2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
15 package org.altusmetrum.altoslib_11;
19 public class AltosFlightSeries extends AltosDataListener {
21 public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
23 public double speed_filter_width = 4.0;
24 public double accel_filter_width = 4.0;
26 public int[] indices() {
27 int[] indices = new int[series.size()];
28 for (int i = 0; i < indices.length; i++)
30 step_indices(indices);
34 private double time(int id, int index) {
35 AltosTimeSeries s = series.get(id);
38 return Double.NEGATIVE_INFINITY;
40 if (index < s.values.size())
41 return s.values.get(index).time;
42 return Double.POSITIVE_INFINITY;
45 public boolean step_indices(int[] indices) {
46 double min_next = time(0, indices[0]+1);
48 for (int i = 1; i < indices.length; i++) {
49 double next = time(i, indices[i]+1);
54 if (min_next == Double.POSITIVE_INFINITY)
57 for (int i = 0; i < indices.length; i++) {
58 double t = time(i, indices[i] + 1);
66 public double time(int[] indices) {
67 double max = time(0, indices[0]);
69 for (int i = 1; i < indices.length; i++) {
70 double t = time(i, indices[i]);
77 public double value(String name, int[] indices) {
78 for (int i = 0; i < indices.length; i++) {
79 AltosTimeSeries s = series.get(i);
80 if (s.label.equals(name)) {
81 int index = indices[i];
84 if (index >= s.values.size())
85 index = s.values.size() - 1;
86 return s.values.get(index).value;
89 return AltosLib.MISSING;
92 public double value(String name, double time) {
93 for (AltosTimeSeries s : series) {
94 if (s.label.equals(name))
97 return AltosLib.MISSING;
100 public double value_before(String name, double time) {
101 for (AltosTimeSeries s : series) {
102 if (s.label.equals(name))
103 return s.value_before(time);
105 return AltosLib.MISSING;
108 public double value_after(String name, double time) {
109 for (AltosTimeSeries s : series) {
110 if (s.label.equals(name))
111 return s.value_after(time);
113 return AltosLib.MISSING;
116 public AltosTimeSeries make_series(String label, AltosUnits units) {
117 return new AltosTimeSeries(label, units);
120 public void add_series(AltosTimeSeries s) {
124 public AltosTimeSeries add_series(String label, AltosUnits units) {
125 AltosTimeSeries s = make_series(label, units);
130 public void remove_series(AltosTimeSeries s) {
134 public boolean has_series(String label) {
135 for (AltosTimeSeries s : series)
136 if (s.label.equals(label))
141 public AltosTimeSeries state_series;
143 public static final String state_name = "State";
145 public void set_state(int state) {
147 if (state == AltosLib.ao_flight_pad)
150 if (state_series == null)
151 state_series = add_series(state_name, AltosConvert.state_name);
152 else if (this.state == state)
155 state_series.add(time(), state);
158 public AltosTimeSeries accel_series;
160 public static final String accel_name = "Accel";
162 public AltosTimeSeries vert_accel_series;
164 public static final String vert_accel_name = "Vertical Accel";
166 public void set_acceleration(double acceleration) {
167 if (acceleration == AltosLib.MISSING)
169 if (accel_series == null)
170 accel_series = add_series(accel_name, AltosConvert.accel);
172 accel_series.add(time(), acceleration);
175 private void compute_accel() {
176 if (accel_series != null)
179 if (speed_series != null) {
180 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
181 speed_series.filter(temp_series, accel_filter_width);
182 accel_series = add_series(accel_name, AltosConvert.accel);
183 temp_series.differentiate(accel_series);
187 public void set_received_time(long received_time) {
190 public AltosTimeSeries rssi_series;
192 public static final String rssi_name = "RSSI";
194 public AltosTimeSeries status_series;
196 public static final String status_name = "Radio Status";
198 public void set_rssi(int rssi, int status) {
199 if (rssi_series == null) {
200 rssi_series = add_series(rssi_name, null);
201 status_series = add_series(status_name, null);
203 rssi_series.add(time(), rssi);
204 status_series.add(time(), status);
207 public AltosTimeSeries pressure_series;
209 public static final String pressure_name = "Pressure";
211 public AltosTimeSeries altitude_series;
213 public static final String altitude_name = "Altitude";
215 public AltosTimeSeries height_series;
217 public static final String height_name = "Height";
219 public void set_pressure(double pa) {
220 if (pa == AltosLib.MISSING)
223 if (pressure_series == null)
224 pressure_series = add_series(pressure_name, AltosConvert.pressure);
225 pressure_series.add(time(), pa);
226 if (altitude_series == null)
227 altitude_series = add_series(altitude_name, AltosConvert.height);
229 if (cal_data.ground_pressure == AltosLib.MISSING)
