git.gag.com Git - fw/altos/blob - altoslib/AltosState.java

   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 /*
  20  * Track flight state from telemetry or eeprom data stream
  21  */
  22
  23 package org.altusmetrum.altoslib_11;
  24
  25 import java.io.*;
  26
  27 public class AltosState implements Cloneable {
  28
  29         public static final int set_position = 1;
  30         public static final int set_gps = 2;
  31         public static final int set_data = 4;
  32
  33         public int set;
  34
  35         static final double filter_len = 2.0;
  36         static final double ascent_filter_len = 0.5;
  37         static final double descent_filter_len = 5.0;
  38
  39         /* derived data */
  40
  41         public long     received_time;
  42
  43         public double   time;
  44         public double   prev_time;
  45         public double   time_change;
  46         public int      tick;
  47         private int     prev_tick;
  48         public int      boost_tick;
  49
  50         class AltosValue {
  51                 double  value;
  52                 double  prev_value;
  53                 private double  max_value;
  54                 private double  set_time;
  55                 private double  prev_set_time;
  56
  57                 boolean can_max() { return true; }
  58
  59                 void set(double new_value, double time) {
  60                         if (new_value != AltosLib.MISSING) {
  61                                 value = new_value;
  62                                 if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
  63                                         max_value = value;
  64                                 set_time = time;
  65                         }
  66                 }
  67
  68                 void set_filtered(double new_value, double time) {
  69                         if (prev_value != AltosLib.MISSING) {
  70                                 double f = 1/Math.exp((time - prev_set_time) / filter_len);
  71                                 new_value = f * new_value + (1-f) * prev_value;
  72                         }
  73                         set(new_value, time);
  74                 }
  75
  76                 double value() {
  77                         return value;
  78                 }
  79
  80                 double max() {
  81                         return max_value;
  82                 }
  83
  84                 double prev() {
  85                         return prev_value;
  86                 }
  87
  88                 double change() {
  89                         if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
  90                                 return value - prev_value;
  91                         return AltosLib.MISSING;
  92                 }
  93
  94                 double rate() {
  95                         double c = change();
  96                         double t = set_time - prev_set_time;
  97
  98                         if (c != AltosLib.MISSING && t != 0)
  99                                 return c / t;
 100                         return AltosLib.MISSING;
 101                 }
 102
 103                 double integrate() {
 104                         if (value == AltosLib.MISSING)
 105                                 return AltosLib.MISSING;
 106                         if (prev_value == AltosLib.MISSING)
 107                                 return AltosLib.MISSING;
 108
 109                         return (value + prev_value) / 2 * (set_time - prev_set_time);
 110                 }
 111
 112                 double time() {
 113                         return set_time;
 114                 }
 115
 116                 void set_derivative(AltosValue in) {
 117                         double  n = in.rate();
 118
 119                         if (n == AltosLib.MISSING)
 120                                 return;
 121
 122                         double  p = prev_value;
 123                         double  pt = prev_set_time;
 124
 125                         if (p == AltosLib.MISSING) {
 126                                 p = 0;
 127                                 pt = in.time() - 0.01;
 128                         }
 129
 130                         /* Clip changes to reduce noise */
 131                         double  ddt = in.time() - pt;
 132                         double  ddv = (n - p) / ddt;
 133
 134                         final double max = 100000;
 135
 136                         /* 100gs */
 137                         if (Math.abs(ddv) > max) {
 138                                 if (n > p)
 139                                         n = p + ddt * max;
 140                                 else
 141                                         n = p - ddt * max;
 142                         }
 143
 144                         double filter_len;
 145
 146                         if (ascent)
 147                                 filter_len = ascent_filter_len;
 148                         else
 149                                 filter_len = descent_filter_len;
 150
 151                         double f = 1/Math.exp(ddt/ filter_len);
 152                         n = p * f + n * (1-f);
 153
 154                         set(n, in.time());
 155                 }
 156
 157                 void set_integral(AltosValue in) {
 158                         double  change = in.integrate();
 159
 160                         if (change != AltosLib.MISSING) {
 161                                 double  prev = prev_value;
 162                                 if (prev == AltosLib.MISSING)
 163                                         prev = 0;
 164                                 set(prev + change, in.time());
 165                         }
 166                 }
 167
 168                 void copy(AltosValue old) {
 169                         value = old.value;
 170                         set_time = old.set_time;
 171                         prev_value = old.value;
 172                         prev_set_time = old.set_time;
 173                         max_value = old.max_value;
 174                 }
 175
 176                 void finish_update() {
 177                         prev_value = value;
 178                         prev_set_time = set_time;
 179                 }
 180
 181                 AltosValue() {
 182                         value = AltosLib.MISSING;
 183                         prev_value = AltosLib.MISSING;
 184                         max_value = AltosLib.MISSING;
 185                 }
 186
 187         }
 188
 189         class AltosCValue {
 190
 191                 class AltosIValue extends AltosValue {
 192                         boolean can_max() {
 193                                 return c_can_max();
 194                         }
 195
 196                         AltosIValue() {
 197                                 super();
 198                         }
 199                 };
 200
 201                 public AltosIValue      measured;
 202                 public AltosIValue      computed;
 203
 204                 boolean can_max() { return true; }
 205
 206                 boolean c_can_max() { return can_max(); }
 207
 208                 double value() {
 209                         double v = measured.value();
 210                         if (v != AltosLib.MISSING)
 211                                 return v;
 212                         return computed.value();
 213                 }
