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 AltosDataListener {
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;
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();
292 public boolean landed;
293 public boolean ascent; /* going up? */
294 public boolean boost; /* under power */
296 private double pressure_to_altitude(double p) {
297 if (p == AltosLib.MISSING)
298 return AltosLib.MISSING;
299 return AltosConvert.pressure_to_altitude(p);
302 private AltosCValue ground_altitude;
304 public double ground_altitude() {
305 return ground_altitude.value();
308 public void set_ground_altitude(double a) {
309 ground_altitude.set_measured(a, time);
312 class AltosGpsGroundAltitude extends AltosValue {
313 void set(double a, double t) {
316 gps_altitude.set_gps_height();
319 void set_filtered(double a, double t) {
320 super.set_filtered(a, t);
322 gps_altitude.set_gps_height();
325 AltosGpsGroundAltitude() {
330 private AltosGpsGroundAltitude gps_ground_altitude;
332 public double gps_ground_altitude() {
333 return gps_ground_altitude.value();
336 public void set_gps_ground_altitude(double a) {
337 gps_ground_altitude.set(a, time);
340 class AltosGroundPressure extends AltosCValue {
341 void set_filtered(double p, double time) {
342 computed.set_filtered(p, time);
344 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
347 void set_measured(double p, double time) {
348 super.set_measured(p, time);
349 ground_altitude.set_computed(pressure_to_altitude(p), time);
352 AltosGroundPressure () {
357 private AltosGroundPressure ground_pressure;
359 public double ground_pressure() {
360 return ground_pressure.value();
363 public void set_ground_pressure (double pressure) {
364 ground_pressure.set_measured(pressure, time);
367 class AltosAltitude extends AltosCValue {
369 private void set_speed(AltosValue v) {
370 if (!acceleration.is_measured() || !ascent)
371 speed.set_derivative(this);
374 void set_computed(double a, double time) {
375 super.set_computed(a,time);
380 void set_measured(double a, double time) {
381 super.set_measured(a,time);
391 private AltosAltitude altitude;
393 class AltosGpsAltitude extends AltosValue {
395 private void set_gps_height() {
397 double g = gps_ground_altitude.value();
399 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
402 gps_height = AltosLib.MISSING;
405 void set(double a, double t) {
415 private AltosGpsAltitude gps_altitude;
417 private AltosValue gps_ground_speed;
418 private AltosValue gps_ascent_rate;
419 private AltosValue gps_course;
420 private AltosValue gps_speed;
422 public double altitude() {
423 double a = altitude.value();
424 if (a != AltosLib.MISSING)
426 return gps_altitude.value();
429 public double max_altitude() {
430 double a = altitude.max();
431 if (a != AltosLib.MISSING)
433 return gps_altitude.max();
436 public void set_altitude(double new_altitude) {
437 double old_altitude = altitude.value();
438 if (old_altitude != AltosLib.MISSING) {
439 while (old_altitude - new_altitude > 32000)
440 new_altitude += 65536.0;
442 altitude.set_measured(new_altitude, time);
445 public double gps_altitude() {
446 return gps_altitude.value();
449 public double max_gps_altitude() {
450 return gps_altitude.max();
453 public void set_gps_altitude(double new_gps_altitude) {
454 gps_altitude.set(new_gps_altitude, time);
457 public double gps_ground_speed() {
458 return gps_ground_speed.value();
461 public double max_gps_ground_speed() {
462 return gps_ground_speed.max();
465 public double gps_ascent_rate() {
466 return gps_ascent_rate.value();
469 public double max_gps_ascent_rate() {
470 return gps_ascent_rate.max();
473 public double gps_course() {
474 return gps_course.value();
477 public double gps_speed() {
478 return gps_speed.value();
481 public double max_gps_speed() {
482 return gps_speed.max();
485 class AltosPressure extends AltosValue {
486 void set(double p, double time) {
488 if (state == AltosLib.ao_flight_pad)
