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; 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.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 * Track flight state from telemetry or eeprom data stream
23 package org.altusmetrum.altoslib_14;
25 public class AltosState extends AltosDataListener {
27 public static final int set_position = 1;
28 public static final int set_gps = 2;
29 public static final int set_data = 4;
33 static final double filter_len = 2.0;
34 static final double ascent_filter_len = 0.5;
35 static final double descent_filter_len = 5.0;
39 public long received_time;
47 private double max_value;
48 private double set_time;
49 private double prev_set_time;
51 boolean can_max() { return true; }
53 void set(double new_value, double time) {
54 if (new_value != AltosLib.MISSING) {
56 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
62 void set_filtered(double new_value, double time) {
63 if (prev_value != AltosLib.MISSING) {
64 double f = 1/Math.exp((time - prev_set_time) / filter_len);
65 new_value = f * new_value + (1-f) * prev_value;
83 if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
84 return value - prev_value;
85 return AltosLib.MISSING;
90 double t = set_time - prev_set_time;
92 if (c != AltosLib.MISSING && t != 0)
94 return AltosLib.MISSING;
98 if (value == AltosLib.MISSING)
99 return AltosLib.MISSING;
100 if (prev_value == AltosLib.MISSING)
101 return AltosLib.MISSING;
103 return (value + prev_value) / 2 * (set_time - prev_set_time);
110 void set_derivative(AltosValue in) {
111 double n = in.rate();
113 if (n == AltosLib.MISSING)
116 double p = prev_value;
117 double pt = prev_set_time;
119 if (p == AltosLib.MISSING) {
121 pt = in.time() - 0.01;
124 /* Clip changes to reduce noise */
125 double ddt = in.time() - pt;
126 double ddv = (n - p) / ddt;
128 final double max = 100000;
131 if (Math.abs(ddv) > max) {
141 filter_len = ascent_filter_len;
143 filter_len = descent_filter_len;
145 double f = 1/Math.exp(ddt/ filter_len);
146 n = p * f + n * (1-f);
151 void set_integral(AltosValue in) {
152 double change = in.integrate();
154 if (change != AltosLib.MISSING) {
155 double prev = prev_value;
156 if (prev == AltosLib.MISSING)
158 set(prev + change, in.time());
162 void copy(AltosValue old) {
164 set_time = old.set_time;
165 prev_value = old.value;
166 prev_set_time = old.set_time;
167 max_value = old.max_value;
170 void finish_update() {
172 prev_set_time = set_time;
176 value = AltosLib.MISSING;
177 prev_value = AltosLib.MISSING;
178 max_value = AltosLib.MISSING;
185 class AltosIValue extends AltosValue {
195 public AltosIValue measured;
196 public AltosIValue computed;
198 boolean can_max() { return true; }
200 boolean c_can_max() { return can_max(); }
203 double v = measured.value();
204 if (v != AltosLib.MISSING)
206 return computed.value();
209 boolean is_measured() {
210 return measured.value() != AltosLib.MISSING;
214 double m = measured.max();
216 if (m != AltosLib.MISSING)
218 return computed.max();
221 double prev_value() {
222 if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
223 return measured.prev_value;
224 return computed.prev_value;
227 AltosValue altos_value() {
228 if (measured.value() != AltosLib.MISSING)
234 double c = measured.change();
235 if (c == AltosLib.MISSING)
236 c = computed.change();
241 double r = measured.rate();
242 if (r == AltosLib.MISSING)
247 void set_measured(double new_value, double time) {
248 measured.set(new_value, time);
251 void set_computed(double new_value, double time) {
252 computed.set(new_value, time);
255 void set_derivative(AltosValue in) {
256 computed.set_derivative(in);
259 void set_derivative(AltosCValue in) {
260 set_derivative(in.altos_value());
263 void set_integral(AltosValue in) {
264 computed.set_integral(in);
267 void set_integral(AltosCValue in) {
