHeading int Pitch int Roll float Ball
13. if sscanf tempbuffer c x 1 return x 0x00 return int GetString char buffer char path char marker char tempbuffer 80 if marker strstr buffer NULL strcpy tempbuffer marker 1 if sscanf tempbuffer s path return 1 path 0 0x00 return 0 GPSTEST C include lt stdio h gt include lt dos h gt include lt time h gt include lt ctype h gt include lt bios h gt include lt alloc h gt include lt stdlib h gt include lt conio h gt include lt math h gt include lt string h gt include lt dir h gt include lt io h gt include al2drvc h include ibmkeys h include asciidef h include gsci h time t WriteTime int PacingFlag 0 int WriteTimeFlag 0 37 FILE restart FILE logfilepointer char LogFileName 80 int GPSFlag 0 RecFlag O CalFlag O GyroFlag 0 ReStartFlag 0 DCIFlag 0 InitFlag 0 MarkFlag 0 MarkIndex 0 ReStartFileFlag 0 ReStartUpdateFlag 0 ReStartMarkIndex 0 CompassCheckFlag 0 LogFileNamed 0 int WriteRecordFlag 0 int FlushRecordBufferFlag 0 int SetTimeFlag 1 int FloppyFlag 0 int ExitFlag 0 int ADInProgressFlag 0 int ADDataReadyFlag 0 int BannerFlag 0 int DiagnosticFlag 0 unsigned char CurrentContrast char SystemID float PitchOffset PitchGain RollOffset RollGain AltOffset AltGain BallOffset BallGain char
14. 200 mv range 21 If all of these channels are not responding correctly examine the external connector between the Data Logger and the aircraft the larger of the two circular connectors Secondly verify that the isolation relays are operating these relays should be activated when power is applied to the Data Logger system Another possibility is that the zeroing of the multiplexer and or analog converter may have drifted to an extent which effects these millivolt range measurements without effecting the apparent accuracy of the high level channels This occurrence would be rare but if suspected the procedure for calibration and zeroing of these components is described in the respective product manuals but is too involved to be included here If the errors are restricted to a subset of the level level inputs or to only those from a particular instrument VOR 1 VOR 2 or GS the most likely cause is a wiring fault Use in 24 Volt Aircraft The Data Logger was originally constructed for use in an aircraft with a 12 volt DC power buss In order to convert the unit to operate in a 24 volt aircraft a number of component and wiring changes are required The time required to convert one Data Logger from 12 volt to 24 volt operation is estimated to be less than two hours Components Required for each Data Logger e Power Converter International Power Sources Inc Model PD110 40M e Relays Potter amp Brumfield Model KHAU17D13
15. SendGPSCommand PASHS RST FatalError G002 Set Differential Mode to auto if SendGPSCommand PASHS RTC AUT Y FatalError G003 Set GPS Mode to 3 D if SendGPSCommand PASHS PMD 0 FatalError G004 Set Up Differential Corrections on Port B if SendGPSCommand PASHS RTC REM B FatalError G005 Set message GGA ONLY SENT IF POSITION COMPUTED if SendGPSCommand PASHS NME GGA A ON FatalError G006 Set message POS ALWAYS SENT if SendGPSCommand PASHS NME POS A ON FatalError G007 Set RTCM timeout to fifteen seconds if SendGPSCommand PASHS RTC MAX 15 FatalError G008 40 void GPSDeInit void WriteString GPS SPASHS RST 2 SendGPSCommand SPASHS RST BR RIK KI KR k k kok k KORK KKK KKK AR k k kok k k kok k kok k kk k kok k kk k kk kk k k k k j2 x je SendGPSCommand attempts five times to send the command to the ng y receiver It looks at the response of the receiver and scans AR for ACK which indicates the command was accepted It will JR attempt three repeations before returning failure ay f8 x RR RK ko kok k KKK KKK kok k k kok k kok k kk k kok k kk k kk k k kk kk k kk kk k kk k k k k k k k int SendGPSCommand char buffer int status i int count 0 char response 100 char ack ACK do for i 0 i lt 5 i ClearRXBuffer GPS if status WriteString GPS buffer 2 0
16. The initial display on the handheld display control console is a sign on message indicating the SystemID and software version This is followed by a check for the presence of a floppy disk in drive A and giving the operator the opportunity to insert one If a disk is present an estimate of the flight length in hours that can be stored on this floppy is displayed If there is no disk in the drive the program continues after a short delay The system then displays the magnetic heading to allow the operator to judge if the system compass and aircraft compass agree Pressing ENTER terminates this display As soon as a GPS lock is obtained the system clock is synchronized to UTC Zulu time LED s on the terminal are illuminated to indicate e GPS position fixes are available GPS e Position data are differentially corrected DIFF e System vertical gyro has erected GYRO Once these three conditions are true LED s lit the message READY will be displayed and pressing the START STOP key begins recording data The REC LED will light indicating recording is in progress The top line of the display will indicate the number of records that have been recorded this number will continue to increment as long as the unit is recording flight data After ten seconds the automatically generated filename will be displayed The filename format is SystemID day hours minutes year month e g A072115 985 is the filename of the fligh
17. break if status 0 FatalError G001 ReadstringTimed GPS response 99 2 1500L if GPS gt status ASSUCCESS if strstr response ack NULL return 1 count Jwhile count lt 3 return 0 int ReadGPS void static int CurrentBuffer 0 static int BufferIndex 2 0 0 int input while IsRXEmpty GPS input getc in EOF while characters are available input ReadChar GPS get next character if input gt 0 valid read if input 0x0d amp amp input 0x0a GPSBufferFlag CurrentBuffer 0 test of flags GPSBuffer CurrentBuffer BufferIndex CurrentBuffer char input GPSBuffer CurrentBuffer BufferIndex CurrentBuffer 0x00 else if input 0x0d GPSBuffer CurrentBuffer BufferIndex CurrentBuffer 0x00 null terminate string BufferIndex CurrentBuffer 0 reset index GPSBufferFlag CurrentBuffer 1 indicate buffer ready CurrentBuffer CurrentBuffer 0 1 toggle current buffer if BufferIndex CurrentBuffer 0 GPSBufferFlag CurrentBuffer 0 if input 0x0d return 0 return 0 41 bell x GPSScan parses the buffers filled by GPSRead GPSBufferFlags are nj used to determine if buffer is complete xy x GPSFlag and DCIFlag are set to 10 each time a valid position comp and diff mode usage are determined These are decremen
18. GPSTime t ti hund 0 settime st SetTimeFlag 0 return 0 Basic Post Flight Software LATITUDE LONGITUDE ASCII CONVERSION include stdio h include dos h include ctype h include lt bios h gt include alloc h include stdlib h include lt conio h gt include math h include string h include dir h include io h struct record unsigned long Time int Mark int Mode double Latitude double Longitude int Altitude int RateOfClimb int Airspeed int MagHeading int Pitch int Roll float Ball 57 int CDI1 int CDIT F1 int CDIFlagl int CDI2 int CDIT F2 int CDIFlag2 int GSDev int GSFlag int COG int SOG li struct record Record void convert struct record rec char str sprintf str Sld t d tSd t 15 51f tS15 51 tSd tsd tsd tSsd tsd tsd t 5 2f tsd tsd tsd t d tSd tSsd tsd tsd tsd tsd n rec Time rec Mark rec Mode rec Latitude rec Longitude rec Altitude rec RateOfClimb rec Airspeed rec MagHeading rec Pitch rec Roll rec Ball rec CDI1 rec CDIT F1 rec CDIFlagl rec CDI2 rec CDIT F2 rec CDIFlag2 rec GSDev rec GSFlag rec COG rec S0G int main void char InputFile 80 OutputFile 80 temp 10 int Res FILE in FILE out char StrBuffer 500 struct record Buffer int size i count factor j printf Data Logger Conversion Utility n n printf Enter name of File to Co
19. IEEE floating point formats it was determined that conversion to a standard text ASCII format would allow the maximum flexibility in viewing and analyzing these data Programs have been written to read the binary data files and convert the records to text format ASCII In the converted ASCII file tab characters separate the fields of each record and records are separated by a carriage return line feed newline character s There are two versions of the conversion program these differ only in the treatment of the horizontal position information The standard horizontal position output of the Global Positioning System Receiver is latitude and longitude The first version of the conversion program convert exe directly converts this data to the ASCII format The second version utm con exe converts the horizontal position data to Universal Transverse Mercator UTM in place of latitude and longitude UTM uses northing and easting as the coordinates in addition to a UTM zone number The advantage of using UTM coordinates is that UTM is a rectilinear system This simplifies the process of plotting the aircraft s course The northing and easting coordinates are expressed in meters and are converted from the latitude longitude data to a resolution of one meter in this application The source code for both conversion programs may be found in Appendix 7 10 4 Operation General Operational Procedures
20. coslat coslat coslat_7 coslat_3 coslat_3 coslat tanlat_2 tanlat tanlat tanlat_4 tanlat_2 tanlat_2 tanlat_6 tanlat_2 tanlat_4 ETA eccenbsqr coslat coslat ETA_2 ETA ETA ETA_3 ETA_2 ETA ETA_4 ETA_2 ETA_2 SN rad cur major eccensqr sinlat TMD true mer dis AP BP CP DP EP latrad tl TMD OK t2 SN sinlat coslat OK 2 0L t3 SN sinlat coslat 3 OK 5 0L tanlat 2 9 0L ETA 4 0L ETA 2 24 0L t4 SN sinlat coslat 5 OK 61 0L 58 0L tanlat 2 ttanlat 4 270 0L ETA 330 0L tanlat 2 ETA 445 0L ETA_2 324 0L ETA 3 680 0L tanlat 2 ETA 2 88 0L ETA 4 600 0L tanlat 2 ETA 3 192 0L tanlat 2 ETA 4 720 0L t5 SN sinlat coslat 7 OK 1385 0L 3111 0L tanlat 2 543 0L tanlat 4 tanlat 6 40320 01 if latrad gt 0 0L north OL else north 1 0e7L north tl delta_2 t2 delta_4 t3 delta_6 t4 delta_4 delta_4 t5 t6 SN coslat OK t7 SN coslat 3 OK 1 0L tanlat 2 ETA 6 01 t8 SN coslat_5 OK 5 0L 18 0L tanlat 2 tanlat_4 14 0L ETA 58 0L tanlat 2 ETA 13 0L ETA 2 4 0L ETA_3 64 0L tanlat 2 ETA 2 24 0L tanlat 2 ETA 3 120 01 t9 SN coslat 7 OK 61 0L 479 0L tanlat 2 179 0L tanlat_4 tanlat 6 5040 0L east FE delta meridian t6 delta 2 delta meridian t7 delta 4 delta meridian t8 delta 6 delta meridian t9 north floorl north 0 5L east floorl east 0 5L void initialize void long double TN2 TN3 TN4 TN5 61 recflat 1 0L flat
21. delay 5 if responsel NULL ReadStringTimed KVH responsel 40 0x0d 100L ERRHAND C include lt stdio h gt include lt conio h gt include lt dos h gt include lt ctype h gt define IGNORE 0 define RETRY 1 define ABORT 2 pragma warn par int handler int errval int ax int bp int si unsigned di int drive int errorno di DI if ax lt 0 hardretn ABORT drive ax amp Ox00ff errorno di 8 Ox00ff if drive 0 hardretn ABORT sprintf msg Error s on drive c r nA bort R etry I gnore err msg errorno A drive 4 hardresume IGNORE return ABORT pragma warn par GETSYS C include lt stdio h gt include lt string h gt include lt ctype h gt 35 include lt stdlib h gt extern char SystemID extern float Pitchoffset PitchGain RollOffset RollGain Altoffset AltGain Balloffset BallGain extern char DataDirPath 50 void FatalError char n void GetChar char x int y float GetFloat char int GetString char buffer char path RRR IR kok k kok RR e e A I RR kok k kk k kok k kok k kk A kk k k k ARK ARK I fx This routine looks for logger ini fe gains and offsets for critical analog channels ID and the path in which to store the data files Kj file and reads the the system Bd A KKK KKK KK KKK KKK K R KKK KKK KKK KKK KR void ReadSysParameters count
22. for testing only CompassCommand cal response send cal command printf line 1431 for testing only ERROR sscanf response 5f amp heading scan for valid response if heading lastheading ERROR check 45 degree increment printf heading f f n heading lastheading for testing only if ERROR CalAbort Calibration return sprintf response s 03d xdf pos int heading format prompt QTWLine response 2 Write to Display lastheading heading 45 0 increment lastheading for next do wait for response status ReadCharTimed QT 30000L wait 30 seconds if status lt 0 CalAbort Cal Time Out return no response in 30 seconds abort c char status assure returned value is char disregard characters which are not valid A F and lt CR gt are valid Jwhile c 0x0d c A c F if c 0x0d CalAbort Cal User Abort return response other than lt CR gt abort while heading 315 0 compass system response changes at this stage requires modifications to procedures CompassCommand cal NULL does not return new heading if ReadStringTimed KVH response 40 0x0d 100001 lt 0 CalAbort Cal Time Out return ERROR 0 if ReadstringTimed KVH response 40 0x0d 2000L lt 0 ERROR if strstr response test NULL
23. just stops inexplicably pressing the reset button on the Data Logger or turning the power switch OFF and then back ON will re initialize the system 11 In any event if the system was recording a process is in place that allows the operator to restart recording data to the original file If restart is possible the sign on message check for disk compass checks and gyro check will be bypassed The message Restart Possible will be displayed The operator may press RSTRT on the handheld terminal to resume recording if GPS and DIFF LED s are lit If it desired that subsequent flight data be recorded to a new file the aircraft must be flown straight and level until the GYRO Led is lit then if the GPS and DIFF are also lit pressing the START STOP key begins recording to a new file Other Features Calibrate Compass When NOT recording data the operator may press CAL COMP to begin a compass calibration autocompensation procedure Messages on the handheld terminal will guide the operator through the series of steps required to do an eight point ground calibration of the magnetic compass engine The operator may abort this procedure at any time The unit displays information on the accuracy of the calibration upon completion Details on this procedure may be found in the Maintenance and Troubleshooting section Display Contrast By pressing C on the keypad the operator can increase the display contrast on the term
