*
* 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
* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_14;
-public class AltosState implements Cloneable {
- public AltosRecord record;
+public class AltosState extends AltosDataListener {
public static final int set_position = 1;
public static final int set_gps = 2;
public int set;
+ static final double filter_len = 2.0;
+ static final double ascent_filter_len = 0.5;
+ static final double descent_filter_len = 5.0;
+
/* derived data */
- public long report_time;
+ public long received_time;
+
+ public int rssi;
+ public int status;
+
+ class AltosValue {
+ double value;
+ double prev_value;
+ private double max_value;
+ 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 (can_max() && (max_value == AltosLib.MISSING || value > max_value))
+ max_value = value;
+ set_time = time;
+ }
+ }
+
+ void set_filtered(double new_value, double time) {
+ if (prev_value != AltosLib.MISSING) {
+ double f = 1/Math.exp((time - prev_set_time) / filter_len);
+ new_value = f * new_value + (1-f) * prev_value;
+ }
+ set(new_value, time);
+ }
+
+ double value() {
+ return value;
+ }
+
+ double max() {
+ return max_value;
+ }
+
+ double prev() {
+ return prev_value;
+ }
+
+ double change() {
+ if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
+ return value - prev_value;
+ return AltosLib.MISSING;
+ }
+
+ double rate() {
+ double c = change();
+ double t = set_time - prev_set_time;
+
+ if (c != AltosLib.MISSING && t != 0)
+ return c / t;
+ return AltosLib.MISSING;
+ }
+
+ double integrate() {
+ if (value == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (prev_value == AltosLib.MISSING)
+ return AltosLib.MISSING;
+
+ return (value + prev_value) / 2 * (set_time - prev_set_time);
+ }
+
+ double time() {
+ return set_time;
+ }
+
+ void set_derivative(AltosValue in) {
+ double n = in.rate();
+
+ if (n == AltosLib.MISSING)
+ return;
+
+ double p = prev_value;
+ double pt = prev_set_time;
+
+ if (p == AltosLib.MISSING) {
+ p = 0;
+ pt = in.time() - 0.01;
+ }
+
+ /* Clip changes to reduce noise */
+ double ddt = in.time() - pt;
+ double ddv = (n - p) / ddt;
+
+ final double max = 100000;
+
+ /* 100gs */
+ if (Math.abs(ddv) > max) {
+ if (n > p)
+ n = p + ddt * max;
+ else
+ n = p - ddt * max;
+ }
+
+ double filter_len;
+
+ if (ascent)
+ filter_len = ascent_filter_len;
+ else
+ filter_len = descent_filter_len;
+
+ double f = 1/Math.exp(ddt/ filter_len);
+ n = p * f + n * (1-f);
+
+ set(n, in.time());
+ }
+
+ void set_integral(AltosValue in) {
+ double change = in.integrate();
+
+ if (change != AltosLib.MISSING) {
+ double prev = prev_value;
+ if (prev == AltosLib.MISSING)
+ prev = 0;
+ set(prev + change, in.time());
+ }
+ }
+
+ void copy(AltosValue old) {
+ value = old.value;
+ set_time = old.set_time;
+ prev_value = old.value;
+ prev_set_time = old.set_time;
+ max_value = old.max_value;
+ }
+
+ void finish_update() {
+ prev_value = value;
+ prev_set_time = set_time;
+ }
+
+ AltosValue() {
+ value = AltosLib.MISSING;
+ prev_value = AltosLib.MISSING;
+ max_value = AltosLib.MISSING;
+ }
+
+ }
+
+ class AltosCValue {
+
+ class AltosIValue extends AltosValue {
+ boolean can_max() {
+ return c_can_max();
+ }
+
+ AltosIValue() {
+ super();
+ }
+ };
+
+ public AltosIValue measured;
+ public AltosIValue computed;
+
+ boolean can_max() { return true; }
+
+ boolean c_can_max() { return can_max(); }
- public double time;
- public double prev_time;
- public double time_change;
- public int tick;
- public int boost_tick;
+ double value() {
+ double v = measured.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ return computed.value();
+ }
+
+ boolean is_measured() {
+ return measured.value() != AltosLib.MISSING;
+ }
+
+ double max() {
+ double m = measured.max();
+
+ if (m != AltosLib.MISSING)
+ return m;
