2 * Copyright © 2010 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.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 * Track flight state from telemetry or eeprom data stream
23 package org.altusmetrum.altoslib_11;
27 public class AltosState extends AltosFlightListener implements Cloneable {
29 public static final int set_position = 1;
30 public static final int set_gps = 2;
31 public static final int set_data = 4;
35 static final double filter_len = 2.0;
36 static final double ascent_filter_len = 0.5;
37 static final double descent_filter_len = 5.0;
41 public long received_time;
44 public double prev_time;
45 public double time_change;
46 private int prev_tick;
51 private double max_value;
52 private double set_time;
53 private double prev_set_time;
55 boolean can_max() { return true; }
57 void set(double new_value, double time) {
58 if (new_value != AltosLib.MISSING) {
60 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
66 void set_filtered(double new_value, double time) {
67 if (prev_value != AltosLib.MISSING) {
68 double f = 1/Math.exp((time - prev_set_time) / filter_len);
69 new_value = f * new_value + (1-f) * prev_value;
87 if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
88 return value - prev_value;
89 return AltosLib.MISSING;
94 double t = set_time - prev_set_time;
96 if (c != AltosLib.MISSING && t != 0)
98 return AltosLib.MISSING;
102 if (value == AltosLib.MISSING)
103 return AltosLib.MISSING;
104 if (prev_value == AltosLib.MISSING)
105 return AltosLib.MISSING;
107 return (value + prev_value) / 2 * (set_time - prev_set_time);
114 void set_derivative(AltosValue in) {
115 double n = in.rate();
117 if (n == AltosLib.MISSING)
120 double p = prev_value;
121 double pt = prev_set_time;
123 if (p == AltosLib.MISSING) {
125 pt = in.time() - 0.01;
128 /* Clip changes to reduce noise */
129 double ddt = in.time() - pt;
130 double ddv = (n - p) / ddt;
132 final double max = 100000;
135 if (Math.abs(ddv) > max) {
145 filter_len = ascent_filter_len;
147 filter_len = descent_filter_len;
149 double f = 1/Math.exp(ddt/ filter_len);
150 n = p * f + n * (1-f);
155 void set_integral(AltosValue in) {
156 double change = in.integrate();
158 if (change != AltosLib.MISSING) {
159 double prev = prev_value;
160 if (prev == AltosLib.MISSING)
162 set(prev + change, in.time());
166 void copy(AltosValue old) {
168 set_time = old.set_time;
169 prev_value = old.value;
170 prev_set_time = old.set_time;
171 max_value = old.max_value;
174 void finish_update() {
176 prev_set_time = set_time;
180 value = AltosLib.MISSING;
181 prev_value = AltosLib.MISSING;
182 max_value = AltosLib.MISSING;
189 class AltosIValue extends AltosValue {
199 public AltosIValue measured;
200 public AltosIValue computed;
202 boolean can_max() { return true; }
204 boolean c_can_max() { return can_max(); }
207 double v = measured.value();
208 if (v != AltosLib.MISSING)
210 return computed.value();
213 boolean is_measured() {
214 return measured.value() != AltosLib.MISSING;
218 double m = measured.max();
220 if (m != AltosLib.MISSING)
222 return computed.max();
225 double prev_value() {
226 if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
227 return measured.prev_value;
228 return computed.prev_value;
231 AltosValue altos_value() {
232 if (measured.value() != AltosLib.MISSING)
238 double c = measured.change();
239 if (c == AltosLib.MISSING)
240 c = computed.change();
245 double r = measured.rate();
246 if (r == AltosLib.MISSING)
251 void set_measured(double new_value, double time) {
252 measured.set(new_value, time);
255 void set_computed(double new_value, double time) {
256 computed.set(new_value, time);
259 void set_derivative(AltosValue in) {
260 computed.set_derivative(in);
263 void set_derivative(AltosCValue in) {
264 set_derivative(in.altos_value());
267 void set_integral(AltosValue in) {
