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_11;
26 public class AltosState implements Cloneable, AltosJsonable {
28 public static final int set_position = 1;
29 public static final int set_gps = 2;
30 public static final int set_data = 4;
34 static final double filter_len = 2.0;
35 static final double ascent_filter_len = 0.5;
36 static final double descent_filter_len = 5.0;
40 public long received_time;
43 public double prev_time;
44 public double time_change;
46 private int prev_tick;
47 public int boost_tick;
49 class AltosValue implements AltosJsonable {
52 private double max_value;
53 private double set_time;
54 private double prev_set_time;
56 boolean can_max() { return true; }
58 void set(double new_value, double time) {
59 if (new_value != AltosLib.MISSING) {
61 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
67 void set_filtered(double new_value, double time) {
68 if (prev_value != AltosLib.MISSING) {
69 double f = 1/Math.exp((time - prev_set_time) / filter_len);
70 new_value = f * new_value + (1-f) * prev_value;
88 if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
89 return value - prev_value;
90 return AltosLib.MISSING;
95 double t = set_time - prev_set_time;
97 if (c != AltosLib.MISSING && t != 0)
99 return AltosLib.MISSING;
103 if (value == AltosLib.MISSING)
104 return AltosLib.MISSING;
105 if (prev_value == AltosLib.MISSING)
106 return AltosLib.MISSING;
108 return (value + prev_value) / 2 * (set_time - prev_set_time);
115 void set_derivative(AltosValue in) {
116 double n = in.rate();
118 if (n == AltosLib.MISSING)
121 double p = prev_value;
122 double pt = prev_set_time;
124 if (p == AltosLib.MISSING) {
126 pt = in.time() - 0.01;
129 /* Clip changes to reduce noise */
130 double ddt = in.time() - pt;
131 double ddv = (n - p) / ddt;
133 final double max = 100000;
136 if (Math.abs(ddv) > max) {
146 filter_len = ascent_filter_len;
148 filter_len = descent_filter_len;
150 double f = 1/Math.exp(ddt/ filter_len);
151 n = p * f + n * (1-f);
156 void set_integral(AltosValue in) {
157 double change = in.integrate();
159 if (change != AltosLib.MISSING) {
160 double prev = prev_value;
161 if (prev == AltosLib.MISSING)
163 set(prev + change, in.time());
167 void copy(AltosValue old) {
169 set_time = old.set_time;
170 prev_value = old.value;
171 prev_set_time = old.set_time;
172 max_value = old.max_value;
175 void finish_update() {
177 prev_set_time = set_time;
180 public AltosJson json() {
181 AltosJson j = new AltosJson();
183 j.put("value", value);
184 j.put("prev_value", prev_value);
185 j.put("max_value", max_value);
186 j.put("set_time", set_time);
187 j.put("prev_set_time", prev_set_time);
191 AltosValue(AltosJson j) {
194 value = j.get_double("value", value);
195 prev_value = j.get_double("prev_value", prev_value);
196 max_value = j.get_double("max_value", max_value);
197 set_time = j.get_double("set_time", 0);
198 prev_set_time = j.get_double("prev_set_time", 0);
203 value = AltosLib.MISSING;
204 prev_value = AltosLib.MISSING;
205 max_value = AltosLib.MISSING;
210 AltosValue AltosValue_fromJson(AltosJson j, AltosValue def) {
213 return new AltosValue(j);
216 class AltosCValue implements AltosJsonable {
218 class AltosIValue extends AltosValue implements AltosJsonable {
227 AltosIValue(AltosJson j) {
232 public AltosIValue measured;
233 public AltosIValue computed;
235 boolean can_max() { return true; }
237 boolean c_can_max() { return can_max(); }
240 double v = measured.value();
241 if (v != AltosLib.MISSING)
243 return computed.value();
246 boolean is_measured() {
247 return measured.value() != AltosLib.MISSING;
251 double m = measured.max();
253 if (m != AltosLib.MISSING)
255 return computed.max();
258 double prev_value() {
259 if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
260 return measured.prev_value;
261 return computed.prev_value;
264 AltosValue altos_value() {
265 if (measured.value() != AltosLib.MISSING)
271 double c = measured.change();
272 if (c == AltosLib.MISSING)
273 c = computed.change();
278 double r = measured.rate();
279 if (r == AltosLib.MISSING)
284 void set_measured(double new_value, double time) {
285 measured.set(new_value, time);
288 void set_computed(double new_value, double time) {
289 computed.set(new_value, time);
292 void set_derivative(AltosValue in) {
293 computed.set_derivative(in);
296 void set_derivative(AltosCValue in) {
297 set_derivative(in.altos_value());
300 void set_integral(AltosValue in) {
301 computed.set_integral(in);
304 void set_integral(AltosCValue in) {
305 set_integral(in.altos_value());
308 void copy(AltosCValue old) {
309 measured.copy(old.measured);
310 computed.copy(old.computed);
313 void finish_update() {
314 measured.finish_update();
315 computed.finish_update();
319 measured = new AltosIValue();
320 computed = new AltosIValue();
323 public AltosJson json() {
324 AltosJson j = new AltosJson();
326 j.put("measured", measured.json());
327 j.put("computed", computed.json());
331 AltosCValue(AltosJson j) {
332 measured = new AltosIValue(j.get("measured"));
333 computed = new AltosIValue(j.get("computed"));
337 AltosCValue AltosCValue_fromJson(AltosJson j, AltosCValue def) {
340 return new AltosCValue(j);
346 public int altitude_32;
347 public int receiver_serial;
