2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
15 package org.altusmetrum.altoslib_11;
19 public class AltosFlightSeries extends AltosDataListener {
21 public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
23 public double speed_filter_width = 4.0;
24 public double accel_filter_width = 4.0;
26 public int[] indices() {
27 int[] indices = new int[series.size()];
28 for (int i = 0; i < indices.length; i++)
30 step_indices(indices);
34 private double time(int id, int index) {
35 AltosTimeSeries s = series.get(id);
38 return Double.NEGATIVE_INFINITY;
40 if (index < s.values.size())
41 return s.values.get(index).time;
42 return Double.POSITIVE_INFINITY;
45 public boolean step_indices(int[] indices) {
46 double min_next = time(0, indices[0]+1);
48 for (int i = 1; i < indices.length; i++) {
49 double next = time(i, indices[i]+1);
54 if (min_next == Double.POSITIVE_INFINITY)
57 for (int i = 0; i < indices.length; i++) {
58 double t = time(i, indices[i] + 1);
66 public double time(int[] indices) {
67 double max = time(0, indices[0]);
69 for (int i = 1; i < indices.length; i++) {
70 double t = time(i, indices[i]);
77 public double value(String name, int[] indices) {
78 for (int i = 0; i < indices.length; i++) {
79 AltosTimeSeries s = series.get(i);
80 if (s.label.equals(name)) {
81 int index = indices[i];
84 if (index >= s.values.size())
85 index = s.values.size() - 1;
86 return s.values.get(index).value;
89 return AltosLib.MISSING;
92 public double value(String name, double time) {
93 for (AltosTimeSeries s : series) {
94 if (s.label.equals(name))
97 return AltosLib.MISSING;
100 public double value_before(String name, double time) {
101 for (AltosTimeSeries s : series) {
102 if (s.label.equals(name))
103 return s.value_before(time);
105 return AltosLib.MISSING;
108 public double value_after(String name, double time) {
109 for (AltosTimeSeries s : series) {
110 if (s.label.equals(name))
111 return s.value_after(time);
113 return AltosLib.MISSING;
116 public AltosTimeSeries make_series(String label, AltosUnits units) {
117 return new AltosTimeSeries(label, units);
120 public void add_series(AltosTimeSeries s) {
124 public AltosTimeSeries add_series(String label, AltosUnits units) {
125 AltosTimeSeries s = make_series(label, units);
130 public void remove_series(AltosTimeSeries s) {
134 public boolean has_series(String label) {
135 for (AltosTimeSeries s : series)
136 if (s.label.equals(label))
141 public AltosTimeSeries state_series;
143 public static final String state_name = "State";
145 public void set_state(int state) {
147 if (state == AltosLib.ao_flight_pad)
150 if (state_series == null)
151 state_series = add_series(state_name, AltosConvert.state_name);
152 else if (this.state == state)
155 state_series.add(time(), state);
158 public AltosTimeSeries accel_series;
160 public static final String accel_name = "Accel";
162 public void set_acceleration(double acceleration) {
163 if (acceleration == AltosLib.MISSING)
165 if (accel_series == null)
166 accel_series = add_series(accel_name, AltosConvert.accel);
168 accel_series.add(time(), acceleration);
171 private void compute_accel() {
172 if (accel_series != null)
175 if (speed_series != null) {
176 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
177 speed_series.filter(temp_series, accel_filter_width);
178 accel_series = add_series(accel_name, AltosConvert.accel);
179 temp_series.differentiate(accel_series);
183 public void set_received_time(long received_time) {
186 public AltosTimeSeries rssi_series;
188 public static final String rssi_name = "RSSI";
190 public void set_rssi(int rssi, int status) {
191 if (rssi_series == null) {
192 rssi_series = add_series(rssi_name, null);
194 rssi_series.add(time(), rssi);
197 public AltosTimeSeries pressure_series;
199 public static final String pressure_name = "Pressure";
201 public AltosTimeSeries altitude_series;
203 public static final String altitude_name = "Altitude";
205 public AltosTimeSeries height_series;
207 public static final String height_name = "Height";
209 public void set_pressure(double pa) {
210 if (pa == AltosLib.MISSING)
213 if (pressure_series == null)
214 pressure_series = add_series(pressure_name, AltosConvert.pressure);