24. modifications The Data Logger may be adapted to aircraft other than the Beech Sundowner Some component changes and wiring modifications would be required to operate the system in an aircraft that is equipped with a 24 volt DC power system Re calibration of the airspeed may be required to accommodate a different pitot static system The interface to the radio navigation systems VOR LOC and GS was designed for the Bendix King KI 2xx system of outputs wiring modifications within the Data Logger may be required if other navigation radios are employed 2 Components All the components of the Data Logger System are houses in a single enclosure with the exception of the Compass System and User Display Control Console The locations of the major components are inlustrated in the Figure below Airspeed Microcomputer DC to DC Power Sensor and Card Cage Converters Analog RBDS GPS Multiplexer Receiver Receiver Single Board Computer The central component of the Data Logger is the single board computer This unit is essentially an IBM PC compatible computer that is fabricated on a single Industry Standard Architecture ISA board yet is capable of operation in a greater range of environmental conditions than a standard desktop personal computer The Industrial Computer Source Model SB486PV single board computer is designed around an Intel 486DX100 microprocessor and provides support for keyboard control video adapter both fixed and flopp
25. p8 Displays the Sign On Message and System ID Tests LEDs and Beep Ef ye x JE F K K kok k kok k k oko k oko k kok k k e e KKK KR void DisplaySignOn char c char st char buffer 20 int 1 OTReset OTWLine IPC Data Logger 1 sprintf buffer System c c OTWLine buffer 2 sprintf buffer s st OTWLine buffer 3 for i 1 i lt 6 i QTLed i 1 LED s on delay 300 M OTBeep delay 500 for i 5 i 0 i OTLed i 0 LED s off delay 300 M delay 3000 RR RIK RAK KOKK KROK KR KORK AR k kk k kk kk kk kk k kk k k kk kk k k k IA k k k k k k k k ARK pa x Looks for KeyPresses on the QT Terminal scans for valid inputs ng sets flags for the various functions to be performed KA pa x RR RIK k kok k KOKK KROK KR KORK AR IA AR k e k k AA Ck k Kk k kok k kk ke kk k kk k k k k k void GetKeyboardInput void int status char buffer 22 char mess1 5 ESC I B char mess2 5 ESC K if IsRXEmpty OT return return immediately if no characters if PeekChar QT if not tilde single character command if status ReadChar QT lt 0 return return on error switch status case B Q Term BackLite case G OTBackLite return case C Q Term Contrast 51 case H OTContrast return case 0 case 1 case 2 case 3 case 4 case 5 WriteBuffer QT mess
26. receiver Ashtech G12 and the Differential Correction receiver DCI RDS 3000 work together to provide the total positioning information for the Data Logger Since the differential corrections are channeled through the GPS receiver and there is not direct connection between the RDS 3000 and the remainder of the Data Logger system the GPS system must be functioning correctly before attempting to diagnose any potential problems concerning differential corrections GPS Receiver System If the GPS receiver has a problem the operator will observe one of the following symptoms e A Fatal Error of Type G will be displayed on the console e The GPS LED on the console will fail to light e Excessive time is required for the GPS LED to light in excess of two minutes The Ashtech G12 GPS receiver has an indicator mounted on the circuit board that contains both red and green LED s Flashing red indication means the receiver has power 5 volt DC The green LED flashes between the red flashes Each green flash indicates one satellite locked being received and processed e g four 4 green flashes indicates four satellites locked The unit must be locked on to a minimum of four satellites for the Data Logger to operate If a fatal error of type G was displayed check the power to the Ashtech G12 receiver Verify that the 9 pin connector labeled Port A is firmly connected to the COMI serial port of the single board computer If neither of the above is
27. size sizeof Record if Buffer struct record malloc 500 size NULL printf Storage Allocation Failed n printf Exiting Program n exit 0 if in fopen InputFile rb NULL printf s not Found yn InputFile printf Exiting Program n n exit 0 if out fopen OutputFile wt NULL printf Error opening file s OutputFile 62 printf Exiting Program n exit 0 printf n nPreprocessing n td decimate n tm marked only n printf tn none n nEnter d m or n d do Res toupper char getch while Res D amp amp Res M amp amp Res N if Res D printf n nDecimation Factor Tye gets temp sscanf temp d amp factor printf XAnXn sprintf StrBuffer Time tMark tMode tZone tNorthing tEasting tAlt tRate_of_Climb tAirspee d tMagHeading tPitch tRoll tBall tCDI_1 tT_F1 tFlagl tCDI_2 tT_F2 tFlag2 tGSCDI tGSFlag t COG tSOG n fputs StrBuffer out j 0 do count fread Buffer size 500 in if count break for i 0 i lt count i if Res M amp amp Buffer i Mark 0 Res M if j 0 Res D 112UTM long double Buffer i Latitude long double Buffer i Longitude north amp east amp zone Buffer i Latitude double north Buffer i Longitude double east convert Buffer i zone StrBuffer fputs StrBuffer out j factor jc
28. the cause of the problem the COMI serial port should be checked and or the Ashtech G12 should be checked for proper operation independent of one another One method is to use a program supplied by Ashtech called Evaluate This program can be run on a Windows computer using a serial extension cable to connect the computer serial port to the connector labeled Port A This program will communicate with and test any number of Ashtech GPS receiver systems A users guide is available for Evaluate 4 0 If no fatal errors are displayed but the GPS Led never lights to indicate GPS data is available then the problem is either in the G12 receiver itself or the GPS antenna system The LED on the receiver itself can be helpful in this case If green flashes are never observed the most likely cause is either the antenna or the If the C 100 Compass System is replaced see Appendix 3 for information on software configuration If the SIIG input output board is replaced see Appendix 2 for information on the hardware configuration 19 antenna cabling The most straightforward method of determining the component s at fault is to interchange to Ashtech G12 receiver with the receiver in another Data Logger much easier than interchanging antenna systems If excessive time appears to be required for the GPS system to lock onto the required number of satellites the problem may be that the keep alive battery that retains receiver data may be exhausted T
29. 0002 set bit 1 1 GPSFlag 10 set GPSFlag LastTimeT POSTime GPSBufferFlag index 0 mark buffer as read return if strstr GPSBuffer index SPASHR NULL is a POS message WriteRecordFlag 1 time to write a record if sscanf GPSBuffer index posformat amp PFlag amp temptime amp PLat amp ns amp PLon amp ew amp PAlt amp COG amp SOG amp Rate 10 POSTime temptime if ns S Phat 1 0 if ew W PLon 1 0 if POSTime lt Record Time WriteRecordFlag 0 else Record Time POSTime Record Latitude PLat Record Longitude PLon Record Altitude 3 2808 PAlt Geoidal Record RateOfClimb 0 25 Record RateOfClimb 147 636 Rate m s to ft min three second time constant added to rate of climb Record COG COG 42 Record SOG SOG if SetTimeFlag SysTime Record Time set system time to GPS if PFlag 1 Record Mode 0x0001 DCIFlag 10 else Record Mode amp Oxfffe if DCIFlag gt 0 amp amp LastTimeD POSTime DCIFlag LastTimeD POSTime if GPSFlag gt 0 amp amp LastTimeT IL gt POSTime Record Mode amp Oxfffd GPSFlag PacingFlag WriteTimeFlag 0 else Record Timet Record Mode 0 if GPSFlag 50 GPSFlag if GPSFlag 0 DCIFlag 0 PacingFlag WriteTimeFlag GPSBufferFlag index 0 return kok k k kok k kok KKK KKK
30. 004 UseXonXoff QT 1 QTReset 39 vo if ReStartFileFlag DisplayRestart else DisplaySignOn SystemID V1 22 checkdisk check for floppy DisplayCompass QTWLine STARTING 2 ADSetup GPSInit ClearRXBuffer GPS ClearRXBuffer QT do LoopCounter 1 ADProcedures ReadGPS GPSScan if WriteRecordFlag printf Time 1d Mode d GPSFlag d DCIFlag d n Record Time Record Mode GPSFlag DCIFlag printf Lat 1f Long 1f Alt d Heading d n Record Latitude Record Longitude Record Altitude Record MagHeading F f ADCount printf dNnMn Record Pitch ADCount Record Roll ADCount WriteToBuffer WriteToFile LEDUpdate 1 CalCompass GetKeyboardInput WriteRestart ADCheckRdy delay 1 Pacing ADLoop Jwhile ExitFlag CopyToFloppy SignOff GPSDeInit PortClose QT PortClose KVH PortClose GPS return 0 FRR A E E A AA kok k k kok A okok okok kok k kk k kok k okok k kk k kok k kk k k k k GPSInit reset the receiver and then sets up 3 D nav and R the differential parameters The receiver will return a GGA and POS message each second Any error is considered fatal k x FEA kk k kk k kk Ck kk k kk k kk k kk k k Kk k kk k kk k k kk kk k k k k k k ARK ARK ek id GPSInit void int status Reset GPS to default settings if
31. 1 4 WriteBuffer QT mess2 2 DiagnosticFlag status return default return else if status ReadChar QT lt 0 return read and discard first if status ReadChar QT lt 0 return read and retain second switch status case 5 toggle marking if RecFlag return must be recording to toggle if MarkFlag not presently marking MarkFlag 1 set Mark flag QTLed 1 1 MARK LED on increment index sprintf buffer MARKING 9d MarkIndex Record Mark MarkIndex QTWLine buffer 4 Display message ReStartUpdateFlag 1 set flag to indicate the restart ini file should be updated return else presently marking MarkFlag 0 reset Mark flag Record Mark 0 sprintf buffer Last MARK was 5d MarkIndex QTWLine buffer 4 Display Message QTLed 1 0 MARK Led off return case 4 calibrate compass if CalFlag amp amp ReStartFileFlag amp amp RecFlag if not cal ing and no possibility of restart and not recording data allow a calibration CalFlag 1 set calibration flag return case 3 Use Restart if ReStartFileFlag 64 RecFlag amp amp CalFlag amp amp GPSFlag amp amp DCIFlag ReStartFlag 1 MarkIndex ReStartMarkIndex RecFlag GyroFlag 1 OTWLine Appending 1 QTLed 5 1 REC LED on return
32. 12 8 Product Manual 1996 San Diego Industrial Computer Source Model AT 16P Product Manual 1997 San Diego Industrial Computer Source QTERM II User s Manual Revision 10 1997 Salt Lake City OSI Corporation 23 Appendices Appendix 1 BIOS Settings for Single Board Computer In general most of the settings within the BIOS CMOS setup of the SB486PV single board computer remain as configured in the standard factory defaults In addition to the microprocessor and ISA buss controller only the hard disk controller the floppy disk controller and the serial ports are essential for Data Logger operation It should be verified that the two on board serial ports are configured in the standard manner i e COM1 at port 3f8 hexadecimal and IRQ 4 COM2 at port 2f8 hexadecimal and IRQ 3 Because both IRQ 5 and IRQ 7 are required for other devices by the Data Logger hardware the on board parallel port on the SB486PV must be disabled Since it is the normal operating procedure to insert a floppy disk in the Data Logger before applying power the boot sequence of the SB486PV must be modified The BIOS must be configured to attempt to boot from only the fixed disk never the floppy Appendix 2 Configuration of Third Serial Data Port The SHG I O Professional multifunction input output board Model 101809 used in this application requires that only one serial port be active and that the other serial port and the parallel port be disabled
33. 13 pieces e Fan Papst Model 4314 or equivalent 24 VDC Brushless 4 7 inch square mount Procedure 1 Remove the International Power Sources PD110 40L Power Converter and install the model PD110 40M in its place It is the same physical size and is a pin for pin replacement no modifications need be made to the cabling 2 Remove the three or four P amp B relays and replace with the 24 VDC units 3 Remove the 12 VDC fan assembly and replace with the 24 VDC unit Optionally the Data Logger power switch circuit breaker may be replaced with a unit rated a 5 amperes NOTE In the event that new Data Logger units are built for use in 24 VDC aircraft the secondary power converter Converter Concepts can be completely eliminated from the construction This converter is used only to provide power to the gyroscope in 12 VDC aircraft The gyroscope s motor can be wired directly to the switched A power buss of the Data Logger when operated in a 24 VDC aircraft Acknowledgments and Disclaimer This material is based upon work supported by the Federal Aviation Administration under Award No DTFA 98 G 003 Any opinions findings and conclusions or recommendations expressed in this publication are those of the authors and do not necessarily reflect the views of the Federal Aviation Administration 3 The contacts of the selected relay should be a minimum of gold flashed since the signals passing through are small and any excess contract
34. 6 P can be substituted by merely unplugging the cable from the installed unit and plugging it into the spare there is no need to remove the original unit nor to connect the inputs to the spare AT16 P used for testing purposes If this procedure is used be certain that the replacement AT16 P is placed on an insulating surface before applying power Spare AD12 8 and AT16 P are available already properly configured in addition to a spare cable used to connect these units Operational Checks Using the Terminal If no errors are flagged but it is suspected that there is a problem with one or more of the analog to digital channels the actual converted data from these channels can be displayed on the handheld terminal to aid in maintenance and troubleshooting When the Data Logger is in the recording mode the actual values being stored in the flight data records for pitch roll airspeed ball yaw and radio navigation course deviation indicators CDI s and associated flags can be displayed on the third line of the alphanumeric display Pressing 1 displays the pitch and roll in degrees positive is right or up Pressing 2 displays the airspeed in knots and the ball position in unit of ball width Pressing 3 displays the VOR LOC 1 course deviation in percent and the flag status Pressing 4 displays the VOR LOC 2 course deviation in percent and the flag status Pressing 5 displays the Glideslope course deviati