 214
 215                 boolean is_measured() {
 216                         return measured.value() != AltosLib.MISSING;
 217                 }
 218
 219                 double max() {
 220                         double m = measured.max();
 221
 222                         if (m != AltosLib.MISSING)
 223                                 return m;
 224                         return computed.max();
 225                 }
 226
 227                 double prev_value() {
 228                         if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
 229                                 return measured.prev_value;
 230                         return computed.prev_value;
 231                 }
 232
 233                 AltosValue altos_value() {
 234                         if (measured.value() != AltosLib.MISSING)
 235                                 return measured;
 236                         return computed;
 237                 }
 238
 239                 double change() {
 240                         double c = measured.change();
 241                         if (c == AltosLib.MISSING)
 242                                 c = computed.change();
 243                         return c;
 244                 }
 245
 246                 double rate() {
 247                         double r = measured.rate();
 248                         if (r == AltosLib.MISSING)
 249                                 r = computed.rate();
 250                         return r;
 251                 }
 252
 253                 void set_measured(double new_value, double time) {
 254                         measured.set(new_value, time);
 255                 }
 256
 257                 void set_computed(double new_value, double time) {
 258                         computed.set(new_value, time);
 259                 }
 260
 261                 void set_derivative(AltosValue in) {
 262                         computed.set_derivative(in);
 263                 }
 264
 265                 void set_derivative(AltosCValue in) {
 266                         set_derivative(in.altos_value());
 267                 }
 268
 269                 void set_integral(AltosValue in) {
 270                         computed.set_integral(in);
 271                 }
 272
 273                 void set_integral(AltosCValue in) {
 274                         set_integral(in.altos_value());
 275                 }
 276
 277                 void copy(AltosCValue old) {
 278                         measured.copy(old.measured);
 279                         computed.copy(old.computed);
 280                 }
 281
 282                 void finish_update() {
 283                         measured.finish_update();
 284                         computed.finish_update();
 285                 }
 286
 287                 public AltosCValue() {
 288                         measured = new AltosIValue();
 289                         computed = new AltosIValue();
 290                 }
 291         }
 292
 293         private int     state;
 294         public int      flight;
 295         public int      serial;
 296         public int      altitude_32;
 297         public int      receiver_serial;
 298         public boolean  landed;
 299         public boolean  ascent; /* going up? */
 300         public boolean  boost;  /* under power */
 301         public int      rssi;
 302         public int      status;
 303         public int      device_type;
 304         public int      config_major;
 305         public int      config_minor;
 306         public int      apogee_delay;
 307         public int      main_deploy;
 308         public int      flight_log_max;
 309
 310         private double pressure_to_altitude(double p) {
 311                 if (p == AltosLib.MISSING)
 312                         return AltosLib.MISSING;
 313                 return AltosConvert.pressure_to_altitude(p);
 314         }
 315
 316         private AltosCValue ground_altitude;
 317
 318         public double ground_altitude() {
 319                 return ground_altitude.value();
 320         }
 321
 322         public void set_ground_altitude(double a) {
 323                 ground_altitude.set_measured(a, time);
 324         }
 325
 326         class AltosGpsGroundAltitude extends AltosValue {
 327                 void set(double a, double t) {
 328                         super.set(a, t);
 329                         pad_alt = value();
 330                         gps_altitude.set_gps_height();
 331                 }
 332
 333                 void set_filtered(double a, double t) {
 334                         super.set_filtered(a, t);
 335                         pad_alt = value();
 336                         gps_altitude.set_gps_height();
 337                 }
 338
 339                 AltosGpsGroundAltitude() {
 340                         super();
 341                 }
 342         }
 343
 344         private AltosGpsGroundAltitude gps_ground_altitude;
 345
 346         public double gps_ground_altitude() {
 347                 return gps_ground_altitude.value();
 348         }
 349
 350         public void set_gps_ground_altitude(double a) {
 351                 gps_ground_altitude.set(a, time);
 352         }
 353
 354         class AltosGroundPressure extends AltosCValue {
 355                 void set_filtered(double p, double time) {
 356                         computed.set_filtered(p, time);
 357                         if (!is_measured())
 358                                 ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 359                 }
 360
 361                 void set_measured(double p, double time) {
 362                         super.set_measured(p, time);
 363                         ground_altitude.set_computed(pressure_to_altitude(p), time);
 364                 }
 365
 366                 AltosGroundPressure () {
 367                         super();
 368                 }
 369         }
 370
 371         private AltosGroundPressure ground_pressure;
 372
 373         public double ground_pressure() {
 374                 return ground_pressure.value();
 375         }
 376
 377         public void set_ground_pressure (double pressure) {
 378                 ground_pressure.set_measured(pressure, time);
 379         }
 380
 381         class AltosAltitude extends AltosCValue {
 382
 383                 private void set_speed(AltosValue v) {
 384                         if (!acceleration.is_measured() || !ascent)
 385                                 speed.set_derivative(this);
 386                 }
 387
 388                 void set_computed(double a, double time) {
 389                         super.set_computed(a,time);
 390                         set_speed(computed);
 391                         set |= set_position;
 392                 }
 393
 394                 void set_measured(double a, double time) {
 395                         super.set_measured(a,time);
 396                         set_speed(measured);
 397                         set |= set_position;
 398                 }
 399
 400                 AltosAltitude() {
 401                         super();
 402                 }
 403         }
 404
 405         private AltosAltitude   altitude;
 406
 407         class AltosGpsAltitude extends AltosValue {
 408
 409                 private void set_gps_height() {
 410                         double  a = value();
 411                         double  g = gps_ground_altitude.value();
 412
