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 AltosTimeSeries status_series;
192 public static final String status_name = "Radio Status";
194 public void set_rssi(int rssi, int status) {
195 if (rssi_series == null) {
196 rssi_series = add_series(rssi_name, null);
197 status_series = add_series(status_name, null);
199 rssi_series.add(time(), rssi);
200 status_series.add(time(), status);
203 public AltosTimeSeries pressure_series;
205 public static final String pressure_name = "Pressure";
207 public AltosTimeSeries altitude_series;
209 public static final String altitude_name = "Altitude";
211 public AltosTimeSeries height_series;
213 public static final String height_name = "Height";
215 public void set_pressure(double pa) {
216 if (pa == AltosLib.MISSING)
219 if (pressure_series == null)
220 pressure_series = add_series(pressure_name, AltosConvert.pressure);
221 pressure_series.add(time(), pa);
222 if (altitude_series == null)
223 altitude_series = add_series(altitude_name, AltosConvert.height);
225 if (cal_data.ground_pressure == AltosLib.MISSING)
226 cal_data.set_ground_pressure(pa);
228 double altitude = AltosConvert.pressure_to_altitude(pa);
229 altitude_series.add(time(), altitude);
232 private void compute_height() {
233 double ground_altitude = cal_data.ground_altitude;
234 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
235 height_series = add_series(height_name, AltosConvert.height);
236 for (AltosTimeValue alt : altitude_series)
237 height_series.add(alt.time, alt.value - ground_altitude);
240 if (gps_height == null && cal_data.gps_pad != null && cal_data.gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
241 double gps_ground_altitude = cal_data.gps_pad.alt;
242 gps_height = add_series(gps_height_name, AltosConvert.height);
243 for (AltosTimeValue gps_alt : gps_altitude)
244 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
248 public AltosTimeSeries speed_series;
250 public static final String speed_name = "Speed";
252 private void compute_speed() {
253 if (speed_series != null)
256 AltosTimeSeries alt_speed_series = null;
257 AltosTimeSeries accel_speed_series = null;
259 if (altitude_series != null) {
260 AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
261 altitude_series.filter(temp_series, speed_filter_width);
263 alt_speed_series = make_series(speed_name, AltosConvert.speed);
264 temp_series.differentiate(alt_speed_series);
266 if (accel_series != null) {
267 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
268 accel_series.integrate(temp_series);
270 accel_speed_series = make_series(speed_name, AltosConvert.speed);
271 temp_series.filter(accel_speed_series, 0.1);
274 if (alt_speed_series != null && accel_speed_series != null) {
275 double apogee_time = AltosLib.MISSING;
276 if (state_series != null) {
277 for (AltosTimeValue d : state_series) {
278 if (d.value >= AltosLib.ao_flight_drogue){
279 apogee_time = d.time;
284 if (apogee_time == AltosLib.MISSING) {
285 speed_series = alt_speed_series;
287 speed_series = make_series(speed_name, AltosConvert.speed);
288 for (AltosTimeValue d : accel_speed_series) {
289 if (d.time <= apogee_time)
292 for (AltosTimeValue d : alt_speed_series) {
293 if (d.time > apogee_time)
298 } else if (alt_speed_series != null) {
299 speed_series = alt_speed_series;
300 } else if (accel_speed_series != null) {
301 speed_series = accel_speed_series;
303 if (speed_series != null)
304 add_series(speed_series);
307 public AltosTimeSeries orient_series;
309 public static final String orient_name = "Tilt Angle";
311 private void compute_orient() {
313 if (orient_series != null)
316 if (accel_ground_across == AltosLib.MISSING)
319 if (cal_data.pad_orientation == AltosLib.MISSING)
322 if (cal_data.accel_zero_across == AltosLib.MISSING)
325 AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
326 AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
327 AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
328 cal_data.pad_orientation);
329 double prev_time = ground_time;
331 orient_series = add_series(orient_name, AltosConvert.orient);
332 orient_series.add(ground_time, rotation.tilt());
334 for (AltosTimeValue roll_v : gyro_roll) {
335 double time = roll_v.time;
336 double dt = time - prev_time;
339 double roll = AltosConvert.degrees_to_radians(roll_v.value);
340 double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time));
341 double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time));
343 rotation.rotate(dt, pitch, yaw, roll);
344 orient_series.add(time, rotation.tilt());
350 public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
352 public static final String kalman_height_name = "Kalman Height";
353 public static final String kalman_speed_name = "Kalman Speed";
354 public static final String kalman_accel_name = "Kalman Accel";
356 public void set_kalman(double height, double speed, double acceleration) {
357 if (kalman_height_series == null) {