+ return computed.max();
+ }
+
+ double prev_value() {
+ if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
+ return measured.prev_value;
+ return computed.prev_value;
+ }
+
+ AltosValue altos_value() {
+ if (measured.value() != AltosLib.MISSING)
+ return measured;
+ return computed;
+ }
+
+ double change() {
+ double c = measured.change();
+ if (c == AltosLib.MISSING)
+ c = computed.change();
+ return c;
+ }
+
+ double rate() {
+ double r = measured.rate();
+ if (r == AltosLib.MISSING)
+ r = computed.rate();
+ return r;
+ }
+
+ void set_measured(double new_value, double time) {
+ measured.set(new_value, time);
+ }
+
+ void set_computed(double new_value, double time) {
+ computed.set(new_value, time);
+ }
+
+ void set_derivative(AltosValue in) {
+ computed.set_derivative(in);
+ }
+
+ void set_derivative(AltosCValue in) {
+ set_derivative(in.altos_value());
+ }
+
+ 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);
+ }
+
+ void finish_update() {
+ measured.finish_update();
+ computed.finish_update();
+ }
+
+ public AltosCValue() {
+ measured = new AltosIValue();
+ computed = new AltosIValue();
+ }
+ }
- public int state;
- public int flight;
- public int serial;
public boolean landed;
public boolean ascent; /* going up? */
public boolean boost; /* under power */
- public int rssi;
- public int status;
- public double ground_altitude;
- public double ground_pressure;
- public double altitude;
- public double height;
- public double pressure;
- public double acceleration;
+ private double pressure_to_altitude(double p) {
+ if (p == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return AltosConvert.pressure_to_altitude(p);
+ }
+
+ private AltosCValue ground_altitude;
+
+ public double ground_altitude() {
+ return ground_altitude.value();
+ }
+
+ public void set_ground_altitude(double a) {
+ ground_altitude.set_measured(a, time);
+ }
+
+ class AltosGpsGroundAltitude extends AltosValue {
+ void set(double a, double t) {
+ super.set(a, t);
+
+ gps_altitude.set_gps_height();
+ }
+
+ void set_filtered(double a, double t) {
+ super.set_filtered(a, t);
+ gps_altitude.set_gps_height();
+ }
+
+ AltosGpsGroundAltitude() {
+ super();
+ }
+ }
+
+ private AltosGpsGroundAltitude gps_ground_altitude;
+
+ public double gps_ground_altitude() {
+ return gps_ground_altitude.value();
+ }
+
+ public void set_gps_ground_altitude(double a) {
+ gps_ground_altitude.set(a, time);
+ }
+
+ class AltosGroundPressure extends AltosCValue {
+ void set_filtered(double p, double time) {
+ computed.set_filtered(p, time);
+ if (!is_measured())
+ ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
+ }
+
+ void set_measured(double p, double time) {
+ super.set_measured(p, time);
+ ground_altitude.set_computed(pressure_to_altitude(p), time);
+ }
+
+ AltosGroundPressure () {
+ super();
+ }
+ }
+
+ private AltosGroundPressure ground_pressure;
+
+ public double ground_pressure() {
+ return ground_pressure.value();
+ }
+
+ public void set_ground_pressure (double pressure) {
+ ground_pressure.set_measured(pressure, time);
+ }
+
+ class AltosAltitude extends AltosCValue {
+
+ private void set_speed(AltosValue v) {
+ if (!acceleration.is_measured() || !ascent)
+ speed.set_derivative(this);
+ }
+
+ void set_computed(double a, double time) {
+ super.set_computed(a,time);
+ set_speed(computed);
+ set |= set_position;
+ }
+
+ void set_measured(double a, double time) {
+ super.set_measured(a,time);
+ set_speed(measured);
+ set |= set_position;
+ }
+
+ AltosAltitude() {
+ super();
+ }
+ }
+
+ private AltosAltitude altitude;
+
+ class AltosGpsAltitude extends AltosValue {
+
+ private void set_gps_height() {
+ double a = value();
+ double g = gps_ground_altitude.value();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ gps_height = a - g;
+ else
