X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosFlightSeries.java;h=ab7943b399c1a340c3257b35dbdda9721c5e56e7;hp=88529e2a908abb3e9054c6a468b1db112c7e38c9;hb=d75e8b9046295051c91696461e8d5f59c8260ccc;hpb=dcf533d5befffa4c9c872f3c3d21d11ffeb61307 diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java index 88529e2a..ab7943b3 100644 --- a/altoslib/AltosFlightSeries.java +++ b/altoslib/AltosFlightSeries.java @@ -12,7 +12,7 @@ * General Public License for more details. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_12; import java.util.*; @@ -118,6 +118,12 @@ public class AltosFlightSeries extends AltosDataListener { } public void add_series(AltosTimeSeries s) { + for (int e = 0; e < series.size(); e++) { + if (s.compareTo(series.get(e)) < 0){ + series.add(e, s); + return; + } + } series.add(s); } @@ -144,21 +150,23 @@ public class AltosFlightSeries extends AltosDataListener { public void set_state(int state) { - if (state == AltosLib.ao_flight_pad) - return; - - if (state_series == null) - state_series = add_series(state_name, AltosConvert.state_name); - else if (this.state == state) - return; - this.state = state; - state_series.add(time(), state); + if (state != AltosLib.ao_flight_pad && state != AltosLib.MISSING && state != AltosLib.ao_flight_stateless) { + if (state_series == null) + state_series = add_series(state_name, AltosConvert.state_name); + if (this.state() != state) + state_series.add(time(), state); + } + super.set_state(state); } public AltosTimeSeries accel_series; public static final String accel_name = "Accel"; + public AltosTimeSeries vert_accel_series; + + public static final String vert_accel_name = "Vertical Accel"; + public void set_acceleration(double acceleration) { if (acceleration == AltosLib.MISSING) return; @@ -183,6 +191,17 @@ public class AltosFlightSeries extends AltosDataListener { public void set_received_time(long received_time) { } + public AltosTimeSeries tick_series; + + public static final String tick_name = "Tick"; + + public void set_tick(int tick) { + super.set_tick(tick); + if (tick_series == null) + tick_series = add_series(tick_name, null); + tick_series.add(time(), tick); + } + public AltosTimeSeries rssi_series; public static final String rssi_name = "RSSI"; @@ -222,23 +241,23 @@ public class AltosFlightSeries extends AltosDataListener { if (altitude_series == null) altitude_series = add_series(altitude_name, AltosConvert.height); - if (cal_data.ground_pressure == AltosLib.MISSING) - cal_data.set_ground_pressure(pa); + if (cal_data().ground_pressure == AltosLib.MISSING) + cal_data().set_ground_pressure(pa); double altitude = AltosConvert.pressure_to_altitude(pa); altitude_series.add(time(), altitude); } private void compute_height() { - double ground_altitude = cal_data.ground_altitude; + double ground_altitude = cal_data().ground_altitude; if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) { height_series = add_series(height_name, AltosConvert.height); for (AltosTimeValue alt : altitude_series) height_series.add(alt.time, alt.value - ground_altitude); } - if (gps_height == null && cal_data.gps_pad != null && gps_altitude != null) { - double gps_ground_altitude = cal_data.gps_pad.alt; + if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) { + double gps_ground_altitude = cal_data().gps_pad.alt; gps_height = add_series(gps_height_name, AltosConvert.height); for (AltosTimeValue gps_alt : gps_altitude) gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude); @@ -264,8 +283,25 @@ public class AltosFlightSeries extends AltosDataListener { temp_series.differentiate(alt_speed_series); } if (accel_series != null) { + + if (orient_series != null) { + vert_accel_series = add_series(vert_accel_name, AltosConvert.accel); + + for (AltosTimeValue a : accel_series) { + double orient = orient_series.value(a.time); + double a_abs = a.value + AltosConvert.gravity; + double v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity; + + vert_accel_series.add(a.time, v_a); + } + } + AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed); - accel_series.integrate(temp_series); + + if (vert_accel_series != null) + vert_accel_series.integrate(temp_series); + else + accel_series.integrate(temp_series); accel_speed_series = make_series(speed_name, AltosConvert.speed); temp_series.filter(accel_speed_series, 0.1); @@ -304,6 +340,49 @@ public class AltosFlightSeries extends AltosDataListener { add_series(speed_series); } + public AltosTimeSeries orient_series; + + public static final String orient_name = "Tilt Angle"; + + private void compute_orient() { + + if (orient_series != null) + return; + + if (accel_ground_across == AltosLib.MISSING) + return; + + if (cal_data().pad_orientation == AltosLib.MISSING) + return; + + if (cal_data().accel_zero_across == AltosLib.MISSING) + return; + + AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data().accel_zero_across), + AltosIMU.convert_accel(accel_ground_through - cal_data().accel_zero_through), + AltosIMU.convert_accel(accel_ground_along - cal_data().accel_zero_along), + cal_data().pad_orientation); + double prev_time = ground_time; + + orient_series = add_series(orient_name, AltosConvert.orient); + orient_series.add(ground_time, rotation.tilt()); + + for (AltosTimeValue roll_v : gyro_roll) { + double time = roll_v.time; + double dt = time - prev_time; + + if (dt > 0) { + double roll = AltosConvert.degrees_to_radians(roll_v.value) * dt; + double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt; + double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt; + + rotation.rotate(pitch, yaw, roll); + orient_series.add(time, rotation.tilt()); + } + prev_time = time; + } + } + public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series; public static final String kalman_height_name = "Kalman Height"; @@ -499,7 +578,17 @@ public class AltosFlightSeries extends AltosDataListener { accel_through.add(time(), through); } + private double accel_ground_along = AltosLib.MISSING; + private double accel_ground_across = AltosLib.MISSING; + private double accel_ground_through = AltosLib.MISSING; + + private double ground_time; + public void set_accel_ground(double along, double across, double through) { + accel_ground_along = along; + accel_ground_across = across; + accel_ground_through = through; + ground_time = time(); } public void set_gyro(double roll, double pitch, double yaw) { @@ -524,10 +613,6 @@ public class AltosFlightSeries extends AltosDataListener { mag_through.add(time(), through); } - public static final String orient_name = "Tilt Angle"; - - public AltosTimeSeries orient_series; - public void set_orient(double orient) { if (orient_series == null) orient_series = add_series(orient_name, AltosConvert.orient); @@ -567,7 +652,7 @@ public class AltosFlightSeries extends AltosDataListener { public void set_igniter_voltage(double[] voltage) { int channels = voltage.length; if (igniter_voltage == null || igniter_voltage.length <= channels) { - AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1]; + AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels]; int i = 0; if (igniter_voltage != null) { @@ -604,6 +689,7 @@ public class AltosFlightSeries extends AltosDataListener { } public void finish() { + compute_orient(); compute_speed(); compute_accel(); compute_height();