489 ground_pressure.set_filtered(p, time);
490 double a = pressure_to_altitude(p);
491 altitude.set_computed(a, time);
499 private AltosPressure pressure;
501 public double pressure() {
502 return pressure.value();
505 public void set_pressure(double p) {
506 pressure.set(p, time);
509 class AltosForce extends AltosValue {
510 void set(double p, double time) {
518 private AltosForce thrust;
520 public double thrust() {
521 return thrust.value();
524 public void set_thrust(double N) {
528 public double baro_height() {
529 double a = altitude();
530 double g = ground_altitude();
531 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
533 return AltosLib.MISSING;
536 public double height() {
537 double k = kalman_height.value();
538 if (k != AltosLib.MISSING)
541 double b = baro_height();
542 if (b != AltosLib.MISSING)
548 public double max_height() {
549 double k = kalman_height.max();
550 if (k != AltosLib.MISSING)
553 double a = altitude.max();
554 double g = ground_altitude();
555 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
557 return max_gps_height();
560 public double gps_height() {
561 double a = gps_altitude();
562 double g = gps_ground_altitude();
564 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
566 return AltosLib.MISSING;
569 public double max_gps_height() {
570 double a = gps_altitude.max();
571 double g = gps_ground_altitude();
573 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
575 return AltosLib.MISSING;
578 class AltosSpeed extends AltosCValue {
581 return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
585 acceleration.set_derivative(this);
588 void set_derivative(AltosCValue in) {
589 super.set_derivative(in);
593 void set_computed(double new_value, double time) {
594 super.set_computed(new_value, time);
598 void set_measured(double new_value, double time) {
599 super.set_measured(new_value, time);
608 private AltosSpeed speed;
610 public double speed() {
611 double v = kalman_speed.value();
612 if (v != AltosLib.MISSING)
615 if (v != AltosLib.MISSING)
618 if (v != AltosLib.MISSING)
620 return AltosLib.MISSING;
623 public double max_speed() {
624 double v = kalman_speed.max();
625 if (v != AltosLib.MISSING)
628 if (v != AltosLib.MISSING)
631 if (v != AltosLib.MISSING)
633 return AltosLib.MISSING;
636 class AltosAccel extends AltosCValue {
639 return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
642 void set_measured(double a, double time) {
643 super.set_measured(a, time);
645 speed.set_integral(this.measured);
653 AltosAccel acceleration;
655 public double acceleration() {
656 return acceleration.value();
659 public double max_acceleration() {
660 return acceleration.max();
663 public AltosCValue orient;
665 public void set_orient(double new_orient) {
666 orient.set_measured(new_orient, time);
669 public double orient() {
670 return orient.value();
673 public double max_orient() {
677 public AltosValue kalman_height, kalman_speed, kalman_acceleration;
679 public void set_kalman(double height, double speed, double acceleration) {
680 double old_height = kalman_height.value();
681 if (old_height != AltosLib.MISSING) {
682 while (old_height - height > 32000)
685 kalman_height.set(height, time);
686 kalman_speed.set(speed, time);
687 kalman_acceleration.set(acceleration, time);
690 public double battery_voltage;
691 public double pyro_voltage;
692 public double temperature;
693 public double apogee_voltage;
694 public double main_voltage;
696 public double igniter_voltage[];
699 public boolean gps_pending;
704 public static final int MIN_PAD_SAMPLES = 10;
707 public int gps_waiting;
708 public boolean gps_ready;
712 public AltosGreatCircle from_pad;
713 public double elevation; /* from pad */
714 public double range; /* total distance */
716 public double gps_height;
718 public double pad_lat, pad_lon, pad_alt;
720 public int speak_tick;
721 public double speak_altitude;
723 public String callsign;
