* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_3;
+package org.altusmetrum.altoslib_11;
-public class AltosState implements Cloneable {
+import java.io.*;
+
+public class AltosState implements Cloneable, AltosJsonable {
public static final int set_position = 1;
public static final int set_gps = 2;
public int set;
+ static final double filter_len = 2.0;
static final double ascent_filter_len = 0.5;
- static final double descent_filter_len = 0.5;
+ static final double descent_filter_len = 5.0;
/* derived data */
private int prev_tick;
public int boost_tick;
- class AltosValue {
- private double value;
- private double prev_value;
+ class AltosValue implements AltosJsonable {
+ double value;
+ double prev_value;
private double max_value;
private double set_time;
private double prev_set_time;
+ boolean can_max() { return true; }
+
void set(double new_value, double time) {
if (new_value != AltosLib.MISSING) {
value = new_value;
- if (max_value == AltosLib.MISSING || value > max_value) {
+ if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
max_value = value;
- }
set_time = time;
}
}
void set_filtered(double new_value, double time) {
- if (prev_value != AltosLib.MISSING)
- new_value = (prev_value * 15.0 + new_value) / 16.0;
+ if (prev_value != AltosLib.MISSING) {
+ double f = 1/Math.exp((time - prev_set_time) / filter_len);
+ new_value = f * new_value + (1-f) * prev_value;
+ }
set(new_value, time);
}
void set_derivative(AltosValue in) {
double n = in.rate();
-
+
if (n == AltosLib.MISSING)
return;
/* Clip changes to reduce noise */
double ddt = in.time() - pt;
double ddv = (n - p) / ddt;
-
+
final double max = 100000;
/* 100gs */
prev_set_time = set_time;
}
+ public AltosJson json() {
+ AltosJson j = new AltosJson();
+
+ j.put("value", value);
+ j.put("prev_value", prev_value);
+ j.put("max_value", max_value);
+ j.put("set_time", set_time);
+ j.put("prev_set_time", prev_set_time);
+ return j;
+ }
+
+ AltosValue(AltosJson j) {
+ this();
+ if (j != null) {
+ value = j.get_double("value", value);
+ prev_value = j.get_double("prev_value", prev_value);
+ max_value = j.get_double("max_value", max_value);
+ set_time = j.get_double("set_time", 0);
+ prev_set_time = j.get_double("prev_set_time", 0);
+ }
+ }
+
AltosValue() {
value = AltosLib.MISSING;
prev_value = AltosLib.MISSING;
max_value = AltosLib.MISSING;
}
+
}
- class AltosCValue {
- AltosValue measured;
- AltosValue computed;
+ AltosValue AltosValue_fromJson(AltosJson j, AltosValue def) {
+ if (j == null)
+ return def;
+ return new AltosValue(j);
+ }
+
+ class AltosCValue implements AltosJsonable {
+
+ class AltosIValue extends AltosValue implements AltosJsonable {
+ boolean can_max() {
+ return c_can_max();
+ }
+
+ AltosIValue() {
+ super();
+ }
+
+ AltosIValue(AltosJson j) {
+ super(j);
+ }
+ };
+
+ public AltosIValue measured;
+ public AltosIValue computed;
+
+ boolean can_max() { return true; }
+
+ boolean c_can_max() { return can_max(); }
double value() {
double v = measured.value();
void set_integral(AltosValue in) {
computed.set_integral(in);
}
-
+
void set_integral(AltosCValue in) {
set_integral(in.altos_value());
}
-
+
void copy(AltosCValue old) {
measured.copy(old.measured);
computed.copy(old.computed);
computed.finish_update();
}
- AltosCValue() {
- measured = new AltosValue();
- computed = new AltosValue();
+ public AltosCValue() {
+ measured = new AltosIValue();
+ computed = new AltosIValue();
+ }
+
+ public AltosJson json() {
+ AltosJson j = new AltosJson();
+
+ j.put("measured", measured.json());
+ j.put("computed", computed.json());
+ return j;
+ }
+
+ AltosCValue(AltosJson j) {
+ measured = new AltosIValue(j.get("measured"));
+ computed = new AltosIValue(j.get("computed"));
}
}
- public int state;
+ AltosCValue AltosCValue_fromJson(AltosJson j, AltosCValue def) {
+ if (j == null)
+ return def;
+ return new AltosCValue(j);
+ }
+
+ private int state;
public int flight;
public int serial;
+ public int altitude_32;
public int receiver_serial;
public boolean landed;
public boolean ascent; /* going up? */
ground_altitude.set_measured(a, time);
}
+ class AltosGpsGroundAltitude extends AltosValue {
+ void set(double a, double t) {
+ super.set(a, t);
+ pad_alt = value();
+ gps_altitude.set_gps_height();
