*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
import java.io.*;
-public class AltosState implements Cloneable, AltosHashable {
+public class AltosState extends AltosDataListener {
public static final int set_position = 1;
public static final int set_gps = 2;
public long received_time;
+ public int rssi;
+ public int status;
+
public double time;
public double prev_time;
public double time_change;
- public int tick;
- private int prev_tick;
- public int boost_tick;
- class AltosValue implements AltosHashable {
+ class AltosValue {
double value;
double prev_value;
private double max_value;
prev_set_time = set_time;
}
- public AltosHashSet hashSet() {
- AltosHashSet h = new AltosHashSet();
-
- h.putDouble("value", value);
- h.putDouble("prev_value", prev_value);
- h.putDouble("max_value", max_value);
- h.putDouble("set_time", set_time);
- h.putDouble("prev_set_time", prev_set_time);
- return h;
- }
-
- AltosValue(AltosHashSet h) {
- this();
- if (h != null) {
- value = h.getDouble("value", value);
- prev_value = h.getDouble("prev_value", prev_value);
- max_value = h.getDouble("max_value", max_value);
- set_time = h.getDouble("set_time", 0);
- prev_set_time = h.getDouble("prev_set_time", 0);
- }
- }
-
AltosValue() {
value = AltosLib.MISSING;
prev_value = AltosLib.MISSING;
}
- AltosValue AltosValue_fromHashSet(AltosHashSet h, AltosValue def) {
- if (h == null)
- return def;
- return new AltosValue(h);
- }
-
- class AltosCValue implements AltosHashable {
+ class AltosCValue {
- class AltosIValue extends AltosValue implements AltosHashable {
+ class AltosIValue extends AltosValue {
boolean can_max() {
return c_can_max();
}
AltosIValue() {
super();
}
-
- AltosIValue(AltosHashSet h) {
- super(h);
- }
};
public AltosIValue measured;
computed.finish_update();
}
- AltosCValue() {
+ public AltosCValue() {
measured = new AltosIValue();
computed = new AltosIValue();
}
-
-
- public AltosHashSet hashSet() {
- AltosHashSet h = new AltosHashSet();
-
- h.putHashable("measured", measured);
- h.putHashable("computed", computed);
- return h;
- }
-
- AltosCValue(AltosHashSet h) {
- measured = new AltosIValue(h.getHash("measured"));
- computed = new AltosIValue(h.getHash("computed"));
- }
- }
-
- AltosCValue AltosCValue_fromHashSet(AltosHashSet h, AltosCValue def) {
- if (h == null)
- return def;
- return new AltosCValue(h);
}
private int state;
- public int flight;
- public int serial;
public int altitude_32;
public int receiver_serial;
public boolean landed;
public boolean ascent; /* going up? */
public boolean boost; /* under power */
- public int rssi;
- public int status;
- public int device_type;
public int config_major;
public int config_minor;
public int apogee_delay;
AltosGpsGroundAltitude() {
super();
}
-
- AltosGpsGroundAltitude (AltosHashSet h) {
- super(h);
- }
- }
-
- AltosGpsGroundAltitude AltosGpsGroundAltitude_fromHashSet(AltosHashSet h, AltosGpsGroundAltitude def) {
- if (h == null) return def;
- return new AltosGpsGroundAltitude(h);
}
private AltosGpsGroundAltitude gps_ground_altitude;
AltosGroundPressure () {
super();
}
-
- AltosGroundPressure (AltosHashSet h) {
- super(h);
- }
- }
-
- AltosGroundPressure AltosGroundPressure_fromHashSet(AltosHashSet h, AltosGroundPressure def) {
- if (h == null) return def;
- return new AltosGroundPressure(h);
}
private AltosGroundPressure ground_pressure;
ground_pressure.set_measured(pressure, time);
}
- class AltosAltitude extends AltosCValue implements AltosHashable {
+ class AltosAltitude extends AltosCValue {
private void set_speed(AltosValue v) {
if (!acceleration.is_measured() || !ascent)
AltosAltitude() {
super();
}
-
- AltosAltitude (AltosHashSet h) {
- super(h);
- }
- }
-