268 computed.set_integral(in);
271 void set_integral(AltosCValue in) {
272 set_integral(in.altos_value());
275 void copy(AltosCValue old) {
276 measured.copy(old.measured);
277 computed.copy(old.computed);
280 void finish_update() {
281 measured.finish_update();
282 computed.finish_update();
285 public AltosCValue() {
286 measured = new AltosIValue();
287 computed = new AltosIValue();
294 public int altitude_32;
295 public int receiver_serial;
296 public boolean landed;
297 public boolean ascent; /* going up? */
298 public boolean boost; /* under power */
301 public int device_type;
302 public int config_major;
303 public int config_minor;
304 public int apogee_delay;
305 public int main_deploy;
306 public int flight_log_max;
308 private double pressure_to_altitude(double p) {
309 if (p == AltosLib.MISSING)
310 return AltosLib.MISSING;
311 return AltosConvert.pressure_to_altitude(p);
314 private AltosCValue ground_altitude;
316 public double ground_altitude() {
317 return ground_altitude.value();
320 public void set_ground_altitude(double a) {
321 ground_altitude.set_measured(a, time);
324 class AltosGpsGroundAltitude extends AltosValue {
325 void set(double a, double t) {
328 gps_altitude.set_gps_height();
331 void set_filtered(double a, double t) {
332 super.set_filtered(a, t);
334 gps_altitude.set_gps_height();
337 AltosGpsGroundAltitude() {
342 private AltosGpsGroundAltitude gps_ground_altitude;
344 public double gps_ground_altitude() {
345 return gps_ground_altitude.value();
348 public void set_gps_ground_altitude(double a) {
349 gps_ground_altitude.set(a, time);
352 class AltosGroundPressure extends AltosCValue {
353 void set_filtered(double p, double time) {
354 computed.set_filtered(p, time);
356 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
359 void set_measured(double p, double time) {
360 super.set_measured(p, time);
361 ground_altitude.set_computed(pressure_to_altitude(p), time);
364 AltosGroundPressure () {
369 private AltosGroundPressure ground_pressure;
371 public double ground_pressure() {
372 return ground_pressure.value();
375 public void set_ground_pressure (double pressure) {
376 ground_pressure.set_measured(pressure, time);
379 class AltosAltitude extends AltosCValue {
381 private void set_speed(AltosValue v) {
382 if (!acceleration.is_measured() || !ascent)
383 speed.set_derivative(this);
386 void set_computed(double a, double time) {
387 super.set_computed(a,time);
392 void set_measured(double a, double time) {
393 super.set_measured(a,time);
403 private AltosAltitude altitude;
405 class AltosGpsAltitude extends AltosValue {
407 private void set_gps_height() {
409 double g = gps_ground_altitude.value();
411 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
414 gps_height = AltosLib.MISSING;
417 void set(double a, double t) {
427 private AltosGpsAltitude gps_altitude;
429 private AltosValue gps_ground_speed;
430 private AltosValue gps_ascent_rate;
431 private AltosValue gps_course;
432 private AltosValue gps_speed;
434 public double altitude() {
435 double a = altitude.value();
436 if (a != AltosLib.MISSING)
438 return gps_altitude.value();
441 public double max_altitude() {
442 double a = altitude.max();
443 if (a != AltosLib.MISSING)
445 return gps_altitude.max();
448 public void set_altitude(double new_altitude) {
449 altitude.set_measured(new_altitude, time);
452 public double gps_altitude() {
453 return gps_altitude.value();
456 public double max_gps_altitude() {
457 return gps_altitude.max();
460 public void set_gps_altitude(double new_gps_altitude) {
461 gps_altitude.set(new_gps_altitude, time);
464 public double gps_ground_speed() {
465 return gps_ground_speed.value();
468 public double max_gps_ground_speed() {
469 return gps_ground_speed.max();
472 public double gps_ascent_rate() {
473 return gps_ascent_rate.value();
476 public double max_gps_ascent_rate() {