+ }
+
+ void set_filtered(double a, double t) {
+ super.set_filtered(a, t);
+ pad_alt = value();
+ gps_altitude.set_gps_height();
+ }
+
+ AltosGpsGroundAltitude() {
+ super();
+ }
+
+ AltosGpsGroundAltitude (AltosJson j) {
+ super(j);
+ }
+ }
+
+ AltosGpsGroundAltitude AltosGpsGroundAltitude_fromJson(AltosJson j, AltosGpsGroundAltitude def) {
+ if (j == null) return def;
+ return new AltosGpsGroundAltitude(j);
+ }
+
+ private AltosGpsGroundAltitude gps_ground_altitude;
+
+ public double gps_ground_altitude() {
+ return gps_ground_altitude.value();
+ }
+
+ public void set_gps_ground_altitude(double a) {
+ gps_ground_altitude.set(a, time);
+ }
+
class AltosGroundPressure extends AltosCValue {
void set_filtered(double p, double time) {
computed.set_filtered(p, time);
super.set_measured(p, time);
ground_altitude.set_computed(pressure_to_altitude(p), time);
}
+
+ AltosGroundPressure () {
+ super();
+ }
+
+ AltosGroundPressure (AltosJson j) {
+ super(j);
+ }
+ }
+
+ AltosGroundPressure AltosGroundPressure_fromJson(AltosJson j, AltosGroundPressure def) {
+ if (j == null) return def;
+ return new AltosGroundPressure(j);
}
private AltosGroundPressure ground_pressure;
-
+
public double ground_pressure() {
return ground_pressure.value();
}
set_speed(measured);
set |= set_position;
}
+
+ AltosAltitude() {
+ super();
+ }
+
+ AltosAltitude (AltosJson j) {
+ super(j);
+ }
+ }
+
+ AltosAltitude AltosAltitude_fromJson(AltosJson j, AltosAltitude def) {
+ if (j == null) return def;
+ return new AltosAltitude(j);
}
private AltosAltitude altitude;
+ class AltosGpsAltitude extends AltosValue {
+
+ private void set_gps_height() {
+ double a = value();
+ double g = gps_ground_altitude.value();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ gps_height = a - g;
+ else
+ gps_height = AltosLib.MISSING;
+ }
+
+ void set(double a, double t) {
+ super.set(a, t);
+ set_gps_height();
+ }
+
+ AltosGpsAltitude() {
+ super();
+ }
+
+ AltosGpsAltitude (AltosJson j) {
+ super(j);
+ }
+ }
+
+ AltosGpsAltitude AltosGpsAltitude_fromJson(AltosJson j, AltosGpsAltitude def) {
+ if (j == null) return def;
+ return new AltosGpsAltitude(j);
+ }
+
+ private AltosGpsAltitude gps_altitude;
+
+ private AltosValue gps_ground_speed;
+ private AltosValue gps_ascent_rate;
+ private AltosValue gps_course;
+ private AltosValue gps_speed;
+
public double altitude() {
double a = altitude.value();
if (a != AltosLib.MISSING)
return a;
- if (gps != null)
- return gps.alt;
- return AltosLib.MISSING;
+ return gps_altitude.value();
}
public double max_altitude() {
double a = altitude.max();
if (a != AltosLib.MISSING)
return a;
- return AltosLib.MISSING;
+ return gps_altitude.max();
}
public void set_altitude(double new_altitude) {
altitude.set_measured(new_altitude, time);
}
+ public double gps_altitude() {
+ return gps_altitude.value();
+ }
+
+ public double max_gps_altitude() {
+ return gps_altitude.max();
+ }
+
+ public void set_gps_altitude(double new_gps_altitude) {
+ gps_altitude.set(new_gps_altitude, time);
+ }
+
+ public double gps_ground_speed() {
+ return gps_ground_speed.value();
+ }
+
+ public double max_gps_ground_speed() {
+ return gps_ground_speed.max();
+ }
+
+ public double gps_ascent_rate() {
+ return gps_ascent_rate.value();
+ }
+
+ public double max_gps_ascent_rate() {
+ return gps_ascent_rate.max();
+ }
+
+ public double gps_course() {
+ return gps_course.value();
+ }
+
+ public double gps_speed() {
+ return gps_speed.value();
+ }
+
+ public double max_gps_speed() {
+ return gps_speed.max();
+ }
+
class AltosPressure extends AltosValue {
void set(double p, double time) {
super.set(p, time);
double a = pressure_to_altitude(p);
altitude.set_computed(a, time);
}
+
+ AltosPressure() {
+ super();
+ }
+
+ AltosPressure (AltosJson j) {
+ super(j);
+ }
+ }
+
+ AltosPressure AltosPressure_fromJson(AltosJson j, AltosPressure def) {
+ if (j == null) return def;
+ return new AltosPressure(j);
}
private AltosPressure pressure;
pressure.set(p, time);
}
- public double height() {
- double k = kalman_height.value();
- if (k != AltosLib.MISSING)
- return k;
-
+ public double baro_height() {
double a = altitude();
double g = ground_altitude();
if (a != AltosLib.MISSING && g != AltosLib.MISSING)
return AltosLib.MISSING;