- AltosAltitude AltosAltitude_fromHashSet(AltosHashSet h, AltosAltitude def) {
- if (h == null) return def;
- return new AltosAltitude(h);
}
private AltosAltitude altitude;
- class AltosGpsAltitude extends AltosValue implements AltosHashable {
+ class AltosGpsAltitude extends AltosValue {
private void set_gps_height() {
double a = value();
AltosGpsAltitude() {
super();
}
-
- AltosGpsAltitude (AltosHashSet h) {
- super(h);
- }
- }
-
- AltosGpsAltitude AltosGpsAltitude_fromHashSet(AltosHashSet h, AltosGpsAltitude def) {
- if (h == null) return def;
- return new AltosGpsAltitude(h);
}
private AltosGpsAltitude gps_altitude;
}
public void set_altitude(double new_altitude) {
+ double old_altitude = altitude.value();
+ if (old_altitude != AltosLib.MISSING) {
+ while (old_altitude - new_altitude > 32000)
+ new_altitude += 65536.0;
+ }
altitude.set_measured(new_altitude, time);
}
AltosPressure() {
super();
}
-
- AltosPressure (AltosHashSet h) {
- super(h);
- }
- }
-
- AltosPressure AltosPressure_fromHashSet(AltosHashSet h, AltosPressure def) {
- if (h == null) return def;
- return new AltosPressure(h);
}
private AltosPressure pressure;
pressure.set(p, time);
}
+ class AltosForce extends AltosValue {
+ void set(double p, double time) {
+ super.set(p, time);
+ }
+
+ AltosForce() {
+ super();
+ }
+ }
+ private AltosForce thrust;
+
+ public double thrust() {
+ return thrust.value();
+ }
+
+ public void set_thrust(double N) {
+ thrust.set(N, time);
+ }
+
public double baro_height() {
double a = altitude();
double g = ground_altitude();
return AltosLib.MISSING;
}
- class AltosSpeed extends AltosCValue implements AltosHashable {
+ class AltosSpeed extends AltosCValue {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
AltosSpeed() {
super();
}
-
- AltosSpeed (AltosHashSet h) {
- super(h);
- }
- }
-
- AltosSpeed AltosSpeed_fromHashSet(AltosHashSet h, AltosSpeed def) {
- if (h == null) return def;
- return new AltosSpeed(h);
}
private AltosSpeed speed;
return AltosLib.MISSING;
}
- class AltosAccel extends AltosCValue implements AltosHashable {
+ class AltosAccel extends AltosCValue {
boolean can_max() {
return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
AltosAccel() {
super();
}
-
- AltosAccel (AltosHashSet h) {
- super(h);
- }
- }
-
- AltosAccel AltosAccel_fromHashSet(AltosHashSet h, AltosAccel def) {
- if (h == null) return def;
- return new AltosAccel(h);
}
AltosAccel acceleration;
public AltosValue kalman_height, kalman_speed, kalman_acceleration;
public void set_kalman(double height, double speed, double acceleration) {
+ double old_height = kalman_height.value();
+ if (old_height != AltosLib.MISSING) {
+ while (old_height - height > 32000)
+ height += 65536;
+ }
kalman_height.set(height, time);
kalman_speed.set(speed, time);
kalman_acceleration.set(acceleration, time);
public AltosGPS temp_gps;
public int temp_gps_sat_tick;
public boolean gps_pending;
- public int gps_sequence;
public AltosIMU imu;
public AltosMag mag;
public String callsign;
public String firmware_version;
- public double accel_plus_g;
- public double accel_minus_g;
- public double accel;
public double ground_accel;
- public double ground_accel_avg;
public int log_format;
+ public int log_space;
public String product;
public AltosMs5607 baro;
time = AltosLib.MISSING;
time_change = AltosLib.MISSING;
prev_time = AltosLib.MISSING;
- tick = AltosLib.MISSING;
- prev_tick = AltosLib.MISSING;
- boost_tick = AltosLib.MISSING;
state = AltosLib.ao_flight_invalid;
- flight = AltosLib.MISSING;
landed = false;
boost = false;
rssi = AltosLib.MISSING;
status = 0;
- device_type = AltosLib.MISSING;
config_major = AltosLib.MISSING;
config_minor = AltosLib.MISSING;
apogee_delay = AltosLib.MISSING;