+ gps_height = AltosLib.MISSING;
+ }
+
+ void set(double a, double t) {
+ super.set(a, t);
+ set_gps_height();
+ }
+
+ AltosGpsAltitude() {
+ super();
+ }
+ }
+
+ 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)
+ return a;
+ return gps_altitude.value();
+ }
+
+ public double max_altitude() {
+ double a = altitude.max();
+ if (a != AltosLib.MISSING)
+ return a;
+ return gps_altitude.max();
+ }
+
+ 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);
+ }
+
+ public double gps_altitude() {
+ return gps_altitude.value();
+ }
+
+ public double max_gps_altitude() {
+ return gps_altitude.max();
+ }
+
+ public void set_gps_altitude(double new_gps_altitude) {
+ 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);
+ if (state() == AltosLib.ao_flight_pad)
+ ground_pressure.set_filtered(p, time);
+ double a = pressure_to_altitude(p);
+ altitude.set_computed(a, time);
+ }
+
+ AltosPressure() {
+ super();
+ }
+ }
+
+ private AltosPressure pressure;
+
+ public double pressure() {
+ return pressure.value();
+ }
+
+ public void set_pressure(double p) {
+ pressure.set(p, time);
+ }
+
+ public void set_thrust(double N) {
+ }
+
+ public double baro_height() {
+ double a = altitude();
+ double g = ground_altitude();
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ public double height() {
+ double b = baro_height();
+ if (b != AltosLib.MISSING)
+ return b;
+
+ double k = kalman_height.value();
+ if (k != AltosLib.MISSING)
+ return k;
+
+ return gps_height();
+ }
+
+ public double max_height() {
+ double a = altitude.max();
+ double g = ground_altitude();
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+
+ double k = kalman_height.max();
+ if (k != AltosLib.MISSING)
+ return k;
+
+ return max_gps_height();
+ }
+
+ public double gps_height() {
+ double a = gps_altitude();
+ double g = gps_ground_altitude();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ public double max_gps_height() {
+ double a = gps_altitude.max();
+ double g = gps_ground_altitude();
+
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ 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);
+ }
+
+ void set_derivative(AltosCValue in) {
+ super.set_derivative(in);
+ set_accel();
+ }
+
+ void set_computed(double new_value, double time) {
+ super.set_computed(new_value, time);
+ set_accel();
+ }
+
+ void set_measured(double new_value, double time) {
+ super.set_measured(new_value, time);
+ set_accel();
+ }
+
+ AltosSpeed() {
+ super();
+ }
+ }
+
+ private AltosSpeed speed;
+
+ public double speed() {
+ double v = kalman_speed.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ 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;
+ 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)
+ speed.set_integral(this.measured);
+ }
+
+ AltosAccel() {
+ super();
+ }
+ }
+
+ AltosAccel acceleration;
+
+ public double acceleration() {
+ return acceleration.value();
+ }
+
+ public double max_acceleration() {
+ return acceleration.max();
+ }
+
+ public AltosCValue orient;
+
+ public void set_orient(double new_orient) {
+ orient.set_measured(new_orient, time);
+ }
+
+ public double orient() {
+ return orient.value();
+ }
+
+ public double max_orient() {
+ return orient.max();
+ }
+
+ 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 double battery_voltage;
public double pyro_voltage;
public double temperature;
public double apogee_voltage;
public double main_voltage;
- public double speed;
- public double prev_height;
- public double prev_speed;
- public double prev_acceleration;
-
- public double max_height;
- public double max_acceleration;
- public double max_speed;
-
- public double kalman_height, kalman_speed, kalman_acceleration;
+ public double igniter_voltage[];
public AltosGPS gps;
- public AltosGPS temp_gps;
public boolean gps_pending;
- public int gps_sequence;
-
