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_12;
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) {
121 for (int e = 0; e < series.size(); e++) {
122 if (s.compareTo(series.get(e)) < 0){
130 public AltosTimeSeries add_series(String label, AltosUnits units) {
131 AltosTimeSeries s = make_series(label, units);
136 public void remove_series(AltosTimeSeries s) {
140 public boolean has_series(String label) {
141 for (AltosTimeSeries s : series)
142 if (s.label.equals(label))
147 public AltosTimeSeries state_series;
149 public static final String state_name = "State";
151 public void set_state(int state) {
153 if (state != AltosLib.ao_flight_pad && state != AltosLib.MISSING && state != AltosLib.ao_flight_stateless) {
154 if (state_series == null)
155 state_series = add_series(state_name, AltosConvert.state_name);
156 if (this.state() != state)
157 state_series.add(time(), state);
159 super.set_state(state);
162 public AltosTimeSeries accel_series;
164 public static final String accel_name = "Accel";
166 public AltosTimeSeries vert_accel_series;
168 public static final String vert_accel_name = "Vertical Accel";
170 public void set_acceleration(double acceleration) {
171 if (acceleration == AltosLib.MISSING)
173 if (accel_series == null)
174 accel_series = add_series(accel_name, AltosConvert.accel);
176 accel_series.add(time(), acceleration);
179 private void compute_accel() {
180 if (accel_series != null)
183 if (speed_series != null) {
184 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
185 speed_series.filter(temp_series, accel_filter_width);
186 accel_series = add_series(accel_name, AltosConvert.accel);
187 temp_series.differentiate(accel_series);
191 public void set_received_time(long received_time) {
194 public AltosTimeSeries rssi_series;
196 public static final String rssi_name = "RSSI";
198 public AltosTimeSeries status_series;
200 public static final String status_name = "Radio Status";
202 public void set_rssi(int rssi, int status) {
203 if (rssi_series == null) {
204 rssi_series = add_series(rssi_name, null);
205 status_series = add_series(status_name, null);
207 rssi_series.add(time(), rssi);
208 status_series.add(time(), status);
211 public AltosTimeSeries pressure_series;
213 public static final String pressure_name = "Pressure";
215 public AltosTimeSeries altitude_series;
217 public static final String altitude_name = "Altitude";
219 public AltosTimeSeries height_series;
221 public static final String height_name = "Height";
223 public void set_pressure(double pa) {
224 if (pa == AltosLib.MISSING)
227 if (pressure_series == null)
228 pressure_series = add_series(pressure_name, AltosConvert.pressure);
229 pressure_series.add(time(), pa);
230 if (altitude_series == null)
231 altitude_series = add_series(altitude_name, AltosConvert.height);
233 if (cal_data().ground_pressure == AltosLib.MISSING)
234 cal_data().set_ground_pressure(pa);
236 double altitude = AltosConvert.pressure_to_altitude(pa);
237 altitude_series.add(time(), altitude);
240 private void compute_height() {
241 double ground_altitude = cal_data().ground_altitude;
242 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
243 height_series = add_series(height_name, AltosConvert.height);
244 for (AltosTimeValue alt : altitude_series)
245 height_series.add(alt.time, alt.value - ground_altitude);
248 if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
249 double gps_ground_altitude = cal_data().gps_pad.alt;
250 gps_height = add_series(gps_height_name, AltosConvert.height);
251 for (AltosTimeValue gps_alt : gps_altitude)
252 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
256 public AltosTimeSeries speed_series;
258 public static final String speed_name = "Speed";
260 private void compute_speed() {
261 if (speed_series != null)
264 AltosTimeSeries alt_speed_series = null;
265 AltosTimeSeries accel_speed_series = null;
267 if (altitude_series != null) {
268 AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
269 altitude_series.filter(temp_series, speed_filter_width);
271 alt_speed_series = make_series(speed_name, AltosConvert.speed);
272 temp_series.differentiate(alt_speed_series);
274 if (accel_series != null) {
276 if (orient_series != null) {
277 vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
