X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosState.java;h=6d52dc40619931ca4ede8b8bae651d8c8f0115df;hb=e4616233f3942d2796ba6633477670a83669957b;hp=6d55b833b83a5bf1a8878d10d6e45b539a71b088;hpb=db4cd8b3838d27bebdeb6a085a739a36f7634a91;p=fw%2Faltos diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 6d55b833..6d52dc40 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -19,7 +19,7 @@ * Track flight state from telemetry or eeprom data stream */ -package org.altusmetrum.altoslib_2; +package org.altusmetrum.altoslib_3; public class AltosState implements Cloneable { @@ -299,6 +299,30 @@ public class AltosState implements Cloneable { ground_altitude.set_measured(a, time); } + class AltosGpsGroundAltitude extends AltosValue { + void set(double a, double t) { + super.set(a, t); + pad_alt = value(); + gps_altitude.set_gps_height(); + } + + void set_filtered(double a, double t) { + super.set_filtered(a, t); + pad_alt = value(); + gps_altitude.set_gps_height(); + } + } + + private AltosGpsGroundAltitude gps_ground_altitude; + + public double gps_ground_altitude() { + return gps_ground_altitude.value(); + } + + public void set_gps_ground_altitude(double a) { + gps_ground_altitude.set(a, time); + } + class AltosGroundPressure extends AltosCValue { void set_filtered(double p, double time) { computed.set_filtered(p, time); @@ -344,26 +368,56 @@ public class AltosState implements Cloneable { private AltosAltitude altitude; + class AltosGpsAltitude extends AltosValue { + + private void set_gps_height() { + double a = value(); + double g = gps_ground_altitude.value(); + + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + gps_height = a - g; + else + gps_height = AltosLib.MISSING; + } + + void set(double a, double t) { + super.set(a, t); + set_gps_height(); + } + } + + private AltosGpsAltitude gps_altitude; + public double altitude() { double a = altitude.value(); if (a != AltosLib.MISSING) return a; - if (gps != null) - return gps.alt; - return AltosLib.MISSING; + return gps_altitude.value(); } public double max_altitude() { double a = altitude.max(); if (a != AltosLib.MISSING) return a; - return AltosLib.MISSING; + return gps_altitude.max(); } public void set_altitude(double new_altitude) { altitude.set_measured(new_altitude, time); } + public double gps_altitude() { + return gps_altitude.value(); + } + + public double max_gps_altitude() { + return gps_altitude.max(); + } + + public void set_gps_altitude(double new_gps_altitude) { + gps_altitude.set(new_gps_altitude, time); + } + class AltosPressure extends AltosValue { void set(double p, double time) { super.set(p, time); @@ -408,6 +462,24 @@ public class AltosState implements Cloneable { return AltosLib.MISSING; } + public double gps_height() { + double a = gps_altitude(); + double g = gps_ground_altitude(); + + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + return a - g; + return AltosLib.MISSING; + } + + public double max_gps_height() { + double a = gps_altitude.max(); + double g = gps_ground_altitude(); + + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + return a - g; + return AltosLib.MISSING; + } + class AltosSpeed extends AltosCValue { void set_accel() { @@ -464,6 +536,20 @@ public class AltosState implements Cloneable { 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) { @@ -560,6 +646,7 @@ public class AltosState implements Cloneable { pressure = new AltosPressure(); speed = new AltosSpeed(); acceleration = new AltosAccel(); + orient = new AltosValue(); temperature = AltosLib.MISSING; battery_voltage = AltosLib.MISSING; @@ -593,6 +680,9 @@ public class AltosState implements Cloneable { pad_lon = AltosLib.MISSING; pad_alt = AltosLib.MISSING; + gps_altitude = new AltosGpsAltitude(); + gps_ground_altitude = new AltosGpsGroundAltitude(); + speak_tick = AltosLib.MISSING; speak_altitude = AltosLib.MISSING; @@ -621,6 +711,7 @@ public class AltosState implements Cloneable { pressure.finish_update(); speed.finish_update(); acceleration.finish_update(); + orient.finish_update(); kalman_height.finish_update(); kalman_speed.finish_update(); @@ -665,6 +756,7 @@ public class AltosState implements Cloneable { 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; @@ -713,6 +805,10 @@ public class AltosState implements Cloneable { range = old.range; gps_height = old.gps_height; + + gps_altitude.copy(old.gps_altitude); + gps_ground_altitude.copy(old.gps_ground_altitude); + pad_lat = old.pad_lat; pad_lon = old.pad_lon; pad_alt = old.pad_alt; @@ -754,14 +850,15 @@ public class AltosState implements Cloneable { if (pad_lat != AltosLib.MISSING) { pad_lat = (pad_lat * 31 + gps.lat) / 32; pad_lon = (pad_lon * 31 + gps.lon) / 32; - pad_alt = (pad_alt * 31 + gps.alt) / 32; + gps_ground_altitude.set_filtered(gps.alt, time); } } if (pad_lat == AltosLib.MISSING) { pad_lat = gps.lat; pad_lon = gps.lon; - pad_alt = gps.alt; + gps_ground_altitude.set(gps.alt, time); } + gps_altitude.set(gps.alt, time); } if (gps.lat != 0 && gps.lon != 0 && pad_lat != AltosLib.MISSING && @@ -774,7 +871,6 @@ public class AltosState implements Cloneable { from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h); elevation = from_pad.elevation; range = from_pad.range; - gps_height = gps.alt - pad_alt; } } @@ -932,14 +1028,8 @@ public class AltosState implements Cloneable { } 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) @@ -947,7 +1037,7 @@ public class AltosState implements Cloneable { 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) { @@ -959,10 +1049,8 @@ public class AltosState implements Cloneable { } 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) {