- public AltosIMU imu;
- public AltosMag mag;
public static final int MIN_PAD_SAMPLES = 10;
public AltosGreatCircle from_pad;
public double elevation; /* from pad */
+ public double distance; /* distance along ground */
public double range; /* total distance */
public double gps_height;
- public double pad_lat, pad_lon, pad_alt;
+ public double pad_lat, pad_lon;
public int speak_tick;
public double speak_altitude;
- public String callsign;
- 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 AltosMs5607 baro;
-
- public AltosRecordCompanion companion;
- public double speed() {
- return speed;
- }
+ public AltosCompanion companion;
- public double max_speed() {
- return max_speed;
- }
+ public int pyro_fired;
public void set_npad(int npad) {
this.npad = npad;
}
public void init() {
- record = null;
+ super.init();
set = 0;
- report_time = System.currentTimeMillis();
- time = AltosRecord.MISSING;
- time_change = AltosRecord.MISSING;
- prev_time = AltosRecord.MISSING;
- tick = AltosRecord.MISSING;
- boost_tick = AltosRecord.MISSING;
- state = AltosLib.ao_flight_invalid;
- flight = AltosRecord.MISSING;
+ received_time = System.currentTimeMillis();
landed = false;
boost = false;
- rssi = AltosRecord.MISSING;
+ rssi = AltosLib.MISSING;
status = 0;
- ground_altitude = AltosRecord.MISSING;
- ground_pressure = AltosRecord.MISSING;
- altitude = AltosRecord.MISSING;
- height = AltosRecord.MISSING;
- pressure = AltosRecord.MISSING;
- acceleration = AltosRecord.MISSING;
- temperature = AltosRecord.MISSING;
-
- prev_height = AltosRecord.MISSING;
- prev_speed = AltosRecord.MISSING;
- prev_acceleration = AltosRecord.MISSING;
+ ground_altitude = new AltosCValue();
+ ground_pressure = new AltosGroundPressure();
+ altitude = new AltosAltitude();
+ pressure = new AltosPressure();
+ speed = new AltosSpeed();
+ acceleration = new AltosAccel();
+ orient = new AltosCValue();
+
+ temperature = AltosLib.MISSING;
+ battery_voltage = AltosLib.MISSING;
+ pyro_voltage = AltosLib.MISSING;
+ apogee_voltage = AltosLib.MISSING;
+ main_voltage = AltosLib.MISSING;
+ igniter_voltage = null;
+
+ kalman_height = new AltosValue();
+ kalman_speed = new AltosValue();
+ kalman_acceleration = new AltosValue();
- battery_voltage = AltosRecord.MISSING;
- pyro_voltage = AltosRecord.MISSING;
- apogee_voltage = AltosRecord.MISSING;
- main_voltage = AltosRecord.MISSING;
+ gps = null;
+ gps_pending = false;
- speed = AltosRecord.MISSING;
+ last_imu_time = AltosLib.MISSING;
+ rotation = null;
- kalman_height = AltosRecord.MISSING;
- kalman_speed = AltosRecord.MISSING;
- kalman_acceleration = AltosRecord.MISSING;
+ accel_ground_along = AltosLib.MISSING;
+ accel_ground_across = AltosLib.MISSING;
+ accel_ground_through = AltosLib.MISSING;
- max_speed = 0;
- max_height = 0;
- max_acceleration = 0;
+ accel_along = AltosLib.MISSING;
+ accel_across = AltosLib.MISSING;
+ accel_through = AltosLib.MISSING;
- gps = null;
- temp_gps = null;
- gps_sequence = 0;
- gps_pending = false;
+ gyro_roll = AltosLib.MISSING;
+ gyro_pitch = AltosLib.MISSING;
+ gyro_yaw = AltosLib.MISSING;
- imu = null;
- mag = null;
+ mag_along = AltosLib.MISSING;
+ mag_across = AltosLib.MISSING;
+ mag_through = AltosLib.MISSING;
set_npad(0);
ngps = 0;
from_pad = null;
- elevation = AltosRecord.MISSING;
- range = AltosRecord.MISSING;
- gps_height = AltosRecord.MISSING;
+ elevation = AltosLib.MISSING;
+ distance = AltosLib.MISSING;
+ range = AltosLib.MISSING;
+ gps_height = AltosLib.MISSING;
- pad_lat = AltosRecord.MISSING;
- pad_lon = AltosRecord.MISSING;
- pad_alt = AltosRecord.MISSING;
+ pad_lat = AltosLib.MISSING;
+ pad_lon = AltosLib.MISSING;
- speak_tick = AltosRecord.MISSING;
- speak_altitude = AltosRecord.MISSING;
+ 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();
- callsign = null;
+ speak_tick = AltosLib.MISSING;