477 return gps_ascent_rate.max();
480 public double gps_course() {
481 return gps_course.value();
484 public double gps_speed() {
485 return gps_speed.value();
488 public double max_gps_speed() {
489 return gps_speed.max();
492 class AltosPressure extends AltosValue {
493 void set(double p, double time) {
495 if (state == AltosLib.ao_flight_pad)
496 ground_pressure.set_filtered(p, time);
497 double a = pressure_to_altitude(p);
498 altitude.set_computed(a, time);
506 private AltosPressure pressure;
508 public double pressure() {
509 return pressure.value();
512 public void set_pressure(double p) {
513 pressure.set(p, time);
516 public double baro_height() {
517 double a = altitude();
518 double g = ground_altitude();
519 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
521 return AltosLib.MISSING;
524 public double height() {
525 double k = kalman_height.value();
526 if (k != AltosLib.MISSING)
529 double b = baro_height();
530 if (b != AltosLib.MISSING)
536 public double max_height() {
537 double k = kalman_height.max();
538 if (k != AltosLib.MISSING)
541 double a = altitude.max();
542 double g = ground_altitude();
543 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
545 return max_gps_height();
548 public double gps_height() {
549 double a = gps_altitude();
550 double g = gps_ground_altitude();
552 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
554 return AltosLib.MISSING;
557 public double max_gps_height() {
558 double a = gps_altitude.max();
559 double g = gps_ground_altitude();
561 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
563 return AltosLib.MISSING;
566 class AltosSpeed extends AltosCValue {
569 return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
573 acceleration.set_derivative(this);
576 void set_derivative(AltosCValue in) {
577 super.set_derivative(in);
581 void set_computed(double new_value, double time) {
582 super.set_computed(new_value, time);
586 void set_measured(double new_value, double time) {
587 super.set_measured(new_value, time);
596 private AltosSpeed speed;
598 public double speed() {
599 double v = kalman_speed.value();
600 if (v != AltosLib.MISSING)
603 if (v != AltosLib.MISSING)
606 if (v != AltosLib.MISSING)
608 return AltosLib.MISSING;
611 public double max_speed() {
612 double v = kalman_speed.max();
613 if (v != AltosLib.MISSING)
616 if (v != AltosLib.MISSING)
619 if (v != AltosLib.MISSING)
621 return AltosLib.MISSING;
624 class AltosAccel extends AltosCValue {
627 return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
630 void set_measured(double a, double time) {
631 super.set_measured(a, time);
633 speed.set_integral(this.measured);
641 AltosAccel acceleration;
643 public double acceleration() {
644 return acceleration.value();
647 public double max_acceleration() {
648 return acceleration.max();
651 public AltosCValue orient;
653 public void set_orient(double new_orient) {
654 orient.set_measured(new_orient, time);
657 public double orient() {
658 return orient.value();
661 public double max_orient() {
665 public AltosValue kalman_height, kalman_speed, kalman_acceleration;
667 public void set_kalman(double height, double speed, double acceleration) {
668 kalman_height.set(height, time);
669 kalman_speed.set(speed, time);
670 kalman_acceleration.set(acceleration, time);
673 public double battery_voltage;
674 public double pyro_voltage;
675 public double temperature;
676 public double apogee_voltage;
677 public double main_voltage;
679 public double ignitor_voltage[];
682 public AltosGPS temp_gps;
683 public int temp_gps_sat_tick;
684 public boolean gps_pending;
685 public int gps_sequence;
690 public static final int MIN_PAD_SAMPLES = 10;
693 public int gps_waiting;
694 public boolean gps_ready;
698 public AltosGreatCircle from_pad;
699 public double elevation; /* from pad */