348 public boolean landed;
349 public boolean ascent; /* going up? */
350 public boolean boost; /* under power */
353 public int device_type;
354 public int config_major;
355 public int config_minor;
356 public int apogee_delay;
357 public int main_deploy;
358 public int flight_log_max;
360 private double pressure_to_altitude(double p) {
361 if (p == AltosLib.MISSING)
362 return AltosLib.MISSING;
363 return AltosConvert.pressure_to_altitude(p);
366 private AltosCValue ground_altitude;
368 public double ground_altitude() {
369 return ground_altitude.value();
372 public void set_ground_altitude(double a) {
373 ground_altitude.set_measured(a, time);
376 class AltosGpsGroundAltitude extends AltosValue {
377 void set(double a, double t) {
380 gps_altitude.set_gps_height();
383 void set_filtered(double a, double t) {
384 super.set_filtered(a, t);
386 gps_altitude.set_gps_height();
389 AltosGpsGroundAltitude() {
393 AltosGpsGroundAltitude (AltosJson j) {
398 AltosGpsGroundAltitude AltosGpsGroundAltitude_fromJson(AltosJson j, AltosGpsGroundAltitude def) {
399 if (j == null) return def;
400 return new AltosGpsGroundAltitude(j);
403 private AltosGpsGroundAltitude gps_ground_altitude;
405 public double gps_ground_altitude() {
406 return gps_ground_altitude.value();
409 public void set_gps_ground_altitude(double a) {
410 gps_ground_altitude.set(a, time);
413 class AltosGroundPressure extends AltosCValue {
414 void set_filtered(double p, double time) {
415 computed.set_filtered(p, time);
417 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
420 void set_measured(double p, double time) {
421 super.set_measured(p, time);
422 ground_altitude.set_computed(pressure_to_altitude(p), time);
425 AltosGroundPressure () {
429 AltosGroundPressure (AltosJson j) {
434 AltosGroundPressure AltosGroundPressure_fromJson(AltosJson j, AltosGroundPressure def) {
435 if (j == null) return def;
436 return new AltosGroundPressure(j);
439 private AltosGroundPressure ground_pressure;
441 public double ground_pressure() {
442 return ground_pressure.value();
445 public void set_ground_pressure (double pressure) {
446 ground_pressure.set_measured(pressure, time);
449 class AltosAltitude extends AltosCValue {
451 private void set_speed(AltosValue v) {
452 if (!acceleration.is_measured() || !ascent)
453 speed.set_derivative(this);
456 void set_computed(double a, double time) {
457 super.set_computed(a,time);
462 void set_measured(double a, double time) {
463 super.set_measured(a,time);
472 AltosAltitude (AltosJson j) {
477 AltosAltitude AltosAltitude_fromJson(AltosJson j, AltosAltitude def) {
478 if (j == null) return def;
479 return new AltosAltitude(j);
482 private AltosAltitude altitude;
484 class AltosGpsAltitude extends AltosValue {
486 private void set_gps_height() {
488 double g = gps_ground_altitude.value();
490 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
493 gps_height = AltosLib.MISSING;
496 void set(double a, double t) {
505 AltosGpsAltitude (AltosJson j) {
510 AltosGpsAltitude AltosGpsAltitude_fromJson(AltosJson j, AltosGpsAltitude def) {
511 if (j == null) return def;
512 return new AltosGpsAltitude(j);
515 private AltosGpsAltitude gps_altitude;
517 private AltosValue gps_ground_speed;
518 private AltosValue gps_ascent_rate;
519 private AltosValue gps_course;
520 private AltosValue gps_speed;
522 public double altitude() {
523 double a = altitude.value();
524 if (a != AltosLib.MISSING)
526 return gps_altitude.value();
529 public double max_altitude() {
530 double a = altitude.max();
531 if (a != AltosLib.MISSING)
533 return gps_altitude.max();
536 public void set_altitude(double new_altitude) {
537 altitude.set_measured(new_altitude, time);
540 public double gps_altitude() {
541 return gps_altitude.value();
544 public double max_gps_altitude() {
545 return gps_altitude.max();
548 public void set_gps_altitude(double new_gps_altitude) {
549 gps_altitude.set(new_gps_altitude, time);
552 public double gps_ground_speed() {
553 return gps_ground_speed.value();
556 public double max_gps_ground_speed() {
557 return gps_ground_speed.max();
560 public double gps_ascent_rate() {
561 return gps_ascent_rate.value();
564 public double max_gps_ascent_rate() {
565 return gps_ascent_rate.max();
568 public double gps_course() {
569 return gps_course.value();
572 public double gps_speed() {
573 return gps_speed.value();
576 public double max_gps_speed() {
577 return gps_speed.max();
580 class AltosPressure extends AltosValue {
581 void set(double p, double time) {
583 if (state == AltosLib.ao_flight_pad)
584 ground_pressure.set_filtered(p, time);
585 double a = pressure_to_altitude(p);
586 altitude.set_computed(a, time);
593 AltosPressure (AltosJson j) {
598 AltosPressure AltosPressure_fromJson(AltosJson j, AltosPressure def) {
599 if (j == null) return def;
600 return new AltosPressure(j);
603 private AltosPressure pressure;
605 public double pressure() {
606 return pressure.value();
609 public void set_pressure(double p) {
610 pressure.set(p, time);
613 public double baro_height() {
614 double a = altitude();
615 double g = ground_altitude();
616 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
618 return AltosLib.MISSING;
621 public double height() {
622 double k = kalman_height.value();