}
+ public double height() {
+ double k = kalman_height.value();
+ if (k != AltosLib.MISSING)
+ return k;
+
+ double b = baro_height();
+ if (b != AltosLib.MISSING)
+ return b;
+
+ return gps_height();
+ }
+
public double max_height() {
double k = kalman_height.max();
if (k != AltosLib.MISSING)
double a = altitude.max();
double g = ground_altitude();
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return max_gps_height();
+ }
+
+ public double gps_height() {
+ double a = gps_altitude();
+ double g = gps_ground_altitude();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ public double max_gps_height() {
+ double a = gps_altitude.max();
+ double g = gps_ground_altitude();
+
if (a != AltosLib.MISSING && g != AltosLib.MISSING)
return a - g;
return AltosLib.MISSING;
}
class AltosSpeed extends AltosCValue {
-
+
+ boolean can_max() {
+ return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ }
+
void set_accel() {
acceleration.set_derivative(this);
}
super.set_measured(new_value, time);
set_accel();
}
+
+ AltosSpeed() {
+ super();
+ }
+
+ AltosSpeed (AltosJson j) {
+ super(j);
+ }
+ }
+
+ AltosSpeed AltosSpeed_fromJson(AltosJson j, AltosSpeed def) {
+ if (j == null) return def;
+ return new AltosSpeed(j);
}
private AltosSpeed speed;
double v = kalman_speed.value();
if (v != AltosLib.MISSING)
return v;
- return speed.value();
+ v = speed.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ v = gps_speed();
+ if (v != AltosLib.MISSING)
+ return v;
+ return AltosLib.MISSING;
}
public double max_speed() {
double v = kalman_speed.max();
if (v != AltosLib.MISSING)
return v;
- return speed.max();
+ v = speed.max();
+ if (v != AltosLib.MISSING)
+ return v;
+ v = max_gps_speed();
+ if (v != AltosLib.MISSING)
+ return v;
+ return AltosLib.MISSING;
}
class AltosAccel extends AltosCValue {
+
+ boolean can_max() {
+ return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ }
+
void set_measured(double a, double time) {
super.set_measured(a, time);
if (ascent)
speed.set_integral(this.measured);
}
+
+ AltosAccel() {
+ super();
+ }
+
+ AltosAccel (AltosJson j) {
+ super(j);
+ }
+ }
+
+ AltosAccel AltosAccel_fromJson(AltosJson j, AltosAccel def) {
+ if (j == null) return def;
+ return new AltosAccel(j);
}
AltosAccel acceleration;
return acceleration.max();
}
- public AltosValue orient;
+ public AltosCValue orient;
public void set_orient(double new_orient) {
- orient.set(new_orient, time);
+ orient.set_measured(new_orient, time);
}
public double orient() {
public double ground_accel_avg;
public int log_format;
+ public int log_space;
+ public String product;
public AltosMs5607 baro;
public AltosCompanion companion;
+ public int pyro_fired;
+
public void set_npad(int npad) {
this.npad = npad;
gps_waiting = MIN_PAD_SAMPLES - npad;
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
- orient = new AltosValue();
+ orient = new AltosCValue();
temperature = AltosLib.MISSING;
battery_voltage = AltosLib.MISSING;
gps_pending = false;
imu = null;
+ last_imu_time = AltosLib.MISSING;
+ rotation = null;
+ ground_rotation = null;
+
mag = null;
+ accel_zero_along = AltosLib.MISSING;
+ accel_zero_across = AltosLib.MISSING;
+ accel_zero_through = AltosLib.MISSING;
+
+ accel_ground_along = AltosLib.MISSING;
+ accel_ground_across = AltosLib.MISSING;
+ accel_ground_through = AltosLib.MISSING;
+
+ pad_orientation = AltosLib.MISSING;
+
+ gyro_zero_roll = AltosLib.MISSING;
+ gyro_zero_pitch = AltosLib.MISSING;
+ gyro_zero_yaw = AltosLib.MISSING;
set_npad(0);
ngps = 0;
pad_lon = AltosLib.MISSING;
pad_alt = AltosLib.MISSING;
+ gps_altitude = new AltosGpsAltitude();
+ gps_ground_altitude = new AltosGpsGroundAltitude();
+ gps_ground_speed = new AltosValue();
+ gps_speed = new AltosValue();
+ gps_ascent_rate = new AltosValue();
+ gps_course = new AltosValue();
+
speak_tick = AltosLib.MISSING;
speak_altitude = AltosLib.MISSING;
callsign = null;
+ firmware_version = null;
accel_plus_g = AltosLib.MISSING;
accel_minus_g = AltosLib.MISSING;
ground_accel_avg = AltosLib.MISSING;
log_format = AltosLib.MISSING;
+ log_space = AltosLib.MISSING;
+ product = null;
serial = AltosLib.MISSING;
receiver_serial = AltosLib.MISSING;
+ altitude_32 = AltosLib.MISSING;
baro = null;
companion = null;
+
+ pyro_fired = 0;
