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   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 /*
  19  * Track flight state from telemetry or eeprom data stream
  20  */
  21
  22 package altosui;
  23
  24 import org.altusmetrum.AltosLib.*;
  25
  26 public class AltosState {
  27         AltosRecord data;
  28
  29         /* derived data */
  30
  31         long    report_time;
  32
  33         double  time;
  34         double  time_change;
  35         int     tick;
  36
  37         int     state;
  38         boolean landed;
  39         boolean ascent; /* going up? */
  40         boolean boost;  /* under power */
  41
  42         double  ground_altitude;
  43         double  height;
  44         double  speed;
  45         double  acceleration;
  46         double  battery;
  47         double  temperature;
  48         double  main_sense;
  49         double  drogue_sense;
  50         double  baro_speed;
  51
  52         double  max_height;
  53         double  max_acceleration;
  54         double  max_speed;
  55         double  max_baro_speed;
  56
  57         AltosGPS        gps;
  58
  59         double  pad_lat;
  60         double  pad_lon;
  61         double  pad_alt;
  62
  63         static final int MIN_PAD_SAMPLES = 10;
  64
  65         int     npad;
  66         int     ngps;
  67         int     gps_waiting;
  68         boolean gps_ready;
  69
  70         AltosGreatCircle from_pad;
  71         double  elevation;      /* from pad */
  72         double  range;          /* total distance */
  73
  74         double  gps_height;
  75
  76         int     speak_tick;
  77         double  speak_altitude;
  78
  79         void init (AltosRecord cur, AltosState prev_state) {
  80                 int             i;
  81                 AltosRecord prev;
  82
  83                 data = cur;
  84
  85                 ground_altitude = data.ground_altitude();
  86                 height = data.filtered_height();
  87
  88                 report_time = System.currentTimeMillis();
  89
  90                 acceleration = data.acceleration();
  91                 speed = data.accel_speed();
  92                 temperature = data.temperature();
  93                 drogue_sense = data.drogue_voltage();
  94                 main_sense = data.main_voltage();
  95                 battery = data.battery_voltage();
  96                 tick = data.tick;
  97                 state = data.state;
  98
  99                 if (prev_state != null) {
 100
 101                         /* Preserve any existing gps data */
 102                         npad = prev_state.npad;
 103                         ngps = prev_state.ngps;
 104                         gps = prev_state.gps;
 105                         pad_lat = prev_state.pad_lat;
 106                         pad_lon = prev_state.pad_lon;
 107                         pad_alt = prev_state.pad_alt;
 108                         max_height = prev_state.max_height;
 109                         max_acceleration = prev_state.max_acceleration;
 110                         max_speed = prev_state.max_speed;
 111                         max_baro_speed = prev_state.max_baro_speed;
 112
 113                         /* make sure the clock is monotonic */
 114                         while (tick < prev_state.tick)
 115                                 tick += 65536;
 116
 117                         time_change = (tick - prev_state.tick) / 100.0;
 118
 119                         /* compute barometric speed */
 120
 121                         double height_change = height - prev_state.height;
 122                         if (data.speed != AltosRecord.MISSING)
 123                                 baro_speed = data.speed;
 124                         else {
 125                                 if (time_change > 0)
 126                                         baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
 127                                 else
 128                                         baro_speed = prev_state.baro_speed;
 129                         }
 130                 } else {
 131                         npad = 0;
 132                         ngps = 0;
 133                         gps = null;
 134                         baro_speed = 0;
 135                         time_change = 0;
 136                 }
 137
 138                 time = tick / 100.0;
 139
 140                 if (cur.new_gps && (state == Altos.ao_flight_pad || state == Altos.ao_flight_idle)) {
 141
 142                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
 143                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
 144                                 npad++;
 145                         else
 146                                 npad = 0;
 147
 148                         /* Average GPS data while on the pad */
 149                         if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
 150                                 if (ngps > 1) {
 151                                         /* filter pad position */
 152                                         pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
 153                                         pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
 154                                         pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
 155                                 } else {
 156                                         pad_lat = data.gps.lat;
 157                                         pad_lon = data.gps.lon;
 158                                         pad_alt = data.gps.alt;
 159                                 }
 160                                 ngps++;
 161                         }
 162                 }
 163
 164                 gps_waiting = MIN_PAD_SAMPLES - npad;
 165                 if (gps_waiting < 0)
 166                         gps_waiting = 0;
 167
 168                 gps_ready = gps_waiting == 0;
 169
 170                 ascent = (Altos.ao_flight_boost <= state &&
 171                           state <= Altos.ao_flight_coast);
 172                 boost = (Altos.ao_flight_boost == state);
 173
 174                 /* Only look at accelerometer data under boost */
 175                 if (boost && acceleration > max_acceleration)
 176                         max_acceleration = acceleration;
 177                 if (boost && speed > max_speed)
 178                         max_speed = speed;
 179                 if (boost && baro_speed > max_baro_speed)
 180                         max_baro_speed = baro_speed;
 181
 182                 if (height > max_height)
 183                         max_height = height;
 184                 if (data.gps != null) {
 185                         if (gps == null || !gps.locked || data.gps.locked)
 186                                 gps = data.gps;
 187                         if (ngps > 0 && gps.locked) {
 188                                 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
 189                         }
 190                 }
 191                 elevation = 0;
 192                 range = -1;
 193                 if (ngps > 0) {
 194                         gps_height = gps.alt - pad_alt;
 195                         if (from_pad != null) {
 196                                 elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
 197                                 range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
 198                         }
 199                 } else {
 200                         gps_height = 0;
 201                 }
 202         }
 203
 204         public AltosState(AltosRecord cur) {
 205                 init(cur, null);
 206         }
 207
 208         public AltosState (AltosRecord cur, AltosState prev) {
 209                 init(cur, prev);
 210         }
 211 }