623 if (k != AltosLib.MISSING)
626 double b = baro_height();
627 if (b != AltosLib.MISSING)
633 public double max_height() {
634 double k = kalman_height.max();
635 if (k != AltosLib.MISSING)
638 double a = altitude.max();
639 double g = ground_altitude();
640 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
642 return max_gps_height();
645 public double gps_height() {
646 double a = gps_altitude();
647 double g = gps_ground_altitude();
649 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
651 return AltosLib.MISSING;
654 public double max_gps_height() {
655 double a = gps_altitude.max();
656 double g = gps_ground_altitude();
658 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
660 return AltosLib.MISSING;
663 class AltosSpeed extends AltosCValue {
666 return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
670 acceleration.set_derivative(this);
673 void set_derivative(AltosCValue in) {
674 super.set_derivative(in);
678 void set_computed(double new_value, double time) {
679 super.set_computed(new_value, time);
683 void set_measured(double new_value, double time) {
684 super.set_measured(new_value, time);
692 AltosSpeed (AltosJson j) {
697 AltosSpeed AltosSpeed_fromJson(AltosJson j, AltosSpeed def) {
698 if (j == null) return def;
699 return new AltosSpeed(j);
702 private AltosSpeed speed;
704 public double speed() {
705 double v = kalman_speed.value();
706 if (v != AltosLib.MISSING)
709 if (v != AltosLib.MISSING)
712 if (v != AltosLib.MISSING)
714 return AltosLib.MISSING;
717 public double max_speed() {
718 double v = kalman_speed.max();
719 if (v != AltosLib.MISSING)
722 if (v != AltosLib.MISSING)
725 if (v != AltosLib.MISSING)
727 return AltosLib.MISSING;
730 class AltosAccel extends AltosCValue {
733 return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
736 void set_measured(double a, double time) {
737 super.set_measured(a, time);
739 speed.set_integral(this.measured);
746 AltosAccel (AltosJson j) {
751 AltosAccel AltosAccel_fromJson(AltosJson j, AltosAccel def) {
752 if (j == null) return def;
753 return new AltosAccel(j);
756 AltosAccel acceleration;
758 public double acceleration() {
759 return acceleration.value();
762 public double max_acceleration() {
763 return acceleration.max();
766 public AltosCValue orient;
768 public void set_orient(double new_orient) {
769 orient.set_measured(new_orient, time);
772 public double orient() {
773 return orient.value();
776 public double max_orient() {
780 public AltosValue kalman_height, kalman_speed, kalman_acceleration;
782 public void set_kalman(double height, double speed, double acceleration) {
783 kalman_height.set(height, time);
784 kalman_speed.set(speed, time);
785 kalman_acceleration.set(acceleration, time);
788 public double battery_voltage;
789 public double pyro_voltage;
790 public double temperature;
791 public double apogee_voltage;
792 public double main_voltage;
794 public double ignitor_voltage[];
797 public AltosGPS temp_gps;
798 public int temp_gps_sat_tick;
799 public boolean gps_pending;
800 public int gps_sequence;
805 public static final int MIN_PAD_SAMPLES = 10;
808 public int gps_waiting;
809 public boolean gps_ready;
813 public AltosGreatCircle from_pad;
814 public double elevation; /* from pad */
815 public double range; /* total distance */
817 public double gps_height;
819 public double pad_lat, pad_lon, pad_alt;
821 public int speak_tick;
822 public double speak_altitude;
824 public String callsign;
825 public String firmware_version;
827 public double accel_plus_g;
828 public double accel_minus_g;
830 public double ground_accel;
831 public double ground_accel_avg;
833 public int log_format;
834 public int log_space;
835 public String product;
837 public AltosMs5607 baro;
839 public AltosCompanion companion;
841 public int pyro_fired;
843 public void set_npad(int npad) {
845 gps_waiting = MIN_PAD_SAMPLES - npad;
846 if (this.gps_waiting < 0)
848 gps_ready = gps_waiting == 0;
854 received_time = System.currentTimeMillis();
855 time = AltosLib.MISSING;
856 time_change = AltosLib.MISSING;
857 prev_time = AltosLib.MISSING;
858 tick = AltosLib.MISSING;
859 prev_tick = AltosLib.MISSING;
860 boost_tick = AltosLib.MISSING;
861 state = AltosLib.ao_flight_invalid;
862 flight = AltosLib.MISSING;
865 rssi = AltosLib.MISSING;
867 device_type = AltosLib.MISSING;
868 config_major = AltosLib.MISSING;
869 config_minor = AltosLib.MISSING;
870 apogee_delay = AltosLib.MISSING;
871 main_deploy = AltosLib.MISSING;
872 flight_log_max = AltosLib.MISSING;
874 ground_altitude = new AltosCValue();
875 ground_pressure = new AltosGroundPressure();
876 altitude = new AltosAltitude();
877 pressure = new AltosPressure();
878 speed = new AltosSpeed();
879 acceleration = new AltosAccel();
880 orient = new AltosCValue();
882 temperature = AltosLib.MISSING;
883 battery_voltage = AltosLib.MISSING;
884 pyro_voltage = AltosLib.MISSING;
885 apogee_voltage = AltosLib.MISSING;
886 main_voltage = AltosLib.MISSING;
887 ignitor_voltage = null;
889 kalman_height = new AltosValue();
890 kalman_speed = new AltosValue();
891 kalman_acceleration = new AltosValue();
895 temp_gps_sat_tick = 0;
900 last_imu_time = AltosLib.MISSING;
902 ground_rotation = null;
905 accel_zero_along = AltosLib.MISSING;