35. Aviation Research Lab Institute of Aviation University of Illinois at Urbana Champaign 1 Airport Road Savoy Illinois 61874 IPC DATA LOGGER A Flight Data Recorder Operation Manual Lester Lendrum Henry L Taylor Donald A Talleur Charles L Hulin Gary L Bradshaw amp Tom W Emanuel Jr Technical Report ARL 00 8 FAA 00 5 July 2000 Prepared for Federal Aviation Administration Civil Aeromedical Institute Oklahoma City OK Contract DTFA 98 G 003 1 Introduction The IPC Data Logger a flight data recorder is designed to support research involving pilot performance in executing instrument flight procedures The system is designed for use in small single engine aircraft and can easily be removed to return the aircraft to normal service The system is based on a commercial single board computer recording data at the rate of one frame per second In addition to aircraft position and altitude pitch roll yaw magnetic heading vertical speed and airspeed are recorded The radio navigation displays Very high frequency Omni Range LOCalizer VOR LOC and Glideslope are also recorded Provision is made for the check pilot operator to mark sections of the flight records to aid in the subsequent analysis of the data Apart from connection to the pitot static system and the navigation displays instruments internal to the Data Logger generate all data The data logger is housed in an aluminum enclosure 22 inches in widt
36. DataDirPath 50 struct record unsigned long Time int Mark int Mode double Latitude double Longitude int Altitude int RateOfClimb int Airspeed int MagHeading int Pitch int Roll float Ball int CDI1 int CDIT_F1 int CDIFlagl int CDI2 int CDIT F2 int CDIFlag2 int GSDev int GSFlag int COG int SOG li struct record Record struct record RecordBuffer 10 int RecordIndex 0 int GPSBufferFlag 2 0 0 char GPSBuffer 2 130 unsigned int LoopCounter 1000 unsigned ADPointBuffer 200 int ADStatus ADTask GPS Data Available Recording Data Calibrating Compass Gyro Erect Restart Recording to old file Differential Corrections good Init in progress Marking in progress Current or last mark index Valid restart file read Update present restart ini file display compass check valid filename in logfilename write a record now recording stopped flush logger ini variables Globals for A D board ADParameters 5 ADDataBuffer 200 38 ADTempBuffer 100 int ADCount 10 PORT KVH compass system on COM3 PORT XOT terminal on COM2 PORT GPS GPS receiver on COMI int SendGPSCommand char p void FatalError char p void GPSInit void int ReadGPS void void GPSDeInit void void GPSScan void void NameFile void
37. ERROR if ERROR CalAbort Cal Failed return OTClear OTWLine Compass Cal ed 1 if ReadString KVH response 40 0x0d OTWLine response 2 OTBeep delay 3000 InitFlag 1 QTClear CalFlag 0 ClearRXBuffer GPS GPSInit OKCKCKCKCkCkCk Ck ok okok A okok okok A okok okok okok ok okok kok e XKX okok k Kk k kok okok okok A Send Command to Compass and return the response X Makes five attempts to send command v Fatal Error is Compass Fails to respond x 34 3 Ay RR RIK kok k kok k k kok KR KORK AR AA AR k Ck Kk k k kk k kok k Kk k kok k kk k kk k kk k k k k void CompassCommand char command char responsel int loop 0 int ERROR 0 char temp 21 if IsRXEmpty KVH ClearRXBuffer KVH assure clear buffer do WriteString KVH command 0x0d send the command if command 0 delay 60 delay else delay 200 if ReadChar KVH gt break check for command accepted ClearRXBuf fer KVH command ignored clear buffer if loop gt 5 ERROR 1 increment error count retry while loop lt 5 if ERROR FatalError C001 abort with Fatal Error do temp 0 ReadChar KVH purge remains of first line Jwhile temp 0 0x0d amp amp temp 0 gt 0 ReadCharTimed KVH 100L wait for first character of next if command 0 delay 100 increase delay for cals else
38. General Computer Problems To operate the Data Logger system as a MSDOS computer a standard PC keyboard and a VGA capable display must be connected The keyboard connector is located on the side of the card cage the 15 pin VGA display connector is located on the connector panel of the Single Board Computer the only full length card in the card cage Power the Data Logger system and allow it to start normally If there were no fatal errors during start up the enter key on the handheld terminal will have to be pressed to acknowledge the compass heading check then the EXIT key should be pressed The standard shutdown message should appear on the handheld terminal and the VGA display should provide a standard MSDOS command line prompt In the event that the Data Logger system fails to even boot the MSDOS operating system a keyboard and display must be attached and a bootable 3 45 floppy disk must be available and inserted in the drive When the system is powered press the Del key on the keyboard when prompted to enter the CMOS setup screens Once in setup configure the boot options to allow booting from the floppy disk first then the fixed disk Save the CMOS setting and allow the system to re boot The single board computer should boot the MSDOS operating system from the floppy disk and allow testing to be performed Diagnostics 17 should then be performed to determine the cause of the failure to boot from the fixed disk and thi
39. IK kok k kok KOKK OK KORK KORK AR AA A k kok k kk k kk k kok k kk k I AK AK k k k XL ya DisplayReady display either STANDBY or READY depending yox on the state of the datalogger R FE XL RR RIK kok KR KROK KKR KRK k k kk k kk k A kk k k k k k k k KKK k k k k k k k k k k void DisplayReady void if BannerFlag 1 amp amp RecFlag amp amp GPSFlag amp amp DCIFlag amp amp GyroFlag ReStartFileFlag amp amp ExitFlag QTWLine READY 2 OTBeep BannerFlag 1 if BannerFlag 2 amp amp RecFlag amp amp GPSFlag DCIFlag GyroFlag QTWLine STANDBY 2 BannerFlag 2 RRR IKK HRK XL fa LEDUpdate controls the state of the LED s depending on the state 8 of the machine and the state of internal flags wg FE x BR RIK k kok k kok k KKK KKK k k kk k Kk k kk k kk Ck kk k kk k kk KKK KKK KKK void LEDUpdate static int LastRec LastGPS LastDCI int i i RecFlag 2 0 if RecFlag LastRec GPSFlag LastGPS if GPSFlag OTLed 4 1 else QTLed 4 i if i 2 OTBeep if RecFlag LastRec DCIFlag LastDCI if DCIFlag QTLed 3 1 else QTLed 3 i if i 2 OTBeep 54 LastRec RecFlag LastGPS GPSFlag LastDCI DCIFlag if GyroFlag QTLed 2 1 if PacingFlag DisplayReady void PitchRoll int pitch int roll char str1 5 char str2 5 char positionl 5 ESC I B char p
40. If the computer has more than one serial port the program must be set to use the serial port to which the RDS 3000 is connected A previously configured receiver should be communicating at 9600 baud but if not the program can automatically try all possible communication rates until the receiver is located Once the program locates the receiver the user can open the configuration file 9600 cfg and send it to the receiver If the baud rate originally in use by the receiver and the baud rate specified in the configuration file were different communication between the program and the receiver will have to be reestablished Note that the receiver does not have to be connected to an antenna to be configured however if it is desired to view the received RCTM correction data using the RTCM Monitor portion of the RTCMWIN program an antenna must be attached and an RDS broadcast received Appendix 6 Initial Settings for Display Control Console The QTERM II is configured via software provided by the manufacturer The program QSETUP EXE is used to program the terminal using a QDATA File The QDATA File is an ASCII file provided by the manufacturer in several versions for the various models of the QTERM II terminal The particular file appropriate to this unit is QDATA40W V30 26 Several changes were made to this default file in order to utilize the display more conveniently and to simplify the task of communicating with the termina
41. TRANSVERSE MERCATUR ASCII CONVERSION include lt stdio h gt include lt dos h gt include lt ctype h gt include lt bios h gt include lt alloc h gt include lt stdlib h gt include lt conio h gt include lt math h gt include lt string h gt include lt dir h gt include lt io h gt long double d_rad M_PI 180 0 long double major 631813701 long double flat 1 0L 298 257223563L long double recflat long double bmajor long double eccensqr eccenbsqr long double TN AP BP CP DP EP long double FE 500000 0L long double OK 0 9996L struct record 59 unsigned long Time int Mark int Mode double Latitude double Longitude int Altitude int RateOfClimb int Airspeed int MagHeading int Pitch int Roll float Ball int CDI1 int CDIT F1 int CDIFlagl int CDI2 int CDIT F2 int CDIFlag2 int GSDev int GSFlag int COG int SOG li struct record Record void convert struct record rec int zone char str sprintf str Sld t d tsd tSd t 15 01F t315 01F tsd tsd tSd tsd tsd tSd t 5 2f tsd tsd t d tSd tsd tsd tsd tsd tsd tsd n rec Time rec Mark rec Mode zone rec Latitude rec Longitude rec Altitude rec RateOfClimb rec Airspeed rec MagHeading rec Pitch rec Roll rec Ball rec CDIl rec CDIT F1 rec CDIFlagl rec CDI2 rec CDIT F2 rec CDIFlag2 rec GSDev rec GSFlag rec COG rec SOG long double dg2rads long dou
42. aircraft only a primary converter is required in 24 volt aircraft in addition to changes to other components of the Data Logger see the section Maintenance and Troubleshooting for details Primary Converter The primary DC to DC converter is that which converts the aircraft DC power to the voltages required to operate the single board computer and other components that require compatible regulated voltages the Display Terminal and the Compass System The input of the primary converter for the Beech Sundowner is 12 volts DC the outputs are 5 volts DC regulated 5 volts DC regulated 12 volts DC regulated 12 volts DC regulated The primary DC to DC converter used is the Model PD110 40L by International Power Sources Inc This unit requires an input of 10 to 20 volts DC and provides the four regulated output voltages listed above The unit is capable of providing 5 volts DC 10 amps 12 volts DC 9 amps 12 volts DC and 5 volts DC both 1 amp total power output not to exceed 110 watts The 5 volt output is over voltage protected and all outputs are over current protected Secondary Converter The secondary DC to DC converter is required only in aircraft that are equipped with a 12 volt electrical system such as the model of Beech Sundowner employed in this application The Vertical Gyroscope requires 24 volt DC for operation the secondary converter provides this voltage This converter is not required if the ai
43. art char filename FileName char mark MarkIndexNumber char marker char buffer 80 char tempbuffer 80 char localfilename 80 int length int localmarknumber 55 int localfileflag 0 E localmarkflag 0 ILE tempfile if restart fopen restart ini rt NULL return 0 restart ini not found for f i r if fgets buffer 80 restart NULL if no more lines break if strstr buffer filename NULL if filename line if marker strpbrk buffer NULL strcpy tempbuffer marker 2 length strlen tempbuffer tempbuffer length 1 0x00 if tempfile fopen tempbuffer rb NULL fclose tempfile localfileflag 1 strcpy localfilename tempbuffer goto next else if strstr buffer mark NULL if marker strpbrk buffer NULL if sscanf marker 1 d amp localmarknumber localmarkflag 1 next close restart f localfileflag amp amp localmarkflag ReStartMarkIndex localmarknumber if successfull copy local to globals strcpy LogFileName localfilename ReStartFileFlag 1 return 1 indicate success eturn 0 failure BR kok k kk kok kok KROK KROK KORK AR KKK Y This is the routine which creates and updates the restart file The data file name and the last index mark used is recorded in this file fo
44. aud no parity 8 bit of data with 1 stop bit 9600N81 Analog to Digital Converter An analog to digital converter allows the recording of the following analog variables in digital format Aircraft pitch and roll data from the Vertical Gyroscope Aircraft yaw data from the Pendulum Airspeed data derived from a differential pressure sensor Electronic Navigation data from VOR LOC Glideslope In total there are twelve channels of analog information that are sampled and converted into digital data in this application It is possible to add significant number of additional analog sensors to the system up to 128 channels The magnitude of the variables to be measured range from a few tenths of a volt full scale to 10 volts full scale Additionally some variables are referenced to ground potential while others are the difference between two voltages differential In order to accommodate the range and types of signal voltages an analog to digital converter plus a 16 channel analog multiplexer are employed The analog to digital converter is a Model AD12 8 manufactured Industrial Computer Source the multiplexer is Model AT16 P by the same manufacturer The hardware configuration of these boards is documented in Appendix 4 The basic analog to digital converter used is capable of 12 bit resolution one part in 4096 The combination of the AD12 8 and AT16 P allow up to sixteen channels of both single ended and differential inputs with the gain a
45. ble degrees long double templ temp2 temp3 format of geodetic parameters dddmm mmmmmm templ degrees 100 01 if temp15 0L temp2 floorl templ else temp2 ceill temp1 temp3 temp1 temp2 100 0L temp2 temp3 60 0L templ temp2 d rad return temp1 void 112UTM long double latrad long double longrad long double north long double east int IZONE static int status 0 long double cen meridian delta meridian sinlat coslat tanlat ETA void initialize void long double rad cur long double x long double y long double z long double true mer dis long double a long double b long double c long double d long double e long double f 60 long double t1 t2 t3 t4 t5 t6 t7 t8 t9 SN IMD long double delta_2 delta_4 delta_6 coslat_3 coslat_5 coslat_7 ETA_2 ETA_3 ETA_4 long double tanlat_2 tanlat_4 tanlat_6 long double dg2rads long double latrad dg2rads latrad longrad dg2rads longrad if status initialize status 1 IZONE 31 floorl longrad d rad 6 0L if IZONE gt 60 IZONE 60 if IZONE lt 1 IZONE 1 cen meridian long double IZONE 6 183 d rad delta meridian longrad cen meridian delta 2 delta meridian delta meridian delta 4 delta 2 delta 2 delta 6 delta 2 delta 4 sinlat sinl latrad coslat cosl latrad tanlat tanl latrad coslat_3 coslat coslat coslat coslat 5 coslat_3