215 pressure_series.add(time(), pa);
216 if (altitude_series == null)
217 altitude_series = add_series(altitude_name, AltosConvert.height);
219 if (cal_data.ground_pressure == AltosLib.MISSING)
220 cal_data.set_ground_pressure(pa);
222 double altitude = AltosConvert.pressure_to_altitude(pa);
223 altitude_series.add(time(), altitude);
226 private void compute_height() {
227 double ground_altitude = cal_data.ground_altitude;
228 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
229 height_series = add_series(height_name, AltosConvert.height);
230 for (AltosTimeValue alt : altitude_series)
231 height_series.add(alt.time, alt.value - ground_altitude);
234 if (gps_height == null && cal_data.gps_pad != null && gps_altitude != null) {
235 double gps_ground_altitude = cal_data.gps_pad.alt;
236 gps_height = add_series(gps_height_name, AltosConvert.height);
237 for (AltosTimeValue gps_alt : gps_altitude)
238 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
242 public AltosTimeSeries speed_series;
244 public static final String speed_name = "Speed";
246 private void compute_speed() {
247 if (speed_series != null)
250 AltosTimeSeries alt_speed_series = null;
251 AltosTimeSeries accel_speed_series = null;
253 if (altitude_series != null) {
254 AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
255 altitude_series.filter(temp_series, speed_filter_width);
257 alt_speed_series = make_series(speed_name, AltosConvert.speed);
258 temp_series.differentiate(alt_speed_series);
260 if (accel_series != null) {
261 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
262 accel_series.integrate(temp_series);
264 accel_speed_series = make_series(speed_name, AltosConvert.speed);
265 temp_series.filter(accel_speed_series, 0.1);
268 if (alt_speed_series != null && accel_speed_series != null) {
269 double apogee_time = AltosLib.MISSING;
270 if (state_series != null) {
271 for (AltosTimeValue d : state_series) {
272 if (d.value >= AltosLib.ao_flight_drogue){
273 apogee_time = d.time;
278 if (apogee_time == AltosLib.MISSING) {
279 speed_series = alt_speed_series;
281 speed_series = make_series(speed_name, AltosConvert.speed);
282 for (AltosTimeValue d : accel_speed_series) {
283 if (d.time <= apogee_time)
286 for (AltosTimeValue d : alt_speed_series) {
287 if (d.time > apogee_time)
292 } else if (alt_speed_series != null) {
293 speed_series = alt_speed_series;
294 } else if (accel_speed_series != null) {
295 speed_series = accel_speed_series;
297 if (speed_series != null)
298 add_series(speed_series);
301 public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
303 public static final String kalman_height_name = "Kalman Height";
304 public static final String kalman_speed_name = "Kalman Speed";
305 public static final String kalman_accel_name = "Kalman Accel";
307 public void set_kalman(double height, double speed, double acceleration) {
308 if (kalman_height_series == null) {
309 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
310 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
311 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
313 kalman_height_series.add(time(), height);
314 kalman_speed_series.add(time(), speed);
315 kalman_accel_series.add(time(), acceleration);
318 public AltosTimeSeries thrust_series;
320 public static final String thrust_name = "Thrust";
322 public void set_thrust(double N) {
323 if (thrust_series == null)
324 thrust_series = add_series(thrust_name, AltosConvert.force);
325 thrust_series.add(time(), N);
328 public AltosTimeSeries temperature_series;
330 public static final String temperature_name = "Temperature";
332 public void set_temperature(double deg_c) {
333 if (temperature_series == null)
334 temperature_series = add_series(temperature_name, AltosConvert.temperature);
335 temperature_series.add(time(), deg_c);
338 public AltosTimeSeries battery_voltage_series;
340 public static final String battery_voltage_name = "Battery Voltage";
342 public void set_battery_voltage(double volts) {
343 if (volts == AltosLib.MISSING)
345 if (battery_voltage_series == null)
346 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
347 battery_voltage_series.add(time(), volts);
