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;
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 double speed() {
86 public double max_speed() {
87 if (max_accel_speed != 0)
88 return max_accel_speed;
89 return max_baro_speed;
92 public void init (AltosRecord cur, AltosState prev_state) {
95 /* Discard previous state if it was for a different board */
96 if (prev_state != null && prev_state.data.serial != data.serial)
98 ground_altitude = data.ground_altitude();
100 altitude = data.altitude();
101 if (altitude == AltosRecord.MISSING && data.gps != null)
102 altitude = data.gps.alt;
104 height = AltosRecord.MISSING;
105 if (data.kalman_height != AltosRecord.MISSING)
106 height = data.kalman_height;
108 if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
109 double cur_height = altitude - ground_altitude;
110 if (prev_state == null || prev_state.height == AltosRecord.MISSING)
113 height = (prev_state.height * 15 + cur_height) / 16.0;
117 report_time = System.currentTimeMillis();
119 if (data.kalman_acceleration != AltosRecord.MISSING)
120 acceleration = data.kalman_acceleration;
122 acceleration = data.acceleration();
123 temperature = data.temperature();
124 drogue_sense = data.drogue_voltage();
125 main_sense = data.main_voltage();
126 battery = data.battery_voltage();
130 if (prev_state != null) {
132 /* Preserve any existing gps data */
133 npad = prev_state.npad;
134 ngps = prev_state.ngps;
135 gps = prev_state.gps;
136 pad_lat = prev_state.pad_lat;
137 pad_lon = prev_state.pad_lon;
138 pad_alt = prev_state.pad_alt;
139 max_height = prev_state.max_height;
140 max_acceleration = prev_state.max_acceleration;
141 max_accel_speed = prev_state.max_accel_speed;
142 max_baro_speed = prev_state.max_baro_speed;
143 imu = prev_state.imu;
144 mag = prev_state.mag;
146 /* make sure the clock is monotonic */
147 while (tick < prev_state.tick)
150 time_change = (tick - prev_state.tick) / 100.0;
152 if (data.kalman_speed != AltosRecord.MISSING) {
153 baro_speed = accel_speed = data.kalman_speed;
155 /* compute barometric speed */
157 double height_change = height - prev_state.height;
159 baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
161 baro_speed = prev_state.baro_speed;
163 if (acceleration == AltosRecord.MISSING) {
164 /* Fill in mising acceleration value */
165 accel_speed = baro_speed;
167 acceleration = (accel_speed - prev_state.accel_speed) / time_change;
169 acceleration = prev_state.acceleration;
171 /* compute accelerometer speed */
172 accel_speed = prev_state.accel_speed + acceleration * time_change;
180 baro_speed = AltosRecord.MISSING;
181 accel_speed = AltosRecord.MISSING;
185 max_acceleration = 0;
191 if (cur.new_gps && (state < AltosLib.ao_flight_boost)) {
193 /* Track consecutive 'good' gps reports, waiting for 10 of them */
194 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
199 /* Average GPS data while on the pad */
200 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
201 if (ngps > 1 && state == AltosLib.ao_flight_pad) {
202 /* filter pad position */
203 pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
204 pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
205 pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
207 pad_lat = data.gps.lat;
208 pad_lon = data.gps.lon;
209 pad_alt = data.gps.alt;
214 if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
215 pad_alt = ground_altitude;
218 data.new_gps = false;
220 gps_waiting = MIN_PAD_SAMPLES - npad;
224 gps_ready = gps_waiting == 0;
226 ascent = (AltosLib.ao_flight_boost <= state &&
227 state <= AltosLib.ao_flight_coast);
228 boost = (AltosLib.ao_flight_boost == state);
230 /* Only look at accelerometer data under boost */
231 if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
232 max_acceleration = acceleration;
233 if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
234 max_accel_speed = accel_speed;
235 if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
236 max_baro_speed = baro_speed;
238 if (height != AltosRecord.MISSING && height > max_height)
240 if (data.gps != null) {
241 if (gps == null || !gps.locked || data.gps.locked)
243 if (ngps > 0 && gps.locked) {
244 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
250 gps_height = gps.alt - pad_alt;
251 if (from_pad != null) {
252 elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
253 range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
260 public AltosState(AltosRecord cur) {
264 public AltosState (AltosRecord cur, AltosState prev) {