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_2;
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 = 0.1;
33 static final double descent_filter_len = 2.0;
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;
52 private double max_rate = 1000.0;
54 void set(double new_value, double time) {
55 if (new_value != AltosLib.MISSING) {
57 if (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;
129 if (Math.abs(ddv) > 1000) {
139 filter_len = ascent_filter_len;
141 filter_len = descent_filter_len;
143 double f = 1/Math.exp(ddt/ filter_len);
144 n = p * f + n * (1-f);
149 void set_integral(AltosValue in) {
150 double change = in.integrate();
152 if (change != AltosLib.MISSING) {
153 double prev = prev_value;
154 if (prev == AltosLib.MISSING)
156 set(prev + change, in.time());
160 void copy(AltosValue old) {
162 set_time = old.set_time;
163 prev_value = old.value;
164 prev_set_time = old.set_time;
165 max_value = old.max_value;
168 void finish_update() {
170 prev_set_time = set_time;
174 value = AltosLib.MISSING;
175 prev_value = AltosLib.MISSING;
176 max_value = AltosLib.MISSING;
185 double v = measured.value();
186 if (v != AltosLib.MISSING)
188 return computed.value();
191 boolean is_measured() {
192 return measured.value() != AltosLib.MISSING;
196 double m = measured.max();
198 if (m != AltosLib.MISSING)
200 return computed.max();
203 double prev_value() {
204 if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
205 return measured.prev_value;
206 return computed.prev_value;
209 AltosValue altos_value() {
210 if (measured.value() != AltosLib.MISSING)
216 double c = measured.change();
217 if (c == AltosLib.MISSING)
218 c = computed.change();
223 double r = measured.rate();
224 if (r == AltosLib.MISSING)
229 void set_measured(double new_value, double time) {
230 measured.set(new_value, time);
233 void set_computed(double new_value, double time) {
234 computed.set(new_value, time);
237 void set_derivative(AltosValue in) {
238 computed.set_derivative(in);
241 void set_derivative(AltosCValue in) {
242 set_derivative(in.altos_value());
245 void set_integral(AltosValue in) {
246 computed.set_integral(in);
249 void set_integral(AltosCValue in) {
250 set_integral(in.altos_value());
253 void copy(AltosCValue old) {
254 measured.copy(old.measured);
255 computed.copy(old.computed);
258 void finish_update() {
259 measured.finish_update();
260 computed.finish_update();
264 measured = new AltosValue();
265 computed = new AltosValue();
272 public int receiver_serial;
273 public boolean landed;
274 public boolean ascent; /* going up? */
275 public boolean boost; /* under power */
278 public int device_type;
279 public int config_major;
280 public int config_minor;
281 public int apogee_delay;
282 public int main_deploy;
283 public int flight_log_max;
285 private double pressure_to_altitude(double p) {
286 if (p == AltosLib.MISSING)
287 return AltosLib.MISSING;
288 return AltosConvert.pressure_to_altitude(p);
291 private AltosCValue ground_altitude;
293 public double ground_altitude() {
294 return ground_altitude.value();
297 public void set_ground_altitude(double a) {
298 ground_altitude.set_measured(a, time);
301 class AltosGroundPressure extends AltosCValue {
302 void set_filtered(double p, double time) {
303 computed.set_filtered(p, time);
305 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
308 void set_measured(double p, double time) {
309 super.set_measured(p, time);
310 ground_altitude.set_computed(pressure_to_altitude(p), time);
314 private AltosGroundPressure ground_pressure;
316 public double ground_pressure() {
317 return ground_pressure.value();
320 public void set_ground_pressure (double pressure) {
321 ground_pressure.set_measured(pressure, time);
324 class AltosAltitude extends AltosCValue {
326 private void set_speed(AltosValue v) {
327 if (!acceleration.is_measured() || !ascent)
328 speed.set_derivative(this);
331 void set_computed(double a, double time) {
332 super.set_computed(a,time);
337 void set_measured(double a, double time) {
338 super.set_measured(a,time);
344 private AltosAltitude altitude;
346 public double altitude() {
347 double a = altitude.value();
348 if (a != AltosLib.MISSING)
352 return AltosLib.MISSING;
355 public double max_altitude() {
356 double a = altitude.max();
357 if (a != AltosLib.MISSING)
359 return AltosLib.MISSING;
