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_3;
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;
618 public AltosMs5607 baro;
620 public AltosCompanion companion;
622 public void set_npad(int npad) {
624 gps_waiting = MIN_PAD_SAMPLES - npad;
625 if (this.gps_waiting < 0)
627 gps_ready = gps_waiting == 0;
633 received_time = System.currentTimeMillis();
634 time = AltosLib.MISSING;
635 time_change = AltosLib.MISSING;
636 prev_time = AltosLib.MISSING;
637 tick = AltosLib.MISSING;
638 prev_tick = AltosLib.MISSING;
639 boost_tick = AltosLib.MISSING;
640 state = AltosLib.ao_flight_invalid;
641 flight = AltosLib.MISSING;
644 rssi = AltosLib.MISSING;
646 device_type = AltosLib.MISSING;
647 config_major = AltosLib.MISSING;
648 config_minor = AltosLib.MISSING;
649 apogee_delay = AltosLib.MISSING;
650 main_deploy = AltosLib.MISSING;
651 flight_log_max = AltosLib.MISSING;
653 ground_altitude = new AltosCValue();
654 ground_pressure = new AltosGroundPressure();
655 altitude = new AltosAltitude();
656 pressure = new AltosPressure();
657 speed = new AltosSpeed();
658 acceleration = new AltosAccel();
659 orient = new AltosValue();
661 temperature = AltosLib.MISSING;
662 battery_voltage = AltosLib.MISSING;
663 pyro_voltage = AltosLib.MISSING;
664 apogee_voltage = AltosLib.MISSING;
665 main_voltage = AltosLib.MISSING;
666 ignitor_voltage = null;
668 kalman_height = new AltosValue();
669 kalman_speed = new AltosValue();
670 kalman_acceleration = new AltosValue();
674 temp_gps_sat_tick = 0;
685 elevation = AltosLib.MISSING;
686 range = AltosLib.MISSING;
687 gps_height = AltosLib.MISSING;
689 pad_lat = AltosLib.MISSING;
690 pad_lon = AltosLib.MISSING;
691 pad_alt = AltosLib.MISSING;
693 gps_altitude = new AltosGpsAltitude();
694 gps_ground_altitude = new AltosGpsGroundAltitude();
696 speak_tick = AltosLib.MISSING;
697 speak_altitude = AltosLib.MISSING;
701 accel_plus_g = AltosLib.MISSING;
702 accel_minus_g = AltosLib.MISSING;
703 accel = AltosLib.MISSING;
705 ground_accel = AltosLib.MISSING;
706 ground_accel_avg = AltosLib.MISSING;
708 log_format = AltosLib.MISSING;
709 serial = AltosLib.MISSING;
710 receiver_serial = AltosLib.MISSING;
716 void finish_update() {
719 ground_altitude.finish_update();
720 altitude.finish_update();
721 pressure.finish_update();
722 speed.finish_update();
723 acceleration.finish_update();
724 orient.finish_update();
726 kalman_height.finish_update();
727 kalman_speed.finish_update();
728 kalman_acceleration.finish_update();
731 void copy(AltosState old) {
738 received_time = old.received_time;
740 time_change = old.time_change;
741 prev_time = old.time;
744 prev_tick = old.tick;
745 boost_tick = old.boost_tick;
754 device_type = old.device_type;
755 config_major = old.config_major;
756 config_minor = old.config_minor;
757 apogee_delay = old.apogee_delay;
758 main_deploy = old.main_deploy;
759 flight_log_max = old.flight_log_max;
763 ground_pressure.copy(old.ground_pressure);
764 ground_altitude.copy(old.ground_altitude);
765 altitude.copy(old.altitude);
766 pressure.copy(old.pressure);
767 speed.copy(old.speed);
768 acceleration.copy(old.acceleration);
769 orient.copy(old.orient);
771 battery_voltage = old.battery_voltage;
772 pyro_voltage = old.pyro_voltage;
773 temperature = old.temperature;
774 apogee_voltage = old.apogee_voltage;
775 main_voltage = old.main_voltage;
776 ignitor_voltage = old.ignitor_voltage;
778 kalman_height.copy(old.kalman_height);
