* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_3;
+package org.altusmetrum.altoslib_5;
public class AltosState implements Cloneable {
private double set_time;
private double prev_set_time;
+ boolean can_max() { return true; }
+
void set(double new_value, double time) {
if (new_value != AltosLib.MISSING) {
value = new_value;
- if (max_value == AltosLib.MISSING || value > max_value) {
+ if (can_max() && (max_value == AltosLib.MISSING || value > max_value))
max_value = value;
- }
set_time = time;
}
}
void set_derivative(AltosValue in) {
double n = in.rate();
-
+
if (n == AltosLib.MISSING)
return;
/* Clip changes to reduce noise */
double ddt = in.time() - pt;
double ddv = (n - p) / ddt;
-
+
final double max = 100000;
/* 100gs */
void set_integral(AltosValue in) {
computed.set_integral(in);
}
-
+
void set_integral(AltosCValue in) {
set_integral(in.altos_value());
}
-
+
void copy(AltosCValue old) {
measured.copy(old.measured);
computed.copy(old.computed);
}
private AltosGroundPressure ground_pressure;
-
+
public double ground_pressure() {
return ground_pressure.value();
}
private AltosGpsAltitude gps_altitude;
+ private AltosValue gps_ground_speed;
+ private AltosValue gps_ascent_rate;
+ private AltosValue gps_course;
+ private AltosValue gps_speed;
+
public double altitude() {
double a = altitude.value();
if (a != AltosLib.MISSING)
gps_altitude.set(new_gps_altitude, time);
}
+ public double gps_ground_speed() {
+ return gps_ground_speed.value();
+ }
+
+ public double max_gps_ground_speed() {
+ return gps_ground_speed.max();
+ }
+
+ public double gps_ascent_rate() {
+ return gps_ascent_rate.value();
+ }
+
+ public double max_gps_ascent_rate() {
+ return gps_ascent_rate.max();
+ }
+
+ public double gps_course() {
+ return gps_course.value();
+ }
+
+ public double gps_speed() {
+ return gps_speed.value();
+ }
+
+ public double max_gps_speed() {
+ return gps_speed.max();
+ }
+
class AltosPressure extends AltosValue {
void set(double p, double time) {
super.set(p, time);
double g = ground_altitude();
if (a != AltosLib.MISSING && g != AltosLib.MISSING)
return a - g;
- return AltosLib.MISSING;
+ return gps_height();
}
public double max_height() {
double g = ground_altitude();
if (a != AltosLib.MISSING && g != AltosLib.MISSING)
return a - g;
- return AltosLib.MISSING;
+ return max_gps_height();
}
public double gps_height() {
}
class AltosSpeed extends AltosCValue {
-
+
+ boolean can_max() {
+ return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ }
+
void set_accel() {
acceleration.set_derivative(this);
}
double v = kalman_speed.value();
if (v != AltosLib.MISSING)
return v;
- return speed.value();
+ v = speed.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ v = gps_speed();
+ if (v != AltosLib.MISSING)
+ return v;
+ return AltosLib.MISSING;
}
public double max_speed() {
double v = kalman_speed.max();
if (v != AltosLib.MISSING)
return v;
- return speed.max();
+ v = speed.max();
+ if (v != AltosLib.MISSING)
+ return v;
+ v = max_gps_speed();
+ if (v != AltosLib.MISSING)
+ return v;
+ return AltosLib.MISSING;
}
class AltosAccel extends AltosCValue {
+
+ boolean can_max() {
+ return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ }
+
void set_measured(double a, double time) {
super.set_measured(a, time);
if (ascent)
public double ground_accel_avg;
public int log_format;
+ public String product;
public AltosMs5607 baro;
public AltosCompanion companion;
+ public int pyro_fired;
+
public void set_npad(int npad) {
this.npad = npad;
gps_waiting = MIN_PAD_SAMPLES - npad;
gps_altitude = new AltosGpsAltitude();
gps_ground_altitude = new AltosGpsGroundAltitude();
+ gps_ground_speed = new AltosValue();
