+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-import java.text.*;
-
-public abstract class AltosTelemetryRecord {
-
- long received_time;
- abstract public AltosRecord update_state(AltosRecord previous);
-
- static boolean cksum(int[] bytes) {
- int sum = 0x5a;
- for (int i = 1; i < bytes.length - 1; i++)
- sum += bytes[i];
- sum &= 0xff;
- return sum == bytes[bytes.length - 1];
- }
-
- final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
- final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
- final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
-
- final static int packet_type_TM_sensor = 0x01;
- final static int packet_type_Tm_sensor = 0x02;
- final static int packet_type_Tn_sensor = 0x03;
- final static int packet_type_configuration = 0x04;
- final static int packet_type_location = 0x05;
- final static int packet_type_satellite = 0x06;
- final static int packet_type_companion = 0x07;
- final static int packet_type_MM_sensor = 0x08;
- final static int packet_type_MM_data = 0x09;
- final static int packet_type_Mini = 0x10;
-
- static AltosTelemetryRecord parse_hex(String hex) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- int[] bytes;
- try {
- bytes = AltosLib.hexbytes(hex);
- } catch (NumberFormatException ne) {
- throw new ParseException(ne.getMessage(), 0);
- }
-
- /* one for length, one for checksum */
- if (bytes[0] != bytes.length - 2)
- throw new ParseException(String.format("invalid length %d != %d\n",
- bytes[0],
- bytes.length - 2), 0);
- if (!cksum(bytes))
- throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
-
- int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
- int status = AltosLib.uint8(bytes, bytes.length - 2);
-
- if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
- throw new AltosCRCException(rssi);
-
- /* length, data ..., rssi, status, checksum -- 4 bytes extra */
- switch (bytes.length) {
- case AltosLib.ao_telemetry_standard_len + 4:
- int type = AltosLib.uint8(bytes, 4 + 1);
- switch (type) {
- case packet_type_TM_sensor:
- case packet_type_Tm_sensor:
- case packet_type_Tn_sensor:
- r = new AltosTelemetryRecordSensor(bytes, rssi);
- break;
- case packet_type_configuration:
- r = new AltosTelemetryRecordConfiguration(bytes, rssi);
- break;
- case packet_type_location:
- r = new AltosTelemetryRecordLocation(bytes, rssi);
- break;
- case packet_type_satellite:
- r = new AltosTelemetryRecordSatellite(bytes, rssi);
- break;
- case packet_type_companion:
- r = new AltosTelemetryRecordCompanion(bytes, rssi);
- break;
- case packet_type_MM_sensor:
- r = new AltosTelemetryRecordMegaSensor(bytes, rssi);
- break;
- case packet_type_MM_data:
- r = new AltosTelemetryRecordMegaData(bytes, rssi);
- break;
- default:
- r = new AltosTelemetryRecordRaw(bytes, rssi);
- break;
- }
- break;
- case AltosLib.ao_telemetry_0_9_len + 4:
- r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
- break;
- case AltosLib.ao_telemetry_0_8_len + 4:
- r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
- break;
- default:
- throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
- }
- r.received_time = System.currentTimeMillis();
- return r;
- }
-
- public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- String[] word = line.split("\\s+");
- int i =0;
- if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
- i += 2;
- AltosParse.word(word[i++], "RSSI");
- throw new AltosCRCException(AltosParse.parse_int(word[i++]));
- }
-
- if (word[i].equals("TELEM"))
- r = parse_hex(word[i+1]);
- else
- r = new AltosTelemetryRecordLegacy(line);
- return r;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-public class AltosTelemetryRecordCompanion extends AltosTelemetryRecordRaw {
-
- AltosRecordCompanion companion;
-
- public AltosTelemetryRecordCompanion(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- int off = 0;
- if (uint8(6) == 0)
- off = 1;
- int channels = uint8(7+off);
-
- if (off != 0 && channels >= 12)
- channels = 11;
-
- companion = new AltosRecordCompanion(channels);
- companion.tick = tick;
- companion.board_id = uint8(5);
- companion.update_period = uint8(6+off);
- for (int i = 0; i < companion.companion_data.length; i++)
