X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosFlightSeries.java;h=cfd8a0bff2bb79aa37b39b2b108d6e406bc3ebd5;hb=58e7fccc24f933fd64e272207f783ca79002b7ba;hp=5223a5b406da20dbd4e2b5bfee3a733c640e0424;hpb=43f8470dc66392dae4770882bfc6ad25b1d75436;p=fw%2Faltos

diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java
index 5223a5b4..cfd8a0bf 100644
--- a/altoslib/AltosFlightSeries.java
+++ b/altoslib/AltosFlightSeries.java
@@ -12,7 +12,7 @@
  * General Public License for more details.
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_13;
 
 import java.util.*;
 
@@ -21,7 +21,7 @@ public class AltosFlightSeries extends AltosDataListener {
 	public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
 
 	public double	speed_filter_width = 4.0;
-	public double	accel_filter_width = 4.0;
+	public double	accel_filter_width = 1.0;
 
 	public int[] indices() {
 		int[] indices = new int[series.size()];
@@ -150,18 +150,17 @@ public class AltosFlightSeries extends AltosDataListener {
 
 	public void set_state(int state) {
 
-		if (state == AltosLib.ao_flight_pad)
-			return;
-
-		if (state_series == null)
-			state_series = add_series(state_name, AltosConvert.state_name);
-		else if (this.state == state)
-			return;
-		this.state = state;
-		state_series.add(time(), state);
+		if (state != AltosLib.ao_flight_pad && state != AltosLib.MISSING && state != AltosLib.ao_flight_stateless) {
+			if (state_series == null)
+				state_series = add_series(state_name, AltosConvert.state_name);
+			if (this.state() != state)
+				state_series.add(time(), state);
+		}
+		super.set_state(state);
 	}
 
 	public AltosTimeSeries	accel_series;
+	public boolean		accel_computed;
 
 	public static final String accel_name = "Accel";
 
@@ -176,23 +175,61 @@ public class AltosFlightSeries extends AltosDataListener {
 			accel_series = add_series(accel_name, AltosConvert.accel);
 
 		accel_series.add(time(), acceleration);
+		accel_computed = false;
 	}
 
-	private void compute_accel() {
-		if (accel_series != null)
-			return;
+	private AltosTimeSeries compute_accel() {
+		AltosTimeSeries	new_accel_series = null;
 
 		if (speed_series != null) {
-			AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
-			speed_series.filter(temp_series, accel_filter_width);
-			accel_series = add_series(accel_name, AltosConvert.accel);
-			temp_series.differentiate(accel_series);
+			AltosTimeSeries temp_series;
+			if (accel_filter_width > 0) {
+				temp_series = make_series(speed_name, AltosConvert.speed);
+				speed_series.filter(temp_series, accel_filter_width);
+			} else
+				temp_series = speed_series;
+
+			new_accel_series = make_series(accel_name, AltosConvert.accel);
+			temp_series.differentiate(new_accel_series);
+		}
+		return new_accel_series;
+	}
+
+	public void set_filter(double speed_filter, double accel_filter) {
+		this.speed_filter_width = speed_filter;
+		this.accel_filter_width = accel_filter;
+
+		AltosTimeSeries new_speed_series = compute_speed();
+
+		if (new_speed_series != null) {
+			speed_series.erase_values();
+			for (AltosTimeValue tv : new_speed_series)
+				speed_series.add(tv);
+		}
+		if (accel_computed) {
+			AltosTimeSeries new_accel_series = compute_accel();
+			if (new_accel_series != null) {
+				accel_series.erase_values();
+				for (AltosTimeValue tv : new_accel_series)
+					accel_series.add(tv);
+			}
 		}
 	}
 
 	public void set_received_time(long received_time) {
 	}
 
+	public AltosTimeSeries tick_series;
+
+	public static final String tick_name = "Tick";
+
+	public void set_tick(int tick) {
+		super.set_tick(tick);
+		if (tick_series == null)
+			tick_series = add_series(tick_name, null);
+		tick_series.add(time(), tick);
+	}
+
 	public AltosTimeSeries rssi_series;
 
 	public static final String rssi_name = "RSSI";
@@ -220,6 +257,15 @@ public class AltosFlightSeries extends AltosDataListener {
 
 	public AltosTimeSeries height_series;
 
