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_4;
24 public class AltosState implements Cloneable {
26 public static final int set_position = 1;
27 public static final int set_gps = 2;
28 public static final int set_data = 4;
32 static final double ascent_filter_len = 0.5;
33 static final double descent_filter_len = 0.5;
37 public long received_time;
40 public double prev_time;
41 public double time_change;
43 private int prev_tick;
44 public int boost_tick;
48 private double prev_value;
49 private double max_value;
50 private double set_time;
51 private double prev_set_time;
53 boolean can_max() { return true; }
55 void set(double new_value, double time) {
56 if (new_value != AltosLib.MISSING) {
58 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
64 void set_filtered(double new_value, double time) {
65 if (prev_value != AltosLib.MISSING)
66 new_value = (prev_value * 15.0 + new_value) / 16.0;
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;
187 double v = measured.value();
188 if (v != AltosLib.MISSING)
190 return computed.value();
193 boolean is_measured() {
194 return measured.value() != AltosLib.MISSING;
198 double m = measured.max();
200 if (m != AltosLib.MISSING)
202 return computed.max();
205 double prev_value() {
206 if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
207 return measured.prev_value;
208 return computed.prev_value;
211 AltosValue altos_value() {
212 if (measured.value() != AltosLib.MISSING)
218 double c = measured.change();
219 if (c == AltosLib.MISSING)
220 c = computed.change();
225 double r = measured.rate();
226 if (r == AltosLib.MISSING)
231 void set_measured(double new_value, double time) {
232 measured.set(new_value, time);
235 void set_computed(double new_value, double time) {
236 computed.set(new_value, time);
239 void set_derivative(AltosValue in) {
240 computed.set_derivative(in);
243 void set_derivative(AltosCValue in) {
244 set_derivative(in.altos_value());
247 void set_integral(AltosValue in) {
248 computed.set_integral(in);
251 void set_integral(AltosCValue in) {
252 set_integral(in.altos_value());
255 void copy(AltosCValue old) {
256 measured.copy(old.measured);
257 computed.copy(old.computed);
260 void finish_update() {
261 measured.finish_update();
262 computed.finish_update();
266 measured = new AltosValue();
267 computed = new AltosValue();
274 public int receiver_serial;
275 public boolean landed;
276 public boolean ascent; /* going up? */
277 public boolean boost; /* under power */
280 public int device_type;
281 public int config_major;
282 public int config_minor;
283 public int apogee_delay;
284 public int main_deploy;
285 public int flight_log_max;
287 private double pressure_to_altitude(double p) {
288 if (p == AltosLib.MISSING)
289 return AltosLib.MISSING;
290 return AltosConvert.pressure_to_altitude(p);
293 private AltosCValue ground_altitude;
295 public double ground_altitude() {
296 return ground_altitude.value();
299 public void set_ground_altitude(double a) {
300 ground_altitude.set_measured(a, time);
303 class AltosGpsGroundAltitude extends AltosValue {
304 void set(double a, double t) {
307 gps_altitude.set_gps_height();
310 void set_filtered(double a, double t) {
311 super.set_filtered(a, t);
313 gps_altitude.set_gps_height();
317 private AltosGpsGroundAltitude gps_ground_altitude;
319 public double gps_ground_altitude() {
320 return gps_ground_altitude.value();
323 public void set_gps_ground_altitude(double a) {
324 gps_ground_altitude.set(a, time);
327 class AltosGroundPressure extends AltosCValue {
328 void set_filtered(double p, double time) {
329 computed.set_filtered(p, time);
331 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
334 void set_measured(double p, double time) {
335 super.set_measured(p, time);
336 ground_altitude.set_computed(pressure_to_altitude(p), time);
340 private AltosGroundPressure ground_pressure;
342 public double ground_pressure() {
343 return ground_pressure.value();
346 public void set_ground_pressure (double pressure) {
347 ground_pressure.set_measured(pressure, time);
350 class AltosAltitude extends AltosCValue {