279 for (AltosTimeValue a : accel_series) {
280 double orient = orient_series.value(a.time);
281 double a_abs = a.value + AltosConvert.gravity;
282 double v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
284 vert_accel_series.add(a.time, v_a);
288 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
290 if (vert_accel_series != null)
291 vert_accel_series.integrate(temp_series);
293 accel_series.integrate(temp_series);
295 accel_speed_series = make_series(speed_name, AltosConvert.speed);
296 temp_series.filter(accel_speed_series, 0.1);
299 if (alt_speed_series != null && accel_speed_series != null) {
300 double apogee_time = AltosLib.MISSING;
301 if (state_series != null) {
302 for (AltosTimeValue d : state_series) {
303 if (d.value >= AltosLib.ao_flight_drogue){
304 apogee_time = d.time;
309 if (apogee_time == AltosLib.MISSING) {
310 speed_series = alt_speed_series;
312 speed_series = make_series(speed_name, AltosConvert.speed);
313 for (AltosTimeValue d : accel_speed_series) {
314 if (d.time <= apogee_time)
317 for (AltosTimeValue d : alt_speed_series) {
318 if (d.time > apogee_time)
323 } else if (alt_speed_series != null) {
324 speed_series = alt_speed_series;
325 } else if (accel_speed_series != null) {
326 speed_series = accel_speed_series;
328 if (speed_series != null)
329 add_series(speed_series);
332 public AltosTimeSeries orient_series;
334 public static final String orient_name = "Tilt Angle";
336 private void compute_orient() {
338 if (orient_series != null)
341 if (accel_ground_across == AltosLib.MISSING)
344 if (cal_data().pad_orientation == AltosLib.MISSING)
347 if (cal_data().accel_zero_across == AltosLib.MISSING)
350 AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across),
351 AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through),
352 AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along),
353 cal_data().pad_orientation);
354 double prev_time = ground_time;
356 orient_series = add_series(orient_name, AltosConvert.orient);
357 orient_series.add(ground_time, rotation.tilt());
359 for (AltosTimeValue roll_v : gyro_roll) {
360 double time = roll_v.time;
361 double dt = time - prev_time;
364 double roll = AltosConvert.degrees_to_radians(roll_v.value) * dt;
365 double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt;
366 double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt;
368 rotation.rotate(pitch, yaw, roll);
369 orient_series.add(time, rotation.tilt());
375 public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
377 public static final String kalman_height_name = "Kalman Height";
378 public static final String kalman_speed_name = "Kalman Speed";
379 public static final String kalman_accel_name = "Kalman Accel";
381 public void set_kalman(double height, double speed, double acceleration) {
382 if (kalman_height_series == null) {
383 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
384 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
385 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
387 kalman_height_series.add(time(), height);
388 kalman_speed_series.add(time(), speed);
389 kalman_accel_series.add(time(), acceleration);
392 public AltosTimeSeries thrust_series;
394 public static final String thrust_name = "Thrust";
396 public void set_thrust(double N) {
397 if (thrust_series == null)
398 thrust_series = add_series(thrust_name, AltosConvert.force);
399 thrust_series.add(time(), N);
402 public AltosTimeSeries temperature_series;
404 public static final String temperature_name = "Temperature";
406 public void set_temperature(double deg_c) {
407 if (temperature_series == null)
408 temperature_series = add_series(temperature_name, AltosConvert.temperature);
409 temperature_series.add(time(), deg_c);
412 public AltosTimeSeries battery_voltage_series;
414 public static final String battery_voltage_name = "Battery Voltage";
416 public void set_battery_voltage(double volts) {
417 if (volts == AltosLib.MISSING)
419 if (battery_voltage_series == null)
420 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
421 battery_voltage_series.add(time(), volts);
424 public AltosTimeSeries apogee_voltage_series;
426 public static final String apogee_voltage_name = "Apogee Voltage";