268 set_integral(in.altos_value());
271 void copy(AltosCValue old) {
272 measured.copy(old.measured);
273 computed.copy(old.computed);
276 void finish_update() {
277 measured.finish_update();
278 computed.finish_update();
281 public AltosCValue() {
282 measured = new AltosIValue();
283 computed = new AltosIValue();
287 public boolean landed;
288 public boolean ascent; /* going up? */
289 public boolean boost; /* under power */
291 private double pressure_to_altitude(double p) {
292 if (p == AltosLib.MISSING)
293 return AltosLib.MISSING;
294 return AltosConvert.pressure_to_altitude(p);
297 private AltosCValue ground_altitude;
299 public double ground_altitude() {
300 return ground_altitude.value();
303 public void set_ground_altitude(double a) {
304 ground_altitude.set_measured(a, time);
307 class AltosGpsGroundAltitude extends AltosValue {
308 void set(double a, double t) {
311 gps_altitude.set_gps_height();
314 void set_filtered(double a, double t) {
315 super.set_filtered(a, t);
316 gps_altitude.set_gps_height();
319 AltosGpsGroundAltitude() {
324 private AltosGpsGroundAltitude gps_ground_altitude;
326 public double gps_ground_altitude() {
327 return gps_ground_altitude.value();
330 public void set_gps_ground_altitude(double a) {
331 gps_ground_altitude.set(a, time);
334 class AltosGroundPressure extends AltosCValue {
335 void set_filtered(double p, double time) {
336 computed.set_filtered(p, time);
338 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
341 void set_measured(double p, double time) {
342 super.set_measured(p, time);
343 ground_altitude.set_computed(pressure_to_altitude(p), time);
346 AltosGroundPressure () {
351 private AltosGroundPressure ground_pressure;
353 public double ground_pressure() {
354 return ground_pressure.value();
357 public void set_ground_pressure (double pressure) {
358 ground_pressure.set_measured(pressure, time);
361 class AltosAltitude extends AltosCValue {
363 private void set_speed(AltosValue v) {
364 if (!acceleration.is_measured() || !ascent)
365 speed.set_derivative(this);
368 void set_computed(double a, double time) {
369 super.set_computed(a,time);
374 void set_measured(double a, double time) {
375 super.set_measured(a,time);
385 private AltosAltitude altitude;
387 class AltosGpsAltitude extends AltosValue {
389 private void set_gps_height() {
391 double g = gps_ground_altitude.value();
393 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
396 gps_height = AltosLib.MISSING;
399 void set(double a, double t) {
409 private AltosGpsAltitude gps_altitude;
411 private AltosValue gps_ground_speed;
412 private AltosValue gps_ascent_rate;
413 private AltosValue gps_course;
414 private AltosValue gps_speed;
416 public double altitude() {
417 double a = altitude.value();
418 if (a != AltosLib.MISSING)
420 return gps_altitude.value();
423 public double max_altitude() {
424 double a = altitude.max();
425 if (a != AltosLib.MISSING)
427 return gps_altitude.max();
430 public void set_altitude(double new_altitude) {
431 double old_altitude = altitude.value();
432 if (old_altitude != AltosLib.MISSING) {
433 while (old_altitude - new_altitude > 32000)
434 new_altitude += 65536.0;
436 altitude.set_measured(new_altitude, time);
439 public double gps_altitude() {
440 return gps_altitude.value();
443 public double max_gps_altitude() {
444 return gps_altitude.max();
447 public void set_gps_altitude(double new_gps_altitude) {
448 gps_altitude.set(new_gps_altitude, time);
451 public double gps_ground_speed() {
452 return gps_ground_speed.value();
455 public double max_gps_ground_speed() {
456 return gps_ground_speed.max();
459 public double gps_ascent_rate() {
460 return gps_ascent_rate.value();
463 public double max_gps_ascent_rate() {
464 return gps_ascent_rate.max();
467 public double gps_course() {
468 return gps_course.value();