352 private void set_speed(AltosValue v) {
353 if (!acceleration.is_measured() || !ascent)
354 speed.set_derivative(this);
357 void set_computed(double a, double time) {
358 super.set_computed(a,time);
363 void set_measured(double a, double time) {
364 super.set_measured(a,time);
370 private AltosAltitude altitude;
372 class AltosGpsAltitude extends AltosValue {
374 private void set_gps_height() {
376 double g = gps_ground_altitude.value();
378 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
381 gps_height = AltosLib.MISSING;
384 void set(double a, double t) {
390 private AltosGpsAltitude gps_altitude;
392 private AltosValue gps_ground_speed;
393 private AltosValue gps_ascent_rate;
394 private AltosValue gps_course;
396 public double altitude() {
397 double a = altitude.value();
398 if (a != AltosLib.MISSING)
400 return gps_altitude.value();
403 public double max_altitude() {
404 double a = altitude.max();
405 if (a != AltosLib.MISSING)
407 return gps_altitude.max();
410 public void set_altitude(double new_altitude) {
411 altitude.set_measured(new_altitude, time);
414 public double gps_altitude() {
415 return gps_altitude.value();
418 public double max_gps_altitude() {
419 return gps_altitude.max();
422 public void set_gps_altitude(double new_gps_altitude) {
423 gps_altitude.set(new_gps_altitude, time);
426 public double gps_ground_speed() {
427 return gps_ground_speed.value();
430 public double gps_ascent_rate() {
431 return gps_ascent_rate.value();
434 public double gps_course() {
435 return gps_course.value();
438 class AltosPressure extends AltosValue {
439 void set(double p, double time) {
441 if (state == AltosLib.ao_flight_pad)
442 ground_pressure.set_filtered(p, time);
443 double a = pressure_to_altitude(p);
444 altitude.set_computed(a, time);
448 private AltosPressure pressure;
450 public double pressure() {
451 return pressure.value();
454 public void set_pressure(double p) {
455 pressure.set(p, time);
458 public double height() {
459 double k = kalman_height.value();
460 if (k != AltosLib.MISSING)
463 double a = altitude();
464 double g = ground_altitude();
465 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
467 return AltosLib.MISSING;
470 public double max_height() {
471 double k = kalman_height.max();
472 if (k != AltosLib.MISSING)
475 double a = altitude.max();
476 double g = ground_altitude();
477 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
479 return AltosLib.MISSING;
482 public double gps_height() {
483 double a = gps_altitude();
484 double g = gps_ground_altitude();
486 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
488 return AltosLib.MISSING;
491 public double max_gps_height() {
492 double a = gps_altitude.max();
493 double g = gps_ground_altitude();
495 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
497 return AltosLib.MISSING;
500 class AltosSpeed extends AltosCValue {
503 return state < AltosLib.ao_flight_fast;
507 acceleration.set_derivative(this);
510 void set_derivative(AltosCValue in) {
511 super.set_derivative(in);
515 void set_computed(double new_value, double time) {
516 super.set_computed(new_value, time);
520 void set_measured(double new_value, double time) {
521 super.set_measured(new_value, time);
526 private AltosSpeed speed;
528 public double speed() {
529 double v = kalman_speed.value();
530 if (v != AltosLib.MISSING)
532 return speed.value();
535 public double max_speed() {
536 double v = kalman_speed.max();
537 if (v != AltosLib.MISSING)
542 class AltosAccel extends AltosCValue {
545 return state < AltosLib.ao_flight_fast;
548 void set_measured(double a, double time) {
549 super.set_measured(a, time);
551 speed.set_integral(this.measured);
555 AltosAccel acceleration;
557 public double acceleration() {
558 return acceleration.value();
561 public double max_acceleration() {
562 return acceleration.max();
565 public AltosValue orient;
567 public void set_orient(double new_orient) {
568 orient.set(new_orient, time);
571 public double orient() {
572 return orient.value();
575 public double max_orient() {
579 public AltosValue kalman_height, kalman_speed, kalman_acceleration;