779 kalman_speed.copy(old.kalman_speed);
780 kalman_acceleration.copy(old.kalman_acceleration);
783 gps = old.gps.clone();
786 if (old.temp_gps != null)
787 temp_gps = old.temp_gps.clone();
790 temp_gps_sat_tick = old.temp_gps_sat_tick;
791 gps_sequence = old.gps_sequence;
792 gps_pending = old.gps_pending;
795 imu = old.imu.clone();
800 mag = old.mag.clone();
805 gps_waiting = old.gps_waiting;
806 gps_ready = old.gps_ready;
809 if (old.from_pad != null)
810 from_pad = old.from_pad.clone();
814 elevation = old.elevation;
817 gps_height = old.gps_height;
819 gps_altitude.copy(old.gps_altitude);
820 gps_ground_altitude.copy(old.gps_ground_altitude);
822 pad_lat = old.pad_lat;
823 pad_lon = old.pad_lon;
824 pad_alt = old.pad_alt;
826 speak_tick = old.speak_tick;
827 speak_altitude = old.speak_altitude;
829 callsign = old.callsign;
831 accel_plus_g = old.accel_plus_g;
832 accel_minus_g = old.accel_minus_g;
834 ground_accel = old.ground_accel;
835 ground_accel_avg = old.ground_accel_avg;
837 log_format = old.log_format;
839 receiver_serial = old.receiver_serial;
842 companion = old.companion;
855 if (gps.locked && gps.nsat >= 4) {
856 /* Track consecutive 'good' gps reports, waiting for 10 of them */
857 if (state == AltosLib.ao_flight_pad) {
859 if (pad_lat != AltosLib.MISSING) {
860 pad_lat = (pad_lat * 31 + gps.lat) / 32;
861 pad_lon = (pad_lon * 31 + gps.lon) / 32;
862 gps_ground_altitude.set_filtered(gps.alt, time);
865 if (pad_lat == AltosLib.MISSING) {
868 gps_ground_altitude.set(gps.alt, time);
870 gps_altitude.set(gps.alt, time);
872 if (gps.lat != 0 && gps.lon != 0 &&
873 pad_lat != AltosLib.MISSING &&
874 pad_lon != AltosLib.MISSING)
878 if (h == AltosLib.MISSING)
880 from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
881 elevation = from_pad.elevation;
882 range = from_pad.range;
886 public void set_tick(int new_tick) {
887 if (new_tick != AltosLib.MISSING) {
888 if (prev_tick != AltosLib.MISSING) {
889 while (new_tick < prev_tick - 1000) {
895 time_change = time - prev_time;
899 public void set_boost_tick(int boost_tick) {
900 if (boost_tick != AltosLib.MISSING)
901 this.boost_tick = boost_tick;
904 public String state_name() {
905 return AltosLib.state_name(state);
908 public void set_state(int state) {
909 if (state != AltosLib.ao_flight_invalid) {
911 ascent = (AltosLib.ao_flight_boost <= state &&
912 state <= AltosLib.ao_flight_coast);
913 boost = (AltosLib.ao_flight_boost == state);
918 public void set_device_type(int device_type) {
919 this.device_type = device_type;
922 public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
923 config_major = major;
924 config_minor = minor;
925 this.apogee_delay = apogee_delay;
926 this.main_deploy = main_deploy;
927 this.flight_log_max = flight_log_max;
930 public void set_callsign(String callsign) {
931 this.callsign = callsign;
934 public void set_firmware_version(String version) {
935 firmware_version = version;
938 public void set_flight(int flight) {
940 /* When the flight changes, reset the state */
941 if (flight != AltosLib.MISSING && flight != 0) {
942 if (this.flight != AltosLib.MISSING &&
943 this.flight != flight) {
948 this.flight = flight;
952 public void set_serial(int serial) {
953 /* When the serial changes, reset the state */
954 if (serial != AltosLib.MISSING) {
955 if (this.serial != AltosLib.MISSING &&
956 this.serial != serial) {
961 this.serial = serial;
965 public void set_receiver_serial(int serial) {
