* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_12;
import java.io.*;
public double max_gps_height;
public double max_speed;
public double max_acceleration;
- public double[] state_speed = new double[AltosLib.ao_flight_invalid + 1];
- public double[] state_accel = new double[AltosLib.ao_flight_invalid + 1];
- public int[] state_count = new int[AltosLib.ao_flight_invalid + 1];
- public double[] state_start = new double[AltosLib.ao_flight_invalid + 1];
- public double[] state_end = new double[AltosLib.ao_flight_invalid + 1];
+ public double[] state_speed = new double[AltosLib.ao_flight_invalid + 1];
+ public double[] state_accel = new double[AltosLib.ao_flight_invalid + 1];
+ public double[] state_time = new double[AltosLib.ao_flight_invalid + 1];
+ public String product;
+ public String firmware_version;
public int serial;
public int flight;
public int year, month, day;
public int hour, minute, second;
+ public double boost_time;
+ public double landed_time;
public double lat, lon;
public double pad_lat, pad_lon;
public boolean has_flight_data;
public boolean has_imu;
public boolean has_mag;
public boolean has_orient;
- public int num_ignitor;
+ public int num_igniter;
- double landed_time(AltosStateIterable states) {
- AltosState state = null;
+ double landed_time(AltosFlightSeries series) {
+ double landed_state_time = AltosLib.MISSING;
- for (AltosState s : states) {
- state = s;
- if (state.state() == AltosLib.ao_flight_landed)
- break;
+ double prev_state_time = AltosLib.MISSING;
+ if (series.state_series != null) {
+ for (AltosTimeValue state : series.state_series) {
+ if (state.value == AltosLib.ao_flight_landed) {
+ landed_state_time = state.time;
+ break;
+ } else {
+ prev_state_time = state.time;
+ }
+ }
}
- if (state == null)
- return AltosLib.MISSING;
+ if (landed_state_time == AltosLib.MISSING && series.height_series != null)
+ landed_state_time = series.height_series.get(series.height_series.size()-1).time;
- double landed_height = state.height();
+ double landed_height = AltosLib.MISSING;
+
+ if (series.height_series != null) {
+ for (AltosTimeValue height : series.height_series) {
+ landed_height = height.value;
+ if (height.time >= landed_state_time)
+ break;
+ }
+ }
- state = null;
+ if (landed_height == AltosLib.MISSING)
+ return AltosLib.MISSING;
boolean above = true;
double landed_time = AltosLib.MISSING;
- for (AltosState s : states) {
- state = s;
-
- if (state.height() > landed_height + 10) {
- above = true;
- } else {
- if (above && Math.abs(state.height() - landed_height) < 2) {
- above = false;
- landed_time = state.time;
+ if (series.height_series != null) {
+ for (AltosTimeValue height : series.height_series) {
+ if (height.value > landed_height + 10) {
+ above = true;
+ } else {
+ if (above && Math.abs(height.value - landed_height) < 2) {
+ above = false;
+ landed_time = height.time;
+ }
}
}
}
+
+ if (landed_time == AltosLib.MISSING || (prev_state_time != AltosLib.MISSING && landed_time < prev_state_time))
+ landed_time = landed_state_time;
return landed_time;
}
- double boost_time(AltosStateIterable states) {
- double boost_time = AltosLib.MISSING;
- AltosState state = null;
+ double boost_time(AltosFlightSeries series) {
+ double boost_time = AltosLib.MISSING;
+ double boost_state_time = AltosLib.MISSING;
- for (AltosState s : states) {
- state = s;
- if (state.acceleration() < 1)
- boost_time = state.time;
- if (state.state() >= AltosLib.ao_flight_boost && state.state() <= AltosLib.ao_flight_landed)
- break;
+ if (series.state_series != null) {
+ for (AltosTimeValue state : series.state_series) {
+ if (state.value >= AltosLib.ao_flight_boost && state.value <= AltosLib.ao_flight_landed) {