581 public void set_kalman(double height, double speed, double acceleration) {
582 kalman_height.set(height, time);
583 kalman_speed.set(speed, time);
584 kalman_acceleration.set(acceleration, time);
587 public double battery_voltage;
588 public double pyro_voltage;
589 public double temperature;
590 public double apogee_voltage;
591 public double main_voltage;
593 public double ignitor_voltage[];
596 public AltosGPS temp_gps;
597 public int temp_gps_sat_tick;
598 public boolean gps_pending;
599 public int gps_sequence;
604 public static final int MIN_PAD_SAMPLES = 10;
607 public int gps_waiting;
608 public boolean gps_ready;
612 public AltosGreatCircle from_pad;
613 public double elevation; /* from pad */
614 public double range; /* total distance */
616 public double gps_height;
618 public double pad_lat, pad_lon, pad_alt;
620 public int speak_tick;
621 public double speak_altitude;
623 public String callsign;
624 public String firmware_version;
626 public double accel_plus_g;
627 public double accel_minus_g;
629 public double ground_accel;
630 public double ground_accel_avg;
632 public int log_format;
633 public String product;
635 public AltosMs5607 baro;
637 public AltosCompanion companion;
639 public int pyro_fired;
641 public void set_npad(int npad) {
643 gps_waiting = MIN_PAD_SAMPLES - npad;
644 if (this.gps_waiting < 0)
646 gps_ready = gps_waiting == 0;
652 received_time = System.currentTimeMillis();
653 time = AltosLib.MISSING;
654 time_change = AltosLib.MISSING;
655 prev_time = AltosLib.MISSING;
656 tick = AltosLib.MISSING;
657 prev_tick = AltosLib.MISSING;
658 boost_tick = AltosLib.MISSING;
659 state = AltosLib.ao_flight_invalid;
660 flight = AltosLib.MISSING;
663 rssi = AltosLib.MISSING;
665 device_type = AltosLib.MISSING;
666 config_major = AltosLib.MISSING;
667 config_minor = AltosLib.MISSING;
668 apogee_delay = AltosLib.MISSING;
669 main_deploy = AltosLib.MISSING;
670 flight_log_max = AltosLib.MISSING;
672 ground_altitude = new AltosCValue();
673 ground_pressure = new AltosGroundPressure();
674 altitude = new AltosAltitude();
675 pressure = new AltosPressure();
676 speed = new AltosSpeed();
677 acceleration = new AltosAccel();
678 orient = new AltosValue();
680 temperature = AltosLib.MISSING;
681 battery_voltage = AltosLib.MISSING;
682 pyro_voltage = AltosLib.MISSING;
683 apogee_voltage = AltosLib.MISSING;
684 main_voltage = AltosLib.MISSING;
685 ignitor_voltage = null;
687 kalman_height = new AltosValue();
688 kalman_speed = new AltosValue();
689 kalman_acceleration = new AltosValue();
693 temp_gps_sat_tick = 0;
704 elevation = AltosLib.MISSING;
705 range = AltosLib.MISSING;
706 gps_height = AltosLib.MISSING;
708 pad_lat = AltosLib.MISSING;
709 pad_lon = AltosLib.MISSING;
710 pad_alt = AltosLib.MISSING;
712 gps_altitude = new AltosGpsAltitude();
713 gps_ground_altitude = new AltosGpsGroundAltitude();
714 gps_ground_speed = new AltosValue();
715 gps_ascent_rate = new AltosValue();
716 gps_course = new AltosValue();
718 speak_tick = AltosLib.MISSING;
719 speak_altitude = AltosLib.MISSING;
723 accel_plus_g = AltosLib.MISSING;
724 accel_minus_g = AltosLib.MISSING;
725 accel = AltosLib.MISSING;
727 ground_accel = AltosLib.MISSING;
728 ground_accel_avg = AltosLib.MISSING;
730 log_format = AltosLib.MISSING;
732 serial = AltosLib.MISSING;
733 receiver_serial = AltosLib.MISSING;
741 void finish_update() {
744 ground_altitude.finish_update();
745 altitude.finish_update();
746 pressure.finish_update();
747 speed.finish_update();
748 acceleration.finish_update();
749 orient.finish_update();
751 kalman_height.finish_update();
752 kalman_speed.finish_update();
753 kalman_acceleration.finish_update();
756 void copy(AltosState old) {
763 received_time = old.received_time;
765 time_change = old.time_change;
766 prev_time = old.time;
769 prev_tick = old.tick;
770 boost_tick = old.boost_tick;
779 device_type = old.device_type;
780 config_major = old.config_major;
781 config_minor = old.config_minor;
782 apogee_delay = old.apogee_delay;
783 main_deploy = old.main_deploy;
784 flight_log_max = old.flight_log_max;