}
void finish_update() {
time = old.time;
time_change = old.time_change;
prev_time = old.time;
-
+
tick = old.tick;
prev_tick = old.tick;
boost_tick = old.boost_tick;
apogee_delay = old.apogee_delay;
main_deploy = old.main_deploy;
flight_log_max = old.flight_log_max;
-
+
set = 0;
ground_pressure.copy(old.ground_pressure);
imu = old.imu.clone();
else
imu = null;
+ last_imu_time = old.last_imu_time;
+
+ if (old.rotation != null)
+ rotation = new AltosRotation (old.rotation);
+
+ if (old.ground_rotation != null) {
+ ground_rotation = new AltosRotation(old.ground_rotation);
+ }
+
+ accel_zero_along = old.accel_zero_along;
+ accel_zero_across = old.accel_zero_across;
+ accel_zero_through = old.accel_zero_through;
+
+ accel_ground_along = old.accel_ground_along;
+ accel_ground_across = old.accel_ground_across;
+ accel_ground_through = old.accel_ground_through;
+ pad_orientation = old.pad_orientation;
+
+ gyro_zero_roll = old.gyro_zero_roll;
+ gyro_zero_pitch = old.gyro_zero_pitch;
+ gyro_zero_yaw = old.gyro_zero_yaw;
if (old.mag != null)
mag = old.mag.clone();
range = old.range;
gps_height = old.gps_height;
+
+ gps_altitude.copy(old.gps_altitude);
+ gps_ground_altitude.copy(old.gps_ground_altitude);
+ gps_ground_speed.copy(old.gps_ground_speed);
+ gps_ascent_rate.copy(old.gps_ascent_rate);
+ gps_course.copy(old.gps_course);
+ gps_speed.copy(old.gps_speed);
+
pad_lat = old.pad_lat;
pad_lon = old.pad_lon;
pad_alt = old.pad_alt;
speak_altitude = old.speak_altitude;
callsign = old.callsign;
+ firmware_version = old.firmware_version;
accel_plus_g = old.accel_plus_g;
accel_minus_g = old.accel_minus_g;
ground_accel_avg = old.ground_accel_avg;
log_format = old.log_format;
+ log_space = old.log_space;
+ product = old.product;
serial = old.serial;
receiver_serial = old.receiver_serial;
+ altitude_32 = old.altitude_32;
baro = old.baro;
companion = old.companion;
+
+ pyro_fired = old.pyro_fired;
}
-
+
void update_time() {
}
void update_gps() {
- elevation = 0;
- range = -1;
- gps_height = 0;
+ elevation = AltosLib.MISSING;
+ range = AltosLib.MISSING;
if (gps == null)
return;
if (gps.locked && gps.nsat >= 4) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
- if (state == AltosLib.ao_flight_pad) {
+ if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
set_npad(npad+1);
- if (pad_lat != AltosLib.MISSING) {
+ if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
pad_lat = (pad_lat * 31 + gps.lat) / 32;
pad_lon = (pad_lon * 31 + gps.lon) / 32;
- pad_alt = (pad_alt * 31 + gps.alt) / 32;
+ gps_ground_altitude.set_filtered(gps.alt, time);
}
}
if (pad_lat == AltosLib.MISSING) {
pad_lat = gps.lat;
pad_lon = gps.lon;
- pad_alt = gps.alt;
+ gps_ground_altitude.set(gps.alt, time);
}
+ gps_altitude.set(gps.alt, time);
+ if (gps.climb_rate != AltosLib.MISSING)
+ gps_ascent_rate.set(gps.climb_rate, time);
+ if (gps.ground_speed != AltosLib.MISSING)
+ gps_ground_speed.set(gps.ground_speed, time);
+ if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
+ gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
+ gps.climb_rate * gps.climb_rate), time);
+ if (gps.course != AltosLib.MISSING)
+ gps_course.set(gps.course, time);
}
if (gps.lat != 0 && gps.lon != 0 &&
pad_lat != AltosLib.MISSING &&
from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
elevation = from_pad.elevation;
range = from_pad.range;
- gps_height = gps.alt - pad_alt;
}
}
return AltosLib.state_name(state);
}
+ public void set_product(String product) {
+ this.product = product;
+ }
+
public void set_state(int state) {
if (state != AltosLib.ao_flight_invalid) {
this.state = state;
state <= AltosLib.ao_flight_coast);
boost = (AltosLib.ao_flight_boost == state);
}
+ }
+ public int state() {
+ return state;
}
public void set_device_type(int device_type) {
this.device_type = device_type;
+ switch (device_type) {
+ case AltosLib.product_telegps:
+ this.state = AltosLib.ao_flight_stateless;
+ break;
+ }
}
- public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
- config_major = major;
- config_minor = minor;
+ public void set_log_format(int log_format) {
+ this.log_format = log_format;
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEGPS:
+ this.state = AltosLib.ao_flight_stateless;
+ break;
+ }
+ }
+