906 accel_zero_across = AltosLib.MISSING;
907 accel_zero_through = AltosLib.MISSING;
909 accel_ground_along = AltosLib.MISSING;
910 accel_ground_across = AltosLib.MISSING;
911 accel_ground_through = AltosLib.MISSING;
913 pad_orientation = AltosLib.MISSING;
915 gyro_zero_roll = AltosLib.MISSING;
916 gyro_zero_pitch = AltosLib.MISSING;
917 gyro_zero_yaw = AltosLib.MISSING;
923 elevation = AltosLib.MISSING;
924 range = AltosLib.MISSING;
925 gps_height = AltosLib.MISSING;
927 pad_lat = AltosLib.MISSING;
928 pad_lon = AltosLib.MISSING;
929 pad_alt = AltosLib.MISSING;
931 gps_altitude = new AltosGpsAltitude();
932 gps_ground_altitude = new AltosGpsGroundAltitude();
933 gps_ground_speed = new AltosValue();
934 gps_speed = new AltosValue();
935 gps_ascent_rate = new AltosValue();
936 gps_course = new AltosValue();
938 speak_tick = AltosLib.MISSING;
939 speak_altitude = AltosLib.MISSING;
942 firmware_version = null;
944 accel_plus_g = AltosLib.MISSING;
945 accel_minus_g = AltosLib.MISSING;
946 accel = AltosLib.MISSING;
948 ground_accel = AltosLib.MISSING;
949 ground_accel_avg = AltosLib.MISSING;
951 log_format = AltosLib.MISSING;
952 log_space = AltosLib.MISSING;
954 serial = AltosLib.MISSING;
955 receiver_serial = AltosLib.MISSING;
956 altitude_32 = AltosLib.MISSING;
964 void finish_update() {
967 ground_altitude.finish_update();
968 altitude.finish_update();
969 pressure.finish_update();
970 speed.finish_update();
971 acceleration.finish_update();
972 orient.finish_update();
974 kalman_height.finish_update();
975 kalman_speed.finish_update();
976 kalman_acceleration.finish_update();
979 void copy(AltosState old) {
986 received_time = old.received_time;
988 time_change = old.time_change;
989 prev_time = old.time;
992 prev_tick = old.tick;
993 boost_tick = old.boost_tick;
1001 status = old.status;
1002 device_type = old.device_type;
1003 config_major = old.config_major;
1004 config_minor = old.config_minor;
1005 apogee_delay = old.apogee_delay;
1006 main_deploy = old.main_deploy;
1007 flight_log_max = old.flight_log_max;
1011 ground_pressure.copy(old.ground_pressure);
1012 ground_altitude.copy(old.ground_altitude);
1013 altitude.copy(old.altitude);
1014 pressure.copy(old.pressure);
1015 speed.copy(old.speed);
1016 acceleration.copy(old.acceleration);
1017 orient.copy(old.orient);
1019 battery_voltage = old.battery_voltage;
1020 pyro_voltage = old.pyro_voltage;
1021 temperature = old.temperature;
1022 apogee_voltage = old.apogee_voltage;
1023 main_voltage = old.main_voltage;
1024 ignitor_voltage = old.ignitor_voltage;
1026 kalman_height.copy(old.kalman_height);
1027 kalman_speed.copy(old.kalman_speed);
1028 kalman_acceleration.copy(old.kalman_acceleration);
1030 if (old.gps != null)
1031 gps = old.gps.clone();
1034 if (old.temp_gps != null)
1035 temp_gps = old.temp_gps.clone();
1038 temp_gps_sat_tick = old.temp_gps_sat_tick;
1039 gps_sequence = old.gps_sequence;
1040 gps_pending = old.gps_pending;
1042 if (old.imu != null)
1043 imu = old.imu.clone();
1046 last_imu_time = old.last_imu_time;
1048 if (old.rotation != null)
1049 rotation = new AltosRotation (old.rotation);
1051 if (old.ground_rotation != null) {
1052 ground_rotation = new AltosRotation(old.ground_rotation);
1055 accel_zero_along = old.accel_zero_along;
1056 accel_zero_across = old.accel_zero_across;
1057 accel_zero_through = old.accel_zero_through;
1059 accel_ground_along = old.accel_ground_along;
1060 accel_ground_across = old.accel_ground_across;
1061 accel_ground_through = old.accel_ground_through;
1062 pad_orientation = old.pad_orientation;
1064 gyro_zero_roll = old.gyro_zero_roll;
1065 gyro_zero_pitch = old.gyro_zero_pitch;
1066 gyro_zero_yaw = old.gyro_zero_yaw;
1068 if (old.mag != null)
1069 mag = old.mag.clone();
1074 gps_waiting = old.gps_waiting;
1075 gps_ready = old.gps_ready;
1078 if (old.from_pad != null)
1079 from_pad = old.from_pad.clone();
1083 elevation = old.elevation;
1086 gps_height = old.gps_height;
1088 gps_altitude.copy(old.gps_altitude);
1089 gps_ground_altitude.copy(old.gps_ground_altitude);
1090 gps_ground_speed.copy(old.gps_ground_speed);
1091 gps_ascent_rate.copy(old.gps_ascent_rate);
1092 gps_course.copy(old.gps_course);
1093 gps_speed.copy(old.gps_speed);
1095 pad_lat = old.pad_lat;
1096 pad_lon = old.pad_lon;
1097 pad_alt = old.pad_alt;
1099 speak_tick = old.speak_tick;
1100 speak_altitude = old.speak_altitude;
1102 callsign = old.callsign;
1103 firmware_version = old.firmware_version;
1105 accel_plus_g = old.accel_plus_g;
1106 accel_minus_g = old.accel_minus_g;
1108 ground_accel = old.ground_accel;
1109 ground_accel_avg = old.ground_accel_avg;
1111 log_format = old.log_format;
1112 log_space = old.log_space;
1113 product = old.product;
1114 serial = old.serial;
1115 receiver_serial = old.receiver_serial;
1116 altitude_32 = old.altitude_32;
1119 companion = old.companion;
1121 pyro_fired = old.pyro_fired;
1124 void update_time() {
1128 elevation = AltosLib.MISSING;
1129 range = AltosLib.MISSING;
1134 if (gps.locked && gps.nsat >= 4) {
1135 /* Track consecutive 'good' gps reports, waiting for 10 of them */
1136 if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
1138 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
1139 pad_lat = (pad_lat * 31 + gps.lat) / 32;
