*
* 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_11;
-public class AltosState {
- public AltosRecord data;
+import java.io.*;
+
+public class AltosState implements Cloneable {
+
+ public static final int set_position = 1;
+ public static final int set_gps = 2;
+ public static final int set_data = 4;
+
+ 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 double time;
+ public double prev_time;
public double time_change;
public int tick;
+ private int prev_tick;
+ public int boost_tick;
+
+ 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 int state;
+ 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();
+ }
+ }
+
+ 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 double ground_altitude;
- public double altitude;
- public double height;
- public double pressure;
- public double acceleration;
- public double battery;
+ 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;
+ public int main_deploy;
+ public int flight_log_max;
+
+ 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);
+ pad_alt = value();
+ gps_altitude.set_gps_height();
+ }
+
+ void set_filtered(double a, double t) {
+ super.set_filtered(a, t);
+ pad_alt = value();
+ 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) {
+ 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 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 b = baro_height();
+ if (b != AltosLib.MISSING)
+ return b;
+
+ return gps_height();
+ }
+
+ public double max_height() {
+ double k = kalman_height.max();
+ if (k != AltosLib.MISSING)
+ return k;
+
+ double a = altitude.max();
+ double g = ground_altitude();
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ 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) {
+ 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 main_sense;
- public double drogue_sense;
- public double accel_speed;
- public double baro_speed;
+ public double apogee_voltage;
+ public double main_voltage;
- public double max_height;
- public double max_acceleration;
- public double max_accel_speed;
- public double max_baro_speed;
+ public double ignitor_voltage[];
public AltosGPS gps;
+ public AltosGPS temp_gps;
+ public int temp_gps_sat_tick;
+ public boolean gps_pending;
public int gps_sequence;
public AltosIMU imu;
public static final int MIN_PAD_SAMPLES = 10;
public int npad;
- public int ngps;
public int gps_waiting;
public boolean gps_ready;
+ public int ngps;
+
public AltosGreatCircle from_pad;
public double elevation; /* from pad */
public double range; /* total distance */
public int speak_tick;
public double speak_altitude;
- public double speed() {
- if (ascent)
- return accel_speed;
- else
- return baro_speed;
+ 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;
+
+ public AltosCompanion companion;
+
+ public int pyro_fired;
+
+ public void set_npad(int npad) {
+ this.npad = npad;
+ gps_waiting = MIN_PAD_SAMPLES - npad;
+ if (this.gps_waiting < 0)
+ gps_waiting = 0;
+ gps_ready = gps_waiting == 0;
}
- public double max_speed() {
- if (max_accel_speed != 0)
- return max_accel_speed;
- return max_baro_speed;
- }
-
- public void init (AltosRecord cur, AltosState prev_state) {
- data = cur;
-
- /* Discard previous state if it was for a different board */
- if (prev_state != null && prev_state.data.serial != data.serial)
- prev_state = null;
- 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 (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;
- }
+ public void init() {
+ set = 0;
+
+ received_time = System.currentTimeMillis();
+ 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;
+ main_deploy = AltosLib.MISSING;
+ flight_log_max = AltosLib.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;
+ ignitor_voltage = null;
+
+ kalman_height = new AltosValue();
+ kalman_speed = new AltosValue();
+ kalman_acceleration = new AltosValue();
+
+ gps = null;
+ temp_gps = null;
+ temp_gps_sat_tick = 0;
+ gps_sequence = 0;
+ 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;
+
+ from_pad = null;
+ elevation = AltosLib.MISSING;
+ range = AltosLib.MISSING;
+ gps_height = AltosLib.MISSING;
+
+ pad_lat = AltosLib.MISSING;
+ pad_lon = AltosLib.MISSING;
+ pad_alt = AltosLib.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();
+
+ speak_tick = AltosLib.MISSING;
+ speak_altitude = AltosLib.MISSING;
+
+ 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;
+
+ baro = null;
+ companion = null;
+
+ pyro_fired = 0;
+ }
+
+ void finish_update() {
+ prev_tick = tick;
+
+ 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 copy(AltosState old) {
+
+ if (old == null) {
+ init();
+ return;
}
- report_time = System.currentTimeMillis();
+ received_time = old.received_time;
+ time = old.time;
+ time_change = old.time_change;
+ prev_time = old.time;
- if (data.kalman_acceleration != AltosRecord.MISSING)
- acceleration = data.kalman_acceleration;
- else
- acceleration = data.acceleration();
- temperature = data.temperature();
- drogue_sense = data.drogue_voltage();
- main_sense = data.main_voltage();
- battery = data.battery_voltage();
- pressure = data.pressure();
- tick = data.tick;
- state = data.state;
-
- if (prev_state != null) {
-
- /* Preserve any existing gps data */
- npad = prev_state.npad;
- ngps = prev_state.ngps;
- gps = prev_state.gps;
- gps_sequence = prev_state.gps_sequence;
- pad_lat = prev_state.pad_lat;
- pad_lon = prev_state.pad_lon;
- pad_alt = prev_state.pad_alt;
- max_height = prev_state.max_height;
- max_acceleration = prev_state.max_acceleration;
- max_accel_speed = prev_state.max_accel_speed;
- max_baro_speed = prev_state.max_baro_speed;
- imu = prev_state.imu;
- mag = prev_state.mag;
-
- /* make sure the clock is monotonic */
- while (tick < prev_state.tick)
- tick += 65536;
-
- time_change = (tick - prev_state.tick) / 100.0;
-
- if (data.kalman_speed != AltosRecord.MISSING) {