+ public void set_log_space(int log_space) {
+ this.log_space = log_space;
+ }
+
+ public void set_flight_params(int apogee_delay, int main_deploy) {
this.apogee_delay = apogee_delay;
this.main_deploy = main_deploy;
+ }
+
+ public void set_config(int major, int minor, int flight_log_max) {
+ config_major = major;
+ config_minor = minor;
this.flight_log_max = flight_log_max;
}
firmware_version = version;
}
+ public int compare_version(String other_version) {
+ if (firmware_version == null)
+ return AltosLib.MISSING;
+ return AltosLib.compare_version(firmware_version, other_version);
+ }
+
+ private void re_init() {
+ int bt = boost_tick;
+ int rs = receiver_serial;
+ init();
+ boost_tick = bt;
+ receiver_serial = rs;
+ }
+
public void set_flight(int flight) {
/* When the flight changes, reset the state */
- if (flight != AltosLib.MISSING && flight != 0) {
+ if (flight != AltosLib.MISSING) {
if (this.flight != AltosLib.MISSING &&
this.flight != flight) {
- int bt = boost_tick;
- init();
- boost_tick = bt;
+ re_init();
}
this.flight = flight;
}
if (serial != AltosLib.MISSING) {
if (this.serial != AltosLib.MISSING &&
this.serial != serial) {
- int bt = boost_tick;
- init();
- boost_tick = bt;
+ re_init();
}
this.serial = serial;
}
receiver_serial = serial;
}
+ public boolean altitude_32() {
+ return altitude_32 == 1;
+ }
+
+ public void set_altitude_32(int altitude_32) {
+ if (altitude_32 != AltosLib.MISSING)
+ this.altitude_32 = altitude_32;
+ }
+
public int rssi() {
if (rssi == AltosLib.MISSING)
return 0;
}
}
+
+ public double accel_zero_along;
+ public double accel_zero_across;
+ public double accel_zero_through;
+
+ public AltosRotation rotation;
+ public AltosRotation ground_rotation;
+
+ public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
+ if (zero_along != AltosLib.MISSING) {
+ accel_zero_along = zero_along;
+ accel_zero_across = zero_across;
+ accel_zero_through = zero_through;
+ }
+ }
+
+ public int pad_orientation;
+
+ public double accel_ground_along, accel_ground_across, accel_ground_through;
+
+ void update_pad_rotation() {
+ if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+ rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
+ AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
+ AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
+ pad_orientation);
+ ground_rotation = rotation;
+ orient.set_computed(rotation.tilt(), time);
+ }
+ }
+
+ public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
+ accel_ground_along = ground_along;
+ accel_ground_across = ground_across;
+ accel_ground_through = ground_through;
+ update_pad_rotation();
+ }
+
+ public void set_pad_orientation(int pad_orientation) {
+ this.pad_orientation = pad_orientation;
+ update_pad_rotation();
+ }
+
+ public double gyro_zero_roll;
+ public double gyro_zero_pitch;
+ public double gyro_zero_yaw;
+
+ public void set_gyro_zero(double roll, double pitch, double yaw) {
+ if (roll != AltosLib.MISSING) {
+ gyro_zero_roll = roll;
+ gyro_zero_pitch = pitch;
+ gyro_zero_yaw = yaw;
+ }
+ }
+
+ public double last_imu_time;
+
+ private double radians(double degrees) {
+ if (degrees == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return degrees * Math.PI / 180.0;
+ }
+
+ private void update_orient() {
+ if (last_imu_time != AltosLib.MISSING) {
+ double t = time - last_imu_time;
+
+ double pitch = radians(gyro_pitch());
+ double yaw = radians(gyro_yaw());
+ double roll = radians(gyro_roll());
+
+ if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
+ rotation.rotate(t, pitch, yaw, roll);
+ orient.set_computed(rotation.tilt(), time);
+ }
+ }
+ last_imu_time = time;
+ }
+
public void set_imu(AltosIMU imu) {
if (imu != null)
imu = imu.clone();
this.imu = imu;
+ update_orient();
+ }
+
+ private double gyro_zero_overflow(double first) {
+ double v = first / 128.0;
+ if (v < 0)
+ v = Math.ceil(v);
+ else
+ v = Math.floor(v);
+ return v * 128.0;
+ }
+
+ public void check_imu_wrap(AltosIMU imu) {
+ if (this.imu == null) {
+ gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
+ gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
+ gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
+ }
+ }
+
+ public double accel_along() {
+ if (imu != null && accel_zero_along != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