 413                         if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 414                                 gps_height = a - g;
 415                         else
 416                                 gps_height = AltosLib.MISSING;
 417                 }
 418
 419                 void set(double a, double t) {
 420                         super.set(a, t);
 421                         set_gps_height();
 422                 }
 423
 424                 AltosGpsAltitude() {
 425                         super();
 426                 }
 427         }
 428
 429         private AltosGpsAltitude        gps_altitude;
 430
 431         private AltosValue              gps_ground_speed;
 432         private AltosValue              gps_ascent_rate;
 433         private AltosValue              gps_course;
 434         private AltosValue              gps_speed;
 435
 436         public double altitude() {
 437                 double a = altitude.value();
 438                 if (a != AltosLib.MISSING)
 439                         return a;
 440                 return gps_altitude.value();
 441         }
 442
 443         public double max_altitude() {
 444                 double a = altitude.max();
 445                 if (a != AltosLib.MISSING)
 446                         return a;
 447                 return gps_altitude.max();
 448         }
 449
 450         public void set_altitude(double new_altitude) {
 451                 altitude.set_measured(new_altitude, time);
 452         }
 453
 454         public double gps_altitude() {
 455                 return gps_altitude.value();
 456         }
 457
 458         public double max_gps_altitude() {
 459                 return gps_altitude.max();
 460         }
 461
 462         public void set_gps_altitude(double new_gps_altitude) {
 463                 gps_altitude.set(new_gps_altitude, time);
 464         }
 465
 466         public double gps_ground_speed() {
 467                 return gps_ground_speed.value();
 468         }
 469
 470         public double max_gps_ground_speed() {
 471                 return gps_ground_speed.max();
 472         }
 473
 474         public double gps_ascent_rate() {
 475                 return gps_ascent_rate.value();
 476         }
 477
 478         public double max_gps_ascent_rate() {
 479                 return gps_ascent_rate.max();
 480         }
 481
 482         public double gps_course() {
 483                 return gps_course.value();
 484         }
 485
 486         public double gps_speed() {
 487                 return gps_speed.value();
 488         }
 489
 490         public double max_gps_speed() {
 491                 return gps_speed.max();
 492         }
 493
 494         class AltosPressure extends AltosValue {
 495                 void set(double p, double time) {
 496                         super.set(p, time);
 497                         if (state == AltosLib.ao_flight_pad)
 498                                 ground_pressure.set_filtered(p, time);
 499                         double a = pressure_to_altitude(p);
 500                         altitude.set_computed(a, time);
 501                 }
 502
 503                 AltosPressure() {
 504                         super();
 505                 }
 506         }
 507
 508         private AltosPressure   pressure;
 509
 510         public double pressure() {
 511                 return pressure.value();
 512         }
 513
 514         public void set_pressure(double p) {
 515                 pressure.set(p, time);
 516         }
 517
 518         public double baro_height() {
 519                 double a = altitude();
 520                 double g = ground_altitude();
 521                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 522                         return a - g;
 523                 return AltosLib.MISSING;
 524         }
 525
 526         public double height() {
 527                 double k = kalman_height.value();
 528                 if (k != AltosLib.MISSING)
 529                         return k;
 530
 531                 double b = baro_height();
 532                 if (b != AltosLib.MISSING)
 533                         return b;
 534
 535                 return gps_height();
 536         }
 537
 538         public double max_height() {
 539                 double  k = kalman_height.max();
 540                 if (k != AltosLib.MISSING)
 541                         return k;
 542
 543                 double a = altitude.max();
 544                 double g = ground_altitude();
 545                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 546                         return a - g;
 547                 return max_gps_height();
 548         }
 549
 550         public double gps_height() {
 551                 double a = gps_altitude();
 552                 double g = gps_ground_altitude();
 553
 554                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 555                         return a - g;
 556                 return AltosLib.MISSING;
 557         }
 558
 559         public double max_gps_height() {
 560                 double a = gps_altitude.max();
 561                 double g = gps_ground_altitude();
 562
 563                 if (a != AltosLib.MISSING && g != AltosLib.MISSING)
 564                         return a - g;
 565                 return AltosLib.MISSING;
 566         }
 567
 568         class AltosSpeed extends AltosCValue {
 569
 570                 boolean can_max() {
 571                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 572                 }
 573
 574                 void set_accel() {
 575                         acceleration.set_derivative(this);
 576                 }
 577
 578                 void set_derivative(AltosCValue in) {
 579                         super.set_derivative(in);
 580                         set_accel();
 581                 }
 582
 583                 void set_computed(double new_value, double time) {
 584                         super.set_computed(new_value, time);
 585                         set_accel();
 586                 }
 587
 588                 void set_measured(double new_value, double time) {
 589                         super.set_measured(new_value, time);
 590                         set_accel();
 591                 }
 592
 593                 AltosSpeed() {
 594                         super();
 595                 }
 596         }
 597
 598         private AltosSpeed speed;
 599
 600         public double speed() {
 601                 double v = kalman_speed.value();
 602                 if (v != AltosLib.MISSING)
 603                         return v;
 604                 v = speed.value();
 605                 if (v != AltosLib.MISSING)
 606                         return v;
 607                 v = gps_speed();
 608                 if (v != AltosLib.MISSING)
 609                         return v;
 610                 return AltosLib.MISSING;
 611         }
 612
 613         public double max_speed() {
 614                 double v = kalman_speed.max();
 615                 if (v != AltosLib.MISSING)
 616                         return v;
 617                 v = speed.max();
 618                 if (v != AltosLib.MISSING)
 619                         return v;
 620                 v = max_gps_speed();
 621                 if (v != AltosLib.MISSING)
 622                         return v;
 623                 return AltosLib.MISSING;
 624         }
 625
 626         class AltosAccel extends AltosCValue {