- companion.companion_data[i] = uint16(8 + off + i * 2);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- next.companion = companion;
- next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
-
- companion.tick = tick;
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-
-public class AltosTelemetryRecordConfiguration extends AltosTelemetryRecordRaw {
- int device_type;
- int flight;
- int config_major;
- int config_minor;
- int apogee_delay;
- int main_deploy;
- int flight_log_max;
- String callsign;
- String version;
-
- public AltosTelemetryRecordConfiguration(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- device_type = uint8(5);
- flight = uint16(6);
- config_major = uint8(8);
- config_minor = uint8(9);
- apogee_delay = uint16(10);
- main_deploy = uint16(12);
- flight_log_max = uint16(14);
- callsign = string(16, 8);
- version = string(24, 8);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- next.device_type = device_type;
- next.flight = flight;
- next.config_major = config_major;
- next.config_minor = config_minor;
- next.apogee_delay = apogee_delay;
- next.main_deploy = main_deploy;
- next.flight_log_max = flight_log_max;
-
- next.callsign = callsign;
- next.firmware_version = version;
-
- next.seen |= AltosRecord.seen_deploy | AltosRecord.seen_flight;
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-import java.text.*;
-
-public class AltosTelemetryRecordGeneral {
-
- static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- String[] word = line.split("\\s+");
- int i =0;
- if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
- i += 2;
- AltosParse.word(word[i++], "RSSI");
- throw new AltosCRCException(AltosParse.parse_int(word[i++]));
- }
-
- if (word[i].equals("TELEM"))
- r = AltosTelemetryRecordRaw.parse(word[i+1]);
- else
- r = new AltosTelemetryRecordLegacy(line);
- return r;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-import java.text.*;
-
-/*
- * Telemetry data contents
- */
-
-
-/*
- * The packet format is a simple hex dump of the raw telemetry frame.
- * It starts with 'TELEM', then contains hex digits with a checksum as the last
- * byte on the line.
- *
- * Version 4 is a replacement with consistent syntax. Each telemetry line
- * contains a sequence of space-separated names and values, the values are
- * either integers or strings. The names are all unique. All values are
- * optional
- *
- * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
- * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
- * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
- *
- * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
- * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
- *
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- *
- * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
- * in 1/2dB increments while this protocol provides only integers. So,
- * the syntax didn't change just the interpretation of the RSSI
- * values.
- *
- * Version 2 of the telemetry data stream is a bit of a mess, with no
- * consistent formatting. In particular, the GPS data is formatted for
- * viewing instead of parsing. However, the key feature is that every
- * telemetry line contains all of the information necessary to
- * describe the current rocket state, including the calibration values
- * for accelerometer and barometer.
- *
- * GPS unlocked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
- * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
- * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
- *
- * GPS locked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
- * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
- * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
- * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
- * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
- * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
- *
- */
-
-public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
- /*
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- */
-
- final static String AO_TELEM_VERSION = "VERSION";
- final static String AO_TELEM_CALL = "c";
