* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_6;
+package org.altusmetrum.altoslib_11;
import java.io.*;
-public class AltosState implements Cloneable, Serializable {
+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 implements Serializable{
+ class AltosValue implements AltosJsonable {
double value;
double prev_value;
private double max_value;
}
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);
}
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;
}
+
+ }
+
+ AltosValue AltosValue_fromJson(AltosJson j, AltosValue def) {
+ if (j == null)
+ return def;
+ return new AltosValue(j);
}
- class AltosCValue implements Serializable {
+ class AltosCValue implements AltosJsonable {
- class AltosIValue extends AltosValue implements Serializable {
+ class AltosIValue extends AltosValue implements AltosJsonable {
boolean can_max() {
return c_can_max();
}
+
+ AltosIValue() {
+ super();
+ }
+
+ AltosIValue(AltosJson j) {
+ super(j);
+ }
};
public AltosIValue measured;
computed.finish_update();
}
- AltosCValue() {
+ 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;
ground_altitude.set_measured(a, time);
}
- class AltosGpsGroundAltitude extends AltosValue implements Serializable {
+ class AltosGpsGroundAltitude extends AltosValue {
void set(double a, double t) {
super.set(a, t);
pad_alt = value();
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;
gps_ground_altitude.set(a, time);
}
- class AltosGroundPressure extends AltosCValue implements Serializable {
+ class AltosGroundPressure extends AltosCValue {
void set_filtered(double p, double time) {
computed.set_filtered(p, time);
if (!is_measured())
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;
ground_pressure.set_measured(pressure, time);
}
- class AltosAltitude extends AltosCValue implements Serializable {
+ class AltosAltitude extends AltosCValue {
private void set_speed(AltosValue v) {
if (!acceleration.is_measured() || !ascent)
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 implements Serializable {
+ class AltosGpsAltitude extends AltosValue {
private void set_gps_height() {
double a = value();
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;
return gps_speed.max();
}
- class AltosPressure extends AltosValue implements Serializable {
+ class AltosPressure extends AltosValue {
void set(double p, double time) {
super.set(p, time);
if (state == AltosLib.ao_flight_pad)
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;
return AltosLib.MISSING;
}
- class AltosSpeed extends AltosCValue implements Serializable {
+ class AltosSpeed extends AltosCValue {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
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;
return AltosLib.MISSING;
}
- class AltosAccel extends AltosCValue implements Serializable {
+ class AltosAccel extends AltosCValue {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
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;
public double ground_accel_avg;
public int log_format;
+ public int log_space;
public String product;
public AltosMs5607 baro;
ground_accel_avg = AltosLib.MISSING;
log_format = AltosLib.MISSING;
+ log_space = AltosLib.MISSING;
product = null;
serial = AltosLib.MISSING;
receiver_serial = AltosLib.MISSING;
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;
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;
}
}
+ public int state() {
+ return state;
+ }
+
public void set_device_type(int device_type) {
this.device_type = device_type;
switch (device_type) {
}
}
+ 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 make_companion (int nchannels) {
- if (companion == null)
- companion = new AltosCompanion(nchannels);
- }
-
public void set_companion(AltosCompanion companion) {
this.companion = companion;
}
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