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 public double altitude() {
393 double a = altitude.value();
394 if (a != AltosLib.MISSING)
396 return gps_altitude.value();
399 public double max_altitude() {
400 double a = altitude.max();
401 if (a != AltosLib.MISSING)
403 return gps_altitude.max();
406 public void set_altitude(double new_altitude) {
407 altitude.set_measured(new_altitude, time);
410 public double gps_altitude() {
411 return gps_altitude.value();
414 public double max_gps_altitude() {
415 return gps_altitude.max();
418 public void set_gps_altitude(double new_gps_altitude) {
419 gps_altitude.set(new_gps_altitude, time);
422 class AltosPressure extends AltosValue {
423 void set(double p, double time) {
425 if (state == AltosLib.ao_flight_pad)
426 ground_pressure.set_filtered(p, time);
427 double a = pressure_to_altitude(p);
428 altitude.set_computed(a, time);
432 private AltosPressure pressure;
434 public double pressure() {
435 return pressure.value();
438 public void set_pressure(double p) {
439 pressure.set(p, time);
442 public double height() {
443 double k = kalman_height.value();
444 if (k != AltosLib.MISSING)
447 double a = altitude();
448 double g = ground_altitude();
449 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
451 return AltosLib.MISSING;
454 public double max_height() {
455 double k = kalman_height.max();
456 if (k != AltosLib.MISSING)
459 double a = altitude.max();
460 double g = ground_altitude();
461 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
463 return AltosLib.MISSING;
466 public double gps_height() {
467 double a = gps_altitude();
468 double g = gps_ground_altitude();
470 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
472 return AltosLib.MISSING;
475 public double max_gps_height() {
476 double a = gps_altitude.max();
477 double g = gps_ground_altitude();
479 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
481 return AltosLib.MISSING;
484 class AltosSpeed extends AltosCValue {
487 return state < AltosLib.ao_flight_fast;
491 acceleration.set_derivative(this);
494 void set_derivative(AltosCValue in) {
495 super.set_derivative(in);
499 void set_computed(double new_value, double time) {
500 super.set_computed(new_value, time);
504 void set_measured(double new_value, double time) {
505 super.set_measured(new_value, time);
510 private AltosSpeed speed;
512 public double speed() {
513 double v = kalman_speed.value();
514 if (v != AltosLib.MISSING)
516 return speed.value();
519 public double max_speed() {
520 double v = kalman_speed.max();
521 if (v != AltosLib.MISSING)
526 class AltosAccel extends AltosCValue {
529 return state < AltosLib.ao_flight_fast;
532 void set_measured(double a, double time) {
533 super.set_measured(a, time);
535 speed.set_integral(this.measured);
539 AltosAccel acceleration;
541 public double acceleration() {
542 return acceleration.value();
545 public double max_acceleration() {
546 return acceleration.max();
549 public AltosValue orient;
551 public void set_orient(double new_orient) {
552 orient.set(new_orient, time);
555 public double orient() {
556 return orient.value();
559 public double max_orient() {
563 public AltosValue kalman_height, kalman_speed, kalman_acceleration;
565 public void set_kalman(double height, double speed, double acceleration) {
566 kalman_height.set(height, time);
567 kalman_speed.set(speed, time);
568 kalman_acceleration.set(acceleration, time);
571 public double battery_voltage;
572 public double pyro_voltage;
573 public double temperature;
574 public double apogee_voltage;
575 public double main_voltage;
577 public double ignitor_voltage[];
580 public AltosGPS temp_gps;
581 public int temp_gps_sat_tick;