- final static String AO_TELEM_SERIAL = "n";
- final static String AO_TELEM_FLIGHT = "f";
- final static String AO_TELEM_RSSI = "r";
- final static String AO_TELEM_STATE = "s";
- final static String AO_TELEM_TICK = "t";
-
- /*
- * Raw sensor values
- *
- * Name Value
- * r_a Accelerometer reading (integer)
- * r_b Barometer reading (integer)
- * r_t Thermometer reading (integer)
- * r_v Battery reading (integer)
- * r_d Drogue continuity (integer)
- * r_m Main continuity (integer)
- */
-
- final static String AO_TELEM_RAW_ACCEL = "r_a";
- final static String AO_TELEM_RAW_BARO = "r_b";
- final static String AO_TELEM_RAW_THERMO = "r_t";
- final static String AO_TELEM_RAW_BATT = "r_v";
- final static String AO_TELEM_RAW_DROGUE = "r_d";
- final static String AO_TELEM_RAW_MAIN = "r_m";
-
- /*
- * Sensor calibration values
- *
- * Name Value
- * c_a Ground accelerometer reading (integer)
- * c_b Ground barometer reading (integer)
- * c_p Accelerometer reading for +1g
- * c_m Accelerometer reading for -1g
- */
-
- final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
- final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
- final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
- final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
-
- /*
- * Kalman state values
- *
- * Name Value
- * k_h Height above pad (integer, meters)
- * k_s Vertical speeed (integer, m/s * 16)
- * k_a Vertical acceleration (integer, m/s² * 16)
- */
-
- final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
- final static String AO_TELEM_KALMAN_SPEED = "k_s";
- final static String AO_TELEM_KALMAN_ACCEL = "k_a";
-
- /*
- * Ad-hoc flight values
- *
- * Name Value
- * a_a Acceleration (integer, sensor units)
- * a_s Speed (integer, integrated acceleration value)
- * a_b Barometer reading (integer, sensor units)
- */
-
- final static String AO_TELEM_ADHOC_ACCEL = "a_a";
- final static String AO_TELEM_ADHOC_SPEED = "a_s";
- final static String AO_TELEM_ADHOC_BARO = "a_b";
-
- /*
- * GPS values
- *
- * Name Value
- * g_s GPS state (string):
- * l locked
- * u unlocked
- * e error (missing or broken)
- * g_n Number of sats used in solution
- * g_ns Latitude (degrees * 10e7)
- * g_ew Longitude (degrees * 10e7)
- * g_a Altitude (integer meters)
- * g_Y GPS year (integer)
- * g_M GPS month (integer - 1-12)
- * g_D GPS day (integer - 1-31)
- * g_h GPS hour (integer - 0-23)
- * g_m GPS minute (integer - 0-59)
- * g_s GPS second (integer - 0-59)
- * g_v GPS vertical speed (integer, cm/sec)
- * g_s GPS horizontal speed (integer, cm/sec)
- * g_c GPS course (integer, 0-359)
- * g_hd GPS hdop (integer * 10)
- * g_vd GPS vdop (integer * 10)
- * g_he GPS h error (integer)
- * g_ve GPS v error (integer)
- */
-
- final static String AO_TELEM_GPS_STATE = "g";
- final static String AO_TELEM_GPS_STATE_LOCKED = "l";
- final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
- final static String AO_TELEM_GPS_STATE_ERROR = "e";
- final static String AO_TELEM_GPS_NUM_SAT = "g_n";
- final static String AO_TELEM_GPS_LATITUDE = "g_ns";
- final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
- final static String AO_TELEM_GPS_ALTITUDE = "g_a";
- final static String AO_TELEM_GPS_YEAR = "g_Y";
- final static String AO_TELEM_GPS_MONTH = "g_M";
- final static String AO_TELEM_GPS_DAY = "g_D";
- final static String AO_TELEM_GPS_HOUR = "g_h";
- final static String AO_TELEM_GPS_MINUTE = "g_m";
- final static String AO_TELEM_GPS_SECOND = "g_s";
- final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
- final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
- final static String AO_TELEM_GPS_COURSE = "g_c";
- final static String AO_TELEM_GPS_HDOP = "g_hd";
- final static String AO_TELEM_GPS_VDOP = "g_vd";
- final static String AO_TELEM_GPS_HERROR = "g_he";
- final static String AO_TELEM_GPS_VERROR = "g_ve";
-
- /*
- * GPS satellite values
- *
- * Name Value
- * s_n Number of satellites reported (integer)
- * s_v0 Space vehicle ID (integer) for report 0
- * s_c0 C/N0 number (integer) for report 0
- * s_v1 Space vehicle ID (integer) for report 1
- * s_c1 C/N0 number (integer) for report 1
- * ...