230 cal_data.set_ground_pressure(pa);
232 double altitude = AltosConvert.pressure_to_altitude(pa);
233 altitude_series.add(time(), altitude);
236 private void compute_height() {
237 double ground_altitude = cal_data.ground_altitude;
238 if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
239 height_series = add_series(height_name, AltosConvert.height);
240 for (AltosTimeValue alt : altitude_series)
241 height_series.add(alt.time, alt.value - ground_altitude);
244 if (gps_height == null && cal_data.gps_pad != null && cal_data.gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
245 double gps_ground_altitude = cal_data.gps_pad.alt;
246 gps_height = add_series(gps_height_name, AltosConvert.height);
247 for (AltosTimeValue gps_alt : gps_altitude)
248 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
252 public AltosTimeSeries speed_series;
254 public static final String speed_name = "Speed";
256 private void compute_speed() {
257 if (speed_series != null)
260 AltosTimeSeries alt_speed_series = null;
261 AltosTimeSeries accel_speed_series = null;
263 if (altitude_series != null) {
264 AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
265 altitude_series.filter(temp_series, speed_filter_width);
267 alt_speed_series = make_series(speed_name, AltosConvert.speed);
268 temp_series.differentiate(alt_speed_series);
270 if (accel_series != null) {
272 if (orient_series != null) {
273 vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
275 for (AltosTimeValue a : accel_series) {
276 double orient = orient_series.value(a.time);
277 double a_abs = a.value + AltosConvert.gravity;
278 double v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
280 vert_accel_series.add(a.time, v_a);
284 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
286 if (vert_accel_series != null)
287 vert_accel_series.integrate(temp_series);
289 accel_series.integrate(temp_series);
291 accel_speed_series = make_series(speed_name, AltosConvert.speed);
292 temp_series.filter(accel_speed_series, 0.1);
295 if (alt_speed_series != null && accel_speed_series != null) {
296 double apogee_time = AltosLib.MISSING;
297 if (state_series != null) {
298 for (AltosTimeValue d : state_series) {
299 if (d.value >= AltosLib.ao_flight_drogue){
300 apogee_time = d.time;
305 if (apogee_time == AltosLib.MISSING) {
306 speed_series = alt_speed_series;
308 speed_series = make_series(speed_name, AltosConvert.speed);
309 for (AltosTimeValue d : accel_speed_series) {
310 if (d.time <= apogee_time)
313 for (AltosTimeValue d : alt_speed_series) {
314 if (d.time > apogee_time)
319 } else if (alt_speed_series != null) {
320 speed_series = alt_speed_series;
321 } else if (accel_speed_series != null) {
322 speed_series = accel_speed_series;
324 if (speed_series != null)
325 add_series(speed_series);
328 public AltosTimeSeries orient_series;
330 public static final String orient_name = "Tilt Angle";
332 private void compute_orient() {
334 if (orient_series != null)
337 if (accel_ground_across == AltosLib.MISSING)
340 if (cal_data.pad_orientation == AltosLib.MISSING)
343 if (cal_data.accel_zero_across == AltosLib.MISSING)
346 AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
347 AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
348 AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
349 cal_data.pad_orientation);
350 double prev_time = ground_time;
352 orient_series = add_series(orient_name, AltosConvert.orient);
353 orient_series.add(ground_time, rotation.tilt());
355 for (AltosTimeValue roll_v : gyro_roll) {
356 double time = roll_v.time;
357 double dt = time - prev_time;
360 double roll = AltosConvert.degrees_to_radians(roll_v.value);
361 double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time));
362 double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time));
364 rotation.rotate(dt, pitch, yaw, roll);
365 orient_series.add(time, rotation.tilt());
371 public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
373 public static final String kalman_height_name = "Kalman Height";
374 public static final String kalman_speed_name = "Kalman Speed";
375 public static final String kalman_accel_name = "Kalman Accel";
377 public void set_kalman(double height, double speed, double acceleration) {
378 if (kalman_height_series == null) {
379 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
380 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
381 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
383 kalman_height_series.add(time(), height);
384 kalman_speed_series.add(time(), speed);
385 kalman_accel_series.add(time(), acceleration);
388 public AltosTimeSeries thrust_series;
390 public static final String thrust_name = "Thrust";
392 public void set_thrust(double N) {