 627
 628                 boolean can_max() {
 629                         return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
 630                 }
 631
 632                 void set_measured(double a, double time) {
 633                         super.set_measured(a, time);
 634                         if (ascent)
 635                                 speed.set_integral(this.measured);
 636                 }
 637
 638                 AltosAccel() {
 639                         super();
 640                 }
 641         }
 642
 643         AltosAccel acceleration;
 644
 645         public double acceleration() {
 646                 return acceleration.value();
 647         }
 648
 649         public double max_acceleration() {
 650                 return acceleration.max();
 651         }
 652
 653         public AltosCValue      orient;
 654
 655         public void set_orient(double new_orient) {
 656                 orient.set_measured(new_orient, time);
 657         }
 658
 659         public double orient() {
 660                 return orient.value();
 661         }
 662
 663         public double max_orient() {
 664                 return orient.max();
 665         }
 666
 667         public AltosValue       kalman_height, kalman_speed, kalman_acceleration;
 668
 669         public void set_kalman(double height, double speed, double acceleration) {
 670                 kalman_height.set(height, time);
 671                 kalman_speed.set(speed, time);
 672                 kalman_acceleration.set(acceleration, time);
 673         }
 674
 675         public double   battery_voltage;
 676         public double   pyro_voltage;
 677         public double   temperature;
 678         public double   apogee_voltage;
 679         public double   main_voltage;
 680
 681         public double   ignitor_voltage[];
 682
 683         public AltosGPS gps;
 684         public AltosGPS temp_gps;
 685         public int temp_gps_sat_tick;
 686         public boolean  gps_pending;
 687         public int gps_sequence;
 688
 689         public AltosIMU imu;
 690         public AltosMag mag;
 691
 692         public static final int MIN_PAD_SAMPLES = 10;
 693
 694         public int      npad;
 695         public int      gps_waiting;
 696         public boolean  gps_ready;
 697
 698         public int      ngps;
 699
 700         public AltosGreatCircle from_pad;
 701         public double   elevation;      /* from pad */
 702         public double   range;          /* total distance */
 703
 704         public double   gps_height;
 705
 706         public double pad_lat, pad_lon, pad_alt;
 707
 708         public int      speak_tick;
 709         public double   speak_altitude;
 710
 711         public String   callsign;
 712         public String   firmware_version;
 713
 714         public double   accel_plus_g;
 715         public double   accel_minus_g;
 716         public double   accel;
 717         public double   ground_accel;
 718         public double   ground_accel_avg;
 719
 720         public int      log_format;
 721         public int      log_space;
 722         public String   product;
 723
 724         public AltosMs5607      baro;
 725
 726         public AltosCompanion   companion;
 727
 728         public int      pyro_fired;
 729
 730         public void set_npad(int npad) {
 731                 this.npad = npad;
 732                 gps_waiting = MIN_PAD_SAMPLES - npad;
 733                 if (this.gps_waiting < 0)
 734                         gps_waiting = 0;
 735                 gps_ready = gps_waiting == 0;
 736         }
 737
 738         public void init() {
 739                 set = 0;
 740
 741                 received_time = System.currentTimeMillis();
 742                 time = AltosLib.MISSING;
 743                 time_change = AltosLib.MISSING;
 744                 prev_time = AltosLib.MISSING;
 745                 tick = AltosLib.MISSING;
 746                 prev_tick = AltosLib.MISSING;
 747                 boost_tick = AltosLib.MISSING;
 748                 state = AltosLib.ao_flight_invalid;
 749                 flight = AltosLib.MISSING;
 750                 landed = false;
 751                 boost = false;
 752                 rssi = AltosLib.MISSING;
 753                 status = 0;
 754                 device_type = AltosLib.MISSING;
 755                 config_major = AltosLib.MISSING;
 756                 config_minor = AltosLib.MISSING;
 757                 apogee_delay = AltosLib.MISSING;
 758                 main_deploy = AltosLib.MISSING;
 759                 flight_log_max = AltosLib.MISSING;
 760
 761                 ground_altitude = new AltosCValue();
 762                 ground_pressure = new AltosGroundPressure();
 763                 altitude = new AltosAltitude();
 764                 pressure = new AltosPressure();
 765                 speed = new AltosSpeed();
 766                 acceleration = new AltosAccel();
 767                 orient = new AltosCValue();
 768
 769                 temperature = AltosLib.MISSING;
 770                 battery_voltage = AltosLib.MISSING;
 771                 pyro_voltage = AltosLib.MISSING;
 772                 apogee_voltage = AltosLib.MISSING;
 773                 main_voltage = AltosLib.MISSING;
 774                 ignitor_voltage = null;
 775
 776                 kalman_height = new AltosValue();
 777                 kalman_speed = new AltosValue();
 778                 kalman_acceleration = new AltosValue();
 779
 780                 gps = null;
 781                 temp_gps = null;
 782                 temp_gps_sat_tick = 0;
 783                 gps_sequence = 0;
 784                 gps_pending = false;
 785
 786                 imu = null;
 787                 last_imu_time = AltosLib.MISSING;
 788                 rotation = null;
 789                 ground_rotation = null;
 790
 791                 mag = null;
 792                 accel_zero_along = AltosLib.MISSING;
 793                 accel_zero_across = AltosLib.MISSING;
 794                 accel_zero_through = AltosLib.MISSING;
 795
 796                 accel_ground_along = AltosLib.MISSING;
 797                 accel_ground_across = AltosLib.MISSING;
 798                 accel_ground_through = AltosLib.MISSING;
 799
 800                 pad_orientation = AltosLib.MISSING;
 801
 802                 gyro_zero_roll = AltosLib.MISSING;
 803                 gyro_zero_pitch = AltosLib.MISSING;
 804                 gyro_zero_yaw = AltosLib.MISSING;
 805
 806                 set_npad(0);
 807                 ngps = 0;
 808
 809                 from_pad = null;
 810                 elevation = AltosLib.MISSING;
 811                 range = AltosLib.MISSING;
 812                 gps_height = AltosLib.MISSING;
 813
 814                 pad_lat = AltosLib.MISSING;
 815                 pad_lon = AltosLib.MISSING;
 816                 pad_alt = AltosLib.MISSING;
 817
 818                 gps_altitude = new AltosGpsAltitude();
 819                 gps_ground_altitude = new AltosGpsGroundAltitude();
 820                 gps_ground_speed = new AltosValue();
 821                 gps_speed = new AltosValue();
 822                 gps_ascent_rate = new AltosValue();
 823                 gps_course = new AltosValue();
 824
 825                 speak_tick = AltosLib.MISSING;
 826                 speak_altitude = AltosLib.MISSING;
 827
 828                 callsign = null;
 829                 firmware_version = null;