362 public void set_altitude(double new_altitude) {
363 altitude.set_measured(new_altitude, time);
366 class AltosPressure extends AltosValue {
367 void set(double p, double time) {
369 if (state == AltosLib.ao_flight_pad)
370 ground_pressure.set_filtered(p, time);
371 double a = pressure_to_altitude(p);
372 altitude.set_computed(a, time);
376 private AltosPressure pressure;
378 public double pressure() {
379 return pressure.value();
382 public void set_pressure(double p) {
383 pressure.set(p, time);
386 public double height() {
387 double k = kalman_height.value();
388 if (k != AltosLib.MISSING)
391 double a = altitude();
392 double g = ground_altitude();
393 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
395 return AltosLib.MISSING;
398 public double max_height() {
399 double k = kalman_height.max();
400 if (k != AltosLib.MISSING)
403 double a = altitude.max();
404 double g = ground_altitude();
405 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
407 return AltosLib.MISSING;
410 class AltosSpeed extends AltosCValue {
413 acceleration.set_derivative(this);
416 void set_derivative(AltosCValue in) {
417 super.set_derivative(in);
421 void set_computed(double new_value, double time) {
422 super.set_computed(new_value, time);
426 void set_measured(double new_value, double time) {
427 super.set_measured(new_value, time);
432 private AltosSpeed speed;
434 public double speed() {
435 double v = kalman_speed.value();
436 if (v != AltosLib.MISSING)
438 return speed.value();
441 public double max_speed() {
442 double v = kalman_speed.max();
443 if (v != AltosLib.MISSING)
448 class AltosAccel extends AltosCValue {
449 void set_measured(double a, double time) {
450 super.set_measured(a, time);
452 speed.set_integral(this.measured);
456 AltosAccel acceleration;
458 public double acceleration() {
459 return acceleration.value();
462 public double max_acceleration() {
463 return acceleration.max();
466 public AltosValue kalman_height, kalman_speed, kalman_acceleration;
468 public void set_kalman(double height, double speed, double acceleration) {
469 kalman_height.set(height, time);
470 kalman_speed.set(speed, time);
471 kalman_acceleration.set(acceleration, time);
474 public double battery_voltage;
475 public double pyro_voltage;
476 public double temperature;
477 public double apogee_voltage;
478 public double main_voltage;
480 public double ignitor_voltage[];
483 public AltosGPS temp_gps;
484 public int temp_gps_sat_tick;
485 public boolean gps_pending;
486 public int gps_sequence;
491 public static final int MIN_PAD_SAMPLES = 10;
494 public int gps_waiting;
495 public boolean gps_ready;
499 public AltosGreatCircle from_pad;
500 public double elevation; /* from pad */
501 public double range; /* total distance */
503 public double gps_height;
505 public double pad_lat, pad_lon, pad_alt;
507 public int speak_tick;
508 public double speak_altitude;
510 public String callsign;
511 public String firmware_version;
513 public double accel_plus_g;
514 public double accel_minus_g;
516 public double ground_accel;
517 public double ground_accel_avg;
519 public int log_format;
521 public AltosMs5607 baro;
523 public AltosCompanion companion;
525 public void set_npad(int npad) {
527 gps_waiting = MIN_PAD_SAMPLES - npad;
528 if (this.gps_waiting < 0)
530 gps_ready = gps_waiting == 0;
536 received_time = System.currentTimeMillis();
537 time = AltosLib.MISSING;
538 time_change = AltosLib.MISSING;
539 prev_time = AltosLib.MISSING;
540 tick = AltosLib.MISSING;
541 prev_tick = AltosLib.MISSING;
542 boost_tick = AltosLib.MISSING;
543 state = AltosLib.ao_flight_invalid;
544 flight = AltosLib.MISSING;
547 rssi = AltosLib.MISSING;
549 device_type = AltosLib.MISSING;
550 config_major = AltosLib.MISSING;
551 config_minor = AltosLib.MISSING;
552 apogee_delay = AltosLib.MISSING;
553 main_deploy = AltosLib.MISSING;
554 flight_log_max = AltosLib.MISSING;
556 ground_altitude = new AltosCValue();
557 ground_pressure = new AltosGroundPressure();
558 altitude = new AltosAltitude();
559 pressure = new AltosPressure();
560 speed = new AltosSpeed();
561 acceleration = new AltosAccel();
563 temperature = AltosLib.MISSING;
564 battery_voltage = AltosLib.MISSING;
565 pyro_voltage = AltosLib.MISSING;
566 apogee_voltage = AltosLib.MISSING;
567 main_voltage = AltosLib.MISSING;
568 ignitor_voltage = null;
570 kalman_height = new AltosValue();