ground_pressure = new AltosGroundPressure();
altitude = new AltosAltitude();
pressure = new AltosPressure();
+ thrust = new AltosForce();
speed = new AltosSpeed();
acceleration = new AltosAccel();
orient = new AltosCValue();
gps = null;
temp_gps = null;
temp_gps_sat_tick = 0;
- gps_sequence = 0;
gps_pending = false;
imu = null;
pad_orientation = AltosLib.MISSING;
- gyro_zero_roll = AltosLib.MISSING;
- gyro_zero_pitch = AltosLib.MISSING;
- gyro_zero_yaw = AltosLib.MISSING;
-
set_npad(0);
ngps = 0;
callsign = null;
firmware_version = null;
- accel_plus_g = AltosLib.MISSING;
- accel_minus_g = AltosLib.MISSING;
- accel = AltosLib.MISSING;
-
ground_accel = AltosLib.MISSING;
- ground_accel_avg = AltosLib.MISSING;
log_format = AltosLib.MISSING;
+ log_space = AltosLib.MISSING;
product = null;
- serial = AltosLib.MISSING;
receiver_serial = AltosLib.MISSING;
altitude_32 = AltosLib.MISSING;
}
void finish_update() {
- prev_tick = tick;
-
ground_altitude.finish_update();
altitude.finish_update();
pressure.finish_update();
kalman_acceleration.finish_update();
}
- void copy(AltosState old) {
-
- if (old == null) {
- init();
- return;
- }
-
- received_time = old.received_time;
- time = old.time;
- time_change = old.time_change;
- prev_time = old.time;
-
- tick = old.tick;
- prev_tick = old.tick;
- boost_tick = old.boost_tick;
-
- state = old.state;
- flight = old.flight;
- landed = old.landed;
- ascent = old.ascent;
- boost = old.boost;
- rssi = old.rssi;
- status = old.status;
- device_type = old.device_type;
- config_major = old.config_major;
- config_minor = old.config_minor;
- 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);
- 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;
- temperature = old.temperature;
- apogee_voltage = old.apogee_voltage;
- main_voltage = old.main_voltage;
- ignitor_voltage = old.ignitor_voltage;
-
- kalman_height.copy(old.kalman_height);
- kalman_speed.copy(old.kalman_speed);
- kalman_acceleration.copy(old.kalman_acceleration);
-
- if (old.gps != null)
- gps = old.gps.clone();
- else
- gps = null;
- if (old.temp_gps != null)
- temp_gps = old.temp_gps.clone();
- else
- temp_gps = null;
- temp_gps_sat_tick = old.temp_gps_sat_tick;
- gps_sequence = old.gps_sequence;
- gps_pending = old.gps_pending;
-
- if (old.imu != null)
- imu = old.imu.clone();
- else
- imu = null;
- last_imu_time = old.last_imu_time;
-
- if (old.rotation != null)
- rotation = new AltosRotation (old.rotation);
-
- if (old.ground_rotation != null) {
- ground_rotation = new AltosRotation(old.ground_rotation);
- }
-
- accel_zero_along = old.accel_zero_along;
- accel_zero_across = old.accel_zero_across;
- accel_zero_through = old.accel_zero_through;
-
- accel_ground_along = old.accel_ground_along;
- accel_ground_across = old.accel_ground_across;
- accel_ground_through = old.accel_ground_through;
- pad_orientation = old.pad_orientation;
-
- gyro_zero_roll = old.gyro_zero_roll;
- gyro_zero_pitch = old.gyro_zero_pitch;
- gyro_zero_yaw = old.gyro_zero_yaw;
-
- if (old.mag != null)
- mag = old.mag.clone();
- else
- mag = null;
-
- npad = old.npad;
- gps_waiting = old.gps_waiting;
- gps_ready = old.gps_ready;
- ngps = old.ngps;
-
- if (old.from_pad != null)
- from_pad = old.from_pad.clone();
- else
- from_pad = null;
-
- elevation = old.elevation;
- range = old.range;
-
- gps_height = old.gps_height;
-
- 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;
- pad_alt = old.pad_alt;
-
- speak_tick = old.speak_tick;
- 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;
- accel = old.accel;
- ground_accel = old.ground_accel;
- ground_accel_avg = old.ground_accel_avg;
-
- log_format = old.log_format;
- product = old.product;
- serial = old.serial;
