- boolean spoke = false;
- if (old_state == null || old_state.state != state.state) {
- speak(state.state_name());
- if ((old_state == null || old_state.state <= AltosLib.ao_flight_boost) &&
- state.state > AltosLib.ao_flight_boost) {
- speak(String.format("max speed: %d meters per second.", (int) (state.max_speed() + 0.5)));
- spoke = true;
- } else if ((old_state == null || old_state.state < AltosLib.ao_flight_drogue) &&
- state.state >= AltosLib.ao_flight_drogue) {
- speak(String.format("max height: %d meters.", (int) (state.max_height() + 0.5)));
- spoke = true;
- }
+ private boolean tell_gonogo(String name,
+ boolean current,
+ boolean previous,
+ boolean new_mode) {
+ if (current != previous || new_mode)
+ speak("%s %s.", name, current ? "ready" : "not ready");
+ return current;
+ }
+
+ private boolean tell_pad(TelemetryState telem_state, AltosState state,
+ AltosGreatCircle from_receiver, Location receiver) {
+
+ if (state == null)
+ return false;
+
+ if (state.apogee_voltage != AltosLib.MISSING)
+ last_apogee_good = tell_gonogo("apogee",
+ state.apogee_voltage >= AltosLib.ao_igniter_good,
+ last_apogee_good,
+ last_tell_mode != TELL_MODE_PAD);
+
+ if (state.main_voltage != AltosLib.MISSING)
+ last_main_good = tell_gonogo("main",
+ state.main_voltage >= AltosLib.ao_igniter_good,
+ last_main_good,
+ last_tell_mode != TELL_MODE_PAD);
+
+ if (state.gps != null)
+ last_gps_good = tell_gonogo("G P S",
+ state.gps_ready,
+ last_gps_good,
+ last_tell_mode != TELL_MODE_PAD);
+ return true;
+ }
+
+
+ private boolean descending(int state) {
+ return AltosLib.ao_flight_drogue <= state && state <= AltosLib.ao_flight_landed;
+ }
+
+ private boolean target_moved(AltosState state) {
+ if (last_gps != null && state != null && state.gps != null) {
+ AltosGreatCircle moved = new AltosGreatCircle(last_gps.lat, last_gps.lon, last_gps.alt,
+ state.gps.lat, state.gps.lon, state.gps.alt);
+ double height_change = 0;
+ double height = state.height();
+
+ if (height != AltosLib.MISSING && last_height != AltosLib.MISSING)
+ height_change = Math.abs(last_height - height);
+
+ if (moved.range < 10 && height_change < 10)
+ return false;