+ boost_state_time = state.time;
+ break;
+ }
+ }
}
- if (state == null)
- return AltosLib.MISSING;
-
+ if (series.accel_series != null) {
+ for (AltosTimeValue accel : series.accel_series) {
+ if (accel.value < 1)
+ boost_time = accel.time;
+ if (boost_state_time != AltosLib.MISSING && accel.time >= boost_state_time)
+ break;
+ }
+ }
+ if (boost_time == AltosLib.MISSING)
+ boost_time = boost_state_time;
return boost_time;
}
+ private void add_times(AltosFlightSeries series, int state, double start_time, double end_time) {
+ double delta_time = end_time - start_time;
+ if (0 <= state && state <= AltosLib.ao_flight_invalid && delta_time > 0) {
+ speeds[state].value += series.speed_series.average(start_time, end_time) * delta_time;
+ speeds[state].time += delta_time;
+ accels[state].value += series.accel_series.average(start_time, end_time) * delta_time;
+ accels[state].time += delta_time;
+ state_time[state] += delta_time;
+
+ if (state == AltosLib.ao_flight_boost) {
+ AltosTimeValue tv_speed = series.speed_series.max(start_time, end_time);
+ if (tv_speed != null && (max_speed == AltosLib.MISSING || tv_speed.value > max_speed))
+ max_speed = tv_speed.value;
+ AltosTimeValue tv_accel = series.accel_series.max(start_time, end_time);
+ if (tv_accel != null && (max_acceleration == AltosLib.MISSING || tv_accel.value > max_acceleration))
+ max_acceleration = tv_accel.value;
+ }
+ }
+ }
+
+ AltosTimeValue[] speeds = new AltosTimeValue[AltosLib.ao_flight_invalid + 1];
+ AltosTimeValue[] accels = new AltosTimeValue[AltosLib.ao_flight_invalid + 1];
- public AltosFlightStats(AltosStateIterable states) throws InterruptedException, IOException {
- double boost_time = boost_time(states);
- double end_time = 0;
- double landed_time = landed_time(states);
+ public AltosFlightStats(AltosFlightSeries series) {
+ AltosCalData cal_data = series.cal_data();
+
+ series.finish();
+
+ boost_time = boost_time(series);
+ landed_time = landed_time(series);
+
+ if (series.state_series != null){
+ boolean fixed_boost = false;
+ boolean fixed_landed = false;
+ for (AltosTimeValue state : series.state_series) {
+ if ((int) state.value == AltosLib.ao_flight_boost)
+ if (boost_time != AltosLib.MISSING && !fixed_boost) {
+ state.time = boost_time;
+ fixed_boost = true;
+ }
+ if ((int) state.value == AltosLib.ao_flight_landed)
+ if (landed_time != AltosLib.MISSING && !fixed_landed) {
+ state.time = landed_time;
+ fixed_landed = true;
+ }
+ }
+ }
year = month = day = AltosLib.MISSING;
hour = minute = second = AltosLib.MISSING;
has_mag = false;
has_orient = false;
- for (int s = AltosLib.ao_flight_startup; s <= AltosLib.ao_flight_landed; s++) {
- state_count[s] = 0;
- state_speed[s] = 0.0;
- state_accel[s] = 0.0;
+ for (int s = 0; s < AltosLib.ao_flight_invalid + 1; s++) {
+ state_speed[s] = AltosLib.MISSING;
+ state_accel[s] = AltosLib.MISSING;
+ state_time[s] = 0;
+ speeds[s] = new AltosTimeValue(0, 0);
+ accels[s] = new AltosTimeValue(0, 0);
}
- for (AltosState state : states) {
- if (serial == AltosLib.MISSING && state.serial != AltosLib.MISSING)
- serial = state.serial;
- if (flight == AltosLib.MISSING && state.flight != AltosLib.MISSING)
- flight = state.flight;
- if (state.battery_voltage != AltosLib.MISSING)
- has_battery = true;
- if (state.main_voltage != AltosLib.MISSING)
- has_flight_adc = true;
- if (state.rssi != AltosLib.MISSING)
- has_rssi = true;
- end_time = state.time;
-
- if (state.pressure() != AltosLib.MISSING)
- has_flight_data = true;
-
- int state_id = state.state();
- if (boost_time != AltosLib.MISSING && state.time >= boost_time && state_id < AltosLib.ao_flight_boost) {
- state_id = AltosLib.ao_flight_boost;
- }