+ gps_speed = new AltosValue();
+ gps_ascent_rate = new AltosValue();
+ gps_course = new AltosValue();
speak_tick = AltosLib.MISSING;
speak_altitude = AltosLib.MISSING;
callsign = null;
+ firmware_version = null;
accel_plus_g = AltosLib.MISSING;
accel_minus_g = AltosLib.MISSING;
ground_accel_avg = AltosLib.MISSING;
log_format = AltosLib.MISSING;
+ product = null;
serial = AltosLib.MISSING;
receiver_serial = AltosLib.MISSING;
baro = null;
companion = null;
+
+ pyro_fired = 0;
}
void finish_update() {
time = old.time;
time_change = old.time_change;
prev_time = old.time;
-
+
tick = old.tick;
prev_tick = old.tick;
boost_tick = old.boost_tick;
apogee_delay = old.apogee_delay;
main_deploy = old.main_deploy;
flight_log_max = old.flight_log_max;
-
+
set = 0;
ground_pressure.copy(old.ground_pressure);
gps_altitude.copy(old.gps_altitude);
gps_ground_altitude.copy(old.gps_ground_altitude);
+ gps_ground_speed.copy(old.gps_ground_speed);
+ gps_ascent_rate.copy(old.gps_ascent_rate);
+ gps_course.copy(old.gps_course);
+ gps_speed.copy(old.gps_speed);
pad_lat = old.pad_lat;
pad_lon = old.pad_lon;
speak_altitude = old.speak_altitude;
callsign = old.callsign;
+ firmware_version = old.firmware_version;
accel_plus_g = old.accel_plus_g;
accel_minus_g = old.accel_minus_g;
ground_accel_avg = old.ground_accel_avg;
log_format = old.log_format;
+ product = old.product;
serial = old.serial;
receiver_serial = old.receiver_serial;
baro = old.baro;
companion = old.companion;
+
+ pyro_fired = old.pyro_fired;
}
-
+
void update_time() {
}
void update_gps() {
- elevation = 0;
- range = -1;
+ elevation = AltosLib.MISSING;
+ range = AltosLib.MISSING;
if (gps == null)
return;
if (gps.locked && gps.nsat >= 4) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
- if (state == AltosLib.ao_flight_pad) {
+ if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
set_npad(npad+1);
- if (pad_lat != AltosLib.MISSING) {
+ 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);
gps_ground_altitude.set(gps.alt, time);
}
gps_altitude.set(gps.alt, time);
+ if (gps.climb_rate != AltosLib.MISSING)
+ gps_ascent_rate.set(gps.climb_rate, time);
+ if (gps.ground_speed != AltosLib.MISSING)
+ gps_ground_speed.set(gps.ground_speed, time);
+ if (gps.climb_rate != AltosLib.MISSING && gps.ground_speed != AltosLib.MISSING)
+ gps_speed.set(Math.sqrt(gps.ground_speed * gps.ground_speed +
+ gps.climb_rate * gps.climb_rate), time);
+ if (gps.course != AltosLib.MISSING)
+ gps_course.set(gps.course, time);
}
if (gps.lat != 0 && gps.lon != 0 &&
pad_lat != AltosLib.MISSING &&
state <= AltosLib.ao_flight_coast);
boost = (AltosLib.ao_flight_boost == state);
}
-
}
public void set_device_type(int device_type) {
this.device_type = device_type;
+ switch (device_type) {
+ case AltosLib.product_telegps:
+ this.state = AltosLib.ao_flight_stateless;
+ break;
+ }
}
- public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
- config_major = major;
- config_minor = minor;
+ public void set_log_format(int log_format) {
+ this.log_format = log_format;
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEGPS:
+ this.state = AltosLib.ao_flight_stateless;
+ break;
+ }
+ }
+
+ public void set_flight_params(int apogee_delay, int main_deploy) {
this.apogee_delay = apogee_delay;
this.main_deploy = main_deploy;
+ }
+
+ public void set_config(int major, int minor, int flight_log_max) {
+ config_major = major;
+ config_minor = minor;
this.flight_log_max = flight_log_max;
}
this.ignitor_voltage = voltage;
}
+ public void set_pyro_fired(int fired) {
+ this.pyro_fired = fired;
+ }
+
public double time_since_boost() {
if (tick == AltosLib.MISSING)
return 0.0;