700 public double range; /* total distance */
702 public double gps_height;
704 public double pad_lat, pad_lon, pad_alt;
706 public int speak_tick;
707 public double speak_altitude;
709 public String callsign;
710 public String firmware_version;
712 public double accel_plus_g;
713 public double accel_minus_g;
715 public double ground_accel;
716 public double ground_accel_avg;
718 public int log_format;
719 public int log_space;
720 public String product;
722 public AltosMs5607 baro;
724 public AltosCompanion companion;
726 public int pyro_fired;
728 public void set_npad(int npad) {
730 gps_waiting = MIN_PAD_SAMPLES - npad;
731 if (this.gps_waiting < 0)
733 gps_ready = gps_waiting == 0;
739 received_time = System.currentTimeMillis();
740 time = AltosLib.MISSING;
741 time_change = AltosLib.MISSING;
742 prev_time = AltosLib.MISSING;
743 tick = AltosLib.MISSING;
744 prev_tick = AltosLib.MISSING;
745 boost_tick = AltosLib.MISSING;
746 state = AltosLib.ao_flight_invalid;
747 flight = AltosLib.MISSING;
750 rssi = AltosLib.MISSING;
752 device_type = AltosLib.MISSING;
753 config_major = AltosLib.MISSING;
754 config_minor = AltosLib.MISSING;
755 apogee_delay = AltosLib.MISSING;
756 main_deploy = AltosLib.MISSING;
757 flight_log_max = AltosLib.MISSING;
759 ground_altitude = new AltosCValue();
760 ground_pressure = new AltosGroundPressure();
761 altitude = new AltosAltitude();
762 pressure = new AltosPressure();
763 speed = new AltosSpeed();
764 acceleration = new AltosAccel();
765 orient = new AltosCValue();
767 temperature = AltosLib.MISSING;
768 battery_voltage = AltosLib.MISSING;
769 pyro_voltage = AltosLib.MISSING;
770 apogee_voltage = AltosLib.MISSING;
771 main_voltage = AltosLib.MISSING;
772 ignitor_voltage = null;
774 kalman_height = new AltosValue();
775 kalman_speed = new AltosValue();
776 kalman_acceleration = new AltosValue();
780 temp_gps_sat_tick = 0;
785 last_imu_time = AltosLib.MISSING;
787 ground_rotation = null;
790 accel_zero_along = AltosLib.MISSING;
791 accel_zero_across = AltosLib.MISSING;
792 accel_zero_through = AltosLib.MISSING;
794 accel_ground_along = AltosLib.MISSING;
795 accel_ground_across = AltosLib.MISSING;
796 accel_ground_through = AltosLib.MISSING;
798 pad_orientation = AltosLib.MISSING;
800 gyro_zero_roll = AltosLib.MISSING;
801 gyro_zero_pitch = AltosLib.MISSING;
802 gyro_zero_yaw = AltosLib.MISSING;
808 elevation = AltosLib.MISSING;
809 range = AltosLib.MISSING;
810 gps_height = AltosLib.MISSING;
812 pad_lat = AltosLib.MISSING;
813 pad_lon = AltosLib.MISSING;
814 pad_alt = AltosLib.MISSING;
816 gps_altitude = new AltosGpsAltitude();
817 gps_ground_altitude = new AltosGpsGroundAltitude();
818 gps_ground_speed = new AltosValue();
819 gps_speed = new AltosValue();
820 gps_ascent_rate = new AltosValue();
821 gps_course = new AltosValue();
823 speak_tick = AltosLib.MISSING;
824 speak_altitude = AltosLib.MISSING;
827 firmware_version = null;
829 accel_plus_g = AltosLib.MISSING;
830 accel_minus_g = AltosLib.MISSING;
831 accel = AltosLib.MISSING;
833 ground_accel = AltosLib.MISSING;
834 ground_accel_avg = AltosLib.MISSING;
836 log_format = AltosLib.MISSING;
837 log_space = AltosLib.MISSING;
839 serial = AltosLib.MISSING;
840 receiver_serial = AltosLib.MISSING;
841 altitude_32 = AltosLib.MISSING;
849 void finish_update() {
852 ground_altitude.finish_update();
853 altitude.finish_update();
854 pressure.finish_update();
855 speed.finish_update();
856 acceleration.finish_update();
857 orient.finish_update();
859 kalman_height.finish_update();
860 kalman_speed.finish_update();
861 kalman_acceleration.finish_update();
864 void copy(AltosState old) {
873 received_time = old.received_time;
875 time_change = old.time_change;
876 prev_time = old.time;
879 prev_tick = old.tick;
880 boost_tick = old.boost_tick;
889 device_type = old.device_type;
890 config_major = old.config_major;