 830
 831                 accel_plus_g = AltosLib.MISSING;
 832                 accel_minus_g = AltosLib.MISSING;
 833                 accel = AltosLib.MISSING;
 834
 835                 ground_accel = AltosLib.MISSING;
 836                 ground_accel_avg = AltosLib.MISSING;
 837
 838                 log_format = AltosLib.MISSING;
 839                 log_space = AltosLib.MISSING;
 840                 product = null;
 841                 serial = AltosLib.MISSING;
 842                 receiver_serial = AltosLib.MISSING;
 843                 altitude_32 = AltosLib.MISSING;
 844
 845                 baro = null;
 846                 companion = null;
 847
 848                 pyro_fired = 0;
 849         }
 850
 851         void finish_update() {
 852                 prev_tick = tick;
 853
 854                 ground_altitude.finish_update();
 855                 altitude.finish_update();
 856                 pressure.finish_update();
 857                 speed.finish_update();
 858                 acceleration.finish_update();
 859                 orient.finish_update();
 860
 861                 kalman_height.finish_update();
 862                 kalman_speed.finish_update();
 863                 kalman_acceleration.finish_update();
 864         }
 865
 866         void copy(AltosState old) {
 867
 868                 if (old == null) {
 869                         init();
 870                         return;
 871                 }
 872
 873                 received_time = old.received_time;
 874                 time = old.time;
 875                 time_change = old.time_change;
 876                 prev_time = old.time;
 877
 878                 tick = old.tick;
 879                 prev_tick = old.tick;
 880                 boost_tick = old.boost_tick;
 881
 882                 state = old.state;
 883                 flight = old.flight;
 884                 landed = old.landed;
 885                 ascent = old.ascent;
 886                 boost = old.boost;
 887                 rssi = old.rssi;
 888                 status = old.status;
 889                 device_type = old.device_type;
 890                 config_major = old.config_major;
 891                 config_minor = old.config_minor;
 892                 apogee_delay = old.apogee_delay;
 893                 main_deploy = old.main_deploy;
 894                 flight_log_max = old.flight_log_max;
 895
 896                 set = 0;
 897
 898                 ground_pressure.copy(old.ground_pressure);
 899                 ground_altitude.copy(old.ground_altitude);
 900                 altitude.copy(old.altitude);
 901                 pressure.copy(old.pressure);
 902                 speed.copy(old.speed);
 903                 acceleration.copy(old.acceleration);
 904                 orient.copy(old.orient);
 905
 906                 battery_voltage = old.battery_voltage;
 907                 pyro_voltage = old.pyro_voltage;
 908                 temperature = old.temperature;
 909                 apogee_voltage = old.apogee_voltage;
 910                 main_voltage = old.main_voltage;
 911                 ignitor_voltage = old.ignitor_voltage;
 912
 913                 kalman_height.copy(old.kalman_height);
 914                 kalman_speed.copy(old.kalman_speed);
 915                 kalman_acceleration.copy(old.kalman_acceleration);
 916
 917                 if (old.gps != null)
 918                         gps = old.gps.clone();
 919                 else
 920                         gps = null;
 921                 if (old.temp_gps != null)
 922                         temp_gps = old.temp_gps.clone();
 923                 else
 924                         temp_gps = null;
 925                 temp_gps_sat_tick = old.temp_gps_sat_tick;
 926                 gps_sequence = old.gps_sequence;
 927                 gps_pending = old.gps_pending;
 928
 929                 if (old.imu != null)
 930                         imu = old.imu.clone();
 931                 else
 932                         imu = null;
 933                 last_imu_time = old.last_imu_time;
 934
 935                 if (old.rotation != null)
 936                         rotation = new AltosRotation (old.rotation);
 937
 938                 if (old.ground_rotation != null) {
 939                         ground_rotation = new AltosRotation(old.ground_rotation);
 940                 }
 941
 942                 accel_zero_along = old.accel_zero_along;
 943                 accel_zero_across = old.accel_zero_across;
 944                 accel_zero_through = old.accel_zero_through;
 945
 946                 accel_ground_along = old.accel_ground_along;
 947                 accel_ground_across = old.accel_ground_across;
 948                 accel_ground_through = old.accel_ground_through;
 949                 pad_orientation = old.pad_orientation;
 950
 951                 gyro_zero_roll = old.gyro_zero_roll;
 952                 gyro_zero_pitch = old.gyro_zero_pitch;
 953                 gyro_zero_yaw = old.gyro_zero_yaw;
 954
 955                 if (old.mag != null)
 956                         mag = old.mag.clone();
 957                 else
 958                         mag = null;
 959
 960                 npad = old.npad;
 961                 gps_waiting = old.gps_waiting;
 962                 gps_ready = old.gps_ready;
 963                 ngps = old.ngps;
 964
 965                 if (old.from_pad != null)
 966                         from_pad = old.from_pad.clone();
 967                 else
 968                         from_pad = null;
 969
 970                 elevation = old.elevation;
 971                 range = old.range;
 972
 973                 gps_height = old.gps_height;
 974
 975                 gps_altitude.copy(old.gps_altitude);
 976                 gps_ground_altitude.copy(old.gps_ground_altitude);
 977                 gps_ground_speed.copy(old.gps_ground_speed);
 978                 gps_ascent_rate.copy(old.gps_ascent_rate);
 979                 gps_course.copy(old.gps_course);
 980                 gps_speed.copy(old.gps_speed);
 981
 982                 pad_lat = old.pad_lat;
 983                 pad_lon = old.pad_lon;
 984                 pad_alt = old.pad_alt;
 985
 986                 speak_tick = old.speak_tick;
 987                 speak_altitude = old.speak_altitude;
 988
 989                 callsign = old.callsign;
 990                 firmware_version = old.firmware_version;
 991
 992                 accel_plus_g = old.accel_plus_g;
 993                 accel_minus_g = old.accel_minus_g;
 994                 accel = old.accel;
 995                 ground_accel = old.ground_accel;
 996                 ground_accel_avg = old.ground_accel_avg;
 997
 998                 log_format = old.log_format;
 999                 log_space = old.log_space;
1000                 product = old.product;
1001                 serial = old.serial;
1002                 receiver_serial = old.receiver_serial;
1003                 altitude_32 = old.altitude_32;
1004
1005                 baro = old.baro;
1006                 companion = old.companion;
1007
1008                 pyro_fired = old.pyro_fired;
1009         }
1010
1011         void update_time() {
1012         }
1013
1014         void update_gps() {
1015                 elevation = AltosLib.MISSING;
1016                 range = AltosLib.MISSING;
1017
1018                 if (gps == null)
1019                         return;
1020
1021                 if (gps.locked && gps.nsat >= 4) {