471 public double gps_speed() {
472 return gps_speed.value();
475 public double max_gps_speed() {
476 return gps_speed.max();
479 class AltosPressure extends AltosValue {
480 void set(double p, double time) {
482 if (state() == AltosLib.ao_flight_pad)
483 ground_pressure.set_filtered(p, time);
484 double a = pressure_to_altitude(p);
485 altitude.set_computed(a, time);
493 private AltosPressure pressure;
495 public double pressure() {
496 return pressure.value();
499 public void set_pressure(double p) {
500 pressure.set(p, time);
503 public void set_thrust(double N) {
506 public double baro_height() {
507 double a = altitude();
508 double g = ground_altitude();
509 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
511 return AltosLib.MISSING;
514 public double height() {
515 double b = baro_height();
516 if (b != AltosLib.MISSING)
519 double k = kalman_height.value();
520 if (k != AltosLib.MISSING)
526 public double max_height() {
527 double a = altitude.max();
528 double g = ground_altitude();
529 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
532 double k = kalman_height.max();
533 if (k != AltosLib.MISSING)
536 return max_gps_height();
539 public double gps_height() {
540 double a = gps_altitude();
541 double g = gps_ground_altitude();
543 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
545 return AltosLib.MISSING;
548 public double max_gps_height() {
549 double a = gps_altitude.max();
550 double g = gps_ground_altitude();
552 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
554 return AltosLib.MISSING;
557 class AltosSpeed extends AltosCValue {
560 return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
564 acceleration.set_derivative(this);
567 void set_derivative(AltosCValue in) {
568 super.set_derivative(in);
572 void set_computed(double new_value, double time) {
573 super.set_computed(new_value, time);
577 void set_measured(double new_value, double time) {
578 super.set_measured(new_value, time);
587 private AltosSpeed speed;
589 public double speed() {
590 double v = kalman_speed.value();
591 if (v != AltosLib.MISSING)
594 if (v != AltosLib.MISSING)
597 if (v != AltosLib.MISSING)
599 return AltosLib.MISSING;
602 public double max_speed() {
603 double v = kalman_speed.max();
604 if (v != AltosLib.MISSING)
607 if (v != AltosLib.MISSING)
610 if (v != AltosLib.MISSING)
612 return AltosLib.MISSING;
615 class AltosAccel extends AltosCValue {
618 return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
621 void set_measured(double a, double time) {
622 super.set_measured(a, time);
624 speed.set_integral(this.measured);
632 AltosAccel acceleration;
634 public double acceleration() {
635 return acceleration.value();
638 public double max_acceleration() {
639 return acceleration.max();
642 public AltosCValue orient;
644 public void set_orient(double new_orient) {
645 orient.set_measured(new_orient, time);
648 public double orient() {
649 return orient.value();
652 public double max_orient() {
656 public AltosValue kalman_height, kalman_speed, kalman_acceleration;
658 public void set_kalman(double height, double speed, double acceleration) {
659 double old_height = kalman_height.value();
660 if (old_height != AltosLib.MISSING) {
661 while (old_height - height > 32000)
664 kalman_height.set(height, time);
665 kalman_speed.set(speed, time);
666 kalman_acceleration.set(acceleration, time);
669 public double battery_voltage;
670 public double pyro_voltage;
671 public double temperature;
672 public double apogee_voltage;
673 public double main_voltage;
675 public double igniter_voltage[];
678 public boolean gps_pending;
680 public static final int MIN_PAD_SAMPLES = 10;
683 public int gps_waiting;
684 public boolean gps_ready;
688 public AltosGreatCircle from_pad;
689 public double elevation; /* from pad */
690 public double distance; /* distance along ground */
