X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=altoslib%2FAltosState.java;h=134aeb4e34eaa3929a86b6e91cd49076a6b2aa95;hb=f560d5063b1339dbfb3e6723cfadb7b4c5eace25;hp=5a805fc6bf6864b75a146b64a411746583084c48;hpb=4e22b34bde421a9df090c9196fd4347468c8176a;p=fw%2Faltos

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 5a805fc6..134aeb4e 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -19,7 +19,7 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_3;
 
 public class AltosState implements Cloneable {
 
@@ -29,8 +29,8 @@ public class AltosState implements Cloneable {
 
 	public int set;
 
-	static final double ascent_filter_len = 0.1;
-	static final double descent_filter_len = 2.0;
+	static final double ascent_filter_len = 0.5;
+	static final double descent_filter_len = 0.5;
 
 	/* derived data */
 
@@ -49,7 +49,6 @@ public class AltosState implements Cloneable {
 		private double	max_value;
 		private double	set_time;
 		private double	prev_set_time;
-		private double	max_rate = 1000.0;
 
 		void set(double new_value, double time) {
 			if (new_value != AltosLib.MISSING) {
@@ -125,12 +124,14 @@ public class AltosState implements Cloneable {
 			double	ddt = in.time() - pt;
 			double	ddv = (n - p) / ddt;
 				
+			final double max = 100000;
+
 			/* 100gs */
-			if (Math.abs(ddv) > 1000) {
+			if (Math.abs(ddv) > max) {
 				if (n > p)
-					n = p + ddt * 1000;
+					n = p + ddt * max;
 				else
-					n = p - ddt * 1000;
+					n = p - ddt * max;
 			}
 
 			double filter_len;
@@ -301,7 +302,8 @@ public class AltosState implements Cloneable {
 	class AltosGroundPressure extends AltosCValue {
 		void set_filtered(double p, double time) {
 			computed.set_filtered(p, time);
-			ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
+			if (!is_measured())
+				ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
 		}
 
 		void set_measured(double p, double time) {
@@ -462,6 +464,20 @@ public class AltosState implements Cloneable {
 		return acceleration.max();
 	}
 
+	public AltosValue	orient;
+
+	public void set_orient(double new_orient) {
+		orient.set(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) {
@@ -558,6 +574,7 @@ public class AltosState implements Cloneable {
 		pressure = new AltosPressure();
 		speed = new AltosSpeed();
 		acceleration = new AltosAccel();
+		orient = new AltosValue();
 
 		temperature = AltosLib.MISSING;
 		battery_voltage = AltosLib.MISSING;
@@ -619,6 +636,7 @@ public class AltosState implements Cloneable {
 		pressure.finish_update();
 		speed.finish_update();
 		acceleration.finish_update();
+		orient.finish_update();
 
 		kalman_height.finish_update();
 		kalman_speed.finish_update();
@@ -657,11 +675,13 @@ public class AltosState implements Cloneable {
 		
 		set = 0;
 
+		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);
 
 		battery_voltage = old.battery_voltage;
 		pyro_voltage = old.pyro_voltage;
@@ -833,7 +853,9 @@ public class AltosState implements Cloneable {
 		if (flight != AltosLib.MISSING && flight != 0) {
 			if (this.flight != AltosLib.MISSING &&
 			    this.flight != flight) {
+				int bt = boost_tick;
 				init();
+				boost_tick = bt;
 			}
 			this.flight = flight;
 		}
@@ -844,7 +866,9 @@ public class AltosState implements Cloneable {
 		if (serial != AltosLib.MISSING) {
 			if (this.serial != AltosLib.MISSING &&
 			    this.serial != serial) {
+				int bt = boost_tick;
 				init();
+				boost_tick = bt;
 			}
 			this.serial = serial;
 		}
@@ -1014,10 +1038,9 @@ public class AltosState implements Cloneable {
 		if (tick == AltosLib.MISSING)
 			return 0.0;
 
-		if (boost_tick != AltosLib.MISSING) {
-			return (tick - boost_tick) / 100.0;
-		}
-		return tick / 100.0;
+		if (boost_tick == AltosLib.MISSING)
+			return tick / 100.0;
+		return (tick - boost_tick) / 100.0;
 	}
 
 	public boolean valid() {