724 public String firmware_version;
726 public double ground_accel;
728 public int log_format;
729 public int log_space;
730 public String product;
732 public AltosCompanion companion;
734 public int pyro_fired;
736 public void set_npad(int npad) {
738 gps_waiting = MIN_PAD_SAMPLES - npad;
739 if (this.gps_waiting < 0)
741 gps_ready = gps_waiting == 0;
747 received_time = System.currentTimeMillis();
748 time = AltosLib.MISSING;
749 state = AltosLib.ao_flight_invalid;
752 rssi = AltosLib.MISSING;
755 ground_altitude = new AltosCValue();
756 ground_pressure = new AltosGroundPressure();
757 altitude = new AltosAltitude();
758 pressure = new AltosPressure();
759 thrust = new AltosForce();
760 speed = new AltosSpeed();
761 acceleration = new AltosAccel();
762 orient = new AltosCValue();
764 temperature = AltosLib.MISSING;
765 battery_voltage = AltosLib.MISSING;
766 pyro_voltage = AltosLib.MISSING;
767 apogee_voltage = AltosLib.MISSING;
768 main_voltage = AltosLib.MISSING;
769 igniter_voltage = null;
771 kalman_height = new AltosValue();
772 kalman_speed = new AltosValue();
773 kalman_acceleration = new AltosValue();
779 last_imu_time = AltosLib.MISSING;
781 ground_rotation = null;
785 accel_ground_along = AltosLib.MISSING;
786 accel_ground_across = AltosLib.MISSING;
787 accel_ground_through = AltosLib.MISSING;
789 pad_orientation = AltosLib.MISSING;
795 elevation = AltosLib.MISSING;
796 range = AltosLib.MISSING;
797 gps_height = AltosLib.MISSING;
799 pad_lat = AltosLib.MISSING;
800 pad_lon = AltosLib.MISSING;
801 pad_alt = AltosLib.MISSING;
803 gps_altitude = new AltosGpsAltitude();
804 gps_ground_altitude = new AltosGpsGroundAltitude();
805 gps_ground_speed = new AltosValue();
806 gps_speed = new AltosValue();
807 gps_ascent_rate = new AltosValue();
808 gps_course = new AltosValue();
810 speak_tick = AltosLib.MISSING;
811 speak_altitude = AltosLib.MISSING;
814 firmware_version = null;
816 ground_accel = AltosLib.MISSING;
818 log_format = AltosLib.MISSING;
819 log_space = AltosLib.MISSING;
827 void finish_update() {
828 ground_altitude.finish_update();
829 altitude.finish_update();
830 pressure.finish_update();
831 speed.finish_update();
832 acceleration.finish_update();
833 orient.finish_update();
835 kalman_height.finish_update();
836 kalman_speed.finish_update();
837 kalman_acceleration.finish_update();
844 elevation = AltosLib.MISSING;
845 range = AltosLib.MISSING;
850 if (gps.locked && gps.nsat >= 4) {
851 /* Track consecutive 'good' gps reports, waiting for 10 of them */
852 if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
854 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
855 pad_lat = (pad_lat * 31 + gps.lat) / 32;
856 pad_lon = (pad_lon * 31 + gps.lon) / 32;
857 gps_ground_altitude.set_filtered(gps.alt, time);
860 if (pad_lat == AltosLib.MISSING) {
863 gps_ground_altitude.set(gps.alt, time);
865 gps_altitude.set(gps.alt, time);
866 if (gps.climb_rate != AltosLib.MISSING)
867 gps_ascent_rate.set(gps.climb_rate, time);
868 if (gps.ground_speed != AltosLib.MISSING)
869 gps_ground_speed.set(gps.ground_speed, time);
870 if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
871 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
872 gps.climb_rate * gps.climb_rate), time);
873 if (gps.course != AltosLib.MISSING)
874 gps_course.set(gps.course, time);
876 if (gps.lat != 0 && gps.lon != 0 &&
877 pad_lat != AltosLib.MISSING &&
878 pad_lon != AltosLib.MISSING)
882 if (h == AltosLib.MISSING)
884 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
885 elevation = from_pad.elevation;
886 range = from_pad.range;
890 public String state_name() {
891 return AltosLib.state_name(state);
894 public void set_state(int state) {
895 if (state != AltosLib.ao_flight_invalid) {
897 ascent = (AltosLib.ao_flight_boost <= state &&
898 state <= AltosLib.ao_flight_coast);
899 boost = (AltosLib.ao_flight_boost == state);
907 private void re_init() {