- receiver_serial = old.receiver_serial;
- altitude_32 = old.altitude_32;
-
- baro = old.baro;
- companion = old.companion;
-
- pyro_fired = old.pyro_fired;
- }
-
void update_time() {
}
}
}
- public void set_tick(int new_tick) {
- if (new_tick != AltosLib.MISSING) {
- if (prev_tick != AltosLib.MISSING) {
- while (new_tick < prev_tick - 1000) {
- new_tick += 65536;
- }
- }
- tick = new_tick;
- time = tick / 100.0;
- time_change = time - prev_time;
- }
- }
-
- public void set_boost_tick(int boost_tick) {
- if (boost_tick != AltosLib.MISSING)
- this.boost_tick = boost_tick;
- }
-
public String state_name() {
return AltosLib.state_name(state);
}
return 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_log_format(int log_format) {
this.log_format = log_format;
switch (log_format) {
}
}
+ public void set_log_space(int log_space) {
+ this.log_space = log_space;
+ }
+
public void set_flight_params(int apogee_delay, int main_deploy) {
this.apogee_delay = apogee_delay;
this.main_deploy = main_deploy;
}
private void re_init() {
- int bt = boost_tick;
int rs = receiver_serial;
init();
- boost_tick = bt;
receiver_serial = rs;
}
- public void set_flight(int flight) {
-
- /* When the flight changes, reset the state */
- if (flight != AltosLib.MISSING) {
- if (this.flight != AltosLib.MISSING &&
- this.flight != flight) {
- re_init();
- }
- this.flight = flight;
- }
- }
-
- public void set_serial(int serial) {
- /* When the serial changes, reset the state */
- if (serial != AltosLib.MISSING) {
- if (this.serial != AltosLib.MISSING &&
- this.serial != serial) {
- re_init();
- }
- this.serial = serial;
- }
- }
-
- public void set_receiver_serial(int serial) {
- if (serial != AltosLib.MISSING)
- receiver_serial = serial;
- }
+// public void set_flight(int flight) {
+//
+// /* When the flight changes, reset the state */
+// if (flight != AltosLib.MISSING) {
+// if (this.flight != AltosLib.MISSING &&
+// this.flight != flight) {
+// re_init();
+// }
+// this.flight = flight;
+// }
+// }
+//
+// public void set_serial(int serial) {
+// /* When the serial changes, reset the state */
+// if (serial != AltosLib.MISSING) {
+// if (this.serial != AltosLib.MISSING &&
+// this.serial != serial) {
+// re_init();
+// }
+// this.serial = serial;
+// }
+// }
+//
+// public void set_receiver_serial(int serial) {
+// if (serial != AltosLib.MISSING)
+// receiver_serial = serial;
+// }
public boolean altitude_32() {
return altitude_32 == 1;
received_time = ms;
}
- public void set_gps(AltosGPS gps, int sequence) {
+ public void set_gps(AltosGPS gps) {
if (gps != null) {
- this.gps = gps.clone();
- gps_sequence = sequence;
+ this.gps = gps;
update_gps();
set |= set_gps;
}
update_pad_rotation();
}
- public double gyro_zero_roll;
- public double gyro_zero_pitch;
- public double gyro_zero_yaw;
-
- public void set_gyro_zero(double roll, double pitch, double yaw) {
- if (roll != AltosLib.MISSING) {
- gyro_zero_roll = roll;
- gyro_zero_pitch = pitch;
- gyro_zero_yaw = yaw;
- }
- }
-
public double last_imu_time;
private double radians(double degrees) {
last_imu_time = time;
}
- public void set_imu(AltosIMU imu) {
- if (imu != null)
- imu = imu.clone();
- this.imu = imu;
+ private double gyro_roll, gyro_pitch, gyro_yaw;
+
+ public void set_gyro(double roll, double pitch, double yaw) {
+ gyro_roll = roll;
+ gyro_pitch = roll;
+ gyro_roll = roll;
update_orient();
}
- private double gyro_zero_overflow(double first) {
- double v = first / 128.0;
- if (v < 0)
- v = Math.ceil(v);
- else
- v = Math.floor(v);
- return v * 128.0;
- }
+ private double accel_along, accel_across, accel_through;
- public void check_imu_wrap(AltosIMU imu) {
- if (this.imu == null) {
- gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
- gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
- gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
- }
+ public void set_accel(double along, double across, double through) {
+ accel_along = along;
+ accel_across = across;
+ accel_through = through;
+ update_orient();
}
public double accel_along() {
- if (imu != null && accel_zero_along != AltosLib.MISSING)
- return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
- return AltosLib.MISSING;
+ return accel_along;
}
public double accel_across() {
- if (imu != null && accel_zero_across != AltosLib.MISSING)
- return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
- return AltosLib.MISSING;
+ return accel_across;
}
public double accel_through() {
- if (imu != null && accel_zero_through != AltosLib.MISSING)
- return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
- return AltosLib.MISSING;
+ return accel_through;
}
public double gyro_roll() {
- if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
- return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
- }
- return AltosLib.MISSING;
+ return gyro_roll;
}
public double gyro_pitch() {
- if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
- return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
- }
- return AltosLib.MISSING;
+ return gyro_pitch;
}
public double gyro_yaw() {
- if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
- return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
- }
- return AltosLib.MISSING;
+ return gyro_yaw;
}
- public void set_mag(AltosMag mag) {
- this.mag = mag.clone();
+ private double mag_along, mag_across, mag_through;
+
+ public void set_mag(double along, double across, double through) {
+ mag_along = along;
+ mag_across = across;
+ mag_through = through;
}
public double mag_along() {
- if (mag != null)
- return AltosMag.convert_gauss(mag.along);
- return AltosLib.MISSING;
+ return mag_along;
}
public double mag_across() {
return AltosLib.MISSING;
}
- public AltosMs5607 make_baro() {
- if (baro == null)
- baro = new AltosMs5607();
- return baro;
- }
-
- public void set_ms5607(AltosMs5607 ms5607) {
- baro = ms5607;
-
- if (baro != null) {
- set_pressure(baro.pa);
- set_temperature(baro.cc / 100.0);
- }
- }
-
- public void set_ms5607(int pres, int temp) {
- if (baro != null) {
- baro.set(pres, temp);
-
- set_pressure(baro.pa);
- set_temperature(baro.cc / 100.0);
- }
- }
-
public void set_companion(AltosCompanion companion) {
this.companion = companion;
}
- void update_accel() {
- if (accel == AltosLib.MISSING)
- return;
- if (accel_plus_g == AltosLib.MISSING)
- return;
- if (accel_minus_g == AltosLib.MISSING)
- return;
-
- double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
- double counts_per_mss = counts_per_g / 9.80665;
- acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time);
- }
-
- public void set_accel_g(double accel_plus_g, double accel_minus_g) {
- if (accel_plus_g != AltosLib.MISSING) {
- this.accel_plus_g = accel_plus_g;
- this.accel_minus_g = accel_minus_g;
- update_accel();
- }
- }
-
- public void set_ground_accel(double ground_accel) {
- if (ground_accel != AltosLib.MISSING)
- this.ground_accel = ground_accel;
- }
-
- public void set_accel(double accel) {
- if (accel != AltosLib.MISSING) {
- this.accel = accel;
- if (state == AltosLib.ao_flight_pad) {
- if (ground_accel_avg == AltosLib.MISSING)
- ground_accel_avg = accel;
- else
- ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
- }
+ public void set_acceleration(double acceleration) {
+ if (acceleration != AltosLib.MISSING) {
+ this.acceleration.set_measured(acceleration, time);
+ set |= set_data;
}
- update_accel();
}