428 public void set_apogee_voltage(double volts) {
429 if (volts == AltosLib.MISSING)
431 if (apogee_voltage_series == null)
432 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
433 apogee_voltage_series.add(time(), volts);
436 public AltosTimeSeries main_voltage_series;
438 public static final String main_voltage_name = "Main Voltage";
440 public void set_main_voltage(double volts) {
441 if (volts == AltosLib.MISSING)
443 if (main_voltage_series == null)
444 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
445 main_voltage_series.add(time(), volts);
448 public ArrayList<AltosGPSTimeValue> gps_series;
450 public AltosGPS gps_before(double time) {
452 for (AltosGPSTimeValue gtv : gps_series)
453 if (gtv.time <= time)
460 public AltosTimeSeries sats_in_view;
461 public AltosTimeSeries sats_in_soln;
462 public AltosTimeSeries gps_altitude;
463 public AltosTimeSeries gps_height;
464 public AltosTimeSeries gps_ground_speed;
465 public AltosTimeSeries gps_ascent_rate;
466 public AltosTimeSeries gps_course;
467 public AltosTimeSeries gps_speed;
468 public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
470 public static final String sats_in_view_name = "Satellites in view";
471 public static final String sats_in_soln_name = "Satellites in solution";
472 public static final String gps_altitude_name = "GPS Altitude";
473 public static final String gps_height_name = "GPS Height";
474 public static final String gps_ground_speed_name = "GPS Ground Speed";
475 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
476 public static final String gps_course_name = "GPS Course";
477 public static final String gps_speed_name = "GPS Speed";
478 public static final String gps_pdop_name = "GPS Dilution of Precision";
479 public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
480 public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
482 public void set_gps(AltosGPS gps) {
483 if (gps_series == null)
484 gps_series = new ArrayList<AltosGPSTimeValue>();
485 gps_series.add(new AltosGPSTimeValue(time(), gps));
487 if (sats_in_soln == null) {
488 sats_in_soln = add_series(sats_in_soln_name, null);
490 sats_in_soln.add(time(), gps.nsat);
491 if (gps.pdop != AltosLib.MISSING) {
492 if (gps_pdop == null)
493 gps_pdop = add_series(gps_pdop_name, null);
494 gps_pdop.add(time(), gps.pdop);
496 if (gps.hdop != AltosLib.MISSING) {
497 if (gps_hdop == null)
498 gps_hdop = add_series(gps_hdop_name, null);
499 gps_hdop.add(time(), gps.hdop);
501 if (gps.vdop != AltosLib.MISSING) {
502 if (gps_vdop == null)
503 gps_vdop = add_series(gps_vdop_name, null);
504 gps_vdop.add(time(), gps.vdop);
507 if (gps.alt != AltosLib.MISSING) {
508 if (gps_altitude == null)
509 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
510 gps_altitude.add(time(), gps.alt);
512 if (gps.ground_speed != AltosLib.MISSING) {
513 if (gps_ground_speed == null)
514 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
515 gps_ground_speed.add(time(), gps.ground_speed);
517 if (gps.climb_rate != AltosLib.MISSING) {
518 if (gps_ascent_rate == null)
519 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
520 gps_ascent_rate.add(time(), gps.climb_rate);
522 if (gps.course != AltosLib.MISSING) {
523 if (gps_course == null)
524 gps_course = add_series(gps_course_name, null);
525 gps_course.add(time(), gps.course);
527 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
528 if (gps_speed == null)
529 gps_speed = add_series(gps_speed_name, null);
530 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
531 gps.climb_rate * gps.climb_rate));
534 if (gps.cc_gps_sat != null) {
535 if (sats_in_view == null)
536 sats_in_view = add_series(sats_in_view_name, null);
537 sats_in_view.add(time(), gps.cc_gps_sat.length);
541 public static final String accel_along_name = "Accel Along";
542 public static final String accel_across_name = "Accel Across";
543 public static final String accel_through_name = "Accel Through";
545 public AltosTimeSeries accel_along, accel_across, accel_through;
547 public static final String gyro_roll_name = "Roll Rate";
548 public static final String gyro_pitch_name = "Pitch Rate";
549 public static final String gyro_yaw_name = "Yaw Rate";
551 public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
