- } else {
- if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
- pad_alt = ground_altitude;
- }
-
- gps_sequence = data.gps_sequence;
-
- /* Only look at accelerometer data under boost */
- if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
- max_acceleration = acceleration;
- if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
- max_accel_speed = accel_speed;
- if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
- max_baro_speed = baro_speed;
-
- if (height != AltosRecord.MISSING && height > max_height)
- max_height = height;
- elevation = 0;
- range = -1;
- gps_height = 0;
- if (data.gps != null) {
- gps = data.gps;
- if (ngps > 0 && gps.locked) {
- double h = height;
-
- if (h == AltosRecord.MISSING) h = 0;
- from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
- elevation = from_pad.elevation;
- range = from_pad.range;
- gps_height = gps.alt - pad_alt;
+ if (pad_lat == AltosLib.MISSING) {
+ pad_lat = gps.lat;
+ pad_lon = gps.lon;
+ gps_ground_altitude.set(gps.alt, time);
+ }
+ gps_altitude.set(gps.alt, time);
+ if (gps.climb_rate != AltosLib.MISSING)
+ gps_ascent_rate.set(gps.climb_rate, time);
+ if (gps.ground_speed != AltosLib.MISSING)
+ gps_ground_speed.set(gps.ground_speed, time);
+ if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
+ gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
+ gps.climb_rate * gps.climb_rate), time);
+ if (gps.course != AltosLib.MISSING)
+ gps_course.set(gps.course, time);
+ }
+ if (gps.lat != 0 && gps.lon != 0 &&
+ pad_lat != AltosLib.MISSING &&
+ pad_lon != AltosLib.MISSING)
+ {
+ double h = height();
+
+ if (h == AltosLib.MISSING)
+ h = 0;
+ from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
+ elevation = from_pad.elevation;
+ range = from_pad.range;
+ }
+ }
+
+ public String state_name() {
+ return AltosLib.state_name(state);
+ }
+
+ public void set_state(int state) {
+ if (state != AltosLib.ao_flight_invalid) {
+ this.state = state;
+ ascent = (AltosLib.ao_flight_boost <= state &&
+ state <= AltosLib.ao_flight_coast);
+ boost = (AltosLib.ao_flight_boost == state);
+ }
+ }
+
+ public int state() {
+ return state;
+ }
+
+ private void re_init() {
+ init();
+ }
+
+ public int rssi() {
+ if (rssi == AltosLib.MISSING)
+ return 0;
+ return rssi;
+ }
+
+ public void set_rssi(int rssi, int status) {
+ if (rssi != AltosLib.MISSING) {
+ this.rssi = rssi;
+ this.status = status;
+ }
+ }
+
+ public void set_received_time(long ms) {
+ received_time = ms;
+ }
+
+ public void set_gps(AltosGPS gps) {
+ if (gps != null) {
+ this.gps = gps;
+ update_gps();
+ set |= set_gps;
+ }
+ }
+
+
+ public AltosRotation rotation;
+ public AltosRotation ground_rotation;
+
+ public double accel_ground_along, accel_ground_across, accel_ground_through;
+
+ void update_pad_rotation() {
+ if (cal_data.pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+ rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
+ AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
+ AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
+ cal_data.pad_orientation);
+ ground_rotation = rotation;
+ orient.set_computed(rotation.tilt(), time);
+ }
+ }
+
+ public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
+ accel_ground_along = ground_along;
+ accel_ground_across = ground_across;
+ accel_ground_through = ground_through;
+ update_pad_rotation();
+ }
+
+ public double last_imu_time;
+
+ private void update_orient() {
+ if (last_imu_time != AltosLib.MISSING) {
+ double t = time - last_imu_time;
+
+ double pitch = AltosConvert.degrees_to_radians(gyro_pitch());
+ double yaw = AltosConvert.degrees_to_radians(gyro_yaw());
+ double roll = AltosConvert.degrees_to_radians(gyro_roll());
+
+ if (t > 0 && pitch != AltosLib.MISSING && rotation != null) {
+ rotation.rotate(t, pitch, yaw, roll);
+ orient.set_computed(rotation.tilt(), time);