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;
18 * Calibration and other data needed to construct 'real' values from various data
22 public class AltosCalData {
23 public int flight = AltosLib.MISSING;
25 public void set_flight(int flight) {
26 if (flight != AltosLib.MISSING)
30 public String callsign = null;
32 public void set_callsign(String callsign) {
34 this.callsign = callsign;
37 public String firmware_version = null;
39 public void set_firmware_version(String firmware_version) {
40 if (firmware_version != null)
41 this.firmware_version = firmware_version;
44 public String product = null;
46 public void set_product(String product) {
48 this.product = product;
51 public int serial = AltosLib.MISSING;
53 public void set_serial(int serial) {
54 if (serial != AltosLib.MISSING)
58 public int receiver_serial = AltosLib.MISSING;
60 public void set_receiver_serial(int receiver_serial) {
61 if (receiver_serial != AltosLib.MISSING)
62 this.receiver_serial = receiver_serial;
65 public int device_type = AltosLib.MISSING;
67 public void set_device_type(int device_type) {
68 if (device_type != AltosLib.MISSING)
69 this.device_type = device_type;
72 public int config_major = AltosLib.MISSING;
73 public int config_minor = AltosLib.MISSING;
74 public int flight_log_max = AltosLib.MISSING;
76 public void set_config(int major, int minor, int log_max) {
77 if (major != AltosLib.MISSING)
79 if (minor != AltosLib.MISSING)
81 if (log_max != AltosLib.MISSING)
82 flight_log_max = log_max;
85 public double apogee_delay = AltosLib.MISSING;
86 public double main_deploy = AltosLib.MISSING;
88 public void set_flight_params(double apogee_delay, double main_deploy) {
89 if (apogee_delay != AltosLib.MISSING)
90 this.apogee_delay = apogee_delay;
91 if (main_deploy != AltosLib.MISSING)
92 this.main_deploy = main_deploy;
95 public double accel_plus_g = AltosLib.MISSING;
96 public double accel_minus_g = AltosLib.MISSING;
97 public double ground_accel = AltosLib.MISSING;
99 public void set_accel_plus_minus(double plus, double minus) {
100 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
104 accel_minus_g = minus;
108 public void set_ground_accel(double ground_accel) {
109 if (ground_accel != AltosLib.MISSING)
110 this.ground_accel = ground_accel;
113 /* Raw acceleration value */
114 public double accel = AltosLib.MISSING;
116 public void set_accel(double accel) {
120 public boolean mma655x_inverted = false;
122 public void set_mma655x_inverted(boolean inverted) {
123 mma655x_inverted = inverted;
126 public int pad_orientation = AltosLib.MISSING;
128 public void set_pad_orientation(int orientation) {
129 if (orientation != AltosLib.MISSING)
130 pad_orientation = orientation;
133 /* Compute acceleration */
134 public double acceleration(double sensor) {
135 return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
138 public AltosMs5607 ms5607 = null;
140 public void set_ms5607(AltosMs5607 ms5607) {
141 this.ms5607 = ms5607;
144 public double ground_pressure = AltosLib.MISSING;
145 public double ground_altitude = AltosLib.MISSING;
147 public void set_ground_pressure(double ground_pressure) {
148 if (ground_pressure != AltosLib.MISSING) {
149 this.ground_pressure = ground_pressure;
150 this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
154 public void set_ground_altitude(double ground_altitude) {
155 if (ground_altitude != AltosLib.MISSING)
156 this.ground_altitude = ground_altitude;
159 /* Compute pressure */
161 public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) {
163 return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING);
164 return ms5607.pres_temp(raw_pres, raw_temp);
167 public int tick = AltosLib.MISSING;
168 private int prev_tick = AltosLib.MISSING;
170 public void set_tick(int tick) {
171 if (tick != AltosLib.MISSING) {
172 if (prev_tick != AltosLib.MISSING) {
173 while (tick < prev_tick - 1000) {
182 public int boost_tick = AltosLib.MISSING;
184 public void set_boost_tick() {
188 public double ticks_per_sec = 100.0;
190 public void set_ticks_per_sec(double ticks_per_sec) {
191 this.ticks_per_sec = ticks_per_sec;
194 public double time() {
195 if (tick == AltosLib.MISSING)
196 return AltosLib.MISSING;
197 if (boost_tick == AltosLib.MISSING)
198 return AltosLib.MISSING;
199 return (tick - boost_tick) / ticks_per_sec;