46. bration of the system without the need to re compile the basic program Most of the inputs are channeled through hardware interrupt serviced input output ports to insure that data from the external devices is received without loss of information A system of flags and semaphores are used to indicate when data is available for each module to process thus allowing the software to bypass modules which need not be run at that particular instant After the initialization of the sub systems the program enters the main program loop each function within the loop performs a specific relatively short task on the data available to be processed and then passes control the next task By these means an operating system which was never designed to be multitasking can be manipulated into a multitasking function For example one task reads available characters from the GPS system and places them in a buffer temporary storage This routine places each message in a separate buffer and sets a flag if a complete message is available Later another task interrupts the buffered message and acts upon the result In the meantime other tasks are performed such as servicing the analog to digital converter system scanning for and acting upon operator keyboard input processing data storing data and updating the LED s and text messages of the terminal When operating and collecting data this loop is executed approximately three hundred times per second A data
47. cel based application 5 Maintenance and Troubleshooting General System Software Configuration System Start Up The autoexec bat file found in the root directory of the fixed disk is configured to change the default directory to that in which the Data Logger software resides and to execute the Data Logger software gpstest exe In the event that the Data Logger system requires maintenance these lines of the autoexec bat file may be commented out so that the system comes up in the standard MSDOS command line mode See the section on General Computer Problems for a procedure that may be used The boot sequence which is configured from the CMOS setup of the single board computer is also modified to facilitate the operation of the system as a Data Logger To boot from a floppy disk the CMOS setup must be changed See the section on General Computer Problems for details Logger Parameter File A file named logger ini is used to define the identification of the system certain analog calibration parameters and the directory to which the generated data files will be stored on the fixed disk This file must be present in the same directory as the main Data Logger executable file gpstest exe Each line begins with the name of parameter defined by that line and must be exactly as appears in the example below All ten parameters must appear in the file but may be in any order Any spaces before and after the sign are ignored S
48. cklighted display RS 232 9 pin D type connector and the wide temperature option The alphanumeric display is four lines of twenty characters each The unit has a forty 40 key tactile keypad of which five are user definable Five light emitting diode LED indicators are available for displaying status information in addition to the alphanumeric display The five LED indicators are labeled REC GPS DIFF GYRO and MARK REC indicates that the Data Logger is recording data GPS indicates that the GPS receiver is providing 3 dimensional position data DIFF indicates differential corrections are being applied to the GPS data GYRO indicates that the vertical gyroscope has erected MARK indicates that the data being recorded is being marked to aid later analysis Below the five LED indicators are five custom keys labeled START STOP EXIT RESTART CAL COMP and TGGLE These are the only keys that the operator normally uses during operation of the system e START STOP allows the operator to start and stop logging data The GPS DIFF and GYRO LED s must be lit before logging can be started Logging can be started and stopped as often as required all the recorded data is stored in a single file e EXIT allows the operator to start the shutdown procedures after the final termination of data logging EXIT ing copies the present data file to floppy disk if present and terminates the Data Logger functions allowing the power to the
49. d fields in the data record and EL f8 writes the resulting record into the buffer f4 sf KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK void WriteToBuffer static unsigned int count 0 char s 10 float tempy if WriteRecordFlag printf Count dNn ADCount printf Loops uMn LoopCounter LoopCounter 0 if ADCount Record Airspeed ADCount Record Pitch ADCount Record Roll ADCount Record Ball ADCount Record CDI1 ADCount Record CDI2 ADCount Record GSDev ADCount ADCount 0 if Record Ball x0 tempy 1 else tempy 1 Record Ball floor fabs Record Ball 4 0 0 5 Record Ball tempy Record Ball 4 0 if RecFlag ReadCompass RecordBuffer RecordIndex Record sprintf s S9u count UpdateCount s RR KKK KOKK RR RR kk Ck Ck kk Ck Kk Ck KK IA Kk A Kk Ck XKX k k k KNX XKX KKR eek 8 Au Jk The following switch displays diagnostic informaton A x on the A D system functions Displaying the information Pes on the third line of the terminal R 1 displays pitch and roll x ft 2 displays airspeed and ball position y 3 displays CDI 4 1 and its flag x 4 dispalys CDI 4 2 and its flag 5 displays GS Dev and its flag x pa 0 clears the third line display RR RK OK KROK OK KOKK OK KOKK KOKK k kok k kok Ck kok Ck Ck kk k kok k kk k k kk k okok k kc okok k k k KRK k k k k k switch DiagnosticFlag case 0 break case 1 PitchRol
50. e Code System Operation Software The following modules are compiled together and linked with the al2drvc obj file provided by Industrial Computer Source ICS and GCLL LIB provided by Greenleaf Software Header files are also provided al2drvc h from ICS ibmkeys h asciidef h and gsci h from Greenleaf Software The memory model required by the ICS module is the large and therefore that model has been used the compilation The entry point of the program main is to be found in the file gpstest c ADFUNCT C include lt stdio h gt include lt dos h gt include lt math h gt include lt ctype h gt include lt bios h gt include lt alloc h gt include lt stdlib h gt include lt conio h gt include al2drvc h extern float Pitchoffset PitchGain Rolloffset RollGain 27 Altoffset AltGain Balloffset BallGain extern int GyroFlag extern struct record unsigned long Time int Mark int Mode double Latitude double Longitude int Altitude int RateOfClimb int Airspeed int MagHeading int Pitch int Roll float Ball int CDI1 int CDIT Fl int CDIFlagl int CDI2 int CDIT F2 int CDIFlag2 int GSDev int GSFlag int COG int SOG li extern struct record Record extern int ADCount extern unsigned LoopCounter extern int ADInProgressFlag extern int ADDataReadyFlag void FatalError char unsigned call_driver void unsigned ADSetup void uns
51. ed flight data files A 3 2 floppy disk drive is also provided to permit a convenient method of updating the software and to off load the Data Logger data files at the end of each logging session The Data Logger will not attempt to load an operating system from the floppy drive and depends completely on the fixed disk for operation Serial Data Ports Two serial data ports RS 232 are the standard hardware provided on the SB486PV single board computer These are configured in the industry standard manner as COMI I O Ports 3F8 3FF IRQ 4 and COM2 I O Ports 2F8 2FF IRQ 3 A third serial port is required for data logger operations A SHG I O Professional multifunction input output board Model 101809 provides this capability This board has two additional serial ports and one additional parallel port In this application only one serial port is used and the remaining serial port and the parallel port are disabled The serial port on the SIIG board is configured in a non standard manner since all serial input output in the data logger uses interrupt driven routines and each serial port must have a unique IRQ hardware interrupt request channel This port is designated COMG I O Ports 2E8 2EF IRQ 5 The hardware configuration of this board is documented in Appendix 2 COMI communicates with the Global Positioning receiver COM2 with the User Display Control Console and COMG with the KVH Compass System All serial ports operate at 9600 b
52. efile DataDirPath strcat sourcefile block ff_name strcpy destfile dest strcat destfile block ff name if chmod sourcefile 0 0x20 CopyMessage destfile if FileCopy destfile sourcefile _chmod sourcefile 1 0x00 RR kok k kok k kok KOKK KROK A RR kok k kk k kk k kok k A A k k A k k k k ARKA fr x j FileCopy copies source to destination returning true if if suuccessful and false if not YA p8 sy k kok k kk kok KOKK KOKK KROK KORK KRK kk k kk k kk k kk ARA k kk k k k k k k k k ARK ARK int FileCopy char dest char source FILE in FILE out int status count size int buffer int error 0 if in fopen source rb NULL return 0 if out fopen dest wb NULL return 0 size sizeof Record if buffer int malloc 100 size NULL return 0 do count fread buffer size 100 in if count break status fwrite buffer size count out if status count error 1 Jwhile error fclose in fclose out if error unlink dest return 0 return 1 BR RIK k kok k kok k k k kok k kok k kk k k kk k kk k kk k kk kk k kk k kk k k k k k k k k k k k k k k k k k f RY Z ReadCompass calls GetMagHeading and places the result in the yx present record 46 2 S RR KOKK KOKK k KOKK KROK KKR KORK k k kok kok k A kok k kk k kk k kk k kk k k k k k k k k k k k void ReadCompass void float head
53. ert these files to ASCII text format The program is used depends on if the horizontal position data is desired in latitude longitude convert exe or in Universal Transverse Mercator utm con exe format The data file is copied to the directory of the computer that contains the conversion program executable file The program either convert exe or utm con exe is run and the user must enter the name of the data file to be converted Each program allows the user to select subsets of the records to be converted The user may 1 convert all records 2 convert only marked records or 3 convert only a decimated number of records with the choice of the decimation factor Once this selection is made the program writes the converted file in the same directory with only the extension of the file name changed For example if the file name to be converted was A111407 98B the resulting ASCII file will have the name A111407 txt As a practical matter if the conversion is being run on a Windows 9x or NT computer the file is manually renamed including the original extension plus the txt extension A111407 98B txt This is a legal file name construct in these operating systems 15 These converted data files can then be processed by any of a number of software packages depending on the desired analysis to be performed In the particular experiment for which the Data Logger was developed this program is a highly modified Microsoft Ex
54. et to BIP 10V 5V jumper set to 5V CLKO jumper present TMR EXT jumper set to TMR EXT EOC jumper set to EOC IRQ jumper set to IRQ7 25 AT16 P The AT16 P is configured to use programmable gain settings and is set to output 5 volts All other settings and jumpers are on the standard default settings if present A DIP switch S1 on the AT16 P board configures these setting The individual switches labeled GMO GM1 and GM2 are set OFF the remainder labeled G 2 SHO GPO GP1 and GP2 are set ON Appendix 5 Initial Settings for DCI Receiver The DCI receiver Model RDS 3000 is totally software configured The manufacturer provides a Windows program named RTCMWIN that allows the user to view the correction messages as they are received and set the configuration of the receiver The items that can be configured include the RS 232 baud rate the method of scanning for RDS signals and a list of frequencies to be used The RDS 3000 as used in the Data Logger is configured as follows e Baud rate is 9600 e Signal scan is restricted to a list of station e Station frequencies are 93 9 94 5 94 9 102 7 and 103 7 megahertz This configuration is stored on the computer as a file called 9600 cfg This file can be uploaded to the receiver using the RTCMWIN program to restore these settings The computer upon which RTCMWIN is installed is connected directly to the RDS 3000 via a NULL modem cable with 9 pin female connectors on each end
55. f approximately 300 500 hours according to the manufacturer Humphrey Inc Calibration The only components that may require calibration with the exception of the compass engine the calibration of which is addressed later in this section are those associated with the analog systems The calibration of the analog to digital converter system itself is addressed later in this section and is a rather lengthy procedure which is described in the respective manuals of the two components AD 12 8 and AT16 P It should be noted that calibration of these components is the only form of adjustment for correcting errors in the low level A D channels see Errors in Low Level Channels later in this section The remaining variables pitch roll ball yaw and airspeed may be calibrated by changing the respective gain and offset parameters in the logger ini file previously mentioned Each Data Logger has a program adtest exe which may be useful in the adjustment of the gain and offset numbers This file is located in the same directory as the main Data Logger file gpstest exe and uses the same logger ini data as the main Data Logger program adtest exe displays on the VGA display all of the above mentioned variables It does not require the compass engine or the handheld terminal to be attached or functional adtest exe only requires that the A D system is operational i e communicating with the single board computer Troubleshooting
56. fferential correction data from the DCI differential correction system described below Both ports are operated at 9600 baud 8 data bits 1 stop bit and no parity The Ashtech G 12 receiver remains configured in the factory default mode The Data Logger software accomplishes all initialization of the receiver The Data Logger software is configured so that flight logging can not begin until and unless the GPS receiver is providing differentially corrected three dimensional position data If three dimensional position and or differential corrections are lost after data logging has begun the session continues with the appropriate notations recorded in the data file The time stamped navigation messages from by the GPS receiver are used to provide the timing of data acquisition The receiver provides a position fix once per second and the receipt of this position fix causes the Data Logger to record the position information and all other measured parameters to the logging data file If while recording flight data the Global Position System loses lock and fails to provide data output the Data Logger will continue to record data using the internal operating system clock to trigger the storage of data points No position data will be available but all other variables continue to be recorded When and if the GPS reacquires the satellites logging will revert to timing using the GPS position message as described above GPS system time is used to set t
