--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+
+package org.altusmetrum.altoslib_11;
+
+/*
+ * Calibration and other data needed to construct 'real' values from various data
+ * sources.
+ */
+
+public class AltosCalData {
+ public int flight = AltosLib.MISSING;
+
+ public void set_flight(int flight) {
+ if (flight != AltosLib.MISSING)
+ this.flight = flight;
+ }
+
+ public String callsign = null;
+
+ public void set_callsign(String callsign) {
+ if (callsign != null)
+ this.callsign = callsign;
+ }
+
+ public String firmware_version = null;
+
+ public void set_firmware_version(String firmware_version) {
+ if (firmware_version != null)
+ this.firmware_version = firmware_version;
+ }
+
+ public String product = null;
+
+ public void set_product(String product) {
+ if (product != null)
+ this.product = product;
+ }
+
+ public int serial = AltosLib.MISSING;
+
+ public void set_serial(int serial) {
+ if (serial != AltosLib.MISSING)
+ this.serial = serial;
+ }
+
+ public int receiver_serial = AltosLib.MISSING;
+
+ public void set_receiver_serial(int receiver_serial) {
+ if (receiver_serial != AltosLib.MISSING)
+ this.receiver_serial = receiver_serial;
+ }
+
+ public int device_type = AltosLib.MISSING;
+
+ public void set_device_type(int device_type) {
+ if (device_type != AltosLib.MISSING)
+ this.device_type = device_type;
+ }
+
+ public int config_major = AltosLib.MISSING;
+ public int config_minor = AltosLib.MISSING;
+ public int flight_log_max = AltosLib.MISSING;
+
+ public void set_config(int major, int minor, int log_max) {
+ if (major != AltosLib.MISSING)
+ config_major = major;
+ if (minor != AltosLib.MISSING)
+ config_minor = minor;
+ if (log_max != AltosLib.MISSING)
+ flight_log_max = log_max;
+ }
+
+ public double apogee_delay = AltosLib.MISSING;
+ public double main_deploy = AltosLib.MISSING;
+
+ public void set_flight_params(double apogee_delay, double main_deploy) {
+ if (apogee_delay != AltosLib.MISSING)
+ this.apogee_delay = apogee_delay;
+ if (main_deploy != AltosLib.MISSING)
+ this.main_deploy = main_deploy;
+ }
+
+ public double accel_plus_g = AltosLib.MISSING;
+ public double accel_minus_g = AltosLib.MISSING;
+ public double ground_accel = AltosLib.MISSING;
+
+ public void set_accel_plus_minus(double plus, double minus) {
+ if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
+ accel_plus_g = plus;
+ accel_minus_g = minus;
+ }
+ }
+
+ public void set_ground_accel(double ground_accel) {
+ if (ground_accel != AltosLib.MISSING)
+ this.ground_accel = ground_accel;
+ }
+
+ /* Raw acceleration value */
+ public double accel = AltosLib.MISSING;
+
+ public void set_accel(double accel) {
+ this.accel = accel;
+ }
+
+ public boolean mma655x_inverted = false;
+
+ public void set_mma655x_inverted(boolean inverted) {
+ mma655x_inverted = inverted;
+ }
+
+ public int pad_orientation = AltosLib.MISSING;
+
+ public void set_pad_orientation(int orientation) {
+ if (orientation != AltosLib.MISSING)
+ pad_orientation = orientation;
+ }
+
+ /* Compute acceleration */
+ public double acceleration(double sensor) {
+ return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
+ }
+
+ public AltosMs5607 ms5607 = null;
+
+ public void set_ms5607(AltosMs5607 ms5607) {
+ this.ms5607 = ms5607;
+ }
+
+ public double ground_pressure = AltosLib.MISSING;
+ public double ground_altitude = AltosLib.MISSING;
+
+ public void set_ground_pressure(double ground_pressure) {
+ if (ground_pressure != AltosLib.MISSING) {
+ this.ground_pressure = ground_pressure;
+ this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
+ }
+ }
+
+ public void set_ground_altitude(double ground_altitude) {
+ if (ground_altitude != AltosLib.MISSING)
+ this.ground_altitude = ground_altitude;
+ }
+
+ /* Compute pressure */
+
+ public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) {
+ if (ms5607 == null)
+ return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING);
+ return ms5607.pres_temp(raw_pres, raw_temp);
+ }
+
+ public int tick = AltosLib.MISSING;
+ private int prev_tick = AltosLib.MISSING;
+
+ public void set_tick(int tick) {
+ if (tick != AltosLib.MISSING) {
+ if (prev_tick != AltosLib.MISSING) {
+ while (tick < prev_tick - 1000) {
+ tick += 65536;
+ }
+ }
+ this.tick = tick;
+ }
+ }
+
+ public int boost_tick = AltosLib.MISSING;
+