966 if (serial != AltosLib.MISSING)
967 receiver_serial = serial;
971 if (rssi == AltosLib.MISSING)
976 public void set_rssi(int rssi, int status) {
977 if (rssi != AltosLib.MISSING) {
979 this.status = status;
983 public void set_received_time(long ms) {
987 public void set_gps(AltosGPS gps, int sequence) {
989 this.gps = gps.clone();
990 gps_sequence = sequence;
996 public void set_imu(AltosIMU imu) {
1002 public void set_mag(AltosMag mag) {
1003 this.mag = mag.clone();
1006 public AltosMs5607 make_baro() {
1008 baro = new AltosMs5607();
1012 public void set_ms5607(AltosMs5607 ms5607) {
1016 set_pressure(baro.pa);
1017 set_temperature(baro.cc / 100.0);
1021 public void set_ms5607(int pres, int temp) {
1023 baro.set(pres, temp);
1025 set_pressure(baro.pa);
1026 set_temperature(baro.cc / 100.0);
1030 public void make_companion (int nchannels) {
1031 if (companion == null)
1032 companion = new AltosCompanion(nchannels);
1035 public void set_companion(AltosCompanion companion) {
1036 this.companion = companion;
1039 void update_accel() {
1040 if (accel == AltosLib.MISSING)
1042 if (accel_plus_g == AltosLib.MISSING)
1044 if (accel_minus_g == AltosLib.MISSING)
1047 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1048 double counts_per_mss = counts_per_g / 9.80665;
1049 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1052 public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1053 if (accel_plus_g != AltosLib.MISSING) {
1054 this.accel_plus_g = accel_plus_g;
1055 this.accel_minus_g = accel_minus_g;
1060 public void set_ground_accel(double ground_accel) {
1061 if (ground_accel != AltosLib.MISSING)
1062 this.ground_accel = ground_accel;
1065 public void set_accel(double accel) {
1066 if (accel != AltosLib.MISSING) {
1068 if (state == AltosLib.ao_flight_pad) {
1069 if (ground_accel_avg == AltosLib.MISSING)
1070 ground_accel_avg = accel;
1072 ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1078 public void set_temperature(double temperature) {
1079 if (temperature != AltosLib.MISSING) {
1080 this.temperature = temperature;
1085 public void set_battery_voltage(double battery_voltage) {
1086 if (battery_voltage != AltosLib.MISSING) {
1087 this.battery_voltage = battery_voltage;
1092 public void set_pyro_voltage(double pyro_voltage) {
1093 if (pyro_voltage != AltosLib.MISSING) {
1094 this.pyro_voltage = pyro_voltage;
1099 public void set_apogee_voltage(double apogee_voltage) {
1100 if (apogee_voltage != AltosLib.MISSING) {
1101 this.apogee_voltage = apogee_voltage;
1106 public void set_main_voltage(double main_voltage) {
1107 if (main_voltage != AltosLib.MISSING) {
1108 this.main_voltage = main_voltage;
1113 public void set_ignitor_voltage(double[] voltage) {
1114 this.ignitor_voltage = voltage;
1117 public double time_since_boost() {
1118 if (tick == AltosLib.MISSING)
1121 if (boost_tick == AltosLib.MISSING)
1122 return tick / 100.0;
1123 return (tick - boost_tick) / 100.0;
1126 public boolean valid() {
1127 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1130 public AltosGPS make_temp_gps(boolean sats) {
1131 if (temp_gps == null) {
1132 temp_gps = new AltosGPS(gps);
1136 if (tick != temp_gps_sat_tick)
1137 temp_gps.cc_gps_sat = null;
1138 temp_gps_sat_tick = tick;
1143 public void set_temp_gps() {
1144 set_gps(temp_gps, gps_sequence + 1);
1145 gps_pending = false;
1149 public AltosState clone() {
1150 AltosState s = new AltosState();
1155 public AltosState () {