projects
/
fw
/
altos
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
set version to 1.3.1 for release
[fw/altos]
/
altoslib
/
AltosState.java
diff --git
a/altoslib/AltosState.java
b/altoslib/AltosState.java
index a01cddb774d1a5a567d10869a80ee669fe783938..08dafbb4c8ad6d12333e458638e6732abc04aede 100644
(file)
--- a/
altoslib/AltosState.java
+++ b/
altoslib/AltosState.java
@@
-19,7
+19,7
@@
* Track flight state from telemetry or eeprom data stream
*/
* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_
2
;
+package org.altusmetrum.altoslib_
3
;
public class AltosState implements Cloneable {
public class AltosState implements Cloneable {
@@
-464,6
+464,20
@@
public class AltosState implements Cloneable {
return acceleration.max();
}
return acceleration.max();
}
+ public AltosValue orient;
+
+ public void set_orient(double new_orient) {
+ orient.set(new_orient, time);
+ }
+
+ public double orient() {
+ return orient.value();
+ }
+
+ public double max_orient() {
+ return orient.max();
+ }
+
public AltosValue kalman_height, kalman_speed, kalman_acceleration;
public void set_kalman(double height, double speed, double acceleration) {
public AltosValue kalman_height, kalman_speed, kalman_acceleration;
public void set_kalman(double height, double speed, double acceleration) {
@@
-560,6
+574,7
@@
public class AltosState implements Cloneable {
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
+ orient = new AltosValue();
temperature = AltosLib.MISSING;
battery_voltage = AltosLib.MISSING;
temperature = AltosLib.MISSING;
battery_voltage = AltosLib.MISSING;
@@
-621,6
+636,7
@@
public class AltosState implements Cloneable {
pressure.finish_update();
speed.finish_update();
acceleration.finish_update();
pressure.finish_update();
speed.finish_update();
acceleration.finish_update();
+ orient.finish_update();
kalman_height.finish_update();
kalman_speed.finish_update();
kalman_height.finish_update();
kalman_speed.finish_update();
@@
-665,6
+681,7
@@
public class AltosState implements Cloneable {
pressure.copy(old.pressure);
speed.copy(old.speed);
acceleration.copy(old.acceleration);
pressure.copy(old.pressure);
speed.copy(old.speed);
acceleration.copy(old.acceleration);
+ orient.copy(old.orient);
battery_voltage = old.battery_voltage;
pyro_voltage = old.pyro_voltage;
battery_voltage = old.battery_voltage;
pyro_voltage = old.pyro_voltage;
@@
-836,7
+853,9
@@
public class AltosState implements Cloneable {
if (flight != AltosLib.MISSING && flight != 0) {
if (this.flight != AltosLib.MISSING &&
this.flight != flight) {
if (flight != AltosLib.MISSING && flight != 0) {
if (this.flight != AltosLib.MISSING &&
this.flight != flight) {
+ int bt = boost_tick;
init();
init();
+ boost_tick = bt;
}
this.flight = flight;
}
}
this.flight = flight;
}
@@
-847,7
+866,9
@@
public class AltosState implements Cloneable {
if (serial != AltosLib.MISSING) {
if (this.serial != AltosLib.MISSING &&
this.serial != serial) {
if (serial != AltosLib.MISSING) {
if (this.serial != AltosLib.MISSING &&
this.serial != serial) {
+ int bt = boost_tick;
init();
init();
+ boost_tick = bt;
}
this.serial = serial;
}
}
this.serial = serial;
}
@@
-928,14
+949,8
@@
public class AltosState implements Cloneable {
}
void update_accel() {
}
void update_accel() {
- double ground = ground_accel;
-
- if (ground == AltosLib.MISSING)
- ground = ground_accel_avg;
if (accel == AltosLib.MISSING)
return;
if (accel == AltosLib.MISSING)
return;
- if (ground == AltosLib.MISSING)
- return;
if (accel_plus_g == AltosLib.MISSING)
return;
if (accel_minus_g == AltosLib.MISSING)
if (accel_plus_g == AltosLib.MISSING)
return;
if (accel_minus_g == AltosLib.MISSING)
@@
-943,7
+958,7
@@
public class AltosState implements Cloneable {
double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
double counts_per_mss = counts_per_g / 9.80665;
double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
double counts_per_mss = counts_per_g / 9.80665;
- acceleration.set_measured((
ground
- accel) / counts_per_mss, time);
+ acceleration.set_measured((
accel_plus_g
- accel) / counts_per_mss, time);
}
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
}
public void set_accel_g(double accel_plus_g, double accel_minus_g) {
@@
-955,10
+970,8
@@
public class AltosState implements Cloneable {
}
public void set_ground_accel(double ground_accel) {
}
public void set_ground_accel(double ground_accel) {
- if (ground_accel != AltosLib.MISSING)
{
+ if (ground_accel != AltosLib.MISSING)
this.ground_accel = ground_accel;
this.ground_accel = ground_accel;
- update_accel();
- }
}
public void set_accel(double accel) {
}
public void set_accel(double accel) {
@@
-1017,10
+1030,9
@@
public class AltosState implements Cloneable {
if (tick == AltosLib.MISSING)
return 0.0;
if (tick == AltosLib.MISSING)
return 0.0;
- if (boost_tick != AltosLib.MISSING) {
- return (tick - boost_tick) / 100.0;
- }
- return tick / 100.0;
+ if (boost_tick == AltosLib.MISSING)
+ return tick / 100.0;
+ return (tick - boost_tick) / 100.0;
}
public boolean valid() {
}
public boolean valid() {