1022                         /* Track consecutive 'good' gps reports, waiting for 10 of them */
1023                         if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
1024                                 set_npad(npad+1);
1025                                 if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
1026                                         pad_lat = (pad_lat * 31 + gps.lat) / 32;
1027                                         pad_lon = (pad_lon * 31 + gps.lon) / 32;
1028                                         gps_ground_altitude.set_filtered(gps.alt, time);
1029                                 }
1030                         }
1031                         if (pad_lat == AltosLib.MISSING) {
1032                                 pad_lat = gps.lat;
1033                                 pad_lon = gps.lon;
1034                                 gps_ground_altitude.set(gps.alt, time);
1035                         }
1036                         gps_altitude.set(gps.alt, time);
1037                         if (gps.climb_rate != AltosLib.MISSING)
1038                                 gps_ascent_rate.set(gps.climb_rate, time);
1039                         if (gps.ground_speed != AltosLib.MISSING)
1040                                 gps_ground_speed.set(gps.ground_speed, time);
1041                         if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
1042                                 gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
1043                                                         gps.climb_rate * gps.climb_rate), time);
1044                         if (gps.course != AltosLib.MISSING)
1045                                 gps_course.set(gps.course, time);
1046                 }
1047                 if (gps.lat != 0 && gps.lon != 0 &&
1048                     pad_lat != AltosLib.MISSING &&
1049                     pad_lon != AltosLib.MISSING)
1050                 {
1051                         double h = height();
1052
1053                         if (h == AltosLib.MISSING)
1054                                 h = 0;
1055                         from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
1056                         elevation = from_pad.elevation;
1057                         range = from_pad.range;
1058                 }
1059         }
1060
1061         public void set_tick(int new_tick) {
1062                 if (new_tick != AltosLib.MISSING) {
1063                         if (prev_tick != AltosLib.MISSING) {
1064                                 while (new_tick < prev_tick - 1000) {
1065                                         new_tick += 65536;
1066                                 }
1067                         }
1068                         tick = new_tick;
1069                         time = tick / 100.0;
1070                         time_change = time - prev_time;
1071                 }
1072         }
1073
1074         public void set_boost_tick(int boost_tick) {
1075                 if (boost_tick != AltosLib.MISSING)
1076                         this.boost_tick = boost_tick;
1077         }
1078
1079         public String state_name() {
1080                 return AltosLib.state_name(state);
1081         }
1082
1083         public void set_product(String product) {
1084                 this.product = product;
1085         }
1086
1087         public void set_state(int state) {
1088                 if (state != AltosLib.ao_flight_invalid) {
1089                         this.state = state;
1090                         ascent = (AltosLib.ao_flight_boost <= state &&
1091                                   state <= AltosLib.ao_flight_coast);
1092                         boost = (AltosLib.ao_flight_boost == state);
1093                 }
1094         }
1095
1096         public int state() {
1097                 return state;
1098         }
1099
1100         public void set_device_type(int device_type) {
1101                 this.device_type = device_type;
1102                 switch (device_type) {
1103                 case AltosLib.product_telegps:
1104                         this.state = AltosLib.ao_flight_stateless;
1105                         break;
1106                 }
1107         }
1108
1109         public void set_log_format(int log_format) {
1110                 this.log_format = log_format;
1111                 switch (log_format) {
1112                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
1113                         this.state = AltosLib.ao_flight_stateless;
1114                         break;
1115                 }
1116         }
1117
1118         public void set_log_space(int log_space) {
1119                 this.log_space = log_space;
1120         }
1121
1122         public void set_flight_params(int apogee_delay, int main_deploy) {
1123                 this.apogee_delay = apogee_delay;
1124                 this.main_deploy = main_deploy;
1125         }
1126
1127         public void set_config(int major, int minor, int flight_log_max) {
1128                 config_major = major;
1129                 config_minor = minor;
1130                 this.flight_log_max = flight_log_max;
1131         }
1132
1133         public void set_callsign(String callsign) {
1134                 this.callsign = callsign;
1135         }
1136
1137         public void set_firmware_version(String version) {
1138                 firmware_version = version;
1139         }
1140
1141         public int compare_version(String other_version) {
1142                 if (firmware_version == null)
1143                         return AltosLib.MISSING;
1144                 return AltosLib.compare_version(firmware_version, other_version);
1145         }
1146
1147         private void re_init() {
1148                 int bt = boost_tick;
1149                 int rs = receiver_serial;
1150                 init();
1151                 boost_tick = bt;
1152                 receiver_serial = rs;
1153         }
1154
1155         public void set_flight(int flight) {
1156
1157                 /* When the flight changes, reset the state */
1158                 if (flight != AltosLib.MISSING) {
1159                         if (this.flight != AltosLib.MISSING &&
1160                             this.flight != flight) {
1161                                 re_init();
1162                         }
1163                         this.flight = flight;
1164                 }
1165         }
1166
1167         public void set_serial(int serial) {
1168                 /* When the serial changes, reset the state */
1169                 if (serial != AltosLib.MISSING) {
1170                         if (this.serial != AltosLib.MISSING &&
1171                             this.serial != serial) {
1172                                 re_init();
1173                         }
1174                         this.serial = serial;
1175                 }
1176         }
1177
1178         public void set_receiver_serial(int serial) {
1179                 if (serial != AltosLib.MISSING)
1180                         receiver_serial = serial;
1181         }
1182
1183         public boolean altitude_32() {
1184                 return altitude_32 == 1;
1185         }
1186
1187         public void set_altitude_32(int altitude_32) {
1188                 if (altitude_32 != AltosLib.MISSING)
1189                         this.altitude_32 = altitude_32;
1190         }
1191
1192         public int rssi() {
1193                 if (rssi == AltosLib.MISSING)
