class AltosPressure extends AltosValue {
void set(double p, double time) {
super.set(p, time);
- if (state == AltosLib.ao_flight_pad)
+ if (state() == AltosLib.ao_flight_pad)
ground_pressure.set_filtered(p, time);
double a = pressure_to_altitude(p);
altitude.set_computed(a, time);
class AltosSpeed extends AltosCValue {
boolean can_max() {
- return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
}
void set_accel() {
class AltosAccel extends AltosCValue {
boolean can_max() {
- return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
}
void set_measured(double a, double time) {
}
public void init() {
+ super.init();
+
set = 0;
received_time = System.currentTimeMillis();
- time = AltosLib.MISSING;
- state = AltosLib.ao_flight_invalid;
landed = false;
boost = false;
rssi = AltosLib.MISSING;
if (gps.locked && gps.nsat >= 4) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
- if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
+ if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
set_npad(npad+1);
- if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
+ if (pad_lat != AltosLib.MISSING && (npad < 10 || state() == AltosLib.ao_flight_pad)) {
pad_lat = (pad_lat * 31 + gps.lat) / 32;
pad_lon = (pad_lon * 31 + gps.lon) / 32;
gps_ground_altitude.set_filtered(gps.alt, time);
}
public String state_name() {
- return AltosLib.state_name(state);
+ 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();
+ super.set_state(state);
+ ascent = (AltosLib.ao_flight_boost <= state() &&
+ state() <= AltosLib.ao_flight_coast);
+ boost = (AltosLib.ao_flight_boost == state());
}
public int rssi() {
}
public void set_gps(AltosGPS gps) {
+ super.set_gps(gps);
if (gps != null) {
this.gps = gps;
update_gps();
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);
+ 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);
orient.set_computed(rotation.tilt(), time);
}
}
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 && gyro_pitch != AltosLib.MISSING && rotation != null) {
+ double pitch = AltosConvert.degrees_to_radians(gyro_pitch) * t;
+ double yaw = AltosConvert.degrees_to_radians(gyro_yaw) * t;
+ double roll = AltosConvert.degrees_to_radians(gyro_roll) * t;
- if (t > 0 && pitch != AltosLib.MISSING && rotation != null) {
- rotation.rotate(t, pitch, yaw, roll);
+ rotation.rotate(pitch, yaw, roll);
orient.set_computed(rotation.tilt(), time);
}
}
}
public AltosState() {
- Thread.dumpStack();
init();
}
public AltosState (AltosCalData cal_data) {
super(cal_data);
- if (cal_data == null)
- Thread.dumpStack();
init();
}
}