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;
23 public int[] indices() {
24 int[] indices = new int[series.size()];
25 for (int i = 0; i < indices.length; i++)
30 private double time(int id, int index) {
31 AltosTimeSeries s = series.get(id);
32 if (index < s.values.size())
33 return s.values.get(index).time;
34 return Double.POSITIVE_INFINITY;
37 public boolean step_indices(int[] indices) {
38 double min_next = time(0, indices[0]+1);
40 for (int i = 1; i < indices.length; i++) {
41 double next = time(i, indices[i]+1);
46 if (min_next == Double.POSITIVE_INFINITY)
49 for (int i = 0; i < indices.length; i++) {
50 double t = time(i, indices[i] + 1);
58 public double time(int[] indices) {
59 double max = time(0, indices[0]);
61 for (int i = 1; i < indices.length; i++) {
62 double t = time(i, indices[i]);
69 public double value(String name, int[] indices) {
70 for (int i = 0; i < indices.length; i++) {
71 AltosTimeSeries s = series.get(i);
72 if (s.label.equals(name))
73 return s.values.get(indices[i]).value;
75 return AltosLib.MISSING;
78 public AltosTimeSeries make_series(String label, AltosUnits units) {
79 return new AltosTimeSeries(label, units);
82 public void add_series(AltosTimeSeries s) {
86 public AltosTimeSeries add_series(String label, AltosUnits units) {
87 AltosTimeSeries s = make_series(label, units);
92 public void remove_series(AltosTimeSeries s) {
96 public boolean has_series(String label) {
97 for (AltosTimeSeries s : series)
98 if (s.label.equals(label))
103 AltosTimeSeries state_series;
105 public static final String state_name = "State";
107 public void set_state(int state) {
109 if (state_series == null)
110 state_series = add_series(state_name, AltosConvert.state_name);
111 else if ((int) state_series.get(state_series.size()-1).value == state)
113 state_series.add(time(), state);
116 AltosTimeSeries accel_series;
118 public static final String accel_name = "Accel";
120 public void set_acceleration(double acceleration) {
121 if (accel_series == null) {
122 System.out.printf("set acceleration %g\n", acceleration);
123 accel_series = add_series(accel_name, AltosConvert.accel);
125 accel_series.add(time(), acceleration);
128 private void compute_accel() {
129 if (accel_series != null)
132 if (speed_series != null) {
133 AltosTimeSeries temp_series = make_series(accel_name, AltosConvert.accel);
134 speed_series.differentiate(temp_series);
135 accel_series = add_series(accel_name, AltosConvert.accel);
136 temp_series.filter(accel_series, 0.25);
140 public void set_received_time(long received_time) {
143 AltosTimeSeries rssi_series;
145 public static final String rssi_name = "RSSI";
147 AltosTimeSeries status_series;
149 public static final String status_name = "Status";
151 public void set_rssi(int rssi, int status) {
152 if (rssi_series == null)
153 rssi_series = add_series(rssi_name, null);
154 rssi_series.add(time(), rssi);
155 if (status_series == null)
156 status_series = add_series(status_name, null);
157 status_series.add(time(), status);
160 AltosTimeSeries pressure_series;
162 public static final String pressure_name = "Pressure";
164 AltosTimeSeries altitude_series;
166 public static final String altitude_name = "Altitude";
168 AltosTimeSeries height_series;
170 public static final String height_name = "Height";
172 public void set_pressure(double pa) {
173 if (pressure_series == null)
174 pressure_series = add_series(pressure_name, AltosConvert.pressure);
175 pressure_series.add(time(), pa);
176 if (altitude_series == null)
177 altitude_series = add_series(altitude_name, AltosConvert.height);
179 double altitude = AltosConvert.pressure_to_altitude(pa);
180 altitude_series.add(time(), altitude);
183 private void compute_height(double ground_altitude) {
184 if (height_series == null) {
185 height_series = add_series(height_name, AltosConvert.height);
186 for (AltosTimeValue alt : altitude_series)
187 height_series.add(alt.time, alt.value - ground_altitude);
191 AltosTimeSeries speed_series;
193 public static final String speed_name = "Speed";
195 private void compute_speed() {
196 if (speed_series != null) {
197 System.out.printf("speed series already made\n");
201 AltosTimeSeries alt_speed_series = null;
202 AltosTimeSeries accel_speed_series = null;
204 if (altitude_series != null) {
205 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
206 altitude_series.differentiate(temp_series);
208 alt_speed_series = make_series(speed_name, AltosConvert.speed);
209 temp_series.filter(alt_speed_series, 10.0);
211 System.out.printf("no altitude series\n");
213 if (accel_series != null) {
214 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
215 accel_series.integrate(temp_series);
217 accel_speed_series = make_series(speed_name, AltosConvert.speed);
218 temp_series.filter(accel_speed_series, 0.1);
220 System.out.printf("no accel series\n");
223 if (alt_speed_series != null && accel_speed_series != null) {
224 double apogee_time = AltosLib.MISSING;
225 if (state_series != null) {
226 for (AltosTimeValue d : state_series) {
227 if (d.value >= AltosLib.ao_flight_drogue){
228 apogee_time = d.time;
233 if (apogee_time == AltosLib.MISSING) {
234 speed_series = alt_speed_series;
236 speed_series = make_series(speed_name, AltosConvert.speed);
237 for (AltosTimeValue d : accel_speed_series) {
238 if (d.time <= apogee_time)
241 for (AltosTimeValue d : alt_speed_series) {
242 if (d.time > apogee_time)
247 } else if (alt_speed_series != null) {
248 speed_series = alt_speed_series;
249 } else if (accel_speed_series != null) {
250 speed_series = accel_speed_series;
252 if (speed_series != null) {
253 add_series(speed_series);
254 System.out.printf("speed series for %s set to %s\n", this.toString(), speed_series.toString());
256 System.out.printf("didn't manage to make speed series\n");
