* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_3;
public class AltosState implements Cloneable {
public int set;
- static final double ascent_filter_len = 0.1;
- static final double descent_filter_len = 2.0;
+ static final double ascent_filter_len = 0.5;
+ static final double descent_filter_len = 0.5;
/* derived data */
private double max_value;
private double set_time;
private double prev_set_time;
- private double max_rate = 1000.0;
void set(double new_value, double time) {
if (new_value != AltosLib.MISSING) {
double ddt = in.time() - pt;
double ddv = (n - p) / ddt;
+ final double max = 100000;
+
/* 100gs */
- if (Math.abs(ddv) > 1000) {
+ if (Math.abs(ddv) > max) {
if (n > p)
- n = p + ddt * 1000;
+ n = p + ddt * max;
else
- n = p - ddt * 1000;
+ n = p - ddt * max;
}
double filter_len;
return acceleration.max();
}
+ public AltosValue orient;
+
+ public void set_orient(double new_orient) {
+ orient.set(new_orient, time);
+ }
+
+ public double orient() {
+ return orient.value();
+ }
+
+ public double max_orient() {
+ return orient.max();
+ }
+
public AltosValue kalman_height, kalman_speed, kalman_acceleration;
public void set_kalman(double height, double speed, double acceleration) {
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
+ orient = new AltosValue();
temperature = AltosLib.MISSING;
battery_voltage = AltosLib.MISSING;
pressure.finish_update();
speed.finish_update();
acceleration.finish_update();
+ orient.finish_update();
kalman_height.finish_update();
kalman_speed.finish_update();
pressure.copy(old.pressure);
speed.copy(old.speed);
acceleration.copy(old.acceleration);
+ orient.copy(old.orient);
battery_voltage = old.battery_voltage;
pyro_voltage = old.pyro_voltage;
if (flight != AltosLib.MISSING && flight != 0) {
if (this.flight != AltosLib.MISSING &&
this.flight != flight) {
+ int bt = boost_tick;
init();
+ boost_tick = bt;
}
this.flight = flight;
}
if (serial != AltosLib.MISSING) {
if (this.serial != AltosLib.MISSING &&
this.serial != serial) {
+ int bt = boost_tick;
init();
+ boost_tick = bt;
}
this.serial = serial;
}
}
void update_accel() {
- double ground = ground_accel;
-
- if (ground == AltosLib.MISSING)
- ground = ground_accel_avg;
if (accel == AltosLib.MISSING)
return;
- if (ground == AltosLib.MISSING)
- return;
if (accel_plus_g == AltosLib.MISSING)
return;
if (accel_minus_g == AltosLib.MISSING)
double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
double counts_per_mss = counts_per_g / 9.80665;
- acceleration.set_measured((ground - accel) / counts_per_mss, time);
+ acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
}
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
}
public void set_ground_accel(double ground_accel) {
- if (ground_accel != AltosLib.MISSING) {
+ if (ground_accel != AltosLib.MISSING)
this.ground_accel = ground_accel;
- update_accel();
- }
}
public void set_accel(double accel) {
if (tick == AltosLib.MISSING)
return 0.0;
- if (boost_tick != AltosLib.MISSING) {
- return (tick - boost_tick) / 100.0;
- }
- return tick / 100.0;
+ if (boost_tick == AltosLib.MISSING)
+ return tick / 100.0;
+ return (tick - boost_tick) / 100.0;
}
public boolean valid() {