582 public boolean gps_pending;
583 public int gps_sequence;
588 public static final int MIN_PAD_SAMPLES = 10;
591 public int gps_waiting;
592 public boolean gps_ready;
596 public AltosGreatCircle from_pad;
597 public double elevation; /* from pad */
598 public double range; /* total distance */
600 public double gps_height;
602 public double pad_lat, pad_lon, pad_alt;
604 public int speak_tick;
605 public double speak_altitude;
607 public String callsign;
608 public String firmware_version;
610 public double accel_plus_g;
611 public double accel_minus_g;
613 public double ground_accel;
614 public double ground_accel_avg;
616 public int log_format;
617 public String product;
619 public AltosMs5607 baro;
621 public AltosCompanion companion;
623 public int pyro_fired;
625 public void set_npad(int npad) {
627 gps_waiting = MIN_PAD_SAMPLES - npad;
628 if (this.gps_waiting < 0)
630 gps_ready = gps_waiting == 0;
636 received_time = System.currentTimeMillis();
637 time = AltosLib.MISSING;
638 time_change = AltosLib.MISSING;
639 prev_time = AltosLib.MISSING;
640 tick = AltosLib.MISSING;
641 prev_tick = AltosLib.MISSING;
642 boost_tick = AltosLib.MISSING;
643 state = AltosLib.ao_flight_invalid;
644 flight = AltosLib.MISSING;
647 rssi = AltosLib.MISSING;
649 device_type = AltosLib.MISSING;
650 config_major = AltosLib.MISSING;
651 config_minor = AltosLib.MISSING;
652 apogee_delay = AltosLib.MISSING;
653 main_deploy = AltosLib.MISSING;
654 flight_log_max = AltosLib.MISSING;
656 ground_altitude = new AltosCValue();
657 ground_pressure = new AltosGroundPressure();
658 altitude = new AltosAltitude();
659 pressure = new AltosPressure();
660 speed = new AltosSpeed();
661 acceleration = new AltosAccel();
662 orient = new AltosValue();
664 temperature = AltosLib.MISSING;
665 battery_voltage = AltosLib.MISSING;
666 pyro_voltage = AltosLib.MISSING;
667 apogee_voltage = AltosLib.MISSING;
668 main_voltage = AltosLib.MISSING;
669 ignitor_voltage = null;
671 kalman_height = new AltosValue();
672 kalman_speed = new AltosValue();
673 kalman_acceleration = new AltosValue();
677 temp_gps_sat_tick = 0;
688 elevation = AltosLib.MISSING;
689 range = AltosLib.MISSING;
690 gps_height = AltosLib.MISSING;
692 pad_lat = AltosLib.MISSING;
693 pad_lon = AltosLib.MISSING;
694 pad_alt = AltosLib.MISSING;
696 gps_altitude = new AltosGpsAltitude();
697 gps_ground_altitude = new AltosGpsGroundAltitude();
699 speak_tick = AltosLib.MISSING;
700 speak_altitude = AltosLib.MISSING;
704 accel_plus_g = AltosLib.MISSING;
705 accel_minus_g = AltosLib.MISSING;
706 accel = AltosLib.MISSING;
708 ground_accel = AltosLib.MISSING;
709 ground_accel_avg = AltosLib.MISSING;
711 log_format = AltosLib.MISSING;
713 serial = AltosLib.MISSING;
714 receiver_serial = AltosLib.MISSING;
722 void finish_update() {
725 ground_altitude.finish_update();
726 altitude.finish_update();
727 pressure.finish_update();
728 speed.finish_update();
729 acceleration.finish_update();
730 orient.finish_update();
732 kalman_height.finish_update();
733 kalman_speed.finish_update();
734 kalman_acceleration.finish_update();
737 void copy(AltosState old) {
744 received_time = old.received_time;
746 time_change = old.time_change;
747 prev_time = old.time;
750 prev_tick = old.tick;
751 boost_tick = old.boost_tick;
760 device_type = old.device_type;
761 config_major = old.config_major;
762 config_minor = old.config_minor;
763 apogee_delay = old.apogee_delay;
764 main_deploy = old.main_deploy;
765 flight_log_max = old.flight_log_max;
769 ground_pressure.copy(old.ground_pressure);
770 ground_altitude.copy(old.ground_altitude);
771 altitude.copy(old.altitude);
772 pressure.copy(old.pressure);
773 speed.copy(old.speed);