- */
-
- final static String AO_TELEM_SAT_NUM = "s_n";
- final static String AO_TELEM_SAT_SVID = "s_v";
- final static String AO_TELEM_SAT_C_N_0 = "s_c";
-
- AltosRecordTM record;
-
- private void parse_v4(String[] words, int i) throws ParseException {
- AltosTelemetryMap map = new AltosTelemetryMap(words, i);
-
- record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
- record.serial = map.get_int(AO_TELEM_SERIAL, AltosLib.MISSING);
- record.flight = map.get_int(AO_TELEM_FLIGHT, AltosLib.MISSING);
- record.rssi = map.get_int(AO_TELEM_RSSI, AltosLib.MISSING);
- record.state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid"));
- record.tick = map.get_int(AO_TELEM_TICK, 0);
-
- /* raw sensor values */
- record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosLib.MISSING);
- record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosLib.MISSING);
- record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosLib.MISSING);
- record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosLib.MISSING);
- record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosLib.MISSING);
- record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosLib.MISSING);
-
- /* sensor calibration information */
- record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosLib.MISSING);
- record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosLib.MISSING);
- record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosLib.MISSING);
- record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosLib.MISSING);
-
- /* flight computer values */
- record.kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosLib.MISSING, 1/16.0);
- record.kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosLib.MISSING, 1/16.0);
- record.kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosLib.MISSING);
-
- record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosLib.MISSING);
- record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosLib.MISSING);
- record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosLib.MISSING);
-
- if (map.has(AO_TELEM_GPS_STATE)) {
- record.gps = new AltosGPS(map);
- record.gps_sequence++;
- }
- else
- record.gps = null;
- }
-
- private void parse_legacy(String[] words, int i) throws ParseException {
-
- AltosParse.word (words[i++], "CALL");
- record.callsign = words[i++];
-
- AltosParse.word (words[i++], "SERIAL");
- record.serial = AltosParse.parse_int(words[i++]);
-
- if (record.version >= 2) {
- AltosParse.word (words[i++], "FLIGHT");
- record.flight = AltosParse.parse_int(words[i++]);
- } else
- record.flight = 0;
-
- AltosParse.word(words[i++], "RSSI");
- record.rssi = AltosParse.parse_int(words[i++]);
-
- /* Older telemetry data had mis-computed RSSI value */
- if (record.version <= 2)
- record.rssi = (record.rssi + 74) / 2 - 74;
-
- AltosParse.word(words[i++], "STATUS");
- record.status = AltosParse.parse_hex(words[i++]);
-
- AltosParse.word(words[i++], "STATE");
- record.state = AltosLib.state(words[i++]);
-
- record.tick = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "a:");
- record.accel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "p:");
- record.pres = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "t:");
- record.temp = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "v:");
- record.batt = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "d:");
- record.drogue = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "m:");
- record.main = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "fa:");
- record.flight_accel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "ga:");
- record.ground_accel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "fv:");
- record.flight_vel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "fp:");
- record.flight_pres = AltosParse.parse_int(words[i++]);
-
- /* Old TeleDongle code with kalman-reporting TeleMetrum code */
- if ((record.flight_vel & 0xffff0000) == 0x80000000) {
- record.kalman_speed = ((short) record.flight_vel) / 16.0;
- record.kalman_acceleration = record.flight_accel / 16.0;
