int tick;
int state;
+ boolean landed;
boolean ascent; /* going up? */
double ground_altitude;
static final int MIN_PAD_SAMPLES = 10;
int npad;
+ int ngps;
int gps_waiting;
boolean gps_ready;
/* Preserve any existing gps data */
npad = prev_state.npad;
+ ngps = prev_state.ngps;
gps = prev_state.gps;
pad_lat = prev_state.pad_lat;
pad_lon = prev_state.pad_lon;
baro_speed = prev_state.baro_speed;
} else {
npad = 0;
+ ngps = 0;
gps = null;
baro_speed = 0;
time_change = 0;
}
if (state == Altos.ao_flight_pad) {
- if (data.gps != null && data.gps.locked) {
+
+ /* Track consecutive 'good' gps reports, waiting for 10 of them */
+ if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
npad++;
- if (npad > 1) {
+ else
+ npad = 0;
+
+ /* Average GPS data while on the pad */
+ if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
+ if (ngps > 1) {
/* 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_lon = data.gps.lon;
pad_alt = data.gps.alt;
}
- } else {
- npad = 0;
+ ngps++;
}
}
if (data.gps != null) {
if (gps == null || !gps.locked || data.gps.locked)
gps = data.gps;
- if (npad > 0 && gps.locked) {
+ if (ngps > 0 && gps.locked) {
from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
}
}
elevation = 0;
range = -1;
- if (npad > 0) {
+ if (ngps > 0) {
gps_height = gps.alt - pad_alt;
if (from_pad != null) {
elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;