+	public double max_height = AltosLib.MISSING;
+
+	public	void set_min_pressure(double pa) {
+		double ground_altitude = cal_data().ground_altitude;
+		if (ground_altitude != AltosLib.MISSING)
+			max_height = AltosConvert.pressure_to_altitude(pa) -
+				ground_altitude;
+	}
+
 	public static final String height_name = "Height";
 
 	public  void set_pressure(double pa) {
@@ -232,23 +278,23 @@ public class AltosFlightSeries extends AltosDataListener {
 		if (altitude_series == null)
 			altitude_series = add_series(altitude_name, AltosConvert.height);
 
-		if (cal_data.ground_pressure == AltosLib.MISSING)
-			cal_data.set_ground_pressure(pa);
+		if (cal_data().ground_pressure == AltosLib.MISSING)
+			cal_data().set_ground_pressure(pa);
 
 		double altitude = AltosConvert.pressure_to_altitude(pa);
 		altitude_series.add(time(), altitude);
 	}
 
 	private void compute_height() {
-		double ground_altitude = cal_data.ground_altitude;
+		double ground_altitude = cal_data().ground_altitude;
 		if (height_series == null && ground_altitude != AltosLib.MISSING && altitude_series != null) {
 			height_series = add_series(height_name, AltosConvert.height);
 			for (AltosTimeValue alt : altitude_series)
 				height_series.add(alt.time, alt.value - ground_altitude);
 		}
 
-		if (gps_height == null && cal_data.gps_pad != null && cal_data.gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
-			double gps_ground_altitude = cal_data.gps_pad.alt;
+		if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
+			double gps_ground_altitude = cal_data().gps_pad.alt;
 			gps_height = add_series(gps_height_name, AltosConvert.height);
 			for (AltosTimeValue gps_alt : gps_altitude)
 				gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
@@ -259,21 +305,24 @@ public class AltosFlightSeries extends AltosDataListener {
 
 	public static final String speed_name = "Speed";
 
-	private void compute_speed() {
-		if (speed_series != null)
-			return;
-
+	private AltosTimeSeries compute_speed() {
+		AltosTimeSeries new_speed_series = null;
 		AltosTimeSeries	alt_speed_series = null;
 		AltosTimeSeries accel_speed_series = null;
 
 		if (altitude_series != null) {
-			AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
-			altitude_series.filter(temp_series, speed_filter_width);
+			AltosTimeSeries temp_series;
+
+			if (speed_filter_width > 0) {
+				temp_series = make_series(speed_name, AltosConvert.height);
+				altitude_series.filter(temp_series, speed_filter_width);
+			} else
+				temp_series = altitude_series;
 
 			alt_speed_series = make_series(speed_name, AltosConvert.speed);
 			temp_series.differentiate(alt_speed_series);
 		}
-		if (accel_series != null) {
+		if (accel_series != null && !accel_computed) {
 
 			if (orient_series != null) {
 				vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
@@ -309,26 +358,25 @@ public class AltosFlightSeries extends AltosDataListener {
 				}
 			}
 			if (apogee_time == AltosLib.MISSING) {
-				speed_series = alt_speed_series;
+				new_speed_series = alt_speed_series;
 			} else {
-				speed_series = make_series(speed_name, AltosConvert.speed);
+				new_speed_series = make_series(speed_name, AltosConvert.speed);
 				for (AltosTimeValue d : accel_speed_series) {
 					if (d.time <= apogee_time)
-						speed_series.add(d);
+						new_speed_series.add(d);
 				}
 				for (AltosTimeValue d : alt_speed_series) {
 					if (d.time > apogee_time)
-						speed_series.add(d);
+						new_speed_series.add(d);
 				}
 
 			}
 		} else if (alt_speed_series != null) {
-			speed_series = alt_speed_series;
+			new_speed_series = alt_speed_series;
 		} else if (accel_speed_series != null) {
-			speed_series = accel_speed_series;
+			new_speed_series = accel_speed_series;
 		}
-		if (speed_series != null)
-			add_series(speed_series);
+		return new_speed_series;
 	}
 
 	public AltosTimeSeries orient_series;
@@ -343,15 +391,17 @@ public class AltosFlightSeries extends AltosDataListener {
 		if (accel_ground_across == AltosLib.MISSING)
 			return;
 