891 config_minor = old.config_minor;
892 apogee_delay = old.apogee_delay;
893 main_deploy = old.main_deploy;
894 flight_log_max = old.flight_log_max;
898 ground_pressure.copy(old.ground_pressure);
899 ground_altitude.copy(old.ground_altitude);
900 altitude.copy(old.altitude);
901 pressure.copy(old.pressure);
902 speed.copy(old.speed);
903 acceleration.copy(old.acceleration);
904 orient.copy(old.orient);
906 battery_voltage = old.battery_voltage;
907 pyro_voltage = old.pyro_voltage;
908 temperature = old.temperature;
909 apogee_voltage = old.apogee_voltage;
910 main_voltage = old.main_voltage;
911 ignitor_voltage = old.ignitor_voltage;
913 kalman_height.copy(old.kalman_height);
914 kalman_speed.copy(old.kalman_speed);
915 kalman_acceleration.copy(old.kalman_acceleration);
918 gps = old.gps.clone();
921 if (old.temp_gps != null)
922 temp_gps = old.temp_gps.clone();
925 temp_gps_sat_tick = old.temp_gps_sat_tick;
926 gps_sequence = old.gps_sequence;
927 gps_pending = old.gps_pending;
930 imu = old.imu.clone();
933 last_imu_time = old.last_imu_time;
935 if (old.rotation != null)
936 rotation = new AltosRotation (old.rotation);
938 if (old.ground_rotation != null) {
939 ground_rotation = new AltosRotation(old.ground_rotation);
942 accel_zero_along = old.accel_zero_along;
943 accel_zero_across = old.accel_zero_across;
944 accel_zero_through = old.accel_zero_through;
946 accel_ground_along = old.accel_ground_along;
947 accel_ground_across = old.accel_ground_across;
948 accel_ground_through = old.accel_ground_through;
949 pad_orientation = old.pad_orientation;
951 gyro_zero_roll = old.gyro_zero_roll;
952 gyro_zero_pitch = old.gyro_zero_pitch;
953 gyro_zero_yaw = old.gyro_zero_yaw;
956 mag = old.mag.clone();
961 gps_waiting = old.gps_waiting;
962 gps_ready = old.gps_ready;
965 if (old.from_pad != null)
966 from_pad = old.from_pad.clone();
970 elevation = old.elevation;
973 gps_height = old.gps_height;
975 gps_altitude.copy(old.gps_altitude);
976 gps_ground_altitude.copy(old.gps_ground_altitude);
977 gps_ground_speed.copy(old.gps_ground_speed);
978 gps_ascent_rate.copy(old.gps_ascent_rate);
979 gps_course.copy(old.gps_course);
980 gps_speed.copy(old.gps_speed);
982 pad_lat = old.pad_lat;
983 pad_lon = old.pad_lon;
984 pad_alt = old.pad_alt;
986 speak_tick = old.speak_tick;
987 speak_altitude = old.speak_altitude;
989 callsign = old.callsign;
990 firmware_version = old.firmware_version;
992 accel_plus_g = old.accel_plus_g;
993 accel_minus_g = old.accel_minus_g;
995 ground_accel = old.ground_accel;
996 ground_accel_avg = old.ground_accel_avg;
998 log_format = old.log_format;
999 log_space = old.log_space;
1000 product = old.product;
1001 serial = old.serial;
1002 receiver_serial = old.receiver_serial;
1003 altitude_32 = old.altitude_32;
1006 companion = old.companion;
1008 pyro_fired = old.pyro_fired;
1011 void update_time() {
1015 elevation = AltosLib.MISSING;
1016 range = AltosLib.MISSING;
1021 if (gps.locked && gps.nsat >= 4) {
1022 /* Track consecutive 'good' gps reports, waiting for 10 of them */
1023 if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
1025 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
1026 pad_lat = (pad_lat * 31 + gps.lat) / 32;
1027 pad_lon = (pad_lon * 31 + gps.lon) / 32;
1028 gps_ground_altitude.set_filtered(gps.alt, time);
1031 if (pad_lat == AltosLib.MISSING) {
1034 gps_ground_altitude.set(gps.alt, time);
1036 gps_altitude.set(gps.alt, time);
1037 if (gps.climb_rate != AltosLib.MISSING)
1038 gps_ascent_rate.set(gps.climb_rate, time);
1039 if (gps.ground_speed != AltosLib.MISSING)
1040 gps_ground_speed.set(gps.ground_speed, time);
1041 if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
1042 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
1043 gps.climb_rate * gps.climb_rate), time);
1044 if (gps.course != AltosLib.MISSING)
1045 gps_course.set(gps.course, time);