1194                         return 0;
1195                 return rssi;
1196         }
1197
1198         public void set_rssi(int rssi, int status) {
1199                 if (rssi != AltosLib.MISSING) {
1200                         this.rssi = rssi;
1201                         this.status = status;
1202                 }
1203         }
1204
1205         public void set_received_time(long ms) {
1206                 received_time = ms;
1207         }
1208
1209         public void set_gps(AltosGPS gps, int sequence) {
1210                 if (gps != null) {
1211                         this.gps = gps.clone();
1212                         gps_sequence = sequence;
1213                         update_gps();
1214                         set |= set_gps;
1215                 }
1216         }
1217
1218
1219         public double   accel_zero_along;
1220         public double   accel_zero_across;
1221         public double   accel_zero_through;
1222
1223         public AltosRotation    rotation;
1224         public AltosRotation    ground_rotation;
1225
1226         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
1227                 if (zero_along != AltosLib.MISSING) {
1228                         accel_zero_along = zero_along;
1229                         accel_zero_across = zero_across;
1230                         accel_zero_through = zero_through;
1231                 }
1232         }
1233
1234         public int pad_orientation;
1235
1236         public double   accel_ground_along, accel_ground_across, accel_ground_through;
1237
1238         void update_pad_rotation() {
1239                 if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
1240                         rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
1241                                                      AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
1242                                                      AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
1243                                                      pad_orientation);
1244                         ground_rotation = rotation;
1245                         orient.set_computed(rotation.tilt(), time);
1246                 }
1247         }
1248
1249         public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
1250                 accel_ground_along = ground_along;
1251                 accel_ground_across = ground_across;
1252                 accel_ground_through = ground_through;
1253                 update_pad_rotation();
1254         }
1255
1256         public void set_pad_orientation(int pad_orientation) {
1257                 this.pad_orientation = pad_orientation;
1258                 update_pad_rotation();
1259         }
1260
1261         public double   gyro_zero_roll;
1262         public double   gyro_zero_pitch;
1263         public double   gyro_zero_yaw;
1264
1265         public void set_gyro_zero(double roll, double pitch, double yaw) {
1266                 if (roll != AltosLib.MISSING) {
1267                         gyro_zero_roll = roll;
1268                         gyro_zero_pitch = pitch;
1269                         gyro_zero_yaw = yaw;
1270                 }
1271         }
1272
1273         public double   last_imu_time;
1274
1275         private double radians(double degrees) {
1276                 if (degrees == AltosLib.MISSING)
1277                         return AltosLib.MISSING;
1278                 return degrees * Math.PI / 180.0;
1279         }
1280
1281         private void update_orient() {
1282                 if (last_imu_time != AltosLib.MISSING) {
1283                         double  t = time - last_imu_time;
1284
1285                         double  pitch = radians(gyro_pitch());
1286                         double  yaw = radians(gyro_yaw());
1287                         double  roll = radians(gyro_roll());
1288
1289                         if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
1290                                 rotation.rotate(t, pitch, yaw, roll);
1291                                 orient.set_computed(rotation.tilt(), time);
1292                         }
1293                 }
1294                 last_imu_time = time;
1295         }
1296
1297         public void set_imu(AltosIMU imu) {
1298                 if (imu != null)
1299                         imu = imu.clone();
1300                 this.imu = imu;
1301                 update_orient();
1302         }
1303
1304         private double gyro_zero_overflow(double first) {
1305                 double v = first / 128.0;
1306                 if (v < 0)
1307                         v = Math.ceil(v);
1308                 else
1309                         v = Math.floor(v);
1310                 return v * 128.0;
1311         }
1312
1313         public void check_imu_wrap(AltosIMU imu) {
1314                 if (this.imu == null) {
1315                         gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
1316                         gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
1317                         gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
1318                 }
1319         }
1320
1321         public double accel_along() {
1322                 if (imu != null && accel_zero_along != AltosLib.MISSING)
1323                         return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
1324                 return AltosLib.MISSING;
1325         }
1326
1327         public double accel_across() {
1328                 if (imu != null && accel_zero_across != AltosLib.MISSING)
1329                         return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
1330                 return AltosLib.MISSING;
1331         }
1332
1333         public double accel_through() {
1334                 if (imu != null && accel_zero_through != AltosLib.MISSING)
1335                         return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
1336                 return AltosLib.MISSING;
1337         }
1338
1339         public double gyro_roll() {
1340                 if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
1341                         return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
1342                 }
1343                 return AltosLib.MISSING;
1344         }
1345
1346         public double gyro_pitch() {
1347                 if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
1348                         return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
1349                 }
1350                 return AltosLib.MISSING;
1351         }
1352
1353         public double gyro_yaw() {
1354                 if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
1355                         return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
1356                 }
1357                 return AltosLib.MISSING;
1358         }
1359
1360         public void set_mag(AltosMag mag) {
1361                 this.mag = mag.clone();
1362         }
1363
1364         public double mag_along() {
1365                 if (mag != null)
1366                         return AltosMag.convert_gauss(mag.along);
1367                 return AltosLib.MISSING;
1368         }
1369
1370         public double mag_across() {
1371                 if (mag != null)
1372                         return AltosMag.convert_gauss(mag.across);
1373                 return AltosLib.MISSING;
1374         }
1375
1376         public double mag_through() {
