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;
44 public double acceleration;
45 public double battery;
46 public double temperature;
47 public double main_sense;
48 public double drogue_sense;
49 public double baro_speed;
51 public double max_height;
52 public double max_acceleration;
53 public double max_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 void init (AltosRecord cur, AltosState prev_state) {
85 ground_altitude = data.ground_altitude();
86 altitude = data.raw_altitude();
87 height = data.filtered_height();
89 report_time = System.currentTimeMillis();
91 acceleration = data.acceleration();
92 speed = data.accel_speed();
93 temperature = data.temperature();
94 drogue_sense = data.drogue_voltage();
95 main_sense = data.main_voltage();
96 battery = data.battery_voltage();
100 if (prev_state != null) {
102 /* Preserve any existing gps data */
103 npad = prev_state.npad;
104 ngps = prev_state.ngps;
105 gps = prev_state.gps;
106 pad_lat = prev_state.pad_lat;
107 pad_lon = prev_state.pad_lon;
108 pad_alt = prev_state.pad_alt;
109 max_height = prev_state.max_height;
110 max_acceleration = prev_state.max_acceleration;
111 max_speed = prev_state.max_speed;
112 max_baro_speed = prev_state.max_baro_speed;
113 imu = prev_state.imu;
114 mag = prev_state.mag;
116 /* make sure the clock is monotonic */
117 while (tick < prev_state.tick)
120 time_change = (tick - prev_state.tick) / 100.0;
122 /* compute barometric speed */
124 double height_change = height - prev_state.height;
125 if (data.speed != AltosRecord.MISSING)
126 baro_speed = data.speed;
129 baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
131 baro_speed = prev_state.baro_speed;
143 if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
145 /* Track consecutive 'good' gps reports, waiting for 10 of them */
146 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
151 /* Average GPS data while on the pad */
152 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
154 /* filter pad position */
155 pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
156 pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
157 pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
159 pad_lat = data.gps.lat;
160 pad_lon = data.gps.lon;
161 pad_alt = data.gps.alt;
166 pad_alt = ground_altitude;
168 data.new_gps = false;
170 gps_waiting = MIN_PAD_SAMPLES - npad;
174 gps_ready = gps_waiting == 0;
176 ascent = (AltosLib.ao_flight_boost <= state &&
177 state <= AltosLib.ao_flight_coast);
178 boost = (AltosLib.ao_flight_boost == state);
180 /* Only look at accelerometer data under boost */
181 if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
182 max_acceleration = acceleration;
183 if (boost && speed > max_speed && speed != AltosRecord.MISSING)
185 if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
186 max_baro_speed = baro_speed;
188 if (height > max_height && height != AltosRecord.MISSING)
190 if (data.gps != null) {
191 if (gps == null || !gps.locked || data.gps.locked)
193 if (ngps > 0 && gps.locked) {
194 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
200 gps_height = gps.alt - pad_alt;
201 if (from_pad != null) {
202 elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
203 range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
210 public AltosState(AltosRecord cur) {
214 public AltosState (AltosRecord cur, AltosState prev) {