* 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 int set;
- static final double ascent_filter_len = 0.1;
- static final double descent_filter_len = 2.0;
+ static final double ascent_filter_len = 0.5;
+ static final double descent_filter_len = 0.5;
/* derived data */
private double max_value;
private double set_time;
private double prev_set_time;
- private double max_rate = 1000.0;
void set(double new_value, double time) {
if (new_value != AltosLib.MISSING) {
double ddt = in.time() - pt;
double ddv = (n - p) / ddt;
+ final double max = 100000;
+
/* 100gs */
- if (Math.abs(ddv) > 1000) {
+ if (Math.abs(ddv) > max) {
if (n > p)
- n = p + ddt * 1000;
+ n = p + ddt * max;
else
- n = p - ddt * 1000;
+ n = p - ddt * max;
}
double filter_len;
public int state;
public int flight;
public int serial;
+ public int receiver_serial;
public boolean landed;
public boolean ascent; /* going up? */
public boolean boost; /* under power */
class AltosGroundPressure extends AltosCValue {
void set_filtered(double p, double time) {
computed.set_filtered(p, time);
- ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
+ if (!is_measured())
+ ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
}
void set_measured(double p, double time) {
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 AltosValue kalman_height, kalman_speed, kalman_acceleration;
public void set_kalman(double height, double speed, double acceleration) {
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
+ orient = new AltosValue();
temperature = AltosLib.MISSING;
battery_voltage = AltosLib.MISSING;
log_format = AltosLib.MISSING;
serial = AltosLib.MISSING;
+ receiver_serial = AltosLib.MISSING;
baro = null;
companion = null;
pressure.finish_update();
speed.finish_update();
acceleration.finish_update();
+ orient.finish_update();
kalman_height.finish_update();
kalman_speed.finish_update();
set = 0;
+ ground_pressure.copy(old.ground_pressure);
ground_altitude.copy(old.ground_altitude);
altitude.copy(old.altitude);
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;
log_format = old.log_format;
serial = old.serial;
+ receiver_serial = old.receiver_serial;
baro = old.baro;
companion = old.companion;
if (flight != AltosLib.MISSING && flight != 0) {
if (this.flight != AltosLib.MISSING &&
this.flight != flight) {
+ int bt = boost_tick;
init();
+ boost_tick = bt;
}
this.flight = flight;
}
if (serial != AltosLib.MISSING) {
if (this.serial != AltosLib.MISSING &&
this.serial != serial) {
+ int bt = boost_tick;
init();
+ boost_tick = bt;
}
this.serial = serial;
}
}
+ public void set_receiver_serial(int serial) {
+ if (serial != AltosLib.MISSING)
+ receiver_serial = serial;
+ }
+
public int rssi() {
if (rssi == AltosLib.MISSING)
return 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() {