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.
22 import java.util.HashMap;
25 public class AltosRecord implements Comparable <AltosRecord> {
26 final static int MISSING = 0x7fffffff;
28 static final int seen_flight = 1;
29 static final int seen_sensor = 2;
30 static final int seen_temp_volt = 4;
31 static final int seen_deploy = 8;
32 static final int seen_gps_time = 16;
33 static final int seen_gps_lat = 32;
34 static final int seen_gps_lon = 64;
35 static final int seen_companion = 128;
70 double time; /* seconds since boost */
78 String firmware_version;
80 AltosRecordCompanion companion;
82 * Values for our MP3H6115A pressure sensor
84 * From the data sheet:
86 * Pressure range: 15-115 kPa
87 * Voltage at 115kPa: 2.82
88 * Output scale: 27mV/kPa
91 * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa
92 * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa
95 static final double counts_per_kPa = 27 * 2047 / 3300;
96 static final double counts_at_101_3kPa = 1674.0;
99 barometer_to_pressure(double count)
101 return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
104 public double raw_pressure() {
107 return barometer_to_pressure(pres);
110 public double filtered_pressure() {
111 if (flight_pres == MISSING)
113 return barometer_to_pressure(flight_pres);
116 public double ground_pressure() {
117 if (ground_pres == MISSING)
119 return barometer_to_pressure(ground_pres);
122 public double raw_altitude() {
123 double p = raw_pressure();
126 return AltosConvert.pressure_to_altitude(p);
129 public double ground_altitude() {
130 double p = ground_pressure();
133 return AltosConvert.pressure_to_altitude(p);
136 public double filtered_altitude() {
137 if (height != MISSING && ground_pres != MISSING)
138 return height + ground_altitude();
140 double p = filtered_pressure();
143 return AltosConvert.pressure_to_altitude(p);
146 public double filtered_height() {
147 if (height != MISSING)
150 double f = filtered_altitude();
151 double g = ground_altitude();
152 if (f == MISSING || g == MISSING)
157 public double raw_height() {
158 double r = raw_altitude();
159 double g = ground_altitude();
161 if (r == MISSING || g == MISSING)
166 public double battery_voltage() {
169 return AltosConvert.cc_battery_to_voltage(batt);
172 public double main_voltage() {
175 return AltosConvert.cc_ignitor_to_voltage(main);
178 public double drogue_voltage() {
179 if (drogue == MISSING)
181 return AltosConvert.cc_ignitor_to_voltage(drogue);
184 /* Value for the CC1111 built-in temperature sensor
185 * Output voltage at 0°C = 0.755V
186 * Coefficient = 0.00247V/°C
187 * Reference voltage = 1.25V
189 * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
190 * = (value - 19791.268) / 32768 * 1.25 / 0.00247
194 thermometer_to_temperature(double thermo)
196 return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
199 public double temperature() {
202 return thermometer_to_temperature(temp);
205 double accel_counts_per_mss() {
206 double counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
208 return counts_per_g / 9.80665;
211 public double acceleration() {
212 if (acceleration != MISSING)
215 if (ground_accel == MISSING || accel == MISSING)
217 return (ground_accel - accel) / accel_counts_per_mss();
220 public double accel_speed() {
221 if (speed != MISSING)
223 if (flight_vel == MISSING)
225 return flight_vel / (accel_counts_per_mss() * 100.0);
228 public String state() {
229 return Altos.state_name(state);
232 public static String gets(FileInputStream s) throws IOException {
236 while ((c = s.read()) != -1) {
242 line = line + (char) c;
247 public int compareTo(AltosRecord o) {
248 return tick - o.tick;
251 public AltosRecord(AltosRecord old) {
252 version = old.version;
254 callsign = old.callsign;
267 flight_accel = old.flight_accel;
268 ground_accel = old.ground_accel;
269 flight_vel = old.flight_vel;
270 flight_pres = old.flight_pres;
271 ground_pres = old.ground_pres;
272 accel_plus_g = old.accel_plus_g;
273 accel_minus_g = old.accel_minus_g;
274 acceleration = old.acceleration;
277 gps = new AltosGPS(old.gps);
279 companion = old.companion;
282 public AltosRecord() {
290 state = Altos.ao_flight_startup;
305 acceleration = MISSING;
308 gps = new AltosGPS();