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; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 * Track flight state from telemetry or eeprom data stream
22 package org.altusmetrum.altoslib_1;
24 public class AltosState implements Cloneable {
25 public AltosRecord data;
29 public long report_time;
32 public double time_change;
36 public boolean landed;
37 public boolean ascent; /* going up? */
38 public boolean boost; /* under power */
40 public double ground_altitude;
41 public double altitude;
43 public double pressure;
44 public double acceleration;
45 public double battery_voltage;
46 public double pyro_voltage;
47 public double temperature;
48 public double apogee_voltage;
49 public double main_voltage;
52 public double prev_height;
53 public double prev_speed;
54 public double prev_acceleration;
56 public double max_height;
57 public double max_acceleration;
58 public double max_speed;
60 public double kalman_height, kalman_speed, kalman_acceleration;
63 public int gps_sequence;
68 public static final int MIN_PAD_SAMPLES = 10;
71 public int gps_waiting;
72 public boolean gps_ready;
76 public AltosGreatCircle from_pad;
77 public double elevation; /* from pad */
78 public double range; /* total distance */
80 public double gps_height;
82 public double pad_lat, pad_lon, pad_alt;
84 public int speak_tick;
85 public double speak_altitude;
87 public String callsign;
88 public double accel_plus_g;
89 public double accel_minus_g;
91 public double ground_accel;
93 public int log_format;
96 public AltosMs5607 baro;
98 public double speed() {
102 public double max_speed() {
106 public void set_npad(int npad) {
108 gps_waiting = MIN_PAD_SAMPLES - npad;
109 if (this.gps_waiting < 0)
111 gps_ready = gps_waiting == 0;
115 data = new AltosRecord();
117 report_time = System.currentTimeMillis();
118 time = AltosRecord.MISSING;
119 time_change = AltosRecord.MISSING;
120 tick = AltosRecord.MISSING;
121 state = AltosLib.ao_flight_invalid;
125 ground_altitude = AltosRecord.MISSING;
126 altitude = AltosRecord.MISSING;
127 height = AltosRecord.MISSING;
128 pressure = AltosRecord.MISSING;
129 acceleration = AltosRecord.MISSING;
130 temperature = AltosRecord.MISSING;
132 prev_height = AltosRecord.MISSING;
133 prev_speed = AltosRecord.MISSING;
134 prev_acceleration = AltosRecord.MISSING;
136 battery_voltage = AltosRecord.MISSING;
137 pyro_voltage = AltosRecord.MISSING;
138 apogee_voltage = AltosRecord.MISSING;
139 main_voltage = AltosRecord.MISSING;
142 accel_speed = AltosRecord.MISSING;
143 baro_speed = AltosRecord.MISSING;
145 kalman_height = AltosRecord.MISSING;
146 kalman_speed = AltosRecord.MISSING;
147 kalman_acceleration = AltosRecord.MISSING;
152 max_acceleration = 0;
164 elevation = AltosRecord.MISSING;
165 range = AltosRecord.MISSING;
166 gps_height = AltosRecord.MISSING;
168 pat_lat = AltosRecord.MISSING;
169 pad_lon = AltosRecord.MISSING;
170 pad_alt = AltosRecord.MISSING;
172 speak_tick = AltosRecord.MISSING;
173 speak_altitude = AltosRecord.MISSING;
177 accel_plus_g = AltosRecord.MISSING;
178 accel_minus_g = AltosRecord.MISSING;
179 log_format = AltosRecord.MISSING;
180 serial = AltosRecord.MISSING;
185 void copy(AltosState old) {
194 report_time = old.report_time;
196 time_change = old.time_change;
204 ground_altitude = old.ground_altitude;
205 altitude = old.altitude;
207 pressure = old.pressure;
208 acceleration = old.acceleration;
209 battery_voltage = old.battery_voltage;
210 pyro_voltage = old.pyro_voltage;
211 temperature = old.temperature;
212 apogee_voltage = old.apogee_voltage;
213 main_voltage = old.main_voltage;
214 accel_speed = old.accel_speed;
215 baro_speed = old.baro_speed;
217 prev_height = old.height;
218 prev_speed = old.speed;
219 prev_acceleration = old.acceleration;
221 max_height = old.max_height;
222 max_acceleration = old.max_acceleration;
223 max_accel_speed = old.max_accel_speed;
224 max_baro_speed = old.max_baro_speed;
226 kalman_height = old.kalman_height;
227 kalman_speed = old.kalman_speed;
228 kalman_acceleration = old.kalman_acceleration;
231 gps = old.gps.clone();
234 gps_sequence = old.gps_sequence;
237 imu = old.imu.clone();
242 mag = old.mag.clone();
247 gps_waiting = old.gps_waiting;
248 gps_ready = old.gps_ready;
251 if (old.from_pad != null)