public void set_temperature(double temperature) {
this.pyro_fired = fired;
}
- public double time_since_boost() {
- if (tick == AltosLib.MISSING)
- return 0.0;
-
- if (boost_tick == AltosLib.MISSING)
- return tick / 100.0;
- return (tick - boost_tick) / 100.0;
- }
-
- public boolean valid() {
- return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
- }
-
- public AltosGPS make_temp_gps(boolean sats) {
- if (temp_gps == null) {
- temp_gps = new AltosGPS(gps);
- }
- gps_pending = true;
- if (sats) {
- if (tick != temp_gps_sat_tick)
- temp_gps.cc_gps_sat = null;
- temp_gps_sat_tick = tick;
- }
- return temp_gps;
- }
-
- public void set_temp_gps() {
- set_gps(temp_gps, gps_sequence + 1);
- gps_pending = false;
- temp_gps = null;
- }
-
- public AltosState clone() {
- AltosState s = new AltosState();
- s.copy(this);
-
- AltosHashSet hash = hashSet();
- String onetrip = hash.toString();
- AltosHashSet back = AltosHashSet.fromString(onetrip);
- AltosState tripstate = AltosState.fromHashSet(back);
- AltosHashSet triphash = tripstate.hashSet();
- String twotrip = triphash.toString();
-
- if (!onetrip.equals(twotrip)) {
- System.out.printf("%s\n%s\n", onetrip, twotrip);
- System.exit(1);
- }
- return s;
- }
-
- public AltosState () {
+ public AltosState (AltosCalData cal_data) {
+ super(cal_data);
init();
}
-
- public AltosHashSet hashSet() {
- AltosHashSet h = new AltosHashSet();
-
- h.putBoolean("valid", true);
- h.putInt("set", set);
- h.putLong("received_time", received_time);
- h.putDouble("time", time);
- h.putDouble("prev_time", prev_time);
- h.putDouble("time_change", time_change);
- h.putInt("tick", tick);
- h.putInt("prev_tick", prev_tick);
- h.putInt("boost_tick", boost_tick);
- h.putInt("state", state);
- h.putInt("flight", flight);
- h.putInt("serial", serial);
- h.putInt("altitude_32", altitude_32);
- h.putInt("receiver_serial", receiver_serial);
- h.putBoolean("landed", landed);
- h.putBoolean("ascent", ascent);
- h.putBoolean("boost", boost);
- h.putInt("rssi", rssi);
- h.putInt("status", status);
- h.putInt("device_type", device_type);
- h.putInt("config_major", config_major);
- h.putInt("config_minor", config_minor);
- h.putInt("apogee_delay", apogee_delay);
- h.putInt("main_deploy", main_deploy);
- h.putInt("flight_log_max", flight_log_max);
- h.putHashable("ground_altitude", ground_altitude);
- h.putHashable("gps_ground_altitude", gps_ground_altitude);
- h.putHashable("ground_pressure", ground_pressure);
- h.putHashable("altitude", altitude);
- h.putHashable("gps_altitude", gps_altitude);
- h.putHashable("gps_ground_speed", gps_ground_speed);
- h.putHashable("gps_ascent_rate", gps_ascent_rate);
- h.putHashable("gps_course", gps_course);
- h.putHashable("gps_speed", gps_speed);
- h.putHashable("pressure", pressure);
- h.putHashable("speed", speed);
- h.putHashable("acceleration", acceleration);
- h.putHashable("orient", orient);
- h.putHashable("kalman_height", kalman_height);
- h.putHashable("kalman_speed", kalman_speed);
- h.putHashable("kalman_acceleration", kalman_acceleration);
-
- h.putDouble("battery_voltage",battery_voltage);
- h.putDouble("pyro_voltage",pyro_voltage);
- h.putDouble("temperature",temperature);
- h.putDouble("apogee_voltage",apogee_voltage);
- h.putDouble("main_voltage",main_voltage);
- h.putDoubleArray("ignitor_voltage",ignitor_voltage);
- h.putHashable("gps", gps);
- h.putHashable("temp_gps", temp_gps);
- h.putInt("temp_gps_sat_tick", temp_gps_sat_tick);
- h.putBoolean("gps_pending", gps_pending);
- h.putInt("gps_sequence", gps_sequence);
- h.putHashable("imu", imu);
- h.putHashable("mag", mag);
-
- h.putInt("npad", npad);
- h.putInt("gps_waiting", gps_waiting);
- h.putBoolean("gps_ready", gps_ready);