+ public void set_boost_tick() {
+ boost_tick = tick;
+ }
+
+ public double time() {
+ if (tick == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (boost_tick == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return (tick - boost_tick) / 100.0;
+ }
+
+ public double boost_time() {
+ if (boost_tick == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return boost_tick / 100.0;
+ }
+
+ public int state = AltosLib.MISSING;
+
+ public void set_state(int state) {
+ if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
+ set_boost_tick();
+ this.state = state;
+ }
+
+ public double gps_ground_altitude = AltosLib.MISSING;
+
+ public void set_gps_altitude(double altitude) {
+ if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) ||
+ gps_ground_altitude == AltosLib.MISSING)
+ gps_ground_altitude = altitude;
+ }
+
+ /*
+ * While receiving GPS data, we construct a temporary GPS state
+ * object and then deliver the result atomically to the listener
+ */
+ AltosGPS temp_gps = null;
+ int temp_gps_sat_tick = AltosLib.MISSING;
+
+ public AltosGPS temp_gps() {
+ return temp_gps;
+ }
+
+ public void reset_temp_gps() {
+ if (temp_gps != null) {
+ if (temp_gps.locked && temp_gps.nsat >= 4)
+ set_gps_altitude(temp_gps.alt);
+ }
+ temp_gps = null;
+ }
+
+ public boolean gps_pending() {
+ return temp_gps != null;
+ }
+
+ public AltosGPS make_temp_gps(int tick, boolean sats) {
+ if (temp_gps == null) {
+ temp_gps = new AltosGPS();
+ }
+ if (sats) {
+ if (tick != temp_gps_sat_tick)
+ temp_gps.cc_gps_sat = null;
+ temp_gps_sat_tick = tick;
+ }
+ return temp_gps;
+ }
+
+ public double accel_zero_along, accel_zero_across, accel_zero_through;
+
+ public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
+ if (zero_along != AltosLib.MISSING) {
+ accel_zero_along = zero_along;
+ accel_zero_across = zero_across;
+ accel_zero_through = zero_through;
+ }
+ }
+
+ public double accel_along(double counts) {
+ return AltosIMU.convert_accel(counts - accel_zero_along);
+ }
+
+ public double accel_across(double counts) {
+ return AltosIMU.convert_accel(counts - accel_zero_across);
+ }
+
+ public double accel_through(double counts) {
+ return AltosIMU.convert_accel(counts - accel_zero_through);
+ }
+
+ public double gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
+
+ public void set_gyro_zero(double roll, double pitch, double yaw) {
+ if (roll != AltosLib.MISSING) {
+ gyro_zero_roll = roll;
+ gyro_zero_pitch = pitch;
+ gyro_zero_yaw = yaw;
+ }
+ }
+
+ public double gyro_roll(double counts) {
+ if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return AltosIMU.convert_gyro(counts - gyro_zero_roll);
+ }
+
+ public double gyro_pitch(double counts) {
+ if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return AltosIMU.convert_gyro(counts - gyro_zero_pitch);
+ }
+
+ public double gyro_yaw(double counts) {
+ if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return AltosIMU.convert_gyro(counts - gyro_zero_yaw);
+ }
+
+ private double gyro_zero_overflow(double first) {
+ double v = first / 128.0;
+ if (v < 0)
+ v = Math.ceil(v);
+ else
+ v = Math.floor(v);
+ return v * 128.0;
+ }
+
+ public void check_imu_wrap(double roll, double pitch, double yaw) {
+ gyro_zero_roll += gyro_zero_overflow(roll);
+ gyro_zero_pitch += gyro_zero_overflow(pitch);
+ gyro_zero_yaw += gyro_zero_overflow(yaw);
+ }
+
+ public double mag_along(double along) {
+ if (along == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return AltosMag.convert_gauss(along);
+ }
+
+ public double mag_across(double across) {
+ if (across == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return AltosMag.convert_gauss(across);
+ }
+
+ public double mag_through(double through) {
+ if (through == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return AltosMag.convert_gauss(through);
+ }
+
+ public AltosCalData() {
+ }
+
+ public AltosCalData(AltosConfigData config_data) {
+ set_serial(config_data.serial);
+ set_flight(config_data.flight);
+ set_callsign(config_data.callsign);
+ set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
+ set_ms5607(config_data.ms5607);
+ try {
+ set_mma655x_inverted(config_data.mma655x_inverted());
+ } catch (AltosUnknownProduct up) {
+ }
+ set_pad_orientation(config_data.pad_orientation);
+ }
+}
projects / fw / altos / blobdiff