57. h 24 inches in length and approximately 12 inches in height The weight is approximately 42 pounds To install the IPC Data Logger in the aircraft Beech Sundowner C 23 in this application the rear seats were removed and the logger mounted in their place a custom floor plate to which the Data Logger is mounted replaced the original floor of the rear seating and baggage area A flux gate magnetic compass system is mounted in a separate non magnetic enclosure so as to allow its positioning within the airframe in order to provide the most accurate heading information possible Wiring of the aircraft has been modified to supply 12 volt DC power and to provide the data from the aircraft s VOR LOC s and Glideslope systems to the Data Logger An FAA PMA approved GPS antenna was installed on the fuselage above the front seating area This is the only available horizontal area with an unobstructed view of the sky The VOR LOC antenna distribution system was modified to allow connection of the RDS differential correction system receiver The pitot and static air systems were modified to provide for connection to the data logger for measurement of airspeed These modifications were field approved by the local Flight Service District Office FSDO A test flight was required by the FAA to demonstrate the data logger did not adversely effect the operation of critical aircraft systems FAA Form 337 Major Repair or Alteration was submitted to document these
58. he FM station location Since the flight tracks used in the present application are never further than 30 nautical miles from a ground station broadcasting DCI correction data no difficulties have been experienced in obtaining correction data during any flight logging sessions Radio Navigation Instruments The Data Logger records the radio navigation indications from two VOR LOC displays and one Glideslope display The left right up down deflection of the course deviation indicators CDI s is recorded in addition to the state of the system flags and TO FROM indicators in the case of VOR operations This requires a total of eight analog to digital channels This data are derived from the outputs of the panel mounted display units normally used to connect to an autopilot The Bendix King units installed in the Beech Sundowners used in this application provide industry standard CDI signal voltages 150 millivolts for a full scale deflection however the flags and TO FROM signals are not exactly standardized and the Data Logger software is designed to accommodate the voltages specific to these instruments As a Safety precaution all connections to the aircraft navigation displays are routed through relays which totally isolate the aircraft navigation circuitry from that of the Data Logger when the Data Logger is turned off or loses primary power Airspeed Sensor The Data Logger measures airspeed in the same manner as an aircraft airspeed
59. he internal real time clock of the underlying operating system MSDOS 6 22 upon initial GPS receiver lock on Differential Correction System There were several options available as to the method used to obtain the RTCM differential correction data needed to provide the level of accuracy required The simplest and most cost effective was determined to be the Radio Data System RDS which distributes digital data via a sub carrier on standard FM commercial broadcasts Differential Corrections Inc DCI provides the service used in this application This is a subscription service requiring a separate license for each RDS receiver serviced An RDS 3000 receiver also supplied by DCI is required to access and decode the FM RDS sub carrier The RDS 3000 is an automatic frequency scanning FM receiver that searches for a useable RDS sub carrier locks on decodes the differential correction information and outputs this information via a serial RS 232 connection to a differential ready GPS receiver This output is connected directly to the Ashtech G 12 GPS receiver as described above The combination of the G 12 and RDS 3000 provides a differentially corrected horizontal accuracy of 1 meter 2d RMS Vertical accuracy is on the order of 1 6 meters RMS The VHF navigation antenna of the aircraft is used to receive the FM broadcast stations It was determined by flight tests that this was a satisfactory solution for ranges of at least 55 nautical miles from t
60. his battery allows the system to retain it s last position the satellite almanac and satellite ephemeris data The battery is located within the silver colored connector near the GPS receiver mounting position If the battery is functional the GPS LED on the handheld display should illuminate within one minute after the STARTING message is displayed Differential Correction System A problem with the differential correction system will only be evident by the Data Logger never coming out of STANDBY and the DIFF LED never being lit There is no direct communication between the DCI RDS 3000 Differential Corrections Receiver and the main Data Logger computer All differential status information is passed through the Ashtech G12 GPS system The RDS 3000 has two LED s that provide a visual indication of the state of the differential correction receiver e Short random flashing of the red LED indicates power is applied and the receiver is not yet tracking an RDS signal e Ifthe red LED is steadily on except for occasional short flashes the receiver has found a RDS signal e If the green LED flashes at 2 second interval or faster the system is receiving differential corrections e Ifthe green LED turns on for 5 seconds then off for 5 seconds the system is receiving a DCI broadcast but believes the subscription to the service has lapsed This should not occur since the subscriptions for these receivers were purchased for an indef
61. igned ADProcedures void unsigned ADCheckRdy void void QTLed int int extern unsigned ADPointBuffer extern int ADStatus ADTask ADParameters ADDataBuffer ADTempBuffer KKK KK kok k kok k k kok k k kok k kok KKK oko k kok k kok kok k kok k k kk k kok k kk k kk kk k k k FE BJ call driver is the primitive call to al2drv obj supplied by ICS x7 72 pA RR K K KK kok kok k k Ck kk k kok Ck KKK unsigned call driver al2drv FP_OFF amp ADTask FP_OFF ADParameters FP OFF amp ADStatus if ADStatus 0 printf An A D error code of i was detected n ADStatus printf Program terminated return ADStatus RRR IK kok k kok KKK KKK pa NL fe ADSetup sets the AD system parameters It assigns point kf addresses scaleing and gains to all channels Ky ja x RR kok RA k KOKK KOKK k k kok Ck kk AR Kk k kk k kok k kok k kk k kk k kk k k k k kk k k k k k unsigned ADSetup unsigned I status 28 Dp PP 2 Hu KUPP POPP PHP PP PUP HOP PPP HOP PPP HUPPP P POPP rep ppp ho p pp gt gt DParameters DParameters DParameters DParameters DParameters DTask 0 tatus cal f status DTask 11 DParameters tatus cal f status DTask 5 DParameters DParameters tatus cal f status DParameters DParameters tatus cal f status DParameters DParameters tatus cal E status DParameters DParamete
62. iles Column Heading Description Format and Limits Time Universal Coordinated Time HHMMSS Mark Observer Data Mark Auto incrementing integers Mode GPS Operational Mode 0 none 2 non diff 3 diff Zone UTM Zone Integers between and 60 Northing UTM Northing Coordinate Meters north of the Equator Easting UTM Easting Coordinate Meters East of Central Meridian For this Zone 500 000 Alt Altitude Above MSL Units of feet Rate_of_Climb Vertical Speed Units of feet minute Airspeed Indicated Airspeed Units of Knots MagHeading Magnetic Heading Degrees Pitch Pitch Attitude Degrees nose up Roll Roll Attitude Degrees right Ball Coordination Yaw Units of Ball Width CDI 1 VOR LOC 1 Course Deviation Percent Full Scale limit at 120 right T FI 311 To From Indicator 1 TO 1 FROM 0 none Flagl VOR LOC 1 Flag 1 GOOD 0 FLAGGED CDI_2 VOR LOC 2 Same as Above T_F2 Flag2 GSCDI Glideslope Course Deviation Same as VOR LOC CDI s up GS Flag Glideslope Flag Same as VOR LOC Flags COS Course Over Ground Degrees Derived by GPS SOG Speed Over Ground Knots Derived by GPS Post Processing Procedures A mentioned above the Data Logger produces a copy of the data file on a 3 2 floppy disk at the end of each logging session This file is in the binary data format The Post Flight Data Conversion Software is used to conv
63. inal Each press increases the contrast until maximum contrast is reached and then wraps around to minimum contrast Display Backlight By pressing B on the keypad the operator may toggle the backlighting on the LCD display File Recovery If after a flight the data file is not copied to the floppy disk for any reason that file is retained on the hard disk marked as not copied The next time the system is used any un copied data files previously stored will be copied to the floppy disk in addition to the data file just recorded One floppy disk can contain approximately 6 75 hours of flight data By starting the Data Logger and NOT pressing START but pressing EXIT an operator may copy any previously un copied data files from the system s fixed disk on a floppy Operational Error Codes The following table contains the Error Codes displayed on the handheld terminal when an unrecoverable fatal error occurs during a data logging session In the event that a fatal error is encountered the operator should make note of the displayed Error Code to facilitate the remediation of the problem If an Error Code is displayed in the course of a recording session it is recommended that a reset followed by a restart as mentioned in the previous section be attempted Note that in any event pressing the reset button on the Data Logger will require a minute or so before the system appears to respond This delay is caused by
64. indicator which senses the differential pressure between the pitot port and the static port However the processing and conversion of differential pressure to altitude is accomplished electronically in the Data Logger The differential pressure sensor is a Model 140PCO1D produced by the Micro Switch Division of Honeywell It requires an excitation voltage the same 10 volt DC source used for the gyroscope and pendulum and produces an output voltage proportional to the pressure difference between units two ports From standard FAA calibration specifications it was determined that following formula defines the relationship between the differential pressure expressed in inches of mercury and the airspeed expressed in Knots Airspeed 142 91 differential pressure This relation is employed in the Data Logger and flight testing indicates the recorded airspeed is within 1 or 2 Knots of that of the aircraft s airspeed indicator within the speed range of interest approximately 65 to 110 Knots User Display Control Console The User Display Control Console is a handheld ASCII terminal that has two primary functions e Allow the operator to start stop the logging of flight data and optionally mark data records e Display the state of the Data Logger and indicate the progress of the logging operations ll 9 B The unit used in this application is the QTERM II TM manufactured by QSI Corporation The particular model chosen has a ba
65. inite term DCI should be contacted to resolve this issue If the LED s indicate no RDS signal check the antenna system and cables A 20 to 30 inch wire connected to the center contact of the BNC connector on the Data Logger should provide enough signal for troubleshooting purposes A D Problems Analog to digital converter problems may be of several levels of severity Each of these will require a somewhat different approach in troubleshooting The A D system itself consists of two discrete circuit boards the main A D converter AD12 8 which is located in the computer card cage and the multiplexer board AT16 P mounted on the side of the Data Logger enclosure Each of the multiplexer channels used is wired to one of the internal sensors or to the external radio navigation outputs of the aircraft The radio navigation signals pass through a set of relays used for emergency isolation of the Data Logger and essential navigation displays Each of the following paragraphs describes a particular class of A D problem Error Codes Displayed If an A D error code is displayed on the handheld terminal type A the problem is localized to the two circuit boards mentioned above or the cable which connects the two boards Verify that the AD12 8 is properly seated in the card cage and that the cable is firmly seated to each mating connector If the 20 problem persists replace the AD12 8 and AT16 P one at a time to determine which has failed The AT1
66. int CDI1 int CDIT F1 47 ae CDIFlagl int CDI2 int CDIT F2 int CDIFlag2 Ine GSDev int GSFlag int COG int SOG bi extern struct record Record ek kok kok k kok k k kok k kok k k kok k k kok k kok KKK KKK kok k kok kok k kok k kk kok k KAR KA ad YE JA WriteTo Buffer will set WriteTime Pacing will check for loss x pe of 1Hz datarate ScanGPS may reset PacingFlag if reacquired Z X BR KKK kok k kok k KKK RR kok k kk k k kk k kk k kk k k kk kk k kk k k k kk k k k k k void SetTimeRecord void struct time now long temp gettime amp now temp 100 now ti_hour now ti_min temp 100 temp now ti_sec Record Time temp void Pacing void static time_t PresentTime time_t diff if RecFlag WriteTimeFlag return if PacingFlag if time amp PresentTime gt WriteTime 2L SetTimeRecord PacingFlag 1 WriteRecordFlag 1 GPSFlag DCIFlag 0 WriteTime PresentTime else time amp PresentTime if diff PresentTime WriteTime 0 return else Record Time diff WriteTimeFlag 0 WriteRecordFlag 1 OTFUNCT C include gsci h include ibmkeys h include asciidef h include lt stdio h gt include lt stdlib h gt include lt string h gt extern struct record unsigned long Time int Mark int Mode double Latitude double Longitude int Altitude 48 int RateOfClimb int Airspeed
