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 import altosui.AltosRecord;
25 import altosui.AltosGPS;
27 public class AltosState {
38 boolean ascent; /* going up? */
40 double ground_altitude;
51 double max_acceleration;
60 static final int MIN_PAD_SAMPLES = 10;
66 AltosGreatCircle from_pad;
71 double speak_altitude;
74 void init (AltosRecord cur, AltosState prev_state) {
80 ground_altitude = data.ground_altitude();
81 height = data.altitude() - ground_altitude;
83 report_time = System.currentTimeMillis();
85 acceleration = data.acceleration();
86 speed = data.accel_speed();
87 temperature = data.temperature();
88 drogue_sense = data.drogue_voltage();
89 main_sense = data.main_voltage();
90 battery = data.battery_voltage();
94 if (prev_state != null) {
96 /* Preserve any existing gps data */
97 npad = prev_state.npad;
99 pad_lat = prev_state.pad_lat;
100 pad_lon = prev_state.pad_lon;
101 pad_alt = prev_state.pad_alt;
102 max_height = prev_state.max_height;
103 max_acceleration = prev_state.max_acceleration;
104 max_speed = prev_state.max_speed;
106 /* make sure the clock is monotonic */
107 while (tick < prev_state.tick)
110 time_change = (tick - prev_state.tick) / 100.0;
112 /* compute barometric speed */
114 double height_change = height - prev_state.height;
116 baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
118 baro_speed = prev_state.baro_speed;
126 if (state == Altos.ao_flight_pad) {
127 if (data.gps == null)
128 System.out.printf("on pad, gps null\n");
130 System.out.printf ("on pad gps lat %f lon %f locked %d nsat %d\n",
131 data.gps.lat, data.gps.lon, data.gps.locked ? 1 : 0, data.gps.nsat);
132 if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
135 /* filter pad position */
136 pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
137 pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
138 pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
140 pad_lat = data.gps.lat;
141 pad_lon = data.gps.lon;
142 pad_alt = data.gps.alt;
149 gps_waiting = MIN_PAD_SAMPLES - npad;
153 gps_ready = gps_waiting == 0;
155 ascent = (Altos.ao_flight_boost <= state &&
156 state <= Altos.ao_flight_coast);
158 /* Only look at accelerometer data on the way up */
159 if (ascent && acceleration > max_acceleration)
160 max_acceleration = acceleration;
161 if (ascent && speed > max_speed)
164 if (height > max_height)
166 if (data.gps != null) {
167 if (gps == null || !gps.locked || data.gps.locked)
169 if (npad > 0 && gps.locked)
170 from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
173 gps_height = gps.alt - pad_alt;
179 public AltosState(AltosRecord cur) {
183 public AltosState (AltosRecord cur, AltosState prev) {