571 kalman_speed = new AltosValue();
572 kalman_acceleration = new AltosValue();
576 temp_gps_sat_tick = 0;
587 elevation = AltosLib.MISSING;
588 range = AltosLib.MISSING;
589 gps_height = AltosLib.MISSING;
591 pad_lat = AltosLib.MISSING;
592 pad_lon = AltosLib.MISSING;
593 pad_alt = AltosLib.MISSING;
595 speak_tick = AltosLib.MISSING;
596 speak_altitude = AltosLib.MISSING;
600 accel_plus_g = AltosLib.MISSING;
601 accel_minus_g = AltosLib.MISSING;
602 accel = AltosLib.MISSING;
604 ground_accel = AltosLib.MISSING;
605 ground_accel_avg = AltosLib.MISSING;
607 log_format = AltosLib.MISSING;
608 serial = AltosLib.MISSING;
609 receiver_serial = AltosLib.MISSING;
615 void finish_update() {
618 ground_altitude.finish_update();
619 altitude.finish_update();
620 pressure.finish_update();
621 speed.finish_update();
622 acceleration.finish_update();
624 kalman_height.finish_update();
625 kalman_speed.finish_update();
626 kalman_acceleration.finish_update();
629 void copy(AltosState old) {
636 received_time = old.received_time;
638 time_change = old.time_change;
639 prev_time = old.time;
642 prev_tick = old.tick;
643 boost_tick = old.boost_tick;
652 device_type = old.device_type;
653 config_major = old.config_major;
654 config_minor = old.config_minor;
655 apogee_delay = old.apogee_delay;
656 main_deploy = old.main_deploy;
657 flight_log_max = old.flight_log_max;
661 ground_pressure.copy(old.ground_pressure);
662 ground_altitude.copy(old.ground_altitude);
663 altitude.copy(old.altitude);
664 pressure.copy(old.pressure);
665 speed.copy(old.speed);
666 acceleration.copy(old.acceleration);
668 battery_voltage = old.battery_voltage;
669 pyro_voltage = old.pyro_voltage;
670 temperature = old.temperature;
671 apogee_voltage = old.apogee_voltage;
672 main_voltage = old.main_voltage;
673 ignitor_voltage = old.ignitor_voltage;
675 kalman_height.copy(old.kalman_height);
676 kalman_speed.copy(old.kalman_speed);
677 kalman_acceleration.copy(old.kalman_acceleration);
680 gps = old.gps.clone();
683 if (old.temp_gps != null)
684 temp_gps = old.temp_gps.clone();
687 temp_gps_sat_tick = old.temp_gps_sat_tick;
688 gps_sequence = old.gps_sequence;
689 gps_pending = old.gps_pending;
692 imu = old.imu.clone();
697 mag = old.mag.clone();
702 gps_waiting = old.gps_waiting;
703 gps_ready = old.gps_ready;
706 if (old.from_pad != null)
707 from_pad = old.from_pad.clone();
711 elevation = old.elevation;
714 gps_height = old.gps_height;
715 pad_lat = old.pad_lat;
716 pad_lon = old.pad_lon;
717 pad_alt = old.pad_alt;
719 speak_tick = old.speak_tick;
720 speak_altitude = old.speak_altitude;
722 callsign = old.callsign;
724 accel_plus_g = old.accel_plus_g;
725 accel_minus_g = old.accel_minus_g;
727 ground_accel = old.ground_accel;
728 ground_accel_avg = old.ground_accel_avg;
730 log_format = old.log_format;
732 receiver_serial = old.receiver_serial;
735 companion = old.companion;
749 if (gps.locked && gps.nsat >= 4) {
750 /* Track consecutive 'good' gps reports, waiting for 10 of them */
751 if (state == AltosLib.ao_flight_pad) {
753 if (pad_lat != AltosLib.MISSING) {
754 pad_lat = (pad_lat * 31 + gps.lat) / 32;
755 pad_lon = (pad_lon * 31 + gps.lon) / 32;
756 pad_alt = (pad_alt * 31 + gps.alt) / 32;
759 if (pad_lat == AltosLib.MISSING) {
765 if (gps.lat != 0 && gps.lon != 0 &&
766 pad_lat != AltosLib.MISSING &&
767 pad_lon != AltosLib.MISSING)
771 if (h == AltosLib.MISSING)
773 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
774 elevation = from_pad.elevation;
775 range = from_pad.range;
776 gps_height = gps.alt - pad_alt;
780 public void set_tick(int new_tick) {
781 if (new_tick != AltosLib.MISSING) {
782 if (prev_tick != AltosLib.MISSING) {
783 while (new_tick < prev_tick - 1000) {
789 time_change = time - prev_time;
793 public void set_boost_tick(int boost_tick) {
794 if (boost_tick != AltosLib.MISSING)
795 this.boost_tick = boost_tick;
798 public String state_name() {
799 return AltosLib.state_name(state);
802 public void set_state(int state) {
803 if (state != AltosLib.ao_flight_invalid) {
805 ascent = (AltosLib.ao_flight_boost <= state &&
806 state <= AltosLib.ao_flight_coast);
807 boost = (AltosLib.ao_flight_boost == state);
812 public void set_device_type(int device_type) {
813 this.device_type = device_type;
816 public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
817 config_major = major;
818 config_minor = minor;