67. int MagHeading int Pitch int Roll float Ball int EDIT int CDIT F1 int CDIFlagl int CDI2 int CDIT F2 int CDIFlag2 int GSDev int GSFlag int COG int SOG extern struct record Record extern int DiagnosticFlag extern PORT YOT extern unsigned char CurrentContrast extern char SystemID extern int RecFlag MarkFlag MarkIndex ReStartMarkIndex ReStartUpdateFlag ReStartFlag CalFlag ReStartFileFlag GPSFlag DCIFlag CompassCheckFlag GyroFlag FlushRecordBufferFlag ExitFlag extern int BannerFlag PacingFlag BR RIK RI OK KOKK k kk Ck oko k kok k Ck kk Ck Ck kk RR e k Ck kk k kok Ck kok Ck kk k kok k kk kok k k k k EJ JA Clear Only the Text on Q Term Terminal x pe x BR RK kok k KOKK k kok k KORK AR kk kok k AR K R void OTClear void char str 2 0x1b E WriteBuffer QT str 2 RRR KR IK kok k KROK KR KORK AR A k kok KKK KKK k kok k kok KRAKK Ja BJ x Writes the null terminated string buffer to designated line XI pa ny JE F K K kok kok k kok KKK kok k kok k kk k k kk k kk k kk k k kk KR KKK KKK void OTWLine char buffer int line char pos 4 ESC I G Q position to col 1 line 1 char clear 2 ESC K clear to end of line pos 2 line 1 modify line to that selected WriteBuffer QT pos 4 exec positioning WriteBuffer QT clear 2 exec clear WriteString QT buffer 1 write string
68. itch lt 7 amp amp abs roll 5 GyroFlag 1 ADInProgressFlag ADDataReadyFlag 0 31 return 0 RR K K RA RR KOKK KKR KRK KRK A A k kok k kk k kk k kk k AK k k k k k k k k k k fo f ADCheckRdy merely checks to see if the interrupt driven ee J conversions are complete and set a flag sy p8 s7 JE E K K k kk kok k kk KKK k kok k kk k k kk Ck kk k kk k k kk Ck kk k kk k kk Ck k kk kk k k k KKK unsigned ADCheckRdy int status if ADInProgressFlag amp amp ADDataReadyFlag look for complete flag ADTask 9 ADParameters 0 2 status call_driver if ADParameters 1 0 ADDataReadyFlag 1 if status 0 FatalError A003 exit on error return ADDataReadyFlag RR kok k kok k kok k k kok k k kok k kok k RR A k e k k A k kok k kk k kk k kk k k k k k ARK ARKA k k k fE y SR ADLoop check for a condition wereby the A D system accepts all fR commands with no errors but never returns a conversion ye complete signal This condition requires power be removed f8 and the system started cold 7 KE x RRR IKK kok k kok k KKK KKK k k kok k A kk k kok k kok k Ck k kk KKK KKK void ADLoop printf d n ADCount LoopCounter if ADCount amp amp LoopCounter gt 200 FatalError A005 return COMPASS C include lt stdlib h gt include lt string h gt include dos h include lt bios h gt include lt conio h gt inc
69. l Record Pitch Record Roll break case 2 ASPend Record Airspeed Record Ball break case 3 PitchRoll Record CDI1 Record CDIT F1 break case 4 PitchRoll Record CDI2 Record CDIT F2 break case 5 PitchRoll Record GSDev Record GSFlag break default break time amp WriteTime WriteTimeFlag 1 WriteRecordFlag 0 Record Airspeed 0 Record Pitch 0 Record Roll 0 Record Ball 0 Record CDI1 0 Record CDI2 0 44 Record GSDev 0 return RR K K kok k ko KKK p8 X ya checkdisk checks for the presence of a disk in drive A and if J provides an estimate of the length of flight data which can TK be copied to this disk f xy KKK KKK HRK KKK void checkdisk void struct diskfree_t free long avail int size float time char linel 22 if _dos_getdiskfree 1 amp free 0 OTClear OTWLine Insert a Formatted 1 QTWLine Disk into Drive A 2 OTWLine Press ENTER to Cont 4 QTBeep ReadCharTimed QT 150001 OTClear if dos getdiskfree l amp free 0 avail long free avail clusters long free bytes per sector long free sectors_per_cluster size sizeof Record time float avail float size time 3600 0 sprintf linel space for 4 2f hours time OTClear OTWLine This Diskette has 1 QTWLine linel 2 OTWLine of Flight Data 3 OTBeep delay 3000
70. l Specifically the lines identified below were modified e auto wrap mode off e auto scroll mode off e auto line feed mode off e key repeat mode off e 6 lt k00 gt 5 lt k01 gt 4 lt k02 gt 3 e lt k03 gt 2 lt k04 gt 1 lt k05 gt e sk00 5 lt sk01 gt 4 lt sk02 gt 3 e lt sk03 gt 2 lt sk04 gt 1 lt sk05 gt The result of loading this modified configuration is twofold 1 All twenty character positions on each of the four lines of the display can be written to without changing the display on any other line in the process and 2 The data sent when a function key is pressed START STOP EXIT etc starts with the tilde character which is not sent by any other key on the keypad Detailed instructions on the use of QSETUP and QDATA Files are in Chapter 3 of the OTERM II User s Manual The QTERM II sends and receives data and is supplied 5 VDC power through the single serial cable connected between the Data Logger enclosure and the unit Pin 5 is the standard ground pin for 9 pin serial connectors but pin 9 is used as the 5 VDC input for the QTERM II Use a serial extension cable to connect the computer running the QSETUP program to the cable in the Data Logger which is normally connected to COM2 the lower serial port on the single board computer card This allows the Data Logger to supply the 5 VDC to power the QTERM II handheld terminal Appendix 7 Sourc
71. lude lt stdio h gt include ibmkeys h include asciidef h include asci h extern int CalFlag InitFlag BannerFlag GPSFlag DCIFlag extern PORT KVH compass system on COM3 extern PORT QT terminal on COM2 extern PORT GPS void FatalError char void QTBeep void void QTLed int int void CompassCommand char char void QTClear void void QTWLine char int float GetMagHeading void void QTBackLite void void QTReset void void NonFatalError char void QTContrast void void CalCompass void void QTAudioOn void void QTAudioOff void void DisplayCompass void void GPSDeInit void void GPSInit 32 void CalAbort char s char AbortString cez NonFatalError s WriteString KVH AbortString 0x0d CalFlag BannerFlag 0 GPSInit delay 500 ClearRXBuffer GPS return void DisplayCompass void float head int test 0 char buffer 10 char msgl Magnetic Heading Chk char msg2 Press Enter to Cont QTWLine msgl 1 QTWLine msg2 4 do head GetMagHeading sprintf buffer QTWLine buffer 2 delay 1000 if IsRXEmpty QT ReadStringTimed QT buffer 10 4 1fNxdf head Request heading from compass format for display write it to line two 0x00 1 if buffer 0 B buffer 0 G QTBackLite if buffer 0 0x0d test 1 if buffe
72. meters 3 I channel ADPointBuffer I amp Oxff00 256 data ADDataBuffer I 0 001 gain ADPointBuffer I amp O0x00ff switch I case 0 tempx data PitchOffset pitch tempx PitchGain Record Pitch pitch int tempx break case 1 voll tempx data RollOffset tempx RollGain Record Roll roll int tempx break case 2 airspeed tempx data AltOffset AltGain tempx 142 91 sqrt fabs tempx Record Airspeed int tempx break case 3 ball tempx data BallOffset BallGain Record Ball tempx break case 4 K CDT 2 L R case 7 j CDIL L R 7 case 10 GS Dev tempx 2000 data 3 if tempx 120 0 tempx 120 0 if tempx gt 120 0 tempx 120 0 if I 4 Record CDI2 int tempx else if I 7 Record CDI1 int tempx else Record GSDev int tempx note sign change break case 5 JE CDI TAP ey case 8 f CDIL TIE RY tempx 0 if data gt 0 042 tempx 1 FROM if data lt 0 042 tempx 1 TO if I 5 Record CDIT F2 tempx note sign change else Record CDIT F1 tempx break case 6 CDI2 Flag case 9 CDI1 Flag tempx 0 if data gt 0 175 tempx 1 if I 6 Record CDIFlag2 tempx else Record CDIFlagl tempx break case 11 GS Flag tempx 0 if data gt 0 20 tempx 1 Record GSFlag tempx break if GyroFlag amp amp abs p
73. mplification of each channel individually selected under control of the software The A D system incorporates a counter timer system that is used to automatically sequence through all of the active channels once given the command to begin the analog to digital conversion Hardware interrupts are used to determine when each conversion is complete A number of sequential conversions are averaged to determine the final value to be recorded for each of the variables measured A precision 10 volt DC reference voltage output is provided by the AD12 8 to excite those sensors which require such an external source the vertical gyroscope pendulum and airspeed sensor Vertical Gyroscope A vertical gyroscope is employed to provide aircraft pitch and roll information for the Data Logger The component used is the Model VG24 0825 1 manufactured by Humphrey Inc The time to erect is less than nine minutes 0 5 degrees The unit weighs 3 0 pounds and requires 1 amp of starting current 0 4 amps running current at 28 volts DC The operational limits are 60 degrees of pitch the roll axis is continuous 360 degrees The unit is shock mount in a specially fabricated carrier which also is used to mount the Pendulum system described below and this carrier is further isolated from the Data Logger enclosure by Lord mounts The outputs are provided by two potentiometers requiring an external DC excitation voltage the 10 volts DC supplied from the analog t
74. nicate at 9600 baud however the default baud rate of a new unit is 4800 baud The parameters should be set as follows Heading Type magnetic PowerUp Mode Not Sending Baud Rate 9600 Message Units d degrees Output Type 0 Output Format 0 Damping Type 3 Damping Rate 0 The Data Logger sends a type d1 command to the compass engine to read the present heading in degrees and does not expect to see any output from the compass engine except responses from such commands If the PowerUp Mode is inadvertently set to sending the Data Logger will flag an error immediately Calibration should always be performed using the Data Logger built in feature with the entire system mounted and configured in the airframe in which the system will operate Appendix 4 Configuration of the A D System AD12 8 The AD12 8 is configured for 5 volt input bipolar Analog to digital conversions are started using the on board counter timer The unit is configured to interrupt the main processor on end of conversion EOC The base I O address is 310 hexadecimal and the interrupt output is selected as IRO 7 IRQ3 5 are used by the serial ports A DIP switch S1 configures the base address the individual switches are labeled A3 through A9 Switches A3 A4 and A6 are ON and the remainder are OFF to configure the address of 310 hexadecimal Jumpers accomplish the remainder of the configuration and these are set as listed below e BIP UNIP jumper s
75. nt of a discrepancy the operator or a technician can initiate a new autocompensation procedure directly from the Display Control Console See the Maintenance and Troubleshooting section for details The flux gate compass system is not gyroscopically aided This implies that large errors in the magnetic heading will occur during periods the maneuvers of the aircraft cause the flux gate to deviate from the horizontal plane A coordinated turn is one such maneuver where the perceived gravitational force is perpendicular the plane of the aircraft s wings and not perpendicular to the surface of the earth Positioning System GPS Receiver System The Ashtech Model G12 Global Positioning System GPS receiver is installed in the Data Logger This receiver is capable of tracking up to twelve satellites simultaneously using both code and carrier phase data It can accept standard RTCM SC 104 V2 1 differential corrections The G12 used is the OEM version Part Number 990190 The receiver is connected to a keep alive battery to maintain the GPS constellation almanac data between operating sessions An active GPS L1 band aircraft type antenna is mounted on the fuselage of the aircraft above the front seating area to provide the most unobstructed view of the sky possible Communication with the GPS receiver is by way of two RS 232 serial ports Ports A and B Port A is used for GPS receiver control and data output Port B is dedicated to receiving di
76. nvert us gets InputFile printf XnXnEnter name of File for result ys gets OutputFile printf n nPreprocessing n td decimate n tm marked only n printf tn none n nEnter d m or n ys do Res toupper char getch while Res D amp amp Res M amp amp Res N if Res D printf n nDecimation Factor ys gets temp sscanf temp d amp factor printf Xnin size sizeof Record if Buffer struct record malloc 500 size NULL printf Storage Allocation Failed Nn printf Exiting Program n 58 exit 0 if in fopen InputFile rb NULL printf s not Found n InputFile printf Exiting Program n n exit 0 if out fopen OutputFile wt NULL printf Error opening file s OutputFile printf Exiting Program Nn exit 0 sprintf StrBuffer Time tMark tMode tLat tLong tAlt tRate_of_Climb tAirspeed tMagHeading tPitch tRoll tBall tCDI_1 tT_F1l tFlagl tCDI_2 tT_F2 tFlag2 tGSCDI tGSFlag tCOG tSOG n fputs StrBuffer out j 0 do count fread Buffer size 500 in if count break for i 0 i lt count i if Res M amp amp Buffer i Mark 0 Res M if j 0 Res D convert Buffer i StrBuffer fputs StrBuffer out j factor jc while 1 F fclose in fclose out return 0 UTM Post Flight Software UNIVERSAL
77. o digital converter system described above The signal is nominally 66 millivolts per degree in the roll axis and 80 millivolts per degree in the pitch axis Both axes are calibrated initially on the bench at O degrees and 45 degrees Flight tests are performed to verify that the recorded data accurately represents the data provided to the pilot by the standard aircraft instruments Pendulum A standard pendulum is employed to sense aircraft yaw in the same manner as the ball of a rate of turn indicator The instrument used is the Model CP17 0601 1 produced by Humphrey Inc This is a passive instrument with a range of 45 degrees and a weight of 6 ounces Output is by means of a center tapped potentiometer excited by the same 10 volt DC source used for the gyroscope excitation The voltage is sensed differentially between the center tap and the wiper yielding an output of zero volts in the vertical position Positive voltage indicates deflection to the right negative voltage deflection to the left The signal is nominally 110 millivolts per degree The pendulum is mounted on the gyroscope carrier described above and is mechanically adjusted to provide a zero volt output when the Data Logger is precisely oriented in the horizontal plane and at rest Flight tests verified the correspondence between the ball of the pilot s turn coordinator instrument and the pendulum sensor Compass System Although the Global Positioning System is capable of
