*
* 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_4;
+package org.altusmetrum.altoslib_11;
+
+import java.io.*;
public class AltosState implements Cloneable {
public int set;
+ static final double filter_len = 2.0;
static final double ascent_filter_len = 0.5;
- static final double descent_filter_len = 0.5;
+ static final double descent_filter_len = 5.0;
/* derived data */
public int boost_tick;
class AltosValue {
- private double value;
- private double prev_value;
+ double value;
+ double prev_value;
private double max_value;
private double set_time;
private double prev_set_time;
}
void set_filtered(double new_value, double time) {
- if (prev_value != AltosLib.MISSING)
- new_value = (prev_value * 15.0 + new_value) / 16.0;
+ 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);
}
prev_value = AltosLib.MISSING;
max_value = AltosLib.MISSING;
}
+
}
class AltosCValue {
- AltosValue measured;
- AltosValue computed;
+
+ 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(); }
double value() {
double v = measured.value();
computed.finish_update();
}
- AltosCValue() {
- measured = new AltosValue();
- computed = new AltosValue();
+ public AltosCValue() {
+ measured = new AltosIValue();
+ computed = new AltosIValue();
}
}
- public int state;
+ 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? */
pad_alt = value();
gps_altitude.set_gps_height();
}
+
+ AltosGpsGroundAltitude() {
+ super();
+ }
}
private AltosGpsGroundAltitude gps_ground_altitude;
super.set_measured(p, time);
ground_altitude.set_computed(pressure_to_altitude(p), time);
}
+
+ AltosGroundPressure () {
+ super();
+ }
}
private AltosGroundPressure ground_pressure;
set_speed(measured);
set |= set_position;
}
+
+ AltosAltitude() {
+ super();
+ }
}
private AltosAltitude altitude;
super.set(a, t);
set_gps_height();
}
+
+ AltosGpsAltitude() {
+ super();
+ }
}
private AltosGpsAltitude gps_altitude;
double a = pressure_to_altitude(p);
altitude.set_computed(a, time);
}
+
+ AltosPressure() {
+ super();
+ }
}
private AltosPressure pressure;
pressure.set(p, time);
}
+ 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 k = kalman_height.value();
if (k != AltosLib.MISSING)
return k;
- double a = altitude();
- double g = ground_altitude();
- if (a != AltosLib.MISSING && g != AltosLib.MISSING)
- return a - g;
+ double b = baro_height();
+ if (b != AltosLib.MISSING)
+ return b;
+
return gps_height();
}
super.set_measured(new_value, time);
set_accel();
}
+
+ AltosSpeed() {
+ super();
+ }
}
private AltosSpeed speed;
if (ascent)
speed.set_integral(this.measured);
}
+
+ AltosAccel() {
+ super();
+ }
}
AltosAccel acceleration;
return acceleration.max();
}
- public AltosValue orient;
+ public AltosCValue orient;
public void set_orient(double new_orient) {
- orient.set(new_orient, time);
+ orient.set_measured(new_orient, time);
}
public double orient() {
public double ground_accel_avg;
public int log_format;
+ public int log_space;
public String product;
public AltosMs5607 baro;
pressure = new AltosPressure();
speed = new AltosSpeed();
acceleration = new AltosAccel();
- orient = new AltosValue();
+ orient = new AltosCValue();
temperature = AltosLib.MISSING;
battery_voltage = AltosLib.MISSING;
gps_pending = false;
imu = null;
+ last_imu_time = AltosLib.MISSING;
+ rotation = null;
+ ground_rotation = null;
+
mag = null;
+ accel_zero_along = AltosLib.MISSING;
+ accel_zero_across = AltosLib.MISSING;
+ accel_zero_through = AltosLib.MISSING;
+
+ accel_ground_along = AltosLib.MISSING;
+ accel_ground_across = AltosLib.MISSING;
+ accel_ground_through = AltosLib.MISSING;
+
+ pad_orientation = AltosLib.MISSING;
+
+ gyro_zero_roll = AltosLib.MISSING;
+ gyro_zero_pitch = AltosLib.MISSING;
+ gyro_zero_yaw = AltosLib.MISSING;
set_npad(0);
ngps = 0;
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;
baro = null;
companion = 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();
ground_accel_avg = old.ground_accel_avg;
log_format = old.log_format;
+ log_space = old.log_space;
product = old.product;
serial = old.serial;
receiver_serial = old.receiver_serial;
+ altitude_32 = old.altitude_32;
baro = old.baro;
companion = old.companion;
}
void update_gps() {
- elevation = 0;
- range = -1;
+ elevation = AltosLib.MISSING;
+ range = AltosLib.MISSING;
if (gps == null)
return;
return AltosLib.state_name(state);
}
+ public void set_product(String product) {
+ this.product = product;
+ }
+
public void set_state(int state) {
if (state != AltosLib.ao_flight_invalid) {
this.state = state;
}
}
+ public int state() {
+ return state;
+ }
+
public void set_device_type(int device_type) {
this.device_type = device_type;
switch (device_type) {
}
}
+ 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;
firmware_version = version;
}
