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_1;
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;
57 public int gps_sequence;
62 public static final int MIN_PAD_SAMPLES = 10;
66 public int gps_waiting;
67 public boolean gps_ready;
69 public AltosGreatCircle from_pad;
70 public double elevation; /* from pad */
71 public double range; /* total distance */
73 public double gps_height;
75 public double pad_lat, pad_lon, pad_alt;
77 public int speak_tick;
78 public double speak_altitude;
80 public double speed() {
87 public double max_speed() {
88 if (max_accel_speed != 0)
89 return max_accel_speed;
90 return max_baro_speed;
93 public void init (AltosRecord cur, AltosState prev_state) {
96 /* Discard previous state if it was for a different board */
97 if (prev_state != null && prev_state.data.serial != data.serial)
99 ground_altitude = data.ground_altitude();
101 altitude = data.altitude();
102 if (altitude == AltosRecord.MISSING && data.gps != null)
103 altitude = data.gps.alt;
105 height = AltosRecord.MISSING;
106 if (data.kalman_height != AltosRecord.MISSING)
107 height = data.kalman_height;
109 if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
110 double cur_height = altitude - ground_altitude;
111 if (prev_state == null || prev_state.height == AltosRecord.MISSING)
114 height = (prev_state.height * 15 + cur_height) / 16.0;
118 report_time = System.currentTimeMillis();
120 if (data.kalman_acceleration != AltosRecord.MISSING)
121 acceleration = data.kalman_acceleration;
123 acceleration = data.acceleration();
124 temperature = data.temperature();
125 drogue_sense = data.drogue_voltage();
126 main_sense = data.main_voltage();
127 battery = data.battery_voltage();
131 if (prev_state != null) {
133 /* Preserve any existing gps data */
134 npad = prev_state.npad;
135 ngps = prev_state.ngps;
136 gps = prev_state.gps;
137 gps_sequence = prev_state.gps_sequence;
138 pad_lat = prev_state.pad_lat;
139 pad_lon = prev_state.pad_lon;
140 pad_alt = prev_state.pad_alt;
141 max_height = prev_state.max_height;
142 max_acceleration = prev_state.max_acceleration;
143 max_accel_speed = prev_state.max_accel_speed;
144 max_baro_speed = prev_state.max_baro_speed;
145 imu = prev_state.imu;
146 mag = prev_state.mag;
148 /* make sure the clock is monotonic */
149 while (tick < prev_state.tick)
152 time_change = (tick - prev_state.tick) / 100.0;
154 if (data.kalman_speed != AltosRecord.MISSING) {
155 baro_speed = accel_speed = data.kalman_speed;
157 /* compute barometric speed */
159 double height_change = height - prev_state.height;
161 double prev_baro_speed = prev_state.baro_speed;
162 if (prev_baro_speed == AltosRecord.MISSING)
166 baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
168 baro_speed = prev_state.baro_speed;
170 double prev_accel_speed = prev_state.accel_speed;
172 if (prev_accel_speed == AltosRecord.MISSING)
173 prev_accel_speed = 0;
175 if (acceleration == AltosRecord.MISSING) {
176 /* Fill in mising acceleration value */
177 accel_speed = baro_speed;
179 if (time_change > 0 && accel_speed != AltosRecord.MISSING)
180 acceleration = (accel_speed - prev_accel_speed) / time_change;
182 acceleration = prev_state.acceleration;
184 /* compute accelerometer speed */
185 accel_speed = prev_accel_speed + acceleration * time_change;
193 baro_speed = AltosRecord.MISSING;
194 accel_speed = AltosRecord.MISSING;
195 pad_alt = AltosRecord.MISSING;
199 max_acceleration = 0;
205 if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
207 /* Track consecutive 'good' gps reports, waiting for 10 of them */
208 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
213 /* Average GPS data while on the pad */
214 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
215 if (ngps > 1 && state == AltosLib.ao_flight_pad) {
216 /* filter pad position */
217 pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
218 pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
219 pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
221 pad_lat = data.gps.lat;
222 pad_lon = data.gps.lon;
223 pad_alt = data.gps.alt;
228 if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
229 pad_alt = ground_altitude;
232 gps_sequence = data.gps_sequence;
234 gps_waiting = MIN_PAD_SAMPLES - npad;
238 gps_ready = gps_waiting == 0;
240 ascent = (AltosLib.ao_flight_boost <= state &&
241 state <= AltosLib.ao_flight_coast);
242 boost = (AltosLib.ao_flight_boost == state);
244 /* Only look at accelerometer data under boost */
245 if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
246 max_acceleration = acceleration;
247 if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
248 max_accel_speed = accel_speed;
249 if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
250 max_baro_speed = baro_speed;
252 if (height != AltosRecord.MISSING && height > max_height)
257 if (data.gps != null) {
259 if (ngps > 0 && gps.locked) {
262 if (h == AltosRecord.MISSING) h = 0;
263 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
264 elevation = from_pad.elevation;
265 range = from_pad.range;
266 gps_height = gps.alt - pad_alt;
271 public AltosState(AltosRecord cur) {
275 public AltosState (AltosRecord cur, AltosState prev) {