+		AltosCalData cal_data = cal_data();
+
 		if (cal_data.pad_orientation == AltosLib.MISSING)
 			return;
 
 		if (cal_data.accel_zero_across == AltosLib.MISSING)
 			return;
 
-		AltosRotation rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - cal_data.accel_zero_across),
-							   AltosIMU.convert_accel(accel_ground_through - cal_data.accel_zero_through),
-							   AltosIMU.convert_accel(accel_ground_along - cal_data.accel_zero_along),
+		AltosRotation rotation = new AltosRotation(accel_ground_across,
+							   accel_ground_through,
+							   accel_ground_along,
 							   cal_data.pad_orientation);
 		double prev_time = ground_time;
 
@@ -363,11 +413,11 @@ public class AltosFlightSeries extends AltosDataListener {
 			double	dt = time - prev_time;
 
 			if (dt > 0) {
-				double	roll = AltosConvert.degrees_to_radians(roll_v.value);
-				double	pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time));
-				double	yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time));
+				double	roll = AltosConvert.degrees_to_radians(roll_v.value) * dt;
+				double	pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt;
+				double	yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt;
 
-				rotation.rotate(dt, pitch, yaw, roll);
+				rotation.rotate(pitch, yaw, roll);
 				orient_series.add(time, rotation.tilt());
 			}
 			prev_time = time;
@@ -450,13 +500,24 @@ public class AltosFlightSeries extends AltosDataListener {
 	public ArrayList<AltosGPSTimeValue> gps_series;
 
 	public AltosGPS gps_before(double time) {
-		AltosGPS gps = null;
-		for (AltosGPSTimeValue gtv : gps_series)
-			if (gtv.time <= time)
-				gps = gtv.gps;
-			else
-				break;
-		return gps;
+		AltosGPSTimeValue nearest = null;
+		for (AltosGPSTimeValue gtv : gps_series) {
+			if (nearest == null)
+				nearest = gtv;
+			else {
+				if (gtv.time <= time) {
+					if (nearest.time <= time && gtv.time > nearest.time)
+						nearest = gtv;
+				} else {
+					if (nearest.time > time && gtv.time < nearest.time)
+						nearest = gtv;
+				}
+			}
+		}
+		if (nearest != null)
+			return nearest.gps;
+		else
+			return null;
 	}
 
 	public AltosTimeSeries	sats_in_view;
@@ -481,62 +542,68 @@ public class AltosFlightSeries extends AltosDataListener {
 	public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 	public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 
-	public void set_gps(AltosGPS gps) {
+	public void set_gps(AltosGPS gps, boolean new_location, boolean new_sats) {
+		super.set_gps(gps, new_location, new_sats);
+		AltosCalData cal_data = cal_data();
 		if (gps_series == null)
 			gps_series = new ArrayList<AltosGPSTimeValue>();
 		gps_series.add(new AltosGPSTimeValue(time(), gps));
 