788 ground_pressure.copy(old.ground_pressure);
789 ground_altitude.copy(old.ground_altitude);
790 altitude.copy(old.altitude);
791 pressure.copy(old.pressure);
792 speed.copy(old.speed);
793 acceleration.copy(old.acceleration);
794 orient.copy(old.orient);
796 battery_voltage = old.battery_voltage;
797 pyro_voltage = old.pyro_voltage;
798 temperature = old.temperature;
799 apogee_voltage = old.apogee_voltage;
800 main_voltage = old.main_voltage;
801 ignitor_voltage = old.ignitor_voltage;
803 kalman_height.copy(old.kalman_height);
804 kalman_speed.copy(old.kalman_speed);
805 kalman_acceleration.copy(old.kalman_acceleration);
808 gps = old.gps.clone();
811 if (old.temp_gps != null)
812 temp_gps = old.temp_gps.clone();
815 temp_gps_sat_tick = old.temp_gps_sat_tick;
816 gps_sequence = old.gps_sequence;
817 gps_pending = old.gps_pending;
820 imu = old.imu.clone();
825 mag = old.mag.clone();
830 gps_waiting = old.gps_waiting;
831 gps_ready = old.gps_ready;
834 if (old.from_pad != null)
835 from_pad = old.from_pad.clone();
839 elevation = old.elevation;
842 gps_height = old.gps_height;
844 gps_altitude.copy(old.gps_altitude);
845 gps_ground_altitude.copy(old.gps_ground_altitude);
846 gps_ground_speed.copy(old.gps_ground_speed);
847 gps_ascent_rate.copy(old.gps_ascent_rate);
848 gps_course.copy(old.gps_course);
850 pad_lat = old.pad_lat;
851 pad_lon = old.pad_lon;
852 pad_alt = old.pad_alt;
854 speak_tick = old.speak_tick;
855 speak_altitude = old.speak_altitude;
857 callsign = old.callsign;
859 accel_plus_g = old.accel_plus_g;
860 accel_minus_g = old.accel_minus_g;
862 ground_accel = old.ground_accel;
863 ground_accel_avg = old.ground_accel_avg;
865 log_format = old.log_format;
866 product = old.product;
868 receiver_serial = old.receiver_serial;
871 companion = old.companion;
873 pyro_fired = old.pyro_fired;
886 if (gps.locked && gps.nsat >= 4) {
887 /* Track consecutive 'good' gps reports, waiting for 10 of them */
888 if (state == AltosLib.ao_flight_pad) {
890 if (pad_lat != AltosLib.MISSING) {
891 pad_lat = (pad_lat * 31 + gps.lat) / 32;
892 pad_lon = (pad_lon * 31 + gps.lon) / 32;
893 gps_ground_altitude.set_filtered(gps.alt, time);
896 if (pad_lat == AltosLib.MISSING) {
899 gps_ground_altitude.set(gps.alt, time);
901 gps_altitude.set(gps.alt, time);
902 if (gps.climb_rate != AltosLib.MISSING)
903 gps_ascent_rate.set(gps.climb_rate, time);
904 if (gps.ground_speed != AltosLib.MISSING)
905 gps_ground_speed.set(gps.ground_speed, time);
906 if (gps.course != AltosLib.MISSING)
907 gps_course.set(gps.course, time);
909 if (gps.lat != 0 && gps.lon != 0 &&
910 pad_lat != AltosLib.MISSING &&
911 pad_lon != AltosLib.MISSING)
915 if (h == AltosLib.MISSING)
917 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
918 elevation = from_pad.elevation;
919 range = from_pad.range;
922 if ((gps.state & AltosGPS.AO_GPS_STATE_VALID) != 0)
923 set_state (gps.state & ~(AltosGPS.AO_GPS_STATE_VALID));
926 public void set_tick(int new_tick) {
927 if (new_tick != AltosLib.MISSING) {
928 if (prev_tick != AltosLib.MISSING) {
929 while (new_tick < prev_tick - 1000) {
935 time_change = time - prev_time;
939 public void set_boost_tick(int boost_tick) {
940 if (boost_tick != AltosLib.MISSING)
941 this.boost_tick = boost_tick;
944 public String state_name() {
945 return AltosLib.state_name(state);
948 public void set_state(int state) {
949 if (state != AltosLib.ao_flight_invalid) {
951 ascent = (AltosLib.ao_flight_boost <= state &&
952 state <= AltosLib.ao_flight_coast);
953 boost = (AltosLib.ao_flight_boost == state);
958 public void set_device_type(int device_type) {
959 this.device_type = device_type;
962 public void set_flight_params(int apogee_delay, int main_deploy) {
963 this.apogee_delay = apogee_delay;
964 this.main_deploy = main_deploy;
967 public void set_config(int major, int minor, int flight_log_max) {
968 config_major = major;
969 config_minor = minor;
970 this.flight_log_max = flight_log_max;
973 public void set_callsign(String callsign) {
974 this.callsign = callsign;
977 public void set_firmware_version(String version) {