+ return AltosLib.MISSING;
+ }
+
+ public double accel_across() {
+ if (imu != null && accel_zero_across != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
+ return AltosLib.MISSING;
+ }
+
+ public double accel_through() {
+ if (imu != null && accel_zero_through != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
+ return AltosLib.MISSING;
+ }
+
+ public double gyro_roll() {
+ if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
+ return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double gyro_pitch() {
+ if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
+ return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
+ }
+ return AltosLib.MISSING;
+ }
+
+ public double gyro_yaw() {
+ if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
+ return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
+ }
+ return AltosLib.MISSING;
}
public void set_mag(AltosMag mag) {
this.mag = mag.clone();
}
+ public double mag_along() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.along);
+ return AltosLib.MISSING;
+ }
+
+ public double mag_across() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.across);
+ return AltosLib.MISSING;
+ }
+
+ public double mag_through() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.through);
+ return AltosLib.MISSING;
+ }
+
public AltosMs5607 make_baro() {
if (baro == null)
baro = new AltosMs5607();
}
}
- public void make_companion (int nchannels) {
- if (companion == null)
- companion = new AltosCompanion(nchannels);
- }
-
public void set_companion(AltosCompanion companion) {
this.companion = companion;
}
void update_accel() {
- double ground = ground_accel;
-
- if (ground == AltosLib.MISSING)
- ground = ground_accel_avg;
if (accel == AltosLib.MISSING)
return;
- if (ground == AltosLib.MISSING)
- return;
if (accel_plus_g == AltosLib.MISSING)
return;
if (accel_minus_g == AltosLib.MISSING)
double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
double counts_per_mss = counts_per_g / 9.80665;
- acceleration.set_measured((ground - accel) / counts_per_mss, time);
+ acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
}
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
}
public void set_ground_accel(double ground_accel) {
- if (ground_accel != AltosLib.MISSING) {
+ if (ground_accel != AltosLib.MISSING)
this.ground_accel = ground_accel;
- update_accel();
- }
}
public void set_accel(double accel) {
this.ignitor_voltage = voltage;
}
+ public void set_pyro_fired(int fired) {
+ this.pyro_fired = fired;
+ }
+
public double time_since_boost() {
if (tick == AltosLib.MISSING)
return 0.0;
public AltosState clone() {
AltosState s = new AltosState();
s.copy(this);
+
+ /* Code to test state save/restore. Enable only for that purpose
+ */
+ if (false) {
+ AltosJson json = new AltosJson(this);
+ String onetrip = json.toPrettyString();
+ AltosJson back = AltosJson.fromString(onetrip);
+ AltosState tripstate = (AltosState) back.make(this.getClass());
+ AltosJson tripjson = new AltosJson(tripstate);
+ String twotrip = tripjson.toPrettyString();
+
+ if (!onetrip.equals(twotrip)) {
+ try {
+ FileWriter one_file = new FileWriter("one.json", true);
+ one_file.write(onetrip);
+ one_file.flush();
+ FileWriter two_file = new FileWriter("two.json", true);
+ two_file.write(twotrip);
+ two_file.flush();
+ } catch (Exception e) {
+ }
+ System.out.printf("json error\n");
+ System.exit(1);
+ }
+ }
return s;
}
public AltosState () {
init();
}
+
+ public AltosJson json() {
+ AltosJson j = new AltosJson();
+
+ j.put("valid", true);
+ j.put("set", set);
+ j.put("received_time", received_time);
+ j.put("time", time);
+ j.put("prev_time", prev_time);
+ j.put("time_change", time_change);
+ j.put("tick", tick);
+ j.put("prev_tick", prev_tick);
+ j.put("boost_tick", boost_tick);
+ j.put("state", state);
+ j.put("flight", flight);
+ j.put("serial", serial);
+ j.put("altitude_32", altitude_32);
+ j.put("receiver_serial", receiver_serial);
+ j.put("landed", landed);
+ j.put("ascent", ascent);
+ j.put("boost", boost);
+ j.put("rssi", rssi);
+ j.put("status", status);
+ j.put("device_type", device_type);
+ j.put("config_major", config_major);
+ j.put("config_minor", config_minor);
+ j.put("apogee_delay", apogee_delay);