1140 pad_lon = (pad_lon * 31 + gps.lon) / 32;
1141 gps_ground_altitude.set_filtered(gps.alt, time);
1144 if (pad_lat == AltosLib.MISSING) {
1147 gps_ground_altitude.set(gps.alt, time);
1149 gps_altitude.set(gps.alt, time);
1150 if (gps.climb_rate != AltosLib.MISSING)
1151 gps_ascent_rate.set(gps.climb_rate, time);
1152 if (gps.ground_speed != AltosLib.MISSING)
1153 gps_ground_speed.set(gps.ground_speed, time);
1154 if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
1155 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
1156 gps.climb_rate * gps.climb_rate), time);
1157 if (gps.course != AltosLib.MISSING)
1158 gps_course.set(gps.course, time);
1160 if (gps.lat != 0 && gps.lon != 0 &&
1161 pad_lat != AltosLib.MISSING &&
1162 pad_lon != AltosLib.MISSING)
1164 double h = height();
1166 if (h == AltosLib.MISSING)
1168 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
1169 elevation = from_pad.elevation;
1170 range = from_pad.range;
1174 public void set_tick(int new_tick) {
1175 if (new_tick != AltosLib.MISSING) {
1176 if (prev_tick != AltosLib.MISSING) {
1177 while (new_tick < prev_tick - 1000) {
1182 time = tick / 100.0;
1183 time_change = time - prev_time;
1187 public void set_boost_tick(int boost_tick) {
1188 if (boost_tick != AltosLib.MISSING)
1189 this.boost_tick = boost_tick;
1192 public String state_name() {
1193 return AltosLib.state_name(state);
1196 public void set_product(String product) {
1197 this.product = product;
1200 public void set_state(int state) {
1201 if (state != AltosLib.ao_flight_invalid) {
1203 ascent = (AltosLib.ao_flight_boost <= state &&
1204 state <= AltosLib.ao_flight_coast);
1205 boost = (AltosLib.ao_flight_boost == state);
1209 public int state() {
1213 public void set_device_type(int device_type) {
1214 this.device_type = device_type;
1215 switch (device_type) {
1216 case AltosLib.product_telegps:
1217 this.state = AltosLib.ao_flight_stateless;
1222 public void set_log_format(int log_format) {
1223 this.log_format = log_format;
1224 switch (log_format) {
1225 case AltosLib.AO_LOG_FORMAT_TELEGPS:
1226 this.state = AltosLib.ao_flight_stateless;
1231 public void set_log_space(int log_space) {
1232 this.log_space = log_space;
1235 public void set_flight_params(int apogee_delay, int main_deploy) {
1236 this.apogee_delay = apogee_delay;
1237 this.main_deploy = main_deploy;
1240 public void set_config(int major, int minor, int flight_log_max) {
1241 config_major = major;
1242 config_minor = minor;
1243 this.flight_log_max = flight_log_max;
1246 public void set_callsign(String callsign) {
1247 this.callsign = callsign;
1250 public void set_firmware_version(String version) {
1251 firmware_version = version;
1254 public int compare_version(String other_version) {
1255 if (firmware_version == null)
1256 return AltosLib.MISSING;
1257 return AltosLib.compare_version(firmware_version, other_version);
1260 private void re_init() {
1261 int bt = boost_tick;
1262 int rs = receiver_serial;
1265 receiver_serial = rs;
1268 public void set_flight(int flight) {
1270 /* When the flight changes, reset the state */
1271 if (flight != AltosLib.MISSING) {
1272 if (this.flight != AltosLib.MISSING &&
1273 this.flight != flight) {
1276 this.flight = flight;
1280 public void set_serial(int serial) {
1281 /* When the serial changes, reset the state */
1282 if (serial != AltosLib.MISSING) {
1283 if (this.serial != AltosLib.MISSING &&
1284 this.serial != serial) {
1287 this.serial = serial;
1291 public void set_receiver_serial(int serial) {
1292 if (serial != AltosLib.MISSING)
1293 receiver_serial = serial;
1296 public boolean altitude_32() {
1297 return altitude_32 == 1;
1300 public void set_altitude_32(int altitude_32) {
1301 if (altitude_32 != AltosLib.MISSING)
1302 this.altitude_32 = altitude_32;
1306 if (rssi == AltosLib.MISSING)
1311 public void set_rssi(int rssi, int status) {
1312 if (rssi != AltosLib.MISSING) {
1314 this.status = status;
1318 public void set_received_time(long ms) {
1322 public void set_gps(AltosGPS gps, int sequence) {
1324 this.gps = gps.clone();
1325 gps_sequence = sequence;
1332 public double accel_zero_along;
1333 public double accel_zero_across;
1334 public double accel_zero_through;
1336 public AltosRotation rotation;
1337 public AltosRotation ground_rotation;
1339 public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
1340 if (zero_along != AltosLib.MISSING) {
1341 accel_zero_along = zero_along;
1342 accel_zero_across = zero_across;
1343 accel_zero_through = zero_through;
1347 public int pad_orientation;
1349 public double accel_ground_along, accel_ground_across, accel_ground_through;
1351 void update_pad_rotation() {
1352 if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
1353 rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
1354 AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
1355 AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
1357 ground_rotation = rotation;
1358 orient.set_computed(rotation.tilt(), time);
1362 public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
1363 accel_ground_along = ground_along;
1364 accel_ground_across = ground_across;
1365 accel_ground_through = ground_through;
1366 update_pad_rotation();
1369 public void set_pad_orientation(int pad_orientation) {