912 if (rssi == AltosLib.MISSING)
917 public void set_rssi(int rssi, int status) {
918 if (rssi != AltosLib.MISSING) {
920 this.status = status;
924 public void set_received_time(long ms) {
928 public void set_gps(AltosGPS gps) {
937 public AltosRotation rotation;
938 public AltosRotation ground_rotation;
940 public int pad_orientation;
942 public double accel_ground_along, accel_ground_across, accel_ground_through;
944 void update_pad_rotation() {
945 if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
946 rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
947 AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
948 AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
950 ground_rotation = rotation;
951 orient.set_computed(rotation.tilt(), time);
955 public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
956 accel_ground_along = ground_along;
957 accel_ground_across = ground_across;
958 accel_ground_through = ground_through;
959 update_pad_rotation();
962 public void set_pad_orientation(int pad_orientation) {
963 this.pad_orientation = pad_orientation;
964 update_pad_rotation();
967 public double last_imu_time;
969 private double radians(double degrees) {
970 if (degrees == AltosLib.MISSING)
971 return AltosLib.MISSING;
972 return degrees * Math.PI / 180.0;
975 private void update_orient() {
976 if (last_imu_time != AltosLib.MISSING) {
977 double t = time - last_imu_time;
979 double pitch = radians(gyro_pitch());
980 double yaw = radians(gyro_yaw());
981 double roll = radians(gyro_roll());
983 if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
984 rotation.rotate(t, pitch, yaw, roll);
985 orient.set_computed(rotation.tilt(), time);
988 last_imu_time = time;
991 private double gyro_roll, gyro_pitch, gyro_yaw;
993 public void set_gyro(double roll, double pitch, double yaw) {
1000 private double accel_along, accel_across, accel_through;
1002 public void set_accel(double along, double across, double through) {
1003 accel_along = along;
1004 accel_across = across;
1005 accel_through = through;
1009 public double accel_along() {
1013 public double accel_across() {
1014 return accel_across;
1017 public double accel_through() {
1018 return accel_through;
1021 public double gyro_roll() {
1025 public double gyro_pitch() {
1029 public double gyro_yaw() {
1033 private double mag_along, mag_across, mag_through;
1035 public void set_mag(double along, double across, double through) {
1037 mag_across = across;
1038 mag_through = through;
1041 public double mag_along() {
1045 public double mag_across() {
1047 return AltosMag.convert_gauss(mag.across);
1048 return AltosLib.MISSING;
1051 public double mag_through() {
1053 return AltosMag.convert_gauss(mag.through);
1054 return AltosLib.MISSING;
1057 public void set_companion(AltosCompanion companion) {
1058 this.companion = companion;
1061 public void set_acceleration(double acceleration) {
1062 if (acceleration != AltosLib.MISSING) {
1063 this.acceleration.set_measured(acceleration, time);
1068 public void set_temperature(double temperature) {
1069 if (temperature != AltosLib.MISSING) {
1070 this.temperature = temperature;
1075 public void set_battery_voltage(double battery_voltage) {
1076 if (battery_voltage != AltosLib.MISSING) {
1077 this.battery_voltage = battery_voltage;
1082 public void set_pyro_voltage(double pyro_voltage) {
1083 if (pyro_voltage != AltosLib.MISSING) {
1084 this.pyro_voltage = pyro_voltage;
1089 public void set_apogee_voltage(double apogee_voltage) {
1090 if (apogee_voltage != AltosLib.MISSING) {
1091 this.apogee_voltage = apogee_voltage;
1096 public void set_main_voltage(double main_voltage) {
1097 if (main_voltage != AltosLib.MISSING) {
1098 this.main_voltage = main_voltage;
1103 public void set_igniter_voltage(double[] voltage) {
1104 this.igniter_voltage = voltage;
1107 public void set_pyro_fired(int fired) {
1108 this.pyro_fired = fired;
1111 public AltosState (AltosCalData cal_data) {