358 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
359 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
360 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
362 kalman_height_series.add(time(), height);
363 kalman_speed_series.add(time(), speed);
364 kalman_accel_series.add(time(), acceleration);
367 public AltosTimeSeries thrust_series;
369 public static final String thrust_name = "Thrust";
371 public void set_thrust(double N) {
372 if (thrust_series == null)
373 thrust_series = add_series(thrust_name, AltosConvert.force);
374 thrust_series.add(time(), N);
377 public AltosTimeSeries temperature_series;
379 public static final String temperature_name = "Temperature";
381 public void set_temperature(double deg_c) {
382 if (temperature_series == null)
383 temperature_series = add_series(temperature_name, AltosConvert.temperature);
384 temperature_series.add(time(), deg_c);
387 public AltosTimeSeries battery_voltage_series;
389 public static final String battery_voltage_name = "Battery Voltage";
391 public void set_battery_voltage(double volts) {
392 if (volts == AltosLib.MISSING)
394 if (battery_voltage_series == null)
395 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
396 battery_voltage_series.add(time(), volts);
399 public AltosTimeSeries apogee_voltage_series;
401 public static final String apogee_voltage_name = "Apogee Voltage";
403 public void set_apogee_voltage(double volts) {
404 if (volts == AltosLib.MISSING)
406 if (apogee_voltage_series == null)
407 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
408 apogee_voltage_series.add(time(), volts);
411 public AltosTimeSeries main_voltage_series;
413 public static final String main_voltage_name = "Main Voltage";
415 public void set_main_voltage(double volts) {
416 if (volts == AltosLib.MISSING)
418 if (main_voltage_series == null)
419 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
420 main_voltage_series.add(time(), volts);
423 public ArrayList<AltosGPSTimeValue> gps_series;
425 public AltosGPS gps_before(double time) {
427 for (AltosGPSTimeValue gtv : gps_series)
428 if (gtv.time <= time)
435 public AltosTimeSeries sats_in_view;
436 public AltosTimeSeries sats_in_soln;
437 public AltosTimeSeries gps_altitude;
438 public AltosTimeSeries gps_height;
439 public AltosTimeSeries gps_ground_speed;
440 public AltosTimeSeries gps_ascent_rate;
441 public AltosTimeSeries gps_course;
442 public AltosTimeSeries gps_speed;
443 public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
445 public static final String sats_in_view_name = "Satellites in view";
446 public static final String sats_in_soln_name = "Satellites in solution";
447 public static final String gps_altitude_name = "GPS Altitude";
448 public static final String gps_height_name = "GPS Height";
449 public static final String gps_ground_speed_name = "GPS Ground Speed";
450 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
451 public static final String gps_course_name = "GPS Course";
452 public static final String gps_speed_name = "GPS Speed";
453 public static final String gps_pdop_name = "GPS Dilution of Precision";
454 public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
455 public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
457 public void set_gps(AltosGPS gps) {
458 if (gps_series == null)
459 gps_series = new ArrayList<AltosGPSTimeValue>();
460 gps_series.add(new AltosGPSTimeValue(time(), gps));
462 if (sats_in_soln == null) {
463 sats_in_soln = add_series(sats_in_soln_name, null);
465 sats_in_soln.add(time(), gps.nsat);
466 if (gps.pdop != AltosLib.MISSING) {
467 if (gps_pdop == null)
468 gps_pdop = add_series(gps_pdop_name, null);
469 gps_pdop.add(time(), gps.pdop);
471 if (gps.hdop != AltosLib.MISSING) {
472 if (gps_hdop == null)
473 gps_hdop = add_series(gps_hdop_name, null);
474 gps_hdop.add(time(), gps.hdop);
476 if (gps.vdop != AltosLib.MISSING) {
477 if (gps_vdop == null)
478 gps_vdop = add_series(gps_vdop_name, null);
479 gps_vdop.add(time(), gps.vdop);
482 if (gps.alt != AltosLib.MISSING) {
483 if (gps_altitude == null)
484 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
485 gps_altitude.add(time(), gps.alt);
487 if (gps.ground_speed != AltosLib.MISSING) {
488 if (gps_ground_speed == null)
489 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
490 gps_ground_speed.add(time(), gps.ground_speed);
492 if (gps.climb_rate != AltosLib.MISSING) {
493 if (gps_ascent_rate == null)
494 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
495 gps_ascent_rate.add(time(), gps.climb_rate);
497 if (gps.course != AltosLib.MISSING) {
498 if (gps_course == null)
499 gps_course = add_series(gps_course_name, null);
500 gps_course.add(time(), gps.course);
502 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
503 if (gps_speed == null)
504 gps_speed = add_series(gps_speed_name, null);
505 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
506 gps.climb_rate * gps.climb_rate));
509 if (gps.cc_gps_sat != null) {