691 public double range; /* total distance */
693 public double gps_height;
695 public double pad_lat, pad_lon;
697 public int speak_tick;
698 public double speak_altitude;
700 public double ground_accel;
702 public AltosCompanion companion;
704 public int pyro_fired;
706 public double motor_pressure;
708 public void set_npad(int npad) {
710 gps_waiting = MIN_PAD_SAMPLES - npad;
711 if (this.gps_waiting < 0)
713 gps_ready = gps_waiting == 0;
721 received_time = System.currentTimeMillis();
724 rssi = AltosLib.MISSING;
727 ground_altitude = new AltosCValue();
728 ground_pressure = new AltosGroundPressure();
729 altitude = new AltosAltitude();
730 pressure = new AltosPressure();
731 speed = new AltosSpeed();
732 acceleration = new AltosAccel();
733 orient = new AltosCValue();
735 temperature = AltosLib.MISSING;
736 battery_voltage = AltosLib.MISSING;
737 pyro_voltage = AltosLib.MISSING;
738 apogee_voltage = AltosLib.MISSING;
739 main_voltage = AltosLib.MISSING;
740 igniter_voltage = null;
742 kalman_height = new AltosValue();
743 kalman_speed = new AltosValue();
744 kalman_acceleration = new AltosValue();
749 last_imu_time = AltosLib.MISSING;
752 accel_ground_along = AltosLib.MISSING;
753 accel_ground_across = AltosLib.MISSING;
754 accel_ground_through = AltosLib.MISSING;
756 accel_along = AltosLib.MISSING;
757 accel_across = AltosLib.MISSING;
758 accel_through = AltosLib.MISSING;
760 gyro_roll = AltosLib.MISSING;
761 gyro_pitch = AltosLib.MISSING;
762 gyro_yaw = AltosLib.MISSING;
764 mag_along = AltosLib.MISSING;
765 mag_across = AltosLib.MISSING;
766 mag_through = AltosLib.MISSING;
772 elevation = AltosLib.MISSING;
773 distance = AltosLib.MISSING;
774 range = AltosLib.MISSING;
775 gps_height = AltosLib.MISSING;
777 pad_lat = AltosLib.MISSING;
778 pad_lon = AltosLib.MISSING;
780 gps_altitude = new AltosGpsAltitude();
781 gps_ground_altitude = new AltosGpsGroundAltitude();
782 gps_ground_speed = new AltosValue();
783 gps_speed = new AltosValue();
784 gps_ascent_rate = new AltosValue();
785 gps_course = new AltosValue();
787 speak_tick = AltosLib.MISSING;
788 speak_altitude = AltosLib.MISSING;
790 ground_accel = AltosLib.MISSING;
797 void finish_update() {
798 ground_altitude.finish_update();
799 altitude.finish_update();
800 pressure.finish_update();
801 speed.finish_update();
802 acceleration.finish_update();
803 orient.finish_update();
805 kalman_height.finish_update();
806 kalman_speed.finish_update();
807 kalman_acceleration.finish_update();
814 elevation = AltosLib.MISSING;
815 distance = AltosLib.MISSING;
816 range = AltosLib.MISSING;
821 if (gps.locked && gps.nsat >= 4) {
822 /* Track consecutive 'good' gps reports, waiting for 10 of them */
823 if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
825 if (pad_lat != AltosLib.MISSING && (npad < 10 || state() == AltosLib.ao_flight_pad)) {
826 pad_lat = (pad_lat * 31 + gps.lat) / 32;
827 pad_lon = (pad_lon * 31 + gps.lon) / 32;
828 gps_ground_altitude.set_filtered(gps.alt, time);
831 if (pad_lat == AltosLib.MISSING) {
834 gps_ground_altitude.set(gps.alt, time);
836 gps_altitude.set(gps.alt, time);
837 if (gps.climb_rate != AltosLib.MISSING)
838 gps_ascent_rate.set(gps.climb_rate, time);
839 if (gps.ground_speed != AltosLib.MISSING)
840 gps_ground_speed.set(gps.ground_speed, time);
841 if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
842 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
843 gps.climb_rate * gps.climb_rate), time);
844 if (gps.course != AltosLib.MISSING)
845 gps_course.set(gps.course, time);
846 } else if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
849 if (gps.lat != 0 && gps.lon != 0 &&
850 pad_lat != AltosLib.MISSING &&
851 pad_lon != AltosLib.MISSING)
855 if (h == AltosLib.MISSING)
857 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
858 elevation = from_pad.elevation;