+ j.put("main_deploy", main_deploy);
+ j.put("flight_log_max", flight_log_max);
+ j.put("ground_altitude", ground_altitude);
+ j.put("gps_ground_altitude", gps_ground_altitude);
+ j.put("ground_pressure", ground_pressure);
+ j.put("altitude", altitude);
+ j.put("gps_altitude", gps_altitude);
+ j.put("gps_ground_speed", gps_ground_speed);
+ j.put("gps_ascent_rate", gps_ascent_rate);
+ j.put("gps_course", gps_course);
+ j.put("gps_speed", gps_speed);
+ j.put("pressure", pressure);
+ j.put("speed", speed);
+ j.put("acceleration", acceleration);
+ j.put("orient", orient);
+ j.put("kalman_height", kalman_height);
+ j.put("kalman_speed", kalman_speed);
+ j.put("kalman_acceleration", kalman_acceleration);
+
+ j.put("battery_voltage",battery_voltage);
+ j.put("pyro_voltage",pyro_voltage);
+ j.put("temperature",temperature);
+ j.put("apogee_voltage",apogee_voltage);
+ j.put("main_voltage",main_voltage);
+ j.put("ignitor_voltage",ignitor_voltage);
+ j.put("gps", gps);
+ j.put("temp_gps", temp_gps);
+ j.put("temp_gps_sat_tick", temp_gps_sat_tick);
+ j.put("gps_pending", gps_pending);
+ j.put("gps_sequence", gps_sequence);
+ j.put("imu", imu);
+ j.put("mag", mag);
+
+ j.put("npad", npad);
+ j.put("gps_waiting", gps_waiting);
+ j.put("gps_ready", gps_ready);
+ j.put("ngps", ngps);
+ j.put("from_pad", from_pad);
+ j.put("elevation", elevation);
+ j.put("range", range);
+ j.put("gps_height", gps_height);
+ j.put("pad_lat", pad_lat);
+ j.put("pad_lon", pad_lon);
+ j.put("pad_alt", pad_alt);
+ j.put("speak_tick", speak_tick);
+ j.put("speak_altitude", speak_altitude);
+ j.put("callsign", callsign);
+ j.put("firmware_version", firmware_version);
+ j.put("accel_plus_g", accel_plus_g);
+ j.put("accel_minus_g", accel_minus_g);
+ j.put("accel", accel);
+ j.put("ground_accel", ground_accel);
+ j.put("ground_accel_avg", ground_accel_avg);
+ j.put("log_format", log_format);
+ j.put("log_space", log_space);
+ j.put("product", product);
+ j.put("baro", baro);
+ j.put("companion", companion);
+ j.put("pyro_fired", pyro_fired);
+ j.put("accel_zero_along", accel_zero_along);
+ j.put("accel_zero_across", accel_zero_across);
+ j.put("accel_zero_through", accel_zero_through);
+
+ j.put("rotation", rotation);
+ j.put("ground_rotation", ground_rotation);
+
+ j.put("pad_orientation", pad_orientation);
+
+ j.put("accel_ground_along", accel_ground_along);
+ j.put("accel_ground_across", accel_ground_across);
+ j.put("accel_ground_through", accel_ground_through);
+
+ j.put("gyro_zero_roll", gyro_zero_roll);
+ j.put("gyro_zero_pitch", gyro_zero_pitch);
+ j.put("gyro_zero_yaw", gyro_zero_yaw);
+
+ j.put("last_imu_time", last_imu_time);
+ return j;
+ }
+
+ public AltosState(AltosJson j) {
+ this();
+
+ set = j.get_int("set", set);
+ received_time = j.get_long("received_time", received_time);
+ time = j.get_double("time", time);
+ prev_time = j.get_double("prev_time", prev_time);
+ time_change = j.get_double("time_change", time_change);
+ tick = j.get_int("tick", tick);
+ prev_tick = j.get_int("prev_tick", prev_tick);
+ boost_tick = j.get_int("boost_tick", boost_tick);
+ state = j.get_int("state", state);
+ flight = j.get_int("flight", flight);
+ serial = j.get_int("serial", serial);
+ altitude_32 = j.get_int("altitude_32", altitude_32);
+ receiver_serial = j.get_int("receiver_serial", receiver_serial);
+ landed = j.get_boolean("landed", landed);
+ ascent = j.get_boolean("ascent", ascent);
+ boost = j.get_boolean("boost", boost);
+ rssi = j.get_int("rssi", rssi);
+ status = j.get_int("status", status);
+ device_type = j.get_int("device_type", device_type);
+ config_major = j.get_int("config_major", config_major);
+ config_minor = j.get_int("config_minor", config_minor);
+ apogee_delay = j.get_int("apogee_delay", apogee_delay);
+ main_deploy = j.get_int("main_deploy", main_deploy);
+ flight_log_max = j.get_int("flight_log_max", flight_log_max);
+ ground_altitude = AltosCValue_fromJson(j.get("ground_altitude"), ground_altitude);
+ gps_ground_altitude = AltosGpsGroundAltitude_fromJson(j.get("gps_ground_altitude"), gps_ground_altitude);
+ ground_pressure = AltosGroundPressure_fromJson(j.get("ground_pressure"), ground_pressure);
+ altitude = AltosAltitude_fromJson(j.get("altitude"), altitude);
