public class AltosState {
AltosTelemetry data;
- AltosTelemetry prev_data;
/* derived data */
double report_time;
+ double time_change;
+ int tick;
+
int state;
boolean ascent; /* going up? */
- double time_change;
-
double ground_altitude;
double height;
double speed;
double pad_lat;
double pad_lon;
double pad_alt;
- double pad_lat_total;
- double pad_lon_total;
- double pad_alt_total;
int npad;
int prev_npad;
return System.currentTimeMillis() / 1000.0;
}
- void init (AltosTelemetry cur, AltosTelemetry prev, int prev_npad) {
- int i;
- double new_height;
- double height_change;
+ void init (AltosTelemetry cur, AltosState prev_state) {
+ int i;
+ AltosTelemetry prev;
double accel_counts_per_mss;
- int tick_count;
data = cur;
- prev_data = prev;
- npad = prev_npad;
- tick_count = data.tick;
- if (tick_count < prev_data.tick)
- tick_count += 65536;
- time_change = (tick_count - prev_data.tick) / 100.0;
+
+ ground_altitude = AltosConvert.cc_barometer_to_altitude(data.ground_pres);
+ height = AltosConvert.cc_barometer_to_altitude(data.flight_pres) - ground_altitude;
report_time = aoview_time();
- ground_altitude = AltosConvert.cc_pressure_to_altitude(data.ground_pres);
- new_height = AltosConvert.cc_pressure_to_altitude(data.flight_pres) - ground_altitude;
- height_change = new_height - height;
- height = new_height;
- if (time_change > 0)
- baro_speed = (baro_speed * 3 + (height_change / time_change)) / 4.0;
accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
speed = data.flight_vel / (accel_counts_per_mss * 100.0);
drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue);
main_sense = AltosConvert.cc_ignitor_to_voltage(data.main);
battery = AltosConvert.cc_battery_to_voltage(data.batt);
+ tick = data.tick;
state = data.state();
+
+ if (prev_state != null) {
+
+ /* Preserve any existing gps data */
+ npad = prev_state.npad;
+ gps = prev_state.gps;
+ 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_speed = prev_state.max_speed;
+
+ /* make sure the clock is monotonic */
+ while (tick < prev_state.tick)
+ tick += 65536;
+
+ time_change = (tick - prev_state.tick) / 100.0;
+
+ /* compute barometric speed */
+
+ double height_change = height - prev_state.height;
+ if (time_change > 0)
+ baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+ else
+ baro_speed = prev_state.baro_speed;
+ } else {
+ npad = 0;
+ gps = null;
+ baro_speed = 0;
+ time_change = 0;
+ }
+
if (state == AltosTelemetry.ao_flight_pad) {
if (data.gps != null && data.gps.gps_locked && data.gps.nsat >= 4) {
npad++;
- pad_lat_total += data.gps.lat;
- pad_lon_total += data.gps.lon;
- pad_alt_total += data.gps.alt;
if (npad > 1) {
- pad_lat = (pad_lat * 31 + data.gps.lat) / 32.0;
- pad_lon = (pad_lon * 31 + data.gps.lon) / 32.0;
- pad_alt = (pad_alt * 31 + data.gps.alt) / 32.0;
+ /* 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;
if (height > max_height)
max_height = height;
if (data.gps != null) {
- gps = data.gps;
+ if (gps == null || !gps.gps_locked || data.gps.gps_locked)
+ gps = data.gps;
if (npad > 0 && gps.gps_locked)
from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
}
}
public AltosState(AltosTelemetry cur) {
- init(cur, cur, 0);
+ init(cur, null);
}
public AltosState (AltosTelemetry cur, AltosState prev) {
- if (prev == null)
- init(cur, cur, 0);
- else {
- init(cur, prev.data, prev.npad);
- if (gps == null)
- gps = prev.gps;
- }
+ init(cur, prev);
}
}