1047 if (gps.lat != 0 && gps.lon != 0 &&
1048 pad_lat != AltosLib.MISSING &&
1049 pad_lon != AltosLib.MISSING)
1051 double h = height();
1053 if (h == AltosLib.MISSING)
1055 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
1056 elevation = from_pad.elevation;
1057 range = from_pad.range;
1061 public void set_tick(int new_tick) {
1062 if (new_tick != AltosLib.MISSING) {
1063 if (prev_tick != AltosLib.MISSING) {
1064 while (new_tick < prev_tick - 1000) {
1069 time = tick / 100.0;
1070 time_change = time - prev_time;
1074 public String state_name() {
1075 return AltosLib.state_name(state);
1078 public void set_product(String product) {
1079 this.product = product;
1082 public void set_state(int state) {
1083 if (state != AltosLib.ao_flight_invalid) {
1085 ascent = (AltosLib.ao_flight_boost <= state &&
1086 state <= AltosLib.ao_flight_coast);
1087 boost = (AltosLib.ao_flight_boost == state);
1091 public int state() {
1095 public void set_device_type(int device_type) {
1096 this.device_type = device_type;
1097 switch (device_type) {
1098 case AltosLib.product_telegps:
1099 this.state = AltosLib.ao_flight_stateless;
1104 public void set_log_format(int log_format) {
1105 this.log_format = log_format;
1106 switch (log_format) {
1107 case AltosLib.AO_LOG_FORMAT_TELEGPS:
1108 this.state = AltosLib.ao_flight_stateless;
1113 public void set_log_space(int log_space) {
1114 this.log_space = log_space;
1117 public void set_flight_params(int apogee_delay, int main_deploy) {
1118 this.apogee_delay = apogee_delay;
1119 this.main_deploy = main_deploy;
1122 public void set_config(int major, int minor, int flight_log_max) {
1123 config_major = major;
1124 config_minor = minor;
1125 this.flight_log_max = flight_log_max;
1128 public void set_callsign(String callsign) {
1129 this.callsign = callsign;
1132 public void set_firmware_version(String version) {
1133 firmware_version = version;
1136 public int compare_version(String other_version) {
1137 if (firmware_version == null)
1138 return AltosLib.MISSING;
1139 return AltosLib.compare_version(firmware_version, other_version);
1142 private void re_init() {
1143 int bt = boost_tick;
1144 int rs = receiver_serial;
1147 receiver_serial = rs;
1150 public void set_flight(int flight) {
1152 /* When the flight changes, reset the state */
1153 if (flight != AltosLib.MISSING) {
1154 if (this.flight != AltosLib.MISSING &&
1155 this.flight != flight) {
1158 this.flight = flight;
1162 public void set_serial(int serial) {
1163 /* When the serial changes, reset the state */
1164 if (serial != AltosLib.MISSING) {
1165 if (this.serial != AltosLib.MISSING &&
1166 this.serial != serial) {
1169 this.serial = serial;
1173 public void set_receiver_serial(int serial) {
1174 if (serial != AltosLib.MISSING)
1175 receiver_serial = serial;
1178 public boolean altitude_32() {
1179 return altitude_32 == 1;
1182 public void set_altitude_32(int altitude_32) {
1183 if (altitude_32 != AltosLib.MISSING)
1184 this.altitude_32 = altitude_32;
1188 if (rssi == AltosLib.MISSING)
1193 public void set_rssi(int rssi, int status) {
1194 if (rssi != AltosLib.MISSING) {
1196 this.status = status;
1200 public void set_received_time(long ms) {
1204 public void set_gps(AltosGPS gps, int sequence) {
1206 this.gps = gps.clone();
1207 gps_sequence = sequence;
1214 public double accel_zero_along;
1215 public double accel_zero_across;
1216 public double accel_zero_through;
1218 public AltosRotation rotation;
1219 public AltosRotation ground_rotation;
1221 public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
1222 if (zero_along != AltosLib.MISSING) {
1223 accel_zero_along = zero_along;
1224 accel_zero_across = zero_across;
1225 accel_zero_through = zero_through;
1229 public int pad_orientation;
1231 public double accel_ground_along, accel_ground_across, accel_ground_through;