+ speak_altitude = AltosLib.MISSING;
- accel_plus_g = AltosRecord.MISSING;
- accel_minus_g = AltosRecord.MISSING;
- accel = AltosRecord.MISSING;
- ground_accel = AltosRecord.MISSING;
- ground_accel_avg = AltosRecord.MISSING;
- log_format = AltosRecord.MISSING;
- serial = AltosRecord.MISSING;
+ ground_accel = AltosLib.MISSING;
- baro = null;
companion = null;
- }
-
- void copy(AltosState old) {
-
- record = null;
-
- if (old == null) {
- init();
- return;
- }
-
- report_time = old.report_time;
- time = old.time;
- time_change = 0;
- 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;
-
- set = 0;
-
- ground_altitude = old.ground_altitude;
- altitude = old.altitude;
- height = old.height;
- pressure = old.pressure;
- acceleration = old.acceleration;
- battery_voltage = old.battery_voltage;
- pyro_voltage = old.pyro_voltage;
- temperature = old.temperature;
- apogee_voltage = old.apogee_voltage;
- main_voltage = old.main_voltage;
- speed = old.speed;
-
- prev_height = old.height;
- prev_speed = old.speed;
- prev_acceleration = old.acceleration;
- prev_time = old.time;
-
- max_height = old.max_height;
- max_acceleration = old.max_acceleration;
- max_speed = old.max_speed;
-
- kalman_height = old.kalman_height;
- kalman_speed = old.kalman_speed;
- kalman_acceleration = 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;
- gps_sequence = old.gps_sequence;
- gps_pending = old.gps_pending;
-
- if (old.imu != null)
- imu = old.imu.clone();
- else
- imu = null;
-
- 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;
- 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;
-
- 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;
- serial = old.serial;
-
- baro = old.baro;
- companion = old.companion;
- }
-
- double altitude() {
- if (altitude != AltosRecord.MISSING)
- return altitude;
- if (gps != null)
- return gps.alt;
- return AltosRecord.MISSING;
- }
-
- void update_vertical_pos() {
-
- double alt = altitude();
-
- if (state == AltosLib.ao_flight_pad && alt != AltosRecord.MISSING && ground_pressure == AltosRecord.MISSING) {
- if (ground_altitude == AltosRecord.MISSING)
- ground_altitude = alt;
- else
- ground_altitude = (ground_altitude * 7 + alt) / 8;
- }
-
- if (kalman_height != AltosRecord.MISSING)
- height = kalman_height;
- else if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING)
- height = altitude - ground_altitude;
- else
- height = AltosRecord.MISSING;
-
- if (height != AltosRecord.MISSING && height > max_height)
- max_height = height;
-
- update_speed();
- }
-
- double motion_filter_value() {
- return 1/ Math.exp(time_change/10.0);
- }
-
- void update_speed() {
- if (kalman_speed != AltosRecord.MISSING)
- speed = kalman_speed;
- else if (state != AltosLib.ao_flight_invalid &&
- time_change != AltosRecord.MISSING)
- {
- if (ascent && acceleration != AltosRecord.MISSING)
- {
- if (prev_speed == AltosRecord.MISSING)
- speed = acceleration * time_change;
- else
- speed = prev_speed + acceleration * time_change;
- }
- else if (height != AltosRecord.MISSING &&
- prev_height != AltosRecord.MISSING &&
- time_change != 0)
- {
- double new_speed = (height - prev_height) / time_change;
-
- if (prev_speed == AltosRecord.MISSING)
- speed = new_speed;
- else {
- double filter = motion_filter_value();
-
- speed = prev_speed * filter + new_speed * (1-filter);
- }
- }
- }
- if (acceleration == AltosRecord.MISSING) {
- if (prev_speed != AltosRecord.MISSING && time_change != 0) {
- double new_acceleration = (speed - prev_speed) / time_change;
-
- if (prev_acceleration == AltosRecord.MISSING)
- acceleration = new_acceleration;
- else {
- double filter = motion_filter_value();
- acceleration = prev_acceleration * filter + new_acceleration * (1-filter);
- }
- }
- }
- if (boost && speed != AltosRecord.MISSING && speed > max_speed)