259 AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
261 public static final String kalman_height_name = "Kalman Height";
262 public static final String kalman_speed_name = "Kalman Speed";
263 public static final String kalman_accel_name = "Kalman Accel";
265 public void set_kalman(double height, double speed, double acceleration) {
266 if (kalman_height_series == null) {
267 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
268 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
269 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
271 kalman_height_series.add(time(), height);
272 kalman_speed_series.add(time(), speed);
273 kalman_accel_series.add(time(), acceleration);
276 AltosTimeSeries thrust_series;
278 public static final String thrust_name = "Thrust";
280 public void set_thrust(double N) {
281 if (thrust_series == null)
282 thrust_series = add_series(thrust_name, AltosConvert.force);
283 thrust_series.add(time(), N);
286 AltosTimeSeries temperature_series;
288 public static final String temperature_name = "Temperature";
290 public void set_temperature(double deg_c) {
291 if (temperature_series == null)
292 temperature_series = add_series(temperature_name, AltosConvert.temperature);
293 temperature_series.add(time(), deg_c);
296 AltosTimeSeries battery_voltage_series;
298 public static final String battery_voltage_name = "Battery Voltage";
300 public void set_battery_voltage(double volts) {
301 if (volts == AltosLib.MISSING)
303 if (battery_voltage_series == null)
304 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
305 battery_voltage_series.add(time(), volts);
308 AltosTimeSeries apogee_voltage_series;
310 public static final String apogee_voltage_name = "Apogee Voltage";
312 public void set_apogee_voltage(double volts) {
313 if (volts == AltosLib.MISSING)
315 if (apogee_voltage_series == null)
316 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
317 apogee_voltage_series.add(time(), volts);
320 AltosTimeSeries main_voltage_series;
322 public static final String main_voltage_name = "Main Voltage";
324 public void set_main_voltage(double volts) {
325 if (volts == AltosLib.MISSING)
327 if (main_voltage_series == null)
328 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
329 main_voltage_series.add(time(), volts);
332 AltosTimeSeries sats_in_view;
333 AltosTimeSeries sats_in_soln;
334 AltosTimeSeries gps_altitude;
335 AltosTimeSeries gps_height;
336 AltosTimeSeries gps_ground_speed;
337 AltosTimeSeries gps_ascent_rate;
338 AltosTimeSeries gps_course;
339 AltosTimeSeries gps_speed;
341 public ArrayList<AltosGPSTimeValue> gps_series;
343 public static final String sats_in_view_name = "Satellites in view";
344 public static final String sats_in_soln_name = "Satellites in solution";
345 public static final String gps_altitude_name = "GPS Altitude";
346 public static final String gps_height_name = "GPS Height";
347 public static final String gps_ground_speed_name = "GPS Ground Speed";
348 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
349 public static final String gps_course_name = "GPS Course";
350 public static final String gps_speed_name = "GPS Speed";
352 public void set_gps(AltosGPS gps) {
353 if (gps_series == null)
354 gps_series = new ArrayList<AltosGPSTimeValue>();
355 gps_series.add(new AltosGPSTimeValue(time(), gps));
357 if (sats_in_view == null) {
358 sats_in_view = add_series(sats_in_view_name, null);
359 sats_in_soln = add_series(sats_in_soln_name, null);
360 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
361 gps_height = add_series(gps_height_name, AltosConvert.height);
362 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
363 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
364 gps_course = add_series(gps_course_name, null);
365 gps_speed = add_series(gps_speed_name, null);
367 if (gps.cc_gps_sat != null)
368 sats_in_view.add(time(), gps.cc_gps_sat.length);
370 sats_in_soln.add(time(), gps.nsat);
371 if (gps.alt != AltosLib.MISSING) {
372 gps_altitude.add(time(), gps.alt);
373 if (cal_data.gps_ground_altitude != AltosLib.MISSING)
374 gps_height.add(time(), gps.alt - cal_data.gps_ground_altitude);
376 if (gps.ground_speed != AltosLib.MISSING)
377 gps_ground_speed.add(time(), gps.ground_speed);
378 if (gps.climb_rate != AltosLib.MISSING)
379 gps_ascent_rate.add(time(), gps.climb_rate);
380 if (gps.course != AltosLib.MISSING)
381 gps_course.add(time(), gps.course);
382 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
383 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
384 gps.climb_rate * gps.climb_rate));
388 public static final String accel_across_name = "Accel Across";
389 public static final String accel_along_name = "Accel Along";
390 public static final String accel_through_name = "Accel Through";
392 public void set_accel(double along, double across, double through) {
395 public void set_accel_ground(double along, double across, double through) {
398 public void set_gyro(double roll, double pitch, double yaw) {
401 public void set_mag(double along, double across, double through) {
404 public void set_orient(double new_orient) { }
406 public void set_pyro_voltage(double volts) {
409 public void set_ignitor_voltage(double[] voltage) {
412 public void set_pyro_fired(int pyro_mask) {
415 public void set_companion(AltosCompanion companion) {
418 public void fill_in() {
419 System.out.printf("fill in %s\n", this.toString());
422 if (cal_data.ground_altitude != AltosLib.MISSING)
423 compute_height(cal_data.ground_altitude);
427 time = AltosLib.MISSING;
428 series = new ArrayList<AltosTimeSeries>();
431 public AltosTimeSeries[] series() {
433 return series.toArray(new AltosTimeSeries[0]);
436 public AltosFlightSeries(AltosCalData cal_data) {
438 System.out.printf("new flight series %s\n", this.toString());