1377                 if (mag != null)
1378                         return AltosMag.convert_gauss(mag.through);
1379                 return AltosLib.MISSING;
1380         }
1381
1382         public AltosMs5607 make_baro() {
1383                 if (baro == null)
1384                         baro = new AltosMs5607();
1385                 return baro;
1386         }
1387
1388         public void set_ms5607(AltosMs5607 ms5607) {
1389                 baro = ms5607;
1390
1391                 if (baro != null) {
1392                         set_pressure(baro.pa);
1393                         set_temperature(baro.cc / 100.0);
1394                 }
1395         }
1396
1397         public void set_ms5607(int pres, int temp) {
1398                 if (baro != null) {
1399                         baro.set(pres, temp);
1400
1401                         set_pressure(baro.pa);
1402                         set_temperature(baro.cc / 100.0);
1403                 }
1404         }
1405
1406         public void set_companion(AltosCompanion companion) {
1407                 this.companion = companion;
1408         }
1409
1410         void update_accel() {
1411                 if (accel == AltosLib.MISSING)
1412                         return;
1413                 if (accel_plus_g == AltosLib.MISSING)
1414                         return;
1415                 if (accel_minus_g == AltosLib.MISSING)
1416                         return;
1417
1418                 double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
1419                 double counts_per_mss = counts_per_g / 9.80665;
1420                 acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
1421         }
1422
1423         public void set_accel_g(double accel_plus_g, double accel_minus_g) {
1424                 if (accel_plus_g != AltosLib.MISSING) {
1425                         this.accel_plus_g = accel_plus_g;
1426                         this.accel_minus_g = accel_minus_g;
1427                         update_accel();
1428                 }
1429         }
1430
1431         public void set_ground_accel(double ground_accel) {
1432                 if (ground_accel != AltosLib.MISSING)
1433                         this.ground_accel = ground_accel;
1434         }
1435
1436         public void set_accel(double accel) {
1437                 if (accel != AltosLib.MISSING) {
1438                         this.accel = accel;
1439                         if (state == AltosLib.ao_flight_pad) {
1440                                 if (ground_accel_avg == AltosLib.MISSING)
1441                                         ground_accel_avg = accel;
1442                                 else
1443                                         ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
1444                         }
1445                 }
1446                 update_accel();
1447         }
1448
1449         public void set_temperature(double temperature) {
1450                 if (temperature != AltosLib.MISSING) {
1451                         this.temperature = temperature;
1452                         set |= set_data;
1453                 }
1454         }
1455
1456         public void set_battery_voltage(double battery_voltage) {
1457                 if (battery_voltage != AltosLib.MISSING) {
1458                         this.battery_voltage = battery_voltage;
1459                         set |= set_data;
1460                 }
1461         }
1462
1463         public void set_pyro_voltage(double pyro_voltage) {
1464                 if (pyro_voltage != AltosLib.MISSING) {
1465                         this.pyro_voltage = pyro_voltage;
1466                         set |= set_data;
1467                 }
1468         }
1469
1470         public void set_apogee_voltage(double apogee_voltage) {
1471                 if (apogee_voltage != AltosLib.MISSING) {
1472                         this.apogee_voltage = apogee_voltage;
1473                         set |= set_data;
1474                 }
1475         }
1476
1477         public void set_main_voltage(double main_voltage) {
1478                 if (main_voltage != AltosLib.MISSING) {
1479                         this.main_voltage = main_voltage;
1480                         set |= set_data;
1481                 }
1482         }
1483
1484         public void set_ignitor_voltage(double[] voltage) {
1485                 this.ignitor_voltage = voltage;
1486         }
1487
1488         public void set_pyro_fired(int fired) {
1489                 this.pyro_fired = fired;
1490         }
1491
1492         public double time_since_boost() {
1493                 if (tick == AltosLib.MISSING)
1494                         return 0.0;
1495
1496                 if (boost_tick == AltosLib.MISSING)
1497                         return tick / 100.0;
1498                 return (tick - boost_tick) / 100.0;
1499         }
1500
1501         public boolean valid() {
1502                 return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
1503         }
1504
1505         public AltosGPS make_temp_gps(boolean sats) {
1506                 if (temp_gps == null) {
1507                         temp_gps = new AltosGPS(gps);
1508                 }
1509                 gps_pending = true;
1510                 if (sats) {
1511                         if (tick != temp_gps_sat_tick)
1512                                 temp_gps.cc_gps_sat = null;
1513                         temp_gps_sat_tick = tick;
1514                 }
1515                 return temp_gps;
1516         }
1517
1518         public void set_temp_gps() {
1519                 set_gps(temp_gps, gps_sequence + 1);
1520                 gps_pending = false;
1521                 temp_gps = null;
1522         }
1523
1524         public AltosState clone() {
1525                 AltosState s = new AltosState();
1526                 s.copy(this);
1527
1528                 /* Code to test state save/restore. Enable only for that purpose
1529                  */
1530                 if (false) {
1531                         AltosJson       json = new AltosJson(this);
1532                         String          onetrip = json.toPrettyString();
1533                         AltosJson       back = AltosJson.fromString(onetrip);
1534                         AltosState      tripstate = (AltosState) back.make(this.getClass());
1535                         AltosJson       tripjson = new AltosJson(tripstate);
1536                         String          twotrip = tripjson.toPrettyString();
1537
1538                         if (!onetrip.equals(twotrip)) {
1539                                 try {
1540                                         FileWriter one_file = new FileWriter("one.json", true);
1541                                         one_file.write(onetrip);
1542                                         one_file.flush();
1543                                         FileWriter two_file = new FileWriter("two.json", true);
1544                                         two_file.write(twotrip);
1545                                         two_file.flush();
1546                                 } catch (Exception e) {
1547                                 }
1548                                 System.out.printf("json error\n");
1549                                 System.exit(1);
1550                         }
1551                 }
1552                 return s;
1553         }
1554
1555         public AltosState () {
1556                 init();
1557         }
1558 }