202 public double boost_time() {
203 if (boost_tick == AltosLib.MISSING)
204 return AltosLib.MISSING;
205 return boost_tick / ticks_per_sec;
208 public int state = AltosLib.MISSING;
210 public void set_state(int state) {
211 if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
216 public AltosGPS gps_pad = null;
218 public double gps_pad_altitude = AltosLib.MISSING;
220 public void set_gps(AltosGPS gps) {
221 if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
223 if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
224 gps_pad_altitude = gps.alt;
228 * While receiving GPS data, we construct a temporary GPS state
229 * object and then deliver the result atomically to the listener
231 AltosGPS temp_gps = null;
232 AltosGPS prev_gps = null;
233 int temp_gps_sat_tick = AltosLib.MISSING;
235 public AltosGPS temp_gps() {
239 public void reset_temp_gps() {
240 if (temp_gps != null) {
241 if (temp_gps.locked && temp_gps.nsat >= 4)
248 public boolean gps_pending() {
249 return temp_gps != null;
252 public AltosGPS make_temp_gps(int tick, boolean sats) {
253 if (temp_gps == null) {
254 if (prev_gps != null)
255 temp_gps = prev_gps.clone();
257 temp_gps = new AltosGPS();
260 if (tick != temp_gps_sat_tick)
261 temp_gps.cc_gps_sat = null;
262 temp_gps_sat_tick = tick;
267 public double accel_zero_along, accel_zero_across, accel_zero_through;
269 public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
270 if (zero_along != AltosLib.MISSING) {
271 accel_zero_along = zero_along;
272 accel_zero_across = zero_across;
273 accel_zero_through = zero_through;
277 public double accel_along(double counts) {
278 return AltosIMU.convert_accel(counts - accel_zero_along);
281 public double accel_across(double counts) {
282 return AltosIMU.convert_accel(counts - accel_zero_across);
285 public double accel_through(double counts) {
286 return AltosIMU.convert_accel(counts - accel_zero_through);
289 public double gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
291 public void set_gyro_zero(double roll, double pitch, double yaw) {
292 if (roll != AltosLib.MISSING) {
293 gyro_zero_roll = roll;
294 gyro_zero_pitch = pitch;
299 public double gyro_roll(double counts) {
300 if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
301 return AltosLib.MISSING;
302 return AltosIMU.convert_gyro(counts - gyro_zero_roll);
305 public double gyro_pitch(double counts) {
306 if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
307 return AltosLib.MISSING;
308 return AltosIMU.convert_gyro(counts - gyro_zero_pitch);
311 public double gyro_yaw(double counts) {
312 if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
313 return AltosLib.MISSING;
314 return AltosIMU.convert_gyro(counts - gyro_zero_yaw);
317 private double gyro_zero_overflow(double first) {
318 double v = first / 128.0;
326 public void check_imu_wrap(double roll, double pitch, double yaw) {
327 gyro_zero_roll += gyro_zero_overflow(roll);
328 gyro_zero_pitch += gyro_zero_overflow(pitch);
329 gyro_zero_yaw += gyro_zero_overflow(yaw);
332 public double mag_along(double along) {
333 if (along == AltosLib.MISSING)
334 return AltosLib.MISSING;
335 return AltosMag.convert_gauss(along);
338 public double mag_across(double across) {
339 if (across == AltosLib.MISSING)
340 return AltosLib.MISSING;
341 return AltosMag.convert_gauss(across);
344 public double mag_through(double through) {
345 if (through == AltosLib.MISSING)
346 return AltosLib.MISSING;
347 return AltosMag.convert_gauss(through);
350 public AltosCalData() {
353 public AltosCalData(AltosConfigData config_data) {
354 set_serial(config_data.serial);
355 set_ticks_per_sec(100.0);
356 set_flight(config_data.flight);
357 set_callsign(config_data.callsign);
358 set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max);
359 set_firmware_version(config_data.version);
360 set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
361 set_pad_orientation(config_data.pad_orientation);
362 set_product(config_data.product);
363 set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
364 set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
365 set_ms5607(config_data.ms5607);
367 set_mma655x_inverted(config_data.mma655x_inverted());
368 } catch (AltosUnknownProduct up) {
370 set_pad_orientation(config_data.pad_orientation);