978 firmware_version = version;
981 public void set_flight(int flight) {
983 /* When the flight changes, reset the state */
984 if (flight != AltosLib.MISSING && flight != 0) {
985 if (this.flight != AltosLib.MISSING &&
986 this.flight != flight) {
991 this.flight = flight;
995 public void set_serial(int serial) {
996 /* When the serial changes, reset the state */
997 if (serial != AltosLib.MISSING) {
998 if (this.serial != AltosLib.MISSING &&
999 this.serial != serial) {
1000 int bt = boost_tick;
1004 this.serial = serial;
1008 public void set_receiver_serial(int serial) {
1009 if (serial != AltosLib.MISSING)
1010 receiver_serial = serial;
1014 if (rssi == AltosLib.MISSING)
1019 public void set_rssi(int rssi, int status) {
1020 if (rssi != AltosLib.MISSING) {
1022 this.status = status;
1026 public void set_received_time(long ms) {
1030 public void set_gps(AltosGPS gps, int sequence) {
1032 this.gps = gps.clone();
1033 gps_sequence = sequence;
1039 public void set_imu(AltosIMU imu) {
1045 public void set_mag(AltosMag mag) {
1046 this.mag = mag.clone();
1049 public AltosMs5607 make_baro() {
1051 baro = new AltosMs5607();
1055 public void set_ms5607(AltosMs5607 ms5607) {
1059 set_pressure(baro.pa);
1060 set_temperature(baro.cc / 100.0);
1064 public void set_ms5607(int pres, int temp) {
1066 baro.set(pres, temp);
1068 set_pressure(baro.pa);
1069 set_temperature(baro.cc / 100.0);
1073 public void make_companion (int nchannels) {
1074 if (companion == null)
1075 companion = new AltosCompanion(nchannels);
1078 public void set_companion(AltosCompanion companion) {
1079 this.companion = companion;
1082 void update_accel() {
1083 if (accel == AltosLib.MISSING)
1085 if (accel_plus_g == AltosLib.MISSING)
1087 if (accel_minus_g == AltosLib.MISSING)
1090 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1091 double counts_per_mss = counts_per_g / 9.80665;
1092 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1095 public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1096 if (accel_plus_g != AltosLib.MISSING) {
1097 this.accel_plus_g = accel_plus_g;
1098 this.accel_minus_g = accel_minus_g;
1103 public void set_ground_accel(double ground_accel) {
1104 if (ground_accel != AltosLib.MISSING)
1105 this.ground_accel = ground_accel;
1108 public void set_accel(double accel) {
1109 if (accel != AltosLib.MISSING) {
1111 if (state == AltosLib.ao_flight_pad) {
1112 if (ground_accel_avg == AltosLib.MISSING)
1113 ground_accel_avg = accel;
1115 ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1121 public void set_temperature(double temperature) {
1122 if (temperature != AltosLib.MISSING) {
1123 this.temperature = temperature;
1128 public void set_battery_voltage(double battery_voltage) {
1129 if (battery_voltage != AltosLib.MISSING) {
1130 this.battery_voltage = battery_voltage;
1135 public void set_pyro_voltage(double pyro_voltage) {
1136 if (pyro_voltage != AltosLib.MISSING) {
1137 this.pyro_voltage = pyro_voltage;
1142 public void set_apogee_voltage(double apogee_voltage) {
1143 if (apogee_voltage != AltosLib.MISSING) {
1144 this.apogee_voltage = apogee_voltage;
1149 public void set_main_voltage(double main_voltage) {
1150 if (main_voltage != AltosLib.MISSING) {
1151 this.main_voltage = main_voltage;
1156 public void set_ignitor_voltage(double[] voltage) {
1157 this.ignitor_voltage = voltage;
1160 public void set_pyro_fired(int fired) {
1161 this.pyro_fired = fired;
1164 public double time_since_boost() {
1165 if (tick == AltosLib.MISSING)
1168 if (boost_tick == AltosLib.MISSING)
1169 return tick / 100.0;
1170 return (tick - boost_tick) / 100.0;
1173 public boolean valid() {
1174 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1177 public AltosGPS make_temp_gps(boolean sats) {
1178 if (temp_gps == null) {
1179 temp_gps = new AltosGPS(gps);
1183 if (tick != temp_gps_sat_tick)
1184 temp_gps.cc_gps_sat = null;
1185 temp_gps_sat_tick = tick;
1190 public void set_temp_gps() {
1191 set_gps(temp_gps, gps_sequence + 1);
1192 gps_pending = false;
1196 public AltosState clone() {
1197 AltosState s = new AltosState();
1202 public AltosState () {