- record.kalman_height = record.flight_pres;
- record.flight_vel = AltosLib.MISSING;
- record.flight_pres = AltosLib.MISSING;
- record.flight_accel = AltosLib.MISSING;
- }
-
- AltosParse.word(words[i++], "gp:");
- record.ground_pres = AltosParse.parse_int(words[i++]);
-
- if (record.version >= 1) {
- AltosParse.word(words[i++], "a+:");
- record.accel_plus_g = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "a-:");
- record.accel_minus_g = AltosParse.parse_int(words[i++]);
- } else {
- record.accel_plus_g = record.ground_accel;
- record.accel_minus_g = record.ground_accel + 530;
- }
-
- record.gps = new AltosGPS(words, i, record.version);
- record.gps_sequence++;
- }
-
- public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
- String[] words = line.split("\\s+");
- int i = 0;
-
- record = new AltosRecordTM();
-
- if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
- i += 2;
- AltosParse.word(words[i++], "RSSI");
- record.rssi = AltosParse.parse_int(words[i++]);
- throw new AltosCRCException(record.rssi);
- }
- if (words[i].equals("CALL")) {
- record.version = 0;
- } else {
- AltosParse.word (words[i++], "VERSION");
- record.version = AltosParse.parse_int(words[i++]);
- }
-
- if (record.version < 4)
- parse_legacy(words, i);
- else
- parse_v4(words, i);
- }
-
- /*
- * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that
- */
-
- int[] bytes;
- int adjust;
-
- /*
- private int int8(int i) {
- return AltosLib.int8(bytes, i + 1 + adjust);
- }
- */
- private int uint8(int i) {
- return AltosLib.uint8(bytes, i + 1 + adjust);
- }
- private int int16(int i) {
- return AltosLib.int16(bytes, i + 1 + adjust);
- }
- private int uint16(int i) {
- return AltosLib.uint16(bytes, i + 1 + adjust);
- }
- private int uint32(int i) {
- return AltosLib.uint32(bytes, i + 1 + adjust);
- }
- private String string(int i, int l) {
- return AltosLib.string(bytes, i + 1 + adjust, l);
- }
-
- static final int AO_GPS_NUM_SAT_MASK = (0xf << 0);
- static final int AO_GPS_NUM_SAT_SHIFT = (0);
-
- static final int AO_GPS_VALID = (1 << 4);
- static final int AO_GPS_RUNNING = (1 << 5);
- static final int AO_GPS_DATE_VALID = (1 << 6);
- static final int AO_GPS_COURSE_VALID = (1 << 7);
-
- public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
- record = new AltosRecordTM();
-
- bytes = in_bytes;
- record.version = 4;
- adjust = 0;
-
- if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
- record.serial = uint8(0);
- adjust = -1;
- } else
- record.serial = uint16(0);
-
- record.seen = AltosRecord.seen_flight | AltosRecord.seen_sensor | AltosRecord.seen_temp_volt | AltosRecord.seen_deploy;
-
- record.callsign = string(62, 8);
- record.flight = uint16(2);
- record.rssi = in_rssi;
- record.status = in_status;
- record.state = uint8(4);
- record.tick = uint16(21);
- record.accel = int16(23);
- record.pres = int16(25);
- record.temp = int16(27);
- record.batt = int16(29);
- record.drogue = int16(31);
- record.main = int16(33);
-
- record.ground_accel = int16(7);
- record.ground_pres = int16(15);
- record.accel_plus_g = int16(17);
- record.accel_minus_g = int16(19);
-
- if (uint16(11) == 0x8000) {
- record.kalman_acceleration = int16(5);
- record.kalman_speed = int16(9);
- record.kalman_height = int16(13);
- record.flight_accel = AltosLib.MISSING;
- record.flight_vel = AltosLib.MISSING;
- record.flight_pres = AltosLib.MISSING;
- } else {
- record.flight_accel = int16(5);
- record.flight_vel = uint32(9);
- record.flight_pres = int16(13);
- record.kalman_acceleration = AltosLib.MISSING;
- record.kalman_speed = AltosLib.MISSING;
- record.kalman_height = AltosLib.MISSING;
- }
-
- record.gps = null;
-
- int gps_flags = uint8(41);
-
- if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
- record.gps = new AltosGPS();
- record.gps_sequence++;
-
- record.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
- record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
- record.gps.locked = (gps_flags & AO_GPS_VALID) != 0;
- record.gps.connected = true;
- record.gps.lat = uint32(42) / 1.0e7;