-		if (sats_in_soln == null) {
-			sats_in_soln = add_series(sats_in_soln_name, null);
-		}
-		sats_in_soln.add(time(), gps.nsat);
-		if (gps.pdop != AltosLib.MISSING) {
-			if (gps_pdop == null)
-				gps_pdop = add_series(gps_pdop_name, null);
-			gps_pdop.add(time(), gps.pdop);
-		}
-		if (gps.hdop != AltosLib.MISSING) {
-			if (gps_hdop == null)
-				gps_hdop = add_series(gps_hdop_name, null);
-			gps_hdop.add(time(), gps.hdop);
-		}
-		if (gps.vdop != AltosLib.MISSING) {
-			if (gps_vdop == null)
-				gps_vdop = add_series(gps_vdop_name, null);
-			gps_vdop.add(time(), gps.vdop);
-		}
-		if (gps.locked) {
-			if (gps.alt != AltosLib.MISSING) {
-				if (gps_altitude == null)
-					gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
-				gps_altitude.add(time(), gps.alt);
+		if (new_location) {
+			if (sats_in_soln == null) {
+				sats_in_soln = add_series(sats_in_soln_name, null);
 			}
-			if (gps.ground_speed != AltosLib.MISSING) {
-				if (gps_ground_speed == null)
-					gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
-				gps_ground_speed.add(time(), gps.ground_speed);
+			sats_in_soln.add(time(), gps.nsat);
+			if (gps.pdop != AltosLib.MISSING) {
+				if (gps_pdop == null)
+					gps_pdop = add_series(gps_pdop_name, null);
+				gps_pdop.add(time(), gps.pdop);
 			}
-			if (gps.climb_rate != AltosLib.MISSING) {
-				if (gps_ascent_rate == null)
-					gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
-				gps_ascent_rate.add(time(), gps.climb_rate);
+			if (gps.hdop != AltosLib.MISSING) {
+				if (gps_hdop == null)
+					gps_hdop = add_series(gps_hdop_name, null);
+				gps_hdop.add(time(), gps.hdop);
 			}
-			if (gps.course != AltosLib.MISSING) {
-				if (gps_course == null)
-					gps_course = add_series(gps_course_name, null);
-				gps_course.add(time(), gps.course);
+			if (gps.vdop != AltosLib.MISSING) {
+				if (gps_vdop == null)
+					gps_vdop = add_series(gps_vdop_name, null);
+				gps_vdop.add(time(), gps.vdop);
 			}
-			if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
-				if (gps_speed == null)
-					gps_speed = add_series(gps_speed_name, null);
-				gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
-								gps.climb_rate * gps.climb_rate));
+			if (gps.locked) {
+				if (gps.alt != AltosLib.MISSING) {
+					if (gps_altitude == null)
+						gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
+					gps_altitude.add(time(), gps.alt);
+				}
+				if (gps.ground_speed != AltosLib.MISSING) {
+					if (gps_ground_speed == null)
+						gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
+					gps_ground_speed.add(time(), gps.ground_speed);
+				}
+				if (gps.climb_rate != AltosLib.MISSING) {
+					if (gps_ascent_rate == null)
+						gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
+					gps_ascent_rate.add(time(), gps.climb_rate);
+				}
+				if (gps.course != AltosLib.MISSING) {
+					if (gps_course == null)
+						gps_course = add_series(gps_course_name, null);
+					gps_course.add(time(), gps.course);
+				}
+				if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
+					if (gps_speed == null)
+						gps_speed = add_series(gps_speed_name, null);
+					gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
+									gps.climb_rate * gps.climb_rate));
+				}
 			}
 		}
-		if (gps.cc_gps_sat != null) {
-			if (sats_in_view == null)
-				sats_in_view = add_series(sats_in_view_name, null);
-			sats_in_view.add(time(), gps.cc_gps_sat.length);
+		if (new_sats) {
+			if (gps.cc_gps_sat != null) {
+				if (sats_in_view == null)
+					sats_in_view = add_series(sats_in_view_name, null);
+				sats_in_view.add(time(), gps.cc_gps_sat.length);
+			}
 		}
 	}
 
@@ -643,7 +710,7 @@ public class AltosFlightSeries extends AltosDataListener {
 	public  void set_igniter_voltage(double[] voltage) {
 		int channels = voltage.length;
 		if (igniter_voltage == null || igniter_voltage.length <= channels) {
-			AltosTimeSeries[]	new_igniter_voltage = new AltosTimeSeries[channels + 1];
+			AltosTimeSeries[]	new_igniter_voltage = new AltosTimeSeries[channels];
 			int			i = 0;
 
 			if (igniter_voltage != null) {
@@ -681,8 +748,18 @@ public class AltosFlightSeries extends AltosDataListener {
 
 	public void finish() {
 		compute_orient();
-		compute_speed();
-		compute_accel();
+		if (speed_series == null) {
+			speed_series = compute_speed();
+			if (speed_series != null)
+				add_series(speed_series);
+		}
+		if (accel_series == null) {
+			accel_series = compute_accel();
+			if (accel_series != null) {
+				add_series(accel_series);
+				accel_computed = true;
+			}
+		}
 		compute_height();
 	}