819 this.apogee_delay = apogee_delay;
820 this.main_deploy = main_deploy;
821 this.flight_log_max = flight_log_max;
824 public void set_callsign(String callsign) {
825 this.callsign = callsign;
828 public void set_firmware_version(String version) {
829 firmware_version = version;
832 public void set_flight(int flight) {
834 /* When the flight changes, reset the state */
835 if (flight != AltosLib.MISSING && flight != 0) {
836 if (this.flight != AltosLib.MISSING &&
837 this.flight != flight) {
840 this.flight = flight;
844 public void set_serial(int serial) {
845 /* When the serial changes, reset the state */
846 if (serial != AltosLib.MISSING) {
847 if (this.serial != AltosLib.MISSING &&
848 this.serial != serial) {
851 this.serial = serial;
855 public void set_receiver_serial(int serial) {
856 if (serial != AltosLib.MISSING)
857 receiver_serial = serial;
861 if (rssi == AltosLib.MISSING)
866 public void set_rssi(int rssi, int status) {
867 if (rssi != AltosLib.MISSING) {
869 this.status = status;
873 public void set_received_time(long ms) {
877 public void set_gps(AltosGPS gps, int sequence) {
879 this.gps = gps.clone();
880 gps_sequence = sequence;
886 public void set_imu(AltosIMU imu) {
892 public void set_mag(AltosMag mag) {
893 this.mag = mag.clone();
896 public AltosMs5607 make_baro() {
898 baro = new AltosMs5607();
902 public void set_ms5607(AltosMs5607 ms5607) {
906 set_pressure(baro.pa);
907 set_temperature(baro.cc / 100.0);
911 public void set_ms5607(int pres, int temp) {
913 baro.set(pres, temp);
915 set_pressure(baro.pa);
916 set_temperature(baro.cc / 100.0);
920 public void make_companion (int nchannels) {
921 if (companion == null)
922 companion = new AltosCompanion(nchannels);
925 public void set_companion(AltosCompanion companion) {
926 this.companion = companion;
929 void update_accel() {
930 double ground = ground_accel;
932 if (ground == AltosLib.MISSING)
933 ground = ground_accel_avg;
934 if (accel == AltosLib.MISSING)
936 if (ground == AltosLib.MISSING)
938 if (accel_plus_g == AltosLib.MISSING)
940 if (accel_minus_g == AltosLib.MISSING)
943 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
944 double counts_per_mss = counts_per_g / 9.80665;
945 acceleration.set_measured((ground - accel) / counts_per_mss, time);
948 public void set_accel_g(double accel_plus_g, double accel_minus_g) {
949 if (accel_plus_g != AltosLib.MISSING) {
950 this.accel_plus_g = accel_plus_g;
951 this.accel_minus_g = accel_minus_g;
956 public void set_ground_accel(double ground_accel) {
957 if (ground_accel != AltosLib.MISSING) {
958 this.ground_accel = ground_accel;
963 public void set_accel(double accel) {
964 if (accel != AltosLib.MISSING) {
966 if (state == AltosLib.ao_flight_pad) {
967 if (ground_accel_avg == AltosLib.MISSING)
968 ground_accel_avg = accel;
970 ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
976 public void set_temperature(double temperature) {
977 if (temperature != AltosLib.MISSING) {
978 this.temperature = temperature;
983 public void set_battery_voltage(double battery_voltage) {
984 if (battery_voltage != AltosLib.MISSING) {
985 this.battery_voltage = battery_voltage;
990 public void set_pyro_voltage(double pyro_voltage) {
991 if (pyro_voltage != AltosLib.MISSING) {
992 this.pyro_voltage = pyro_voltage;
997 public void set_apogee_voltage(double apogee_voltage) {
998 if (apogee_voltage != AltosLib.MISSING) {
999 this.apogee_voltage = apogee_voltage;
1004 public void set_main_voltage(double main_voltage) {
1005 if (main_voltage != AltosLib.MISSING) {
1006 this.main_voltage = main_voltage;
1011 public void set_ignitor_voltage(double[] voltage) {
1012 this.ignitor_voltage = voltage;
1015 public double time_since_boost() {
1016 if (tick == AltosLib.MISSING)
1019 if (boost_tick != AltosLib.MISSING) {
1020 return (tick - boost_tick) / 100.0;
1022 return tick / 100.0;
1025 public boolean valid() {
1026 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1029 public AltosGPS make_temp_gps(boolean sats) {
1030 if (temp_gps == null) {
1031 temp_gps = new AltosGPS(gps);
1035 if (tick != temp_gps_sat_tick)
1036 temp_gps.cc_gps_sat = null;
1037 temp_gps_sat_tick = tick;
1042 public void set_temp_gps() {
1043 set_gps(temp_gps, gps_sequence + 1);
1044 gps_pending = false;
1048 public AltosState clone() {
1049 AltosState s = new AltosState();
1054 public AltosState () {