* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib;
+package org.altusmetrum.altoslib_1;
public class AltosState {
public AltosRecord data;
ground_altitude = data.ground_altitude();
altitude = data.altitude();
+ if (altitude == AltosRecord.MISSING && data.gps != null)
+ altitude = data.gps.alt;
+ height = AltosRecord.MISSING;
if (data.kalman_height != AltosRecord.MISSING)
height = data.kalman_height;
else {
- if (prev_state != null)
- height = (prev_state.height * 15 + altitude - ground_altitude) / 16.0;
+ if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
+ double cur_height = altitude - ground_altitude;
+ if (prev_state == null || prev_state.height == AltosRecord.MISSING)
+ height = cur_height;
+ else
+ height = (prev_state.height * 15 + cur_height) / 16.0;
+ }
}
report_time = System.currentTimeMillis();
/* compute barometric speed */
double height_change = height - prev_state.height;
+
+ double prev_baro_speed = prev_state.baro_speed;
+ if (prev_baro_speed == AltosRecord.MISSING)
+ prev_baro_speed = 0;
+
if (time_change > 0)
- baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+ baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
else
baro_speed = prev_state.baro_speed;
+ double prev_accel_speed = prev_state.accel_speed;
+
+ if (prev_accel_speed == AltosRecord.MISSING)
+ prev_accel_speed = 0;
+
if (acceleration == AltosRecord.MISSING) {
/* Fill in mising acceleration value */
accel_speed = baro_speed;
- if (time_change > 0)
- acceleration = (accel_speed - prev_state.accel_speed) / time_change;
+
+ if (time_change > 0 && accel_speed != AltosRecord.MISSING)
+ acceleration = (accel_speed - prev_accel_speed) / time_change;
else
acceleration = prev_state.acceleration;
} else {
/* compute accelerometer speed */
- accel_speed = prev_state.accel_speed + acceleration * time_change;
+ accel_speed = prev_accel_speed + acceleration * time_change;
}
}
-
} else {
npad = 0;
ngps = 0;
gps = null;
- baro_speed = 0;
- accel_speed = 0;
+ baro_speed = AltosRecord.MISSING;
+ accel_speed = AltosRecord.MISSING;
+ pad_alt = AltosRecord.MISSING;
+ max_baro_speed = 0;
+ max_accel_speed = 0;
+ max_height = 0;
+ max_acceleration = 0;
time_change = 0;
- if (acceleration == AltosRecord.MISSING)
- acceleration = 0;
}
time = tick / 100.0;
- if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
+ if (cur.new_gps && (state < AltosLib.ao_flight_boost)) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
/* Average GPS data while on the pad */
if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
- if (ngps > 1) {
+ if (ngps > 1 && state == AltosLib.ao_flight_pad) {
/* filter pad position */
pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
ngps++;
}
} else {
- if (ngps == 0)
+ if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
pad_alt = ground_altitude;
}
+ data.new_gps = false;
+
gps_waiting = MIN_PAD_SAMPLES - npad;
if (gps_waiting < 0)
gps_waiting = 0;
boost = (AltosLib.ao_flight_boost == state);
/* Only look at accelerometer data under boost */
- if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
+ if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
max_acceleration = acceleration;
- if (boost && accel_speed > max_accel_speed && accel_speed != AltosRecord.MISSING)
+ if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
max_accel_speed = accel_speed;
- if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
+ if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
max_baro_speed = baro_speed;
- if (height > max_height && height != AltosRecord.MISSING)
+ if (height != AltosRecord.MISSING && height > max_height)
max_height = height;
+ elevation = 0;
+ range = -1;
+ gps_height = 0;
if (data.gps != null) {
if (gps == null || !gps.locked || data.gps.locked)
gps = data.gps;
if (ngps > 0 && gps.locked) {
- from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
- }
- }
- elevation = 0;
- range = -1;
- if (ngps > 0) {
- gps_height = gps.alt - pad_alt;
- if (from_pad != null) {
- elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
- range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
+ 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;
}
- } else {
- gps_height = 0;
}
}