510 if (sats_in_view == null)
511 sats_in_view = add_series(sats_in_view_name, null);
512 sats_in_view.add(time(), gps.cc_gps_sat.length);
516 public static final String accel_along_name = "Accel Along";
517 public static final String accel_across_name = "Accel Across";
518 public static final String accel_through_name = "Accel Through";
520 public AltosTimeSeries accel_along, accel_across, accel_through;
522 public static final String gyro_roll_name = "Roll Rate";
523 public static final String gyro_pitch_name = "Pitch Rate";
524 public static final String gyro_yaw_name = "Yaw Rate";
526 public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
528 public static final String mag_along_name = "Magnetic Field Along";
529 public static final String mag_across_name = "Magnetic Field Across";
530 public static final String mag_through_name = "Magnetic Field Through";
532 public AltosTimeSeries mag_along, mag_across, mag_through;
534 public void set_accel(double along, double across, double through) {
535 if (accel_along == null) {
536 accel_along = add_series(accel_along_name, AltosConvert.accel);
537 accel_across = add_series(accel_across_name, AltosConvert.accel);
538 accel_through = add_series(accel_through_name, AltosConvert.accel);
540 accel_along.add(time(), along);
541 accel_across.add(time(), across);
542 accel_through.add(time(), through);
545 private double accel_ground_along = AltosLib.MISSING;
546 private double accel_ground_across = AltosLib.MISSING;
547 private double accel_ground_through = AltosLib.MISSING;
549 private double ground_time;
551 public void set_accel_ground(double along, double across, double through) {
552 accel_ground_along = along;
553 accel_ground_across = across;
554 accel_ground_through = through;
555 ground_time = time();
558 public void set_gyro(double roll, double pitch, double yaw) {
559 if (gyro_roll == null) {
560 gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
561 gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
562 gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
564 gyro_roll.add(time(), roll);
565 gyro_pitch.add(time(), pitch);
566 gyro_yaw.add(time(), yaw);
569 public void set_mag(double along, double across, double through) {
570 if (mag_along == null) {
571 mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
572 mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
573 mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
575 mag_along.add(time(), along);
576 mag_across.add(time(), across);
577 mag_through.add(time(), through);
580 public void set_orient(double orient) {
581 if (orient_series == null)
582 orient_series = add_series(orient_name, AltosConvert.orient);
583 orient_series.add(time(), orient);
586 public static final String pyro_voltage_name = "Pyro Voltage";
588 public AltosTimeSeries pyro_voltage;
590 public void set_pyro_voltage(double volts) {
591 if (pyro_voltage == null)
592 pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
593 pyro_voltage.add(time(), volts);
596 private static String[] igniter_voltage_names;
598 public String igniter_voltage_name(int channel) {
599 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
600 String[] new_igniter_voltage_names = new String[channel + 1];
603 if (igniter_voltage_names != null) {
604 for (; i < igniter_voltage_names.length; i++)
605 new_igniter_voltage_names[i] = igniter_voltage_names[i];
607 for (; i < channel+1; i++)
608 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
609 igniter_voltage_names = new_igniter_voltage_names;
611 return igniter_voltage_names[channel];
614 public AltosTimeSeries[] igniter_voltage;
616 public void set_igniter_voltage(double[] voltage) {
617 int channels = voltage.length;
618 if (igniter_voltage == null || igniter_voltage.length <= channels) {
619 AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1];
622 if (igniter_voltage != null) {
623 for (; i < igniter_voltage.length; i++)
624 new_igniter_voltage[i] = igniter_voltage[i];
626 for (; i < channels; i++)
627 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
628 igniter_voltage = new_igniter_voltage;
630 for (int channel = 0; channel < voltage.length; channel++)
631 igniter_voltage[channel].add(time(), voltage[channel]);
634 public static final String pyro_fired_name = "Pyro Channel State";
636 public AltosTimeSeries pyro_fired_series;
640 public void set_pyro_fired(int pyro_mask) {
641 if (pyro_fired_series == null)
642 pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
643 for (int channel = 0; channel < 32; channel++) {
644 if ((last_pyro_mask & (1 << channel)) == 0 &&
645 (pyro_mask & (1 << channel)) != 0) {
646 pyro_fired_series.add(time(), channel);
649 last_pyro_mask = pyro_mask;
652 public void set_companion(AltosCompanion companion) {
655 public void finish() {
662 public AltosTimeSeries[] series() {
664 return series.toArray(new AltosTimeSeries[0]);
667 public AltosFlightSeries(AltosCalData cal_data) {