1233 void update_pad_rotation() {
1234 if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
1235 rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
1236 AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
1237 AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
1239 ground_rotation = rotation;
1240 orient.set_computed(rotation.tilt(), time);
1244 public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
1245 accel_ground_along = ground_along;
1246 accel_ground_across = ground_across;
1247 accel_ground_through = ground_through;
1248 update_pad_rotation();
1251 public void set_pad_orientation(int pad_orientation) {
1252 this.pad_orientation = pad_orientation;
1253 update_pad_rotation();
1256 public double gyro_zero_roll;
1257 public double gyro_zero_pitch;
1258 public double gyro_zero_yaw;
1260 public void set_gyro_zero(double roll, double pitch, double yaw) {
1261 if (roll != AltosLib.MISSING) {
1262 gyro_zero_roll = roll;
1263 gyro_zero_pitch = pitch;
1264 gyro_zero_yaw = yaw;
1268 public double last_imu_time;
1270 private double radians(double degrees) {
1271 if (degrees == AltosLib.MISSING)
1272 return AltosLib.MISSING;
1273 return degrees * Math.PI / 180.0;
1276 private void update_orient() {
1277 if (last_imu_time != AltosLib.MISSING) {
1278 double t = time - last_imu_time;
1280 double pitch = radians(gyro_pitch());
1281 double yaw = radians(gyro_yaw());
1282 double roll = radians(gyro_roll());
1284 if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
1285 rotation.rotate(t, pitch, yaw, roll);
1286 orient.set_computed(rotation.tilt(), time);
1289 last_imu_time = time;
1292 public void set_imu(AltosIMU imu) {
1299 private double gyro_zero_overflow(double first) {
1300 double v = first / 128.0;
1308 public void check_imu_wrap(AltosIMU imu) {
1309 if (this.imu == null) {
1310 gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
1311 gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
1312 gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
1316 public double accel_along() {
1317 if (imu != null && accel_zero_along != AltosLib.MISSING)
1318 return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
1319 return AltosLib.MISSING;
1322 public double accel_across() {
1323 if (imu != null && accel_zero_across != AltosLib.MISSING)
1324 return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
1325 return AltosLib.MISSING;
1328 public double accel_through() {
1329 if (imu != null && accel_zero_through != AltosLib.MISSING)
1330 return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
1331 return AltosLib.MISSING;
1334 public double gyro_roll() {
1335 if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
1336 return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
1338 return AltosLib.MISSING;
1341 public double gyro_pitch() {
1342 if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
1343 return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
1345 return AltosLib.MISSING;
1348 public double gyro_yaw() {
1349 if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
1350 return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
1352 return AltosLib.MISSING;
1355 public void set_mag(AltosMag mag) {
1356 this.mag = mag.clone();
1359 public double mag_along() {
1361 return AltosMag.convert_gauss(mag.along);
1362 return AltosLib.MISSING;
1365 public double mag_across() {
1367 return AltosMag.convert_gauss(mag.across);
1368 return AltosLib.MISSING;
1371 public double mag_through() {
1373 return AltosMag.convert_gauss(mag.through);
1374 return AltosLib.MISSING;
1377 public AltosMs5607 make_baro() {
1379 baro = new AltosMs5607();
1383 public void set_ms5607(AltosMs5607 ms5607) {
1386 if (baro != null && baro.pa != AltosLib.MISSING && baro.cc != AltosLib.MISSING) {
1387 set_pressure(baro.pa);
1388 set_temperature(baro.cc / 100.0);
1392 public void set_ms5607(int pres, int temp) {