252 from_pad = old.from_pad.clone();
256 elevation = old.elevation;
259 gps_height = old.gps_height;
260 pad_lat = old.pad_lat;
261 pad_lon = old.pad_lon;
262 pad_alt = old.pad_alt;
264 speak_tick = old.speak_tick;
265 speak_altitude = old.speak_altitude;
267 callsign = old.callsign;
269 accel_plus_g = old.accel_plus_g;
270 accel_minus_g = old.accel_minus_g;
271 log_format = old.log_format;
277 double ground_altitude() {
282 if (altitude != AltosRecord.MISSING)
286 return AltosRecord.MISSING;
289 void update_vertical_pos() {
291 double alt = altitude();
292 if (state == AltosLib.ao_flight_pad) {
296 if (kalman_height != AltosRecord.MISSING)
297 height = kalman_height;
298 else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
299 height = altitude - ground_altitude;
301 height = AltosRecord.MISSING;
306 double motion_filter_value() {
307 return 1/ Math.exp(time_change/10.0);
310 void update_speed() {
311 if (kalman_speed != AltosRecord.MISSING)
312 speed = kalman_speed;
313 else if (state != AltosLib.ao_flight_invalid &&
314 time_change != AltosRecord.MISSING)
316 if (ascent && acceleration != AltosRecord.MISSING)
318 if (prev_speed == AltosRecord.MISSING)
319 speed = acceleration * time_change;
321 speed = prev_speed + acceleration * time_change;
323 else if (height != AltosRecord.MISSING &&
324 prev_height != AltosRecord.MISSING &&
327 double new_speed = (height - prev_height) / time_change;
329 if (prev_speed == AltosRecord.MISSING)
332 double filter = motion_filter_value();
334 speed = prev_speed * filter + new_speed * (1-filter);
338 if (acceleration == AltosRecord.MISSING) {
339 if (prev_speed != AltosRecord.MISSING && time_change != 0) {
340 double new_acceleration = (speed - prev_speed) / time_change;
342 if (prev_acceleration == AltosRecord.MISSING)
343 acceleration = new_acceleration;
345 double filter = motion_filter_value();
347 acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
353 void update_accel() {
354 if (accel == AltosRecord.MISSING)
356 if (ground_Accel == AltosRecord.MISSING)
358 if (accel_plus_g == AltosRecord.MISSING)
360 if (accel_minus_g == AltosRecord.MISSING)
363 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
364 double counts_per_mss = counts_per_g / 9.80665;
366 acceleration = (ground_accel - accel) / counts_per_mss;
370 public void set_tick(int tick) {
371 if (tick != AltosRecord.MISSING) {
372 if (this.tick != AltosRecord.MISSING) {
373 while (tick < this.tick)
375 time_change = (tick - this.tick) / 100.0;
383 public void set_state(int state) {
384 if (state != AltosLib.ao_flight_invalid) {
386 ascent = (AltosLib.ao_flight_boost <= state &&
387 state <= AltosLib.ao_flight_coast);
388 boost = (AltosLib.ao_flight_boost == state);
393 public void set_altitude(double altitude) {
394 if (altitude != AltosRecord.MISSING) {
395 this.altitude = altitude;
396 update_vertical_pos();
400 public void set_ground_altitude(double ground_altitude) {
401 if (ground_altitude != AltosRecord.MISSING) {
402 this.ground_altitude = ground_altitude;
403 update_vertical_pos();
407 public void set_gps(AltosGPS gps, int sequence) {
409 this.gps = gps.clone();
410 gps_sequence = sequence;
411 update_vertical_pos();
415 public void set_kalman(double height, double speed, double acceleration) {
416 if (height != AltosRecord.MISSING) {
417 kalman_height = height;
418 kalman_speed = speed;
419 kalman_acceleration = acceleration;
420 baro_speed = accel_speed = speed;
421 update_vertical_pos();
425 public void set_pressure(double pressure) {
426 if (pressure != AltosRecord.MISSING) {
427 this.pressure = pressure;
428 set_altitude(AltosConvert.pressure_to_altitude(pressure));
432 public void set_accel_g(double accel_plus_g, double accel_minus_g) {
433 if (accel_plus_g != AltosRecord.MISSING) {
434 this.accel_plus_g = accel_plus_g;
435 this.accel_minus_g = accel_minus_g;
439 public void set_ground_accel(double ground_accel) {
440 if (ground_accel != AltosRecord.MISSING) {
441 this.ground_accel = ground_accel;
446 public void set_accel(double accel) {
447 if (accel != AltosRecord.MISSING) {
453 public void set_temperature(double temperature) {
454 if (temperature != AltosRecord.MISSING)
455 this.temperature = temperature;
458 public void set_battery_voltage(double battery_voltage) {