- record.gps.lon = uint32(46) / 1.0e7;
- record.gps.alt = int16(50);
- record.gps.ground_speed = uint16(52) / 100.0;
- record.gps.course = uint8(54) * 2;
- record.gps.hdop = uint8(55) / 5.0;
- record.gps.h_error = uint16(58);
- record.gps.v_error = uint16(60);
-
- int n_tracking_reported = uint8(70);
- if (n_tracking_reported > 12)
- n_tracking_reported = 12;
- int n_tracking_actual = 0;
- for (int i = 0; i < n_tracking_reported; i++) {
- if (uint8(71 + i*2) != 0)
- n_tracking_actual++;
- }
- if (n_tracking_actual > 0) {
- record.gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
-
- n_tracking_actual = 0;
- for (int i = 0; i < n_tracking_reported; i++) {
- int svid = uint8(71 + i*2);
- int c_n0 = uint8(72 + i*2);
- if (svid != 0)
- record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
- }
- }
- }
-
- record.time = 0.0;
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- return record;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-
-public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw {
- int flags;
- int altitude;
- int latitude;
- int longitude;
- int year;
- int month;
- int day;
- int hour;
- int minute;
- int second;
- int pdop;
- int hdop;
- int vdop;
- int mode;
- int ground_speed;
- int climb_rate;
- int course;
-
- public AltosTelemetryRecordLocation(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- flags = uint8(5);
- altitude = int16(6);
- latitude = uint32(8);
- longitude = uint32(12);
- year = uint8(16);
- month = uint8(17);
- day = uint8(18);
- hour = uint8(19);
- minute = uint8(20);
- second = uint8(21);
- pdop = uint8(22);
- hdop = uint8(23);
- vdop = uint8(24);
- mode = uint8(25);
- ground_speed = uint16(26);
- climb_rate = int16(28);
- course = uint8(30);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- if (next.gps == null)
- next.gps = new AltosGPS();
-
- next.gps.nsat = flags & 0xf;
- next.gps.locked = (flags & (1 << 4)) != 0;
- next.gps.connected = (flags & (1 << 5)) != 0;
-
- if (next.gps.locked) {
- next.gps.lat = latitude * 1.0e-7;
- next.gps.lon = longitude * 1.0e-7;
- next.gps.alt = altitude;
- next.gps.year = 2000 + year;
- next.gps.month = month;
- next.gps.day = day;
- next.gps.hour = hour;
- next.gps.minute = minute;
- next.gps.second = second;
- next.gps.ground_speed = ground_speed * 1.0e-2;
- next.gps.course = course * 2;
- next.gps.climb_rate = climb_rate * 1.0e-2;
- next.gps.hdop = hdop;
- next.gps.vdop = vdop;
- next.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
- next.gps_sequence++;
- }
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-
-public class AltosTelemetryRecordMegaData extends AltosTelemetryRecordRaw {
-
- int state;
-
- int v_batt;
- int v_pyro;
- int sense[];
-
- int ground_pres;
- int ground_accel;
- int accel_plus_g;
- int accel_minus_g;
-
- int acceleration;
- int speed;
- int height;
-
- public AltosTelemetryRecordMegaData(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- state = int8(5);
-
- v_batt = int16(6);
- v_pyro = int16(8);
-
- sense = new int[6];
-
- for (int i = 0; i < 6; i++) {
- sense[i] = int8(10 + i) << 4;
- sense[i] |= sense[i] >> 8;
- }
-
- ground_pres = int32(16);
- ground_accel = int16(20);
- accel_plus_g = int16(22);
- accel_minus_g = int16(24);
-
- acceleration = int16(26);
- speed = int16(28);
- height = int16(30);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord n = super.update_state(previous);
-
- AltosRecordMM next;
- if (!(n instanceof AltosRecordMM)) {
- next = new AltosRecordMM(n);
- } else {
- next = (AltosRecordMM) n;
- }
-
- next.state = state;
-
- next.v_batt = v_batt;
- next.v_pyro = v_pyro;
-
- for (int i = 0; i < 6; i++)
- next.sense[i] = sense[i];
-
- next.ground_accel = ground_accel;
- next.ground_pres = ground_pres;
- next.accel_plus_g = accel_plus_g;
- next.accel_minus_g = accel_minus_g;
-
- next.kalman_acceleration = acceleration / 16.0;
- next.kalman_speed = speed / 16.0;
- next.kalman_height = height;
-
- next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-
-public class AltosTelemetryRecordMegaSensor extends AltosTelemetryRecordRaw {