- if (landed_time != AltosLib.MISSING && state.time >= landed_time && state_id < AltosLib.ao_flight_landed) {
- state_id = AltosLib.ao_flight_landed;
- }
+ max_speed = AltosLib.MISSING;
+ max_acceleration = AltosLib.MISSING;
- if (state.gps != null && state.gps.locked) {
- year = state.gps.year;
- month = state.gps.month;
- day = state.gps.day;
- hour = state.gps.hour;
- minute = state.gps.minute;
- second = state.gps.second;
+ if (series.state_series != null) {
+ AltosTimeValue prev = null;
+ for (AltosTimeValue state : series.state_series) {
+ if (prev != null)
+ add_times(series, (int) prev.value, prev.time, state.time);
+ prev = state;
}
- max_height = state.max_height();
- max_speed = state.max_speed();
- max_acceleration = state.max_acceleration();
- max_gps_height = state.max_gps_height();
-
- if (0 <= state_id && state_id < AltosLib.ao_flight_invalid) {
- double acceleration = state.acceleration();
- double speed = state.speed();
- if (acceleration != AltosLib.MISSING && speed != AltosLib.MISSING) {
- state_accel[state_id] += acceleration;
- state_speed[state_id] += speed;
- state_count[state_id]++;
+ if (prev != null)
+ add_times(series, (int) prev.value, prev.time, series.accel_series.last().time);
+ }
+
+ for (int s = 0; s <= AltosLib.ao_flight_invalid; s++) {
+ if (speeds[s].time > 0)
+ state_speed[s] = speeds[s].value / speeds[s].time;
+ if (accels[s].time > 0)
+ state_accel[s] = accels[s].value / accels[s].time;
+ }
+
+ product = cal_data.product;
+ firmware_version = cal_data.firmware_version;
+ serial = cal_data.serial;
+ flight = cal_data.flight;
+
+ has_battery = series.battery_voltage_series != null;
+ has_flight_adc = series.main_voltage_series != null;
+ has_rssi = series.rssi_series != null;
+ has_flight_data = series.pressure_series != null;
+
+ AltosGPS gps = series.cal_data().gps_pad;
+
+ if (gps != null) {
+ year = gps.year;
+ month = gps.month;
+ day = gps.day;
+ hour = gps.hour;
+ minute = gps.minute;
+ second = gps.second;
+ has_gps = true;
+ lat = pad_lat = gps.lat;
+ lon = pad_lon = gps.lon;
+ for (AltosGPSTimeValue gtv : series.gps_series) {
+ gps = gtv.gps;
+ if (gps.locked && gps.nsat >= 4) {
+ lat = gps.lat;
+ lon = gps.lon;
}
- if (state_start[state_id] == 0.0)
- state_start[state_id] = state.time;
- if (state_end[state_id] < state.time)
- state_end[state_id] = state.time;
- }
- if (state.pad_lat != AltosLib.MISSING) {
- pad_lat = state.pad_lat;
- pad_lon = state.pad_lon;
}
- if (state.gps != null && state.gps.locked && state.gps.nsat >= 4) {
- lat = state.gps.lat;
- lon = state.gps.lon;
- has_gps = true;
- if (state.gps.cc_gps_sat != null)
- has_gps_sats = true;
- if (state.gps.course != AltosLib.MISSING)
- has_gps_detail = true;
- }
- if (state.imu != null)
- has_imu = true;
- if (state.mag != null)
- has_mag = true;
- if (state.orient() != AltosLib.MISSING)
- has_orient = true;
- if (state.ignitor_voltage != null && state.ignitor_voltage.length > num_ignitor)
- num_ignitor = state.ignitor_voltage.length;
+
}
- for (int s = AltosLib.ao_flight_startup; s <= AltosLib.ao_flight_landed; s++) {
- if (state_count[s] > 0) {
- state_speed[s] /= state_count[s];
- state_accel[s] /= state_count[s];
- } else {
- state_speed[s] = AltosLib.MISSING;
- state_accel[s] = AltosLib.MISSING;
- }
- if (state_start[s] == 0)
- state_start[s] = end_time;
- if (state_end[s] == 0)
- state_end[s] = end_time;
+
+ max_height = AltosLib.MISSING;
+ if (series.height_series != null)
+ max_height = series.height_series.max().value;
+ max_gps_height = AltosLib.MISSING;
+ if (series.gps_height != null) {
+ AltosTimeValue tv = series.gps_height.max();
+ if (tv != null)
+ max_gps_height = tv.value;
}
}
}
projects / fw / altos / blobdiff