553 public static final String mag_along_name = "Magnetic Field Along";
554 public static final String mag_across_name = "Magnetic Field Across";
555 public static final String mag_through_name = "Magnetic Field Through";
557 public AltosTimeSeries mag_along, mag_across, mag_through;
559 public void set_accel(double along, double across, double through) {
560 if (accel_along == null) {
561 accel_along = add_series(accel_along_name, AltosConvert.accel);
562 accel_across = add_series(accel_across_name, AltosConvert.accel);
563 accel_through = add_series(accel_through_name, AltosConvert.accel);
565 accel_along.add(time(), along);
566 accel_across.add(time(), across);
567 accel_through.add(time(), through);
570 private double accel_ground_along = AltosLib.MISSING;
571 private double accel_ground_across = AltosLib.MISSING;
572 private double accel_ground_through = AltosLib.MISSING;
574 private double ground_time;
576 public void set_accel_ground(double along, double across, double through) {
577 accel_ground_along = along;
578 accel_ground_across = across;
579 accel_ground_through = through;
580 ground_time = time();
583 public void set_gyro(double roll, double pitch, double yaw) {
584 if (gyro_roll == null) {
585 gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
586 gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
587 gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
589 gyro_roll.add(time(), roll);
590 gyro_pitch.add(time(), pitch);
591 gyro_yaw.add(time(), yaw);
594 public void set_mag(double along, double across, double through) {
595 if (mag_along == null) {
596 mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
597 mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
598 mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
600 mag_along.add(time(), along);
601 mag_across.add(time(), across);
602 mag_through.add(time(), through);
605 public void set_orient(double orient) {
606 if (orient_series == null)
607 orient_series = add_series(orient_name, AltosConvert.orient);
608 orient_series.add(time(), orient);
611 public static final String pyro_voltage_name = "Pyro Voltage";
613 public AltosTimeSeries pyro_voltage;
615 public void set_pyro_voltage(double volts) {
616 if (pyro_voltage == null)
617 pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
618 pyro_voltage.add(time(), volts);
621 private static String[] igniter_voltage_names;
623 public String igniter_voltage_name(int channel) {
624 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
625 String[] new_igniter_voltage_names = new String[channel + 1];
628 if (igniter_voltage_names != null) {
629 for (; i < igniter_voltage_names.length; i++)
630 new_igniter_voltage_names[i] = igniter_voltage_names[i];
632 for (; i < channel+1; i++)
633 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
634 igniter_voltage_names = new_igniter_voltage_names;
636 return igniter_voltage_names[channel];
639 public AltosTimeSeries[] igniter_voltage;
641 public void set_igniter_voltage(double[] voltage) {
642 int channels = voltage.length;
643 if (igniter_voltage == null || igniter_voltage.length <= channels) {
644 AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels];
647 if (igniter_voltage != null) {
648 for (; i < igniter_voltage.length; i++)
649 new_igniter_voltage[i] = igniter_voltage[i];
651 for (; i < channels; i++)
652 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
653 igniter_voltage = new_igniter_voltage;
655 for (int channel = 0; channel < voltage.length; channel++)
656 igniter_voltage[channel].add(time(), voltage[channel]);
659 public static final String pyro_fired_name = "Pyro Channel State";
661 public AltosTimeSeries pyro_fired_series;
665 public void set_pyro_fired(int pyro_mask) {
666 if (pyro_fired_series == null)
667 pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
668 for (int channel = 0; channel < 32; channel++) {
669 if ((last_pyro_mask & (1 << channel)) == 0 &&
670 (pyro_mask & (1 << channel)) != 0) {
671 pyro_fired_series.add(time(), channel);
674 last_pyro_mask = pyro_mask;
677 public void set_companion(AltosCompanion companion) {
680 public void finish() {
687 public AltosTimeSeries[] series() {
689 return series.toArray(new AltosTimeSeries[0]);
692 public AltosFlightSeries(AltosCalData cal_data) {