- int accel;
- int pres;
- int temp;
-
- int accel_x;
- int accel_y;
- int accel_z;
-
- int gyro_x;
- int gyro_y;
- int gyro_z;
-
- int mag_x;
- int mag_y;
- int mag_z;
-
- public AltosTelemetryRecordMegaSensor(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- accel = int16(6);
- pres = int32(8);
- temp = int16(12);
-
- accel_x = int16(14);
- accel_y = int16(16);
- accel_z = int16(18);
-
- gyro_x = int16(20);
- gyro_y = int16(22);
- gyro_z = int16(24);
-
- mag_x = int16(26);
- mag_y = int16(28);
- mag_z = int16(30);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord n = super.update_state(previous);
-
- AltosRecordMM next;
- if (!(n instanceof AltosRecordMM)) {
- next = new AltosRecordMM(n);
- } else {
- next = (AltosRecordMM) n;
- }
-
- next.accel = accel;
- next.pres = pres;
- next.temp = temp;
-
- next.imu.accel_x = accel_x;
- next.imu.accel_y = accel_y;
- next.imu.accel_z = accel_z;
-
- next.imu.gyro_x = gyro_x;
- next.imu.gyro_y = gyro_y;
- next.imu.gyro_z = gyro_z;
-
- next.mag.x = mag_x;
- next.mag.y = mag_y;
- next.mag.z = mag_z;
-
- next.seen |= AltosRecord.seen_sensor;
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-
-public class AltosTelemetryRecordMetrumData extends AltosTelemetryRecordRaw {
-
- int ground_pres;
- int ground_accel;
- int accel_plus_g;
- int accel_minus_g;
-
- public AltosTelemetryRecordMetrumData(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- ground_pres = int32(8);
- ground_accel = int16(12);
- accel_plus_g = int16(14);
- accel_minus_g = int16(16);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord n = super.update_state(previous);
-
- AltosRecordTM2 next;
- if (!(n instanceof AltosRecordTM2)) {
- next = new AltosRecordTM2(n);
- } else {
- next = (AltosRecordTM2) n;
- }
-
- next.ground_accel = ground_accel;
- next.ground_pres = ground_pres;
- next.accel_plus_g = accel_plus_g;
- next.accel_minus_g = accel_minus_g;
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-
-public class AltosTelemetryRecordMetrumSensor extends AltosTelemetryRecordRaw {
- int state;
-
- int accel;
- int pres;
- int temp;
-
- int acceleration;
- int speed;
- int height;
-
- int v_batt;
- int sense_a;
- int sense_m;
-
- public AltosTelemetryRecordMetrumSensor(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- state = int8(5);
- accel = int16(6);
- pres = int32(8);
- temp = int16(12);
-
- acceleration = int16(14);
- speed = int16(16);
- height = int16(18);
-
- v_batt = int16(20);
- sense_a = int16(22);
- sense_m = int16(24);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord n = super.update_state(previous);
-
- AltosRecordTM2 next;
- if (!(n instanceof AltosRecordTM2)) {
- next = new AltosRecordTM2(n);
- } else {
- next = (AltosRecordTM2) n;
- }
-
- next.state = state;
-
- next.accel = accel;
- next.pres = pres;
- next.temp = temp;
-
- next.kalman_acceleration = acceleration / 16.0;
- next.kalman_speed = speed / 16.0;
- next.kalman_height = height;
-
- next.v_batt = v_batt;
- next.sense_a = sense_a;
- next.sense_m = sense_m;
-
- next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;;
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-
-public class AltosTelemetryRecordMini extends AltosTelemetryRecordRaw {
- int state;
-
- int accel;
- int pres;
- int temp;
-
- int v_batt;
- int sense_a;
- int sense_m;
-
- int acceleration;
- int speed;
- int height;
-
- int ground_pres;
-
- public AltosTelemetryRecordMini(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- state = int8(5);
- v_batt = int16(6);
- sense_a = int16(8);
- sense_m = int16(10);
-
- pres = int32(12);
- temp = int16(16);
-
- acceleration = int16(18);
- speed = int16(20);
- height = int16(22);
-
- ground_pres = int32(24);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord n = super.update_state(previous);
-
- AltosRecordMini next;
- if (!(n instanceof AltosRecordMini)) {
- next = new AltosRecordMini(n);
- } else {
- next = (AltosRecordMini) n;
- }
-
- next.pres = pres;
- next.temp = temp;
-
- next.sense_a = sense_a;
- next.sense_m = sense_m;
-