1370 this.pad_orientation = pad_orientation;
1371 update_pad_rotation();
1374 public double gyro_zero_roll;
1375 public double gyro_zero_pitch;
1376 public double gyro_zero_yaw;
1378 public void set_gyro_zero(double roll, double pitch, double yaw) {
1379 if (roll != AltosLib.MISSING) {
1380 gyro_zero_roll = roll;
1381 gyro_zero_pitch = pitch;
1382 gyro_zero_yaw = yaw;
1386 public double last_imu_time;
1388 private double radians(double degrees) {
1389 if (degrees == AltosLib.MISSING)
1390 return AltosLib.MISSING;
1391 return degrees * Math.PI / 180.0;
1394 private void update_orient() {
1395 if (last_imu_time != AltosLib.MISSING) {
1396 double t = time - last_imu_time;
1398 double pitch = radians(gyro_pitch());
1399 double yaw = radians(gyro_yaw());
1400 double roll = radians(gyro_roll());
1402 if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
1403 rotation.rotate(t, pitch, yaw, roll);
1404 orient.set_computed(rotation.tilt(), time);
1407 last_imu_time = time;
1410 public void set_imu(AltosIMU imu) {
1417 private double gyro_zero_overflow(double first) {
1418 double v = first / 128.0;
1426 public void check_imu_wrap(AltosIMU imu) {
1427 if (this.imu == null) {
1428 gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
1429 gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
1430 gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
1434 public double accel_along() {
1435 if (imu != null && accel_zero_along != AltosLib.MISSING)
1436 return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
1437 return AltosLib.MISSING;
1440 public double accel_across() {
1441 if (imu != null && accel_zero_across != AltosLib.MISSING)
1442 return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
1443 return AltosLib.MISSING;
1446 public double accel_through() {
1447 if (imu != null && accel_zero_through != AltosLib.MISSING)
1448 return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
1449 return AltosLib.MISSING;
1452 public double gyro_roll() {
1453 if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
1454 return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
1456 return AltosLib.MISSING;
1459 public double gyro_pitch() {
1460 if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
1461 return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
1463 return AltosLib.MISSING;
1466 public double gyro_yaw() {
1467 if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
1468 return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
1470 return AltosLib.MISSING;
1473 public void set_mag(AltosMag mag) {
1474 this.mag = mag.clone();
1477 public double mag_along() {
1479 return AltosMag.convert_gauss(mag.along);
1480 return AltosLib.MISSING;
1483 public double mag_across() {
1485 return AltosMag.convert_gauss(mag.across);
1486 return AltosLib.MISSING;
1489 public double mag_through() {
1491 return AltosMag.convert_gauss(mag.through);
1492 return AltosLib.MISSING;
1495 public AltosMs5607 make_baro() {
1497 baro = new AltosMs5607();
1501 public void set_ms5607(AltosMs5607 ms5607) {
1505 set_pressure(baro.pa);
1506 set_temperature(baro.cc / 100.0);
1510 public void set_ms5607(int pres, int temp) {
1512 baro.set(pres, temp);
1514 set_pressure(baro.pa);
1515 set_temperature(baro.cc / 100.0);
1519 public void set_companion(AltosCompanion companion) {
1520 this.companion = companion;
1523 void update_accel() {
1524 if (accel == AltosLib.MISSING)
1526 if (accel_plus_g == AltosLib.MISSING)
1528 if (accel_minus_g == AltosLib.MISSING)
1531 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1532 double counts_per_mss = counts_per_g / 9.80665;
1533 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1536 public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1537 if (accel_plus_g != AltosLib.MISSING) {
1538 this.accel_plus_g = accel_plus_g;
1539 this.accel_minus_g = accel_minus_g;
1544 public void set_ground_accel(double ground_accel) {
1545 if (ground_accel != AltosLib.MISSING)
1546 this.ground_accel = ground_accel;
1549 public void set_accel(double accel) {
1550 if (accel != AltosLib.MISSING) {
1552 if (state == AltosLib.ao_flight_pad) {
1553 if (ground_accel_avg == AltosLib.MISSING)
1554 ground_accel_avg = accel;
1556 ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1562 public void set_temperature(double temperature) {
1563 if (temperature != AltosLib.MISSING) {
1564 this.temperature = temperature;
1569 public void set_battery_voltage(double battery_voltage) {
1570 if (battery_voltage != AltosLib.MISSING) {
1571 this.battery_voltage = battery_voltage;
1576 public void set_pyro_voltage(double pyro_voltage) {
1577 if (pyro_voltage != AltosLib.MISSING) {
1578 this.pyro_voltage = pyro_voltage;
1583 public void set_apogee_voltage(double apogee_voltage) {
1584 if (apogee_voltage != AltosLib.MISSING) {
1585 this.apogee_voltage = apogee_voltage;
1590 public void set_main_voltage(double main_voltage) {
1591 if (main_voltage != AltosLib.MISSING) {
1592 this.main_voltage = main_voltage;
1597 public void set_ignitor_voltage(double[] voltage) {
1598 this.ignitor_voltage = voltage;
1601 public void set_pyro_fired(int fired) {
1602 this.pyro_fired = fired;
1605 public double time_since_boost() {
1606 if (tick == AltosLib.MISSING)
1609 if (boost_tick == AltosLib.MISSING)