459 if (battery_voltage != AltosRecord.MISSING)
460 this.battery_voltage = battery_voltage;
463 public void set_pyro_voltage(double pyro_voltage) {
464 if (pyro_voltage != AltosRecord.MISSING)
465 this.pyro_voltage = pyro_voltage;
468 public void set_apogee_voltage(double apogee_voltage) {
469 if (apogee_voltage != AltosRecord.MISSING)
470 this.apogee_voltage = apogee_voltage;
473 public void set_main_voltage(double main_voltage) {
474 if (main_voltage != AltosRecord.MISSING)
475 this.main_voltage = main_voltage;
478 public void init (AltosRecord cur, AltosState prev_state) {
481 cur = new AltosRecord();
485 /* Discard previous state if it was for a different board */
486 if (prev_state != null && prev_state.serial != cur.serial)
491 set_ground_altitude(data.ground_altitude());
492 set_altitude(data.altitude());
494 set_kalman(data.kalman_height, data.kalman_speed, data.kalman_acceleration);
496 report_time = System.currentTimeMillis();
498 set_temperature(data.temperature());
499 set_apogee_voltage(data.drogue_voltage());
500 set_main_voltage(data.main_voltage());
501 set_battery_voltage(data.battery_voltage());
503 set_pressure(data.pressure());
506 set_state(data.state);
508 set_accel_g (data.accel_minus_g, data.accel_plus_g);
509 set_ground_accel(data.ground_accel);
510 set_accel (data.accel);
512 set_gps(data.gps, data.gps_sequence);
514 if (prev_state != null) {
516 if (data.kalman_speed != AltosRecord.MISSING) {
517 baro_speed = accel_speed = data.kalman_speed;
519 /* compute barometric speed */
521 double height_change = height - prev_state.height;
523 double prev_baro_speed = prev_state.baro_speed;
524 if (prev_baro_speed == AltosRecord.MISSING)
528 baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
530 baro_speed = prev_state.baro_speed;
532 double prev_accel_speed = prev_state.accel_speed;
534 if (prev_accel_speed == AltosRecord.MISSING)
535 prev_accel_speed = 0;
537 if (acceleration == AltosRecord.MISSING) {
538 /* Fill in mising acceleration value */
539 accel_speed = baro_speed;
541 if (time_change > 0 && accel_speed != AltosRecord.MISSING)
542 acceleration = (accel_speed - prev_accel_speed) / time_change;
544 acceleration = prev_state.acceleration;
546 /* compute accelerometer speed */
547 accel_speed = prev_accel_speed + acceleration * time_change;
555 baro_speed = AltosRecord.MISSING;
556 accel_speed = AltosRecord.MISSING;
557 pad_alt = AltosRecord.MISSING;
561 max_acceleration = 0;
563 baro = new AltosMs5607();
565 accel_plus_g = AltosRecord.MISSING;
566 accel_minus_g = AltosRecord.MISSING;
567 log_format = AltosRecord.MISSING;
568 serial = AltosRecord.MISSING;
573 if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
575 /* Track consecutive 'good' gps reports, waiting for 10 of them */
576 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
581 /* Average GPS data while on the pad */
582 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
583 if (ngps > 1 && state == AltosLib.ao_flight_pad) {
584 /* filter pad position */
585 pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
586 pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
587 pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
589 pad_lat = data.gps.lat;
590 pad_lon = data.gps.lon;
591 pad_alt = data.gps.alt;
596 if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
597 pad_alt = ground_altitude;
600 gps_sequence = data.gps_sequence;
602 /* Only look at accelerometer data under boost */
603 if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
604 max_acceleration = acceleration;
605 if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
606 max_accel_speed = accel_speed;
607 if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
608 max_baro_speed = baro_speed;
610 if (height != AltosRecord.MISSING && height > max_height)
615 if (data.gps != null) {
617 if (ngps > 0 && gps.locked) {
620 if (h == AltosRecord.MISSING) h = 0;
621 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
622 elevation = from_pad.elevation;
623 range = from_pad.range;
624 gps_height = gps.alt - pad_alt;
629 public AltosState clone() {
630 AltosState s = new AltosState(data, this);
634 public AltosState(AltosRecord cur) {
638 public AltosState (AltosRecord cur, AltosState prev) {