- baro_speed = accel_speed = data.kalman_speed;
- } else {
- /* 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_baro_speed * 3 + (height_change / time_change)) / 4.0;
- else
- baro_speed = prev_state.baro_speed;
+ tick = old.tick;
+ prev_tick = old.tick;
+ boost_tick = old.boost_tick;
- double prev_accel_speed = prev_state.accel_speed;
+ 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;
- if (prev_accel_speed == AltosRecord.MISSING)
- prev_accel_speed = 0;
+ set = 0;
- if (acceleration == AltosRecord.MISSING) {
- /* Fill in mising acceleration value */
- accel_speed = baro_speed;
+ 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);
- 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_accel_speed + acceleration * time_change;
- }
- }
- } else {
- npad = 0;
- ngps = 0;
+ 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;
- gps_sequence = 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 (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);
}
- time = tick / 100.0;
+ 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;
- if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
+ 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;
+ 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;
+
+ pyro_fired = old.pyro_fired;
+ }
+
+ void update_time() {
+ }
+
+ void update_gps() {
+ 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 (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
- npad++;
- else
- npad = 0;
-
- /* Average GPS data while on the pad */
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
- 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;
- pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
- } else {
- pad_lat = data.gps.lat;
- pad_lon = data.gps.lon;
- pad_alt = data.gps.alt;
+ if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
+ set_npad(npad+1);
+ 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);
}
- ngps++;
}
- } else {
- if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
- pad_alt = ground_altitude;
+ if (pad_lat == AltosLib.MISSING) {
+ pad_lat = gps.lat;
+ pad_lon = gps.lon;
+ 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 &&
+ pad_lon != AltosLib.MISSING)
+ {
+ double h = height();
- gps_sequence = data.gps_sequence;
+ if (h == AltosLib.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_waiting = MIN_PAD_SAMPLES - npad;
- if (gps_waiting < 0)
- gps_waiting = 0;
+ 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;
+ }
+ }
- gps_ready = gps_waiting == 0;
+ 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);
+ }
+
+ public void set_product(String product) {
+ this.product = product;
+ }
+
+ 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 int 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;
+ }
+ }
- ascent = (AltosLib.ao_flight_boost <= state &&
- state <= AltosLib.ao_flight_coast);
- boost = (AltosLib.ao_flight_boost == state);
-
- /* Only look at accelerometer data under boost */
- if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
- max_acceleration = acceleration;
- if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
- max_accel_speed = accel_speed;
- if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
- max_baro_speed = baro_speed;
-
- if (height != AltosRecord.MISSING && height > max_height)
- max_height = height;
- elevation = 0;
- range = -1;
- gps_height = 0;
- if (data.gps != null) {
- gps = data.gps;
- if (ngps > 0 && gps.locked) {
- 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;
+ 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_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;
+ }
+
+ 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;
+ }
+
+ public void set_callsign(String callsign) {
+ this.callsign = callsign;
+ }
+
+ public void set_firmware_version(String version) {
+ 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) {
+ 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 AltosState(AltosRecord cur) {
- init(cur, null);
+ public void set_receiver_serial(int serial) {
+ if (serial != AltosLib.MISSING)
+ 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;
+ return rssi;
+ }
+
+ public void set_rssi(int rssi, int status) {
+ if (rssi != AltosLib.MISSING) {
+ this.rssi = rssi;
+ this.status = status;
+ }
+ }
+
+ public void set_received_time(long ms) {
+ received_time = ms;
+ }
+
+ public void set_gps(AltosGPS gps, int sequence) {
+ if (gps != null) {
+ this.gps = gps.clone();
+ gps_sequence = sequence;
+ update_gps();
+ set |= set_gps;
+ }
+ }
+
+
+ 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();
+ 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;
+ }
+ }
+ update_accel();
+ }
+
+ public void set_temperature(double temperature) {
+ if (temperature != AltosLib.MISSING) {
+ this.temperature = temperature;
+ set |= set_data;
+ }
+ }
+
+ public void set_battery_voltage(double battery_voltage) {
+ if (battery_voltage != AltosLib.MISSING) {
+ this.battery_voltage = battery_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_pyro_voltage(double pyro_voltage) {
+ if (pyro_voltage != AltosLib.MISSING) {
+ this.pyro_voltage = pyro_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_apogee_voltage(double apogee_voltage) {
+ if (apogee_voltage != AltosLib.MISSING) {
+ this.apogee_voltage = apogee_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_main_voltage(double main_voltage) {
+ if (main_voltage != AltosLib.MISSING) {
+ this.main_voltage = main_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_ignitor_voltage(double[] voltage) {
+ 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;
+
+ 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);
+
+ /* 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;
}
- public AltosState (AltosRecord cur, AltosState prev) {
- init(cur, prev);
+ public AltosState () {
+ init();
}
}