1610 return tick / 100.0;
1611 return (tick - boost_tick) / 100.0;
1614 public boolean valid() {
1615 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1618 public AltosGPS make_temp_gps(boolean sats) {
1619 if (temp_gps == null) {
1620 temp_gps = new AltosGPS(gps);
1624 if (tick != temp_gps_sat_tick)
1625 temp_gps.cc_gps_sat = null;
1626 temp_gps_sat_tick = tick;
1631 public void set_temp_gps() {
1632 set_gps(temp_gps, gps_sequence + 1);
1633 gps_pending = false;
1637 public AltosState clone() {
1638 AltosState s = new AltosState();
1642 AltosJson json = json();
1643 String onetrip = json.toPrettyString();
1644 AltosJson back = AltosJson.fromString(onetrip);
1645 AltosState tripstate = AltosState.fromJson(back);
1646 AltosJson tripjson = tripstate.json();
1647 String twotrip = tripjson.toPrettyString();
1649 if (!onetrip.equals(twotrip)) {
1650 System.out.printf("one:\n%s\ntwo:\n%s\n", onetrip, twotrip);
1657 public AltosState () {
1661 public AltosJson json() {
1662 AltosJson j = new AltosJson();
1664 j.put("valid", true);
1666 j.put("received_time", received_time);
1667 j.put("time", time);
1668 j.put("prev_time", prev_time);
1669 j.put("time_change", time_change);
1670 j.put("tick", tick);
1671 j.put("prev_tick", prev_tick);
1672 j.put("boost_tick", boost_tick);
1673 j.put("state", state);
1674 j.put("flight", flight);
1675 j.put("serial", serial);
1676 j.put("altitude_32", altitude_32);
1677 j.put("receiver_serial", receiver_serial);
1678 j.put("landed", landed);
1679 j.put("ascent", ascent);
1680 j.put("boost", boost);
1681 j.put("rssi", rssi);
1682 j.put("status", status);
1683 j.put("device_type", device_type);
1684 j.put("config_major", config_major);
1685 j.put("config_minor", config_minor);
1686 j.put("apogee_delay", apogee_delay);
1687 j.put("main_deploy", main_deploy);
1688 j.put("flight_log_max", flight_log_max);
1689 j.put("ground_altitude", ground_altitude);
1690 j.put("gps_ground_altitude", gps_ground_altitude);
1691 j.put("ground_pressure", ground_pressure);
1692 j.put("altitude", altitude);
1693 j.put("gps_altitude", gps_altitude);
1694 j.put("gps_ground_speed", gps_ground_speed);
1695 j.put("gps_ascent_rate", gps_ascent_rate);
1696 j.put("gps_course", gps_course);
1697 j.put("gps_speed", gps_speed);
1698 j.put("pressure", pressure);
1699 j.put("speed", speed);
1700 j.put("acceleration", acceleration);
1701 j.put("orient", orient);
1702 j.put("kalman_height", kalman_height);
1703 j.put("kalman_speed", kalman_speed);
1704 j.put("kalman_acceleration", kalman_acceleration);
1706 j.put("battery_voltage",battery_voltage);
1707 j.put("pyro_voltage",pyro_voltage);
1708 j.put("temperature",temperature);
1709 j.put("apogee_voltage",apogee_voltage);
1710 j.put("main_voltage",main_voltage);
1711 j.put("ignitor_voltage",ignitor_voltage);
1713 j.put("temp_gps", temp_gps);
1714 j.put("temp_gps_sat_tick", temp_gps_sat_tick);
1715 j.put("gps_pending", gps_pending);
1716 j.put("gps_sequence", gps_sequence);
1720 j.put("npad", npad);
1721 j.put("gps_waiting", gps_waiting);
1722 j.put("gps_ready", gps_ready);
1723 j.put("ngps", ngps);
1724 j.put("from_pad", from_pad);
1725 j.put("elevation", elevation);
1726 j.put("range", range);
1727 j.put("gps_height", gps_height);
1728 j.put("pad_lat", pad_lat);
1729 j.put("pad_lon", pad_lon);
1730 j.put("pad_alt", pad_alt);
1731 j.put("speak_tick", speak_tick);
1732 j.put("speak_altitude", speak_altitude);
1733 j.put("callsign", callsign);
1734 j.put("firmware_version", firmware_version);
1735 j.put("accel_plus_g", accel_plus_g);
1736 j.put("accel_minus_g", accel_minus_g);
1737 j.put("accel", accel);
1738 j.put("ground_accel", ground_accel);
1739 j.put("ground_accel_avg", ground_accel_avg);
1740 j.put("log_format", log_format);
1741 j.put("log_space", log_space);
1742 j.put("product", product);
1743 j.put("baro", baro);
1744 j.put("companion", companion);
1745 j.put("pyro_fired", pyro_fired);
1746 j.put("accel_zero_along", accel_zero_along);
1747 j.put("accel_zero_across", accel_zero_across);
1748 j.put("accel_zero_through", accel_zero_through);
1750 j.put("rotation", rotation);
1751 j.put("ground_rotation", ground_rotation);
1753 j.put("pad_orientation", pad_orientation);
1755 j.put("accel_ground_along", accel_ground_along);
1756 j.put("accel_ground_across", accel_ground_across);
1757 j.put("accel_ground_through", accel_ground_through);
1759 j.put("gyro_zero_roll", gyro_zero_roll);
1760 j.put("gyro_zero_pitch", gyro_zero_pitch);
1761 j.put("gyro_zero_yaw", gyro_zero_yaw);
1763 j.put("last_imu_time", last_imu_time);
1767 public AltosState(AltosJson j) {
1770 set = j.get_int("set", set);
1771 received_time = j.get_long("received_time", received_time);
1772 time = j.get_double("time", time);
1773 prev_time = j.get_double("prev_time", prev_time);
1774 time_change = j.get_double("time_change", time_change);
1775 tick = j.get_int("tick", tick);
1776 prev_tick = j.get_int("prev_tick", prev_tick);
1777 boost_tick = j.get_int("boost_tick", boost_tick);
1778 state = j.get_int("state", state);
1779 flight = j.get_int("flight", flight);
1780 serial = j.get_int("serial", serial);
1781 altitude_32 = j.get_int("altitude_32", altitude_32);
1782 receiver_serial = j.get_int("receiver_serial", receiver_serial);
1783 landed = j.get_boolean("landed", landed);