350 public AltosTimeSeries apogee_voltage_series;
352 public static final String apogee_voltage_name = "Apogee Voltage";
354 public void set_apogee_voltage(double volts) {
355 if (volts == AltosLib.MISSING)
357 if (apogee_voltage_series == null)
358 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
359 apogee_voltage_series.add(time(), volts);
362 public AltosTimeSeries main_voltage_series;
364 public static final String main_voltage_name = "Main Voltage";
366 public void set_main_voltage(double volts) {
367 if (volts == AltosLib.MISSING)
369 if (main_voltage_series == null)
370 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
371 main_voltage_series.add(time(), volts);
374 public ArrayList<AltosGPSTimeValue> gps_series;
376 public AltosGPS gps_before(double time) {
378 for (AltosGPSTimeValue gtv : gps_series)
379 if (gtv.time <= time)
386 public AltosTimeSeries sats_in_view;
387 public AltosTimeSeries sats_in_soln;
388 public AltosTimeSeries gps_altitude;
389 public AltosTimeSeries gps_height;
390 public AltosTimeSeries gps_ground_speed;
391 public AltosTimeSeries gps_ascent_rate;
392 public AltosTimeSeries gps_course;
393 public AltosTimeSeries gps_speed;
394 public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
396 public static final String sats_in_view_name = "Satellites in view";
397 public static final String sats_in_soln_name = "Satellites in solution";
398 public static final String gps_altitude_name = "GPS Altitude";
399 public static final String gps_height_name = "GPS Height";
400 public static final String gps_ground_speed_name = "GPS Ground Speed";
401 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
402 public static final String gps_course_name = "GPS Course";
403 public static final String gps_speed_name = "GPS Speed";
404 public static final String gps_pdop_name = "GPS Dilution of Precision";
405 public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
406 public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
408 public void set_gps(AltosGPS gps) {
409 if (gps_series == null)
410 gps_series = new ArrayList<AltosGPSTimeValue>();
411 gps_series.add(new AltosGPSTimeValue(time(), gps));
413 if (sats_in_soln == null) {
414 sats_in_soln = add_series(sats_in_soln_name, null);
416 sats_in_soln.add(time(), gps.nsat);
417 if (gps.pdop != AltosLib.MISSING) {
418 if (gps_pdop == null)
419 gps_pdop = add_series(gps_pdop_name, null);
420 gps_pdop.add(time(), gps.pdop);
422 if (gps.hdop != AltosLib.MISSING) {
423 if (gps_hdop == null)
424 gps_hdop = add_series(gps_hdop_name, null);
425 gps_hdop.add(time(), gps.hdop);
427 if (gps.vdop != AltosLib.MISSING) {
428 if (gps_vdop == null)
429 gps_vdop = add_series(gps_vdop_name, null);
430 gps_vdop.add(time(), gps.vdop);
433 if (gps.alt != AltosLib.MISSING) {
434 if (gps_altitude == null)
435 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
436 gps_altitude.add(time(), gps.alt);
438 if (gps.ground_speed != AltosLib.MISSING) {
439 if (gps_ground_speed == null)
440 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
441 gps_ground_speed.add(time(), gps.ground_speed);
443 if (gps.climb_rate != AltosLib.MISSING) {
444 if (gps_ascent_rate == null)
445 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
446 gps_ascent_rate.add(time(), gps.climb_rate);
448 if (gps.course != AltosLib.MISSING) {
449 if (gps_course == null)
450 gps_course = add_series(gps_course_name, null);
451 gps_course.add(time(), gps.course);
453 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
454 if (gps_speed == null)
455 gps_speed = add_series(gps_speed_name, null);
456 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
457 gps.climb_rate * gps.climb_rate));
460 if (gps.cc_gps_sat != null) {
461 if (sats_in_view == null)
462 sats_in_view = add_series(sats_in_view_name, null);
463 sats_in_view.add(time(), gps.cc_gps_sat.length);
467 public static final String accel_along_name = "Accel Along";
468 public static final String accel_across_name = "Accel Across";
469 public static final String accel_through_name = "Accel Through";
471 public AltosTimeSeries accel_along, accel_across, accel_through;
473 public static final String gyro_roll_name = "Roll Rate";