- h.putInt("ngps", ngps);
- h.putHashable("from_pad", from_pad);
- h.putDouble("elevation", elevation);
- h.putDouble("range", range);
- h.putDouble("gps_height", gps_height);
- h.putDouble("pad_lat", pad_lat);
- h.putDouble("pad_lon", pad_lon);
- h.putDouble("pad_alt", pad_alt);
- h.putInt("speak_tick", speak_tick);
- h.putDouble("speak_altitude", speak_altitude);
- h.putString("callsign", callsign);
- h.putString("firmware_version", firmware_version);
- h.putDouble("accel_plus_g", accel_plus_g);
- h.putDouble("accel_minus_g", accel_minus_g);
- h.putDouble("accel", accel);
- h.putDouble("ground_accel", ground_accel);
- h.putDouble("ground_accel_avg", ground_accel_avg);
- h.putInt("log_format", log_format);
- h.putString("product", product);
- h.putHashable("baro", baro);
- h.putHashable("companion", companion);
- h.putInt("pyro_fired", pyro_fired);
- h.putDouble("accel_zero_along", accel_zero_along);
- h.putDouble("accel_zero_across", accel_zero_across);
- h.putDouble("accel_zero_through", accel_zero_through);
-
- h.putHashable("rotation", rotation);
- h.putHashable("ground_rotation", ground_rotation);
-
- h.putInt("pad_orientation", pad_orientation);
-
- h.putDouble("accel_ground_along", accel_ground_along);
- h.putDouble("accel_ground_across", accel_ground_across);
- h.putDouble("accel_ground_through", accel_ground_through);
-
- h.putDouble("gyro_zero_roll", gyro_zero_roll);
- h.putDouble("gyro_zero_pitch", gyro_zero_pitch);
- h.putDouble("gyro_zero_yaw", gyro_zero_yaw);
-
- h.putDouble("last_imu_time", last_imu_time);
- return h;
- }
-
- public AltosState(AltosHashSet h) {
- this();
-
- set = h.getInt("set", set);
- received_time = h.getLong("received_time", received_time);
- time = h.getDouble("time", time);
- prev_time = h.getDouble("prev_time", prev_time);
- time_change = h.getDouble("time_change", time_change);
- tick = h.getInt("tick", tick);
- prev_tick = h.getInt("prev_tick", prev_tick);
- boost_tick = h.getInt("boost_tick", boost_tick);
- state = h.getInt("state", state);
- flight = h.getInt("flight", flight);
- serial = h.getInt("serial", serial);
- altitude_32 = h.getInt("altitude_32", altitude_32);
- receiver_serial = h.getInt("receiver_serial", receiver_serial);
- landed = h.getBoolean("landed", landed);
- ascent = h.getBoolean("ascent", ascent);
- boost = h.getBoolean("boost", boost);
- rssi = h.getInt("rssi", rssi);
- status = h.getInt("status", status);
- device_type = h.getInt("device_type", device_type);
- config_major = h.getInt("config_major", config_major);
- config_minor = h.getInt("config_minor", config_minor);
- apogee_delay = h.getInt("apogee_delay", apogee_delay);
- main_deploy = h.getInt("main_deploy", main_deploy);
- flight_log_max = h.getInt("flight_log_max", flight_log_max);
- ground_altitude = AltosCValue_fromHashSet(h.getHash("ground_altitude"), ground_altitude);
- gps_ground_altitude = AltosGpsGroundAltitude_fromHashSet(h.getHash("gps_ground_altitude"), gps_ground_altitude);
- ground_pressure = AltosGroundPressure_fromHashSet(h.getHash("ground_pressure"), ground_pressure);
- altitude = AltosAltitude_fromHashSet(h.getHash("altitude"), altitude);
- gps_altitude = AltosGpsAltitude_fromHashSet(h.getHash("gps_altitude"), gps_altitude);
- gps_ground_speed = AltosValue_fromHashSet(h.getHash("gps_ground_speed"), gps_ground_speed);
- gps_ascent_rate = AltosValue_fromHashSet(h.getHash("gps_ascent_rate"), gps_ascent_rate);
- gps_course = AltosValue_fromHashSet(h.getHash("gps_course"), gps_course);
- gps_speed = AltosValue_fromHashSet(h.getHash("gps_speed"), gps_speed);
- pressure = AltosPressure_fromHashSet(h.getHash("pressure"), pressure);
- speed = AltosSpeed_fromHashSet(h.getHash("speed"), speed);