- max_speed = speed;
+ pyro_fired = 0;
}
-
- void update_accel() {
- double ground = ground_accel;
-
- if (ground == AltosRecord.MISSING)
- ground = ground_accel_avg;
- if (accel == AltosRecord.MISSING)
- return;
- if (ground == AltosRecord.MISSING)
- return;
- if (accel_plus_g == AltosRecord.MISSING)
- return;
- if (accel_minus_g == AltosRecord.MISSING)
- return;
-
- double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
- double counts_per_mss = counts_per_g / 9.80665;
- acceleration = (ground - accel) / counts_per_mss;
-
- /* Only look at accelerometer data under boost */
- if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
- max_acceleration = acceleration;
- update_speed();
+ void finish_update() {
+ ground_altitude.finish_update();
+ altitude.finish_update();
+ pressure.finish_update();
+ speed.finish_update();
+ acceleration.finish_update();
+ orient.finish_update();
+
+ kalman_height.finish_update();
+ kalman_speed.finish_update();
+ kalman_acceleration.finish_update();
}
void update_time() {
- if (tick != AltosRecord.MISSING) {
- time = tick / 100.0;
- if (prev_time != AltosRecord.MISSING)
- time_change = time - prev_time;
- }
}
void update_gps() {
- elevation = 0;
- range = -1;
- gps_height = 0;
+ elevation = AltosLib.MISSING;
+ distance = 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 != AltosRecord.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;
- pad_alt = (pad_alt * 31 + gps.alt) / 32;
+ gps_ground_altitude.set_filtered(gps.alt, time);
}
}
- if (pad_lat == AltosRecord.MISSING) {
+ if (pad_lat == AltosLib.MISSING) {
pad_lat = gps.lat;
pad_lon = gps.lon;
- pad_alt = gps.alt;
+ 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);
+ } else if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
+ set_npad(0);
}
if (gps.lat != 0 && gps.lon != 0 &&
- pad_lat != AltosRecord.MISSING &&
- pad_lon != AltosRecord.MISSING)
+ pad_lat != AltosLib.MISSING &&
+ pad_lon != AltosLib.MISSING)
{
- double h = height;
+ double h = height();
- if (h == AltosRecord.MISSING)
+ if (h == AltosLib.MISSING)
h = 0;
from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
elevation = from_pad.elevation;
+ distance = from_pad.distance;
range = from_pad.range;
- gps_height = gps.alt - pad_alt;
}
}
- public void set_tick(int tick) {
- if (tick != AltosRecord.MISSING) {
- if (this.tick != AltosRecord.MISSING) {
- while (tick < this.tick)
- tick += 65536;
- time_change = (tick - this.tick) / 100.0;
- } else
- time_change = 0;
- this.tick = tick;
- update_time();
- }
+ public void set_state(int state) {
+ super.set_state(state);
+ ascent = (AltosLib.ao_flight_boost <= state() &&
+ state() <= AltosLib.ao_flight_coast);
+ boost = (AltosLib.ao_flight_boost == state());
}
- public void set_boost_tick(int boost_tick) {
- if (boost_tick != AltosRecord.MISSING)
- this.boost_tick = boost_tick;
+ public int rssi() {
+ if (rssi == AltosLib.MISSING)
+ return 0;
+ return rssi;
}
- public String state_name() {
- return AltosLib.state_name(state);
+ public void set_rssi(int rssi, int status) {
+ if (rssi != AltosLib.MISSING) {
+ this.rssi = rssi;
+ this.status = status;
+ }
}
- 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 void set_received_time(long ms) {
+ received_time = ms;
+ }
+ public void set_gps(AltosGPS gps, boolean set_location, boolean set_sats) {
+ super.set_gps(gps, set_location, set_sats);
+ if (gps != null) {
+ this.gps = gps;
+ update_gps();
+ set |= set_gps;
+ }
}
- public void set_flight(int flight) {
+ public AltosRotation rotation;
- /* When the flight changes, reset the state */
- if (flight != AltosRecord.MISSING) {
- if (this.flight != AltosRecord.MISSING &&
- this.flight != flight) {
- init();
- }
- this.flight = flight;
+ 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(accel_ground_across,
