* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_9;
-public class AltosState implements Cloneable {
+import java.io.*;
+
+public class AltosState implements Cloneable, Serializable {
public static final int set_position = 1;
public static final int set_gps = 2;
public int set;
+ static final double filter_len = 2.0;
static final double ascent_filter_len = 0.5;
- static final double descent_filter_len = 0.5;
+ static final double descent_filter_len = 5.0;
/* derived data */
private int prev_tick;
public int boost_tick;
- class AltosValue {
+ class AltosValue implements Serializable{
double value;
double prev_value;
private double max_value;
}
void set_filtered(double new_value, double time) {
- if (prev_value != AltosLib.MISSING)
- new_value = (prev_value * 15.0 + new_value) / 16.0;
+ if (prev_value != AltosLib.MISSING) {
+ double f = 1/Math.exp((time - prev_set_time) / filter_len);
+ new_value = f * new_value + (1-f) * prev_value;
+ }
set(new_value, time);
}
}
}
- class AltosCValue {
+ class AltosCValue implements Serializable {
- class AltosIValue extends AltosValue {
+ class AltosIValue extends AltosValue implements Serializable {
boolean can_max() {
return c_can_max();
}
}
}
- public int state;
+ private int state;
public int flight;
public int serial;
public int altitude_32;
ground_altitude.set_measured(a, time);
}
- class AltosGpsGroundAltitude extends AltosValue {
+ class AltosGpsGroundAltitude extends AltosValue implements Serializable {
void set(double a, double t) {
super.set(a, t);
pad_alt = value();
gps_ground_altitude.set(a, time);
}
- class AltosGroundPressure extends AltosCValue {
+ class AltosGroundPressure extends AltosCValue implements Serializable {
void set_filtered(double p, double time) {
computed.set_filtered(p, time);
if (!is_measured())
ground_pressure.set_measured(pressure, time);
}
- class AltosAltitude extends AltosCValue {
+ class AltosAltitude extends AltosCValue implements Serializable {
private void set_speed(AltosValue v) {
if (!acceleration.is_measured() || !ascent)
private AltosAltitude altitude;
- class AltosGpsAltitude extends AltosValue {
+ class AltosGpsAltitude extends AltosValue implements Serializable {
private void set_gps_height() {
double a = value();
return gps_speed.max();
}
- class AltosPressure extends AltosValue {
+ class AltosPressure extends AltosValue implements Serializable {
void set(double p, double time) {
super.set(p, time);
if (state == AltosLib.ao_flight_pad)
return AltosLib.MISSING;
}
- class AltosSpeed extends AltosCValue {
+ class AltosSpeed extends AltosCValue implements Serializable {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
return AltosLib.MISSING;
}
- class AltosAccel extends AltosCValue {
+ class AltosAccel extends AltosCValue implements Serializable {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
return AltosLib.state_name(state);
}
+ public void set_product(String product) {
+ this.product = product;
+ }
+
public void set_state(int state) {
if (state != AltosLib.ao_flight_invalid) {
this.state = state;
}
}
+ public int state() {
+ return state;
+ }
+
public void set_device_type(int device_type) {
this.device_type = device_type;
switch (device_type) {
}
}
- public void make_companion (int nchannels) {
- if (companion == null)
- companion = new AltosCompanion(nchannels);
- }
-
public void set_companion(AltosCompanion companion) {
this.companion = companion;
}