393 if (thrust_series == null)
394 thrust_series = add_series(thrust_name, AltosConvert.force);
395 thrust_series.add(time(), N);
398 public AltosTimeSeries temperature_series;
400 public static final String temperature_name = "Temperature";
402 public void set_temperature(double deg_c) {
403 if (temperature_series == null)
404 temperature_series = add_series(temperature_name, AltosConvert.temperature);
405 temperature_series.add(time(), deg_c);
408 public AltosTimeSeries battery_voltage_series;
410 public static final String battery_voltage_name = "Battery Voltage";
412 public void set_battery_voltage(double volts) {
413 if (volts == AltosLib.MISSING)
415 if (battery_voltage_series == null)
416 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
417 battery_voltage_series.add(time(), volts);
420 public AltosTimeSeries apogee_voltage_series;
422 public static final String apogee_voltage_name = "Apogee Voltage";
424 public void set_apogee_voltage(double volts) {
425 if (volts == AltosLib.MISSING)
427 if (apogee_voltage_series == null)
428 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
429 apogee_voltage_series.add(time(), volts);
432 public AltosTimeSeries main_voltage_series;
434 public static final String main_voltage_name = "Main Voltage";
436 public void set_main_voltage(double volts) {
437 if (volts == AltosLib.MISSING)
439 if (main_voltage_series == null)
440 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
441 main_voltage_series.add(time(), volts);
444 public ArrayList<AltosGPSTimeValue> gps_series;
446 public AltosGPS gps_before(double time) {
448 for (AltosGPSTimeValue gtv : gps_series)
449 if (gtv.time <= time)
456 public AltosTimeSeries sats_in_view;
457 public AltosTimeSeries sats_in_soln;
458 public AltosTimeSeries gps_altitude;
459 public AltosTimeSeries gps_height;
460 public AltosTimeSeries gps_ground_speed;
461 public AltosTimeSeries gps_ascent_rate;
462 public AltosTimeSeries gps_course;
463 public AltosTimeSeries gps_speed;
464 public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
466 public static final String sats_in_view_name = "Satellites in view";
467 public static final String sats_in_soln_name = "Satellites in solution";
468 public static final String gps_altitude_name = "GPS Altitude";
469 public static final String gps_height_name = "GPS Height";
470 public static final String gps_ground_speed_name = "GPS Ground Speed";
471 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
472 public static final String gps_course_name = "GPS Course";
473 public static final String gps_speed_name = "GPS Speed";
474 public static final String gps_pdop_name = "GPS Dilution of Precision";
475 public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
476 public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
478 public void set_gps(AltosGPS gps) {
479 if (gps_series == null)
480 gps_series = new ArrayList<AltosGPSTimeValue>();
481 gps_series.add(new AltosGPSTimeValue(time(), gps));
483 if (sats_in_soln == null) {
484 sats_in_soln = add_series(sats_in_soln_name, null);
486 sats_in_soln.add(time(), gps.nsat);
487 if (gps.pdop != AltosLib.MISSING) {
488 if (gps_pdop == null)
489 gps_pdop = add_series(gps_pdop_name, null);
490 gps_pdop.add(time(), gps.pdop);
492 if (gps.hdop != AltosLib.MISSING) {
493 if (gps_hdop == null)
494 gps_hdop = add_series(gps_hdop_name, null);
495 gps_hdop.add(time(), gps.hdop);
497 if (gps.vdop != AltosLib.MISSING) {
498 if (gps_vdop == null)
499 gps_vdop = add_series(gps_vdop_name, null);
500 gps_vdop.add(time(), gps.vdop);
503 if (gps.alt != AltosLib.MISSING) {
504 if (gps_altitude == null)
505 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
506 gps_altitude.add(time(), gps.alt);
508 if (gps.ground_speed != AltosLib.MISSING) {
509 if (gps_ground_speed == null)
510 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
511 gps_ground_speed.add(time(), gps.ground_speed);
513 if (gps.climb_rate != AltosLib.MISSING) {
514 if (gps_ascent_rate == null)
515 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
516 gps_ascent_rate.add(time(), gps.climb_rate);
518 if (gps.course != AltosLib.MISSING) {
519 if (gps_course == null)
520 gps_course = add_series(gps_course_name, null);
521 gps_course.add(time(), gps.course);
523 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
524 if (gps_speed == null)
525 gps_speed = add_series(gps_speed_name, null);
526 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
527 gps.climb_rate * gps.climb_rate));
530 if (gps.cc_gps_sat != null) {
531 if (sats_in_view == null)
532 sats_in_view = add_series(sats_in_view_name, null);
533 sats_in_view.add(time(), gps.cc_gps_sat.length);
537 public static final String accel_along_name = "Accel Along";