+ accel_ground_through,
+ accel_ground_along,
+ cal_data().pad_orientation);
+ orient.set_computed(rotation.tilt(), time);
}
}
- public void set_serial(int serial) {
- /* When the serial changes, reset the state */
- if (serial != AltosRecord.MISSING) {
- if (this.serial != AltosRecord.MISSING &&
- this.serial != serial) {
- init();
+ public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
+ accel_ground_along = ground_along;
+ accel_ground_across = ground_across;
+ accel_ground_through = ground_through;
+ update_pad_rotation();
+ }
+
+ public double last_imu_time;
+
+ private void update_orient() {
+ if (last_imu_time != AltosLib.MISSING) {
+ double t = time - last_imu_time;
+
+ 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;
+
+ rotation.rotate(pitch, yaw, roll);
+ orient.set_computed(rotation.tilt(), time);
}
- this.serial = serial;
}
+ last_imu_time = time;
}
- public int rssi() {
- if (rssi == AltosRecord.MISSING)
- return 0;
- return rssi;
- }
+ private double gyro_roll, gyro_pitch, gyro_yaw;
- public void set_rssi(int rssi, int status) {
- if (rssi != AltosRecord.MISSING) {
- this.rssi = rssi;
- this.status = status;
- }
+ public void set_gyro(double roll, double pitch, double yaw) {
+ gyro_roll = roll;
+ gyro_pitch = pitch;
+ gyro_yaw = yaw;
+ update_orient();
}
- public void set_altitude(double altitude) {
- if (altitude != AltosRecord.MISSING) {
- this.altitude = altitude;
- update_vertical_pos();
- set |= set_position;
- }
+ private double accel_along, accel_across, accel_through;
+
+ public void set_accel(double along, double across, double through) {
+ accel_along = along;
+ accel_across = across;
+ accel_through = through;
+ update_orient();
}
- public void set_ground_altitude(double ground_altitude) {
- if (ground_altitude != AltosRecord.MISSING) {
- this.ground_altitude = ground_altitude;
- update_vertical_pos();
- }
+ public double accel_along() {
+ return accel_along;
}
- public void set_ground_pressure (double pressure) {
- if (pressure != AltosRecord.MISSING) {
- this.ground_pressure = pressure;
- set_ground_altitude(AltosConvert.pressure_to_altitude(pressure));
- update_vertical_pos();
- }
+ public double accel_across() {
+ return accel_across;
}
- public void set_gps(AltosGPS gps, int sequence) {
- if (gps != null) {
- this.gps = gps.clone();
- gps_sequence = sequence;
- update_gps();
- update_vertical_pos();
- set |= set_gps;
- }
+ public double accel_through() {
+ return accel_through;
}
- public void set_kalman(double height, double speed, double acceleration) {
- if (height != AltosRecord.MISSING) {
- kalman_height = height;
- kalman_speed = speed;
- kalman_acceleration = acceleration;
- update_vertical_pos();
- }
+ public double gyro_roll() {
+ return gyro_roll;
}
- public void set_pressure(double pressure) {
- if (pressure != AltosRecord.MISSING) {
- this.pressure = pressure;
- set_altitude(AltosConvert.pressure_to_altitude(pressure));
- }
+ public double gyro_pitch() {
+ return gyro_pitch;
}
- public void make_baro() {
- if (baro == null)
- baro = new AltosMs5607();
+ public double gyro_yaw() {
+ return gyro_yaw;
}
- public void set_ms5607(int pres, int temp) {
- if (baro != null) {
- baro.set(pres, temp);
+ private double mag_along, mag_across, mag_through;
- set_pressure(baro.pa);
- set_temperature(baro.cc / 100.0);
- }
+ public void set_mag(double along, double across, double through) {
+ mag_along = along;
+ mag_across = across;
+ mag_through = through;
}
- public void make_companion (int nchannels) {
- if (companion == null)
- companion = new AltosRecordCompanion(nchannels);
+ public double mag_along() {
+ return mag_along;
}
- public void set_companion(AltosRecordCompanion companion) {
- this.companion = companion;
+ public double mag_across() {
+ return mag_across;
}