474 public static final String gyro_pitch_name = "Pitch Rate";
475 public static final String gyro_yaw_name = "Yaw Rate";
477 public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
479 public static final String mag_along_name = "Magnetic Field Along";
480 public static final String mag_across_name = "Magnetic Field Across";
481 public static final String mag_through_name = "Magnetic Field Through";
483 public AltosTimeSeries mag_along, mag_across, mag_through;
485 public void set_accel(double along, double across, double through) {
486 if (accel_along == null) {
487 accel_along = add_series(accel_along_name, AltosConvert.accel);
488 accel_across = add_series(accel_across_name, AltosConvert.accel);
489 accel_through = add_series(accel_through_name, AltosConvert.accel);
491 accel_along.add(time(), along);
492 accel_across.add(time(), across);
493 accel_through.add(time(), through);
496 public void set_accel_ground(double along, double across, double through) {
499 public void set_gyro(double roll, double pitch, double yaw) {
500 if (gyro_roll == null) {
501 gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
502 gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
503 gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
505 gyro_roll.add(time(), roll);
506 gyro_pitch.add(time(), pitch);
507 gyro_yaw.add(time(), yaw);
510 public void set_mag(double along, double across, double through) {
511 if (mag_along == null) {
512 mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
513 mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
514 mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
516 mag_along.add(time(), along);
517 mag_across.add(time(), across);
518 mag_through.add(time(), through);
521 public static final String orient_name = "Tilt Angle";
523 public AltosTimeSeries orient_series;
525 public void set_orient(double orient) {
526 if (orient_series == null)
527 orient_series = add_series(orient_name, AltosConvert.orient);
528 orient_series.add(time(), orient);
531 public static final String pyro_voltage_name = "Pyro Voltage";
533 public AltosTimeSeries pyro_voltage;
535 public void set_pyro_voltage(double volts) {
536 if (pyro_voltage == null)
537 pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
538 pyro_voltage.add(time(), volts);
541 private static String[] igniter_voltage_names;
543 public String igniter_voltage_name(int channel) {
544 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
545 String[] new_igniter_voltage_names = new String[channel + 1];
548 if (igniter_voltage_names != null) {
549 for (; i < igniter_voltage_names.length; i++)
550 new_igniter_voltage_names[i] = igniter_voltage_names[i];
552 for (; i < channel+1; i++)
553 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
554 igniter_voltage_names = new_igniter_voltage_names;
556 return igniter_voltage_names[channel];
559 public AltosTimeSeries[] igniter_voltage;
561 public void set_igniter_voltage(double[] voltage) {
562 int channels = voltage.length;
563 if (igniter_voltage == null || igniter_voltage.length <= channels) {
564 AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1];
567 if (igniter_voltage != null) {
568 for (; i < igniter_voltage.length; i++)
569 new_igniter_voltage[i] = igniter_voltage[i];
571 for (; i < channels; i++)
572 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
573 igniter_voltage = new_igniter_voltage;
575 for (int channel = 0; channel < voltage.length; channel++)
576 igniter_voltage[channel].add(time(), voltage[channel]);
579 public static final String pyro_fired_name = "Pyro Channel State";
581 public AltosTimeSeries pyro_fired_series;
585 public void set_pyro_fired(int pyro_mask) {
586 if (pyro_fired_series == null)
587 pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
588 for (int channel = 0; channel < 32; channel++) {
589 if ((last_pyro_mask & (1 << channel)) == 0 &&
590 (pyro_mask & (1 << channel)) != 0) {
591 pyro_fired_series.add(time(), channel);
594 last_pyro_mask = pyro_mask;
597 public void set_companion(AltosCompanion companion) {
600 public void finish() {
606 public AltosTimeSeries[] series() {
608 return series.toArray(new AltosTimeSeries[0]);
611 public AltosFlightSeries(AltosCalData cal_data) {