774 acceleration.copy(old.acceleration);
775 orient.copy(old.orient);
777 battery_voltage = old.battery_voltage;
778 pyro_voltage = old.pyro_voltage;
779 temperature = old.temperature;
780 apogee_voltage = old.apogee_voltage;
781 main_voltage = old.main_voltage;
782 ignitor_voltage = old.ignitor_voltage;
784 kalman_height.copy(old.kalman_height);
785 kalman_speed.copy(old.kalman_speed);
786 kalman_acceleration.copy(old.kalman_acceleration);
789 gps = old.gps.clone();
792 if (old.temp_gps != null)
793 temp_gps = old.temp_gps.clone();
796 temp_gps_sat_tick = old.temp_gps_sat_tick;
797 gps_sequence = old.gps_sequence;
798 gps_pending = old.gps_pending;
801 imu = old.imu.clone();
806 mag = old.mag.clone();
811 gps_waiting = old.gps_waiting;
812 gps_ready = old.gps_ready;
815 if (old.from_pad != null)
816 from_pad = old.from_pad.clone();
820 elevation = old.elevation;
823 gps_height = old.gps_height;
825 gps_altitude.copy(old.gps_altitude);
826 gps_ground_altitude.copy(old.gps_ground_altitude);
828 pad_lat = old.pad_lat;
829 pad_lon = old.pad_lon;
830 pad_alt = old.pad_alt;
832 speak_tick = old.speak_tick;
833 speak_altitude = old.speak_altitude;
835 callsign = old.callsign;
837 accel_plus_g = old.accel_plus_g;
838 accel_minus_g = old.accel_minus_g;
840 ground_accel = old.ground_accel;
841 ground_accel_avg = old.ground_accel_avg;
843 log_format = old.log_format;
844 product = old.product;
846 receiver_serial = old.receiver_serial;
849 companion = old.companion;
851 pyro_fired = old.pyro_fired;
864 if (gps.locked && gps.nsat >= 4) {
865 /* Track consecutive 'good' gps reports, waiting for 10 of them */
866 if (state == AltosLib.ao_flight_pad) {
868 if (pad_lat != AltosLib.MISSING) {
869 pad_lat = (pad_lat * 31 + gps.lat) / 32;
870 pad_lon = (pad_lon * 31 + gps.lon) / 32;
871 gps_ground_altitude.set_filtered(gps.alt, time);
874 if (pad_lat == AltosLib.MISSING) {
877 gps_ground_altitude.set(gps.alt, time);
879 gps_altitude.set(gps.alt, time);
881 if (gps.lat != 0 && gps.lon != 0 &&
882 pad_lat != AltosLib.MISSING &&
883 pad_lon != AltosLib.MISSING)
887 if (h == AltosLib.MISSING)
889 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
890 elevation = from_pad.elevation;
891 range = from_pad.range;
895 public void set_tick(int new_tick) {
896 if (new_tick != AltosLib.MISSING) {
897 if (prev_tick != AltosLib.MISSING) {
898 while (new_tick < prev_tick - 1000) {
904 time_change = time - prev_time;
908 public void set_boost_tick(int boost_tick) {
909 if (boost_tick != AltosLib.MISSING)
910 this.boost_tick = boost_tick;
913 public String state_name() {
914 return AltosLib.state_name(state);
917 public void set_state(int state) {
918 if (state != AltosLib.ao_flight_invalid) {
920 ascent = (AltosLib.ao_flight_boost <= state &&
921 state <= AltosLib.ao_flight_coast);
922 boost = (AltosLib.ao_flight_boost == state);
927 public void set_device_type(int device_type) {
928 this.device_type = device_type;
931 public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
932 config_major = major;
933 config_minor = minor;
934 this.apogee_delay = apogee_delay;
935 this.main_deploy = main_deploy;
936 this.flight_log_max = flight_log_max;
939 public void set_callsign(String callsign) {
940 this.callsign = callsign;
943 public void set_firmware_version(String version) {
944 firmware_version = version;
947 public void set_flight(int flight) {
949 /* When the flight changes, reset the state */
950 if (flight != AltosLib.MISSING && flight != 0) {
951 if (this.flight != AltosLib.MISSING &&
952 this.flight != flight) {
957 this.flight = flight;
961 public void set_serial(int serial) {
962 /* When the serial changes, reset the state */