- next.ground_pres = ground_pres;
- next.flight_accel = acceleration;
- next.flight_vel = speed;
- next.flight_height = height;
- next.flight_pres = pres;
-
- next.seen |= AltosRecord.seen_sensor;
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-public class AltosTelemetryRecordRaw extends AltosTelemetryRecord {
- int[] bytes;
- int serial;
- int tick;
- int type;
- int rssi;
-
- long received_time;
-
- public int int8(int off) {
- return AltosLib.int8(bytes, off + 1);
- }
-
- public int uint8(int off) {
- return AltosLib.uint8(bytes, off + 1);
- }
-
- public int int16(int off) {
- return AltosLib.int16(bytes, off + 1);
- }
-
- public int uint16(int off) {
- return AltosLib.uint16(bytes, off + 1);
- }
-
- public int uint32(int off) {
- return AltosLib.uint32(bytes, off + 1);
- }
-
- public int int32(int off) {
- return AltosLib.int32(bytes, off + 1);
- }
-
- public String string(int off, int l) {
- return AltosLib.string(bytes, off + 1, l);
- }
-
- public AltosTelemetryRecordRaw(int[] in_bytes, int in_rssi) {
- bytes = in_bytes;
- serial = uint16(0);
- tick = uint16(2);
- type = uint8(4);
- rssi = in_rssi;
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next;
-
- if (previous != null && previous.serial == serial)
- next = previous.clone();
- else
- next = new AltosRecordNone();
- next.serial = serial;
- next.tick = tick;
- next.rssi = rssi;
- return next;
- }
-
- public long received_time() {
- return received_time;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-public class AltosTelemetryRecordSatellite extends AltosTelemetryRecordRaw {
- int channels;
- AltosGPSSat[] sats;
-
- public AltosTelemetryRecordSatellite(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- channels = uint8(5);
- if (channels > 12)
- channels = 12;
- if (channels == 0)
- sats = null;
- else {
- sats = new AltosGPSSat[channels];
- for (int i = 0; i < channels; i++) {
- int svid = uint8(6 + i * 2 + 0);
- int c_n_1 = uint8(6 + i * 2 + 1);
- sats[i] = new AltosGPSSat(svid, c_n_1);
- }
- }
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- if (next.gps == null)
- next.gps = new AltosGPS();
-
- next.gps.cc_gps_sat = sats;
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_2;
-
-
-public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
- int state;
- int accel;
- int pres;
- int temp;
- int v_batt;
- int sense_d;
- int sense_m;
-
- int acceleration;
- int speed;
- int height;
-
- int ground_accel;
- int ground_pres;
- int accel_plus_g;
- int accel_minus_g;
-
- public AltosTelemetryRecordSensor(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
- state = uint8(5);
-
- accel = int16(6);
- pres = int16(8);
- temp = int16(10);
- v_batt = int16(12);
- sense_d = int16(14);
- sense_m = int16(16);
-
- acceleration = int16(18);
- speed = int16(20);
- height = int16(22);
-
- ground_pres = int16(24);
- ground_accel = int16(26);
- accel_plus_g = int16(28);
- accel_minus_g = int16(30);
- }
-
- public AltosRecord update_state(AltosRecord prev) {
- AltosRecord n = super.update_state(prev);
-
- AltosRecordTM next;
- if (!(n instanceof AltosRecordTM))
- next = new AltosRecordTM(n);
- else
- next = (AltosRecordTM) n;
-
- next.state = state;
- if (type == packet_type_TM_sensor)
- next.accel = accel;
- else
- next.accel = AltosLib.MISSING;
- next.pres = pres;
- next.temp = temp;
- next.batt = v_batt;
- if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
- next.drogue = sense_d;
- next.main = sense_m;
- } else {
- next.drogue = AltosLib.MISSING;
- next.main = AltosLib.MISSING;
- }
-
- next.kalman_acceleration = acceleration / 16.0;
- next.kalman_speed = speed / 16.0;
- next.kalman_height = height;
-
- next.ground_pres = ground_pres;
- if (type == packet_type_TM_sensor) {
- next.ground_accel = ground_accel;
- next.accel_plus_g = accel_plus_g;
- next.accel_minus_g = accel_minus_g;
- } else {
- next.ground_accel = AltosLib.MISSING;
- next.accel_plus_g = AltosLib.MISSING;
- next.accel_minus_g = AltosLib.MISSING;
- }
-
- next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
-
- return next;
- }
-}