1394 baro.set(pres, temp);
1396 set_pressure(baro.pa);
1397 set_temperature(baro.cc / 100.0);
1401 public void set_companion(AltosCompanion companion) {
1402 this.companion = companion;
1405 void update_accel() {
1406 if (accel == AltosLib.MISSING)
1408 if (accel_plus_g == AltosLib.MISSING)
1410 if (accel_minus_g == AltosLib.MISSING)
1413 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1414 double counts_per_mss = counts_per_g / 9.80665;
1415 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1418 public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1419 if (accel_plus_g != AltosLib.MISSING) {
1420 this.accel_plus_g = accel_plus_g;
1421 this.accel_minus_g = accel_minus_g;
1426 public void set_ground_accel(double ground_accel) {
1427 if (ground_accel != AltosLib.MISSING)
1428 this.ground_accel = ground_accel;
1431 public void set_accel(double accel) {
1432 if (accel != AltosLib.MISSING) {
1434 if (state == AltosLib.ao_flight_pad) {
1435 if (ground_accel_avg == AltosLib.MISSING)
1436 ground_accel_avg = accel;
1438 ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1444 public void set_temperature(double temperature) {
1445 if (temperature != AltosLib.MISSING) {
1446 this.temperature = temperature;
1451 public void set_battery_voltage(double battery_voltage) {
1452 if (battery_voltage != AltosLib.MISSING) {
1453 this.battery_voltage = battery_voltage;
1458 public void set_pyro_voltage(double pyro_voltage) {
1459 if (pyro_voltage != AltosLib.MISSING) {
1460 this.pyro_voltage = pyro_voltage;
1465 public void set_apogee_voltage(double apogee_voltage) {
1466 if (apogee_voltage != AltosLib.MISSING) {
1467 this.apogee_voltage = apogee_voltage;
1472 public void set_main_voltage(double main_voltage) {
1473 if (main_voltage != AltosLib.MISSING) {
1474 this.main_voltage = main_voltage;
1479 public void set_ignitor_voltage(double[] voltage) {
1480 this.ignitor_voltage = voltage;
1483 public void set_pyro_fired(int fired) {
1484 this.pyro_fired = fired;
1487 public double time_since_boost() {
1488 if (tick == AltosLib.MISSING)
1491 if (boost_tick == AltosLib.MISSING)
1492 return tick / 100.0;
1493 return (tick - boost_tick) / 100.0;
1496 public boolean valid() {
1497 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1500 public void set_temp_gps() {
1501 set_gps(temp_gps, gps_sequence + 1);
1502 gps_pending = false;
1503 super.set_temp_gps();
1506 public void set_config_data(AltosConfigData config_data) {
1507 if (config_data.callsign != null)
1508 set_callsign(config_data.callsign);
1509 if (config_data.accel_cal_plus != AltosLib.MISSING &&
1510 config_data.accel_cal_minus != AltosLib.MISSING)
1511 set_accel_g(config_data.accel_cal_plus, config_data.accel_cal_minus);
1512 if (config_data.product != null)
1513 set_product(config_data.product);
1514 if (config_data.log_format != AltosLib.MISSING)
1515 set_log_format(config_data.log_format);
1516 if (config_data.serial != AltosLib.MISSING)
1517 set_serial(config_data.serial);
1518 AltosMs5607 ms5607 = new AltosMs5607(config_data);
1519 if (ms5607.valid_config())
1523 public AltosState clone() {
1524 AltosState s = new AltosState();
1527 /* Code to test state save/restore. Enable only for that purpose
1530 AltosJson json = new AltosJson(this);
1531 String onetrip = json.toPrettyString();
1532 AltosJson back = AltosJson.fromString(onetrip);
1533 AltosState tripstate = (AltosState) back.make(this.getClass());
1534 AltosJson tripjson = new AltosJson(tripstate);
1535 String twotrip = tripjson.toPrettyString();
1537 if (!onetrip.equals(twotrip)) {
1539 FileWriter one_file = new FileWriter("one.json", true);
1540 one_file.write(onetrip);
1542 FileWriter two_file = new FileWriter("two.json", true);
1543 two_file.write(twotrip);
1545 } catch (Exception e) {
1547 System.out.printf("json error\n");
1554 public AltosState () {