963 if (serial != AltosLib.MISSING) {
964 if (this.serial != AltosLib.MISSING &&
965 this.serial != serial) {
970 this.serial = serial;
974 public void set_receiver_serial(int serial) {
975 if (serial != AltosLib.MISSING)
976 receiver_serial = serial;
980 if (rssi == AltosLib.MISSING)
985 public void set_rssi(int rssi, int status) {
986 if (rssi != AltosLib.MISSING) {
988 this.status = status;
992 public void set_received_time(long ms) {
996 public void set_gps(AltosGPS gps, int sequence) {
998 this.gps = gps.clone();
999 gps_sequence = sequence;
1005 public void set_imu(AltosIMU imu) {
1011 public void set_mag(AltosMag mag) {
1012 this.mag = mag.clone();
1015 public AltosMs5607 make_baro() {
1017 baro = new AltosMs5607();
1021 public void set_ms5607(AltosMs5607 ms5607) {
1025 set_pressure(baro.pa);
1026 set_temperature(baro.cc / 100.0);
1030 public void set_ms5607(int pres, int temp) {
1032 baro.set(pres, temp);
1034 set_pressure(baro.pa);
1035 set_temperature(baro.cc / 100.0);
1039 public void make_companion (int nchannels) {
1040 if (companion == null)
1041 companion = new AltosCompanion(nchannels);
1044 public void set_companion(AltosCompanion companion) {
1045 this.companion = companion;
1048 void update_accel() {
1049 if (accel == AltosLib.MISSING)
1051 if (accel_plus_g == AltosLib.MISSING)
1053 if (accel_minus_g == AltosLib.MISSING)
1056 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1057 double counts_per_mss = counts_per_g / 9.80665;
1058 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1061 public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1062 if (accel_plus_g != AltosLib.MISSING) {
1063 this.accel_plus_g = accel_plus_g;
1064 this.accel_minus_g = accel_minus_g;
1069 public void set_ground_accel(double ground_accel) {
1070 if (ground_accel != AltosLib.MISSING)
1071 this.ground_accel = ground_accel;
1074 public void set_accel(double accel) {
1075 if (accel != AltosLib.MISSING) {
1077 if (state == AltosLib.ao_flight_pad) {
1078 if (ground_accel_avg == AltosLib.MISSING)
1079 ground_accel_avg = accel;
1081 ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1087 public void set_temperature(double temperature) {
1088 if (temperature != AltosLib.MISSING) {
1089 this.temperature = temperature;
1094 public void set_battery_voltage(double battery_voltage) {
1095 if (battery_voltage != AltosLib.MISSING) {
1096 this.battery_voltage = battery_voltage;
1101 public void set_pyro_voltage(double pyro_voltage) {
1102 if (pyro_voltage != AltosLib.MISSING) {
1103 this.pyro_voltage = pyro_voltage;
1108 public void set_apogee_voltage(double apogee_voltage) {
1109 if (apogee_voltage != AltosLib.MISSING) {
1110 this.apogee_voltage = apogee_voltage;
1115 public void set_main_voltage(double main_voltage) {
1116 if (main_voltage != AltosLib.MISSING) {
1117 this.main_voltage = main_voltage;
1122 public void set_ignitor_voltage(double[] voltage) {
1123 this.ignitor_voltage = voltage;
1126 public void set_pyro_fired(int fired) {
1127 this.pyro_fired = fired;
1130 public double time_since_boost() {
1131 if (tick == AltosLib.MISSING)
1134 if (boost_tick == AltosLib.MISSING)
1135 return tick / 100.0;
1136 return (tick - boost_tick) / 100.0;
1139 public boolean valid() {
1140 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1143 public AltosGPS make_temp_gps(boolean sats) {
1144 if (temp_gps == null) {
1145 temp_gps = new AltosGPS(gps);
1149 if (tick != temp_gps_sat_tick)
1150 temp_gps.cc_gps_sat = null;
1151 temp_gps_sat_tick = tick;
1156 public void set_temp_gps() {
1157 set_gps(temp_gps, gps_sequence + 1);
1158 gps_pending = false;
1162 public AltosState clone() {
1163 AltosState s = new AltosState();
1168 public AltosState () {