- public void set_accel_g(double accel_plus_g, double accel_minus_g) {
- if (accel_plus_g != AltosRecord.MISSING) {
- this.accel_plus_g = accel_plus_g;
- this.accel_minus_g = accel_minus_g;
- update_accel();
- }
+ public double mag_through() {
+ return mag_through;
}
- public void set_ground_accel(double ground_accel) {
- if (ground_accel != AltosRecord.MISSING) {
- this.ground_accel = ground_accel;
- update_accel();
- }
+
+ public void set_companion(AltosCompanion companion) {
+ this.companion = companion;
}
- public void set_accel(double accel) {
- if (accel != AltosRecord.MISSING) {
- this.accel = accel;
- if (state == AltosLib.ao_flight_pad) {
- if (ground_accel_avg == AltosRecord.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) {
- if (temperature != AltosRecord.MISSING) {
+ if (temperature != AltosLib.MISSING) {
this.temperature = temperature;
set |= set_data;
}
}
public void set_battery_voltage(double battery_voltage) {
- if (battery_voltage != AltosRecord.MISSING) {
+ if (battery_voltage != AltosLib.MISSING) {
this.battery_voltage = battery_voltage;
set |= set_data;
}
}
public void set_pyro_voltage(double pyro_voltage) {
- if (pyro_voltage != AltosRecord.MISSING) {
+ if (pyro_voltage != AltosLib.MISSING) {
this.pyro_voltage = pyro_voltage;
set |= set_data;
}
}
public void set_apogee_voltage(double apogee_voltage) {
- if (apogee_voltage != AltosRecord.MISSING) {
+ if (apogee_voltage != AltosLib.MISSING) {
this.apogee_voltage = apogee_voltage;
set |= set_data;
}
}
public void set_main_voltage(double main_voltage) {
- if (main_voltage != AltosRecord.MISSING) {
+ if (main_voltage != AltosLib.MISSING) {
this.main_voltage = main_voltage;
set |= set_data;
}
}
-
- public double time_since_boost() {
- if (tick == AltosRecord.MISSING)
- return 0.0;
-
- if (boost_tick != AltosRecord.MISSING) {
- return (tick - boost_tick) / 100.0;
- }
- return tick / 100.0;
- }
-
- public boolean valid() {
- return tick != AltosRecord.MISSING && serial != AltosRecord.MISSING;
+ public void set_igniter_voltage(double[] voltage) {
+ this.igniter_voltage = voltage;
}
- public AltosGPS make_temp_gps() {
- if (temp_gps == null) {
- temp_gps = new AltosGPS(gps);
- temp_gps.cc_gps_sat = null;
- }
- gps_pending = true;
- return temp_gps;
- }
-
- public void set_temp_gps() {
- set_gps(temp_gps, gps_sequence + 1);
- gps_pending = false;
- temp_gps = null;
- }
-
- public void init (AltosRecord cur, AltosState prev_state) {
-
- System.out.printf ("init\n");
- if (cur == null)
- cur = new AltosRecord();
-
- record = cur;
-
- /* Discard previous state if it was for a different board */
- if (prev_state != null && prev_state.serial != cur.serial)
- prev_state = null;
-
- copy(prev_state);
-
- set_ground_altitude(cur.ground_altitude());
- set_altitude(cur.altitude());
-
- set_kalman(cur.kalman_height, cur.kalman_speed, cur.kalman_acceleration);
-
- report_time = System.currentTimeMillis();
-
- set_temperature(cur.temperature());
- set_apogee_voltage(cur.drogue_voltage());
- set_main_voltage(cur.main_voltage());
- set_battery_voltage(cur.battery_voltage());
-
- set_pressure(cur.pressure());
-
- set_tick(cur.tick);
- set_state(cur.state);
-
- set_accel_g (cur.accel_minus_g, cur.accel_plus_g);
- set_ground_accel(cur.ground_accel);
- set_accel (cur.accel);
-
- if (cur.gps_sequence != gps_sequence)
- set_gps(cur.gps, cur.gps_sequence);
-
- }
-
- public AltosState clone() {
- AltosState s = new AltosState();
- s.copy(this);
- return s;
+ public void set_pyro_fired(int fired) {
+ this.pyro_fired = fired;
}
- public AltosState(AltosRecord cur) {
- init(cur, null);
- }
-
- public AltosState (AltosRecord cur, AltosState prev) {
- init(cur, prev);
+ public AltosState() {
+ init();
}
- public AltosState () {
+ public AltosState (AltosCalData cal_data) {
+ super(cal_data);
init();
}
}