859 distance = from_pad.distance;
860 range = from_pad.range;
864 public void set_state(int state) {
865 super.set_state(state);
866 ascent = (AltosLib.ao_flight_boost <= state() &&
867 state() <= AltosLib.ao_flight_coast);
868 boost = (AltosLib.ao_flight_boost == state());
872 if (rssi == AltosLib.MISSING)
877 public void set_rssi(int rssi, int status) {
878 if (rssi != AltosLib.MISSING) {
880 this.status = status;
884 public void set_received_time(long ms) {
888 public void set_gps(AltosGPS gps, boolean set_location, boolean set_sats) {
889 super.set_gps(gps, set_location, set_sats);
897 public AltosRotation rotation;
899 public double accel_ground_along, accel_ground_across, accel_ground_through;
901 void update_pad_rotation() {
902 if (cal_data().pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
903 rotation = new AltosRotation(accel_ground_across,
904 accel_ground_through,
906 cal_data().pad_orientation);
907 orient.set_computed(rotation.tilt(), time);
911 public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
912 accel_ground_along = ground_along;
913 accel_ground_across = ground_across;
914 accel_ground_through = ground_through;
915 update_pad_rotation();
918 public double last_imu_time;
920 private void update_orient() {
921 if (last_imu_time != AltosLib.MISSING) {
922 double t = time - last_imu_time;
924 if (t > 0 && gyro_pitch != AltosLib.MISSING && rotation != null) {
925 double pitch = AltosConvert.degrees_to_radians(gyro_pitch) * t;
926 double yaw = AltosConvert.degrees_to_radians(gyro_yaw) * t;
927 double roll = AltosConvert.degrees_to_radians(gyro_roll) * t;
929 rotation.rotate(pitch, yaw, roll);
930 orient.set_computed(rotation.tilt(), time);
933 last_imu_time = time;
936 private double gyro_roll, gyro_pitch, gyro_yaw;
938 public void set_gyro(double roll, double pitch, double yaw) {
945 private double accel_along, accel_across, accel_through;
947 public void set_accel(double along, double across, double through) {
949 accel_across = across;
950 accel_through = through;
954 public double accel_along() {
958 public double accel_across() {
962 public double accel_through() {
963 return accel_through;
966 public double gyro_roll() {
970 public double gyro_pitch() {
974 public double gyro_yaw() {
978 private double mag_along, mag_across, mag_through;
980 public void set_mag(double along, double across, double through) {
983 mag_through = through;
986 public double mag_along() {
990 public double mag_across() {
994 public double mag_through() {
998 public void set_companion(AltosCompanion companion) {
999 this.companion = companion;
1002 public void set_acceleration(double acceleration) {
1003 if (acceleration != AltosLib.MISSING) {
1004 this.acceleration.set_measured(acceleration, time);
1009 public void set_temperature(double temperature) {
1010 if (temperature != AltosLib.MISSING) {
1011 this.temperature = temperature;
1016 public void set_battery_voltage(double battery_voltage) {
1017 if (battery_voltage != AltosLib.MISSING) {
1018 this.battery_voltage = battery_voltage;
1023 public void set_pyro_voltage(double pyro_voltage) {
1024 if (pyro_voltage != AltosLib.MISSING) {
1025 this.pyro_voltage = pyro_voltage;
1030 public void set_apogee_voltage(double apogee_voltage) {
1031 if (apogee_voltage != AltosLib.MISSING) {
1032 this.apogee_voltage = apogee_voltage;
1037 public void set_main_voltage(double main_voltage) {
1038 if (main_voltage != AltosLib.MISSING) {
1039 this.main_voltage = main_voltage;
1044 public void set_igniter_voltage(double[] voltage) {
1045 this.igniter_voltage = voltage;
1048 public void set_pyro_fired(int fired) {
1049 this.pyro_fired = fired;
1052 public void set_motor_pressure(double motor_pressure) {
1053 this.motor_pressure = motor_pressure;
1056 public AltosState() {
1060 public AltosState (AltosCalData cal_data) {