78. oid OTContrast void char c char msg 3 ESC L c CurrentContrast 0x04 if c gt 0x78 c 0x60 CurrentContrast msg 2 char c printf Contrast is 5x hex n c WriteBuffer QT msg 3 2 BR RIK RIK kok k KROK KR KORK k kok k kok k kk k k kk k kk k kk k k kk k k k k k k k k k k k k k k k k I I LE xy qo Next three routines control the buzzer of the Q Term hl 72 8 JE F K K kok k kok k k kok k kok k k kok k oko k oko k oko kok k kk k kok k kok k kk k kok k kk kk k kk k k k k void OTBeep void char beep 3 ESC O B WriteBuffer QT beep 3 void QTAudioOff void char beep 3 ESC O WriteBuffer QT beep 3 void QTAudioOn void char beep 3 ESC O A WriteBuffer QT beep 3 BR RIK RA k kok k k KR KORK AR RA AR A k kok k kok k kk IA kk A I k k k k f x J Display and Announces Occurance of a Software Fatal Error s 50 2 x J E E K K KKK k KOKK k kok k kok KKK KKK KKK KK kok k kk k kok k kk k kk k k k k k k void FatalError char message char string 20 int i sprintf string Fatal Error s message OTClear QTWLine string 1 QTWLine Record Error Number 2 QTWLine To Restart reset or 3 QTWLine cycle power on unit 4 for i 0 i lt 3 i OTBeep delay 1000 exit 0 RR KIRK IK KK RA kok AR kok k kk k k kk k kk k kk k kk kk k kk k k k k k k k k k k k k kk k k k k f x
79. on in percent and the flag status Pressing O clears the display Errors in High Level Channels The high level channels are defined as those for which the gain of the A D system is less than five These include pitch data roll data yaw or ball data airspeed data If ALL high level inputs are exhibiting errors the common source may be the 10 volt precision reference voltage that is used to excite all of these sensors This reference voltage is generated on the AD12 8 board routed to the AT16 P via the interconnecting cable and is distributed to the sensors via a terminal strip located near the AT16 P board If the error is limited to a single high level channel examine the wiring to between that sensor and the AT16 P If both the pitch and roll channels are exhibiting errors either the vertical gyroscope or the secondary voltage converter may be at fault With the exception of the output of the secondary converter which may be directly measured with a voltmeter the detection of the fault is most easily accomplished by substitution of components the vertical gyroscope pendulum assembly or the differential pressure assembly in event of an airspeed problem Errors in Low Level Channels The low level channels are those associated with the radio navigation instruments These signals are not low level in the strictest sense of the term but these channels are measuring differential voltage inputs in the millivolt range
80. or repair or replacement If the substitution of the compass engine does not solve the problem the difficulty may be associated with the aircraft Changes in the location of the compass system or additional pieces of equipment recently installed near the compass engine location may effect accuracy Changes in the aircraft wiring in the area of the compass may also have the same effect It is also possible that the aircraft s engine or generating If a new C 100 Compass System is acquired it must be configured using the software provided by the manufacturer See Appendix 3 for details 18 system may be producing electrical noise that may interfere with proper operation of this electronic compass engine Communications If the Data Logger does display an error message a C001 or C002 fatal error first check the cable between the Data Logger and the compass system If the cable was securely connected disconnect the cable from the compass system end and measure the voltage between pins 5 and 8 of the 9 pin connector With the Data Logger turned on there should be 12 volts DC present pin 8 being positive There are only two items besides the cable and the lack of DC power which can cause a communication failure One is the compass system itself and the other is the STIG ipi yo E O board Replace these items with units from another Data Logger one at a time to isolate the problem GPS System Problems The Global Position System
81. osition2 5 ESC I B K sprintf str1 3i pitch sprintf str2 3i roll WriteBuffer QT positionl 4 WriteString QT strl 1 WriteBuffer QT position2 4 WriteString QT str2 1 void ASPend int AS float ball 1 char str1 5 char str2 5 char positionl 5 ESC I B char position2 5 ESC I B K sprintf str1 3i AS sprintf str2 4 2f ball WriteBuffer QT positionl 4 WriteString QT strl 1 WriteBuffer QT position2 4 WriteString QT str2 1 RESTART C include lt stdio h gt include lt stdlib h gt include lt dos h gt include lt string h gt include logger h extern char LogFileName extern int ReStartMarkIndex MarkIndex int ReadRestart void int WriteRestart void extern FILE restart extern int LogFileNamed extern int ReStartFileFlag extern int ReStartUpdateFlag RR RIK kok k kok KROK KR KORK KORK RR kk Ck Ck Ck k kok Ck Ck kk KKK This routine looks for the file restart ini JR present and can be read the operator is given the option to restart data loggong to the same file for which logging was interrupted PA restart ini will only exist if a failure caused the data fx to stop in an abnormal manner i e a Fatal Error etc J Normal termination of the program deletes the restart file BRR IR ko kok kok k KROK KORK KRK Ck k kk KR KE int ReadRestart void extern FILE rest
82. ovide an error message related to the compass system type C but the data provided by the system appears to be erroneous the first step would be to perform a new calibration autocompensation procedure This is accomplished by powering the Data Logger and moving the aircraft to an area free from metal structures and underground electrical power cables This procedure is most easily accomplished with two operators one to maneuver the aircraft and one to operate the handheld terminal The aircraft must be maneuvered to eight 8 distinct headings during this process The operators will be guided through the procedure by a sequence of messages on the Console At the end of a successful calibration procedure two single digit numbers are displayed 0 9 the higher the numbers the better The first digit represents the quality of the compensation a score of 7 or above indicates an accuracy of 2 degrees or better The second digit represents the quality of the magnetic environment a score of 5 or better is acceptable If acceptable scores are not achieved the procedure should be repeated after moving the aircraft to a different physical location If calibration does not correct the problem the optimum diagnostic procedure would be to substitute a KVH C100 compass from another Data Logger system to verify the problem is the compass engine If the feplscenem rums solves the problem the defective unit should be returned to the manufacturer f
83. providing the course over ground COG the Data Logger is equipped with a magnetic compass system to provide the true aircraft heading The unit chosen is an electronic flux gate compass system that provides data via a serial RS 232 output KVH Industries Inc manufactures the C100 Compass Engine It is available in two configurations the SE 10 gimbaled coil was chosen for this application The compass engine is mounted in a separate non magnetic enclosure and positioned in the aircraft cabin in order to minimize magnetic electrical and electronic interference from the aircraft frame and electrical systems The output is in units of degrees with a resolution of 0 1 degrees The compass engine is provided with user selectable output filters and a selectable time constant for this filter The filter selected for this application is a double low pass filter with a time constant of three 3 seconds The C100 Compass Engine has a built in autocompensation system that enables the system to calibrate itself to maintain accuracy to a fraction of a degree even when surrounded by the airframe that distorts the earth s magnetic field The autocompensation procedure is performed upon initial installation of the Data Logger The Data Logger displays the heading determined by the compass system during the start up procedures The operator is given the opportunity to compare this reading with the aircraft magnetic compass to verify proper operation In the eve
84. r 0 C buffer 0 H QTContrast ClearRXBuffer QT Jwhile test OTClear float GetMagHeading void float heading char HDG di char ans 40 int ERROR 0 CompassCommand HDG ans ERROR sscanf ans f amp heading if ERROR FatalError C002 return heading command to get heading data call command routine scan result for heading exec Fatal error routine BR RR kok k oko k kok k kok k AR kk Ck kok k KKK KKK kk k kok kok KKK k kk k kk k kok k k k k XL X Prompts User through 8 point calibration procedure pA yox Checks for errors which are considered non fatal Ki FE 87 JE F K K kok kok k kok k kok kok k kok k k kk k kok k kk k kok k kk k kk kk kk kk k kk k k k kk k kk k k k k k void CalCompass void char cal cel char response 40 char pos Position A C to char test complete float lastheading 0 0 heading int ERROR int status char c if CalFlag return GPSDeInit calibration command return string buffer Prompt sub string SUCCESS sub string 33 GPSFlag DCIFlag 0 QTClear Clear Display CalFlag 1 Set CalFlag no other ops QTWLine Compass Calibration 1 Use Prompt Strings QTWLine Enter on Positioned 3 QTWLine Press A to Abort 4 do printf line 141 n
85. r possible append operations sf ek kok kok k kok KKK kok KKK kok k kk k kok k kok k kk k kk KKK int WriteRestart void e C e c pue F F J i xtern FILE restart har filename FileName har mark MarkIndexNumber har buffer 80 nt ERROR 0 f ReStartUpdateFlag return 1 eStartUpdateFlag 0 f restart fopen restart ini wt NULL return 0 unable to open file f sprintf buffer s s n filename LogFileName EOF ERROR f fputs buffer restart EOF ERROR f sprintf buffer s d mark MarkIndex EOF ERROR f fputs buffer restart EOF ERROR close restart 56 if ERROR unlink restart ini return 0 else return 1 SYSTIME C include lt stdio h gt include lt dos h gt include lt time h gt extern int SetTimeFlag RRR IK kok k kok KROK KROK KR A k k kok k kok k kk k kk k kk k A kk k kk k k k ARK k k k k as x f8 This routine sets the system time to UTC time as determined fr by the GPS system after acquistion X 78 p KKK KKK HRK KOKK KKR KORK KRK KKK kk KKK k k k k k k ke ke k k k int SysTime long int GPSTime struct time t long int a b long int x 1000017 a GPSTime 10000L b a x GPSTime GPSTime b b GPSTime 100L GPSTime b 100 t ti_min unsigned char b t ti_hour unsigned char a t ti sec unsigned char
86. rcraft electrical system is 24 volt DC since then the aircraft power bus can power the gyroscope directly The secondary DC to DC converter used is Model VT25 142 10 manufactured by Converter Concepts Inc This unit requires an input of 10 to 40 volts DC and provides an output of 28 volts DC 1 amp 3 Software System Operating Software The software for the Data Logger was developed using Borland C Version 3 1 however the code is all standard C with no C extensions An asynchronous communication library Greenleaf CommLib Level 2 was used to provide a more robust serial communication environment than is natively available in the Borland product Software drivers for the analog to digital converter system were provided by the manufacturer Industrial Computer Source The objectives and constrains on the software design are outlined in the following list Simple and easy to use placing as little additional workload on the operator as possible Self diagnostics of sub systems on start up As immune from operator error as practical Capable of recovery from in process errors The program requires a file called logger ini to function This file contains the system identification A or B as presently only two systems have been constructed the path or directory into which the logger data files are to be placed and calibration data for the analog channels which are hardware dependent pitch roll ball and airspeed This allows re cali
87. record is taken each second and stored to a temporary buffer Every ten seconds this buffer is written to the fixed disk and the file is closed This procedure ensures that if software or hardware failure occurs during a flight logging session the data recorded with the possible exception of the last ten seconds is saved and recoverable The logger data is stored to the fixed disk in binary format that minimizes the time and disk space required to store each record A binary record is only 60 bytes long One hour of flight data occupies only 211 kilobytes of storage and thus a data file representing more than six hours of flight data can easily be stored on a 3 12 floppy disk When the operator ends a logging session and exits the program the recorded data file is copied to the floppy disk automatically If this operation fails for any reason no disk present disk not formatted or some other reason the file is retained and written to the floppy disk on the next opportunity In any event the data files are always retained on the fixed disk and may be retrieved using standard DOS command line procedures The program consists of multiple modules the source code for which may be found in Appendix 7 Post Flight Data Conversion Software As noted above the flight data files are stored in binary for reasons of minimizing the file writing time and to allow them to be easily transported via floppy disks Although the binary format uses standard
88. resistance may effect the accuracy of the radio navigation data 22 References Benton C J Corriveau P amp Koonce J M 1993 Concept Development and Design of a Semi Automated Flight Evaluation System SAFES AL HR TR 1193 0134 DoD 1992 Mapping Datum Transformation Software NTIS PB93 500296 Taylor H L Bradshaw G L Talleur D A Emanuel T W Hulin C L Lendrum L amp Vaughn J A 1999 Effectiveness of Personal Computers to Meet Recency of Experience Requirements Proceedings of the Tenth International Symposium of Aviation Psychology Columbus OH The Ohio State University Lendrum L Taylor H L Talleur D A Hulin C L Bradshaw G L amp Emanuel T W 1999 Airborne Flight Data Recorder Proceedings of the Tenth International Symposium of Aviation Psychology Columbus OH The Ohio State University Hardware Reference Manuals Evaluate 4 0 Users Guide 1997 Sunnyvale CA Ashtech G12 GPS Board Reference Manual 1997 Sunnyvale CA Ashtech Greenleaf CommLib Reference Manual 1997 Dallas TX Greenleaf Software Inc VO Professional User s Manual 1997 Fremont CA SHG Inc FM Receiver for DGPS RDS 3000 Installation and Operator s Manual 1994 Cupertino CA Differential Corrections Inc KVH C100 Compass Engine Technical Manual Rev G1 Middletown RI KVH Industries Inc Model SB486PV Product Manual 1995 San Diego Industrial Computer Source Model AD