- acceleration = AltosAccel_fromHashSet(h.getHash("acceleration"), acceleration);
- orient = AltosCValue_fromHashSet(h.getHash("orient"), orient);
- kalman_height = AltosValue_fromHashSet(h.getHash("kalman_height"), kalman_height);
- kalman_speed = AltosValue_fromHashSet(h.getHash("kalman_speed"), kalman_speed);
- kalman_acceleration = AltosValue_fromHashSet(h.getHash("kalman_acceleration"), kalman_acceleration);
-
- battery_voltage = h.getDouble("battery_voltage", battery_voltage);
- pyro_voltage = h.getDouble("pyro_voltage", pyro_voltage);
- temperature = h.getDouble("temperature", temperature);
- apogee_voltage = h.getDouble("apogee_voltage", apogee_voltage);
- main_voltage= h.getDouble("main_voltage", main_voltage);
- ignitor_voltage = h.getDoubleArray("ignitor_voltage", ignitor_voltage);
- gps = AltosGPS.fromHashSet(h.getHash("gps"), gps);
- temp_gps = AltosGPS.fromHashSet(h.getHash("temp_gps"), temp_gps);
- temp_gps_sat_tick = h.getInt("temp_gps_sat_tick", temp_gps_sat_tick);
- gps_pending = h.getBoolean("gps_pending", gps_pending);
- gps_sequence = h.getInt("gps_sequence", gps_sequence);
- imu = AltosIMU.fromHashSet(h.getHash("imu"), imu);
- mag = AltosMag.fromHashSet(h.getHash("mag"), mag);
-
- npad = h.getInt("npad", npad);
- gps_waiting = h.getInt("gps_waiting", gps_waiting);
- gps_ready = h.getBoolean("gps_ready", gps_ready);
- ngps = h.getInt("ngps", ngps);
- from_pad = AltosGreatCircle.fromHashSet(h.getHash("from_pad"), from_pad);
- elevation = h.getDouble("elevation", elevation);
- range = h.getDouble("range", range);
- gps_height = h.getDouble("gps_height", gps_height);
- pad_lat = h.getDouble("pad_lat", pad_lat);
- pad_lon = h.getDouble("pad_lon", pad_lon);
- pad_alt = h.getDouble("pad_alt", pad_alt);
- speak_tick = h.getInt("speak_tick", speak_tick);
- speak_altitude = h.getDouble("speak_altitude", speak_altitude);
- callsign = h.getString("callsign", callsign);
- firmware_version = h.getString("firmware_version", firmware_version);
- accel_plus_g = h.getDouble("accel_plus_g", accel_plus_g);
- accel_minus_g = h.getDouble("accel_minus_g", accel_minus_g);
- accel = h.getDouble("accel", accel);
- ground_accel = h.getDouble("ground_accel", ground_accel);
- ground_accel_avg = h.getDouble("ground_accel_avg", ground_accel_avg);
- log_format = h.getInt("log_format", log_format);
- product = h.getString("product", product);
- baro = AltosMs5607.fromHashSet(h.getHash("baro"), baro);
- companion = AltosCompanion.fromHashSet(h.getHash("companion"), companion);
- pyro_fired = h.getInt("pyro_fired", pyro_fired);
- accel_zero_along = h.getDouble("accel_zero_along", accel_zero_along);
- accel_zero_across = h.getDouble("accel_zero_across", accel_zero_across);
- accel_zero_through = h.getDouble("accel_zero_through", accel_zero_through);
-
- rotation = AltosRotation.fromHashSet(h.getHash("rotation"), rotation);
- ground_rotation = AltosRotation.fromHashSet(h.getHash("ground_rotation"), ground_rotation);
-
- pad_orientation = h.getInt("pad_orientation", pad_orientation);
-
- accel_ground_along = h.getDouble("accel_ground_along", accel_ground_along);
- accel_ground_across = h.getDouble("accel_ground_across", accel_ground_across);
- accel_ground_through = h.getDouble("accel_ground_through", accel_ground_through);
-
- gyro_zero_roll = h.getDouble("gyro_zero_roll", gyro_zero_roll);
- gyro_zero_pitch = h.getDouble("gyro_zero_pitch", gyro_zero_pitch);
- gyro_zero_yaw = h.getDouble("gyro_zero_yaw", gyro_zero_yaw);
-
- last_imu_time = h.getDouble("last_imu_time", last_imu_time);
- }
-
- public static AltosState fromHashSet(AltosHashSet h) {
- if (h == null)
- return null;
- if (!h.getBoolean("valid", false))
- return null;
- return new AltosState(h);
- }
}