538 public static final String accel_across_name = "Accel Across";
539 public static final String accel_through_name = "Accel Through";
541 public AltosTimeSeries accel_along, accel_across, accel_through;
543 public static final String gyro_roll_name = "Roll Rate";
544 public static final String gyro_pitch_name = "Pitch Rate";
545 public static final String gyro_yaw_name = "Yaw Rate";
547 public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
549 public static final String mag_along_name = "Magnetic Field Along";
550 public static final String mag_across_name = "Magnetic Field Across";
551 public static final String mag_through_name = "Magnetic Field Through";
553 public AltosTimeSeries mag_along, mag_across, mag_through;
555 public void set_accel(double along, double across, double through) {
556 if (accel_along == null) {
557 accel_along = add_series(accel_along_name, AltosConvert.accel);
558 accel_across = add_series(accel_across_name, AltosConvert.accel);
559 accel_through = add_series(accel_through_name, AltosConvert.accel);
561 accel_along.add(time(), along);
562 accel_across.add(time(), across);
563 accel_through.add(time(), through);
566 private double accel_ground_along = AltosLib.MISSING;
567 private double accel_ground_across = AltosLib.MISSING;
568 private double accel_ground_through = AltosLib.MISSING;
570 private double ground_time;
572 public void set_accel_ground(double along, double across, double through) {
573 accel_ground_along = along;
574 accel_ground_across = across;
575 accel_ground_through = through;
576 ground_time = time();
579 public void set_gyro(double roll, double pitch, double yaw) {
580 if (gyro_roll == null) {
581 gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
582 gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
583 gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
585 gyro_roll.add(time(), roll);
586 gyro_pitch.add(time(), pitch);
587 gyro_yaw.add(time(), yaw);
590 public void set_mag(double along, double across, double through) {
591 if (mag_along == null) {
592 mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
593 mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
594 mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
596 mag_along.add(time(), along);
597 mag_across.add(time(), across);
598 mag_through.add(time(), through);
601 public void set_orient(double orient) {
602 if (orient_series == null)
603 orient_series = add_series(orient_name, AltosConvert.orient);
604 orient_series.add(time(), orient);
607 public static final String pyro_voltage_name = "Pyro Voltage";
609 public AltosTimeSeries pyro_voltage;
611 public void set_pyro_voltage(double volts) {
612 if (pyro_voltage == null)
613 pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
614 pyro_voltage.add(time(), volts);
617 private static String[] igniter_voltage_names;
619 public String igniter_voltage_name(int channel) {
620 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
621 String[] new_igniter_voltage_names = new String[channel + 1];
624 if (igniter_voltage_names != null) {
625 for (; i < igniter_voltage_names.length; i++)
626 new_igniter_voltage_names[i] = igniter_voltage_names[i];
628 for (; i < channel+1; i++)
629 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
630 igniter_voltage_names = new_igniter_voltage_names;
632 return igniter_voltage_names[channel];
635 public AltosTimeSeries[] igniter_voltage;
637 public void set_igniter_voltage(double[] voltage) {
638 int channels = voltage.length;
639 if (igniter_voltage == null || igniter_voltage.length <= channels) {
640 AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1];
643 if (igniter_voltage != null) {
644 for (; i < igniter_voltage.length; i++)
645 new_igniter_voltage[i] = igniter_voltage[i];
647 for (; i < channels; i++)
648 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
649 igniter_voltage = new_igniter_voltage;
651 for (int channel = 0; channel < voltage.length; channel++)
652 igniter_voltage[channel].add(time(), voltage[channel]);
655 public static final String pyro_fired_name = "Pyro Channel State";
657 public AltosTimeSeries pyro_fired_series;
661 public void set_pyro_fired(int pyro_mask) {
662 if (pyro_fired_series == null)
663 pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
664 for (int channel = 0; channel < 32; channel++) {
665 if ((last_pyro_mask & (1 << channel)) == 0 &&
666 (pyro_mask & (1 << channel)) != 0) {
667 pyro_fired_series.add(time(), channel);
670 last_pyro_mask = pyro_mask;
673 public void set_companion(AltosCompanion companion) {
676 public void finish() {
683 public AltosTimeSeries[] series() {
685 return series.toArray(new AltosTimeSeries[0]);
688 public AltosFlightSeries(AltosCalData cal_data) {