89. rs tatus cal f status DTask 14 DParameters DParameters DParameters tatus cal E status DParameters DParameters tatus cal f status DTask 10 DParameters DParameters DParameters DParameters tatus cal f status DParameters DParameters DParameters DParameters tatus cal f status DParameters DParameters DParameters DParameters tatus cal f status DParameters DParameters DParameters DParameters tatus cal f status DParameters DParameters 0 1 1 0x310 2 7 31 gt 5 4 1 1 driver 0 FatalError A001 0 2 l driver 0 FatalError A001 0 0 1 3 l driver 0 FatalError A001 0 4 1 6 l driver 0 FatalError A001 0 8 1 10 l driver 0 FatalError A001 0 12 1 13 l driver 0 FatalError A001 0 1 ITA 37 2 2 l driver 0 FatalError A001 01 2 21 1760 l driver 0 FatalError A001 3 0 10000 10000 1 driver 0 FatalError A001 WNHO I WNHO I N HO MM l driver 0 FatalError A001 0 3 1 3 2 5000 3 5000 l driver 0 FatalError A001 0 3 1 4 2 1000 3 1000 l driver 0 FatalError A001 0 4 1 4 29 jr js i j
90. s condition remedied Before returning the system to service as a Data Logger restore the boot options back to the original configuration i e boot from the fixed disk only This setting is chosen so that a user can insert a floppy disk used to provide a copy of the Logger data file at any time without having the system attempt to boot from the floppy At this point the autoexec bat file can be edited to comment out the lines that automatically start the Data Logger software gpstest exe These should be removed before the system id returned to service Once the computer is booted and operating in MSDOS all normal MSDOS functions should be available and the unit should behave as a standard computer using command at the standard DOS prompt The floppy drive A and fixed disk C should be accessible for both read and write serial ports COMI and COM2 should be available Note that COM3 is non standard and will not be recognized by DOS Also there are no active parallel ports in the system Executing the file gpstest exe from its home directory will run the actual logger software The external compass system and the handheld display terminal must be connected for the system to start Furthermore if the GPS antenna and the RBS differential correction receiver antenna are not connected and receiving signals the Data Logger will not be allowed to enter the logging mode Compass System Problems Accuracy If the Data Logger does not pr
91. system to be safely turned off e RESTART allows the operator to restart data logging after some abnormal behavior terminated the previous logging session If restarting is possible the operator will be informed by text on the display e CAL COMP calibrate compass allows the operator to command the system to perform an autocompensation procedure on the magnetic compass system This key is inoperative if the Data Logger is presently logging flight data e TGGLE toggle allows the operator to mark portions of the flight for later analysis Pressing the key once starts the marking process pressing the key again ends marking The marks are numeric tags incrementing automatically The operator is informed of the numeric value of the tag by text on the display Marking is only functional while the Data Logger is recording data No other inputs or keys are required during normal operations of the Data Logger however two more keys are active to control the display functions See the Operation section for details Some additional functions and displays are provided for maintenance purposes these are discussed in the section Maintenance and Troubleshooting Power Converters The complete Data Logger requires approximately 4 5 amps from the aircraft 12 volt power buss The aircraft power buss and wiring is protected by a 10 amp circuit breaker in the primary power circuit of the Data Logger Two switching DC to DC converters are required in 12 volt
92. t data taken with System A beginning at 2115Z on May 7 1998 Once recording the operator may press TGGLE to flag certain critical segments of flight data records The MARK LED will light and all subsequent records will be marked until TGGLE is pressed once again A mark is an integer recorded in the record beginning at one 1 and incremented upon each use of the marking function The bottom line of the display indicates the present state of the marking function and the present or last marking number used If the GPS signal or differential correction signal are lost while recording the recording will continue with no position or altitude data in the first case or with loss of precision in the second The appropriate LED will blink rapidly to signal the loss of either function Pressing START STOP once again terminates recording of data Pressing the EXIT key will attempt to write the recorded data to the floppy disk Regardless is the success or failure of this operation the system will shut down the interfaces to the data systems and inform the operator when it is permissible to shut off the power to the system Errors and Recovery There are many possible fatal and non fatal errors which will be trapped and a message displayed on the handheld terminal There will be no doubt other faults in the hardware and software which may just STOP the system with NO displayed error message If an error message is displayed or if the logging
93. ted at a Sik once per second rate if no computation or non diff is detected XI sj OKCKCKCKCkCkCk KNX XXX XKX k kok k kok kok okok ok kok k kok k kok k kok k kok k kk k kk k KNX kk void GPSScan void int index status char ns ew static unsigned long GGATime POSTime LastTimeT LastTimeD static double GLat GLon GAlt PLat PLon PAlt Rate 0 Geoidal 30 static int GFlag PFlag float COG SOG double temptime static char ggaformat SGPGGA 51f S1f 3c SIf 3c 31d 2d S 4 S1 M S1 static char posformat SPASHR POS 5d std 1 1f c sl1f c 51f S5f 5f 51f if GPSBufferFlag 0 amp amp GPSBufferFlag 1 return no buffers filled index GPSBufferFlag 0 0 1 use buffer 0 if filled if strstr GPSBuffer index GPGGA NULL is a GGA message if sscanf GPSBuffer index ggaformat amp temptime amp GLat amp ns amp GLon amp ew amp GFlag amp GAlt amp Geoidal 8 if scan good transfer data GGATime temptime if ns S Ghat 1 0 if ew W GLon gt 1 0 Record Time GGATime Record Latitude GLat Record Longitude GLon Record Altitude 3 2808 GAlt Geoidal if GFlag 2 if differential set bit 0 1 Record Mode 0x0001 DCIFlag 10 else Record Mode amp Oxfffe if not clear bit 0 if DCIFlag 0 amp amp LastTimeD POSTime DCIFlag LastTimeD POSTime Record Mode 0x
94. the necessity of re loading the operating system followed by the actual program If this fails to resolve the problem the Data Logger should be powered down and the logging session cancelled until the required maintenance can be performed 12 Table 1 Data Logger Error Codes Error Code Description A001 Error initializing the analog to digital converter A002 Error initializing an A D conversion cycle A003 Error starting an A D conversion cycle A004 Error reading data from an A D conversion C001 Magnetic Compass fails to respond to commands C002 Failed to obtain magnetic heading G001 Could not send command to GPS receiver G002 Could not reset the GPS receiver G003 Could not set differential mode in GPS receiver G004 Could not set navigation mode in GPS receiver G005 Could not set up differential input port on the GPS receiver G006 Could not request NMEA message GGA from GPS receiver G007 Could not request NMEA message POS from GPS receiver G008 Could not set the differential time limit of the GPS receiver 1001 Error initializing 16550 serial UARTs 1002 Error initialing COMG serial port compass 1003 Error initialing COM1 serial port GPS receiver 1004 Error initialing COM2 serial port terminal S001 Failed to find file logger ini This file must be present for the system to start S002 Data in file logger ini is incomplete or corrupt
95. tion amp y es XL RR K ko kok kok KOKK KKR KKK KKK kk k k kk kok k kk k kk k ARK k k k k k k k k k void UpdateCount char msg char pos 5 ESC I amp K WriteBuffer QT pos 4 WriteString QT msg 1 KKK KKK HRK KKK f8 KA ya SignOff display a message to the operater when the power may ER safely removed from the system all file copied and the fr system is idle ey Ka S RR RK kok k kok k RR KKK K R void SignOff void Ime d OTClear for i 1 i lt 6 i QTLed i 0 OTWLine Program Terminated 1 OTWLine You may safely shut 2 53 OTWLine down the system 3 delay 100 RR RIK kok k kok k k kok k k kok A RR A k k kok kok k kk k kk k kk k kk k k k k I f 27 fe CopyMessage displays during the copy to floppy process warning pe the operator to wait until the process is completed ya pA RR kok k k HRK void CopyMessage char s int is for i 1 i lt 6 i QTLed i 0 OTClear OTWLine OTWLine QTWLine ek kok k ko kok kok KOKK KROK KR k k kok KKK KKK Please Wait 1 Writing File 3 s 4 x KE DisplayRestart informs the operator that a restart ini file fe was found an data may be appended to that file if desired Jem Kf KKK KKK HRK KKK K R k kok kok k kk k kok k kok k kk k kk kk kk k kk k k k k k void DisplayRestart void OTClear OTWLine RESTART POSSIBLE 1 OTBeep RR R
96. tional than practical purposes The following tables indicate the variables stored in the files The first is exactly the same variables and in the same order as the raw binary data files described above Table 2 Legend for Latitude Longitude ASCII Conversion Column Heading Description Format and Limits Time Universal Coordinated Time HHMMSS Mark Observer Data Mark Auto incrementing integers Mode GPS Operational Mode 0 none 2 non diff 3 diff Lat Latitude in WGS 84 Datum or ddmm mmmmm indicates North Latitude Long Longitude in WGS 84 Datum or dddmm mmmmm t indicates East Longitude Alt Altitude Above MSL Units of feet Rate of Climb Vertical Speed Units of feet minute Airspeed Indicated Airspeed Units of Knots MagHeading Magnetic Heading Degrees Pitch Pitch Attitude Degrees nose up Roll Roll Attitude Degrees right Ball Coordination Yaw Units of Ball Width CDI 1 VOR LOC 1 Course Deviation Percent Full Scale limit at 120 right T FI 311 To From Indicator 1 TO 1 FROM 0 none Flag1 VOR LOC 1 Flag 1 GOOD 0 FLAGGED CDI 2 VOR LOC 2 Same as Above T F2 Flag2 GSCDI Glideslope Course Deviation Same as VOR LOC CDI s up GS Flag Glideslope Flag Same as VOR LOC Flags COS Course Over Ground Degrees Derived by GPS SOG Speed Over Ground Knots Derived by GPS 14 Table 3 Legend for UTM ASCII Converted F
97. urn 0 BR RIK IK k kok KROK KROK KRK KRK kk k kk k kk k kk k kk k k k k k k k IA k k k k k k k k k k k k k FX JE ADProcedures performs two functions y 1 Start a conversion if a conversion is not in progress af AR 2 Read and store the data if a conversion was completed R pa Ef RR RIK kk KKK k k kk k kok k kk k k kk k kk k kk k kk kk k k k k k k k k k k I AKA RKA k k k k k unsigned ADProcedures static unsigned channel gain I status temp offpntbuf offdatbuf double data tempx tempy static int templ int pitch roll extern int ADCount if ADInProgressFlag ADTask 11 ADParameters 0 1 status call driver if status 0 FatalError A002 return on error templ ADDataBuffer offdatbuf FP OFF templ temp ADPointBuffer offpntbuf FP_OFF temp ADTask 9 timer driven interrupt data acquisition ADParameters 0 1 ADParameters 1 12 ADParameters 2 FP OFF ADTempBuffer ADParameters 3 FP SEG ADTempBuffer status call driver if status 0 FatalError A003 return on error ADInProgressFlag 1 return 0 if ADDataReadyFlag ADCount ADTask get data from buffer ADParameters 0 3 ADParameters 1 offdatbuf ADParameters 2 offpntbuf ADParameters 3 12 status call_driver if status 0 FatalError A004 return on error 30 for I 0 I lt ADPara
98. y disks two serial ports and one parallel port The Intel 486DX100 has a built in numeric co processor which would not normally be needed since no extensive floating point mathematical calculations are required in the operation of the Data Logger However the present compilation of the software assumes such a co processor is present The keyboard and video adapter display are used only during development and repair maintenance functions A rugged card cage passive motherboard is used to house the SB486PV an additional serial port interface and an analog to digital converter There are at least two additional ISA slots available for additional hardware if required for additions to the present configuration The disk operating system is MSDOS 6 22 and is completely standard The system is capable of operating as a normal personal computer with no modification except for changes to the autoexec bat file which is designed to start the data logger software automatically following the load of the MSDOS operating system when the system is powered There are a number of settings in the BIOS of the SB486PV single board computer that have been modified from the standard configuration to facilitate the operation of the Data Logger These are documented in Appendix 1 Digital Storage Devices The system is equipped with a 3 Gigabyte IDE fixed disk that contains the MSDOS operating system the data logger software and provides primary storage for the record
99. ystemID shall be a single character DataDirPath shall be an ASCII string containing no spaces and having the back slash replaced by a forward slash contrary to normal MSDOS usage for path specifiers The last forward slash must be present DataDirPath should never be empty nor should it reference the root directory of a disk drive The remaining values may be specified in signed integer format or signed floating format with a decimal point These parameter those assigned numerical values are used to adjust the translation of the outputs of the gyroscope pendulum and altitude pressure sensor for minor variations of the transducers Typical logger ini file SystemID A PitchOffset 4 979 PitchGain 12 27 RollOffset 5 062 RollGain 18 01 AltOffset 1 3 AltGain 0 32175 BallOffset 0 BallGain 1 783 DataDirPath c gpstest data 16 General Maintenance and Calibration Periodic Maintenance Generally the Data Logger systems require little maintenance on a regularly scheduled basis The only item would be the air filter which should be checked and cleaned as required every six months The only limited life components are the backup batteries for the CMOS memory and real time clock of the single board computer and for the GPS receiver and the vertical gyroscope The batteries should last approximately five years before requiring replacement The vertical gyroscope has a service life o

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