1784 ascent = j.get_boolean("ascent", ascent);
1785 boost = j.get_boolean("boost", boost);
1786 rssi = j.get_int("rssi", rssi);
1787 status = j.get_int("status", status);
1788 device_type = j.get_int("device_type", device_type);
1789 config_major = j.get_int("config_major", config_major);
1790 config_minor = j.get_int("config_minor", config_minor);
1791 apogee_delay = j.get_int("apogee_delay", apogee_delay);
1792 main_deploy = j.get_int("main_deploy", main_deploy);
1793 flight_log_max = j.get_int("flight_log_max", flight_log_max);
1794 ground_altitude = AltosCValue_fromJson(j.get("ground_altitude"), ground_altitude);
1795 gps_ground_altitude = AltosGpsGroundAltitude_fromJson(j.get("gps_ground_altitude"), gps_ground_altitude);
1796 ground_pressure = AltosGroundPressure_fromJson(j.get("ground_pressure"), ground_pressure);
1797 altitude = AltosAltitude_fromJson(j.get("altitude"), altitude);
1798 gps_altitude = AltosGpsAltitude_fromJson(j.get("gps_altitude"), gps_altitude);
1799 gps_ground_speed = AltosValue_fromJson(j.get("gps_ground_speed"), gps_ground_speed);
1800 gps_ascent_rate = AltosValue_fromJson(j.get("gps_ascent_rate"), gps_ascent_rate);
1801 gps_course = AltosValue_fromJson(j.get("gps_course"), gps_course);
1802 gps_speed = AltosValue_fromJson(j.get("gps_speed"), gps_speed);
1803 pressure = AltosPressure_fromJson(j.get("pressure"), pressure);
1804 speed = AltosSpeed_fromJson(j.get("speed"), speed);
1805 acceleration = AltosAccel_fromJson(j.get("acceleration"), acceleration);
1806 orient = AltosCValue_fromJson(j.get("orient"), orient);
1807 kalman_height = AltosValue_fromJson(j.get("kalman_height"), kalman_height);
1808 kalman_speed = AltosValue_fromJson(j.get("kalman_speed"), kalman_speed);
1809 kalman_acceleration = AltosValue_fromJson(j.get("kalman_acceleration"), kalman_acceleration);
1811 battery_voltage = j.get_double("battery_voltage", battery_voltage);
1812 pyro_voltage = j.get_double("pyro_voltage", pyro_voltage);
1813 temperature = j.get_double("temperature", temperature);
1814 apogee_voltage = j.get_double("apogee_voltage", apogee_voltage);
1815 main_voltage= j.get_double("main_voltage", main_voltage);
1816 ignitor_voltage = j.get_double_array("ignitor_voltage", ignitor_voltage);
1817 gps = AltosGPS.fromJson(j.get("gps"), gps);
1818 temp_gps = AltosGPS.fromJson(j.get("temp_gps"), temp_gps);
1819 temp_gps_sat_tick = j.get_int("temp_gps_sat_tick", temp_gps_sat_tick);
1820 gps_pending = j.get_boolean("gps_pending", gps_pending);
1821 gps_sequence = j.get_int("gps_sequence", gps_sequence);
1822 imu = AltosIMU.fromJson(j.get("imu"), imu);
1823 mag = AltosMag.fromJson(j.get("mag"), mag);
1825 npad = j.get_int("npad", npad);
1826 gps_waiting = j.get_int("gps_waiting", gps_waiting);
1827 gps_ready = j.get_boolean("gps_ready", gps_ready);
1828 ngps = j.get_int("ngps", ngps);
1829 from_pad = AltosGreatCircle.fromJson(j.get("from_pad"), from_pad);
1830 elevation = j.get_double("elevation", elevation);
1831 range = j.get_double("range", range);
1832 gps_height = j.get_double("gps_height", gps_height);
1833 pad_lat = j.get_double("pad_lat", pad_lat);
1834 pad_lon = j.get_double("pad_lon", pad_lon);
1835 pad_alt = j.get_double("pad_alt", pad_alt);
1836 speak_tick = j.get_int("speak_tick", speak_tick);
1837 speak_altitude = j.get_double("speak_altitude", speak_altitude);
1838 callsign = j.get_string("callsign", callsign);
1839 firmware_version = j.get_string("firmware_version", firmware_version);
1840 accel_plus_g = j.get_double("accel_plus_g", accel_plus_g);
1841 accel_minus_g = j.get_double("accel_minus_g", accel_minus_g);
1842 accel = j.get_double("accel", accel);
1843 ground_accel = j.get_double("ground_accel", ground_accel);
1844 ground_accel_avg = j.get_double("ground_accel_avg", ground_accel_avg);
1845 log_format = j.get_int("log_format", log_format);
1846 log_space = j.get_int("log_space", log_space);
1847 product = j.get_string("product", product);
1848 baro = AltosMs5607.fromJson(j.get("baro"), baro);
1849 companion = AltosCompanion.fromJson(j.get("companion"), companion);
1850 pyro_fired = j.get_int("pyro_fired", pyro_fired);
1851 accel_zero_along = j.get_double("accel_zero_along", accel_zero_along);
1852 accel_zero_across = j.get_double("accel_zero_across", accel_zero_across);
1853 accel_zero_through = j.get_double("accel_zero_through", accel_zero_through);
1855 rotation = AltosRotation.fromJson(j.get("rotation"), rotation);
1856 ground_rotation = AltosRotation.fromJson(j.get("ground_rotation"), ground_rotation);
1858 pad_orientation = j.get_int("pad_orientation", pad_orientation);
1860 accel_ground_along = j.get_double("accel_ground_along", accel_ground_along);
1861 accel_ground_across = j.get_double("accel_ground_across", accel_ground_across);
1862 accel_ground_through = j.get_double("accel_ground_through", accel_ground_through);
1864 gyro_zero_roll = j.get_double("gyro_zero_roll", gyro_zero_roll);
1865 gyro_zero_pitch = j.get_double("gyro_zero_pitch", gyro_zero_pitch);
1866 gyro_zero_yaw = j.get_double("gyro_zero_yaw", gyro_zero_yaw);
1868 last_imu_time = j.get_double("last_imu_time", last_imu_time);
1871 public static AltosState fromJson(AltosJson j) {
1874 if (!j.get_boolean("valid", false))
1876 return new AltosState(j);