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
24 public class AltosState {
37 boolean ascent; /* going up? */
39 double ground_altitude;
50 double max_acceleration;
52 double max_baro_speed;
60 static final int MIN_PAD_SAMPLES = 10;
67 AltosGreatCircle from_pad;
68 double elevation; /* from pad */
69 double range; /* total distance */
74 double speak_altitude;
76 void init (AltosRecord cur, AltosState prev_state) {
82 ground_altitude = data.ground_altitude();
83 height = data.filtered_height();
85 report_time = System.currentTimeMillis();
87 acceleration = data.acceleration();
88 speed = data.accel_speed();
89 temperature = data.temperature();
90 drogue_sense = data.drogue_voltage();
91 main_sense = data.main_voltage();
92 battery = data.battery_voltage();
96 if (prev_state != null) {
98 /* Preserve any existing gps data */
99 npad = prev_state.npad;
100 ngps = prev_state.ngps;
101 gps = prev_state.gps;
102 pad_lat = prev_state.pad_lat;
103 pad_lon = prev_state.pad_lon;
104 pad_alt = prev_state.pad_alt;
105 max_height = prev_state.max_height;
106 max_acceleration = prev_state.max_acceleration;
107 max_speed = prev_state.max_speed;
108 max_baro_speed = prev_state.max_baro_speed;
110 /* make sure the clock is monotonic */
111 while (tick < prev_state.tick)
114 time_change = (tick - prev_state.tick) / 100.0;
116 /* compute barometric speed */
118 double height_change = height - prev_state.height;
119 if (data.speed != AltosRecord.MISSING)
120 baro_speed = data.speed;
123 baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
125 baro_speed = prev_state.baro_speed;
137 if (state == Altos.ao_flight_pad || state == Altos.ao_flight_idle) {
139 /* Track consecutive 'good' gps reports, waiting for 10 of them */
140 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
145 /* Average GPS data while on the pad */
146 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
148 /* filter pad position */
149 pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
150 pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
151 pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
153 pad_lat = data.gps.lat;
154 pad_lon = data.gps.lon;
155 pad_alt = data.gps.alt;
161 gps_waiting = MIN_PAD_SAMPLES - npad;
165 gps_ready = gps_waiting == 0;
167 ascent = (Altos.ao_flight_boost <= state &&
168 state <= Altos.ao_flight_coast);
170 /* Only look at accelerometer data on the way up */
171 if (ascent && acceleration > max_acceleration)
172 max_acceleration = acceleration;
173 if (ascent && speed > max_speed)
175 if (ascent && baro_speed > max_baro_speed)
176 max_baro_speed = baro_speed;
178 if (height > max_height)
180 if (data.gps != null) {
181 if (gps == null || !gps.locked || data.gps.locked)
183 if (ngps > 0 && gps.locked) {
184 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
190 gps_height = gps.alt - pad_alt;
191 if (from_pad != null) {
192 elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
193 range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
200 public AltosState(AltosRecord cur) {
204 public AltosState (AltosRecord cur, AltosState prev) {