+ gps_altitude = AltosGpsAltitude_fromJson(j.get("gps_altitude"), gps_altitude);
+ gps_ground_speed = AltosValue_fromJson(j.get("gps_ground_speed"), gps_ground_speed);
+ gps_ascent_rate = AltosValue_fromJson(j.get("gps_ascent_rate"), gps_ascent_rate);
+ gps_course = AltosValue_fromJson(j.get("gps_course"), gps_course);
+ gps_speed = AltosValue_fromJson(j.get("gps_speed"), gps_speed);
+ pressure = AltosPressure_fromJson(j.get("pressure"), pressure);
+ speed = AltosSpeed_fromJson(j.get("speed"), speed);
+ acceleration = AltosAccel_fromJson(j.get("acceleration"), acceleration);
+ orient = AltosCValue_fromJson(j.get("orient"), orient);
+ kalman_height = AltosValue_fromJson(j.get("kalman_height"), kalman_height);
+ kalman_speed = AltosValue_fromJson(j.get("kalman_speed"), kalman_speed);
+ kalman_acceleration = AltosValue_fromJson(j.get("kalman_acceleration"), kalman_acceleration);
+
+ battery_voltage = j.get_double("battery_voltage", battery_voltage);
+ pyro_voltage = j.get_double("pyro_voltage", pyro_voltage);
+ temperature = j.get_double("temperature", temperature);
+ apogee_voltage = j.get_double("apogee_voltage", apogee_voltage);
+ main_voltage= j.get_double("main_voltage", main_voltage);
+ ignitor_voltage = j.get_double_array("ignitor_voltage", ignitor_voltage);
+ gps = AltosGPS.fromJson(j.get("gps"), gps);
+ temp_gps = AltosGPS.fromJson(j.get("temp_gps"), temp_gps);
+ temp_gps_sat_tick = j.get_int("temp_gps_sat_tick", temp_gps_sat_tick);
+ gps_pending = j.get_boolean("gps_pending", gps_pending);
+ gps_sequence = j.get_int("gps_sequence", gps_sequence);
+ imu = AltosIMU.fromJson(j.get("imu"), imu);
+ mag = AltosMag.fromJson(j.get("mag"), mag);
+
+ npad = j.get_int("npad", npad);
+ gps_waiting = j.get_int("gps_waiting", gps_waiting);
+ gps_ready = j.get_boolean("gps_ready", gps_ready);
+ ngps = j.get_int("ngps", ngps);
+ from_pad = AltosGreatCircle.fromJson(j.get("from_pad"), from_pad);
+ elevation = j.get_double("elevation", elevation);
+ range = j.get_double("range", range);
+ gps_height = j.get_double("gps_height", gps_height);
+ pad_lat = j.get_double("pad_lat", pad_lat);
+ pad_lon = j.get_double("pad_lon", pad_lon);
+ pad_alt = j.get_double("pad_alt", pad_alt);
+ speak_tick = j.get_int("speak_tick", speak_tick);
+ speak_altitude = j.get_double("speak_altitude", speak_altitude);
+ callsign = j.get_string("callsign", callsign);
+ firmware_version = j.get_string("firmware_version", firmware_version);
+ accel_plus_g = j.get_double("accel_plus_g", accel_plus_g);
+ accel_minus_g = j.get_double("accel_minus_g", accel_minus_g);
+ accel = j.get_double("accel", accel);
+ ground_accel = j.get_double("ground_accel", ground_accel);
+ ground_accel_avg = j.get_double("ground_accel_avg", ground_accel_avg);
+ log_format = j.get_int("log_format", log_format);
+ log_space = j.get_int("log_space", log_space);
+ product = j.get_string("product", product);
+ baro = AltosMs5607.fromJson(j.get("baro"), baro);
+ companion = AltosCompanion.fromJson(j.get("companion"), companion);
+ pyro_fired = j.get_int("pyro_fired", pyro_fired);
+ accel_zero_along = j.get_double("accel_zero_along", accel_zero_along);
+ accel_zero_across = j.get_double("accel_zero_across", accel_zero_across);
+ accel_zero_through = j.get_double("accel_zero_through", accel_zero_through);
+
+ rotation = AltosRotation.fromJson(j.get("rotation"), rotation);
+ ground_rotation = AltosRotation.fromJson(j.get("ground_rotation"), ground_rotation);
+
+ pad_orientation = j.get_int("pad_orientation", pad_orientation);
+
+ accel_ground_along = j.get_double("accel_ground_along", accel_ground_along);
+ accel_ground_across = j.get_double("accel_ground_across", accel_ground_across);
+ accel_ground_through = j.get_double("accel_ground_through", accel_ground_through);
+
+ gyro_zero_roll = j.get_double("gyro_zero_roll", gyro_zero_roll);
+ gyro_zero_pitch = j.get_double("gyro_zero_pitch", gyro_zero_pitch);
+ gyro_zero_yaw = j.get_double("gyro_zero_yaw", gyro_zero_yaw);
+
+ last_imu_time = j.get_double("last_imu_time", last_imu_time);
+ }
+
+ public static AltosState fromJson(AltosJson j) {
+ if (j == null)
+ return null;
+ if (!j.get_boolean("valid", false))
+ return null;
+ return new AltosState(j);
+ }
}
projects / fw / altos / blobdiff