+ public int compare_version(String other_version) {
+ if (firmware_version == null)
+ return AltosLib.MISSING;
+ return AltosLib.compare_version(firmware_version, other_version);
+ }
+
+ 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 && flight != 0) {
+ if (flight != AltosLib.MISSING) {
if (this.flight != AltosLib.MISSING &&
this.flight != flight) {
- int bt = boost_tick;
- init();
- boost_tick = bt;
+ re_init();
}
this.flight = flight;
}
if (serial != AltosLib.MISSING) {
if (this.serial != AltosLib.MISSING &&
this.serial != serial) {
- int bt = boost_tick;
- init();
- boost_tick = bt;
+ re_init();
}
this.serial = serial;
}
receiver_serial = serial;
}
+ public boolean altitude_32() {
+ return altitude_32 == 1;
+ }
+
+ public void set_altitude_32(int altitude_32) {
+ if (altitude_32 != AltosLib.MISSING)
+ this.altitude_32 = altitude_32;
+ }
+
public int rssi() {
if (rssi == AltosLib.MISSING)
return 0;
}
}
+
+ public double accel_zero_along;
+ public double accel_zero_across;
+ public double accel_zero_through;
+
+ public AltosRotation rotation;
+ public AltosRotation ground_rotation;
+
+ public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
+ if (zero_along != AltosLib.MISSING) {
+ accel_zero_along = zero_along;
+ accel_zero_across = zero_across;
+ accel_zero_through = zero_through;
+ }
+ }
+
+ public int pad_orientation;
+
+ public double accel_ground_along, accel_ground_across, accel_ground_through;
+
+ void update_pad_rotation() {
+ if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+ rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
+ AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
+ AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
+ pad_orientation);
+ ground_rotation = rotation;
+ orient.set_computed(rotation.tilt(), time);
+ }
+ }
+
+ 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 void set_pad_orientation(int pad_orientation) {
+ this.pad_orientation = pad_orientation;
+ 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) {
+ if (degrees == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return degrees * Math.PI / 180.0;
+ }
+
+ private void update_orient() {
+ if (last_imu_time != AltosLib.MISSING) {
+ double t = time - last_imu_time;
+
+ double pitch = radians(gyro_pitch());
+ double yaw = radians(gyro_yaw());
+ double roll = radians(gyro_roll());
+
+ if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
+ rotation.rotate(t, pitch, yaw, roll);
+ orient.set_computed(rotation.tilt(), time);
+ }
+ }
+ last_imu_time = time;
+ }
+
public void set_imu(AltosIMU imu) {
if (imu != null)
imu = imu.clone();
this.imu = imu;
+ 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;
+ }
+
+ 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 double accel_along() {
+ if (imu != null && accel_zero_along != AltosLib.MISSING)
+ return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
+ return AltosLib.MISSING;
+ }
+
+ 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;
+ }
+
+ 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;
+ }
+
+ 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;
+ }
+
+ 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;
+ }
+
+ 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;
}
public void set_mag(AltosMag mag) {
this.mag = mag.clone();
}
+ public double mag_along() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.along);
+ return AltosLib.MISSING;
+ }
+
+ public double mag_across() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.across);
+ return AltosLib.MISSING;
+ }
+
+ public double mag_through() {
+ if (mag != null)
+ return AltosMag.convert_gauss(mag.through);
+ return AltosLib.MISSING;
+ }
+
public AltosMs5607 make_baro() {
if (baro == null)
baro = new AltosMs5607();
}
}
- public void make_companion (int nchannels) {
- if (companion == null)
- companion = new AltosCompanion(nchannels);
- }
-
public void set_companion(AltosCompanion companion) {
this.companion = companion;
}
public AltosState clone() {
AltosState s = new AltosState();
s.copy(this);
+
+ /* Code to test state save/restore. Enable only for that purpose
+ */
+ if (false) {
+ AltosJson json = new AltosJson(this);
+ String onetrip = json.toPrettyString();
+ AltosJson back = AltosJson.fromString(onetrip);
+ AltosState tripstate = (AltosState) back.make(this.getClass());
+ AltosJson tripjson = new AltosJson(tripstate);
+ String twotrip = tripjson.toPrettyString();
+
+ if (!onetrip.equals(twotrip)) {
+ try {
+ FileWriter one_file = new FileWriter("one.json", true);
+ one_file.write(onetrip);
+ one_file.flush();
+ FileWriter two_file = new FileWriter("two.json", true);
+ two_file.write(twotrip);
+ two_file.flush();
+ } catch (Exception e) {
+ }
+ System.out.printf("json error\n");
+ System.exit(1);
+ }
+ }
return s;
}