2 * Copyright © 2010 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; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 * Track flight state from telemetry or eeprom data stream
22 package org.altusmetrum.AltosLib;
24 public class AltosState {
25 public AltosRecord data;
29 public long report_time;
32 public double time_change;
36 public boolean landed;
37 public boolean ascent; /* going up? */
38 public boolean boost; /* under power */
40 public double ground_altitude;
41 public double altitude;
43 public double acceleration;
44 public double battery;
45 public double temperature;
46 public double main_sense;
47 public double drogue_sense;
48 public double accel_speed;
49 public double baro_speed;
51 public double max_height;
52 public double max_acceleration;
53 public double max_accel_speed;
54 public double max_baro_speed;
61 public static final int MIN_PAD_SAMPLES = 10;
65 public int gps_waiting;
66 public boolean gps_ready;
68 public AltosGreatCircle from_pad;
69 public double elevation; /* from pad */
70 public double range; /* total distance */
72 public double gps_height;
74 public double pad_lat, pad_lon, pad_alt;
76 public int speak_tick;
77 public double speak_altitude;
79 public double speed() {
86 public double max_speed() {
87 if (max_accel_speed != 0)
88 return max_accel_speed;
89 return max_baro_speed;
92 public void init (AltosRecord cur, AltosState prev_state) {
95 /* Discard previous state if it was for a different board */
96 if (prev_state != null && prev_state.data.serial != data.serial)
98 ground_altitude = data.ground_altitude();
100 altitude = data.altitude();
102 if (data.kalman_height != AltosRecord.MISSING)
103 height = data.kalman_height;
105 if (prev_state != null)
106 height = (prev_state.height * 15 + altitude - ground_altitude) / 16.0;
109 report_time = System.currentTimeMillis();
111 if (data.kalman_acceleration != AltosRecord.MISSING)
112 acceleration = data.kalman_acceleration;
114 acceleration = data.acceleration();
115 temperature = data.temperature();
116 drogue_sense = data.drogue_voltage();
117 main_sense = data.main_voltage();
118 battery = data.battery_voltage();
122 if (prev_state != null) {
124 /* Preserve any existing gps data */
125 npad = prev_state.npad;
126 ngps = prev_state.ngps;
127 gps = prev_state.gps;
128 pad_lat = prev_state.pad_lat;
129 pad_lon = prev_state.pad_lon;
130 pad_alt = prev_state.pad_alt;
131 max_height = prev_state.max_height;
132 max_acceleration = prev_state.max_acceleration;
133 max_accel_speed = prev_state.max_accel_speed;
134 max_baro_speed = prev_state.max_baro_speed;
135 imu = prev_state.imu;
136 mag = prev_state.mag;
138 /* make sure the clock is monotonic */
139 while (tick < prev_state.tick)
142 time_change = (tick - prev_state.tick) / 100.0;
144 if (data.kalman_speed != AltosRecord.MISSING) {
145 baro_speed = accel_speed = data.kalman_speed;
147 /* compute barometric speed */
149 double height_change = height - prev_state.height;
151 baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
153 baro_speed = prev_state.baro_speed;
155 if (acceleration == AltosRecord.MISSING) {
156 /* Fill in mising acceleration value */
157 accel_speed = baro_speed;
159 acceleration = (accel_speed - prev_state.accel_speed) / time_change;
161 acceleration = prev_state.acceleration;
163 /* compute accelerometer speed */
164 accel_speed = prev_state.accel_speed + acceleration * time_change;
175 if (acceleration == AltosRecord.MISSING)
181 if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
183 /* Track consecutive 'good' gps reports, waiting for 10 of them */
184 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
189 /* Average GPS data while on the pad */
190 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
192 /* filter pad position */
193 pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
194 pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
195 pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
197 pad_lat = data.gps.lat;
198 pad_lon = data.gps.lon;
199 pad_alt = data.gps.alt;
204 pad_alt = ground_altitude;
206 data.new_gps = false;
208 gps_waiting = MIN_PAD_SAMPLES - npad;
212 gps_ready = gps_waiting == 0;
214 ascent = (AltosLib.ao_flight_boost <= state &&
215 state <= AltosLib.ao_flight_coast);
216 boost = (AltosLib.ao_flight_boost == state);
218 /* Only look at accelerometer data under boost */
219 if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
220 max_acceleration = acceleration;
221 if (boost && accel_speed > max_accel_speed && accel_speed != AltosRecord.MISSING)
222 max_accel_speed = accel_speed;
223 if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
224 max_baro_speed = baro_speed;
226 if (height > max_height && height != AltosRecord.MISSING)
228 if (data.gps != null) {
229 if (gps == null || !gps.locked || data.gps.locked)
231 if (ngps > 0 && gps.locked) {
232 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
238 gps_height = gps.alt - pad_alt;
239 if (from_pad != null) {
240 elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
241 range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
248 public AltosState(AltosRecord cur) {
252 public AltosState (AltosRecord cur, AltosState prev) {